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Underwater robot local dry welding system
王振民, 谢芳祥, 冯允樑, 张芩1,2
1.1. ;2.
2.
摘要:
To satisfy the demand for good quality underwater welding and maintenance of nuclear power stations, a set of local dry automatic welding systems has been developed. These systems were based on an underwater robot that consisted of a special high-power underwater welding power supply, diving wire feeder, mini drain cap, welding robot, and special underwater welding torch. With a digital signal controller microprocessor as its core and combined with a dual inverter topology, the welding power supply was characterized by full-digital construction and multi-waveform flexible output. A compact diving wire feeding device was designed, based on the armature voltage negative feedback and high-frequency chopping pulse width modulation.This device yielded a high-efficiency seal of the driving motor with the help of dynamic and static sealing technology. To overcome the difficulty of local protection and deslagging in the welding area, a mini drain cap (with a duplexgas structure) based on the principle of the convergent nozzle was designed. The practical tests and the underwater welding experiments revealed that the underwater robotic local dry welding system is quite feasible. That is, the system could strike the arc stably and reliably in the shallow water environment, and formed beautiful welding seams.
关键词:  local dry|underwater robotic welding|underwater welding power supply|mini drain cap|underwater wire feeder
DOI:10.12073/j.cw.20190721002
分类号:
基金项目:
Underwater robot local dry welding system
Zhenmin Wang, Fangxiang Xie, Yunliang Feng, Qin Zhang1,2
1.1. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, China;2.
2. School of Computer Science & Engineering, South China University of Technology, Guangzhou 510640, China
Abstract:
To satisfy the demand for good quality underwater welding and maintenance of nuclear power stations, a set of local dry automatic welding systems has been developed. These systems were based on an underwater robot that consisted of a special high-power underwater welding power supply, diving wire feeder, mini drain cap, welding robot, and special underwater welding torch. With a digital signal controller microprocessor as its core and combined with a dual inverter topology, the welding power supply was characterized by full-digital construction and multi-waveform flexible output. A compact diving wire feeding device was designed, based on the armature voltage negative feedback and high-frequency chopping pulse width modulation.This device yielded a high-efficiency seal of the driving motor with the help of dynamic and static sealing technology. To overcome the difficulty of local protection and deslagging in the welding area, a mini drain cap (with a duplexgas structure) based on the principle of the convergent nozzle was designed. The practical tests and the underwater welding experiments revealed that the underwater robotic local dry welding system is quite feasible. That is, the system could strike the arc stably and reliably in the shallow water environment, and formed beautiful welding seams.
Key words:  local dry|underwater robotic welding|underwater welding power supply|mini drain cap|underwater wire feeder