CN211564802U - Automatic welding device for spent fuel storage container - Google Patents
Automatic welding device for spent fuel storage container Download PDFInfo
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- CN211564802U CN211564802U CN201922150601.1U CN201922150601U CN211564802U CN 211564802 U CN211564802 U CN 211564802U CN 201922150601 U CN201922150601 U CN 201922150601U CN 211564802 U CN211564802 U CN 211564802U
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Abstract
The utility model provides a spent fuel storage container automatic welder, it includes: the automatic welding robot is detachably arranged on a top cover of the spent fuel storage container of the nuclear power plant and is quickly positioned so as to automatically seal and weld the top cover of the spent fuel storage container; the welding power supply and the gas protection device are used for providing a welding power supply and a cooling system for automatic welding of the automatic welding robot and providing inert gas protection for the automatic welding of the welding robot; the welding seam tracking system is arranged on the welding robot and used for realizing the identification and tracking of the welding seam; the electric control system provides a welding program and execution and control of welding operation for the automatic welding device; and a remote console for performing manual and automatic welding operations remotely and for real-time monitoring. The utility model discloses spent fuel stores container automatic welder can realize the automatic weld of spent fuel storage container top cap under the high radioactivity high temperature environment, and operating personnel receives the radioactivity irradiation dose low, does not produce secondary radioactive pollution.
Description
Technical Field
The utility model belongs to the technical field of the nuclear power, more specifically say, the utility model relates to a spent fuel stores container automatic welder.
Background
At present, with the rapid development of domestic nuclear power and the long-term operation of in-service nuclear power units, the number of spent fuels is rapidly increased. The spent fuel used by domestic in-service nuclear power plants is generally placed in a pool of a fuel plant, but due to the limited capacity of the spent fuel, the loading of the nuclear fuel is seriously affected by the continuously generated spent fuel, and the spent fuel needs to be transported out of the fuel plant for independent disposal. The main technology in foreign countries generally adopts a dry storage mode, spent fuel is filled in a special storage container, and the spent fuel enters a dry type dump for storage and treatment through a transfer device.
Because the welding requirement of the spent fuel tank is severe and the welding environment is high-risk, the welding mode of the spent fuel storage container in the world is generally implemented remotely by adopting a special welding machine (special machine) at present. The motion control of the welding gun is realized by a servo motor, a reducer and a transmission mechanism (a lead screw/a slide rail and the like) so as to meet the requirements of a welding process.
However, from the structural form and operation of the special welding machine, the special welding machine has the defects of complex structure, difficult field positioning and debugging, larger error, low overall flexibility of equipment and the like. In addition, the welding machine has high requirements on operators and cannot realize remote welding of partial welding seams (manual welding matching is needed), and the radioactive irradiation dose of the operators is increased.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a: the automatic welding device for the spent fuel storage container is suitable for high-radioactivity high-temperature environments, reduces the irradiation dose of personnel, and improves the welding quality and efficiency.
In order to achieve the above object, the present invention provides an automatic welding device for a spent fuel storage container, comprising:
the automatic welding robot is detachably arranged on a top cover of the spent fuel storage container of the nuclear power plant and is quickly positioned so as to automatically seal and weld the top cover of the spent fuel storage container;
the welding power supply and the gas protection device are used for providing a welding power supply and a cooling system for automatic welding of the automatic welding robot and providing inert gas protection for the automatic welding of the welding robot;
the welding seam tracking system is arranged on the automatic welding robot and realizes the identification and tracking of the welding seam;
the electric control system provides a welding program for automatic welding and executes and controls welding operation;
and the remote operation console is used for remotely executing manual and automatic welding operation of the top cover of the spent fuel storage container and monitoring in real time.
As an improvement of the utility model discloses spent fuel storage container automatic welder, be equipped with location and heat insulating board between welding robot and the spent fuel storage container top cap.
As an improvement of the automatic welding device for the spent fuel storage container, the welding robot is provided with a position-changeable base, a multi-axis manipulator installed on the position-changeable base, and a welding gun assembly installed on the multi-axis manipulator.
As an improvement of the utility model discloses spent fuel storage container automatic welder, the welder subassembly includes welder support, welder and thread feeding mechanism, be equipped with on the welder support and prevent bumping the sensor.
As an improvement of the automatic welding device for the spent fuel storage container, the welding gun support is provided with a welding line vision and welding line tracking device, a gun posture adjusting system and an arc voltage control system, and is used for controlling the position angle of the welding process welding gun and arcing and arc-stopping of the welding gun.
As an improvement of the utility model discloses spent fuel storage container automatic welder, be equipped with on the welder support and send the silk pipe and carry out the welded tungsten utmost point to the welding wire, vision and welding seam tracking means are just to tungsten utmost point and welding seam.
As an improvement of the utility model discloses spent fuel storage container automatic welder, install the support frame on the variable position base, be equipped with the wire feeding dish on the support frame, be equipped with on the robot and send a machine, the welding wire in the wire feeding dish conveys to the welding position through sending a machine.
As an improvement of the automatic welding device of the spent fuel storage container, the support frame is provided with a lug.
As an improvement of the automatic welding device for the spent fuel storage container, the welding power supply and the gas protection device are integrally arranged on the movable moving trolley.
As an improvement of the automatic welding device of the spent fuel storage container, the welding power supply and the gas protection device are provided with an argon gas bottle with a control external member, a welding power supply and a water cooling tank.
Compared with the prior art, the utility model discloses spent fuel stores container automatic welder can realize the automatic weld of spent fuel storage container top cap under the high radioactivity high temperature environment, satisfies requirements such as welding strength, leakproofness, welding efficiency, and operating personnel receives the radioactive irradiation dose low, does not produce secondary radioactive pollution.
Drawings
The automatic welding device for the spent fuel storage container and the technical effects thereof according to the present invention will be described in detail with reference to the accompanying drawings and the specific embodiments.
Fig. 1 is a schematic structural view of the automatic welding device for the spent fuel storage container of the present invention.
Fig. 2 is the structural schematic diagram of the welding robot in the automatic welding device for the spent fuel storage container of the utility model.
Fig. 3 is a schematic structural diagram of a welding gun assembly in the welding robot shown in fig. 2.
Fig. 4 is a schematic structural diagram of a power supply and a gas protection device in the automatic welding device for the spent fuel storage container of the present invention.
Reference numerals
An automatic welding robot-10; a storage vessel-101; positioning a heat insulation plate-102; a displaceable base-103; a lifting lug-104; wire reel-105; a torch-106; vision and weld tracking means-107; anti-collision sensor-108; a multi-axis robot-109; a wire feeder-110; cable holder-111; a torch support-112; a wire feeding pipe-113; a tungsten electrode-114;
power and gas protection-20; a mobile cart-215; argon control kit-216; an argon bottle-217; welding power supply-218; a water cooling tank-219;
electrical control system-30;
an operation table-40.
Detailed Description
In order to make the objects, technical solutions and technical effects of the present invention clearer, the present invention will be further described in detail with reference to the following embodiments. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and not limitation.
Referring to fig. 1 to 4, the automatic welding device for a spent fuel storage container of the present invention includes:
the automatic welding robot 10 is detachably mounted on a top cover (not marked) of the spent fuel storage container 101 of the nuclear power plant and is quickly positioned so as to automatically seal and weld the top cover of the spent fuel storage container;
a welding power supply and gas protection device 20 for providing a welding power supply and a cooling system for automatic welding of the automatic welding robot 10 and for providing inert gas protection for automatic welding of the welding robot;
the welding seam tracking system 107 is arranged on the automatic welding robot to realize the identification and tracking of the welding seam;
an electrical control system 30 for providing welding programs and execution and control of welding operations for automatic welding; and
and the remote operation platform 40 is used for remotely executing manual and automatic welding operation of the top cover of the spent fuel storage container and monitoring in real time.
Referring to fig. 2 in particular, a positioning heat insulation plate 102 is arranged between the welding robot 10 and the top cover of the spent fuel storage container, and the welding robot 10 is provided with a variable position base 103, a multi-axis manipulator 109 mounted on the variable position base 103, and a welding gun assembly mounted on the multi-axis manipulator 109. A support frame (not marked) is arranged on the variable base 103, a wire feeding disc 105 is arranged on the support frame, a wire feeder 110 is arranged on the robot, and welding wires in the wire feeding disc 105 are conveyed to a position to be welded through the wire feeder 110. In addition, the support frame is provided with a lifting lug 104 to facilitate the installation and the disassembly of the automatic welding robot 10. In addition, referring to fig. 1, a cable holder 111 is further provided on the robot to support various wires and cables of the automatic welding apparatus for the spent fuel storage container.
Referring specifically to FIG. 3, the welding gun assembly includes a welding gun support 112, a welding gun 106, and a wire feeder, wherein the welding gun support 112 is provided with an anti-collision sensor 108 for preventing collision with other objects during automatic welding. The welding gun support 112 is provided with a visual and welding seam tracking device 107 facing the welding seam, a gun posture adjusting system and an arc voltage control system (not marked) for controlling the position angle of the welding gun in the welding process and the arc starting and arc stopping of the welding gun. The vision and welding seam tracking device 107 adopts a vision image recognition technology to realize automatic tracking of welding seams, and solves the problem of uneven welding seam gaps caused by large equipment manufacturing and mounting errors. The vision and weld tracking device 107 can realize image analysis of (groove) weld and weld pool, automatically identify the center of the weld to adapt to manufacturing and installation errors of the spent fuel storage container, and automatically correct the welding track according to the actual condition of the weld. The welding gun 106 is provided with a wire feeding pipe 113 and a tungsten electrode 114 for welding the welding wire, and the visual and weld seam tracking device 107 is opposite to the tungsten electrode 114 and the weld seam.
Referring to fig. 4 in particular, in an embodiment of the automatic welding apparatus for a spent fuel storage container of the present invention, the power supply and gas protection device 20 is integrally disposed on the movable trolley 215, and the welding power supply and gas protection device 20 is provided with an argon cylinder 217 with a control kit 216, a welding power supply 218 and a water cooling tank 219.
It should be noted that the utility model discloses spent fuel storage container automatic welder adopts TIG automatic welding process, guarantees the welding quality of spent fuel storage container, avoids conventional large-scale container welding to adopt other gas shield welding or MIG welding process to cause the phenomenon that the welding slag splashes. The utility model discloses a welding parameter integrated control mode, through 40 remote monitering systems of operation panel, can realize the long-range online real time control of welder, guarantee welding quality.
It can be seen from the above detailed description of the embodiments of the present invention that, compared with the prior art, the automatic welding device for spent fuel storage container of the present invention has the following advantages:
the multi-axis manipulator 109 is matched with the variable-position base 103 to be applied to welding of the spent fuel storage container, so that automatic welding of multiple welding lines of the top cover of the spent fuel storage container in a severe environment can be realized;
in the welding process, the action and welding parameters of the welding gun can be remotely monitored and adjusted in real time according to the monitored welding condition, the requirements of welding tightness, strength, welding efficiency and the like are met, the irradiation dose of operators is low, and secondary radioactive pollution is not generated;
the automatic welding device for the spent fuel storage container adopts a portable and modular design, and is characterized in that the automatic welding robot 10, the welding power supply and gas protection device 20, the electric control system 30 and the operating platform 40 are respectively in a modular design and connected by adopting quick connectors, so that the quick assembly, disassembly and remote automatic control of the device can be realized.
According to the above principle, the present invention can also make appropriate changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should fall within the protection scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. An automatic welding device for a spent fuel storage container is characterized by comprising:
the automatic welding robot is detachably arranged on a top cover of the spent fuel storage container of the nuclear power plant and is quickly positioned so as to automatically seal and weld the top cover of the spent fuel storage container;
the welding power supply and the gas protection device are used for providing a welding power supply and a cooling system for automatic welding of the automatic welding robot and providing inert gas protection for the automatic welding of the welding robot;
the welding seam tracking system is arranged on the automatic welding robot and realizes the identification and tracking of the welding seam;
the electric control system provides a welding program for automatic welding and executes and controls welding operation;
and the remote operation console is used for remotely executing manual and automatic welding operation of the top cover of the spent fuel storage container and monitoring in real time.
2. The automatic welding device for the spent fuel storage container according to claim 1, wherein a positioning and heat insulation plate is arranged between the welding robot and the top cover of the spent fuel storage container.
3. The automatic welding apparatus for a spent fuel storage container according to claim 1, wherein the welding robot is provided with a displaceable base, a multi-axis robot mounted on the displaceable base, and a welding gun assembly mounted on the multi-axis robot.
4. The automatic welding device for the spent fuel storage container according to claim 3, wherein the welding gun assembly comprises a welding gun support, a welding gun and a wire feeding mechanism, and the welding gun support is provided with an anti-collision sensor.
5. The automatic welding device for the spent fuel storage container according to claim 4, wherein the welding gun support is provided with a welding line vision and welding line tracking device, a gun posture adjusting system and an arc voltage control system, and is used for controlling the position angle of the welding gun in the welding process and the arc starting and arc stopping of the welding gun.
6. The automatic welding device for the spent fuel storage container according to claim 5, wherein the welding gun support is provided with a wire feeding pipe and a tungsten electrode for welding the welding wire, and the vision and weld seam tracking device is opposite to the tungsten electrode and the weld seam.
7. The automatic welding device for the spent fuel storage container according to claim 3, wherein a support frame is mounted on the displaceable base, a wire feeding disc is arranged on the support frame, a wire feeder is arranged on the robot, and welding wires in the wire feeding disc are conveyed to a welding position through the wire feeder.
8. The automatic welding device for the spent fuel storage container according to claim 7, wherein the support frame is provided with a lifting lug.
9. The automatic welding device for the spent fuel storage container according to any one of claims 1 to 8, wherein the welding power supply and the gas protection device are integrally disposed on a movable trolley.
10. The automatic welding apparatus for a spent fuel storage container according to claim 9, wherein the welding power supply and gas protection device is provided with an argon cylinder with a control kit, a welding power supply and a water cooling tank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922150601.1U CN211564802U (en) | 2019-12-04 | 2019-12-04 | Automatic welding device for spent fuel storage container |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922150601.1U CN211564802U (en) | 2019-12-04 | 2019-12-04 | Automatic welding device for spent fuel storage container |
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| CN211564802U true CN211564802U (en) | 2020-09-25 |
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| CN201922150601.1U Active CN211564802U (en) | 2019-12-04 | 2019-12-04 | Automatic welding device for spent fuel storage container |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021034764A3 (en) * | 2019-08-16 | 2021-04-01 | Holtec International | Portable robotic welder for nuclear waste handling |
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2019
- 2019-12-04 CN CN201922150601.1U patent/CN211564802U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021034764A3 (en) * | 2019-08-16 | 2021-04-01 | Holtec International | Portable robotic welder for nuclear waste handling |
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