CN114034040A

CN114034040A - Underwater torch control method based on robot control

Info

Publication number: CN114034040A
Application number: CN202111164941.5A
Authority: CN
Inventors: 费立群; 覃正; 李春光; 张波; 李志永; 刘萍; 李煜
Original assignee: Beijing Power Machinery Institute
Current assignee: Beijing Power Machinery Institute
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-02-11
Anticipated expiration: 2041-09-30
Also published as: CN114034040B

Abstract

The application provides an underwater torch control method based on robot control, which comprises the following steps: acquiring a moving path of the robot under water; according to the moving path, the robot carries an auxiliary heat integration fuel gas cylinder, an oxygen cylinder and a torch to move underwater, and the water pressure of the underwater position of a combustion chamber of a combustor in the torch carried by the robot is obtained; and controlling the pressure of protective oxygen introduced into a combustion chamber of the combustor through an oxygen cylinder according to water pressure so that the pressure of the protective oxygen is greater than the water pressure, discharging water in the combustion chamber, mixing premixed oxygen and fuel gas, and introducing the mixed premixed oxygen and the fuel gas into a core flame nozzle head of the combustor for combustion. Through with fuel gas cylinder, oxygen cylinder and torch integration on the robot, through predetermineeing the removal route, the control robot carries the torch and removes the transmission torch according to the removal route, has avoided leading to the fact dangerous condition through the manual work in the transmission easily winter.

Description

Underwater torch control method based on robot control

Technical Field

The application relates to the technical field of torches, in particular to an underwater torch control method based on robot control.

Background

The process of transferring the torch meets a plurality of different road conditions, the torch needs to be transferred underwater when the torch is transferred to water areas such as rivers, oxygen is needed to be supplied to torch hands by carrying oxygen bottles on the back when the torch is transferred by people, and the torch hands in the water areas with complicated underwater conditions also have a plurality of dangers when being transferred, so a novel underwater torch transfer method is needed.

Disclosure of Invention

The present application is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, the application aims to provide an underwater torch control method based on robot control, the method is characterized in that a fuel gas cylinder, an oxygen cylinder and a torch are integrated on a robot, the robot is controlled to carry the torch to move and transfer the torch according to a moving path through presetting the moving path, and the condition that danger is easily caused in the process of transferring manually in winter is avoided.

In order to achieve the above purpose, the present application provides a method for controlling an underwater torch based on robot control, which includes the following steps: acquiring a moving path of the robot under water;

according to the moving path, the robot carries the auxiliary heat integration fuel gas cylinder, the oxygen cylinder and the torch to move underwater, and the opening and closing of output channels of the auxiliary heat integration fuel gas cylinder and the oxygen cylinder are controlled by the robot;

acquiring water pressure of an underwater position where a combustion chamber of a combustor in a torch carried by the robot is located;

controlling the pressure of protective oxygen introduced into a combustion chamber of the combustor through an oxygen cylinder according to the water pressure so that the pressure of the protective oxygen is greater than the water pressure, and further discharging water in the combustion chamber;

spraying premixed oxygen output by the oxygen cylinder into a mixed jet flow channel of a jet flow mixing nozzle in a torch through one end of the jet flow mixing nozzle in a premixing and strengthening device;

injecting the fuel gas output by the auxiliary heat integration fuel gas bottle into the mixed jet flow channel through a fuel spray hole on the side wall of the jet flow mixing nozzle along the direction vertical to the injection direction of the premixed oxygen so as to enable the premixed oxygen and the fuel gas to be subjected to collision and dispersion in the mixed jet flow channel to obtain premixed gas;

and introducing the premixed gas into the core flame nozzle head of the combustor for combustion.

Preferably, before the premixed gas is introduced into the core flame nozzle head of the combustor for combustion, the method further comprises the following steps:

introducing the premixed gas into a premixed gas channel in a premixed reinforcing device so as to enable the premixed gas to be secondarily mixed in the premixed gas channel to obtain mixed gas;

and introducing the mixed gas into the mixed gas channel to be combusted at the head part of the core flame nozzle.

Preferably, in the process of introducing the mixed gas into the mixed gas channel, the pressure of the mixed gas introduced into the mixed gas channel on the core flame nozzle is adjusted according to the water pressure, so that the pressure of the mixed gas is greater than the water pressure, and the jet effect of the flame formed when the mixed gas is combusted at the head of the core flame nozzle is further achieved.

Preferably, before the premixed oxygen output by the oxygen cylinder is sprayed into the mixing jet channel of the jet blending nozzle through one end of the jet blending nozzle in the premixing and strengthening device, the method further comprises the following steps: and limiting the flow of the premixed oxygen through a premixed oxygen nozzle channel at one end of the jet mixing nozzle, and spraying the premixed oxygen into a mixing jet channel of the jet mixing nozzle for mixing.

Preferably, before the premixed oxygen is restricted by the premixed oxygen nozzle channel at one end of the jet mixing nozzle, the method further comprises: and the flow regulating distributor in the torch is utilized to divide the combustion-supporting oxygen output by the oxygen cylinder into the premixed oxygen and the intensified oxygen, and the flow of the premixed oxygen and the intensified oxygen is controlled.

Preferably, the intensified oxygen is introduced into the core oxygen inlet channel of the core flame nozzle, so that when the mixed gas is combusted at the head part of the core flame nozzle, the intensified oxygen supports combustion of the combusting flame to intensify the combustion of the mixed gas.

Preferably, before the fuel gas output by the auxiliary heat integrated fuel gas cylinder is injected into the mixing jet flow channel through the fuel injection hole on the side wall of the jet mixing nozzle along the direction perpendicular to the injection direction of the premixed oxygen, the method further comprises the following steps: and introducing the fuel gas output by the auxiliary heat integration fuel gas bottle into the flow regulating distributor so as to regulate the flow of the fuel gas by using the flow regulating distributor, and introducing the fuel gas with the regulated flow into the jet mixing nozzle to be mixed with the premixed oxygen.

Preferably, the protective oxygen that is passed into the combustion chamber of the burner is passed along the lower side of the side wall of the combustion chamber.

Preferably, before the utilizing a flow regulating distributor in a flare to split the combustion-supporting oxygen output by the oxygen cylinder into the premixed oxygen and the intensified oxygen, the method further comprises: and introducing oxygen in an oxygen bottle into an oxygen splitter in a torch to split the oxygen into the combustion-supporting oxygen and the protective oxygen, and controlling the flow of the combustion-supporting oxygen and the protective oxygen through the oxygen splitter.

Preferably, a heat-conducting liquid is filled into an interlayer between a fuel bottle inside the auxiliary heat integrated fuel gas bottle and an auxiliary heat tank with a sealing sleeve arranged outside the fuel bottle, so that the fuel bottle is immersed in the heat-conducting liquid and conducts heat with the heat-conducting liquid;

acquiring the temperature of the heat-conducting liquid;

and according to the temperature of the heat-conducting liquid, heating the heat-conducting liquid through a heating assembly in the auxiliary heating tank so as to keep the heat-conducting liquid at a preset temperature, thereby ensuring the stable output of the fuel gas.

Preferably, when the mixed gas is introduced into the core flame nozzle head through the mixed gas channel, the mixed gas is blocked by a plurality of turbulence damping fins at the top of the mixed gas channel, so that the mixed gas is dispersed into a plurality of strands to be sprayed out, and the mixed gas is combusted at the core flame nozzle head.

Preferably, after the output channels of the robot-controlled auxiliary heat integration fuel gas cylinder and the oxygen gas cylinder are opened, the oxygen and the fuel gas output by the output channels are decompressed, then the decompressed oxygen is introduced into the oxygen splitter for splitting, and the decompressed fuel gas is introduced into the flow regulation distributor for flow regulation.

Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic diagram of a method for controlling an underwater flare based on robot control according to an embodiment of the present application;

FIG. 2 is a schematic illustration of a structure of a subsea flare as set forth in another embodiment of the present application;

FIG. 3 is a schematic partial structure of FIG. 1 of the present application;

FIG. 4 is a cross-sectional view of FIG. 3 of the present application;

FIG. 5 is a partial cross-sectional structural view of FIG. 2 of the present application;

FIG. 6 is a schematic partial structure of FIG. 4 of the present application;

FIG. 7 is a partial schematic structural view of FIG. 4 of the present application;

FIG. 8 is a schematic partial structure of FIG. 4 of the present application;

FIG. 9 is a partial cross-sectional structural view of the supplemental heat integrated fuel cylinder of the present application;

FIG. 10 is a schematic view of a partial structure of a core flame nozzle according to the present application.

In the figure: 1. an auxiliary heat integration fuel gas cylinder; 11. a fuel solenoid valve; 12. auxiliary heating tank; 13. a heating assembly; 15. a temperature controller; 16. a fuel bottle; 17. a gas pressure reducing valve; 18. an oxygen pressure reducing valve; 2. an oxygen cylinder; 21. an oxygen solenoid valve; 3. a housing; 4. a burner; 41. a combustion chamber; 42. a core flame nozzle; 43. a mixed gas channel; 44. a core oxygen intake passage; 45. a shielding gas inlet pipe; 46. an annular communicating pipe; 47. a burbling and flame attenuating sheet; 5. a premixing and strengthening device; 51. a jet mixing nozzle; 511. a fixing ring; 52. a mixing jet channel; 53. a fuel injection hole; 54. a pre-mixing oxygen nozzle channel; 541. an oxygen intake passage; 542. an oxygen flow-limiting channel; 55. a premix gas channel; 56. a fixing member; 57. a gas interlayer channel; 58. A fuel intake passage; 6. a flow regulating distributor; 61. a main oxygen delivery channel; 611. a first channel; 612. a second channel; 62. premixing an oxygen conveying channel; 621. a third channel; 622. a fourth channel; 63. strengthening the oxygen transport channel; 64. a fuel gas delivery passage; 641. a fifth channel; 642. a sixth channel; 65. a first flow regulating needle valve; 66. a second stage flow regulating needle valve; 67. a gas flow regulating needle valve; 7. an oxygen splitter; 71. a main oxygen inlet conduit; 72. protecting the oxygen transport passageway; 721. a first oxygen delivery channel; 722. a second oxygen delivery channel; 73. a combustion oxygen supply channel; 74. the oxygen flow regulating needle valve is protected.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application. On the contrary, the embodiments of the application include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.

Referring to fig. 1-10, a robot control-based underwater torch control method includes the following steps:

s1, acquiring the moving path of the robot under water;

firstly, determining a moving route of a torch, and determining a moving path of a robot carrying the torch according to underwater environments of different water areas and the moving route of the torch because the torch moves underwater;

s2: according to the moving path, the robot carries the auxiliary heat integration fuel gas cylinder, the oxygen cylinder and the torch to move underwater, and the opening and closing of the output channels of the auxiliary heat integration fuel gas cylinder and the oxygen cylinder are controlled through the robot.

The robot is controlled to move on a preset path, because the auxiliary heat integrated fuel gas cylinder 1 and the oxygen cylinder 2 are integrally arranged in the robot, and the shell 3 of the torch is held in the hand of the robot, the robot is an existing equipment device, the auxiliary heat integrated fuel gas cylinder 1 is communicated with the torch through a gas output channel, the oxygen cylinder 2 is communicated with the torch through an oxygen output channel, a fuel electromagnetic valve 11 is arranged on the gas output channel, and an oxygen electromagnetic valve 21 is arranged on the oxygen output channel; the fuel electromagnetic valve 11 and the oxygen electromagnetic valve 21 are respectively electrically connected with the robot, and the robot controls the fuel electromagnetic valve 11 and the oxygen electromagnetic valve 21 to open and close, so that the gas output channel and the oxygen output channel are opened and closed.

S3, acquiring the water pressure of the underwater position of the combustion chamber 41 of the combustor 4 in the torch carried by the robot;

since the moving path of the robot is planned clearly, the underwater position of the combustion chamber 41 in the combustor 4 is also clear, and the water pressure of the underwater position of the combustion chamber 41 can be measured first.

S4, controlling the pressure of the protective oxygen gas introduced into the combustion chamber 41 of the burner 4 through the oxygen cylinder 2 according to the water pressure so that the pressure of the protective oxygen gas is greater than the water pressure, thereby discharging the water in the combustion chamber 41.

Specifically, because the combustion chamber 41 is located in water during operation of the torch, a large amount of water enters the combustion chamber 41, and the protective oxygen is continuously introduced into the combustion chamber 41 to keep the pressure of the protective oxygen greater than the water pressure, so that the protective oxygen can be ensured to extrude the water in the combustion chamber 41 out of the combustion chamber 41.

In addition, in order to realize better water drainage effect of the combustion chamber 41 during combustion, the protective oxygen introduced into the combustion chamber of the combustor 4 is introduced along the lower part of the side wall of the combustion chamber 41, and in order to ensure the stability of flame during water drainage, by arranging the combustion chamber 41 in a cylindrical structure and arranging a protective gas inlet pipe 45 below the peripheral side of the combustion chamber 41, the protective gas inlet pipe 45 is used for introducing the protective oxygen into the combustion chamber 41 to drain water in the combustion chamber 41, and as the reinforced oxygen is introduced into the combustion chamber 41 through the bottom of the combustion chamber 41, the water in the combustion chamber 41 can be drained from bottom to top; guarantee simultaneously that the direction of admitting air of protection gas intake pipe 45 is tangent with combustion chamber 41 lateral wall, so that the oxygen that gets into in the combustion chamber 41 through protection gas intake pipe 45 forms the pneumatic whirl in combustion chamber 41, and protection gas intake pipe 45 sets up two or more, angle settings such as two or more protection gas intake pipe 45 are all around combustion chamber 41, a plurality of protection gas intake pipes 45 flow along combustion chamber 41 circumference and form the gaseous whirl with anticlockwise rotation or with clockwise rotation, and then discharge the water of combustion chamber 41. Meanwhile, in order to ensure the stability of the flame root during the flame combustion, the gas outlet of the core oxygen inlet channel 44 and the gas outlet of the mixed gas channel 43 in the combustion chamber 41 are both located above the gas outlet of the protective gas inlet pipe 45 in the combustion chamber 41.

Meanwhile, in order to simplify the oxygen supply system, the annular communicating pipe 46 is annularly distributed on the outer sleeve of the combustion chamber 41, and each of the protective gas inlet pipes 45 is connected to the annular communicating pipe 46, so that the protective oxygen is firstly introduced into the annular communicating pipe 55 and then introduced into the combustion chamber 41 through the protective gas inlet pipe 45 after being dispersed in the annular communicating pipe 46.

S5, spraying the premixed oxygen output by the oxygen cylinder 2 into the mixed jet flow channel 52 of the jet flow mixing nozzle 51 through one end of the jet flow mixing nozzle 51 in the premixing and strengthening device 5 in the torch;

injecting the fuel gas output by the auxiliary heat integration fuel gas bottle 1 into the mixed jet flow channel 52 through the fuel spray holes 53 on the side wall of the jet flow mixing nozzle 51 along the direction vertical to the injection direction of the premixed oxygen so as to make the premixed oxygen and the fuel gas collide and disperse in the mixed jet flow channel 52 to obtain premixed gas; the premixed gas is passed into the head of the core flame nozzle 42 of the combustor 4 for combustion.

Because the torch is when working under water, because the head of the core flame nozzle 42 is under water, in the oxygen-deficient environment, it is not favorable to the combustion of the fuel gas, at this moment, it needs to provide oxygen for supporting combustion, and directly introducing oxygen easily causes the mixing of oxygen and fuel gas to be uneven, and further makes the combustion of the fuel gas at the head of the core flame nozzle 42 uneven, therefore, the above-mentioned embodiment makes the combustion of the mixed gas directly be the combustion of the mixed gas by premixing the fuel gas and premixed oxygen in the jet mixing nozzle 51 in advance, and the unstable condition of the flame combustion can not be caused, and simultaneously, by controlling the premixed oxygen and the fuel gas to be vertically sprayed into the mixed jet channel 52, the two are collided and dispersed in the mixed jet channel 52, and the dispersion performance of the mixed gas is improved.

Before the premixed oxygen gas from the oxygen cylinder 2 is injected into the mixing jet passage 52 of the jet mixing nozzle 51 through one end of the jet mixing nozzle 51 in the premixing intensifying apparatus 5, the premixed oxygen gas is mixed in the mixing jet passage 52 of the jet mixing nozzle 51 after being restricted by the premixed oxygen nozzle passage 54 at one end of the jet mixing nozzle 51.

That is, the shell 3 of the torch is provided with the premixing and strengthening device 5, the jet mixing nozzle 51 is arranged on the premixing and strengthening device 5, the mixing jet channel 52 is arranged on one end face of the jet mixing nozzle 51, and the premixing oxygen nozzle channel 54 communicated with the mixing jet channel 52 is arranged on the other end face of the jet mixing nozzle 51; meanwhile, the fuel spray holes 53 are formed in the side wall of the jet mixing nozzle 51 and communicated with the mixing jet channel 52, so that a certain included angle is formed between the fuel gas sprayed into the mixing jet channel 52 through the fuel spray holes 53 and the premixed oxygen sprayed into the jet mixing nozzle 51 through the premixed oxygen nozzle channel 54, and the fuel gas and the premixed oxygen collide with each other after being introduced into the mixing jet channel 52, so that the mixing can be enhanced.

In one embodiment of the present application, before the premixed gas is introduced into the head of the core flame nozzle 42 of the combustor 4 for combustion, the method further comprises: and introducing the premixed gas into the premixed gas channel 55 in the premixing strengthening device 5 so as to enable the premixed gas to be secondarily mixed in the premixed gas channel 55 to obtain mixed gas, and introducing the mixed gas into the mixed gas channel 43 of the core flame nozzle 42 to be combusted at the head of the core flame nozzle 42.

In detail, the premixing and strengthening device 5 further includes a fixing member 56, and a premixing gas channel 55 connected to the mixing jet channel 52 is formed on the fixing member 56, so that the premixing gas is introduced into the premixing gas channel 55 for secondary mixing to obtain a mixed gas; meanwhile, the premixed gas channel 55 is communicated with the mixed gas channel 43, so that mixed gas is introduced into the mixed gas channel 43, premixed oxygen and fuel gas are primarily mixed in the mixed jet flow channel 52 and then introduced into the premixed gas channel 55 to be secondarily mixed, the mixed gas obtained through twice mixing is more uniform, and the combustion stability of the mixed gas can be improved.

In addition, it should be noted that, in order to enhance the uniform mixing type of the secondary mixing, the inner diameter of the mixing jet channel 52 is controlled to be smaller than the inner diameter of the premix gas channel 55, and since the inner diameter of the premix gas channel 55 is large, the premix gas introduced into the premix gas channel 55 can be rapidly dispersed, the contact between the premix gas channel 55 and the premix gas channel is increased, the dispersibility is improved, and the premix gas is introduced into the premix gas channel 55 to be mixed more uniformly.

Meanwhile, when the premixed oxygen and the fuel gas are mixed for the first time, in order to improve the uniformity of mixing, the premixed oxygen and the fuel gas need to be limited in flow, at the moment, through arranging the plurality of fuel spray holes 53, the plurality of fuel spray holes 53 are arranged on the side wall periphery of the jet mixing nozzle 51 at equal angles, so that the fuel gas is sprayed into the mixed jet flow channel 52 through the plurality of fuel spray holes 53, and due to the fact that the fuel spray holes 53 are arranged at equal angles, the fuel gas sprayed into the mixed jet flow channel 52 is uniformly dispersed, and the dispersion performance of the fuel gas and the oxygen in the mixed jet flow channel 52 is improved. In addition, in order to control the flow rate of the premixed oxygen, the premixed oxygen nozzle passage 54 is divided into two parts, including an oxygen intake passage 541 and an oxygen restriction passage 542: oxygen inlet channel 541 is the toper channel structure, and the one end of oxygen current-limiting channel 542 links to each other with the tang end of toper channel structure, and oxygen current-limiting channel 542 is linked together through tang end and oxygen inlet channel 541, and the other end is linked together with mixing jet flow channel 52 to the internal diameter of oxygen current-limiting channel 542 is less than the internal diameter of mixing jet flow channel 41, through the setting of oxygen current-limiting channel 542 aperture, can realize the effect of premixing oxygen current-limiting.

As can be seen from the above description of the embodiment, in order to ensure the uniformity of the fuel gas entering the mixing jet channel 52 through each fuel injection hole 53, the fixing member 56 is provided with a mounting groove, the middle part of the outer surface of the side wall of the jet mixing nozzle 51 is provided with a fixing ring 511, and the fixing ring 511 is connected with the side wall of the mounting groove in a sealing manner; a fuel gas interlayer channel 57 is formed by the side wall of the jet mixing nozzle 51 positioned at one end of the mixed jet channel 52, the side wall of the mounting groove and the fixing ring 511 in a surrounding manner, and the fuel spray holes 53 are communicated with the fuel gas interlayer channel 57; the fixing piece 65 is provided with a fuel inlet channel 58 communicated with the fuel interlayer channel 57, the fuel inlet channel 58 is communicated with the flow regulating distributor 5, so that fuel gas with controlled flow is introduced into the fuel interlayer channel 57 through the fuel inlet channel 58, the fuel gas in the annular interlayer is uniformly dispersed in the annular interlayer as the fuel interlayer channel 57 is in an annular interlayer structure surrounding the peripheral side of the jet mixing nozzle 51, the fuel gas in the annular interlayer is sprayed into the mixed jet channel 52 through the fuel spray holes 53 on the peripheral side of the side wall of the jet mixing nozzle 51, the flow of the fuel gas passing through each fuel spray hole 53 is uniform, and the fuel gas is more uniform after entering the mixed jet channel 52.

In one embodiment of the present application, during the introduction of the mixed gas into the mixed gas channel 43, the pressure of the mixed gas introduced into the mixed gas channel 43 on the core flame nozzle 42 is adjusted according to the water pressure, so that the pressure of the mixed gas is greater than the water pressure, thereby causing the jet effect of the flame formed when the mixed gas is combusted at the head of the core flame nozzle 42.

Particularly, when the pressure of the mixed gas is greater than the water pressure, the high-strength ejection of the mixed gas can be ensured, and the combustion flame can form an injection jet effect.

In one embodiment of the present application, before the flow restriction of the premixed oxygen through the premixed oxygen nozzle channel 54 at one end of the jet mixing nozzle 51, the method further comprises: the flow regulating distributor 6 in the torch is utilized to divide the combustion-supporting oxygen output by the oxygen cylinder 1 into premixed oxygen and intensified oxygen, and the flow of the premixed oxygen and the intensified oxygen is controlled.

Known from the above embodiments, the premixed oxygen is limited in flow through the oxygen flow limiting channel 542 before being introduced into the mixed jet flow channel 52, and is limited in flow through the flow regulating distributor 6 before being introduced into the oxygen flow limiting channel 542, that is, the flow is limited through the flow regulating distributor 6 at first, when the flow is large, secondary flow limitation is performed through the oxygen flow limiting channel 542, when the flow is small, the flow is directly limited through the oxygen flow limiting channel 542, the flow limiting effect on the premixed oxygen is realized through the synergistic effect of the two, and the flow of the premixed oxygen introduced into the mixed jet flow channel 52 is effectively controlled.

In one embodiment of the present application, the enhanced oxygen is introduced into the core oxygen inlet passage 44 of the core flame nozzle 42 such that when the mixed gas is combusted at the head of the core flame nozzle 42, the enhanced oxygen supports the combusting flame to enhance the combustion of the mixed gas.

Specifically, in order to strengthen the intensity of the combustion flame of the core flame nozzle 42 and to enhance the water discharge during the combustion 41, the core flame nozzle 42 is provided with a core oxygen inlet passage 44 and a mixed gas passage 43; the core oxygen inlet channel 44 is communicated with the central oxygen supply channel 43, and oxygen is introduced into the core oxygen inlet channel 44 through the central oxygen supply channel 43; the mixed gas channel 43 is an annular channel structure sleeved outside the core oxygen inlet channel 44, the mixed gas channel 43 is communicated with the premixed gas channel 55, premixed gas of oxygen and fuel gas is introduced into the mixed gas channel 43 through the premixed gas channel 55, because the mixed gas channel 43 is an annular channel structure sleeved outside the core oxygen inlet channel 44, when the mixed gas is sprayed out to the head of the core flame nozzle 42 through the mixed gas channel 43, the sprayed mixed gas is distributed at the head of the core flame nozzle 42 in an annular shape, when the mixed gas is ignited, annular flame is formed, the core oxygen inlet channel 44 is positioned at the center of the mixed gas channel 43, namely when the intensified oxygen directly discharged through the core oxygen inlet channel 44 is sprayed out, the core oxygen inlet channel is positioned at the center of the burning annular flame, and the combustion of the annular flame can be intensified through the action of the intensified oxygen, the combustion process is strengthened, and because the combustion heat release process of the core flame in the combustion chamber 41 is faster and more sufficient, and meanwhile, the high-efficiency heat release can improve the cavity pressure of the combustion chamber 41, further improve the water discharge capacity and strengthen the stability of the gas cavity of the combustion chamber 41, the high-temperature and high-pressure premixed gas combusted at the head of the core flame nozzle 42 can still maintain effective jet flow at a certain distance at the outlet of the combustion chamber 41, and the visibility of the flame is ensured; meanwhile, the high-temperature premixed gas capable of efficiently releasing heat can effectively offset heat loss under a water environment and maintain the stability of flame.

In an embodiment of the present application, before injecting the fuel gas output from the auxiliary heat integrated fuel gas cylinder 1 into the mixing jet channel 52 through the fuel injection holes 53 on the sidewall of the jet mixing nozzle 51 in a direction perpendicular to the injection direction of the premixed oxygen, the method further includes: the fuel gas output by the auxiliary heat integration fuel gas bottle 1 is introduced into a flow regulating distributor 6 to regulate the flow of the fuel gas by using the flow regulating distributor 6, and the fuel gas with the regulated flow is introduced into a jet mixing nozzle 51 to be mixed with premixed oxygen.

In the above embodiment, in order to clarify the specific adjustment process of the flow rate adjusting distributor 6 on the premixed oxygen, the intensified oxygen and the fuel gas flow rate, the flow rate adjusting distributor 6 may be provided with an oxygen delivery main channel 61, a premixed oxygen delivery channel 62 and an intensified oxygen delivery channel 63 communicated with the oxygen delivery main channel 61, the flow rate adjusting distributor 6 is also provided with a fuel gas delivery channel 64 for delivering the fuel gas, meanwhile, the flow rate adjusting distributor 6 is provided with a first flow rate adjusting needle valve 65, a second flow rate adjusting needle valve 66 and a fuel gas flow rate adjusting needle valve 67, all of the three flow rate adjusting needle valves are prior art devices, and details are not described herein again, the first flow rate adjusting needle valve 65 is used for controlling the flow rate of the combustion-supporting oxygen passing through the oxygen delivery main channel 61, and the second flow rate adjusting needle valve 65 is used for controlling the flow rate of the premixed oxygen introduced into the oxygen delivery channel 12, the gas flow rate adjustment needle valve 67 is used to control the gas flow rate through the fuel gas delivery passage 64.

Specifically, the oxygen delivery main passage 61 may be divided into a first passage 611 and a second passage 612, the pre-mixed oxygen delivery passage 62 may be divided into a third passage 621 and a fourth passage 622, wherein the third passage 621 is connected to the second passage 612, the needle valve plug of the first-stage flow rate adjustment needle valve 65 is inserted into the first passage 611 after passing through the second passage 612, the flow rate of oxygen introduced into the second passage 612 from the first passage 611 is achieved by inserting the needle valve plug into the first passage 611, the needle valve plug of the second-stage flow rate adjustment needle valve 66 is inserted into the third passage 621 from one end of the third passage 621, the flow rate of oxygen introduced into the oxygen delivery passage 62 is adjusted by adjusting the position of the needle valve plug in the third passage 621, and the fuel gas delivery passage 64 may be divided into a fifth passage 641 and a sixth passage 642, wherein the needle valve plug of the gas flow rate adjustment needle valve 67 passes through the fifth passage 641 and then passes from one end of the sixth passage 642 The adjustment of the flow rate of the fuel gas passing through the fuel gas delivery passage 64 can be achieved by adjusting the position of the needle valve plug inserted into the sixth passage 642, and the adjustment valve seats of the primary flow control needle valve 65, the secondary flow control needle valve 66 and the fuel gas flow control needle valve 67 are all in sealing contact with the flow control distributor 6 to prevent oxygen gas leakage, and in addition, the adjustment of the position of the needle valve plug in the first passage 611, the third passage 621 and the sixth passage 642 to achieve the oxygen flow control is the prior art and will not be described in detail herein.

In one embodiment of the present application, before the flow regulating distributor 6 in the flare is used to split the combustion-supporting oxygen output from the oxygen cylinder 2 into premixed oxygen and intensified oxygen, the method further comprises: oxygen in the oxygen cylinder 2 is led into an oxygen diverter 7 in the torch to be divided into combustion-supporting oxygen and protective oxygen, and the flow of the combustion-supporting oxygen and the protective oxygen is controlled through the oxygen diverter 7.

In order to split oxygen and control the flow of the split combustion-supporting oxygen and the split protective oxygen, at this time, a main oxygen inlet duct 71, a protective oxygen delivery duct 72 communicated with the main oxygen inlet duct 71, and a combustion oxygen supply duct 73 are provided on the flow regulator distributor 7, so that the oxygen passing through the main oxygen inlet duct 71 is split into the protective oxygen passing through the protective oxygen delivery duct 72 and the combustion-supporting oxygen passing through the combustion oxygen supply duct 73, the protective oxygen delivery duct 72 is communicated with the oxygen cylinder 2, the protective oxygen delivery duct 72 is communicated with the annular communicating tube 46, and the split protective oxygen is introduced into the annular communicating tube 46, and at the same time, the oxygen splitter 7 may be provided with a protective oxygen flow regulator needle valve 74, which has the same structure and the same working principle as the flow regulator needle valve in the above embodiment, the oxygen flow control valve is used for controlling the flow of oxygen flowing into the protective oxygen conveying channel 72, in order to facilitate the control function of the protective oxygen flow control needle valve 74, the protective oxygen conveying channel 72 can be divided into a first oxygen conveying channel 721 and a second oxygen conveying channel 722, a needle type valve plug of the protective oxygen flow control needle valve 74 penetrates through the second oxygen conveying channel 722 and is inserted into the first oxygen conveying channel 721 through one end of the first oxygen conveying channel 721, the position of the needle type valve plug in the first oxygen conveying channel 721 is adjusted to realize the adjustment of the flow of the protective oxygen which is divided into the protective oxygen conveying channel 72, and a valve seat of the protective oxygen flow control needle valve 74 is in sealing connection with the oxygen flow divider 7, so that the oxygen can be prevented from leaking.

In one embodiment of the present application, a heat conductive liquid is filled into a sandwich layer between the fuel bottle 16 inside the auxiliary heat integrated fuel gas bottle 1 and the auxiliary heat tank 12 sealed with a sleeve outside the fuel bottle 16, so that the fuel bottle is immersed in the heat conductive liquid and transfers heat with the heat conductive liquid;

acquiring the temperature of the heat-conducting liquid;

according to the temperature of the heat-conducting liquid, the heat-conducting liquid is heated by the heating assembly 13 in the auxiliary heating tank 12 so as to keep the heat-conducting liquid at a preset temperature, so that the stable output of the fuel gas is ensured.

Specifically, in order to ensure the stable output of the fuel gas, an auxiliary heating tank 12 is hermetically sleeved outside a fuel bottle 16 for storing the fuel gas, so that an interlayer is formed between the auxiliary heating tank 12 and the fuel bottle 16, then a heat conducting liquid is filled into the interlayer, and in order to ensure the uniformity of heat conduction of the heat conducting liquid to the fuel bottle 16, so that the fuel bottle 16 is immersed in the heat conducting liquid for uniform heat conduction, a heating assembly 13 is mounted on the auxiliary heating tank 12 for heating the heat conducting liquid, so that the heated heat conducting liquid is in contact with the fuel bottle 16 to heat the fuel in the fuel bottle 16, so as to maintain the stable output of the fuel in a low temperature environment, and in order to realize the intelligent control of heating, a temperature controller 15 is arranged on the auxiliary heating tank 12, the temperature controller 15 is electrically connected with the heating assembly 13, and the temperature of the heat conducting liquid is detected by the temperature controller 15, then the start and stop of the heating component 13 is controlled according to the temperature of the heat-conducting liquid, and simultaneously the temperature controller 15 and the heating component 13 are electrically connected with a power supply in the robot and used for supplying power to the robot, wherein the heating component 13 and the temperature controller 15 can adopt the existing integrated fish tank heating rod, and in the using process, when the temperature of the heat-conducting liquid reaches a set value, the temperature controller 15 automatically closes the heating component 13 to supply power, so that the potential safety hazard caused by the overtemperature of the fuel bottle 16 is avoided; when the temperature of the heat-conducting liquid is reduced, the temperature controller 15 actively restores the power supply of the heating assembly 13 without manual intervention, and the heat-conducting liquid is a heat-conducting liquid acted by an automobile antifreeze at minus 45 ℃ and can maintain liquid-phase heat conduction in an extremely cold environment.

In addition, after the output channels of the robot-controlled auxiliary heat integration fuel gas bottle 1 and the oxygen gas bottle 2 are opened, the oxygen gas and the fuel gas output by the output channels are decompressed, then the decompressed oxygen gas is introduced into the oxygen flow divider 7 for flow division, and the decompressed fuel gas is introduced into the flow regulating distributor 6 for flow regulation, specifically, the fuel bottle 16 and the flow regulating distributor 6 are communicated through the fuel gas output channel, a fuel gas pressure reducing valve 17 is arranged on the fuel gas output channel to realize decompression treatment of the output fuel gas, meanwhile, the oxygen gas bottle 2 and the oxygen flow divider 7 are communicated through the oxygen output channel, and an oxygen pressure reducing valve 18 is arranged on the oxygen output channel to reduce the pressure of the output oxygen gas.

In an embodiment of the present application, when the mixed gas passes through mixed gas channel 43 and enters the head of core flame nozzle 42, the mixed gas is blocked by a plurality of spoiling flame pieces 47 at the top of mixed gas channel 43, so that the mixed gas is dispersed into a plurality of strands to be sprayed out, and then is combusted at core flame nozzle head 42.

Specifically, that is, a plurality of spoiling and attenuating pieces 47 are arranged at the gas outlet of the mixed gas channel 43, a gap is formed between two adjacent spoiling and attenuating pieces 47, so that premixed gas in the mixed gas channel 43 is ejected through the gap, the mixed gas is exhausted from the gap, a low-speed flame stabilizing effect is created through the mixed gas jet flow in the mixed gas channel 43 which is partially blocked by the spoiling and attenuating pieces 47, the stability and the heat release rate of the core flame are improved, when the premixed gas passes through the spoiling and attenuating pieces 47 at the gas outlet of the mixed gas channel 43 at a high speed, a plurality of small low-speed flame attenuating and backflow flame stabilizing areas are formed on the lee side of the premixed gas, and the premixed gas is stabilized at the head of the core nozzle flame after ignition.

It should be noted that the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present application, the meaning of "a plurality" is two or more unless otherwise specified.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. An underwater torch control method based on robot control is characterized by comprising the following steps:

acquiring a moving path of the robot under water;

2. The method of claim 1, wherein prior to combusting with the premixed gas passing into the core flame nozzle tip of the combustor, further comprising:

3. The robot-control-based underwater torch control method of claim 2, wherein during the process of introducing the mixed gas into the mixed gas channel, the pressure of the mixed gas introduced into the mixed gas channel on the core flame nozzle is adjusted according to the water pressure, so that the pressure of the mixed gas is greater than the water pressure, and the mixed gas forms a jet effect of flame when burning at the head of the core flame nozzle.

4. The method for controlling the underwater torch based on the robot control as claimed in claim 1, wherein before the premixed oxygen output from the oxygen cylinder is injected into the mixing jet channel of the jet blending nozzle through one end of the jet blending nozzle in the premixing and strengthening device, the method further comprises:

and limiting the flow of the premixed oxygen through a premixed oxygen nozzle channel at one end of the jet mixing nozzle, and spraying the premixed oxygen into a mixing jet channel of the jet mixing nozzle for mixing.

5. The method of claim 4, wherein prior to restricting the flow of the premixed oxygen through the premixed oxygen nozzle channel at the end of the jet blending nozzle, further comprising:

the combustion-supporting oxygen output by the oxygen cylinder is divided into the premixed oxygen and the intensified oxygen by utilizing a flow regulating distributor in a torch, and the flow of the premixed oxygen and the intensified oxygen is controlled;

and introducing the intensified oxygen into a core oxygen inlet channel of the core flame nozzle, so that when the mixed gas is combusted at the head of the core flame nozzle, the intensified oxygen supports combustion of the combusting flame, and the combustion of the mixed gas is intensified.

6. The robot-control-based underwater torch control method of claim 1, wherein before the fuel gas output by the auxiliary heat integrated fuel gas cylinder is injected into the mixing jet channel through the fuel injection holes on the side wall of the jet blending nozzle along the direction perpendicular to the injection direction of the premixed oxygen, the method further comprises:

and introducing the fuel gas output by the auxiliary heat integration fuel gas bottle into the flow regulating distributor so as to regulate the flow of the fuel gas by using the flow regulating distributor, and introducing the fuel gas with the regulated flow into the jet mixing nozzle to be mixed with the premixed oxygen.

7. The underwater torch control method based on robot control as claimed in claim 5,

before the flow regulating distributor in the torch is used for distributing the combustion-supporting oxygen output by the oxygen cylinder into the premixed oxygen and the intensified oxygen, the method further comprises the following steps:

and introducing oxygen in an oxygen bottle into an oxygen splitter in a torch to split the oxygen into the combustion-supporting oxygen and the protective oxygen, and controlling the flow of the combustion-supporting oxygen and the protective oxygen through the oxygen splitter.

8. The underwater torch control method based on robot control as claimed in claim 1,

filling heat-conducting liquid into an interlayer between a fuel bottle inside the auxiliary heat integrated fuel gas bottle and an auxiliary heat tank with a sealing sleeve arranged outside the fuel bottle, so that the fuel bottle is immersed in the heat-conducting liquid and transfers heat with the heat-conducting liquid;

acquiring the temperature of the heat-conducting liquid;

9. The underwater torch control method based on the robot control as claimed in claim 3, wherein when the mixed gas passes through the mixed gas channel and enters the core flame nozzle head, the mixed gas is blocked by a plurality of turbulence flame sheets at the top of the mixed gas channel, so that the mixed gas is dispersed into a plurality of strands and is jetted and combusted at the core flame nozzle head.

10. The robot-control-based underwater torch control method of claim 7, wherein after output channels of the robot-control auxiliary heat integration fuel gas cylinder and the oxygen gas cylinder are opened, oxygen and fuel gas output by the output channels are decompressed, then the decompressed oxygen is introduced into the oxygen splitter for splitting, and the decompressed fuel gas is introduced into the flow regulating splitter for flow regulation.