CN101244485A - Underwater steel construction crackle friction stitch welding renovation method and equipment - Google Patents
Underwater steel construction crackle friction stitch welding renovation method and equipment Download PDFInfo
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- CN101244485A CN101244485A CNA2007100793268A CN200710079326A CN101244485A CN 101244485 A CN101244485 A CN 101244485A CN A2007100793268 A CNA2007100793268 A CN A2007100793268A CN 200710079326 A CN200710079326 A CN 200710079326A CN 101244485 A CN101244485 A CN 101244485A
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Abstract
The invention relates to a friction stitch welding repairing method for the underwater steel structure cracks and the device, wherein, the friction stitch welding method is as follow: a stopper (2) rotating at high speed is inserted in the preboring welded hole (11) and is applied with axial pressure; the contacting interface of the welded hole (11) and the stopper (2) is heated and melted to form a plurality of welding units (3) through crystallization and metallurgical reaction; the welding units (3) are overlapped with each other to form a complete stitch welding seam (4). The repairing device for the underwater steel structure cracks adopts the friction stitch welding method and comprises a plurality of underwater components and a plurality of above-water components, wherein, the underwater components comprise a friction spindle head (5), an underwater operational manipulator (6), an automatic tool magazine (7), a tool changer (8) and an underwater teleoperator (9); the above-water components comprise a hydraulic power system, an electric control system and a data acquisition system. The device adopting the friction stitch welding method has the advantages of excellent welding quality, simple structure, reliability and easy operation, low cost and easy use, maintenance and repair.
Description
Technical field
The present invention relates to a kind of underwater welding method and its prosthetic appliance, especially realize the solid welding method and the equipment that connect.
Background technology
Friction welding is under pressure, friction by interface to be welded raises interface and near temperature thereof, the distortion of materials drag reduces, plasticity improves, the oxide-film fragmentation at interface, be accompanied by the material production plastic deformation and flow, by the diffusion on the interface and again the crystallization metallurgical reaction realize the solid welding method that connects.Connection, production efficiency height, dimensional accuracy height, equipment that friction welding possesses joint quality height, suitable foreign material are easy to outstanding advantages such as automatic and mechanical, clean environment.Especially, for some occasion of arc welding application difficult, for example underwater steel construction reparation, the friction welding that belongs to Solid-phase welding possesses unique environmental adaptation advantage.
Alternative method of attachment under water is divided into 3 classes, i.e. mechanical connector, arc welding and Solid-phase welding.Mechanical connector is simple in structure, relatively cheap, install rapidly and quality of connection has nothing to do with the depth of water, but the existence still of its this tender subject of long-term reliability makes its application be restricted.Arc welding is divided into WET WELDING, local dry-type welding, dry-type high-voltage welding and the welding of dry type normal pressure.WET WELDING, local dry-type quality of weld joint are lower, are generally used for shallow water, non-important structure reparation.The dry-type high-voltage welding can obtain high-quality weld seam, and the underwater dry-type maintenance system of extensive use at present adopts the welding of rail mounted tungsten argon arc, but because arc stability reduces, is generally used for the 300m depth of water with shallow.The variation mode PLASMA ARC WELDING of tungsten argon arc welding and gas metal-arc welding connect can realize that the 1000m depth of water is with the welding under the dark pressure; but; implementation cost is high, it is full-automatic to be difficult to realize, and is difficult to be applied to the maintenance of other steel constructions such as ocean platform outside the submarine pipeline.The dry type normal pressure welding then cost than the dry-type high-voltage welding is higher, is difficult to apply.Belong to the explosive welding of Solid-phase welding, because, fail to apply for the worry of implementing security.Belong to the friction welding of Solid-phase welding equally, then obtained more widely using among ocean engineering, for example, the friction stub soldering equipment is under water under the support of remote-controlled robot, finished the depth of water near 400 meters sea risers anode annex welding.But this friction welding can only be finished the simple task that similar double-screw bolt connects, and can not finish complex tasks such as submarine pipeline breakage, ocean platform Crack repair.
The whole world has just had more than 6500 at labour marine oil and gas platform in the time of 1998, the also existing all kinds of offshore oil steel constructions of China seats up to a hundred.Surpass 500m because verified the depth of water more than 80% of world oil reserves, thus deep water (300～1500m), super deep water (＞1500m) the petroleum resources exploitation will become the trend that the world ocean petroleum industry develops.Because be subjected to the alternation varying load effect of ripple, wave, stream, ice etc., these offshore oil steel constructions especially positions such as the pile foundation of tubular type under water of platform various fatigue cracks can occur inevitably.
Crackle for the platform-type pile foundation of tubular type under water, all there are some problems in the recovery technique under water of employing when application at present: the mechanical connector not only long-term reliability problems of its submerged applications is never eliminated, and near the accurate in place and installation the platform crackle is very difficult; WET WELDING, local dry-type welding only are applied to 60m usually with the shallow water territory; The dry-type high-voltage welding can obtain high-quality joint, but electric arc is difficult to stablize when the depth of water reaches 300m, particularly because steel construction is different with the submarine pipeline of rule, not only complex structure but also working space are very limited, need to adopt the high pressure welding chamber of a series of assemblings to surround to treat welded steel structured, whole system is very complicated, during installation fee, expense is high.
In order to reduce the underwater maintenance operating cost, to improve repairing quality, particularly adapt to the needs that marine petroleum development has entered super deepwater field, the present invention proposes this novel restorative procedure of underwater steel construction crackle friction stitch welding and equipment thereof.
Summary of the invention
According to background technology, the object of the present invention is to provide a kind of cracks prebored hole at steel construction, and the stopper of insertion high speed rotation, impose axial compressive force simultaneously, make its stopper and welding hole melted by heating, carry out the crystallization metallurgical reaction at the interface and form welding unit, a series of welding units overlap the restorative procedure that forms complete weld seam mutually; A kind of equipment of realizing this method is provided simultaneously, comprise friction main tapping under water, underwater camera device and underwater remote-control robot are positioned at the hydraulic power system on the water surface, electric-control system and data collecting system etc. are by the repair process of monitor supervision friction stitch welding.
To achieve these goals, the present invention is achieved through the following technical solutions:
A kind of underwater steel construction crackle friction stitch welding renovation method, this method comprises the following steps: to go up brill welding hole (11) at body to be welded (1), the stopper (2) that uses diameter to be slightly less than welding hole (11) rotates in welding hole (11) high speed, and the P that axially exerts pressure, make the contact-making surface melted by heating of stopper (2) and welding hole (11), and tie
Brilliant metallurgical reaction forms a welding unit (3), finishes the mutual overlap joint of a series of welding units (3), and constitutes complete stitch welding weld seam (4).
Be used to realize the equipment of the inventive method, mainly comprise the friction main tapping (5) that is positioned under water, underwater operation manipulator (6), automatic tool magazine (7), cutter-exchange mechanism (8) and underwater remote-control robot (9), and be positioned at hydraulic power system waterborne, electric-control system and data collecting system, wherein: underwater remote-control robot (9) is fixed on by slip holder (92) and waits to repair near the favorably situated girder steel of crackle, and can before and after girder steel, slide, and control underwater operation manipulator (6) by underwater remote-control robot (9), automatic tool magazine (7) and cutter-exchange mechanism (8), automatically tool magazine (7) dress contains drill bit, stopper, steel brush, emery wheel, defectoscope etc., cutter-exchange mechanism (8) is under electric-control system (10) programme-control, carry out the instrument dismounting by underwater remote-control robot (9) and cutter-exchange mechanism (8) for underwater operation manipulator (6), be installed, friction main tapping (5) is installed on the underwater operation manipulator (6), also be provided with portable lamp (91) in the underwater remote-control robot (9), hydraulically powered friction main tapping (5) is installed on the underwater operation manipulator (6).
Owing to adopted technique scheme, the present invention to have following advantage and effect:
1, welding process of the present invention and technological parameter are not subjected to the influence of the depth of water, need not build special state space yet, realize a complete set of operation automation with the underwater remote-control robot is supporting, and welding quality are good, the welding efficiency height.
2, prosthetic appliance provided by the present invention adopts the high pressure liquid cylinder pressure, the high-volume hydraulic motor drives and can be used for 1000m with dark underwater steel construction repair, the underwater operation manipulator has been equipped with steel brush, drill bit, stopper, emery wheel, defectoscope etc. can finish the required whole work of crackle reparation, water surface monitoring system can monitor the REPAIR WELDING process, can also gather the welding parameter of monitoring renovation technique.
3, welding method high efficient and reliable provided by the invention, the prosthetic appliance compact conformation that is provided, simple, cheap, working service is repaired simple and easy.
Description of drawings
Figure 1A is a friction stitch welding principle schematic of the present invention
Figure 1B is the A-A cross-sectional schematic of Figure 1A of the present invention
Fig. 2 is a underwater steel construction crackle prosthetic appliance general structure schematic diagram of the present invention
The specific embodiment
A kind of underwater steel construction crackle friction stitch welding renovation method, this method comprises the following steps: to bore welding hole 11 on body 1 to be welded, the stopper 2 that uses diameter to be slightly less than welding hole 11 rotates in welding hole 11 high speeds, and the P that axially exerts pressure, make the contact-making surface melted by heating of stopper 2 and welding hole 11, and carry out welding unit 3 of crystallization metallurgical reaction formation, finish the mutual overlap joint of a series of welding units 3, and constitute complete stitch welding weld seam 4.
Be used to realize the equipment of the inventive method, mainly comprise the friction main tapping 5 that is positioned under water, underwater operation manipulator 6, automatic tool magazine 7, cutter-exchange mechanism 8 and underwater remote-control robot 9, and be positioned at hydraulic power system waterborne, electric-control system and data collecting system, wherein: underwater remote-control robot 9 is fixed on by slip holder 92 and waits to repair near the crackle on the favorably situated girder steel, and can before and after girder steel, slide, and control underwater operation manipulator 6 by underwater remote-control robot 9, automatic tool magazine 7 and cutter-exchange mechanism 8, automatically tool magazine 7 dresses contain drill bit, stopper, steel brush, emery wheel, defectoscope etc., cutter-exchange mechanism 8 is under electric-control system 10 programme-control, carry out the instrument dismounting by underwater remote-control robot 9 and cutter-exchange mechanism 8 for underwater operation manipulator 6, be installed, also be provided with portable lamp 91 in the underwater remote-control robot 9, hydraulically powered friction main tapping 5 is installed on the underwater operation manipulator 6, its main design objective is operating depth＞1000m, maximum axial pressure＞2T, maximum speed＞4700rpm, peak torque not＜50Nm, stopper diameter (10～20) mm, structural thickness＞40mm to be repaiied, speed of welding is (40～120) mm/min; The man-machine interface of electric-control system shows in real time and welding conditions such as axial compressive force, rotary speed, insertion speed are welded in control, and monitors the friction stitch welding repair process by monitor.
Other knows, the canonical process that the friction stitch welding prosthetic appliance of the present invention's design carries out the underwater steel construction crackle repair:
(1) the underwater remote-control robot enters after the underwater operation place, is fixed on by slip holder 92 and waits to repair near the crackle on the favorably situated girder steel, and finish three-dimensional in place and fixing on steel construction voluntarily.
(2) from automatic tool magazine 7, take out steel brush, by the instrument of cutter-exchange mechanism 8 as underwater operation manipulator cleaning crack surfaces.
(3) underwater operation manipulator 6 is an instrument preboring welding hole 11 with the drill bit.
(4) cutter-exchange mechanism 8 is underwater operation manipulator den bohrkopf abbauen, stopper 2 is installed, and friction main tapping 5 is rotation and decline at a high speed, finishes unit formation.
(5) electric control system controls guiding underwater operation manipulator 6 is followed the tracks of crackle, at new correct position, begins next unit process.
Know that again tool magazine 7 has been deposited crackle for underwater operation manipulator 6 and repaired required steel brush, drill bit, stopper, emery wheel, defectoscope etc. automatically.Cutter-exchange mechanism 8 need carry out the instrument dismounting, be installed according to operation under electrical control system program control for underwater operation manipulator 6.
The mutual joint form of stopper 2 shapes and unit process affects welding quality, and stopper 2 can be cylindrical, also can be conical.
Claims (3)
1. underwater steel construction crackle friction stitch welding renovation method, this method comprises the following steps: to go up brill welding hole (11) at body to be welded (1), the stopper (2) that uses diameter to be slightly less than welding hole (11) rotates in welding hole (11) high speed, and the P that axially exerts pressure, make the contact-making surface melted by heating of stopper (2) and welding hole (11), and carry out a crystallization metallurgical reaction formation welding unit (3), finish the mutual overlap joint of a series of welding units (3), and constitute complete stitch welding weld seam (4).
2. equipment that is used to realize the method for claim 1, mainly comprise the friction main tapping (5) that is positioned under water, underwater operation manipulator (6), automatic tool magazine (7), cutter-exchange mechanism (8), with underwater remote-control robot (9), and be positioned at hydraulic power system waterborne, electric-control system and data collecting system, it is characterized in that: underwater remote-control robot (9) is fixed on by slip holder (92) and waits to repair near the favorably situated girder steel of crackle, and can before and after girder steel, slide, and control underwater operation manipulator (6) by underwater remote-control robot (9), automatic tool magazine (7) and cutter-exchange mechanism (8), automatically tool magazine (7) dress contains drill bit, stopper, steel brush, emery wheel, defectoscope etc., cutter-exchange mechanism (8) is under electric-control system (10) programme-control, carry out the instrument dismounting by underwater remote-control robot (9) and cutter-exchange mechanism (8) for underwater operation manipulator (6), be installed, friction main tapping (5) is installed on the underwater operation manipulator (6), also be provided with portable lamp (91) in the underwater remote-control robot (9), hydraulically powered friction main tapping (5) is installed on the underwater operation manipulator (6).
3. equipment according to claim 2 is characterized in that: the shape of stopper is cylindrical or conical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100793268A CN101244485A (en) | 2007-02-16 | 2007-02-16 | Underwater steel construction crackle friction stitch welding renovation method and equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100793268A CN101244485A (en) | 2007-02-16 | 2007-02-16 | Underwater steel construction crackle friction stitch welding renovation method and equipment |
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| CN101244485A true CN101244485A (en) | 2008-08-20 |
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| CNA2007100793268A Pending CN101244485A (en) | 2007-02-16 | 2007-02-16 | Underwater steel construction crackle friction stitch welding renovation method and equipment |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101934426A (en) * | 2010-09-30 | 2011-01-05 | 哈尔滨工业大学 | Method for improving plasticity of underwater stir friction welding joint |
| CN102049606A (en) * | 2009-10-30 | 2011-05-11 | 北京石油化工学院 | Local draining and friction stitch welding repairing equipment with underground steel structure and method |
| CN104439685A (en) * | 2014-10-27 | 2015-03-25 | 中国海洋石油总公司 | Continuous machining method for friction plunger in underwater welding process |
| US20150343558A1 (en) * | 2014-05-27 | 2015-12-03 | Proserv UK Ltd. | Subsea welding apparatus and method |
| CN105382378A (en) * | 2015-10-27 | 2016-03-09 | 张荣斌 | Surfacing welding method for abraded large roll shaft |
| US10041163B1 (en) | 2017-02-03 | 2018-08-07 | Ge-Hitachi Nuclear Energy Americas Llc | Plasma spray coating for sealing a defect area in a workpiece |
| DE102017102664B4 (en) | 2017-02-10 | 2023-05-04 | Gunnar Retzlaff | Process for underwater repair of a steel structure |
| CN118514843A (en) * | 2024-07-19 | 2024-08-20 | 季华实验室 | Underwater processing device and underwater processing method |
-
2007
- 2007-02-16 CN CNA2007100793268A patent/CN101244485A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102049606A (en) * | 2009-10-30 | 2011-05-11 | 北京石油化工学院 | Local draining and friction stitch welding repairing equipment with underground steel structure and method |
| CN101934426A (en) * | 2010-09-30 | 2011-01-05 | 哈尔滨工业大学 | Method for improving plasticity of underwater stir friction welding joint |
| CN101934426B (en) * | 2010-09-30 | 2012-11-07 | 哈尔滨工业大学 | Method for improving plasticity of underwater stir friction welding joint |
| US20150343558A1 (en) * | 2014-05-27 | 2015-12-03 | Proserv UK Ltd. | Subsea welding apparatus and method |
| US9592568B2 (en) * | 2014-05-27 | 2017-03-14 | Proserv Uk Limited | Subsea welding apparatus and method |
| CN104439685A (en) * | 2014-10-27 | 2015-03-25 | 中国海洋石油总公司 | Continuous machining method for friction plunger in underwater welding process |
| CN105382378A (en) * | 2015-10-27 | 2016-03-09 | 张荣斌 | Surfacing welding method for abraded large roll shaft |
| CN105382378B (en) * | 2015-10-27 | 2018-05-25 | 江苏锦航机械制造有限公司 | Overlaying method after large-scale roll shaft abrasion |
| US10041163B1 (en) | 2017-02-03 | 2018-08-07 | Ge-Hitachi Nuclear Energy Americas Llc | Plasma spray coating for sealing a defect area in a workpiece |
| DE102017102664B4 (en) | 2017-02-10 | 2023-05-04 | Gunnar Retzlaff | Process for underwater repair of a steel structure |
| CN118514843A (en) * | 2024-07-19 | 2024-08-20 | 季华实验室 | Underwater processing device and underwater processing method |
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Open date: 20080820 |