CN112475767A - Water-cooled wall on-site repairing method based on automatic surfacing technology - Google Patents
Water-cooled wall on-site repairing method based on automatic surfacing technology Download PDFInfo
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- CN112475767A CN112475767A CN202011255794.8A CN202011255794A CN112475767A CN 112475767 A CN112475767 A CN 112475767A CN 202011255794 A CN202011255794 A CN 202011255794A CN 112475767 A CN112475767 A CN 112475767A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P6/00—Restoring or reconditioning objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/04—Welding for other purposes than joining, e.g. built-up welding
- B23K9/042—Built-up welding on planar surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
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Abstract
The invention relates to a water-cooled wall on-site repairing method based on an automatic surfacing technology, and belongs to the technical field of power plant equipment maintenance. The invention provides a water-cooled wall on-site repair method based on an automatic surfacing technology, and provides a set of automatic GTAW surfacing technology suitable for T23 water-cooled wall on-site repair through a large number of process test researches; the invention realizes the remote visual automatic GTAW surfacing repair of the T23 water-cooled wall by means of a remote visual wall-climbing robot and by utilizing an automatic GTAW surfacing nickel-based material technology. The method solves the problem that a scaffold or a hanging basket must be erected for tube replacement repair in the traditional T23 water-cooled wall pipeline repair, simultaneously avoids the processes of pre-welding preheating and post-welding heat treatment required by tube replacement, greatly reduces the technical difficulty of the on-site repair of the T23 water-cooled wall, shortens the construction period and reduces the cost.
Description
Technical Field
The invention relates to a water-cooled wall on-site repairing method based on an automatic surfacing technology, and belongs to the technical field of power plant equipment maintenance.
Background
In the field of thermal power stations, a boiler generally adopts a membrane type water-cooled wall structure (4 surfaces in the height direction, the height of a single surface exceeds 50 meters, the width of the single surface exceeds 30 meters, and the boiler is formed by welding water-cooled wall pipelines and fins), the water in the water-cooled wall is heated by utilizing the combustion of pulverized coal, and a steam turbine is pushed to rotate by generated high-temperature high-pressure steam, so that a generator is pushed to generate electric energy. In the running process of the unit, the surface of the water-cooled wall is affected by high-temperature flue gas corrosion, surface scaling (slagging) and the like, so that the thickness of the water-cooled wall is reduced or the surface of the water-cooled wall is cracked, and pipe explosion occurs in severe cases, so that the unit is abnormally shut down, and the safe running of the unit is seriously affected. At present, the welding maintenance of water wall pipelines generally adopts a method of tube replacement and repair, and utilizes a built scaffold platform or hanging basket to firstly cut tubes and then complete the welding of new tubes and old tubes by adopting a manual welding mode; not only consumes a large amount of manpower and material resources, but also has large difficulty in tube replacement and welding and slow progress.
Membrane wall tubes are typically made from T23 steel (07Cr2MoW2VNbB), which has a tendency to cold crack and a very pronounced tendency to reheat cracking, and if butt welded, must be pre-weld and post-weld heat treated.
The method for implementing the repair by overlaying a plurality of layers of corrosion-resistant materials on the outer wall of the pipeline with the inner wall having defects or the thickness being reduced has the advantages that the pipeline with the defects is reinforced by increasing the wall thickness, and a welding residual stress field which is expected to be needed is formed on the inner side of the pipeline by overlaying, so that the expansion of the original defects and the generation of new defects are prevented; preheating is not needed before welding, and heat treatment is not needed after welding. Due to the advantages of the surfacing repair technology, the method is particularly suitable for the maintenance process of pipelines with defects or thinned interiors, dissimilar material joints and various leakage sealing welding seams.
The existing surfacing process is used in the manufacturing stage of the water wall so as to improve the heat resistance and corrosion resistance of the water wall and prolong the service life of the water wall. However, the water wall made of T23 still adopts a tube replacement mode for field repair. Firstly, a scaffold platform or a hanging basket is erected on the inner side of the boiler, damaged water-cooled wall pipelines are cut off, then a new pipe and an old pipe are in butt joint and spot welding at the inner part and the outer part of the boiler, manual butt joint welding is carried out on the inner part and the outer part of the boiler after preheating before welding, and preheating after welding is carried out after welding is completed. And then carrying out welded junction flaw detection, and finishing the tube replacement work after the welded junction flaw detection is qualified.
With the development of the wall-climbing robot technology, the application of a remotely controllable intelligent maintenance platform based on the wall-climbing robot becomes possible. And the welding head is carried on the wall-climbing robot, reaches a specified position, and finishes repairing the defect part in an automatic GTAW surfacing mode.
Generally, the existing welding maintenance method for the membrane water wall of the thermal power station has the following problems:
(1) the T23 water wall tube replacement in the boiler needs to build a scaffold platform or a hanging basket, so that the workload is large and the maintenance time is long;
(2) the water wall made of T23 steel has cold cracking tendency and very obvious reheating crack tendency during welding, and pre-welding preheating and post-welding heat treatment are required if butt welding is required; it is difficult to implement inside the boiler;
(3) the existing surfacing process is already used in the water-cooled wall manufacturing stage, but the research on the on-site surfacing repair process of the water-cooled wall made of T23 is less, and the automatic GTAW surfacing process is particularly suitable for on-site repair of the T23 water-cooled wall.
In view of the above-mentioned defects, the designer actively makes research and innovation to create a water wall on-site repairing method based on automatic surfacing technology, so that the method has industrial utilization value.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a water-cooled wall field repairing method based on an automatic surfacing technology. The invention provides a water-cooled wall on-site repair method based on an automatic surfacing technology, and provides a set of automatic GTAW surfacing technology suitable for T23 water-cooled wall on-site repair through a large number of process test researches; the invention realizes the remote visual automatic GTAW surfacing repair of the T23 water-cooled wall by means of a remote visual wall-climbing robot and by utilizing an automatic GTAW surfacing nickel-based material technology. The method solves the problem that a scaffold or a hanging basket must be erected for tube replacement repair in the traditional T23 water-cooled wall pipeline repair, simultaneously avoids the processes of pre-welding preheating and post-welding heat treatment required by tube replacement, greatly reduces the technical difficulty of the on-site repair of the T23 water-cooled wall, shortens the construction period and reduces the cost.
The invention discloses a water-cooled wall on-site repairing method based on an automatic surfacing technology, which comprises the following concrete repairing steps:
(1) testing and installing a wall-climbing robot and an automatic GTAW surfacing platform of a water wall:
assembling all modules of the automatic GTAW surfacing platform of the water-cooled wall, integrally installing the modules on a wall-climbing robot, performing function test on the wall-climbing robot and the automatic GTAW surfacing platform of the water-cooled wall, checking the conditions of the wall-climbing robot and the automatic GTAW surfacing platform of the water-cooled wall, and ensuring normal operation;
(2) walking to a specified position:
transfer equipment to water-cooling wall manhole, will climb inside wall robot and the automatic GTAW build-up welding platform of water-cooling wall, carry furnace respectively, the back that finishes is assembled, adsorb the robot to the water-cooling wall on to carry the safety rope, prevent that abnormal equipment from falling. The wall-climbing robot is controlled to walk to a part needing welding by observing the camera of the wall-climbing robot and adjusting a remote controller;
(3) preparing work before welding repair:
firstly, the robot is controlled to move forwards, rotate, move transversely, press down and the like through a remote controller, whether the work of each moving unit is stable is observed, and after the verification of each function is completed, the posture of the wall climbing robot is adjusted, so that the welding repair condition is met;
(4) and (3) welding implementation:
according to the self-set automatic butt welding process parameters, calling a welding data sheet through a remote controller, starting welding operation, generating electric arcs by a tungsten needle and a water-cooled wall through high-frequency arc striking, continuously melting a water-cooled wall base metal and an ERNiCr3 welding wire, carrying out first backing weld pass welding, and continuously repeating the operation after the first weld pass is finished, and carrying out filling and cover surface weld pass welding until the weld pass is finished;
(5) and (3) returning by the wall climbing robot and the automatic GTAW surfacing platform of the water wall:
after the surfacing is completed, the wall climbing robot is controlled to return to the position near the manhole through the observation environment camera and the adjusting remote controller, the robot power supply and the control box power supply are closed, the safety rope is removed, and finally, the wall climbing robot and the automatic GTAW surfacing platform of the water wall are disassembled to be transported out of the manhole.
Further, ERNiCr is selected as the automatic GTAW surfacing welding platform of the water-cooled wall3The diameter of the welding wire is 1.0mm, the welding wire disc is 0.5 kg, the total thickness of the surfacing layers is 4 layers, and the total thickness of the surfacing layers is more than or equal to the thickness of the water-cooled wall pipeline.
Further, the self-set automatic butt welding process parameters in the step (4) are as follows, wherein the process parameters of the backing weld bead are as follows: the peak value of the current is 165-175A, the base value is 60%, the peak value of the walking speed is 60%, the base value is 100-110 mm/min, the peak value of the wire feeding speed is 1000-1200 mm/min, the base value is 60%, the voltage value is 8-9V, and the technological parameters of filling and covering weld beads are as follows: the peak value of the current is 155-165A, the base value is 50%, the peak value of the walking speed is 60%, the base value is 100-110 mm/min, the peak value of the wire feeding speed is 1000-1200 mm/min, the base value is 60%, and the voltage value is 8-9V.
Further, the flow of the protective gas in the welding operation in the step (4) is 10-15L/min, and the interlayer temperature is less than 250 ℃.
By the scheme, the invention at least has the following advantages:
1. the invention provides a method and a process for on-site automatic repair of a T23 water-cooled wall, which are based on an automatic surfacing technology, and can realize the welding repair of a damaged water-cooled wall pipeline in a remote visual manner without building a scaffold or a hanging basket, so that the repair cost is low and the overhaul period is short;
2. the water-cooled wall field repair method based on the automatic surfacing technology adopts the method of automatically GTAW surfacing nickel-based welding wires for the T23 water-cooled wall field repair, avoids the processes of pre-welding preheating and post-welding heat treatment required by tube replacement, and greatly reduces the technical difficulty of the T23 water-cooled wall field repair;
3. according to the water-cooled wall on-site repair method based on the automatic surfacing technology, the automatic GTAW surfacing technology of the T23 water-cooled wall on-site repair is optimized, the combination of current pulse, walking pulse and wire feeding pulse technologies is adopted, and synchronous coupling control output is adopted, so that the welding heat input control of a surfacing layer is realized, the generation of arc pit cracks and welding bead microcracks is avoided, a high-quality surfacing layer can be obtained, and the requirement of the boiler inner side T23 water-cooled wall pipeline repair is met.
4. The water-cooled wall field repair method based on the automatic surfacing technology provided by the invention has the advantages that the test result of the automatic GTAW surfacing technology according to the optimized T23 water-cooled wall field repair shows that the mechanical property of the nickel-based surfacing joint meets the standard requirement; finally, the nickel-based surfacing layer generates 255Mpa compressive stress on the water-cooled wall pipeline, so that the expansion of the original defects and the generation of new defects are prevented.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate a certain embodiment of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic perspective view of an automatic GTAW weld deposit platform for water walls according to the present invention;
FIG. 2 is a front view of the water cooled wall automatic GTAW weld deposit platform of the present invention;
FIG. 3 is a left side view of the water cooled wall automatic GTAW weld overlay platform of the present invention;
FIG. 4 is a top view of the waterwall automated GTAW weld overlay platform of the present invention;
FIG. 5 is a logic diagram of the principle of self-adaptation of arc height in the automatic GTAW weld deposit platform of the water wall of the present invention;
FIG. 6 is a microstructure diagram of a parent material T23;
FIG. 7 is a microstructure view near the weld line;
FIG. 8 is a weld microstructure of NiCr 3;
FIG. 9 is a schematic view of an automatic GTAW weld deposit for a water wall of T23;
wherein, in the figure;
1. a three-axis mobile platform; 2. a welding torch; 3. an environmental camera; 4. a molten pool monitoring camera; 5. an arc height adaptive module; 6. an arc voltage acquisition module; 7. a welding wire position adjusting module; 8. a wall climbing robot; 9. A wire tip; 11. a support; 12. a transverse motor; 13. a transverse moving beam; 14. a longitudinal motor; 15. a longitudinal moving beam; 16. an upper motor and a lower motor; 17. moving the beam up and down; 18. fixing the bolt; 91. a wire reel; 92. And a wire feeding mechanism.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Referring to fig. 1 to 5, a water-cooled wall automatic GTAW surfacing welding platform according to a preferred embodiment of the present invention includes a three-axis moving platform 1, a welding torch 2, an environment camera 3, a molten pool monitoring camera 4, an arc height adaptive module 5, an arc voltage acquisition module 6, a wire feeding system, and a welding wire position adjustment module 7.
The three-axis moving platform 1 is mainly used for overall three-axis movement of a welding head and teaching walking and welding walking of the welding head in a welding process, and comprises a support 11, a transverse motor 12, a transverse moving beam 13, a longitudinal motor 14, a longitudinal moving beam 15, an up-down motor 16 and an up-down moving beam 17. The transverse motor 12 and the transverse moving beam 13 realize the transverse movement of the three-axis moving platform 1; the longitudinal motor 14 and the longitudinal moving beam 15 realize the longitudinal movement of the three-axis moving platform 1; the up-down motor 16 and the up-down moving beam 17 realize the up-down movement of the three-axis moving platform 1. The support 11 is arranged on the three-axis mobile platform 1, and the whole body is fixed on the wall-climbing robot 8 body through a fixing bolt 18.
The environment camera 3 is mainly used for observing the whole environment and position; the whole is fixed on the welding torch 2 by bolts.
The molten pool monitoring camera 4 is mainly used for observing a welding molten pool in the welding process to ensure the welding forming quality; the whole is fixed on the welding torch 2 by bolts.
The welding wire position adjusting module 7 is used for adjusting the relative position between the welding wire nozzle 9 and the welding torch 2, and comprises an up-down distance, an inner-outer distance and an angle. The whole is fixed on the welding torch 2 by bolts.
The welding torch 2 is used for actual welding, air is punctured under the action of high-frequency pulses, electric arcs are generated between the tungsten needle and the water-cooled wall, base metals and welding wires are melted, and welding is completed. The whole is fixed on the arc height self-adaptive module 5 through bolts.
The arc voltage acquisition module 6 is arranged outside the welding torch 2 and is mainly used for acquiring arc voltage in the welding process.
The arc height self-adaptive module 5 is mainly used for self-adaptive adjustment of the distance between the welding torch 2 and the water-cooled wall in the welding process, the distance is compared with a set value according to the value acquired by the arc voltage acquisition module 6, and the distance between the welding torch 2 and the water-cooled wall is adjusted to the value specified by the welding process through a certain algorithm and by controlling and ensuring an adjusting motor in the arc height self-adaptive module 5. Mainly comprises an adjusting motor, a gear, a rack and an electric arc height controller. The whole is fixed on an up-and-down moving beam of the three-axis moving platform 1 through bolts.
The wire feeding system is mainly used for straightening and feeding welding wires. Mainly comprises a wire reel 91, a wire feeder 92, a wire straightening mechanism and the like. The whole is fixed on a longitudinal moving beam 15 of the three-axis moving platform 1 through bolts.
In order to ensure that the self-adaptive module 5 for the height of the electric arc between the tungsten needle and the water wall is mainly used for self-adaptively adjusting the distance between the tungsten needle and the water wall in the welding process, the distance between the welding torch 2 and the water wall is kept unchanged according to the numerical value specified by the welding process. The arc voltage acquisition device mainly comprises an adjusting motor, a gear, a rack, an arc voltage acquisition module 6 and an arc height controller. The whole is fixed on an up-and-down moving beam 17 of the three-axis moving platform 1 through bolts.
Arc height adaptation principle: during welding, an arc voltage acquisition module arranged outside the welding torch acquires welding voltage in real time, data are transmitted to an arc height controller, the arc height controller drives an adjusting motor to adjust the welding torch upwards or downwards through comparison and analysis with a set value according to a certain arc height algorithm, and the distance between the welding torch and a water wall is kept unchanged according to a numerical value specified by a welding process.
Arc height algorithm formula: arc voltage is cathode voltage drop + anode voltage drop + arc voltage drop x arc height;
the walking teaching principle is as follows: in the welding process, in order to ensure that the movement of the welding torch is in accordance with the actual welding requirements and prevent deviation, the welding path planning is required before welding. And the actual walking path is executed according to the teaching by using an x-y two-dimensional coordinate two-point path algorithm and through double-shaft linkage adjustment.
The following specifically explains the working process of the present embodiment, including:
(1) testing and installing a wall-climbing robot and an automatic GTAW surfacing platform of a water wall:
assembling all modules of the automatic GTAW surfacing platform of the water-cooled wall, integrally installing the modules on a wall-climbing robot, performing function test on the wall-climbing robot and the automatic GTAW surfacing platform of the water-cooled wall, checking the conditions of the wall-climbing robot and the automatic GTAW surfacing platform of the water-cooled wall, and ensuring normal operation;
(2) walking to a specified position:
transfer equipment to water-cooling wall manhole, will climb inside wall robot and the automatic GTAW build-up welding platform of water-cooling wall, carry furnace respectively, the back that finishes is assembled, adsorb the robot to the water-cooling wall on to carry the safety rope, prevent that abnormal equipment from falling. The wall-climbing robot is controlled to walk to a part needing welding by observing the camera of the wall-climbing robot and adjusting a remote controller;
(3) preparing work before welding repair:
firstly, the robot is controlled to move forwards, rotate, move transversely, press down and the like through a remote controller, whether the work of each moving unit is stable is observed, and after the verification of each function is completed, the posture of the wall climbing robot is adjusted, so that the welding repair condition is met;
(4) and (3) welding implementation:
calling a welding data sheet through a remote controller, starting welding operation, generating electric arcs between a tungsten needle and a water-cooled wall through high-frequency arc striking, continuously melting a water-cooled wall base metal and an ERNiCr3 welding wire, and continuously repeating the operation after the first surfacing is finished until the surfacing is finished;
(5) and (3) returning by the wall climbing robot and the automatic GTAW surfacing platform of the water wall:
after the surfacing is completed, the wall climbing robot is controlled to return to the position near the manhole through the observation environment camera and the adjusting remote controller, the robot power supply and the control box power supply are closed, the safety rope is removed, and finally, the wall climbing robot and the automatic GTAW surfacing platform of the water wall are disassembled to be transported out of the manhole.
The method for repairing the T23 water-cooled wall on site based on the automatic GTAW surfacing technology comprises the steps of adopting a wall-climbing robot carrying automatic welding equipment mode, remotely controlling to reach a part needing welding repair, then locally and automatically GTAW surfacing welding a nickel-based welding wire, realizing extension of a pressure boundary at a position where a water-cooled wall contains defects or is thinned, manufacturing compressive stress in a local area, and inhibiting expansion of the defects.
The automatic GTAW surfacing welding adopts ERNiCr3 welding wires with the diameter of 1.0mm and a 0.5 kilogram welding wire disc. The thickness of the overlaying layer is equal to that of the water wall pipeline, wherein the thickness of the water wall pipeline is 6.8 mm.
Crater cracks and weld bead microcracks are easy to appear in automatic GTAW surfacing ERNiCr3 welding wires; the elimination of crater cracks mainly increases the arc-quenching time, and research shows that the crater cracks can be eliminated when the arc-quenching time exceeds 6 s. The micro cracks of the welding bead are mainly crystal cracks and need to be eliminated by reasonably selecting the process; research shows that when the ERNiCr3 welding wire is automatically welded on the surface of the T23 water-cooled wall pipeline in a GTAW surfacing mode, technological parameter pulses are needed, and meanwhile, all technological parameters are synchronously coupled and controlled to be output. Through a large number of process tests and analyses, a set of automatic GTAW surfacing process suitable for field repair of a T23 water-cooled wall is developed, and specific process conditions are shown in Table 1; the flow of protective gas is 10-15L/min during welding, and the interlayer temperature is controlled within 250 ℃.
TABLE 1 automatic GTAW surfacing process for field repair of T23 water wall
And (3) test results:
preparing a metallographic sample, observing the tissues of each area of the surfacing joint under a metallographic microscope, wherein the T23 base metal area is a typical tempered bainite + tempered martensite structure as shown in figures 6-8, an obvious transition layer is arranged near a fusion line, the combination is tight, the defects of unfused, air holes, slag inclusion and the like are not found, and NiCr3The overlaying layer is a typical austenite structure;
according to GB/T228.1 part 1 of the tensile test for metallic materials: room temperature test method, performing a normal temperature tensile property test on a surfacing joint, performing a 450 ℃ high temperature tensile property test on a surfacing test sample according to GB/T4338 'Metal Material high temperature tensile test method', performing a room temperature impact test on the surfacing test sample according to GB/T229 'Metal Material Charpy pendulum impact test method', wherein the test results are shown in Table 2, and show that after ERNiCr3 welding materials are surfaced on the surface of a water wall, the normal temperature tensile strength, the high temperature yield strength and the normal temperature impact toughness all meet the performance requirements on a T23 pipeline in GB/T5310 'seamless steel pipe Standard for high pressure boilers'.
TABLE 2T 23 mechanical properties of water wall nickel-based weld deposit joint
According to the standard of GB/T31310-.
TABLE 3 residual stress of the nickel-based weld deposit surfaces of the Water-cooled wall of T23
| Build-up welding layer | Residual stress, MPa |
| Layer 1 (priming layer) | -185.0 |
| Layer 2 (filling layer) | -207.0 |
| Layer 3 (filling layer) | -242.0 |
| Layer 4 (cover layer) | -255.0 |
Through residual stress test, the automatic GTAW surfacing layer for on-site repair of the T23 water wall needs 4 layers, and the thickness is larger than or equal to the thickness of the water wall
The automatic GTAW surfacing schematic diagram of the T23 water-cooled wall in the embodiment is shown in figure 9.
According to the experimental results, the water-cooled wall on-site repairing method based on the automatic surfacing technology has an excellent repairing effect and a wide application prospect.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (4)
1. A water-cooled wall field repairing method based on an automatic surfacing technology is characterized by comprising the following concrete repairing steps:
(1) testing and installing a wall-climbing robot and an automatic GTAW surfacing platform of a water wall:
assembling all modules of the automatic GTAW surfacing platform of the water-cooled wall, integrally installing the modules on a wall-climbing robot, performing function test on the wall-climbing robot and the automatic GTAW surfacing platform of the water-cooled wall, checking the conditions of the wall-climbing robot and the automatic GTAW surfacing platform of the water-cooled wall, and ensuring normal operation;
(2) walking to a specified position:
transfer equipment to water-cooling wall manhole, will climb inside wall robot and the automatic GTAW build-up welding platform of water-cooling wall, carry furnace respectively, the back that finishes is assembled, adsorb the robot to the water-cooling wall on to carry the safety rope, prevent that abnormal equipment from falling. The wall-climbing robot is controlled to walk to a part needing welding by observing the camera of the wall-climbing robot and adjusting a remote controller;
(3) preparing work before welding repair:
firstly, the robot is controlled to move forwards, rotate, move transversely, press down and the like through a remote controller, whether the work of each moving unit is stable is observed, and after the verification of each function is completed, the posture of the wall climbing robot is adjusted, so that the welding repair condition is met;
(4) and (3) welding implementation:
according to the self-set automatic butt welding process parameters, calling a welding data sheet through a remote controller, starting welding operation, generating electric arcs by a tungsten needle and a water-cooled wall through high-frequency arc striking, continuously melting a water-cooled wall base metal and an ERNiCr3 welding wire, carrying out first backing weld pass welding, and continuously repeating the operation after the first weld pass is finished, and carrying out filling and cover surface weld pass welding until the weld pass is finished;
(5) and (3) returning by the wall climbing robot and the automatic GTAW surfacing platform of the water wall:
after the surfacing is completed, the wall climbing robot is controlled to return to the position near the manhole through the observation environment camera and the adjusting remote controller, the robot power supply and the control box power supply are closed, the safety rope is removed, and finally, the wall climbing robot and the automatic GTAW surfacing platform of the water wall are disassembled to be transported out of the manhole.
2. The on-site repair method for the water cooled wall based on the automatic surfacing technology according to claim 1, characterized by comprising the following steps: ERNiCr is selected as the automatic GTAW surfacing welding platform of the water-cooled wall3The diameter of the welding wire is 1.0mm, the welding wire disc is 0.5 kg, the total thickness of the surfacing layers is 4 layers, and the total thickness of the surfacing layers is more than or equal to the thickness of the water-cooled wall pipeline.
3. The on-site repair method for the water cooled wall based on the automatic surfacing technology according to claim 1, characterized by comprising the following steps: the self-set automatic butt welding process parameters in the step (4) are as follows, wherein the process parameters of the backing weld bead are as follows: the peak value of the current is 165-175A, the base value is 60%, the peak value of the walking speed is 60%, the base value is 100-110 mm/min, the peak value of the wire feeding speed is 1000-1200 mm/min, the base value is 60%, the voltage value is 8-9V, and the technological parameters of filling and covering weld beads are as follows: the peak value of the current is 155-165A, the base value is 50%, the peak value of the walking speed is 60%, the base value is 100-110 mm/min, the peak value of the wire feeding speed is 1000-1200 mm/min, the base value is 60%, and the voltage value is 8-9V.
4. The on-site repair method for the water cooled wall based on the automatic surfacing technology according to claim 1, characterized by comprising the following steps: in the step (4), the flow of the protective gas in the welding operation is 10-15L/min, and the interlayer temperature is less than 250 ℃.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN113523458A (en) * | 2021-08-09 | 2021-10-22 | 岳阳大陆激光技术有限公司 | Bolt hole repairing and reconstructing device and method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112958874A (en) * | 2021-03-19 | 2021-06-15 | 南京航空航天大学 | Electric arc additive remanufacturing device and method for recyclable rocket box body structure |
| CN112958874B (en) * | 2021-03-19 | 2023-09-08 | 南京航空航天大学 | Arc additive remanufacturing device and method for recyclable rocket box structure |
| CN113523458A (en) * | 2021-08-09 | 2021-10-22 | 岳阳大陆激光技术有限公司 | Bolt hole repairing and reconstructing device and method |
| CN114888494A (en) * | 2022-06-28 | 2022-08-12 | 中国十七冶集团有限公司 | High-altitude steel beam welding robot, welding head adjusting mechanism and welding method |
| WO2024000952A1 (en) * | 2022-06-28 | 2024-01-04 | 中国十七冶集团有限公司 | High-altitude steel beam welding robot, welding head adjusting mechanism, and welding method |
| CN117600624A (en) * | 2024-01-18 | 2024-02-27 | 南昌工程学院 | Welding robot system special for diaphragm wall and diaphragm wall welding method |
| CN117600624B (en) * | 2024-01-18 | 2024-03-29 | 南昌工程学院 | Welding robot system special for diaphragm wall and diaphragm wall welding method |
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