CN101758322A - Underwater remote-control welding system - Google Patents
Underwater remote-control welding system Download PDFInfo
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- CN101758322A CN101758322A CN200810240973A CN200810240973A CN101758322A CN 101758322 A CN101758322 A CN 101758322A CN 200810240973 A CN200810240973 A CN 200810240973A CN 200810240973 A CN200810240973 A CN 200810240973A CN 101758322 A CN101758322 A CN 101758322A
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Abstract
The invention discloses an underwater remote-control welding system, which is composed of an air compressor (1), an Ar gas bottle (2), a test chamber hydraulic station (3), a welding power supply (4), a welding platform hydraulic station (5), an underwater welding test chamber (6), a welding platform valve group (7), a wire feeder (8), an underwater welding camera (9), a drainage gas mask (10), a test steel plate (11), a water surface (12), a welding manual box (13), a control system cabinet (14), a monitor TV cabinet (15), a water surface camera (16), an underwater video camera (17) and a welding platform (18); wherein the underwater welding test chamber (6), the welding platform valve group (7), the wire feeder (8), the underwater welding camera (9), the drainage gas mask (10), the test steel plate (11), the water surface camera (16), the underwater video camera (17) and the welding platform (18) are arranged in the underwater welding test chamber (6); the air compressor (1), the Ar gas bottle (2), the test chamber hydraulic station (3), the welding power supply (4), the welding platform hydraulic station (5), the welding manual box (13), the control system cabinet (14) and the monitor TV cabinet (15) are positioned outside the underwater welding test chamber (6) and connected to the internal equipment of the underwater welding test chamber (6) through cables and air tubes. The invention can be used for the situation which staff cannot enter into such as deep water and the radiation environment, has compact equipment composition and high overall reliability, reduces operational risk, reduces labor intensity and improves production efficiency.
Description
Technical field
The present invention relates to welding experiment equipment under water, especially a kind of underwater remote-control welding unit equipment.
Background technology
Nuclear power station radioactivity container is numerous, for example reactor pressure vessel, evaporimeter, voltage-stablizer, condenser, spentnuclear fuel pond, refuelling pool, water feeder etc.The radioactivity container is easy to generate corrosion cracking, the surface abrasion of serious threat power plant safety operation because of effect such as nuclear radiation stress, need carry out the REPAIR WELDING of forms such as the welding of leak source benefit plate, the repair welding of crackle bevel, erosion corrosion surface overlaying.In order to reduce maintenance cost and radiation effect, be welded in the water and carry out.Though adopted robot among other many nuclear power generating equipment maintenances, ripe practical underwater remote-control welding system does not occur as yet, all be at present to wear thick and heavy professional protective clothes by the diving welder to carry out manual welding.Diving welder manual welding, be directly exposed among the radiation environment, and because the power station can not accept up to 500,000 dollars cooling shutdown expense per hour, the internal tank water temperature that has is very high, operating environment is extremely abominable, welder's activity duration is no more than 1 hour usually, and the water surface also needs personnel control's suffered dose of radiation of welder etc. of diving under water in addition, thereby human input is with high costs.Adopt underwater remote-control welding system to carry out the maintenance of radioactivity container, can greatly reduce personnel's radiation cost and shutdown cost, significant for the nuclear power maintenance.
Summary of the invention
According to background technology; the object of the present invention is to provide a kind of mainly by air compressor; the source of welding current; underwater welding test chamber; soldering camera under water; the draining gas hood; jig; the welding manual control box; the underwater remote-control welding unit equipment that the control system cabinet becomes with the surveillance television group; wherein: soldering camera under water; draining gas hood and jig are installed in the underwater welding test chamber; air compressor charges in the underwater welding test chamber compressed air until using the suitable stress level of needed water depth pressure with engineering; welding protection gas charges into the draining gas hood and forms for the welding arc needed local dry-type space of burning; jig is realized the needed three-dimensional motion of welding; welding arc monitors by soldering camera under water; welding operation is by the control of welding manual control box, thus the formation underwater remote-control welding system.
To achieve these goals, the present invention is achieved through the following technical solutions:
A kind of underwater remote-control welding system, mainly by air compressor (1), Ar gas cylinder (2), experimental cabin Hydraulic Station (3), the source of welding current (4), jig Hydraulic Station (5), underwater welding test chamber (6), jig valve group (7), wire-feed motor (8), soldering camera (9) under water, draining gas hood (10), test steel plate (11), the water surface (12), welding manual control box (13), control system cabinet (14), surveillance television cabinet (15), water surface video camera (16), Underwater Camera (17) and jig (18) are formed, wherein: underwater welding test chamber (6) inside adds water to the water surface (12), jig valve group (7), wire-feed motor (8), soldering camera (9) under water, draining gas hood (10), test steel plate (11), water surface video camera (16), Underwater Camera (17), jig (18) is installed in the underwater welding test chamber (6), air compressor (1), Ar gas cylinder (2), experimental cabin Hydraulic Station (3), the source of welding current (4), jig Hydraulic Station (5), welding manual control box (13), control system cabinet (14) and surveillance television cabinet (15) are positioned at underwater welding test chamber (6) outside, between the inside and outside equipment of underwater welding test chamber (6), by the cable that passes through flange (63), tracheae connects; Underwater remote-control welding unit equipment adopts the control of PLC system.
Described underwater welding test chamber (6) is the fast open locking vertical pressure vessel, drives the unlatching closure of unclamping the locking and the door (61) that opens the cabin soon that oil cylinder is realized clip (62) by experimental cabin Hydraulic Station (3) by hydraulic oil.
Described jig valve group (7) is installed on the water surface (12), and lifting support (181), welding walking slide unit (182), welding swing slide unit (183), welding tracking slide unit (184) and welding height are regulated support (185) and controlled by the proportional servo valve of jig valve group (7) by hydraulic cylinder.
Scene and welding arc are monitored by underwater television (152), water surface TV (153) and welding TV (154) respectively in the underwater portion of described jig (18), the cabin, wherein any one picture all can amplify by large-size screen monitors TV (151), and television system guidance panel (155) is operated TV and recorded a video.
Described draining gas hood (10) adopts and is with calm air chamber hoop intake method, and soldering camera (9) is installed in draining gas hood (10) top under water, and auto iris and automatic shading welding lens are adopted in built-in cold light illumination.
Described PLC system divides is environment RACS (142) and welding RACS (143).
Owing to adopted technique scheme, the present invention to have following advantage and effect:
1, the present invention is different from present diving welder and bears the local dry underwater welding that sliver carrying box under water carries out handwork and connect, underwater remote-control welding unit equipment is full-automatic welding, can be used for the inaccessiable occasions of personnel such as deep water and radiation environment, reduce labour intensity, improved production efficiency;
2, jig hydraulic-driven of the present invention is compared with motor-driven, underwater sealing design obtains very big simplification, improved operational reliability under the system water;
3, draining gas hood of the present invention adopts and is with calm air chamber hoop intake method, has improved shroud of gas effect in the cover, helps welding arc stablility and welding fume and gets rid of, and has improved the shooting readability;
4, the present invention's built-in cold light illumination of soldering camera under water makes the draining gas hood no longer need to install lighting source, has simplified the design of drainage cover;
5, the present invention welds camera under water and adopts auto iris, can adapt to the requirement of gas with various pressure, different welding conditions;
6, the present invention welds camera under water and adopts " shading welding lens automatically " optical filter as camera, need not to dismantle optical filter, UV mirror with postwelding before welding and also can obtain television monitoring effect clearly, realized that weldering is preceding, welding process is central and the self adaptation TV of postwelding different phase monitors;
7, the present invention by manual control box operation welding process, has realized the remote control of welding process by welding system operation of television monitoring under-water welding and welding arc.
8, the present invention adopts 2 cover PLC systems, is respectively applied for remote-control welding system needs under environment control and the welding command character Heshui, has simplified control logic, has improved system reliability.
Description of drawings
Fig. 1 is a main assembly schematic diagram of the present invention
The specific embodiment
Illustrate by Fig. 1, a kind of underwater remote-control welding system, mainly by air compressor 1, Ar gas cylinder 2, experimental cabin Hydraulic Station 3, the source of welding current 4, jig Hydraulic Station 5, underwater welding test chamber 6, jig valve group 7, wire-feed motor 8, soldering camera 9 under water, draining gas hood 10, test steel plate 11, the water surface 12, welding manual control box 13, control system cabinet 14, surveillance television cabinet 15, water surface video camera 16, Underwater Camera 17 and jig 18 are formed, wherein: underwater welding test chamber 6 inside add water to the water surface 12, jig valve group 7, wire-feed motor 8, soldering camera 9 under water, draining gas hood 10, test steel plate 11, water surface video camera 16, Underwater Camera 17, jig 18 is installed in the underwater welding test chamber 6, air compressor 1, Ar gas cylinder 2, experimental cabin Hydraulic Station 3, the source of welding current 4, jig Hydraulic Station 5, welding manual control box 13, control system cabinet 14 and surveillance television cabinet 15 are positioned at underwater welding test chamber 6 outsides, between the underwater welding test chamber 6 inside and outside equipment, by the cable that passes through flange 63, tracheae connects.
Underwater welding test chamber 6 is fast open locking vertical pressure vessels, drives the unlatching closure of unclamping the locking and the door 61 that opens the cabin soon that oil cylinder is realized clip 62 by experimental cabin Hydraulic Station 3 by hydraulic oil.
Open the cabin soon after door 61 closures, air compressor 1 charges into compressed air in underwater welding test chamber 6, is equivalent to engineering until pressure and uses needed water depth pressure and equate.The pressure oil that jig Hydraulic Station 5 provides is controlled the motion of jig 18 through after the jig valve group 7.Ar gas cylinder 2 charges into welding protection gas Ar in draining gas hood 10; lifting support 181 descends; jig 18 pulls the plug; welding manual control box 13 operation welding walking slide units 182, welding swing slide unit 183, welding tracking slide unit 184 and welding height are regulated support 185, realize the centering in place of draining gas hood 10 inner welding guns and test steel plate 11.Welding manual control box 13 is sent the welding instruction, and the source of welding current 4 starts, wire-feed motor 8 wire feeds, and draining gas hood 10 inner welding gun arcings, welding process begins.
The jig hydraulic-driven, jig valve group 7 is installed on the water surface 12, compares with motor-driven, underwater sealing design obtains very big simplification.Lifting support 181, welding walking slide unit 182, welding swing slide unit 183, welding tracking slide unit 184 and welding height are regulated support 185 and are controlled by the proportional servo valve of jig valve group 7 by hydraulic cylinder.Welding walking slide unit 182 strokes satisfy the needs of test steel plate 11 length, welding swing slide unit 183 is the left and right sides, an equilbrium position high speed swinging with the weld seam center, welding tracking slide unit 184 is realized the tracking of welding gun for the weld seam center, and the welding height is regulated support 185 and realized draining gas hood 10 and test contacting of steel plate 11.
After the welding beginning, monitor whole welding process by the surveillance television cabinet.Underwater television 152, water surface TV 153 and welding TV 154 monitor scene and welding arc in the underwater portion, cabin of jig 18 respectively, wherein any one picture all can amplify by large-size screen monitors TV 152, and television system guidance panel 155 is used for TV is operated and recorded a video.
Draining gas hood 10 adopts is with calm air chamber hoop intake method, has improved shroud of gas effect in the cover, helps welding arc stablility and welding fume and gets rid of, and has improved the shooting readability.Soldering camera 9 is installed in draining gas hood 10 tops under water, and built-in cold light illumination makes the draining gas hood no longer need to install lighting source, has simplified the design of drainage cover.Soldering camera 9 adopts auto iris under water, can adapt to the requirement of gas with various pressure, different welding conditions, adopt the optical filter of automatic shading welding lens as camera, need not to dismantle optical filter, UV mirror with postwelding before welding and also can obtain television monitoring effect clearly, and realized that weldering is preceding, welding process is central and the self adaptation TV of postwelding different phase monitors.
Underwater remote-control welding system adopts PLC control, is divided into 2 subsystems, promptly is used for the environment RACS that underwater welding test chamber 6 closed test environment are set up, and the welding RACS that is used for the source of welding current 4, wire-feed motor 8 and jig 18 controls.Control system cabinet 14 is divided into 3 modules, i.e. control system display operating panel 141, environment RACS PLC142 and welding RACS PLC143.Adopt 2 cover PLC systems, meet the underwater remote-control welding system needs, simplified control logic, improved system reliability.
Claims (6)
1. underwater remote-control welding system, mainly by air compressor (1), Ar gas cylinder (2), experimental cabin Hydraulic Station (3), the source of welding current (4), jig Hydraulic Station (5), underwater welding test chamber (6), jig valve group (7), wire-feed motor (8), soldering camera (9) under water, draining gas hood (10), test steel plate (11), the water surface (12), welding manual control box (13), control system cabinet (14), surveillance television cabinet (15), water surface video camera (16), Underwater Camera (17) and jig (18) are formed, it is characterized in that: underwater welding test chamber (6) inside adds water to the water surface (12), jig valve group (7), wire-feed motor (8), soldering camera (9) under water, draining gas hood (10), test steel plate (11), water surface video camera (16), Underwater Camera (17), jig (18) is installed in the underwater welding test chamber (6), air compressor (1), Ar gas cylinder (2), experimental cabin Hydraulic Station (3), the source of welding current (4), jig Hydraulic Station (5), welding manual control box (13), control system cabinet (14) and surveillance television cabinet (15) are positioned at underwater welding test chamber (6) outside, between the inside and outside equipment of underwater welding test chamber (6), by the cable that passes through flange (63), tracheae connects; Underwater remote-control welding unit equipment adopts the control of PLC system.
2. underwater remote-control welding system according to claim 1, it is characterized in that: described underwater welding test chamber (6) is the fast open locking vertical pressure vessel, drives the unlatching closure of unclamping the locking and the door (61) that opens the cabin soon that oil cylinder is realized clip (62) by experimental cabin Hydraulic Station (3) by hydraulic oil.
3. underwater remote-control welding system according to claim 1, it is characterized in that: described jig valve group (7) is installed on the water surface (12), and lifting support (181), welding walking slide unit (182), welding swing slide unit (183), welding tracking slide unit (184) and welding height are regulated support (185) and controlled by the proportional servo valve of jig valve group (7) by hydraulic cylinder.
4. underwater remote-control welding system according to claim 1, it is characterized in that: scene and welding arc are monitored by underwater television (152), water surface TV (153) and welding TV (154) respectively in the underwater portion of described jig (18), the cabin, wherein any one picture all can amplify by large-size screen monitors TV (151), and television system guidance panel (155) is operated TV and recorded a video.
5. underwater remote-control welding system according to claim 1, it is characterized in that: described draining gas hood (10) adopts is with calm air chamber hoop intake method, soldering camera (9) is installed in draining gas hood (10) top under water, auto iris and automatic shading welding lens are adopted in built-in cold light illumination.
6. underwater remote-control welding system according to claim 1 is characterized in that: described PLC system divides is environment RACS (142) and welding RACS (143).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810240973A CN101758322A (en) | 2008-12-25 | 2008-12-25 | Underwater remote-control welding system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810240973A CN101758322A (en) | 2008-12-25 | 2008-12-25 | Underwater remote-control welding system |
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| CN101758322A true CN101758322A (en) | 2010-06-30 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102848090A (en) * | 2012-08-31 | 2013-01-02 | 哈尔滨工业大学 | Automatic welding experiment system for simulating medium pressure liquid or gaseous environment |
| CN103043194A (en) * | 2013-01-06 | 2013-04-17 | 中铁隧道集团有限公司 | Manned training test chamber and test method for dry welding in hyperbaric environment |
| CN103586565A (en) * | 2013-11-04 | 2014-02-19 | 哈尔滨工业大学（威海） | Underwater wet welding tracking system based on active vision |
| CN104259637A (en) * | 2014-07-14 | 2015-01-07 | 中国人民解放军海军潜艇学院 | Underwater multifunctional stud welding device and welding method thereof |
| CN105057843A (en) * | 2015-08-04 | 2015-11-18 | 刘杰 | Automatic submersible welding platform adopting sharp processing |
| CN106944718A (en) * | 2017-03-31 | 2017-07-14 | 山东省科学院海洋仪器仪表研究所 | A kind of split submersible type source of welding current |
| CN110253144A (en) * | 2019-07-16 | 2019-09-20 | 上海核工程研究设计院有限公司 | A kind of underwater laser welding complex control system and its welding method |
| CN113084526A (en) * | 2019-12-23 | 2021-07-09 | 国核电站运行服务技术有限公司 | Automatic welding maintenance device and method for underwater shroud plate of large-scale water pool bottom plate |
| CN115430882A (en) * | 2022-09-02 | 2022-12-06 | 北京石油化工学院 | Underwater welding repair device for spent fuel pool |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102848090A (en) * | 2012-08-31 | 2013-01-02 | 哈尔滨工业大学 | Automatic welding experiment system for simulating medium pressure liquid or gaseous environment |
| CN103043194A (en) * | 2013-01-06 | 2013-04-17 | 中铁隧道集团有限公司 | Manned training test chamber and test method for dry welding in hyperbaric environment |
| CN103043194B (en) * | 2013-01-06 | 2015-04-22 | 中铁隧道集团有限公司 | Manned training test chamber and test method for dry welding in hyperbaric environment |
| CN103586565A (en) * | 2013-11-04 | 2014-02-19 | 哈尔滨工业大学（威海） | Underwater wet welding tracking system based on active vision |
| CN104259637A (en) * | 2014-07-14 | 2015-01-07 | 中国人民解放军海军潜艇学院 | Underwater multifunctional stud welding device and welding method thereof |
| CN105057843A (en) * | 2015-08-04 | 2015-11-18 | 刘杰 | Automatic submersible welding platform adopting sharp processing |
| CN106944718A (en) * | 2017-03-31 | 2017-07-14 | 山东省科学院海洋仪器仪表研究所 | A kind of split submersible type source of welding current |
| CN110253144A (en) * | 2019-07-16 | 2019-09-20 | 上海核工程研究设计院有限公司 | A kind of underwater laser welding complex control system and its welding method |
| CN113084526A (en) * | 2019-12-23 | 2021-07-09 | 国核电站运行服务技术有限公司 | Automatic welding maintenance device and method for underwater shroud plate of large-scale water pool bottom plate |
| CN115430882A (en) * | 2022-09-02 | 2022-12-06 | 北京石油化工学院 | Underwater welding repair device for spent fuel pool |
| CN115430882B (en) * | 2022-09-02 | 2023-07-25 | 北京石油化工学院 | Underwater welding repair device for spent fuel pool |
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Application publication date: 20100630 |