CN203495376U - Underwater automatic welding and maintaining device - Google Patents
Underwater automatic welding and maintaining device Download PDFInfo
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- CN203495376U CN203495376U CN201320551670.3U CN201320551670U CN203495376U CN 203495376 U CN203495376 U CN 203495376U CN 201320551670 U CN201320551670 U CN 201320551670U CN 203495376 U CN203495376 U CN 203495376U
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Abstract
The utility model provides an underwater automatic welding and maintaining device. The underwater automatic welding and maintaining device comprises a main shaft, wherein two ends of the main shaft are respectively and symmetrically provided with an air bag support, the two air bag supports are both provided with air bags, a welding space is formed between the two air bag supports, the welding space is internally provided with a cylinder body which can move axially, the cylinder body is provided with an air inlet pipe and a water outlet pipe, the water outlet pipe is communicated with the welding space and a water draining space which is positioned at the outer side of the air bag supports, and the cylinder body is internally provided with a welding device. According to the underwater automatic welding and maintaining device provided by the utility model, the welding space is isolated through the air bags, water in the welding space is drained through the action of the air inlet pipe and the water outlet pipe, thus a local dry-type working environment is established, repairing operation can be carried out on a welding seam by the welding device; according to the underwater automatic welding and maintaining device provided by the utility model, influence on the working of parts caused by a water environment can be effectively avoided, the risk that the parts are subjected to radioactive contamination can be reduced, and thus the stability of a welding process and the repairing quality of the welding seam can be ensured.
Description
Technical field
The utility model relates to a kind of welding equipment, particularly relates to a kind of maintenance of equipment of automatic welding under water of taking over safe end weld seam for repair welding, built-up welding nuclear plant pressure vessels.
Background technology
In nuclear power station, the attachment weld of reactor pressure vessel and main pipeline relates generally to different alloys weld seam between Nozzle Zone of Vessels and safe end and the alloy weld seam of the same race between safe end and main pipeline.Above-mentioned different alloys weld seam is due to metallurgical transition process complicated in manufacture process, become the weak link of whole pressure vessel, simultaneously in nuclear power station running, this different alloys weld seam bears the impact of high temperature, high pressure, high radiation and high-velocity flow, makes its inwall very easily occur spot corrosion, cutter type burn into and stress corrosion cracking equivalent damage.These damages are by the safe operation of serious harm nuclear power station, or even the inducement of nuclear safety accident, if can keep in repair this damage in time, can significantly improve efficiency and the reliability of power station operation.
At present, for the maintenance of taking over safe end weld seam inwall, conventionally take by diver, damage location to be carried out the processing mode of then repair welding of manual polishing, built-up welding, this maintenance mode inefficiency and difficult quality guarantee, in addition, due to the high radioactivity of environment, serious harm operating personnel's personal safety.In recent years, external main nuclear power operation service business has launched a large amount of technical researches for this maintenance special project, be devoted to exploitation and take over safe end weld seam inwall automation prosthetic appliance under water, wherein, the most representative is that US Westinghouse company and Toshiba Corp have developed jointly a set of underwater laser rotating welding system for this weld seam.This system is mainly utilized the underwater stability of laser, build dynamic local dry type environment and realize reparation weldering under water, but installs at this technology scene and technology controlling and process is complicated by the portable draining air cavity of end, and maintenance cost is high.
Utility model content
The shortcoming of prior art in view of the above, the purpose of this utility model is to provide the automatic welding under water that a kind of technology controlling and process is simple, safe and reliable, easy to operate, operating cost is relatively low maintenance of equipment.
For achieving the above object, the utility model provides a kind of maintenance of equipment of automatic welding under water, comprise a main shaft, described main shaft two ends are arranged with an air-bag support, on two air-bag supports, are equipped with air bag, form a welding space between two air-bag supports, in this welding space, being provided with one can axially movable cylindrical shell, described cylindrical shell is provided with an air inlet pipe and a drainpipe, and described drainpipe is communicated with welding space and is positioned at the drainage space in air-bag support outside, is provided with a welder in described cylindrical shell.
Further, also comprise that one is positioned at the three-degree-of-freedom motion mechanism of described cylindrical shell, this three-degree-of-freedom motion mechanism comprises circumferential movement mechanism, axial motion mechanism and radial movement mechanism, described axial motion mechanism is connected with circumferential movement mechanism, described radial movement mechanism is arranged in axial motion mechanism, and described welder is arranged in radial movement mechanism.
Preferably, described circumferential movement mechanism comprise circumferential drive motors assembly, with the mounting cylinder that circumferentially output of drive motors assembly is connected, described mounting cylinder is enclosed within on main shaft, and can rotate around main shaft, described mounting cylinder is connected with described axial motion mechanism.
Further, described axial motion mechanism comprises anterior planting and the rear side fixed head being connected by axial guide rod, described anterior planting and rear side fixed head are installed in described circumferential movement mechanism, described rear side fixed head is provided with an axial drive motors assembly, the output of this axial drive motors assembly and one axially drives leading screw to be connected, on described axial driving leading screw, cover has one to move axially nut, on described axial guide rod, cover has an axial direct bobbin bearing assembly, the both sides of this axial direct bobbin bearing assembly are respectively equipped with the first installing plate and the second installing plate, the described nut that moves axially is fixedly connected with the first installing plate, described the first installing plate is connected with described radial movement mechanism.
Preferably, the inner side of the inner side of described anterior planting and rear side fixed head is equipped with a positive stop.
Further, described radial movement mechanism comprises radial drive contiguous block, electric machine support and the working head installing rack being arranged side by side, described electric machine support is fixed in described axial motion mechanism, described welder is fixed on working head installing rack, between described radial drive contiguous block and working head installing rack, be provided with radially guide rod and move radially leading screw, described electric machine support is provided with a radial drive electric machine assembly, the output of this radial drive electric machine assembly is connected with a radial rotating nut, and this radial rotating nut sleeve is moving radially on leading screw.
Further, described welder comprises wire-feed motor, the wire feeding mouth being connected with wire-feed motor and the welding torch being oppositely arranged with wire feeding mouth, described wire feeding mouth and welding torch are arranged on a plumb joint back-up block, and described plumb joint back-up block is fixed on described working head installing rack.
Preferably, on described plumb joint back-up block, be also provided with a high-speed CCD camera.
Further, described working head installing rack is provided with an oscillating cylinder assembly, described working head installing rack is provided with an opening, is provided with a Pneumatic motor assembly being connected with oscillating cylinder assembly in this opening, and the output of described Pneumatic motor assembly is provided with an emery wheel.
Further, in two air-bag supports, the inside and outside both sides of an air-bag support are respectively equipped with front medial branch fagging and rami anterior lateralis fagging, the inside and outside both sides of another air-bag support are respectively equipped with rear medial branch fagging and rear lateral branch fagging, described front medial branch fagging, rami anterior lateralis fagging, rear medial branch fagging and rear lateral branch fagging are all fixed on described main shaft, and described cylindrical shell two ends lean with front medial branch fagging and rear medial branch fagging respectively.
Preferably, described cylindrical shell comprises fixed cylinder and the movable cylindrical shell of mutual socket, described fixed cylinder one end is fixed on rear medial branch fagging, described movable cylindrical shell one end is resisted against on front medial branch fagging, on described rear medial branch fagging, be also provided with a driving cylinder, the piston rod of this driving cylinder is connected with a movable tube stent, and described movable tube stent is connected with movable cylindrical shell.
Further, between described movable cylindrical shell and fixed cylinder, be provided with a dynamic seal ring, between described movable cylindrical shell and front medial branch fagging, be provided with a static sealing ring.
Preferably, also comprise the many axis of guides that are fixedly located in rear lateral branch fagging and rear medial branch fagging, this axis of guide is connected by sliding bearing with described movable tube stent.
Further, also comprise an axial location support, this axial location support one end is connected with rear lateral branch fagging, the both sides up and down of the other end are equipped with a length-adjustable thrust adjusting lever assembly, the end of described thrust adjusting lever assembly is provided with thrust position-arresting disk, and described thrust position-arresting disk is also connected with a proximity transducer; The outside of the outside of described rear lateral branch fagging and rami anterior lateralis fagging is equipped with a guiding trestle, and the periphery of described guiding trestle is provided with a plurality of compression positioning cylinders.
Preferably, the periphery of described guiding trestle is also provided with a plurality of guide castors, between described guide castor and guiding trestle, is provided with coil tension spring.
As mentioned above, the maintenance of equipment of automatic welding under water that the utility model relates to, has following beneficial effect:
This under water automatic welding maintenance of equipment by air bag, welding space is isolated, and by the effect of air inlet pipe and drainpipe, the water in welding space is discharged, to set up a local dry-type operating environment, by welder butt welded seam, carry out repairing work again, and this device has effectively been avoided the impact of water environment on parts work, reduce parts and be subject to alpha-contamination risk, thereby guarantee stability and the weld seam repairing quality of welding process.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the internal structure schematic diagram of Fig. 1.
Fig. 3 is working state figure of the present utility model.
Fig. 4 is the structural representation of air-bag support in the utility model.
Fig. 5 is the A circle enlarged drawing of Fig. 1.
Fig. 6 is the rearview of Fig. 2.
Fig. 7 is the structural representation of Three Degree Of Freedom mechanism in the utility model.
Fig. 8 is the rearview of Fig. 7.
Fig. 9 be in Fig. 7 axial motion mechanism and radial movement mechanism structural representation.
Figure 10 is the structural representation of adjusting lever assembly in position in Fig. 9.
Figure 11 is the B circle enlarged drawing of Fig. 2.
Figure 12 is course of work block diagram of the present utility model.
Element numbers explanation
1 compresses positioning cylinder 2 guide castors
3 guiding trestle 4 rami anterior lateralis faggings
5 air-bag support 6 air bags
The 7 front medial branch faggings in welding space 8
9 hanger 10 static sealing rings
11 movable cylindrical shell 12 fixed cylinders
The rear medial branch fagging of 13 air inlet pipe 14
15 rear lateral branch fagging 16 rear end caps
17 proximity transducer 18 thrust position-arresting disks
19 thrust adjusting lever assembly 20 axial location supports
21 drainpipe 22 wire feed positioning disks
23 electric machine support 24 emery wheels
25 Pneumatic motor assembly 26 oscillating cylinder assemblies
27 rear side fixed head 28 mounting cylinders
The movable tube stent of 29 sliding bearing 30
31 motor fixing seat 32 obliquity sensors
33 pressure sensor 34 main shafts
35 axis of guides 36 drive cylinder
The axial drive motors assembly of 37 circumferential drive motors assembly 38
39 positive stop 40 radial drive electric machine assemblies
41 move radially leading screw 42 first installing plates
43 radial drive contiguous blocks 44 are guide rod radially
45 axial guide rod 46 radial displacement transducers
47 working head installing rack 48 high-speed CCD cameras
49 position adjusting lever assembly 50 wire feeding mouths
51 welding torch 52 plumb joint back-up blocks
53 anterior planting 54 angular transducers
55 wire-feed motor 56 second installing plates
57 axial direct bobbin bearing assembly 58 shaft position sensors
59 axially drive the large band wheeling support of leading screw 60
61 safe end 62 weld seams
63 take over 64 cannelures
65 66 pressurize branches of draining branch
67 fixed bar 68 square grooves
69 expansion link 70 strip grooves
71 set bolt 72 coil tension springs
73 dwang 74 moving blocks
The specific embodiment
By particular specific embodiment, embodiment of the present utility model is described below, person skilled in the art scholar can understand other advantages of the present utility model and effect easily by the disclosed content of this description.
Notice, appended graphic the illustrated structure of this description, ratio, size etc., equal contents in order to coordinate description to disclose only, for person skilled in the art scholar, understand and read, not in order to limit the enforceable qualifications of the utility model, therefore the technical essential meaning of tool not, the adjustment of the modification of any structure, the change of proportionate relationship or size, do not affecting under the effect that the utility model can produce and the object that can reach, all should still drop on the technology contents that the utility model discloses and obtain in the scope that can contain.Simultaneously, in this description, quote as " on ", the term of D score, " left side ", " right side ", " centre " and " " etc., also only for ease of understanding of narrating, but not in order to limit the enforceable scope of the utility model, the change of its relativeness or adjustment, under without essence change technology contents, when being also considered as the enforceable category of the utility model.
The utility model provides a kind of maintenance of equipment of automatic welding under water, for the repairing work of difference heap type nuclear plant pressure vessels discharging pipe safe end weld seam 62.As depicted in figs. 1 and 2, this under water automatic welding maintenance of equipment comprise a main shaft 34, described main shaft 34 two ends are arranged with an air-bag support 5, on two air-bag supports 5, be equipped with air bag 6, between two air-bag supports 5, form a welding space 7, in this welding space 7, being provided with one can axially movable cylindrical shell, and described cylindrical shell is provided with an air inlet pipe 13 and a drainpipe 21, described drainpipe 21 is communicated with welding space 7 and is positioned at the drainage space in air-bag support 5 outsides, is provided with a welder in described cylindrical shell.
This under water automatic welding maintenance of equipment from adapter 63 inside of pressure vessel, enter, as shown in Figure 3, enter air bag 6 inflations on latter two air-bag support 5, air bag 6 is expanded and holds out against to take over 63 inwalls, thereby welding space 7 is independently isolated, make to weld space 7 and be separated with drainage space, form distance piece; By air inlet pipe 13, in welding space 7, pass into high voltage protective gas again, make the water welding in space 7 be discharged to outside, set up a static dry operation environment in part; Make again described cylindrical shell move, open, by welder butt tube safe end weld seam 62, carry out repairing work, this device has effectively been avoided the impact of water environment on parts work, reduce parts and be subject to alpha-contamination risk, thereby guarantee stability and weld seam 62 repairing qualities of welding process.
Further, see Fig. 2, in two air-bag supports 5, the inside and outside both sides of an air-bag support 5 are respectively equipped with front medial branch fagging 8 and rami anterior lateralis fagging 4, the inside and outside both sides of another air-bag support 5 are respectively equipped with rear medial branch fagging 14 and rear lateral branch fagging 15, described front medial branch fagging 8, rami anterior lateralis fagging 4, rear medial branch fagging 14 and rear lateral branch fagging 15 are all fixed on described main shaft 34, connection and the supporting role of 34 whole equipment of described main shaft, described cylindrical shell two ends lean with front medial branch fagging 8 and rear medial branch fagging 14 respectively.And in the present embodiment, described air-bag support 5 comprises a cylindric body, as shown in Figure 4, the periphery of this cylindric body is provided with two cannelures 64 side by side, and each cannelure 64 is interior all to be gluedd joint and have an air bag 6, on two air-bag supports 5, be provided with altogether four air bags 6, and four air bags 6 are independent gas supply, adopt after the structure of four air bag 6 independent gas supplies, after one of them air bag 6 damages, its excess-three air bag 6 still can normally work, and then guarantee security of equipment weld job.Two air bags 6 on described air-bag support 5 and air-bag support 5 form a pair of air bag component, and for the adapter 63 of different tube diameters, replaceable described pair of air bag component, to adapt to the variation of taking over 63 calibers.In addition, the outside of described rami anterior lateralis fagging 4 is provided with a drive end bearing bracket, and the outside of rear lateral branch fagging 15 is provided with a rear end cap 16, and described drainpipe 21 is also provided with the 65He of draining branch pressurize branch 66, the described draining 65He of branch pressurize branch 66 is installed on rear end cap 16, as shown in Figure 6.Described front medial branch fagging 8, rami anterior lateralis fagging 4, rear medial branch fagging 14, rear lateral branch fagging 15, drive end bearing bracket and rear end cap 16 have all been made encapsulation process.
Further, see Fig. 1 and Fig. 2, described cylindrical shell comprises fixed cylinder 12 and the movable cylindrical shell 11 of mutual socket, described fixed cylinder 12 one end are fixed on rear medial branch fagging 14, described movable cylindrical shell 11 one end are resisted against on front medial branch fagging 8, and the other end is through in fixed cylinder 12, on described rear medial branch fagging 14, are also provided with a driving cylinder 36, the piston rod of this driving cylinder 36 is connected with a movable tube stent 30, and described movable tube stent 30 is connected with movable cylindrical shell 11.In addition, also comprise the many axis of guides 35 that are fixedly located in rear lateral branch fagging 15 and rear medial branch fagging 14, this axis of guide 35 is connected by sliding bearing 29 with described movable tube stent 30, and described welder is positioned at movable cylindrical shell 11.Drive cylinder 36 actions, its piston rod drive activity tube stent 30 moves forward and backward, and then drive activity cylindrical shell 11 moves forward and backward along the axis of guide 35, the opening and closing of realization activity cylindrical shell 11; Equipment is in sending into adapter 63 or while shifting out from take over 63, movable cylindrical shell 11 is closed condition, be movable cylindrical shell 11 ends while being resisted against on front medial branch fagging 8, and make device interior form an airtight interior cabin body, thereby welder is encapsulated in this interior cabin body; When equipment is when carrying out weld job, described movable cylindrical shell 11 is open mode, drives cylinder 36 drive activity cylindrical shells 11 to move to the direction near fixed cylinder 12, and then welder is exposed in welding space 7.
Preferably, between described movable cylindrical shell 11 and fixed cylinder 12, be provided with a dynamic seal ring, form movable sealing; Between described movable cylindrical shell 11 and front medial branch fagging 8, be provided with a static sealing ring 10, when movable cylindrical shell 11 is closed, drive cylinder 36 that the end of movable cylindrical shell 11 is held out against on this static sealing ring 10, the thrust of static sealing ring 10 on medial branch fagging 8 before 11 pairs of assurance activity cylindrical shells, thereby guarantee the sealing of cabin body in equipment, the equipment that prevents is in sending into adapter 63 or in the process shifting out from take over 63, the water of taking in 63 enters in the body of interior cabin, avoid the parts in the body of interior cabin to be subject to alpha-contamination risk, with the service life of extension device.In addition, the medial surface of described front medial branch fagging 8 is provided with groove, and described static sealing ring 10 is fixed in this groove.
Further, see Fig. 1, also comprise an axial location support 20, these axial location support 20 one end are connected with rear lateral branch fagging 15, the both sides up and down of the other end are equipped with a length-adjustable thrust adjusting lever assembly 19, the end of described thrust adjusting lever assembly 19 is provided with thrust position-arresting disk 18, and described thrust position-arresting disk 18 is also connected with a proximity transducer 17; The outside of the outside of described rear lateral branch fagging 15 and rami anterior lateralis fagging 4 is equipped with a guiding trestle 3, and the periphery of described guiding trestle 3 is provided with a plurality of compression positioning cylinders 1.Whether described thrust position-arresting disk 18 and proximity transducer 17 fit with taking over 63 barrels for detection of equipment, if laminating, a plurality of compression positioning cylinders 1 stretch out, and its end holds out against to be taken on 63 inwalls, thereby this equipment is fixed on and is taken in 63.In the top plane of described front medial branch fagging 8 and axial location support 20, be equipped with a hanger 9, for the lifting of equipment.
The length of described thrust adjusting lever assembly 19 should be adjusted according to the caliber of taking over 63, in the utility model, the structure of adjusting length of thrust adjusting lever assembly 19 is specially: described thrust adjusting lever assembly 19 comprises the fixed bar 67 being connected with axial location support 20, as shown in Figure 1 and Figure 5, in described fixed bar 67, be provided with a square groove 68, also comprise that one is suitable with square groove 68, and be arranged in the expansion link 69 of square groove 68, on described expansion link 69, offer a strip groove 70, described fixed bar 67 ends are also provided with a nut bore being communicated with strip groove 69, one set bolt 71 is located in nut bore and strip groove 69 successively, described thrust position-arresting disk 18 is located at the outer end of expansion link 69.By unscrewing set bolt 71, carry out the extension elongation of adjustable telescopic rod 69 from fixed bar 67, to regulate the entire length of thrust adjusting lever assembly 19, after length adjustment, tighten set bolt 71, and then expansion link 69 and fixed bar 67 are fixed.
Preferably, the periphery of described guiding trestle 3 is also provided with a plurality of guide castors 2, between described guide castor 2 and guiding trestle 3, be provided with coil tension spring 72, at equipment, enter in the process of taking over 63, by a plurality of guide castors 2, lead, described coil tension spring 72 can make this equipment adapt to the variation of taking over 63 local calibers, and makes guide castor 2 and take between 63 inwalls to maintain certain compression support force.In the present embodiment, the guide castor 2 on each guiding trestle 3 and compression positioning cylinder 1 are three, and guide castor 2 is spaced apart with compression positioning cylinder 1.
Further, also comprise that one is positioned at the three-degree-of-freedom motion mechanism of described cylindrical shell, this three-degree-of-freedom motion mechanism comprises circumferential movement mechanism, axial motion mechanism and radial movement mechanism, described axial motion mechanism is connected with circumferential movement mechanism, described radial movement mechanism is arranged in axial motion mechanism, and described welder is arranged in radial movement mechanism.Described three-degree-of-freedom motion mechanism is for welder and the location of taking over weld seam 62.Before equipment enters adapter 63, Three Degree Of Freedom mechanism first carries out school zero, according to taking over weld seam 62, in the position of taking on 63, can determine that equipment enters after adapter 63 again, axial relative distance between welder and weld seam 62 and radially relative distance, also the operation stroke of just definite axial motion mechanism and radial movement mechanism; Simultaneously, described rear medial branch fagging 14 is provided with an obliquity sensor 32, after equipment enters adapter 63 and fixes, obliquity sensor 32 measurement devices are with respect to the circumferential deflection angle of taking over 63, and this circumferential deflection angle is for calculating the circumferential position of circumferential movement mechanism.
In the utility model, the concrete structure of three-degree-of-freedom motion mechanism is:
See Fig. 2 and Fig. 7, described circumferential movement mechanism comprises circumferential drive motors assembly 37, the mounting cylinder 28 being connected with the output of circumferential drive motors assembly 37, described mounting cylinder 28 two ends are arranged on main shaft 34 by bearing, and can rotate around main shaft 34, described mounting cylinder 28 is connected with described axial motion mechanism, mounting cylinder 28 is realized circumferential movement under the drive of circumferential drive motors assembly 37, thereby drive axial motion mechanism, radial movement mechanism is circumferential movement together with welder, described front medial branch fagging 8 is provided with an angular transducer 54, for measuring the angle that rotates in a circumferential direction of circumferential movement mechanism, when its angle turning over is default angle, the stop motion of circumferential movement mechanism, realize welder and the circumferential location of taking over weld seam 62.In addition, described circumferential drive motors assembly 37 is arranged on rear medial branch fagging 14 by motor fixing seat 31, see Fig. 2, described circumferential drive motors assembly 37 comprises drive motors, small pulley, large belt wheel, cog belt, described drive motors is connected with small pulley, small pulley is connected by cog belt with large belt wheel, and large belt wheel is arranged on a large band wheeling support 60, and this large band wheeling support 60 is fixed on described mounting cylinder 28.
See Fig. 2, Fig. 7 and Fig. 9, described axial motion mechanism comprises anterior planting 53 and the rear side fixed head 27 being connected by axial guide rod 45, described anterior planting 53 and rear side fixed head 27 are installed on the mounting cylinder 28 in described circumferential movement mechanism, described rear side fixed head 27 is provided with an axial drive motors assembly 38, the output of this axial drive motors assembly 38 and one axially drives leading screw 59 to be connected, and this axially drives the two ends of leading screw 59 to be connected with rear side fixed head 27 with anterior planting 53 respectively, on described axial driving leading screw 59, cover has one to move axially nut, on described axial guide rod 45, cover has an axial direct bobbin bearing assembly 57, the both sides of this axial direct bobbin bearing assembly 57 are respectively equipped with the first installing plate 42 and the second installing plate 56, the described nut that moves axially is fixedly connected with the first installing plate 42, described the first installing plate 42 is connected with described radial movement mechanism.Described axial drive motors assembly 38 drives and axially drives leading screw 59 to rotate, thereby making to move axially nut is axially driving on leading screw 59 and is moving axially, and then drive the first installing plate 42, axial direct bobbin bearing assembly 57 axially on guide rod 45, sliding, thereby radial movement mechanism is moved axially together with welder; Described fixed cylinder 12 is provided with a shaft position sensor 58, for the axial displacement of measuring axial motion mechanism, when this axial displacement is default stroke, described axial drive motors assembly 38 stop motions, realize welder and the axial location of taking over weld seam 62.Described circumferential drive motors assembly 37 also comprises drive motors, small pulley, large belt wheel, cog belt.Preferably, the inner side of the inner side of described anterior planting 53 and rear side fixed head 27 is equipped with a positive stop 39, for axial limiting.
See Fig. 2, Fig. 7 and Fig. 9, described radial movement mechanism comprises the radial drive contiguous block 43 being arranged side by side, electric machine support 23 and working head installing rack 47, described electric machine support 23 is fixed on the first installing plate 42 in described axial motion mechanism, described welder is fixed on working head installing rack 47, between described radial drive contiguous block 43 and working head installing rack 47, be provided with radially guide rod 44 and move radially leading screw 41, described electric machine support 23 is provided with a radial drive electric machine assembly 40, the output of this radial drive electric machine assembly 40 is connected with a radial rotating nut, and this radial rotating nut sleeve is moving radially on leading screw 41, in the present embodiment, on described radially guide rod 44, cover has two linear bearings, and described linear bearing is fixed on the first installing plate 42 in axial motion mechanism by a mounting blocks.Described radial drive electric machine assembly 40 also comprises drive motors, small pulley, large belt wheel, cog belt, described radial rotating nut comprises stationary part and rotor portion, its stationary part is arranged on electric machine support 23, its rotor portion is connected with the large belt wheel in radial drive electric machine assembly 40, and moves radially leading screw 41 and match with the rotor portion of radial rotating nut.Radial drive electric machine assembly 40 rotates, and drives the rotor portion of radial rotating nut to rotate, thereby make to move radially leading screw 41, move radially, and then drive radial drive contiguous block 43, radially guide rod 44, working head installing rack 47 move radially together with welder; Described the first installing plate 42 is provided with a radial displacement transducer 46, for the radial displacement of measuring radial movement mechanism, when this radial displacement is default stroke, described radial drive electric machine assembly 40 stop motions, realize welder and the radial location of taking over weld seam 62.
So, by above-mentioned Three Degree Of Freedom winding machine welder circumferentially, axially, the radially motion in three directions, thereby guarantee that welder can accurately navigate to the damage reparation position of weld seam 62, guarantee the accessibility of weld job position.
Further, see Fig. 7 to Fig. 9, described welder comprises wire-feed motor 55, the wire feeding mouth 50 being connected with wire-feed motor 55 and the welding torch 51 being oppositely arranged with wire feeding mouth 50, described wire feeding mouth 50 and welding torch 51 are arranged on a plumb joint back-up block 52, described plumb joint back-up block 52 is fixed on described working head installing rack 47, described wire-feed motor 55 is fixed on the second installing plate 56, for to wire feeding mouth 50 wire feeds.In order to prevent that wrapping phenomena appears in wire feed cable in welding process, therefore a wire feed positioning disk 22 is set on described the first installing plate 42, wire-feed motor 55 process wire feed positioning disks 22 are to wire feeding mouth 50 wire feeds, thus elimination wire feed cable wrapping phenomena.Preferably, be also provided with a high-speed CCD camera 48 on described plumb joint back-up block 52, the image information changing for implementing to transmit welding arc, droplet transfer and weld seam 62 molten baths, is convenient to monitor welding quality, and position that can 62 damages of auxiliary positioning weld seam; Certainly, this high-speed CCD camera 48 can replace with other image collecting devices.
Preferably, also comprise that one for adjusting the position adjusting lever assembly 49 of wire feeding mouth 50 and welding torch 51 relative positions, see Fig. 9 and Figure 10, described wire feeding mouth 50 is arranged on position adjusting lever assembly 49, and position adjusting lever assembly 49 is arranged on described plumb joint back-up block 52.This position adjusting lever assembly 49 comprises a dwang 73 and a moving block 74, the two ends of described dwang 73 are located in respectively in plumb joint back-up block 52 and moving block 74, described wire feeding mouth 50 is located in moving block 74, can rotate lever 73 of described moving block 74 is rotated, and wire feeding mouth 50 can rotate in moving block 74, and the length that can regulate wire feeding mouth 50 to stretch out from moving block 74, thereby regulate the relative position between wire feeding mouth 50 and welding torch 51, guarantee the adaptability of welding procedure to welding position.Described wire-feed motor 55, wire feeding mouth 50, welding torch 51, position adjusting lever assembly 49 form the welding portion of welder, described welder also comprises polishing part, see Fig. 2 and Figure 11, this polishing part comprises the oscillating cylinder assembly 26 being located on described working head installing rack 47, described working head installing rack 47 is provided with an opening, in this opening, be provided with a Pneumatic motor assembly 25 being connected with oscillating cylinder assembly 26, the output of described Pneumatic motor assembly 25 is provided with an emery wheel 24.Described oscillating cylinder assembly 26 drive Pneumatic motor assemblies 25 swing, and to switch welding job and polishing work, the course bearing that Pneumatic motor assembly 25 swings is for taking over the circumferential of 63 inwalls.During welding, Pneumatic motor assembly 25 forwards retrieving position to; During polishing, Pneumatic motor assembly 25 forwards operating position to, and drives emery wheel 24 to rotate by Pneumatic motor assembly 25, to realize the polishing of butt welded seam 62.In addition, in described opening, be provided with the stopping means of restriction Pneumatic motor assembly 25 swing ceilings.
The specific works process of the maintenance of equipment of automatic welding under water that as shown in figure 12, the utility model relates to comprises following step:
A, reactor pit are full of water, and butt tube safe end 61 carries out after Non-Destructive Testing in earlier stage, pretreatment work (as milling, polishing etc.), and the damage position of weld seam 62 is determined;
B, according to the internal diameter of taking over 63, adjust the length of thrust adjusting lever assembly 19; Three-degree-of-freedom motion mechanism is carried out resetting compared with zero-sum, and by driving cylinder 36 that movable cylindrical shell 11 is held out against on the static sealing ring 10 of front medial branch fagging 8;
C, to the pressurize of ventilating in the interior cabin body of equipment, and the pressure detecting according to the pressure sensor 33 being arranged on rear medial branch fagging 14 judges whether body inside, interior cabin reaches the dwell pressure of setting, now, whole device interior forms a sealing cabin;
D, by whole equipment hoisting in special-purpose supporting frame, on bracing frame, have guide rail, cylinder, then by whole bracing frame handling in pressure vessel, and navigate to the height of taking over 63; Cylinder on bracing frame stretches out, and under the guide effect of guide castor 2, equipment is sent into and taken in 63;
E, when thrust position-arresting disk 18 approaches pressure vessel wall, the continuous detection and location signal of proximity transducer 17, when two proximity transducers 17 are simultaneously after triggering signal, axial location completes, now the cylinder on bracing frame stops promoting; Described compression positioning cylinder 1 stretches out, and holds out against and takes over 63 and safe end 61 inwalls, and now obliquity sensor 32 records circumferential inclination angle, finishing equipment fixing;
F, while, to four interior inflations of air bag 6, are adjacent to the inwall of adapter 63 and safe end 61, at adapter 63 and the interior formation distance piece of safe end 61 after air bag 6 expands;
G, to air inlet pipe 13, pass into the protective gas of setting pressure, now the water in distance piece is discharged from the draining branch 65 of drainpipe 21, after water is discharged completely, close the draining branch 65 of drainpipe 21, open the pressurize branch 66 of drainpipe 21, air inlet pipe 13 switches to the protective gas that passes into heating, weld seam 62 and barrel in air-dry distance piece simultaneously;
H, movable cylindrical shell 11 are opened, and the interior cabin body of equipment is opened, and have so far interiorly set up one section of static dry operation environment in part taking over 63;
J, by three-degree-of-freedom motion mechanism, welding torch 51 is navigated to the position of weld seam 62 damage, and the image information of transmitting by high-speed CCD camera 48 is as the auxiliary positioning verification of weld seam 62 damage positions;
K, beginning REPAIR WELDING, set technological parameter, start welder, logical protective gas, the fully dry damage position to be welded of the heat first producing by striking, then by the technique track of setting, start welding job, by high-speed CCD camera 48, observe the variation in molten bath, until complete built-up welding work simultaneously;
L, according to technique needs, oscillating cylinder assembly 26 drives Pneumatic motor assemblies 25, emery wheel 24 to forward operating position to, and the weld seam 62 of heap postwelding is carried out to grinding process;
The foreign matter of M, the 66 pairs of operating areas of pressurize branch by drainpipe 21 carries out vacuum recovery; And after maintenance work completes, control three-degree-of-freedom motion mechanism action, welder is recovered in equipment in the body of cabin; Movable cylindrical shell 11 closures, hold out against the static sealing ring 10 on front medial branch fagging 8, wait pressure sensor 33 detected values that are positioned at cabin body, reach and set after dwell pressure, close air inlet pipe 13;
N, four air bags 6 are disappointing, compresses positioning cylinder 1 and regains; Whole equipment is pulled out to bracing frame from taking in 63, and allocates and transports out pressure vessel, and then complete whole operation process.
In sum, the maintenance of equipment of automatic welding under water that the utility model relates to has following beneficial effect:
This Whole Equipment is a sealing cabin, and most parts are all arranged in the body of the interior cabin of sealing, have reduced parts and have been subject to alpha-contamination risk, have avoided the impact of water environment on parts work; The static dry operation environment of setting up by two air bag components of both sides, makes whole maintenance activity district all in dry type environment, has simplified the technology controlling and process program of Underwater Welding, has guaranteed stability and the repairing quality of welding process; Equipment operating is simple, the set-up time is short, and welding process automation can be saved the time of welding maintenance, and this is particularly important to nuclear power station field operation, and after welding, grinding process, foreign matter collection can effectively guarantee the clean of a Loop Water environment; Three-degree-of-freedom motion mechanism can fully guarantee the accessibility of weld seam 62 injury region welding maintenances; For the nuclear power station of difference heap type, only need to change a little parts, can take over 63 safe end weld seams 62 to the nuclear plant pressure vessels of difference heap type and carry out Underwater Welding maintenance, there is stronger adaptability.So the utility model has effectively overcome various shortcoming of the prior art and tool high industrial utilization.
Above-described embodiment is illustrative principle of the present utility model and effect thereof only, but not for limiting the utility model.Any person skilled in the art scholar all can, under spirit of the present utility model and category, modify or change above-described embodiment.Therefore, have in technical field under such as and conventionally know that the knowledgeable modifies or changes not departing from all equivalences that complete under spirit that the utility model discloses and technological thought, must be contained by claim of the present utility model.
Claims (15)
1. an automatic welding maintenance of equipment under water, it is characterized in that: comprise a main shaft (34), described main shaft (34) two ends are arranged with an air-bag support (5), on two air-bag supports (5), be equipped with air bag (6), between two air-bag supports (5), form a welding space (7), in this welding space (7), being provided with one can axially movable cylindrical shell, described cylindrical shell is provided with an air inlet pipe (13) and a drainpipe (21), described drainpipe (21) is communicated with welding space (7) and is positioned at the drainage space in air-bag support (5) outside, in described cylindrical shell, be provided with a welder.
2. the maintenance of equipment of automatic welding under water according to claim 1, it is characterized in that: also comprise that one is positioned at the three-degree-of-freedom motion mechanism of described cylindrical shell, this three-degree-of-freedom motion mechanism comprises circumferential movement mechanism, axial motion mechanism and radial movement mechanism, described axial motion mechanism is connected with circumferential movement mechanism, described radial movement mechanism is arranged in axial motion mechanism, and described welder is arranged in radial movement mechanism.
3. the maintenance of equipment of automatic welding under water according to claim 2, it is characterized in that: described circumferential movement mechanism comprise circumferential drive motors assembly (37), with mounting cylinder (28) that circumferentially output of drive motors assembly (37) is connected, described mounting cylinder (28) is enclosed within on main shaft (34), also can rotates around main shaft (34), and described mounting cylinder (28) is connected with described axial motion mechanism.
4. the maintenance of equipment of automatic welding under water according to claim 2, it is characterized in that: described axial motion mechanism comprises anterior planting (53) and the rear side fixed head (27) being connected by axial guide rod (45), described anterior planting (53) and rear side fixed head (27) are installed in described circumferential movement mechanism, described rear side fixed head (27) is provided with an axial drive motors assembly (38), the output of this axial drive motors assembly (38) and one axially drives leading screw (59) to be connected, the upper cover of described axial driving leading screw (59) has one to move axially nut, the upper cover of described axial guide rod (45) has an axial direct bobbin bearing assembly (57), the both sides of this axial direct bobbin bearing assembly (57) are respectively equipped with the first installing plate (42) and the second installing plate (56), the described nut that moves axially is fixedly connected with the first installing plate (42), described the first installing plate (42) is connected with described radial movement mechanism.
5. the maintenance of equipment of automatic welding under water according to claim 4, is characterized in that: the inner side of the inner side of described anterior planting (53) and rear side fixed head (27) is equipped with a positive stop (39).
6. the maintenance of equipment of automatic welding under water according to claim 2, it is characterized in that: described radial movement mechanism comprises the radial drive contiguous block (43) being arranged side by side, electric machine support (23) and working head installing rack (47), described electric machine support (23) is fixed in described axial motion mechanism, described welder is fixed on working head installing rack (47), between described radial drive contiguous block (43) and working head installing rack (47), be provided with radially guide rod (44) and move radially leading screw (41), described electric machine support (23) is provided with a radial drive electric machine assembly (40), the output of this radial drive electric machine assembly (40) is connected with a radial rotating nut, and this radial rotating nut sleeve is moving radially on leading screw (41).
7. the maintenance of equipment of automatic welding under water according to claim 6, it is characterized in that: described welder comprises wire-feed motor (55), the wire feeding mouth (50) being connected with wire-feed motor (55) and the welding torch (51) being oppositely arranged with wire feeding mouth (50), it is upper that described wire feeding mouth (50) and welding torch (51) are arranged on a plumb joint back-up block (52), and described plumb joint back-up block (52) is fixed on described working head installing rack (47).
8. the maintenance of equipment of automatic welding under water according to claim 7, is characterized in that: on described plumb joint back-up block (52), be also provided with a high-speed CCD camera (48).
9. the maintenance of equipment of automatic welding under water according to claim 7, it is characterized in that: described working head installing rack (47) is provided with an oscillating cylinder assembly (26), described working head installing rack (47) is provided with an opening, in this opening, be provided with a Pneumatic motor assembly (25) being connected with oscillating cylinder assembly (26), the output of described Pneumatic motor assembly (25) is provided with an emery wheel (24).
10. the maintenance of equipment of automatic welding under water according to claim 1, it is characterized in that: in two air-bag supports (5), the inside and outside both sides of an air-bag support (5) are respectively equipped with front medial branch fagging (8) and rami anterior lateralis fagging (4), the inside and outside both sides of another air-bag support (5) are respectively equipped with rear medial branch fagging (14) and rear lateral branch fagging (15), described front medial branch fagging (8), rami anterior lateralis fagging (4), rear medial branch fagging (14), and rear lateral branch fagging (15) is all fixed on described main shaft (34), described cylindrical shell two ends lean with front medial branch fagging (8) and rear medial branch fagging (14) respectively.
11. maintenances of equipment of automatic welding under water according to claim 10, it is characterized in that: described cylindrical shell comprises fixed cylinder (12) and the movable cylindrical shell (11) of mutual socket, described fixed cylinder (12) one end is fixed on rear medial branch fagging (14), described movable cylindrical shell (11) one end is resisted against on front medial branch fagging (8), on described rear medial branch fagging (14), be also provided with a driving cylinder (36), the piston rod of this driving cylinder (36) is connected with a movable tube stent (30), described movable tube stent (30) is connected with movable cylindrical shell (11).
12. maintenances of equipment of automatic welding under water according to claim 11, it is characterized in that: between described movable cylindrical shell (11) and fixed cylinder (12), be provided with a dynamic seal ring, between described movable cylindrical shell (11) and front medial branch fagging (8), be provided with a static sealing ring (10).
13. maintenances of equipment of automatic welding under water according to claim 11, it is characterized in that: also comprise the many axis of guides (35) that are fixedly located in rear lateral branch fagging (15) and rear medial branch fagging (14), this axis of guide (35) is connected by sliding bearing (29) with described movable tube stent (30).
14. maintenances of equipment of automatic welding under water according to claim 10, it is characterized in that: also comprise an axial location support (20), this axial location support (20) one end is connected with rear lateral branch fagging (15), the both sides up and down of the other end are equipped with a length-adjustable thrust adjusting lever assembly (19), the end of described thrust adjusting lever assembly (19) is provided with thrust position-arresting disk (18), and described thrust position-arresting disk (18) is also connected with a proximity transducer (17); The outside of the outside of described rear lateral branch fagging (15) and rami anterior lateralis fagging (4) is equipped with a guiding trestle (3), and the periphery of described guiding trestle (3) is provided with a plurality of compression positioning cylinders (1).
15. maintenances of equipment of automatic welding under water according to claim 14, is characterized in that: the periphery of described guiding trestle (3) is also provided with a plurality of guide castors (2), between described guide castor (2) and guiding trestle (3), are provided with coil tension spring (72).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320551670.3U CN203495376U (en) | 2013-09-05 | 2013-09-05 | Underwater automatic welding and maintaining device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320551670.3U CN203495376U (en) | 2013-09-05 | 2013-09-05 | Underwater automatic welding and maintaining device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203495376U true CN203495376U (en) | 2014-03-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320551670.3U Withdrawn - After Issue CN203495376U (en) | 2013-09-05 | 2013-09-05 | Underwater automatic welding and maintaining device |
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| CN (1) | CN203495376U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103480940A (en) * | 2013-09-05 | 2014-01-01 | 国核电站运行服务技术有限公司 | Automatic underwater welding maintenance equipment |
| CN106927008A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of submersible multi-thruster synchronous rotating mechanism |
| CN113118830A (en) * | 2021-04-23 | 2021-07-16 | 李强 | Special-shaped part clamping device for machining |
| CN116598945A (en) * | 2023-07-17 | 2023-08-15 | 山东省水利科学研究院 | Maintenance device with short-circuit prevention function for underwater cable |
-
2013
- 2013-09-05 CN CN201320551670.3U patent/CN203495376U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103480940A (en) * | 2013-09-05 | 2014-01-01 | 国核电站运行服务技术有限公司 | Automatic underwater welding maintenance equipment |
| CN103480940B (en) * | 2013-09-05 | 2016-05-18 | 国核电站运行服务技术有限公司 | Automatic welding maintenance of equipment under water |
| CN106927008A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of submersible multi-thruster synchronous rotating mechanism |
| CN106927008B (en) * | 2015-12-30 | 2019-05-07 | 中国科学院沈阳自动化研究所 | A kind of submersible multi-thruster synchronous rotating mechanism |
| CN113118830A (en) * | 2021-04-23 | 2021-07-16 | 李强 | Special-shaped part clamping device for machining |
| CN113118830B (en) * | 2021-04-23 | 2023-07-18 | 东莞市精誉自动化科技有限公司 | Special-shaped part clamping device for machining |
| CN116598945A (en) * | 2023-07-17 | 2023-08-15 | 山东省水利科学研究院 | Maintenance device with short-circuit prevention function for underwater cable |
| CN116598945B (en) * | 2023-07-17 | 2023-09-29 | 山东省水利科学研究院 | Maintenance device with short-circuit prevention function for underwater cable |
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