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《焊接技术》2021,(2)
目前,核电站的焊修工作都是由行车焊工进行,质量难以保证,水下局部干焊技术是目前的发展趋势。文中首先分析了水下焊接技术在核电站焊接修复中的应用现状,并以局部干法水下焊接304奥氏体不锈钢对接焊缝为例,指出了水下焊接接头与空气中焊接接头力学性能和耐蚀性的差距。为了适应未来高放射性、高风险的水下焊接环境,研制局部干式水下焊接自动化系统将是未来核电站关键敏感部件水下焊接修复的关键。为此,在此基础上,研制了一套遥控水下局部干式金属惰性气体保护焊自动焊接系统,其关键部件是一个能模拟30 m水深环境的压力容器。焊接舱内有3个摄像头,其可以监控设备的运行状态和焊接过程。304奥氏体不锈钢15 m水深焊接试验结果表明,该系统能满足局部干焊试验的要求。这些研究成果对核电站水下焊接修复技术的发展具有重要意义。 相似文献
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针对渤海湾石油管道的技术特点和项目内容要求,研制出一种在60~100 m深的水域完成输油管道的修补作业的水下高压全位置焊接的焊接机器人.使用PPI通信协议,控制系统实现多机工作的协调和管理,解决了对机器人的运动参数的控制和焊接参数的接管控制.采用人机交互系统,实现了对机器人的控制和对焊接状态、场景的监控,同时解决了高压环境下的无人操作自动焊接问题.在0.1 MPa,0.3 MPa,0.5 MPa和0.7 MPa压力下,进行16Mn试件的焊接工艺研究,获得良好的单面焊双面成形的效果.试验研究表明,提高焊接机器人的控制水平、采用遥控操作,是解决高压干式焊接的关键技术. 相似文献
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采用高压试验舱模拟水下高压干式焊接环境,以压缩空气为气源进行加压,通过防燃爆试验验证在0.1~0.7 MPa范围内,在CO2和混合气(80%Ar+20%CO2)作为保护气源的情况下,可以进行正常的GMAW焊接过程.在此基础上,通过试验研究了高压空气环境下GMAW电弧特性,分别考察了环境压力、焊接电流、焊丝伸出长度和保护气种类及流量对焊接电弧特性的影响规律,并给出试验结果.借助最小二乘法对试验数据进行拟合,得出了高压空气环境下GMAW电弧电压的数学模型. 相似文献
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干式高压焊接时,环境压力对焊接电弧的影响不容忽视.电弧温度是焊接电弧物理特性的重要参数之一,测定高压环境下的电弧温度对于深入理解焊接电弧在高压环境下的物理特性,从而寻求改善水下干式高压焊接质量的新途径有重要意义.介绍了电弧等离子体光谱诊断方法,对高压环境下的TiG电弧光谱进行分析,建立了一套切实可行的高压环境电弧温度测量方法.对高压环境焊接电弧温度变化规律进行了分析,建立了环境压力与电弧温度的函数关系式,并对试验结果进行了讨论.研究结果对于高压环境焊接电弧物理特性的研究具有参考价值. 相似文献
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针对水下焊接环境要求,设计了一种履带式水下焊接机器人系统,该系统由机器人本体机构、激光视觉传感器、控制系统和焊接系统组成. 机器人本体机构由履带式移动平台和焊枪调节机构构成,运动灵活可靠,满足水下焊接焊缝跟踪要求. 完成了视觉传感器部件选型及光路设计,实现水下环境的焊缝自动识别. 设计了基于PLC机器人控制系统和协调控制方法,实现水下环境的焊缝跟踪控制. 同时在水下焊接试验平台完成焊接跟踪试验. 结果表明,机器人运行稳定,焊缝成形较好,焊接质量满足要求. 相似文献
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0前言从2000年以来,北京石油化工学院能源工程先进连接技术研究中心(以下简称研究中心)在国家高技术研究发展计划(863计划)等的支持下,开发了一系列高新焊接技术,尤其是在水下焊接和焊接自动化领域取得了重要突破。研究中心建立了水下干式高压焊接装置,研制成功了遥操作海底管道维修焊接机器人,开发了海底管道高压焊接工艺,并进行了海上试验。除了水下干式高压焊接,研究中心还建立了用于核电厂检修的水下焊接实验系统,能够模拟30m水深工程环 相似文献
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To satisfy the demand for good quality underwater welding and maintenance of nuclear power stations, a set of local dry automatic welding systems has been developed. These systems were based on an underwater robot that consisted of a special high-power underwater welding power supply, diving wire feeder, mini drain cap, welding robot, and special underwater welding torch. With a digital signal controller microprocessor as its core and combined with a dual inverter topology, the welding power supply was characterized by full-digital construction and multi-waveform flexible output. A compact diving wire feeding device was designed, based on the armature voltage negative feedback and high-frequency chopping pulse width modulation.This device yielded a high-efficiency seal of the driving motor with the help of dynamic and static sealing technology. To overcome the difficulty of local protection and deslagging in the welding area, a mini drain cap (with a duplexgas structure) based on the principle of the convergent nozzle was designed. The practical tests and the underwater welding experiments revealed that the underwater robotic local dry welding system is quite feasible. That is, the system could strike the arc stably and reliably in the shallow water environment, and formed beautiful welding seams. 相似文献
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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. 相似文献
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基于陆上焊接电源、高压舱、工控机、运动控制卡、两个具有编码器反馈信号的速度控制模式的直流伺服电动机、一个步进电机以及电动机驱动器、工作台、霍尔电流传感器、数据采集卡等,设计并实现了一种高压舱水下焊接系统.在该系统中,通过工控机上的人机交互界面发出的信号使电机驱动工作台三轴的运动控制带动焊枪在高压舱内进行模拟不同水深的水... 相似文献
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The research of gas shielding stability technology, playing a key role in underwater local dry welding, was introduced in this paper. The study includes shielding cup design, gas flow simulation, draining and welding experiments. The commercial computational fluid dynamics(CFD) software FLUENT was applied to get and compare the speed and pressure contour images of gas in the three kinds of cup with different intake mode. The computed results show that the cup with stilling chamber on the top has the best shielding performance. The underwater welding experiment of 15 meters proves that the shielding cup with stilling chamber can offer a good dry space, the welding arc can burn stably in it and the weld quality is perfect. The research will facilitate the application of underwater local dry welding technology in the maintenance of nuclear power station widely. 相似文献
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旋转电弧传感器是焊缝自动化跟踪常采用的一种传感器,将它用于水下焊接是一门新课题.文章对高压环境下,采用旋转电弧传感器焊接所产生的电弧模型进行了仿真计算.结果表明,随着气压由0.1MPa升高到1MPa,电弧温度也升高,焊丝附近温度梯度也增大,同时电弧温度场由钟罩形转变为纺锤形.通过对两个不同气压下焊件表面温度的测量说明高压下要熔化同样的焊件需要施加更高的电源功率.对两个不同气压下旋转中心轴线与焊丝所在轴线纵向温度的对比可以证明使用电弧传感器的电弧加热形成的熔池截面形状应该是碗状的,而非指状.通过对电弧电流密度场和电场的分析解释了电弧温度场为纺锤形的原因. 相似文献
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Takeshi Obana Yasumitsu Hamada Toshihiro Ootsuka Seiichi Toyoda Atsushi Hosogane Kaoru Ooeda 《Welding International》2013,27(5):382-396
The core technology of an underwater TIG welding process has been developed and a welding equipment system has been manufactured for application to the maintenance of the spent fuel storage pool of Rokkasho reprocessing plant. Basic experiments for understanding the conditions of the dry area and the range of welding conditions was performed, and mock examination for simulation of the real environment by using the developed welding equipment was also carried out to judge the applicability of the system. For the purpose of selecting a water removing method for different spatial conditions of the parts to be maintained underwater, two kinds of welding equipment systems of Chamber type and Partition type were developed and manufactured. On the basis of fundamental experiments, the conditions of dry area formation and welding parameter range for high-reliability weld are discussed. Thus the proper condition of this process was able to be established. With the welding equipment systems of the Chamber type and Partition type, the practical use examination of underwater TIG welding process was executed by mock examination for simulating the real environment. As a result, it was confirmed that the underwater TIG welding could obtain the same reliability as a usual in-air TIG welding, and the operation and the control at remote distance were also possible. And the reliability of the patch-plate fillet weld could be evaluated by remote inspection with the expansion visual test. 相似文献