CN114034040B - Underwater torch control method based on robot control - Google Patents

Underwater torch control method based on robot control Download PDF

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Publication number
CN114034040B
CN114034040B CN202111164941.5A CN202111164941A CN114034040B CN 114034040 B CN114034040 B CN 114034040B CN 202111164941 A CN202111164941 A CN 202111164941A CN 114034040 B CN114034040 B CN 114034040B
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China
Prior art keywords
oxygen
channel
premixed
gas
torch
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CN202111164941.5A
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Chinese (zh)
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CN114034040A (en
Inventor
费立群
覃正
李春光
张波
李志永
刘萍
李煜
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Beijing Power Machinery Institute
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Beijing Power Machinery Institute
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
    • F23D—BURNERS
    • F23D14/00—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid
    • F23D14/02—Premix gas burners, i.e. in which gaseous fuel is mixed with combustion air upstream of the combustion zone
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
    • F23D—BURNERS
    • F23D14/00—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid
    • F23D14/26—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid with provision for a retention flame
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
    • F23D—BURNERS
    • F23D14/00—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid
    • F23D14/28—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid in association with a gaseous fuel source, e.g. acetylene generator, or a container for liquefied gas
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
    • F23D—BURNERS
    • F23D14/00—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid
    • F23D14/32—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid using a mixture of gaseous fuel and pure oxygen or oxygen-enriched air
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
    • F23D—BURNERS
    • F23D14/00—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid
    • F23D14/34—Burners specially adapted for use with means for pressurising the gaseous fuel or the combustion air
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
    • F23D—BURNERS
    • F23D14/00—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid
    • F23D14/38—Torches, e.g. for brazing or heating
    • F23D14/44—Torches, e.g. for brazing or heating for use under water
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
    • F23D—BURNERS
    • F23D14/00—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid
    • F23D14/46—Details, e.g. noise reduction means
    • F23D14/60—Devices for simultaneous control of gas and combustion air
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
    • F23D—BURNERS
    • F23D14/00—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid
    • F23D14/46—Details, e.g. noise reduction means
    • F23D14/62—Mixing devices; Mixing tubes
    • F23D14/64—Mixing devices; Mixing tubes with injectors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
    • F23D—BURNERS
    • F23D14/00—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid
    • F23D14/46—Details, e.g. noise reduction means
    • F23D14/66—Preheating the combustion air or gas
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
    • F23D—BURNERS
    • F23D14/00—Burners for combustion of a gas, e.g. of a gas stored under pressure as a liquid
    • F23D14/46—Details, e.g. noise reduction means
    • F23D14/70—Baffles or like flow-disturbing devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
    • F23D—BURNERS
    • F23D2900/00—Special features of, or arrangements for burners using fluid fuels or solid fuels suspended in a carrier gas
    • F23D2900/14—Special features of gas burners
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
    • F23D—BURNERS
    • F23D2900/00—Special features of, or arrangements for burners using fluid fuels or solid fuels suspended in a carrier gas
    • F23D2900/21—Burners specially adapted for a particular use
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E20/00—Combustion technologies with mitigation potential
    • Y02E20/34—Indirect CO2mitigation, i.e. by acting on non CO2directly related matters of the process, e.g. pre-heating or heat recovery

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 the auxiliary heat integrated fuel gas cylinder, the oxygen gas cylinder and the torch to move underwater, and the water pressure of the position of the burner combustion chamber of the torch carried by the robot in the underwater position is obtained; according to the water pressure, controlling the pressure of the protective oxygen which is introduced into the combustion chamber of the burner through the oxygen bottle, so that the pressure of the protective oxygen is larger than the water pressure, further, water in the combustion chamber is discharged, and the premixed oxygen and the fuel gas are mixed and then introduced into the core flame nozzle head of the burner for combustion. Through integrating fuel gas cylinder, oxygen gas cylinder and torch on the robot, through predetermineeing the travel path, the control robot carries the torch and removes the transfer torch according to the travel path, has avoided passing through the manual work in winter and has caused dangerous condition easily in the transmission.

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
In the process of transferring the torch, many different road conditions are met, when the torch is transferred to a water area such as a river, the requirement of transferring the torch under water is met, and when the torch is transferred by a person, an oxygen bottle is required to be carried on the back to provide oxygen for a torch hand, and if the torch hand in the water area with complex underwater conditions is also subjected to various dangers during transferring, a novel underwater torch transferring method is needed.
Disclosure of Invention
The present application aims to solve, at least to some extent, one of the technical problems in the related art.
Therefore, the purpose of the application is to provide an underwater torch control method based on robot control, which is characterized in that a fuel gas cylinder, an oxygen gas cylinder and a torch are integrated on a robot, and the robot is controlled to carry the torch to move according to a moving path to transfer the torch through a preset moving path, so that the condition that dangers are easily caused by manual transfer in winter is avoided.
In order to achieve the above purpose, the method for controlling the underwater torch based on the robot control provided by the application comprises the following steps: acquiring a moving path of the robot under water;
according to the moving path, the robot carries the auxiliary heat integrated fuel gas cylinder, the oxygen gas cylinder and the torch to move underwater, and controls the opening and closing of output channels of the auxiliary heat integrated fuel gas cylinder and the oxygen gas cylinder through the robot;
acquiring water pressure of a burner in a torch carried by a robot at an underwater position where a combustion chamber of the burner is located;
controlling the pressure of the protective oxygen which is introduced into the combustion chamber of the burner through an oxygen bottle according to the water pressure so that the pressure of the protective oxygen is higher than the water pressure, and then discharging water in the combustion chamber;
injecting the premixed oxygen output by the oxygen cylinder into a mixed jet channel of a jet mixing nozzle in a premixing strengthening device in a torch;
injecting fuel gas output by the auxiliary heat integrated fuel gas cylinder into the mixed jet flow channel through a fuel jet hole on the side wall of the jet flow mixing nozzle along the direction perpendicular to the injection direction of the premixed oxygen, so that the premixed oxygen and the fuel gas collide and disperse in the mixed jet flow channel to obtain premixed gas;
and introducing the premixed gas into a core flame nozzle head of the combustor for combustion.
Preferably, before the introducing the premixed gas into the core flame nozzle head of the burner for combustion, the method further comprises:
introducing the premixed gas into a premixed gas channel in a premixed reinforcement 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 burn at the head part of the core flame nozzle.
Preferably, in the process of introducing the mixed gas into the mixed gas channel, according to the water pressure, the pressure of the mixed gas introduced into the mixed gas channel on the core flame nozzle is adjusted so that the pressure of the mixed gas is greater than the water pressure, and then the injection jet effect of the flame formed by the mixed gas when the head of the core flame nozzle burns is achieved.
Preferably, before the premixed oxygen output by the oxygen bottle is sprayed into the mixed jet channel of the jet mixing nozzle through one end of the jet mixing nozzle in the premixing strengthening device, the method further comprises: and the premixed oxygen is sprayed into a mixing jet flow channel of the jet flow mixing nozzle for mixing after being limited by a premixed oxygen nozzle channel at one end of the jet flow mixing nozzle.
Preferably, before the premixed oxygen is limited by the premixed oxygen nozzle channel at one end of the jet blending nozzle, the method further comprises: and dividing combustion-supporting oxygen output by the oxygen cylinder into premixed oxygen and intensified oxygen by using a flow regulating distributor in the torch, and controlling the flow of the premixed oxygen and the intensified oxygen.
Preferably, the intensified oxygen is introduced 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 is used for supporting 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 mixed jet 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: and introducing the fuel gas output by the auxiliary heat integrated fuel gas cylinder 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 introduced into the combustion chamber of the burner is introduced along the underside of the side wall of the combustion chamber.
Preferably, before the flow regulating distributor in the torch is used for splitting the combustion-supporting oxygen output by the oxygen cylinder into the pre-mixed 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 protecting oxygen, and controlling the flow of the combustion-supporting oxygen and the protecting 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 which is sleeved 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 heating the heat conduction liquid through a heating component in the auxiliary heat tank according to the temperature of the heat conduction liquid so as to keep the heat conduction 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 turbulent flame pieces at the top of the mixed gas channel, so that the mixed gas is dispersed into a plurality of spraying strands, and is combusted at the core flame nozzle head.
Preferably, after the output channels of the auxiliary heat integrated fuel gas cylinder and the oxygen gas cylinder are controlled to be opened by the robot, 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 regulating 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, in which:
FIG. 1 is a schematic diagram of a robot control-based method for controlling an underwater torch according to an embodiment of the present application;
FIG. 2 is a schematic view of an underwater torch according to another embodiment of the present application;
FIG. 3 is a partial schematic view 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 view of the structure of FIG. 2 of the present application;
FIG. 6 is a partial schematic view of the structure of FIG. 4 of the present application;
FIG. 7 is a partial schematic view of the structure of FIG. 4 of the present application;
FIG. 8 is a partial schematic view of the structure of FIG. 4 of the present application;
FIG. 9 is a partial structural cross-sectional view of the auxiliary heat integrated fuel cylinder of the present application;
FIG. 10 is a schematic view of a partial structure of a core flame nozzle of the present application.
In the figure: 1. an auxiliary heat integrated fuel gas cylinder; 11. a fuel solenoid valve; 12. an 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 passage; 44. a core oxygen inlet channel; 45. a shielding gas inlet pipe; 46. an annular communicating pipe; 47. turbulence stabilized flame sheets; 5. a premixing strengthening device; 51. a jet blending nozzle; 511. a fixing ring; 52. a mixed jet channel; 53. a fuel injection hole; 54. a premix oxygen nozzle passage; 541. an oxygen intake passage; 542. an oxygen flow restricting passage; 55. a premix gas passage; 56. a fixing member; 57. a gas sandwich channel; 58. A fuel intake passage; 6. a flow rate adjustment dispenser; 61. an oxygen delivery main channel; 611. a first channel; 612. a second channel; 62. a premixed oxygen delivery passage; 621. a third channel; 622. a fourth channel; 63. strengthening the oxygen delivery channel; 64. a fuel gas delivery passage; 641. a fifth channel; 642. a sixth channel; 65. a first flow rate adjustment needle valve; 66. a second stage flow regulating needle valve; 67. gas flow regulating needle valve; 7. an oxygen diverter; 71. an oxygen main intake duct; 72. protecting the oxygen delivery channel; 721. a first oxygen delivery channel; 722. a second oxygen delivery channel; 73. a combustion oxygen supply channel; 74. protecting the oxygen flow regulating needle valve.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring 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 present application include all alternatives, modifications, and equivalents as may be included within the spirit and scope of the appended claims.
Referring to fig. 1-10, a robot control-based underwater torch control method includes the steps of:
s1, acquiring a moving path of a robot under water;
firstly, determining a moving route of a torch, wherein the torch moves under water, and determining a moving path of a robot carrying the torch according to the underwater environments of different water areas and the moving route of the torch;
s2: according to the moving path, the robot carries the auxiliary heat integrated fuel gas cylinder, the oxygen gas cylinder and the torch to move underwater, and the output channels of the auxiliary heat integrated fuel gas cylinder and the oxygen gas cylinder are controlled to be opened and closed by the robot.
The robot is controlled to move on a preset path, because the auxiliary heat integrated fuel gas cylinder 1 and the oxygen gas cylinder 2 are integrally arranged in the robot body, and meanwhile, the shell 3 of the torch is held in the robot hand, the robot is an existing equipment device, the auxiliary heat integrated fuel gas cylinder 1 is communicated with the torch through a fuel gas output channel, the oxygen gas cylinder 2 is communicated with the torch through an oxygen gas output channel, a fuel electromagnetic valve 11 is arranged on the fuel gas output channel, and an oxygen electromagnetic valve 21 is arranged on the oxygen gas output channel; the fuel solenoid valve 11 and the oxygen solenoid valve 21 are electrically connected to a robot, and the opening and closing of the fuel solenoid valve 11 and the oxygen solenoid valve 21 are controlled by the robot, so that the opening and closing of the fuel gas output channel and the oxygen output channel are realized.
S3, acquiring water pressure of the torch carried by the robot at the underwater position of the combustion chamber 41 of the burner 4;
since the robot movement path is planned clearly, the position of the combustor 41 under the water in the combustor 4 is also clear, and the water pressure of the position of the combustor 41 under the water can be measured first.
And S4, controlling the pressure of the protective oxygen in the combustion chamber 41 of the combustor 4 through the oxygen bottle 2 according to the water pressure so that the pressure of the protective oxygen is higher than the water pressure, and further discharging the water in the combustion chamber 41.
Specifically, because the torch is in operation, the combustion chamber 41 is located in water, a large amount of water can enter the combustion chamber 41 at this time, and at this time, the protection oxygen is continuously introduced into the combustion chamber 41 to keep the pressure of the protection oxygen greater than the water pressure, so that the protection oxygen can be ensured to push the water in the combustion chamber 41 out of the combustion chamber 41 upwards under the action of the pressure difference.
In addition, in order to realize better drainage effect of the combustion chamber 41, the protective oxygen in the combustion chamber of the combustor 4 is introduced along the lower side of the side wall of the combustion chamber 41, and in order to ensure the stability of flame in the drainage process, the combustion chamber 41 is arranged into a cylindrical structure, and a protective gas inlet pipe 45 is arranged 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 so as to drain water in the combustion chamber 41, and the water in the combustion chamber 41 can be drained from bottom to top due to the fact that the reinforced oxygen is introduced into the combustion chamber 41 through the bottom of the combustion chamber 41; meanwhile, the air inlet direction of the protective air inlet pipe 45 is ensured to be tangential with the side wall of the combustion chamber 41, so that oxygen entering the combustion chamber 41 through the protective air inlet pipe 45 forms pneumatic rotational flow in the combustion chamber 41, the protective air inlet pipe 45 is provided with two or more than two protective air inlet pipes 45 at equal angles on the periphery of the combustion chamber 41, and a plurality of protective air inlet pipes 45 flow along the circumferential direction of the combustion chamber 41 to form air rotational flow which is anticlockwise or clockwise, so that water in the combustion chamber 41 is discharged. Meanwhile, in order to ensure the stability of the flame root during flame combustion, the air outlet of the core oxygen inlet channel 44 and the air outlet of the mixed gas channel 43 in the combustion chamber 41 are both positioned above the air outlet of the shielding gas inlet pipe 45 in the combustion chamber 41.
Meanwhile, in order to simplify the protection oxygen supply system, an annular communicating pipe 46 is sleeved outside the combustion chamber 41, the annular communicating pipes 46 are distributed in an annular mode, each protection gas inlet pipe 45 is connected to the annular communicating pipe 46, and then protection oxygen is introduced into the annular communicating pipe 55 first, and is dispersed in the annular communicating pipe 46 and then introduced into the combustion chamber 41 through the protection gas inlet pipe 45.
S5, injecting premixed oxygen output by the oxygen bottle 2 into a mixed jet channel 52 of the jet mixing nozzle 51 through one end of the jet mixing nozzle 51 in the premixing strengthening device 5 in the torch;
injecting the fuel gas output by the auxiliary heat integrated fuel gas cylinder 1 into the mixed jet channel 52 through a fuel jet hole 53 on the side wall of the jet mixing nozzle 51 along the direction perpendicular to the injection direction of the pre-mixed oxygen, so that the pre-mixed oxygen and the fuel gas collide and disperse in the mixed jet channel 52 to obtain pre-mixed gas; the combustion takes place by means of a premix gas introduced into the head of the core flame nozzle 42 of the burner 4.
Because the torch is under water when working, because the head of the core flame nozzle 42 is under water and in an anoxic environment, combustion of fuel gas is not facilitated, oxygen combustion supporting needs to be provided at this time, and direct oxygen introduction is easy to cause uneven mixing of oxygen and fuel gas, so that the fuel gas burns unevenly at the head of the core flame nozzle 42, therefore, in the above embodiment, the fuel gas and the premixed oxygen are premixed in the jet mixing nozzle 51 in advance, so that the mixed gas burns directly during combustion, unstable flame combustion is not caused, and meanwhile, the premixed oxygen and the fuel gas are vertically sprayed into the mixed jet channel 52 by controlling the premixed oxygen and the fuel gas to cause collision dispersion in the mixed jet channel 52, so that the dispersion performance of the mixed gas is improved.
In addition, before the premixed oxygen gas outputted from the oxygen cylinder 2 is injected into the mixing jet channel 52 of the jet mixing nozzle 51 through one end of the jet mixing nozzle 51 in the premixing and reinforcing device 5, the premixed oxygen gas is injected into the mixing jet channel 52 of the jet mixing nozzle 51 for mixing after being restricted by the premixed oxygen nozzle channel 54 at one end of the jet mixing nozzle 51.
That is, the housing 3 of the torch is provided with a premixing and reinforcing device 5, the jet mixing nozzle 51 is arranged on the premixing and reinforcing device 5, meanwhile, 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 hole 53 is formed on the side wall of the jet mixing nozzle 51 and is communicated with the mixed jet channel 52, so that a certain included angle is formed between the fuel gas sprayed into the mixed jet channel 52 through the fuel spray hole 53 and the premixed oxygen sprayed into the jet mixing nozzle 51 through the premixed oxygen nozzle channel 54, and then collision is carried out in the mixed jet channel 52 after the mixed jet channel 52 is introduced, and the mixing can be enhanced.
In one embodiment of the present application, prior to combustion with the premix gas introduced into the head of the core flame nozzle 42 of the burner 4, further comprises: the premixed gas is introduced into the premixed gas passage 55 in the premixing reinforcement device 5 so that the premixed gas is secondarily mixed in the premixed gas passage 55 to obtain a mixed gas, and the mixed gas is introduced into the mixed gas passage 43 of the core flame nozzle 42 to be combusted at the head of the core flame nozzle 42.
In detail, the premixing strengthening device 5 further comprises a fixing piece 56, and a premixing gas channel 55 communicated with the mixing jet channel 52 is formed on the fixing piece 56, so that the premixing gas is led into the premixing gas channel 55 for secondary mixing to obtain 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 firstly mixed in the mixed jet channel 52 and then introduced into the premixed gas channel 55 for secondary mixing, and the mixed gas obtained by the secondary mixing is more uniform, so that the combustion stability of the mixed gas can be improved.
In addition, it should be noted that, in order to enhance the mixing uniformity of the secondary mixing, the inner diameter of the mixing jet channel 52 is controlled to be smaller than the inner diameter of the premixed gas channel 55, and the premixed gas introduced into the premixed gas channel 55 can be rapidly dispersed due to the large inner diameter of the premixed gas channel 55, so that the contact between the premixed gases is increased, the dispersibility is improved, and the premixed gases are introduced into the premixed gas channel 55 to be mixed more uniformly.
Meanwhile, when the premixed oxygen and the fuel gas are mixed once, in order to improve the uniformity of the mixing, the premixed oxygen and the fuel gas are required to be limited, at this time, by arranging a plurality of fuel spray holes 53, the fuel spray holes 53 are equiangularly arranged on the side wall circumference side of the jet mixing nozzle 51, so that the fuel gas is sprayed into the mixing jet channel 52 through the fuel spray holes 53, and the fuel gas sprayed into the mixing jet channel 52 is uniformly dispersed due to the arrangement of the fuel spray holes 53 at equal angles, so that the dispersion performance of the fuel gas and the oxygen in the mixing jet channel 52 is improved. In addition, to control the flow rate of the premixed oxygen, the premixed oxygen nozzle passage 54 is divided into two parts including an oxygen inlet passage 541 and an oxygen restrictor passage 542: the oxygen inlet channel 541 is of a conical channel structure, one end of the oxygen flow limiting channel 542 is connected with the narrow opening end of the conical channel structure, the oxygen flow limiting channel 542 is communicated with the oxygen inlet channel 541 through the narrow opening end, the other end of the oxygen flow limiting channel 542 is communicated with the mixed jet channel 52, the inner diameter of the oxygen flow limiting channel 542 is smaller than the inner diameter of the mixed jet channel 41, and the effect of premixing oxygen flow limiting can be achieved through the arrangement of the small aperture of the oxygen flow limiting channel 542.
As can be seen from the description of the above embodiments, the fuel gas enters the mixed jet channel 52 through the plurality of fuel nozzles 53, in order to ensure the uniformity of the fuel gas entering the mixed jet channel 52 through each fuel nozzle 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 in sealing connection with the side wall of the mounting groove; the side wall of the jet mixing nozzle 51 positioned at one end of the mixed jet channel 52 and the side wall of the mounting groove enclose a fuel gas interlayer channel 57 between the side wall of the mounting groove and the fixing ring 511, and the fuel spray hole 53 is communicated with the fuel gas interlayer channel 57; the fixing member 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, and the fuel gas in the annular interlayer is uniformly dispersed in the annular interlayer due to the annular interlayer structure of the fuel interlayer channel 57 around the periphery of the jet mixing nozzle 51, and is sprayed into the mixed jet channel 52 through the fuel spray holes 53 on the periphery of the side wall of the jet mixing nozzle 51, and the flow of the fuel gas passing through each fuel spray hole 53 is uniform, so that the fuel gas is more uniform after entering the mixed jet channel 52.
In one embodiment of the present application, during the process of introducing 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, and the injection jet effect of the flame formed when the mixed gas burns on the head of the core flame nozzle 42 is further achieved.
Specifically, 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 the injection jet.
In one embodiment of the present application, prior to restricting the flow of premixed oxygen through the premixed oxygen nozzle passage 54 at one end of the jet blending nozzle 51, further comprises: the flow regulating distributor 6 in the torch is utilized to split 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.
As can be seen from the above embodiments, the premixed oxygen is limited by the oxygen flow limiting channel 542 before being introduced into the mixed jet channel 52, and is limited by the flow adjusting distributor 6 before being introduced into the oxygen flow limiting channel 542, that is, the flow adjusting distributor 6 is used for limiting the flow first, when the flow is large, the secondary flow limiting is performed by the oxygen flow limiting channel 542, and when the flow is small, the flow limiting is performed directly by the oxygen flow limiting channel 542, and the flow limiting effect on the premixed oxygen is realized by the synergistic effect of the two, so that the flow of the premixed oxygen introduced into the mixed jet channel 52 is effectively controlled.
In one embodiment of the present application, the enhanced oxygen is utilized to pass into the core oxygen intake passage 44 of the core flame nozzle 42 such that the combustion of the mixed gas is enhanced by the enhanced oxygen combustion of the burning flame as the head of the core flame nozzle 42 burns.
Specifically, in order to enhance the intensity of the combustion flame of the core flame nozzle 42 and also to enhance the discharge of water during combustion 41, a core oxygen intake passage 44 and a mixed gas passage 43 are provided in the core flame nozzle 42; 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 pre-mixed gas channel 55, the premixed gas of oxygen and fuel gas is introduced into the mixed gas channel 43 through the pre-mixed gas channel 55, and as 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 annularly distributed at the head of the core flame nozzle 42 at the moment, annular flame is formed when the mixed gas is ignited, the core oxygen inlet channel 44 is positioned at the center of the mixed gas channel 43, namely, when the intensified oxygen directly introduced through the core oxygen inlet channel 44 is sprayed out, the premixed gas is positioned at the center of the annular flame which is being burnt, the combustion of the annular flame can be intensified through the action of the intensified oxygen, the combustion process is intensified, and as the combustion heat release process of the core flame in the combustion chamber 41 is quicker and more sufficient, meanwhile, the cavity pressure of the combustion chamber 41 can be improved, the water discharge capacity is further improved, the gas cavity stability of the combustion chamber 41 can be intensified, and the flame can still be ensured to have a certain flame combustion efficiency at the high-pressure outlet of the high-pressure flame nozzle 42; meanwhile, the high-temperature premixed gas capable of efficiently releasing heat effectively counteracts heat loss in water environment and maintains flame stability.
In one embodiment of the present application, before the fuel gas output from the auxiliary heat integrated fuel gas cylinder 1 is injected into the mixed jet channel 52 through the fuel injection hole 53 on the side wall of the jet mixing nozzle 51 in the direction perpendicular to the injection direction of the premixed oxygen, the method further comprises: the fuel gas output by the auxiliary heat integrated fuel gas cylinder 1 is introduced into the flow regulating distributor 6, so that the flow of the fuel gas is regulated by the flow regulating distributor 6, and the fuel gas after the flow regulation is introduced into the jet mixing nozzle 51 to be mixed with the premixed oxygen gas.
In the above embodiment, in order to clearly determine the specific adjustment process of the flow rate adjustment distributor 6 to the premixed oxygen, the intensified oxygen and the fuel gas, the flow rate adjustment distributor 6 may be provided with an oxygen delivery main channel 61, and a premixed oxygen delivery channel 62 and an intensified oxygen delivery channel 63 that are connected to the oxygen delivery main channel 61, the flow rate adjustment distributor 6 is also provided with a fuel gas delivery channel 64 for delivering the fuel gas, and meanwhile, the flow rate adjustment distributor 6 is provided with a first flow rate adjustment needle 65, a second flow rate adjustment needle 66 and a fuel gas flow rate adjustment needle 67, which are all devices in the prior art, and not described in detail herein, the first flow rate adjustment needle 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 adjustment needle 65 is used for controlling the flow rate of the premixed oxygen passing through the premixed oxygen delivery channel 12, and the fuel gas flow rate adjustment needle 67 is used for controlling the flow rate of the fuel gas passing through the fuel gas delivery channel 64.
Specifically, the oxygen-transporting main passage 61 may be divided into a first passage 611 and a second passage 612, the premixed oxygen-transporting passage 62 may be divided into a third passage 621 and a fourth passage 622, wherein the third passage 621 is connected with the second passage 612, a needle-shaped valve plug of the primary flow-regulating needle valve 65 is inserted into the first passage 611 after passing through the second passage 612, the flow rate of oxygen passing from the first passage 611 into the second passage 612 is further realized by the position of the needle-shaped valve plug inserted into the first passage 611, in addition, the needle-shaped valve plug of the secondary flow-regulating needle valve 66 is inserted into the third passage 621 from one end of the third passage 621, the regulation of the flow rate of oxygen passing into the premixed oxygen-transporting passage 62 is realized by the position of the needle-shaped valve plug in the third passage 621, meanwhile, the fuel gas delivery channel 64 may be divided into a fifth channel 641 and a sixth channel 642, wherein the needle-shaped valve plug of the fuel gas flow regulating needle 67 is inserted into the sixth channel 642 from one end of the sixth channel 642 after passing through the fifth channel 641, and the adjustment of the flow of the fuel gas through the fuel gas delivery channel 64 can be further achieved by adjusting the position of the needle-shaped valve plug in the sixth channel 642, and meanwhile, the adjusting valve seats of the primary flow regulating needle 65, the secondary flow regulating needle 66 and the fuel gas flow regulating needle 67 are all in sealing connection with the flow regulating distributor 6 to prevent oxygen leakage, and in addition, the adjustment of the positions of the needle-shaped valve plug in the first channel 611, the third channel 621 and the sixth channel 642 is achieved in the prior art, which is not repeated here in detail.
In one embodiment of the present application, before the flow rate adjusting distributor 6 in the flare is utilized to split the combustion supporting oxygen output by the oxygen cylinder 2 into premixed oxygen and intensified oxygen, the method further comprises: oxygen in the oxygen bottle 2 is led into an oxygen splitter 7 in the torch to split into combustion-supporting oxygen and protecting oxygen, and the flow rates of the combustion-supporting oxygen and the protecting oxygen are controlled through the oxygen splitter 7.
In order to split oxygen and control the flow rate of the split combustion-supporting oxygen and the flow rate of the protecting oxygen, at this time, the oxygen main inlet pipe 71 and the protecting oxygen conveying channel 72 and the combustion oxygen supplying channel 73 which are communicated with the oxygen main inlet pipe 71 are formed on the flow rate adjusting distributor 7, so that the oxygen passing through the oxygen main inlet pipe 71 is split into the protecting oxygen passing through the protecting oxygen conveying channel 72 and the combustion-supporting oxygen passing through the combustion oxygen supplying channel 73, the protecting oxygen conveying channel 72 is communicated with the oxygen cylinder 2, the protecting oxygen conveying channel 72 is communicated with the annular communicating pipe 46, so that the protecting oxygen obtained after splitting is introduced into the annular communicating pipe 46, meanwhile, the flow rate adjusting needle valve 74 can be arranged on the oxygen splitter 7, and is identical to the flow rate adjusting needle valve structure and the working principle in the embodiment, and is used for controlling the flow rate of the oxygen introduced into the protecting oxygen conveying channel 72, in order to facilitate the control action of the protecting oxygen flow rate adjusting needle valve 74, the protecting oxygen conveying channel 72 can be divided into a first conveying oxygen channel 721 and a second conveying oxygen conveying channel 722, the needle plug of the protecting oxygen flow rate adjusting needle 74 passes through the second conveying oxygen conveying channel 722 and is communicated with the annular communicating pipe 46, and the protecting oxygen obtained after splitting can be inserted into the first oxygen conveying channel 721 through the first conveying channel and the oxygen conveying channel 721, and the oxygen flow rate adjusting needle valve 7 can be prevented from leaking out.
In one embodiment of the present application, a heat-conducting liquid is filled into an interlayer between the fuel bottle 16 inside the auxiliary heat integrated fuel gas bottle 1 and the auxiliary heat tank 12 sealed and sleeved outside the fuel bottle 16, 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;
the heat transfer liquid is heated by the heating assembly 13 in the auxiliary heat tank 12 according to the temperature of the heat transfer liquid so as to maintain a preset temperature, thereby ensuring stable output of the fuel gas.
Specifically, in order to ensure stable output of fuel gas, the auxiliary heat tank 12 is sealed and sleeved outside the fuel bottle 16 storing the fuel gas, so that an interlayer is formed between the auxiliary heat tank 12 and the fuel bottle 16, then 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, the fuel bottle 16 is immersed in the heat conducting liquid, so that uniform heat transfer is facilitated, meanwhile, a heating component 13 is arranged on the auxiliary heat tank 12 and used for heating the heat conducting liquid, the heated heat conducting liquid is enabled to heat fuel in the fuel bottle 16 through contact with the fuel bottle 16, stable output of fuel in a low-temperature environment is maintained, meanwhile, in order to realize intelligent control of heating, a temperature controller 15 is arranged on the auxiliary heat tank 12, the temperature controller 15 is electrically connected with the heating component 13, the temperature of the heat conducting liquid is detected through the temperature controller 15, then the starting and stopping of the heating component 13 are controlled according to the temperature of the heat conducting liquid, meanwhile, the temperature controller 15 and the heating component 13 are electrically connected with a power supply in a robot for the robot, wherein the heating component 13 and 15 can adopt existing integrated heating rods, the temperature controller can be used for heating the heat conducting liquid, the fuel bottle 16 is enabled to realize heating by contact with the fuel bottle 16, the temperature conducting liquid reaches a set value, and the potential safety hazard of the heating component is avoided when the temperature of the heat conducting liquid reaches the heat conducting component 16 in a use process; when the temperature of the heat-conducting liquid is reduced, the temperature controller 15 actively restores the power supply of the heating component 13 without manual intervention, and the heat-conducting liquid is the heat-conducting liquid with the function of the automobile antifreeze at-45 ℃, so that the liquid-phase heat conduction can be maintained in an extremely cold environment.
In addition, after the output channels of the auxiliary heat integrated fuel gas cylinder 1 and the oxygen gas cylinder 2 are controlled by the robot to be opened, the oxygen and the fuel gas output by the output channels are decompressed, then the decompressed oxygen is introduced into the oxygen splitter 7 to split, the decompressed fuel gas is introduced into the flow regulating distributor 6 to regulate the flow, specifically, the fuel gas cylinder 16 and the flow regulating distributor 6 are communicated through the fuel gas output channel, a fuel gas decompression valve 17 is arranged on the fuel gas output channel to realize the decompression treatment of the output fuel gas, meanwhile, the oxygen cylinder 2 is communicated with the oxygen splitter 7 through the oxygen output channel, and an oxygen decompression valve 18 is arranged on the oxygen output channel to enable the output oxygen to be decompressed.
In one embodiment of the present application, when the mixed gas is introduced into the head of the core flame nozzle 42 through the mixed gas channel 43, the mixed gas is blocked by the turbulence flame pieces 47 at the top of the mixed gas channel 43, so that the mixed gas is dispersed into a plurality of jets, and is combusted at the head of the core flame nozzle 42.
Specifically, a plurality of turbulence-resistant flame plates 47 are arranged at the air outlet of the mixed gas channel 43, a gap is reserved between two adjacent turbulence-resistant flame plates 47, so that premixed gas in the mixed gas channel 43 is sprayed out from the gap, the mixed gas is locally blocked by the turbulence-resistant flame plates 47 to create a low-speed flame stabilizing effect, the stability and the heat release rate of the core flame are improved, and when the premixed gas passes through the turbulence-resistant flame plates 47 at the air outlet of the mixed gas channel 43 at a high speed, a plurality of small low-speed flame backflow flame stabilizing areas are formed on the back surface of the premixed gas, and after ignition, the premixed gas is stabilized at the head of the core flame nozzle.
It should be noted that in the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
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 further implementations are included within the scope of the preferred embodiment of the present application 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 embodiments of the present application.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," 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 present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the present application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the present application.

Claims (7)

1. The underwater torch control method based on the robot control is characterized by comprising the following steps of:
acquiring a moving path of the robot under water;
according to the moving path, the robot carries the auxiliary heat integrated fuel gas cylinder, the oxygen gas cylinder and the torch to move underwater, and controls the opening and closing of output channels of the auxiliary heat integrated fuel gas cylinder and the oxygen gas cylinder through the robot;
acquiring water pressure of a burner in a torch carried by a robot at an underwater position where a combustion chamber of the burner is located;
controlling the pressure of the protective oxygen which is introduced into the combustion chamber of the burner through an oxygen bottle according to the water pressure so that the pressure of the protective oxygen is higher than the water pressure, and then discharging water in the combustion chamber;
injecting premixed oxygen into a mixed jet flow channel of a jet flow mixing nozzle after limiting flow through a premixed oxygen nozzle channel at one end of the jet flow mixing nozzle for mixing;
injecting the premixed oxygen output by the oxygen cylinder into a mixed jet channel of a jet mixing nozzle in a premixing strengthening device in a torch;
injecting fuel gas output by the auxiliary heat integrated fuel gas cylinder into the mixed jet flow channel through a fuel jet hole on the side wall of the jet flow mixing nozzle along the direction perpendicular to the injection direction of the premixed oxygen, so that the premixed oxygen and the fuel gas collide and disperse in the mixed jet flow channel to obtain premixed gas;
introducing the premixed gas into a premixed gas channel in a premixed reinforcement device so as to enable the premixed gas to be secondarily mixed in the premixed gas channel to obtain mixed gas;
the mixed gas is introduced into the mixed gas channel to burn at the head of the core flame nozzle, and the pressure of the mixed gas introduced into the mixed gas channel on the core flame nozzle is regulated according to the water pressure in the process of introducing the mixed gas into the mixed gas channel, so that the pressure of the mixed gas is higher than the water pressure, and the injection jet effect of flame formed by the mixed gas when the head of the core flame nozzle burns is further achieved;
and introducing the premixed gas into a core flame nozzle head of the combustor for combustion.
2. The robot-based underwater torch control method of claim 1, wherein before the premixed oxygen is limited by the premixed oxygen nozzle passage at one end of the jet blending nozzle, further comprising:
the flow regulating distributor in the torch is utilized to split 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;
and introducing the intensified oxygen into a core oxygen inlet channel of the core flame nozzle, so that when the mixed gas burns at the head of the core flame nozzle, the intensified oxygen is used for supporting combustion of the burning flame so as to intensify the combustion of the mixed gas.
3. The method for controlling an underwater torch based on the robot control according to claim 2, wherein before the fuel gas outputted from the auxiliary heat integrated fuel gas cylinder is injected into the mixed jet channel through the fuel injection hole of the side wall of the jet mixing nozzle in the direction perpendicular to the injection direction of the premixed oxygen, further comprising:
and introducing the fuel gas output by the auxiliary heat integrated fuel gas cylinder 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.
4. A robot control-based underwater torch control method as defined in claim 2, wherein,
before the combustion-supporting oxygen output by the oxygen cylinder is split into the premixed oxygen and the intensified oxygen by the flow regulating distributor in the torch, the device 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 protecting oxygen, and controlling the flow of the combustion-supporting oxygen and the protecting oxygen through the oxygen splitter.
5. A robot control-based underwater torch control method as defined in claim 1, wherein,
filling heat conducting liquid into an interlayer between a fuel bottle inside the auxiliary heat integrated fuel gas bottle and an auxiliary heat tank which is sleeved 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 heating the heat conduction liquid through a heating component in the auxiliary heat tank according to the temperature of the heat conduction liquid so as to keep the heat conduction liquid at a preset temperature, thereby ensuring the stable output of the fuel gas.
6. A robot-control-based underwater torch control method as claimed in claim 3, wherein 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 turbulent flow-resistant flame sheets at the top of the mixed gas channel, so that the mixed gas is dispersed into a plurality of jets to be burnt at the core flame nozzle head.
7. The method for controlling the underwater torch based on the robot control according to claim 4, wherein after the output channels of the auxiliary heat integrated 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 regulating distributor for flow regulation.
CN202111164941.5A 2021-09-30 2021-09-30 Underwater torch control method based on robot control Active CN114034040B (en)

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1353958A (en) * 1970-09-30 1974-05-22 Roth A Welding or cutting torch with a safety device
CN1142793A (en) * 1993-12-15 1997-02-12 亚历山大·V·古里诺夫 Method and apparatus for torch working materials
CN101000145A (en) * 2006-01-12 2007-07-18 中国科学院工程热物理研究所 Combustion chamber of miniature gas turbine with double premixed channel using natural gas
CN102734796A (en) * 2012-06-26 2012-10-17 扬州市银焰机械有限公司 Low-quality coal burner
CN213930980U (en) * 2020-10-12 2021-08-10 北京动力机械研究所 Torch burner
CN213930914U (en) * 2020-10-12 2021-08-10 北京动力机械研究所 Combustion apparatus
CN114761730A (en) * 2019-12-31 2022-07-15 乔治洛德方法研究和开发液化空气有限公司 Burner for burning fuel and burning method thereof

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1353958A (en) * 1970-09-30 1974-05-22 Roth A Welding or cutting torch with a safety device
CN1142793A (en) * 1993-12-15 1997-02-12 亚历山大·V·古里诺夫 Method and apparatus for torch working materials
CN101000145A (en) * 2006-01-12 2007-07-18 中国科学院工程热物理研究所 Combustion chamber of miniature gas turbine with double premixed channel using natural gas
CN102734796A (en) * 2012-06-26 2012-10-17 扬州市银焰机械有限公司 Low-quality coal burner
CN114761730A (en) * 2019-12-31 2022-07-15 乔治洛德方法研究和开发液化空气有限公司 Burner for burning fuel and burning method thereof
CN213930980U (en) * 2020-10-12 2021-08-10 北京动力机械研究所 Torch burner
CN213930914U (en) * 2020-10-12 2021-08-10 北京动力机械研究所 Combustion apparatus

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