CN115555146A - Supersonic flame thermal spraying device and spraying method for inner wall of volute diversion chamber - Google Patents

Abstract

The invention discloses a supersonic flame thermal spraying device and a spraying method for the inner wall of a volute water diversion chamber, wherein the device comprises a continuously rotatable supersonic flame spray gun, a servo motor, an industrial manipulator and a movable seat stand; the movable seat platform comprises a movable seat platform main body and a supporting component, the industrial manipulator is installed on the seat platform main body, the seat platform main body is matched with the supporting component to enable the movable seat platform to stably move around the inner wall of the volute water diversion chamber in the spraying process, the continuously-rotatable supersonic flame spray gun is connected to the end portion of the industrial manipulator, and the continuously-rotatable supersonic flame spray gun can continuously rotate towards the same direction without being limited by a spray gun pipeline. The invention can replace the supersonic flame spraying work of manually spraying the surface of the large volute diversion chamber in practical engineering application, and solves the problem that the pipeline is wound and twisted when continuously rotating and spraying due to the limitation of the supersonic flame spray gun pipeline; and the engineering implementation efficiency is greatly improved, and the uniformity of the coating is improved.

Description

Supersonic flame thermal spraying device and spraying method for inner wall of volute diversion chamber

Technical Field

The invention belongs to the field of protection of hydraulic equipment, and particularly relates to a supersonic flame thermal spraying device and a spraying method for the inner wall of a volute diversion chamber.

Background

At present, most of volutes of medium-high water head large-scale hydroelectric equipment (such as large-scale water turbines) adopt metal volutes, and the sections of the volutes are circular, so that the kinetic energy loss of a water head can be effectively reduced. The volute is embedded and fixed in reinforced concrete, so that the volute cannot move in the service life. Therefore, in the service process, the preparation of the inner wall coating of the volute is carried out in the volute. At present, the main engineering scheme is that a person enters a volute and manually holds a spray gun for spraying, the uniformity of a coating prepared by the scheme is poor, the coating thickness of some areas exceeds the standard requirement, the coating thickness of some areas cannot meet the requirement, the problems of material waste and coating quality are caused, and the distance from the spray gun to a workpiece is difficult to accurately control through manual spraying, so that the coating quality is difficult to control. In addition, the construction scheme has low working efficiency, constructors need to have a rest, and the spraying is carried out in the volute for a long time, so that the harm to the health of human bodies is caused. Therefore, a thermal spraying device and a thermal spraying method which have high efficiency, good coating uniformity and high automation degree are urgently needed in practical engineering application.

Disclosure of Invention

Aiming at the problems, the invention provides a supersonic flame thermal spraying method and a device thereof for the inner wall of a volute diversion chamber of equipment such as a large-scale water turbine and the like.

The invention provides a technical scheme for solving the problems, which is as follows:

a supersonic flame thermal spraying device for the inner wall of a volute diversion chamber comprises a continuously rotatable supersonic flame spray gun, a servo motor, an industrial manipulator and a movable seat stand; the movable seat stand comprises a movable seat stand main body and a supporting component, the industrial manipulator is installed on the seat stand main body, the seat stand main body is matched with the supporting component to enable the movable seat stand to stably move around the inner wall of the volute diversion chamber in the spraying process, the continuously-rotatable supersonic flame spray gun is connected to the end portion of the industrial manipulator, and the continuously-rotatable supersonic flame spray gun can continuously rotate towards the same direction without being limited by a spray gun pipeline.

In the above technical solution, further, the continuously rotatable supersonic flame lance includes a lance body housing, a lance tube and a combustion chamber fixedly disposed in the lance body housing, and a reversing distributor; the combustion chamber front end is the laval nozzle structure, the rear end is the cavity structure, barrel rear end face and the sealed fastening of the preceding terminal surface of combustion chamber, barrel front end and rifle body shell front end are fixed through the sealed lid pressure fastening of a fastening, rifle body shell afterbody is located to the switching-over distributor, fixed part and rotatable rotating part including coaxial setting, the fixed part is fixed for industrial robot, all kinds of pipelines of spray gun get into the switching-over distributor via the fixed part and get into in the combustion chamber through the rotating part again, the rotating part is fixed by servo motor drive with rifle body shell, thereby it is rotatory not restricted by the pipeline to drive the spray gun.

Furthermore, fixed part and the coaxial setting of rotating part in the switching-over distributor are equipped with N axial hole on the fixed terminal surface, are close to and set up N radial hole on the circumferential surface of rotating part, and the degree of depth in N axial hole is different to communicate with N radial hole one-to-one, form N passageway the circumferential surface is last to distribute N grooves around the circumference, around the groove of circumference and the position one-to-one in radial hole, after fixed part and rotating part cooperation, be provided with ball and sealing washer between groove and make and form the dynamic seal between fixed part and the rotating part, it has N exports to open on the circumferential surface of rotating part, communicates with N groove one-to-one, and the spray gun pipeline is connected with the fixed part, via axial hole, radial hole, groove, export entering spray gun inside.

Further, be equipped with the porous current regulator of high temperature resistant of disc shape in the combustion chamber, its terminal surface is opened there are a lot of through holes, open in the axle center has the through-hole, send sealing connection between lid behind powder injection and the combustion chamber, and one end passes in the lid stretches into in the porous current regulator through hole of high temperature resistant behind the combustion chamber, the other end is connected with powder feeding column one end through the bent connector in the lid outside behind the combustion chamber, send the cylinder that the powder column has the through hole for the axle center, the other end is fixed and is covered behind the rifle body, and be connected to outside powder feeding pipe, send powder column and bent connector to adopt the axial motion seal structure, send powder injection and bent connector to adopt fixed seal structure.

Furthermore, an air channel, a fuel channel, an oxygen channel, a nitrogen channel and a water cooling channel which are isolated from each other are arranged between the gun barrel and the gun body shell, the outer side wall of the cavity structure of the combustion chamber is provided with at least 3 grooves around the circumference, the grooves are respectively and correspondingly connected with the air channel, the fuel channel and the oxygen channel, sealing rings are adopted between the grooves for sealing, and a plurality of small holes are arranged in each groove and communicated with the combustion chamber.

Furthermore, wheels are arranged at the bottom of a seat body of the movable seat, a storage battery power system is arranged in the seat body to drive the wheels to move, the support component adopts hydraulic support columns, at least one hydraulic support column is fixed on a table top of the seat body, in addition, hydraulic support columns can also be fixedly arranged on the side surface of the seat body, and small wheels are arranged at the tail ends of all the hydraulic support columns and are all propped against the surface of the volute; the hydraulic support column applies force to the movable seat platform to limit the degree of freedom of the movable seat platform in the volute, so that the stability of the movable seat platform is guaranteed, and the movable seat platform can move.

Furthermore, the device also comprises a video monitoring system and an integrated control cabinet which are arranged on the seat body of the movable seat, wherein the video monitoring system is used for monitoring the spraying process in real time, and the integrated control cabinet is used for controlling the parameters of the spray gun, the motion track of the industrial manipulator, the video monitoring system, the movement of the seat body and the supporting strength of the supporting component.

A supersonic flame thermal spraying method for the inner wall of a volute diversion chamber of a large-scale water turbine comprises the following steps:

1. the spraying direction is from inside to outside, namely the spraying is started from the position where the volute casing is farthest away from the outlet, and the moving track of the moving seat platform is the moving track along the volute casing towards the outlet direction.

2. The rotating angular speed of the continuously rotatable supersonic flame spray gun is equal to the angular speed of the spray gun controlled by the mechanical arm to circularly move along the inner surface of the volute, the moving track is consistent with the distance between the inner surface of the volute, namely the flame spraying distance, and the spraying distance needs to be within a reasonable process range.

3. The time for moving the spray gun by one flame width along the axial center direction of the volute is equal to the time for rotating the spray gun by one circle. That is, assuming that the flame width is d, the speed v of the moving seat or the industrial robot driving the spray gun to move towards the axial center of the volute takes t1 as the required time, ω as the angular speed of the rotation of the spray gun, and t2 as the time of one rotation, so as to ensure that the flame width is d

4. Because a volute diversion chamber usually has a very large spraying area, the spraying scheme is preferably segmented considering the service life of parts of the spray gun, the replacement of nitrogen, fuel gas and oxygen, the addition of spraying materials and the like. After the area of the inner wall of the volute is sprayed, the spray gun and the industrial manipulator stop working, whether the equipment has problems or not is checked, whether spraying materials need to be added or not is checked, whether gas and oxygen need to be supplemented or not is checked, the movable seat platform moves to the outlet direction along the axis direction of the volute for a certain distance to stop, after all the equipment is properly prepared, the industrial robot and the spray gun are continuously started, and the next area of the volute is sprayed. And in the spraying process of the spray gun, the movable base table is moved along the axis direction of the volute to control the movement of the spray gun along the axis direction of the volute, at the moment, the industrial robot only controls the whole spray gun to move circumferentially, and the rotation of the spray gun is realized only through the rotation of the servo motor. Therefore, the spraying area is not limited by the movement range of the manipulator, and larger area can be continuously sprayed.

It is emphasized that the rotation of the spray gun is independent of the manipulator and the moving platform, and the movement track of the whole spray gun is controlled by the industrial manipulator. The whole axial removal of spray gun has two kinds of mode, one kind is after moving platform removes a spraying position, the hydraulic pressure support column rises, prop on the spiral case, later moving platform keeps motionless, the spray gun prolongs the axial motion of spiral case and leans on the manipulator control, at this moment because moving platform is fixed motionless, the moving trajectory of spray gun leans on manipulator control entirely, the precision is higher, be fit for the spraying scene that the precision requires height, but because the motion range of manipulator is limited, can only be the spraying of a small segment, a small segment after regional spraying finishes, need stop the spraying, then moving platform moves next section regional spraying point and carries out next section regional spraying, this kind of method spraying efficiency is slightly low. The second scheme is that the movement of the whole spray gun along the axial direction of the volute is controlled by a moving platform, namely the moving platform controls the movement of the spray gun along the axial direction of the volute, the movement of the spray gun for drawing the circumference is controlled by a mechanical arm, and the rotation of the spray gun is controlled by a servo motor. The whole equipment can move and spray at the same time, the efficiency is high, but the moving precision of the moving platform is not high as that of a mechanical arm, so that the method is suitable for occasions with low spraying precision requirement and large spray gun beam current.

The spraying motion track is a spiral motion track, so that the spraying track is continuous, the track joints are few, the coating thickness is uniform, if the spraying track is one circle of the spraying volute (the width is the width of beam current), the next circle is sprayed, and so on, the pause and the joint are inevitably generated between one circle and one circle, the coating thickness of the spraying is inconsistent, and the quality of the overlapping area of the coating is also poor.

The invention has the following innovative effects:

the supersonic flame thermal spraying device and the method for the inner wall of the volute diversion chamber can replace the supersonic flame spraying work of manually spraying the surface of a large volute diversion chamber in practical engineering application, and solve the problem that pipelines are wound and twisted when continuously rotating and spraying due to the limitation of supersonic flame spray guns; the problem that when the track of the supersonic flame spraying volute is in reciprocating motion, the coating is seriously accumulated at the turning part because of low speed, so that the coating quality is influenced is solved; the method greatly improves the engineering implementation efficiency, improves the uniformity of the coating, saves the spraying materials and the gas consumption, and has very high application value in the actual engineering.

Drawings

FIG. 1 is a schematic structural diagram of a supersonic flame thermal spraying device for the inner wall of a volute water diversion chamber, which comprises: 1-continuously rotatable supersonic flame spray gun, 2-rotatable circular table, 3-servo motor, 4-industrial manipulator, 5-movable base table, 6-volute, 7-stable hydraulic column, 8-video monitoring system and 9-integrated control cabinet.

Fig. 2 a schematic view of a continuously rotatable supersonic flame lance configuration, 101-tight sealing cap, 102-body housing, 103-barrel, 104-combustion chamber, 105-high temperature resistant porous flow stabilizer, 106-cooling water return channel, 107-cooling water inlet channel, 108-gas mixing chamber, 109-combustion chamber rear cap, 110-body rear cap, 111-body rear cap, 112-reversing distributor, 113-compressed air channel, 114-nitrogen channel, 115-oxygen channel, 116-fuel channel, 117-air channel housing, 118-fuel channel housing, 119-oxygen channel housing, 120-nitrogen channel housing, 121-lance tube.

FIG. 3 isbase:Sub>A schematic view ofbase:Sub>A construction of the diverting distributor, withbase:Sub>A section A-A andbase:Sub>A partial enlarged view B; 1121-rear cover, 1122-sealing sleeve, 1123-ball, 1124-distribution core, 1125-rotating shaft, 1126-dynamic sealing ring.

FIG. 4 is a schematic view of one construction of a reversing distributor distribution core;

FIG. 5 is a schematic view of a structure of a distribution core end face of a reversing distributor

FIG. 6 is a schematic diagram of a rotatable circular table 201-table base 202-bearing 203-circular table;

FIG. 7 is a schematic view of a combustion chamber, which is a sectional view B-B.

Fig. 8 is a schematic diagram of a hydraulic prop configuration, 701-top hydraulic prop, 702-right hydraulic prop, 703-left hydraulic prop.

Fig. 9 is a schematic diagram of the spray trajectory, 401 — the trajectory of the gun movement.

Detailed Description

The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments, and the objects and effects of the present invention will become more apparent, and it should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

The invention relates to a supersonic flame thermal spraying device for the inner wall of a volute diversion chamber of a large-scale water turbine. The continuously rotatable supersonic flame spray gun is provided with a brand new cooling water channel, a fuel channel, an oxygen channel, a compressed air channel, a nitrogen channel (powder feeding channel) and a gun body structure; the problem of because the spray gun pipeline restriction, the supersonic speed flame spray gun can cause the winding of spray gun pipeline towards a direction continuous rotation is solved.

Further, according to an example of the present invention, a continuously rotatable supersonic flame spray gun mainly comprises: the device comprises a reversing distributor, a nitrogen passage shell, a fuel passage shell, an oxygen passage shell, an air shell, a gun barrel, a combustion chamber rear cover, a high-temperature-resistant porous flow stabilizer, a gun body shell, a gun body rear cover and the like.

Further, according to an embodiment of the present invention, the reversing distributor is disposed at a tail portion of the gun body housing, and includes a fixing portion and a rotatable rotating portion that are coaxially disposed, or may further include other functional components for ensuring that the rotating portion rotates, the fixing portion is fixed with respect to the industrial robot, various pipes of the spray gun enter the reversing distributor through the fixing portion and then enter the combustion chamber through the rotating portion, and the rotating portion and the gun body housing are fixed by the servo motor, so as to drive the spray gun to rotate without being limited by the pipes.

Further, according to an embodiment of the present invention, the space enclosed by the gun body housing, the nitrogen passage housing, the combustion chamber, and the gun barrel is a circulation passage of cooling water.

Further, according to an embodiment of the present invention, the nitrogen channel housing, the fuel channel housing, the oxygen channel housing, and the air channel housing are closely attached to the combustion chamber, sealed by O-rings, and form four channels surrounding the combustion chamber and the distributor for transmitting nitrogen, fuel, oxygen, and air into the combustion chamber.

Further, according to an embodiment of the present invention, the rear end of the combustion chamber has a cylindrical cavity structure, the side surface of the combustion chamber is provided with four shallow grooves around the circumference, the inside of each groove is provided with a plurality of small holes, the four circumferential grooves respectively correspond to the nitrogen channel, the fuel channel, the oxygen channel and the air channel, and the front end of the combustion chamber has a laval nozzle structure.

Further, according to an embodiment of the present invention, the barrel, the rear end face of which is in close contact with the front end face of the combustion chamber, is tightly pressed and sealed by a fastening plate, and may be fastened by bolts; the front end of the gun barrel props against a fastening sealing cover, the fastening sealing cover is sealed by adopting an O-shaped ring, the fastening sealing cover is in threaded connection with the gun body shell, and the O-shaped sealing ring is sealed.

Further, according to an embodiment of the present invention, the refractory porous current stabilizer is in the shape of a disk, and the end surface of the disk is provided with a plurality of small through holes. The space enclosed by the combustion chamber rear cover and the combustion chamber is used as a mixing area of fuel, oxygen and air, and the high-temperature resistant porous flow stabilizer is used for feeding mixed gas into the combustion area more uniformly; the side surface of the high-temperature resistant porous current stabilizer is in threaded connection and fastening with the inner wall of the combustion chamber.

Further, according to an embodiment of the present invention, the combustion chamber rear cover is screwed with the combustion chamber, and the sealing ring is sealed.

Further, according to an embodiment of the invention, the table base of the rotatable circular table is fastened with the tail end of the manipulator through a bolt, a bearing is arranged between the table top and the table base and can rotate freely, and the table top is fixedly connected with a shell screw of the spray gun; the rotary round table is hollow, a small servo motor is arranged in the axis of the table base, the axis of a servo motor shaft and the axis of the rotary round table are on the same straight line, and the shaft of the servo motor is connected with the rotating shaft of the reversing distributor through a coupler. The main function of the rotatable round table is to provide sufficient support force for the rotatable spray gun and to connect the rotatable spray gun with the industrial robot.

The industrial robot can adopt a common five-axis or six-axis robot.

Further, according to an embodiment of the invention, the main body of the movable seat platform can be in a trapezoidal shape, the upper part is large, the lower part is small, the bottom of the movable seat platform is provided with anti-skidding wheels, a storage battery power system can be arranged in the movable seat platform, the movable seat platform can move back and forth, and an industrial manipulator, an integrated control cabinet, a monitoring camera and a hydraulic support column can be placed on the platform surface.

The hydraulic support columns are arranged on the table top of the movable base table, the other four hydraulic support columns are respectively arranged on two side faces of the movable base table, the two hydraulic support columns are arranged on one side face, the five hydraulic support columns abut against the surface of the volute and exert force on the movable base table, the freedom degree of the movable base table in the volute is limited, and the stability of the movable base table is guaranteed. The tail end of the hydraulic support column is also provided with a plurality of small anti-skidding wheels, so that the movable seat platform can move while the hydraulic support column provides pressure.

The integrated control cabinet mainly controls the adjustment of spray gun parameters, the trajectory programming of the robot, the adjustment of a monitoring system, the moving speed and distance of the movable base platform and the support force control of the hydraulic support column, and can be placed on the movable base platform or arranged outside the volute.

In the monitoring system, the camera is arranged on the table top of the movable base.

FIG. 1 is a schematic view of a supersonic flame thermal spraying apparatus for inner wall of a volute water guide chamber of a large-sized water turbine according to an embodiment of the present invention; FIG. 2 is a schematic view showing a detailed structure of an example of a continuously rotatable supersonic flame spray gun. Fig. 3 is a schematic diagram of a structure of the reversing distributor.

Wherein the continuously rotatable supersonic flame spray gun 1 is fixed on the table top 203 of the rotatable circular table 2 through bolts, and the bottom surface of the table base 201 of the rotatable circular table 2 is fixed at the tail end of the industrial manipulator 4 through bolts. The table top can freely rotate relative to the table base; the servo motor 3 is mounted on the base 201 of the rotatable circular table 2 and fixed by screws, and the rotating shaft of the servo motor 3 is coaxial with the rotating shaft 1125 of the commutation distributor 112 and connected by a coupling. The shaft 1125 is also coaxial with the bearing 202 to ensure smooth rotation of the lance.

The movable seat stand 5 comprises a seat stand main body and a supporting component, the seat stand main body is in a trapezoidal shape, the upper part is large, the lower part is small, wheels are arranged at the bottom of the seat stand main body, a storage battery power system can be arranged in the seat stand main body to drive the wheels to rotate, and the integrated control system controls the movement of the movable seat stand 5. The industrial robot 4 is fixed on the top of the movable base 5 by bolts.

Referring to fig. 8, according to an embodiment of the present invention, the support components are implemented by using 5 hydraulic support columns 7, the top hydraulic support column 701 is installed on the table top of the mobile seat, the other four hydraulic support columns are respectively installed on two side surfaces of the mobile seat, the right side surface is installed with two hydraulic support columns 702, the left side surface is installed with two hydraulic support columns 703, and the five hydraulic support columns abut against the surface of the volute to apply force to the mobile seat 5, so as to limit the degree of freedom of the mobile seat 5 in the volute, and ensure the stability of the mobile seat 5. The tail ends of the hydraulic supporting columns are provided with a plurality of small anti-skidding wheels, so that the movable seat stand 5 can move while the hydraulic supporting columns provide pressure.

And a camera of the video monitoring system 8 is installed at a proper position on the table top of the movable base 5 and is used for monitoring the spraying process phenomenon in real time.

The integrated control cabinet 9 is also installed at a reasonable position of the movable seat stand 5 through a bolt, and the integrated control cabinet 9 mainly controls the adjustment of spray gun parameters, the track programming of an industrial manipulator, the adjustment of a monitoring system, the moving speed and distance of the movable seat stand, the support force control of a hydraulic support column and the like.

Further, referring to fig. 1 and 2, a reversing distribution core 112, a cooling water inlet channel 107, a cooling water return channel 106, a nitrogen channel 114, an oxygen channel 115, a fuel channel 116, a compressed air channel 113, a rotatable circular table 2 and a gun body structure are innovatively designed, the traditional air inlet and water supply mode is changed, and the function that the spray gun can rotate by 360 degrees is realized; and the problem of pipeline winding in the rotating process of the spray gun is solved. The main components of the continuously rotatable supersonic flame spray gun 1 are as follows: the high-temperature-resistant multi-hole flow stabilizer comprises a fastening sealing cover 101, a gun body shell 102, a gun barrel 103, a combustion chamber 104, a high-temperature-resistant multi-hole flow stabilizer 105, a cooling water return water channel 106, a cooling water inlet channel 107, a gas mixing chamber 108, a combustion chamber rear cover 109, a gun body rear cover 110, a gun body rear cover 111, a reversing distributor 112, a compressed air channel 113, a nitrogen channel 114, an oxygen channel 115, a fuel channel 116, an air channel shell 117, a fuel channel shell 118, an oxygen channel shell 119, a nitrogen channel shell 120 and a spray gun pipeline 121.

The space enclosed by the gun body housing 102, the nitrogen passage housing 120, the combustion chamber 104, and the gun barrel 103 is a circulation passage of cooling water, i.e., a cooling water return passage 106 and a cooling water inlet passage 107.

The space between the nitrogen passage housing 120 and the oxygen passage housing 119 serves as the nitrogen passage 114; the space between the oxygen passage housing 119 and the fuel passage housing 118 serves as an oxygen passage 115; the space between the fuel passage housing 118 and the air passage housing 117 serves as the fuel passage 116; the space between the air passage housing 117 and the gun body rear cover 111 serves as a compressed air passage 113.

Wherein, the rear end face of the gun barrel 103 is tightly contacted with the front end face of the combustion chamber 104, and is tightly pressed and sealed by a fastening disc which can be fastened by bolts; the front end of the gun barrel 103 props against a fastening sealing cover 101, the fastening sealing cover 101 can stabilize the outlet of the gun barrel 103 and prevent the front end of the gun barrel 103 from shaking during spraying, the fastening sealing cover 101 is in threaded connection with the gun body shell 102, and a rubber sealing ring is sealed to prevent cooling water from overflowing.

Referring to fig. 7, a schematic structural diagram of the combustion chamber, the rear end of the combustion chamber 104 is a cylindrical cavity structure, the side surface is provided with four shallow grooves around the circumference, a plurality of small holes are formed in the grooves, the four circumferential grooves respectively correspond to the nitrogen channel 114, the oxygen channel 115, the fuel channel 116 and the air channel 113, the grooves are sealed by O-ring seals, and the front end of the combustion chamber 104 is a laval nozzle structure. The combustion chamber 104 is fastened to the high temperature resistant porous flow stabilizer 105 by screw thread connection, to the combustion chamber rear cover 109 by screw thread connection, to the air passage housing 117, the fuel passage housing 118, the oxygen passage housing 119 and the nitrogen passage housing 120 by screw thread connection, O-ring sealing rings.

The high temperature resistant porous flow stabilizer 105 is a disc shape, the end surface is provided with a plurality of small through holes, the space enclosed by the combustion chamber rear cover 109 and the combustion chamber 104 is used as a mixing area of fuel, oxygen and air, and the high temperature resistant porous flow stabilizer 105 has the function of enabling mixed gas to be more uniformly fed into the combustion area, so that the combustion is more stable and uniform.

The reversing distributor is arranged at the tail part of the gun body shell and comprises a fixing part and a rotatable rotating part which are coaxially arranged, the fixing part is fixed relative to an industrial manipulator, various pipelines of the spray gun enter the reversing distributor through the fixing part and then enter a combustion chamber through the rotating part, and the rotating part and the gun body shell are fixed and driven by a servo motor, so that the spray gun is driven to rotate without being limited by the pipelines. The rotating portion may be disposed inside the fixing portion, or outside the fixing portion, and referring to fig. 3, 4 and 5, a specific structural diagram of the reversing distributor 112 is shown, which is an example in which the rotating portion is mainly disposed outside the fixing portion. The method mainly comprises the following steps: rear cover 1121, gland 1122, balls 1123, dispensing core 1124, shaft 1125, rotary motion seal 1126. The distributing core 1124 (a fixed part in this example) is cylindrical, and around the center of the end face, six holes are uniformly distributed, and the six holes are respectively connected with an external water inlet pipe, a water return pipe, a nitrogen pipe, a combustion pipe, an oxygen pipe and an air pipe; the six holes extend inwards from the end face along the axial direction, and the depths of the six holes are different; six holes are respectively arranged along the radial direction from the side surface of the distribution core, the six radial holes correspond to the six axial holes one by one and are communicated with each other to form six channels, and the six channels are mutually independent and are not communicated; six circumferential grooves are distributed on the side surface of the distribution core 1124 and correspond to the positions of the radial holes on the side surface one by one, and the grooves are used as channels for connecting the holes on the sealing sleeve 1122 and the holes on the distribution core 1124 when the sealing sleeve 1122 (in the example, a rotating part) and the distribution core 1124 rotate mutually, so that cooling water, fuel, oxygen, air and nitrogen continuously enter from the end surface holes of the reversing distributor 112, exit from the side surface holes of the reversing distributor 112 and enter into the interior of the spray gun; the outer side of dispenser cartridge 1124 and the inner side of boot seal 1122 are also formed with a plurality of shallow grooves which receive balls 1123 to provide for smoother rotation of dispenser cartridge 1124 and boot seal 1122 relative to one another. A plurality of rotary seals 1126 are disposed between the grooves to provide a dynamic seal between the dispenser cartridge 1124 and the boot 1122, and to provide independent, non-continuous channels between the grooves. The axis of the distribution core 1124 is provided with a through hole, the rotating shaft 1125 passes through the through hole, and the rotating shaft 1125 is fixedly connected with the rear cover 1121 through a screw; the sealing sleeve 1122 is fixedly connected with the rear cover 1121 through screws. The servo motor 3 drives the rotating shaft 1125 to rotate, so as to drive the sealing sleeve 1122 to rotate, and the sealing sleeve 1122 is fixedly connected with the gun body rear cover 111 through a screw, so that the whole spray gun can be driven to rotate.

According to a specific example of the present invention, referring to a rotatable circular table 2 of fig. 6, a table base 201 is fastened to the end of a manipulator 4 through a bolt, a bearing 202 is connected between a table top 203 and the table base 201 and can rotate around an axis, and the table top 203 is fixedly connected with a spray gun housing 102 and a gun body rear cover 111 through screws; the rotatable circular table 2 is hollow, a small servo motor 3 is arranged in the axis of the table base 201, the axis of a servo motor shaft and the axis of the rotatable circular table 2 are in the same straight line, and the shaft of the servo motor 3 is connected with a rotating shaft 1125 of the reversing distributor 112 through a coupler. The main function of the rotatable circular table 2 is to provide enough supporting force for the rotatable supersonic flame spray gun 1 and connect the rotatable supersonic flame spray gun 1 with the industrial manipulator 4.

The invention relates to a working method of a supersonic flame thermal spraying device for the inner wall of a large volute diversion chamber during working, which comprises the following steps:

1. the pretreatment process of the matrix of the volute 6 comprises the steps of derusting, cleaning and sand blasting, and then the device is moved to the deepest part of the volute 6. The spraying is started from the innermost region of the volute 6, and then the spraying is sequentially performed toward the region in the outlet direction of the volute 6. The locus of movement of the movable base 5 is a locus of movement in the outlet direction along the axial direction of the scroll. The device simultaneously realizes the movement along the axial lead of the volute to the outlet direction, the circular motion of the mechanical arm along the inner surface of the volute and the rotary motion of the spray gun, so that the final spraying motion track is a spiral motion track.

2. The embodiment adopts a working scheme with higher precision: after the mobile platform 5 moves to a spraying construction position, the hydraulic support column 7 is lifted and supported on the volute 6, so that the mobile platform 5 is kept still, the movement of the continuously rotatable supersonic flame spray gun 1 along the axial direction of the volute 6 is controlled by the industrial manipulator 4 in a programming way, and the movement track 401 of the spray gun is also controlled by the industrial manipulator 4 in a programming way; the rotation control of the continuously rotatable supersonic flame spray gun 1 is controlled by a servo motor 3.

3. Checking whether each component of the device works abnormally, then programming the walking track of the industrial robot 4, and programming the rotation of the servo motor 3; after programming is finished, the ignition is not started, and the program is run once to ensure that the program has no problems. The parameters set above need to satisfy the following requirements:

(1) Referring to fig. 9, the rotating angular velocity of the continuously rotatable supersonic flame spray gun 1 is equal to the angular velocity of the spray gun 1 controlled by the industrial manipulator 4 to make a circumferential movement along the inner surface of the volute, so as to ensure that the direction of the sprayed flame of the supersonic flame spray gun 1 is always perpendicular to the inner surface of the volute 6 in the circumferential movement process, and the distance between the moving track 401 and the inner surface of the volute 6, i.e. the flame spraying distance, is kept consistent, and the spraying distance needs to be within a reasonable process range.

(2) The time for continuously rotating the supersonic flame spray gun 1 to move for one flame width along the axial direction of the volute 6 is equal to the time for rotating the spray gun for one circle. That is, assuming that a flame width is d, the moving seat 5 or the industrial robot 4 drives the velocity v of the continuously rotatable supersonic flame spray gun 1 moving toward the axis of the volute 6, the required time is t1, the angular velocity of the continuously rotatable supersonic flame spray gun 1 is ω, and the time of one rotation is t2, so as to ensure that

4. Starting cooling water circulation, starting the supply of nitrogen, oxygen, air and fuel gas, manually igniting at a gun mouth by using a flint, running a program, preheating, and ensuring that the temperature of a region where the volute 6 is sprayed with a coating is in a process range; and feeding powder according to the set powder feeding amount, and performing supersonic flame spraying by operating the program for multiple times.

5. When the coating thickness of the spraying area meets the requirement, the fire is cut off, the air supply is stopped, and the spraying is stopped; controlling the hydraulic support column 7 to retract, controlling the movable base platform 5 to move to the next section of construction position, and repeating the steps 2, 3 and 4; and so on until the coating spraying work of the volute 6 is completely finished.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modifications, equivalent changes and modifications made according to the technical spirit of the present invention are still within the scope of the technical solution of the present invention.

Claims (10)

1. A supersonic flame thermal spraying device for the inner wall of a volute diversion chamber is characterized by comprising a supersonic flame spray gun capable of continuously rotating, a servo motor, an industrial manipulator and a movable seat platform; the movable seat stand comprises a movable seat stand main body and a supporting component, the industrial manipulator is installed on the seat stand main body, the seat stand main body is matched with the supporting component to enable the movable seat stand to stably move around the inner wall of the volute diversion chamber in the spraying process, the continuously-rotatable supersonic flame spray gun is connected to the end portion of the industrial manipulator, and the continuously-rotatable supersonic flame spray gun can continuously rotate towards the same direction without being limited by a spray gun pipeline.

2. A supersonic flame thermal spraying apparatus at inner wall of volute water diversion chamber according to claim 1, wherein said continuously rotatable supersonic flame spray gun comprises a gun body housing, a gun barrel and a combustion chamber fixedly arranged in the gun body housing, and a reversing distributor; the combustion chamber front end is the laval nozzle structure, the rear end is the cavity structure, barrel rear end face and the sealed fastening of the preceding terminal surface of combustion chamber, barrel front end and rifle body shell front end are fixed through the sealed lid pressure fastening of a fastening, rifle body shell afterbody is located to the switching-over distributor, fixed part and rotatable rotating part including coaxial setting, the fixed part is fixed for industrial robot, all kinds of pipelines of spray gun get into the switching-over distributor via the fixed part and get into in the combustion chamber through the rotating part again, the rotating part is fixed by servo motor drive with rifle body shell, thereby it is rotatory not restricted by the pipeline to drive the spray gun.

3. The supersonic flame thermal spraying device of the inner wall of the volute diversion chamber according to claim 2, wherein the reversing distributor has a fixed part and a rotating part which are coaxially disposed, N axial holes are disposed on an end surface of the fixed part, N radial holes are disposed on a circumferential surface close to the rotating part, the N axial holes have different depths and are communicated with the N radial holes in a one-to-one correspondence manner to form N passages, N grooves around a circumference are distributed on the circumferential surface, the positions of the grooves around the circumference and the radial holes are in a one-to-one correspondence manner, after the fixed part is matched with the rotating part, balls and sealing rings are disposed between the grooves to form a dynamic seal between the fixed part and the rotating part, N outlets are disposed on the circumferential surface of the rotating part and are communicated with the N grooves in a one-to-one correspondence manner, and a spray gun pipeline is connected with the fixed part and enters the interior of the spray gun through the axial holes, the radial holes, the grooves, and the outlets.

4. The supersonic flame thermal spraying device of the inner wall of the volute diversion chamber as defined in claim 2, wherein a disc-shaped high temperature resistant porous flow stabilizer is disposed in the combustion chamber, the end surface of the flow stabilizer is provided with a plurality of through holes, the axis of the flow stabilizer is provided with a through hole, the powder feeding column is hermetically connected with the rear cover of the combustion chamber, one end of the flow stabilizer penetrates through the rear cover of the combustion chamber and extends into the through hole of the high temperature resistant porous flow stabilizer, the other end of the flow stabilizer is connected with one end of the powder feeding column through a bent connector at the outer side of the rear cover of the combustion chamber, the powder feeding column is a cylinder with a through hole at the axis, the other end of the flow stabilizer is fixed on the rear cover of the gun body and is connected to an external powder feeding tube, the powder feeding column and the bent connector adopt a shaft-moving sealing structure, and the powder feeding column and the bent connector adopt a fixed sealing structure.

5. A supersonic flame thermal spraying device with volute water diversion chamber inner wall as claimed in claim 2, characterized in that there are air channel, fuel channel, oxygen channel and water cooling channel isolated from each other between the gun barrel and the gun body outer shell, there are at least 3 grooves around the circumference opened on the outer side wall of the combustion chamber cavity structure, and the air channel, fuel channel and oxygen channel are connected correspondingly, the grooves are sealed by sealing ring, there are many small holes opened in each groove to communicate with the combustion chamber.

6. The supersonic flame thermal spraying device of the inner wall of the volute diversion chamber according to claim 1, wherein wheels are arranged at the bottom of the seat body of the movable seat, a storage battery power system is arranged in the seat body to drive the wheels to move, the support component is a hydraulic support column, at least one hydraulic support column is fixed on the table top of the seat body, in addition, the hydraulic support columns can also be fixedly installed on the side surface of the seat body, and small wheels are installed at the tail ends of all the hydraulic support columns and are abutted against the surface of the volute; the hydraulic support column applies force to the movable seat platform to limit the degree of freedom of the movable seat platform in the volute, so that the stability of the movable seat platform is guaranteed, and the movable seat platform can move.

7. The supersonic flame thermal spraying device of the inner wall of the volute diversion chamber according to claim 1, further comprising a video monitoring system and an integrated control cabinet, both mounted on the seat body of the movable seat, the video monitoring system being configured to monitor the spraying process in real time, the integrated control cabinet being configured to control spray gun parameters, the motion trajectory of the industrial manipulator, the video monitoring system, the movement of the seat body, and the supporting force of the supporting member.

8. A supersonic flame thermal spraying method for the inner wall of a volute water diversion chamber is realized by the device as claimed in any one of claims 1 to 7, and comprises the following steps:

spraying is carried out in the volute diversion chamber from inside to outside, namely, spraying is carried out from the position farthest away from the outlet in the volute, and the device simultaneously realizes the movement towards the outlet direction along the axial lead of the volute, the circular motion of the mechanical arm along the inner surface of the volute and the rotary motion of the spray gun, so that the final spraying motion track is a spiral motion track;

the rotating angular speed of the supersonic flame spray gun which can continuously rotate in the spraying process is equal to the angular speed of the spray gun which is controlled by the industrial manipulator to move along the circumference of the volute in a concentric circle, and the distance between the moving track and the inner surface of the volute, namely the flame spraying distance, is kept consistent.

9. The supersonic flame thermal spraying method for the inner wall of the volute water diversion chamber according to claim 8, wherein the whole spray gun moves along the axial lead of the volute in two working modes, one mode is that after the moving platform moves to a spraying position, the hydraulic support column is lifted and supported on the volute, then the moving platform is kept still, the movement of the spray gun along the axial direction of the volute is controlled by a manipulator, at the moment, because the moving platform is fixed and the moving track of the spray gun is controlled by the manipulator, the precision is higher, the spray gun is suitable for a spraying scene with high precision requirement, but because the moving range of the manipulator is limited, only a small segment and a small segment can be sprayed, after spraying of one segment is finished, the spraying is stopped, then the moving platform moves to a next spraying point to spray the next segment, and the spraying efficiency of the method is slightly low; the second scheme is that the whole movement of the spray gun along the axial direction of the volute is controlled by a moving platform, namely the moving platform controls the movement of the spray gun along the axial direction of the volute, the movement of a spray gun circle is controlled by a mechanical arm, and the rotation of the spray gun is controlled by a servo motor, so that the whole equipment can move and spray, the efficiency is higher, but the moving precision of the moving platform is not high than that of the mechanical arm, so that the method is suitable for occasions with low requirement on spraying precision and occasions with larger spraying beam current;

the time for moving the spray gun by one flame width along the axial center direction of the volute is equal to the time for rotating the spray gun by one circle. That is, assuming that a flame width is d, the moving seat or the industrial robot drives the spray gun to move towards the axial center direction of the volute at a speed v, the required time is t1, the angular speed of the rotation of the spray gun is ω, and the time of one rotation is t2, thenGuarantee

10. The supersonic flame thermal spraying method for the inner wall of the volute diversion chamber according to claim 8, wherein the spraying scheme preferably adopts segmented circumferential spraying in consideration of the service life of spray gun parts and the addition and replacement of various spraying raw materials and materials: (1) After a section of circumferential area is selected to be sprayed, the spray gun and the industrial manipulator stop working, whether equipment has problems or not is checked, whether spraying materials need to be added or not is checked, whether gas and oxygen need to be supplemented or not is checked, the movable seat platform moves to the outlet direction along the axial direction of the volute for a certain distance and stops, the manipulator has a certain movement range along the axial direction of the volute, the distance is the next section of area needing to be sprayed, after all the parts are properly prepared, the industrial manipulator and the spray gun are continuously started to spray the next section of area, and at the moment, the industrial manipulator controls the spray gun to do circular motion and move back to the outlet direction of the volute along the axial direction of the volute; or (2) in the spraying process of the spray gun, the movable base table only moves along the axial center direction of the volute, and the industrial manipulator only controls the spray gun to do circular motion, so that the spraying area can not be limited by the motion range of the manipulator; and (4) finishing spraying of one section of area, checking the state of the equipment, supplementing the spraying material and the fuel gas, and then spraying the next section of area.

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