水下机器人局部干法焊接系统的分析
Underwater robot local dry welding system
-
摘要: 针对核电站优质水下焊接修复需求，研制了一套局部干法水下机器人焊接系统.以DSC微处理器为核心，结合二次逆变主电路，设计了全数字多波形柔性输出的大功率水下焊接电源；采用电枢电压反馈控制、高频斩波脉宽调制及动静密封技术，开发了紧凑型潜水送丝装置；针对焊接局部保护和排渣难题，开发了基于收缩喷管原理的双气帘结构微型排水罩.集成专用水下焊枪、机器人、视觉系统等，搭建水下机器人局部干法焊接试验平台，开展水下焊接试验.结果表明，研制的局部干法焊接系统样机性能可靠，引弧成功率高，焊接过程稳定，焊缝成形美观.Abstract: Aimed at the demand of good quality underwater welding and maintenance for nuclear power station, a set of local dry automatic welding system has been developed,It is based on an underwater robot which is made up from a special high-power underwater welding source, a diving wire feeder, a mini drain cap, a welding robot and a special underwater welding torch. With DSC-level ARM microprocessor as its core and combined with the dual inverter topological, the welding source is of full-digital construction and multi-wave flexible output. Based on the armature voltage negative feedback and high-frequency chopping pulse width modulation, a compact diving wire feeding device has been designed and it has achieved the high-efficiency seal of the driving motor with the help of the dynamic and static sealing technology. Considering that the difficulty of local protection and deslagging in the welding area, a mini drain cap of duplex gas structure based on the principle of the convergent nozzle has been designed. Both the practical tests and the underwater welding experiments have showed that the underwater robotic local dry welding system is a perfect design. It can not only strike the arc stably and reliably in the shallow water environment but also form beautiful welding seam.
-
-
[1] abanowski J, Fydrych D, Rogalski G. Underwater welding-a review[J]. Advances in Materials Sciences, 2009, 8(3):11-22. [2] Jerzy abanowski. Development of under-water welding techniques[J]. Welding International, 2011, 25(12):933-937. [3] Dariusz Fydrych, Grzegorz Rogalski. Effect of underwater local cavity welding method conditions on diffusible hydrogen content in deposited metal[J]. Welding International, 2013, 27(3):196-202. [4] 王振民, 冯允樑, 冯锐杰, 等. 水下焊接机器人多功能焊接系统:中国, CN103706927A[P]. 2013-12-19. [5] 高辉, 焦向东, 周灿丰, 等. 水下高压局部干式自动焊接试验装置控制系统[J]. 焊接学报, 2008, 29(10):65-68. Gao Hui, Jiao Xiangdong, Zhou Canfeng, et al. Control system of underwater high-pressure local dry automatic welding testing apparatus[J]. Transactions of the China Welding Institution, 2008, 29(10):65-68. [6] 石永华, 郑泽培, 黄晋. 水下湿法药芯焊丝焊接电弧稳定性[J]. 焊接学报, 2012, 33(10):49-53. Shi Yonghua, Zheng Zepei, Huang Jin. Arc stability of under-water wet flux-cored arc welding[J]. Transactions of the China Welding Institution, 2012, 33(10):49-53. [7] 王振民, 冯锐杰, 冯允樑, 等. 水下焊接机器人智能潜水送丝系统的研制[J]. 自然科学版, 2014, 42(11):1-6. Wang Zhenmin, Feng Ruijie, Feng Yunliang, et al. Development of an intelligent wire feeder for underwater welding Robot[J]. Journal of South China University of Technology, 2014, 42(11):1-6. [8] 李兰, 薛龙, 黄军芬, 等. 水下局部干法焊接圆形排水罩的流体仿真分析[J]. 焊接学报, 2016, 37(2):43-46. Li Lan, Xue Long, Huang Junfen, et al. Simulation of fluid in cylindrical drainage cover for underwater local dry welding[J]. Transactions of the China Welding Institution, 2016, 37(2):43-46. -
期刊类型引用(7)
1. 白云龙，冷冰，韦博鑫，董立谨，于长坤，许进，孙成. 掺氢天然气管材及焊缝的氢损伤行为研究进展. 中国腐蚀与防护学报. 2025(02): 283-295 . 
百度学术
2. 孟不凡，赵建平. X80钢补焊残余应力影响下的氢扩散模拟. 电焊机. 2023(06): 83-91 . 百度学术
3. 刘雪，钟史放，徐连勇，赵雷，韩永典. 不同应力幅下X65管线钢焊接接头的腐蚀疲劳行为. 焊接学报. 2023(07): 24-31+78+130 . 本站查看
4. 薛钢. 基于Mises屈服准则和I_1断裂准则的焊接接头力学特性分析. 材料开发与应用. 2022(05): 1-10 . 百度学术
5. 田万鹏. 基于SYSWELD的X80管线钢焊接接头温度场的数值模拟. 机械工程师. 2020(12): 70-72 . 百度学术
6. 张根树，张颖. 2.25Cr1Mo0.25V钢非拘束焊接接头焊后热处理. 一重技术. 2018(02): 44-47+60 . 百度学术
7. 赵朋成，刘振伟，王璐璐，高世一，王振民. X65管线钢管闪光对焊工艺参数对焊接接头力学性能和缺陷的影响. 材料导报. 2017(20): 87-91 . 百度学术
其他类型引用(7)
计量
- 文章访问数: 923
- HTML全文浏览量: 13
- PDF下载量: 620
- 被引次数: 14
下载:
