CN203610821U - Underwater automatic control device for welding maintenance equipment - Google Patents
Underwater automatic control device for welding maintenance equipment Download PDFInfo
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- CN203610821U CN203610821U CN201320700920.5U CN201320700920U CN203610821U CN 203610821 U CN203610821 U CN 203610821U CN 201320700920 U CN201320700920 U CN 201320700920U CN 203610821 U CN203610821 U CN 203610821U
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Abstract
The utility model provides an underwater automatic control device for welding maintenance equipment. The underwater automatic control device for the welding maintenance equipment comprises a spindle, an airbag bracket, an airbag, an operation space, a cylinder body, a gas inlet pipe, a drainage pipe, a welding device, a gas tank, a driving air cylinder and a PC (Personal Computer) workstation, wherein the cylinder body can axially move; the gas inlet pipe and the drainage pipe are arranged on the cylinder body; the welding device is arranged inside the cylinder body; the gas tank is respectively connected with first, second and third two-position three-way valves; the first two-position three-way valve is connected with an air bag; the second two-position three-way valve is connected with an operation space by the gas inlet pipe; the third two-position three-way valve is connected with a one two-position three-way valve arranged on the drainage pipe; the driving air cylinder is connected with the gas tank through one three-position five-way valve; the PC workstation is connected with a PLC (Programmable Logic Controller) control module; the PLC control module is respectively connected with the first, the second, the third two-position three-way valves and the three-position five-way valve. The underwater automatic control device for the welding maintenance equipment can be used for establishing a locally-dry type maintenance environment, and has the advantages of security, reliability, convenience in operation and control, and relative low cost of site operation.
Description
Technical field
The utility model relates to the control field of equipment, particularly relates to one automatic welding maintenance of equipment control device under water.
Background technology
In recent years, in the maintenance activity of nuclear power plant reactor pressure vessel, in order to reduce the injury of radiation to maintenance work personnel, often take to be with water maintenance activity, allow in pressure vessel and be full of water, shield the great gamma-rays of harm with this.But underwater maintenance operation is had higher requirement to technology, conventionally need to develop special automated maintenance equipment.Simultaneously, such maintenance of equipment not only will meet the requirement of operation function, its volume and movement locus must design according to actual working space, it also needs to possess waterproof and radiation-resistant function, therefore the control device to equipment is had higher requirement, especially for repairing the maintenance activity equipment of taking over the limited space positions such as safe end xenogenesis weld seam.
It is the important component part on circuit pressure border that reactor pressure vessel is taken over safe end weld seam, and its complicated component, is fused by five kinds of alloys, and Composition Control difficulty is large; And in the running of nuclear power station, it bears the impact of high temperature, high pressure, high radiation and high-velocity flow, and corrosion damage very easily appears in inwall, and has at present case to show, this weld seam is the position occurred frequently of nuclear plant pressure vessels damage.
At present, the repairing work such as repair welding, built-up welding of taking over safe end inwall weld seam is normally entered under water and is carried out by diver, this maintenance mode inefficiency, and repairing quality is difficult to guarantee, and the high radioactivity serious harm operating personnel's of environment health.For the repairing of this weld seam, external nuclear power operation service business has carried out a large amount of technical research, develop professional maintenance of equipment and control device thereof, but maintenance of equipment takes mobile gas hood technology to come dynamic isolation dry type weld zone mostly, its stability requirement to technology is high, therefore its control system complexity, manufacturing cost is also relatively high.
Utility model content
The shortcoming of prior art in view of the above, the purpose of this utility model is to provide a kind of easy to operate and lower-cost automatic welding under water of field operation maintenance of equipment control device.
For achieving the above object, the utility model provides one automatic welding maintenance of equipment control device under water, comprising:
Main shaft and be arranged on respectively the air-bag support at the two ends of main shaft, on each air-bag support, be equipped with air bag, and form a working space between two air-bag supports, in this working space, being provided with one can axially movable cylindrical shell, described cylindrical shell is provided with an air inlet pipe and a drainpipe, described drainpipe is communicated with working space and is positioned at the working water environment in air-bag support outside, is provided with a welder in described cylindrical shell;
Gas tank, described gas tank connects respectively first, second, third two-position three-way valve, and described the first two-position three-way valve is connected with air bag, for giving air bag air feed; Described the second two-position three-way valve is connected with working space by air inlet pipe; Described the 3rd two-position three-way valve is connected with a two-bit triplet Pneumatic valve being located on drainpipe, for controlling the on-off of two-bit triplet Pneumatic valve;
Drive cylinder, for driving the movement of described cylindrical shell, this driving cylinder is connected with gas tank by a three position five-way valve;
PC work station, is connected with a PLC control module, and this PLC control module is connected with described first, second, third two-position three-way valve and three position five-way valve respectively.
Further, on each air-bag support, be equipped with two air bags, between the output of described the first two-position three-way valve and each air bag, be equipped with the 5th two-position three-way valve that is connected with PLC control module.
Preferably, between described gas tank and the second two-position three-way valve, be provided with a heater, this heater is connected with PLC control module.
Further, described inner barrel is a sealed compartment, is provided with a pressure sensor in sealing cabin, and described gas tank is connected with sealed compartment by one the 6th two-position three-way valve, and described pressure sensor, the 6th two-position three-way valve are connected with PLC control module.
Preferably, described the 6th two-position three-way valve is also connected with an adjustable relief valve.
Further, in described cylindrical shell, be provided with a three-degree-of-freedom motion mechanism, this three-degree-of-freedom motion mechanism comprises by circumferential motor-driven circumferential movement mechanism, the axial motion mechanism being driven by axial direction electric machine and the radial movement mechanism that driven by radial motor, described axial motion mechanism is connected with circumferential movement mechanism, described radial movement mechanism is arranged in axial motion mechanism, and described welder is arranged in radial movement mechanism; Described circumferential motor, axial direction electric machine, radial motor are connected with PLC control module by a motor driver respectively.
Further, the polishing module that described welder comprises welding module, driven by air motor and for switching the oscillating cylinder of welding module and polishing module, described air motor is connected with gas tank by the first two five-way valves, described oscillating cylinder is connected with gas tank by the second two five-way valves, and described first, second two five-way valves are all connected with PLC control module.
Preferably, between described gas tank and the second two five-way valves, be also provided with an electric Proportion valve being connected with PLC control module.
Preferably, described welding module comprises wire-feed motor, the wire feeding mouth being connected with wire-feed motor and the welding torch being oppositely arranged with wire feeding mouth, described welding module is provided with a suction tube, this suction tube is connected with a vavuum pump after a filter, and described wire-feed motor, welding torch and vavuum pump are all connected with PLC control module.
Further, described main shaft two ends are also provided with two guiding trestles that lay respectively at air-bag support outside, the periphery of described guiding trestle is provided with multiple compression positioning cylinders, described gas tank is connected with multiple compression positioning cylinders respectively after by the 3 two five-way valve, and described the 3 two five-way valve is connected with PLC control module.
Preferably, the on-the-spot industrial computer that also comprises an on-the-spot touch-screen and be connected with this scene touch-screen, described on-the-spot industrial computer is connected with PLC control module.
Further, described welder also comprises a high-speed CCD camera, in described on-the-spot industrial computer, is provided with a video frequency collection card, and described high-speed CCD camera is connected with this video frequency collection card; Described PC work station is also connected with input equipment, the first display and second display respectively.
As mentioned above, the maintenance of equipment of the automatic welding under water control device that the utility model relates to, has following beneficial effect:
This under water automatic welding maintenance of equipment control device can set up the maintenance environment of a local dry-type, thereby carry out repairing work by welder butt welded seam, and this control device is safe and reliable, manipulation convenient, field operation cost is relatively low, can realize remote automation control, thereby the injury of avoiding operating personnel to produce because of raying, quality and the operating efficiency of raising maintenance activity.
Accompanying drawing explanation
Fig. 1 is system architecture diagram of the present utility model.
Fig. 2 is pneumatic control schematic diagram of the present utility model.
Fig. 3 is structural representation of the present utility model.
Fig. 4 is the internal structure schematic diagram of Fig. 3.
Fig. 5 is working state figure of the present utility model.
Fig. 6 is the structural representation of air-bag support in the utility model.
Fig. 7 is the A circle enlarged drawing of Fig. 3.
Fig. 8 is the rearview of Fig. 4.
Fig. 9 is the structural representation of Three Degree Of Freedom mechanism in the utility model.
Figure 10 is the rearview of Fig. 9.
Figure 11 be in Fig. 9 axial motion mechanism and radial movement mechanism structural representation.
Figure 12 is the structural representation of adjusting lever assembly in position in Figure 11.
Figure 13 is the B circle enlarged drawing of Fig. 4.
Figure 14 is course of work block diagram of the present utility model.
Element numbers explanation
1 compresses positioning cylinder 2 guide castors
3 guiding trestle 4 rami anterior lateralis faggings
5 air-bag support 6 air bags
The front medial branch fagging of 7 working space 8
9 hanger 10 static sealing rings
11 movable cylindrical shell 12 fixed cylinders
The rear medial branch fagging of 13 air inlet pipe 14
15 rear lateral branch fagging 16 rear end caps
17 proximity transducer 18 thrust position-arresting disks
19 thrust adjusting lever assembly 20 axial location supports
21 drainpipe 22 wire feed positioning disks
23 electric machine support 24 emery wheels
25 air motor 26 oscillating cylinders
27 rear side fixed head 28 mounting cylinders
The movable tube stent of 29 sliding bearing 30
31 motor fixing seat 32 obliquity sensors
33 pressure sensor 34 main shafts
35 axis of guides 36 drive cylinder
The axial drive motors assembly of 37 circumferential drive motors assembly 38
39 positive stop 40 radial drive electric machine assemblies
41 move radially leading screw 42 first installing plates
Radially guide rod of 43 radial drive contiguous blocks 44
45 axial guide rod 46 radial displacement transducers
47 working head installing rack 48 high-speed CCD cameras
49 position adjusting lever assembly 50 wire feeding mouths
51 welding torch 52 plumb joint back-up blocks
53 anterior planting 54 angular transducers
55 wire-feed motor 56 second installing plates
57 axial direct bobbin bearing assembly 58 shaft position sensors
59 axially drive the large band wheeling support of leading screw 60
61 safe end 62 weld seams
63 take over 64 cannelures
65 66 vacuum draw branches of draining branch
67 fixed bar 68 square grooves
69 expansion link 70 strip grooves
71 set bolt 72 coil tension springs
73 dwang 74 moving blocks
75 working water environment 76 gas tanks
77 heater 78 first two-position three-way valves
79 second two-position three-way valve 80 the 3rd two-position three-way valves
81 two-bit triplet Pneumatic valve 82 the 5th two-position three-way valves
83 the 6th two-position three-way valve 84 three position five-way valves
85 first check valve 86 second check valves
The first two five-way valves of 87 adjustable relief valves 88
89 the second two the 3 two five-way valves of five-way valve 90
91 electric Proportion valve 92 flow speed control valves
93 filter 94 vavuum pumps
95 sealed compartment 96 pneumatic triple pieces
97 first pressure-reducing valve 98 second pressure-reducing valves
99 PC work station 100 PLC control modules
101 CPU module 102 I/O modules
103 four axes motion control module 104 communication modules
105 pneumatic control magnetic valve module 106 on-the-spot touch-screens
107 on-the-spot industrial computer 108 video frequency collection cards
109 input equipment 110 first displays
111 second display 112 first switches
The circumferential motor of 113 second switch 114
115 axial direction electric machine 116 radial motors
117 motor drivers
The specific embodiment
By particular specific embodiment, embodiment of the present utility model is described below, person skilled in the art scholar can understand other advantages of the present utility model and effect easily by the disclosed content of this description.
Notice, appended graphic the illustrated structure of this description, ratio, size etc., all contents in order to coordinate description to disclose only, understand and read for person skilled in the art scholar, not in order to limit the enforceable qualifications of the utility model, therefore the not technical essential meaning of tool, the adjustment of the modification of any structure, the change of proportionate relationship or size, do not affecting under effect that the utility model can produce and the object that can reach, all should still drop on the technology contents that the utility model discloses and obtain in the scope that can contain.Simultaneously, in this description, quote as " on ", the term of D score, " left side ", " right side ", " centre " and " " etc., also only for ease of understanding of narrating, but not in order to limit the enforceable scope of the utility model, the change of its relativeness or adjustment, changing under technology contents, when being also considered as the enforceable category of the utility model without essence.
As shown in Figures 1 to 4, the utility model provides one automatic welding maintenance of equipment control device under water, comprising:
Gas tank 76, described gas tank 76 connects respectively first, second, third two-position three-way valve 78,79,80, and described the first two-position three-way valve 78 is connected with air bag 6, for giving air bag 6 air feed; Described the second two-position three-way valve 79 is connected with working space 7 by air inlet pipe 13; Described the 3rd two-position three-way valve 80 is connected with a two-bit triplet Pneumatic valve 81 being located on drainpipe 21, for controlling the on-off of two-bit triplet Pneumatic valve 81;
Drive cylinder 36, for driving the movement of described cylindrical shell, this driving cylinder 36 is connected with gas tank 76 by a three position five-way valve 84;
PC work station 99, is connected with a PLC control module 100; Described PLC control module 100 comprises CPU module 101, I/O module 102, four axes motion control module 103 and communication module 104, and described CPU module 101 is for the treatment of logical operation information; I/O module 102 is exported and data acquisition for controlling, and is connected with pneumatic control magnetic valve module 105, and described pneumatic control magnetic valve module 105 comprises control valves all in equipment, to control switching, pressurize and the active force output of each gas circuit; Communication module 104 is for the real-time communication between PLC control module 100 and other equipment.Wherein, the I/O module 102 in PLC control module 100 is connected with described first, second, third two-position three-way valve 78,79,80 and three position five-way valve 84 respectively.
In the time carrying out Underwater Welding maintenance activity, automatic welding maintenance of equipment enters from adapter 63 inside of pressure vessel under water, as shown in Figure 5, described PC work station 99 is controlled the first two-position three-way valve 78 by PLC control module 100 and is moved, in air bag 6, inflate, air bag 6 is expanded and hold out against to take over 63 inwalls, thereby working space 7 is independently isolated, working space 7 and working water environment 75 are separated, form distance piece; Described PC work station 99 again by PLC control module 100 control the second two-position three-way valve 79, the 3rd two-position three-way valve 80 moves, gas tank 76 passes into high voltage protective gas by air inlet pipe 13 in working space 7, water in working space 7 is discharged in working water environment 75 by drainpipe 21, and then sets up a static dry operation environment in part; Described PC work station 99 is controlled and is driven cylinder 36 to move by PLC control module 100 again, makes described cylindrical shell move and open, then carries out repairing work by controlling welder butt tube safe end weld seam 62.So, automatic welding maintenance of equipment control device is safe and reliable under water, manipulation is convenient for this, stability is high, and operating cost is relatively low, be convenient to realize remote automation control, thereby can effectively avoid radiation maintenance environment to produce injury to staff, improve quality and the operating efficiency of maintenance activity.
Preferably, between described gas tank 76 and the second two-position three-way valve 79, be provided with a heater 77, this heater 77 is connected with the I/O module 102 in PLC control module 100.After the water in working space 7 is drained, open heater 77, hot protective gas enters in working space 7 by air inlet pipe 13, takes over 63 inwalls to be dried, and unnecessary protective gas is discharged to working water environment 75 through drainpipe 21.Between the two-bit triplet Pneumatic valve 81 of described connection drainpipe 21 and working water environment 75, be also provided with the second check valve 86, for preventing that the water in working water environment 75 from entering working space 7.
The control device that the utility model relates to comprises electric control system and pneumatic control section, and wherein, electric control system comprises remote control module, optical fiber, These field control modules and underwater operation part, as shown in Figure 1.Described These field control modules comprises an on-the-spot touch-screen 106 and the on-the-spot industrial computer 107 being connected with this scene touch-screen 106, and described on-the-spot industrial computer 107 is connected with PLC control module 100, for the treatment of all kinds of control informations of field apparatus.Described welder also comprises a high-speed CCD camera 48, and the image information changing for real-time Transmission welding arc, droplet transfer and weld seam 62 molten baths, is convenient to monitor welding quality, and the position of can auxiliary positioning weld seam 62 damaging; In described on-the-spot industrial computer 107, be provided with a video frequency collection card 108, described high-speed CCD camera 48 is connected with this video frequency collection card 108; Described PC work station 99 is also connected with input equipment 109, the first display 110 and second display 111 respectively.Preferably, described input equipment 109 is keyboard and mouse, and described high-speed CCD camera 48 also can be selected other image capture devices.In the present embodiment, described PC work station 99 is connected with the first switch 112 by EPA bus; Described the first switch 112 is connected with the second switch 113 by optical fiber, for transmitting far distance controlled instruction, FEEDBACK CONTROL and video information; Described the second switch 113 is connected with on-the-spot industrial computer 107, PLC control module 100, welder respectively by EPA bus again, realizes the parameter setting of each module and the transmission of control information; Described on-the-spot industrial computer 107 is connected with VGA connecting line by USB with on-the-spot touch-screen 106, the input of control instruction and the supervision of running status during for field adjustable.
In said structure, described PC work station 99, the first switch 112, the first display 110, second display 111 and input equipment 109 form remote control module, and described first, second display 110,111 is all connected with PC work station 99 by DVI interface; When Long-distance Control, the welding process monitor video that the first display 110 gathers for showing high-speed CCD camera 48, so that operating personnel arranges welding condition according to actual conditions, improves repair quality; Described second display 111 and input equipment 109 are for the initial setting up of pneumatic control, motion control and arrange in real time, and all settings and computing all complete in PC work station 99.Described on-the-spot industrial computer 107, on-the-spot touch-screen 106, the second switch 113, PLC control module 100, the whole maintenance of equipment of automatic welding under water and all control valves have formed field control part; When field control, the welding process monitor video being gathered by high-speed CCD camera 48 shows on touch-screen 106 at the scene, and staff controls in real time according to the weld seam information in monitor video.
The utility model also comprises pneumatic control part, see Fig. 3, on each air-bag support 5, be equipped with two air bags 6, between the output of described the first two-position three-way valve 78 and each air bag 6, be equipped with the 5th two-position three-way valve 82 that is connected with the I/O module 102 in PLC control module 100, see Fig. 2.Specifically, as shown in Figure 3 and Figure 4, in two air-bag supports 5, the inside and outside both sides of an air-bag support 5 are respectively equipped with front medial branch fagging 8 and rami anterior lateralis fagging 4, the inside and outside both sides of another air-bag support 5 are respectively equipped with rear medial branch fagging 14 and rear lateral branch fagging 15, described front medial branch fagging 8, rami anterior lateralis fagging 4, rear medial branch fagging 14, and rear lateral branch fagging 15 is all fixed on described main shaft 34, connection and the supporting role of 34 whole equipment of described main shaft, described cylindrical shell two ends lean with front medial branch fagging 8 and rear medial branch fagging 14 respectively.And in the present embodiment, described air-bag support 5 comprises a cylindric body, as shown in Figure 6, the periphery of this cylindric body is provided with two cannelures 64 side by side, and each cannelure 64 is interior all to be gluedd joint and have an air bag 6, on two air-bag supports 5, is provided with altogether four air bags 6, as shown in Figure 2, in four air bags, each air bag 6 is all connected with the first two-position three-way valve 78 by one the 5th two-position three-way valve 82, to realize the independent gas supply of four air bags.In above-mentioned independent gas supply structure, four the 5th two-position three-way valves 82 are conventionally in giving the state of air bag 6 air feed, after one of them air bag 6 damages, corresponding the 5th two-position three-way valve 82 moves, seal this air feed gas circuit, guarantee its excess-three air bag 6 still can normally work, and then guarantee security of equipment weld job; Need to lose heart to air bag 6 time, four the 5th two-position three-way valves 82 move simultaneously, and four air bags 6 are respectively by exhaust outlet pressure release.In addition, between each the 5th two-position three-way valve 82 and the first two-position three-way valve 78, be equipped with first check valve 85, with prevent air bag 6 after inflation because the situations such as supply gas pressure deficiency cause reverse leakage.
In said structure, two air bags 6 on described air-bag support 5 and air-bag support 5 form a pair of air bag component, and for the adapter 63 of different tube diameters, replaceable described pair of air bag component, to adapt to take over the variation of 63 calibers.In addition, the outside of described rami anterior lateralis fagging 4 is provided with a drive end bearing bracket, the outside of rear lateral branch fagging 15 is provided with a rear end cap 16, described drainpipe 21 is connected with working water environment 75 through draining branch 65, also comprise a vacuum draw branch 66, this vacuum draw branch 66 is connected suction tube with vavuum pump 94, described draining branch 65 and vacuum draw branch 66 are installed on rear end cap 16, as shown in Figure 8.Described front medial branch fagging 8, rami anterior lateralis fagging 4, rear medial branch fagging 14, rear lateral branch fagging 15, drive end bearing bracket and rear end cap 16 have all been made encapsulation process.
Further, see Fig. 3 and Fig. 4, described cylindrical shell comprises fixed cylinder 12 and the movable cylindrical shell 11 of mutual socket, described fixed cylinder 12 one end are fixed on rear medial branch fagging 14, described movable cylindrical shell 11 one end are resisted against on front medial branch fagging 8, and the other end is through in fixed cylinder 12, and described driving cylinder 36 is arranged on rear medial branch fagging 14, and drive the piston rod of cylinder 36 to be connected with a movable tube stent 30, this activity tube stent 30 is connected with movable cylindrical shell 11.In addition, also comprise the many axis of guides 35 that are fixedly located in rear lateral branch fagging 15 and rear medial branch fagging 14, this axis of guide 35 is connected by sliding bearing 29 with described movable tube stent 30, and described welder is positioned at movable cylindrical shell 11.Drive cylinder 36 to move, its piston rod drive activity tube stent 30 moves forward and backward, and then drive activity cylindrical shell 11 moves forward and backward along the axis of guide 35, the opening and closing of realization activity cylindrical shell 11; Equipment is taken in 63 or while shifting out from take over 63, movable cylindrical shell 11 is closed condition sending into, and when movable cylindrical shell 11 ends are resisted against on front medial branch fagging 8, the sealed compartment 95 of inner barrel is air-tight state, and welder is encapsulated in sealing cabin 95; When equipment is in the time carrying out weld job, described movable cylindrical shell 11 is open mode, drives cylinder 36 drive activity cylindrical shells 11 to move to the direction near fixed cylinder 12, and then welder is exposed in working space 7.Simultaneously, driving cylinder 36 is in 3 position-5 way, to seal valve by three position five-way valve 84() control, to guarantee that sealed compartment 95 is in the situation that dying, the still thrust of maintenance activity cylindrical shell 11 to front medial branch fagging 18 within a certain period of time, thus guarantee the integrality of sealed compartment 95.
Preferably, in described sealed compartment 95, be provided with a pressure sensor 33, this pressure sensor 33 is arranged on described rear medial branch fagging 14, described gas tank 76 is connected with sealed compartment 95 by one the 6th two-position three-way valve 83, and described pressure sensor 33, the 6th two-position three-way valve 83 are connected with the I/O module 102 in PLC control module 100.Before equipment being sent in adapter 63, movable cylindrical shell 11 is closed condition; Controlling the 6th two-position three-way valve 83 moves, make it in logical state, gas tank 76 is by the 6th two-position three-way valve 83 to the interior ventilation pressurize of sealed compartment 95, and pressure sensor 33 is for detection of the dwell pressure in sealed compartment 95, after treating that dwell pressure reaches setting value, equipment is sent into and taken in 63.In addition, the exhaust outlet of described the 6th two-position three-way valve 83 is also connected with an adjustable relief valve 87, and this adjustable relief valve 87 manually arranges operating pressure in advance by staff; Take in 63 and set up after local dry-type quiescent operation environment when equipment is sent into; movable cylindrical shell 11 is opened; PLC control module 100 is controlled the 6th two-position three-way valve 83 and is switched to exhaust channel; redundant protection gas in working space 7 is by the rear discharge of adjustable relief valve 87, to guarantee that the air pressure in sealed compartment 95 is always scheduled pressure value.
In the present embodiment, between described movable cylindrical shell 11 and fixed cylinder 12, be provided with a dynamic seal ring, form movable sealing; Between described movable cylindrical shell 11 and front medial branch fagging 8, be provided with a static sealing ring 10, in the time that movable cylindrical shell 11 is closed, drive cylinder 36 that the end of movable cylindrical shell 11 is held out against on this static sealing ring 10, the thrust of assurance activity cylindrical shell 11 to static sealing ring 10 on front medial branch fagging 8, thereby guarantee the sealing in equipment sealed compartment 95, take in 63 or in the process shifting out from take over 63 sending into prevent equipment, the water of taking in 63 enters in sealed compartment 95, avoid the parts in sealed compartment 95 to be subject to alpha-contamination risk, with the service life of extension device.In addition, the medial surface of described front medial branch fagging 8 is provided with groove, and described static sealing ring 10 is fixed in this groove.
Further, see Fig. 3, also comprise an axial location support 20, these axial location support 20 one end are connected with rear lateral branch fagging 15, the both sides up and down of the other end are equipped with a length-adjustable thrust adjusting lever assembly 19, the end of described thrust adjusting lever assembly 19 is provided with thrust position-arresting disk 18, and described thrust position-arresting disk 18 is also connected with a proximity transducer 17, and this proximity transducer 17 is connected with the I/O module 102 in PLC control module 100; The outside of the outside of described rear lateral branch fagging 15 and rami anterior lateralis fagging 4 is equipped with a guiding trestle 3, the periphery of described guiding trestle 3 is provided with multiple compression positioning cylinders 1, described gas tank 76 is connected with multiple compression positioning cylinders 1 respectively by the 3 two five-way valve is after 90s, and described the 3 two five-way valve 90 is connected with PLC control module 100.After equipment is sent in adapter 63, when thrust position-arresting disk 18 approaches pressure vessel wall, the continuous detection and location signal of proximity transducer 17, when after 17 while of two proximity transducers triggering signal, PLC control module 100 drives multiple compression positioning cylinders 1 to move, hold out against adapter 63 and safe end 61 inwalls, thereby this equipment is fixed on and is taken in 63.Preferably, in the top plane of described front medial branch fagging 8 and axial location support 20, be equipped with a hanger 9, for the lifting of equipment.
Preferably, the length of described thrust adjusting lever assembly 19 should be adjusted according to the caliber of taking over 63, in the utility model, the structure of adjusting length of thrust adjusting lever assembly 19 is specially: described thrust adjusting lever assembly 19 comprises the fixed bar 67 being connected with axial location support 20, as shown in Figure 3 and Figure 7, in described fixed bar 67, be provided with a square groove 68, also comprise that one is suitable with square groove 68, and be arranged in the expansion link 69 of square groove 68, on described expansion link 69, offer a strip groove 70, described fixed bar 67 ends are also provided with a nut bore being communicated with strip groove 69, one set bolt 71 is located in nut bore and strip groove 69 successively, described thrust position-arresting disk 18 is located at the outer end of expansion link 69.Carry out the extension elongation of adjustable telescopic rod 69 from fixed bar 67 by unscrewing set bolt 71, to regulate the entire length of thrust adjusting lever assembly 19, after length adjustment, tighten set bolt 71, and then expansion link 69 and fixed bar 67 are fixed.
Simultaneously, the periphery of described guiding trestle 3 is also provided with multiple guide castors 2, between described guide castor 2 and guiding trestle 3, be provided with coil tension spring 72, enter in the process of taking over 63 at equipment, lead by multiple guide castors 2, described coil tension spring 72 can make this equipment adapt to take over the variation of 63 local calibers, and makes guide castor 2 and take between 63 inwalls to maintain certain compression support force.In the present embodiment, the guide castor 2 on each guiding trestle 3 and compression positioning cylinder 1 are three, and guide castor 2 is spaced apart with compression positioning cylinder 1.
Further, in described cylindrical shell, be provided with a three-degree-of-freedom motion mechanism, this three-degree-of-freedom motion mechanism comprises the circumferential movement mechanism being driven by circumferential motor 114, the axial motion mechanism being driven by axial direction electric machine 115 and the radial movement mechanism being driven by radial motor 116, described axial motion mechanism is connected with circumferential movement mechanism, described radial movement mechanism is arranged in axial motion mechanism, and described welder is arranged in radial movement mechanism; Described circumferential motor 114, axial direction electric machine 115, radial motor 116 are connected with PLC control module 100 by a motor driver 117 respectively.Described three-degree-of-freedom motion mechanism is for navigating to welder the injury region of taking over weld seam 62.Before equipment enters adapter 63, by on-the-spot touch-screen 106 and on-the-spot industrial computer 107, Three Degree Of Freedom mechanism is carried out to school zero, can determine that in the position of taking on 63 equipment enters after adapter 63 according to taking over weld seam 62 again, axial relative distance between welder and weld seam 62 and radially relative distance, also the operation stroke of just definite axial motion mechanism and radial movement mechanism; Simultaneously, described rear medial branch fagging 14 is provided with an obliquity sensor 32, this obliquity sensor 32 is connected with the I/O module 102 in PLC control module 100, after equipment enters adapter 63 and fixes, obliquity sensor 32 measurement devices are with respect to the circumferential deflection angle of taking over 63, and by this transfer of data to PLC control module 100, PLC control module 100 makes second display 111 or on-the-spot touch-screen 106 show this circumferential deflection angle again, and convenient operation personnel calculate the circumferential position of circumferential movement mechanism according to this circumferential deflection angle.
In the utility model, the concrete structure of three-degree-of-freedom motion mechanism is:
See Fig. 4 and Fig. 9, described circumferential movement mechanism comprises circumferential drive motors assembly 37, the mounting cylinder 28 being connected with the output of circumferential drive motors assembly 37, described mounting cylinder 28 two ends are arranged on main shaft 34 by bearing, and can rotate around main shaft 34, described mounting cylinder 28 is connected with described axial motion mechanism, mounting cylinder 28 is realized circumferential movement under the drive of circumferential drive motors assembly 37, thereby drive axial motion mechanism, radial movement mechanism is circumferential movement together with welder, described front medial branch fagging 8 is provided with an angular transducer 54, for measuring the angle that rotates in a circumferential direction of circumferential movement mechanism, in the time that its angle turning over is default angle, the stop motion of circumferential movement mechanism, realize welder and the circumferential location of taking over weld seam 62.In addition, described circumferential drive motors assembly 37 is arranged on rear medial branch fagging 14 by motor fixing seat 31, see Fig. 4, described circumferential drive motors assembly 37 comprises circumferential motor 114, small pulley, large belt wheel, cog belt, described drive motors is connected with small pulley, small pulley is connected by cog belt with large belt wheel, and large belt wheel is arranged on a large band wheeling support 60, and this large band wheeling support 60 is fixed on described mounting cylinder 28.
See Fig. 4, Fig. 9 and Figure 11, described axial motion mechanism comprises the anterior planting 53 and the rear side fixed head 27 that are connected by axial guide rod 45, described anterior planting 53 and rear side fixed head 27 are installed on the mounting cylinder 28 in described circumferential movement mechanism, described rear side fixed head 27 is provided with an axial drive motors assembly 38, the output of this axial drive motors assembly 38 and one axially drives leading screw 59 to be connected, and this axially drives the two ends of leading screw 59 to be connected with rear side fixed head 27 with anterior planting 53 respectively, on described axial driving leading screw 59, cover has one to move axially nut, on described axial guide rod 45, cover has an axial direct bobbin bearing assembly 57, the both sides of this axial direct bobbin bearing assembly 57 are respectively equipped with the first installing plate 42 and the second installing plate 56, the described nut that moves axially is fixedly connected with the first installing plate 42, described the first installing plate 42 is connected with described radial movement mechanism.Described axial drive motors assembly 38 drives and axially drives leading screw 59 to rotate, thereby making to move axially nut is axially driving on leading screw 59 and is moving axially, and then drive the first installing plate 42, axial direct bobbin bearing assembly 57 axially on guide rod 45, sliding, thereby radial movement mechanism is moved axially together with welder; Described fixed cylinder 12 is provided with a shaft position sensor 58, for the axial displacement of measuring axial motion mechanism, in the time that this axial displacement is default stroke, described axial drive motors assembly 38 stop motions, realize welder and the axial location of taking over weld seam 62.Described circumferential drive motors assembly 37 also comprises axial direction electric machine 115, small pulley, large belt wheel, cog belt.Preferably, the inner side of the inner side of described anterior planting 53 and rear side fixed head 27 is equipped with a positive stop 39, for axial limiting.
See Fig. 4, Fig. 9 and Figure 11, described radial movement mechanism comprises the radial drive contiguous block 43 being arranged side by side, electric machine support 23 and working head installing rack 47, described electric machine support 23 is fixed on the first installing plate 42 in described axial motion mechanism, described welder is fixed on working head installing rack 47, between described radial drive contiguous block 43 and working head installing rack 47, be provided with radially guide rod 44 and move radially leading screw 41, described electric machine support 23 is provided with a radial drive electric machine assembly 40, the output of this radial drive electric machine assembly 40 is connected with a radial rotating nut, and this radial rotating nut sleeve is moving radially on leading screw 41, in the present embodiment, on described radially guide rod 44, cover has two linear bearings, and described linear bearing is fixed on the first installing plate 42 in axial motion mechanism by a mounting blocks.Described radial drive electric machine assembly 40 also comprises radial motor 116, small pulley, large belt wheel, cog belt, described radial rotating nut comprises stationary part and rotor portion, its stationary part is arranged on electric machine support 23, its rotor portion is connected with the large belt wheel in radial drive electric machine assembly 40, and moves radially leading screw 41 and match with the rotor portion of radial rotating nut.Radial drive electric machine assembly 40 rotates, and drives the rotor portion of radial rotating nut to rotate, move radially thereby make to move radially leading screw 41, and then drive radial drive contiguous block 43, radially guide rod 44, working head installing rack 47 move radially together with welder; Described the first installing plate 42 is provided with a radial displacement transducer 46, for the radial displacement of measuring radial movement mechanism, in the time that this radial displacement is default stroke, described radial drive electric machine assembly 40 stop motions, realize welder and the radial location of taking over weld seam 62.
In addition, four axes motion control module 103 in described PLC control module 100 includes four sensor acquisition interface, four axle control output interfaces, wherein, three sensor acquisition interface are connected with angular transducer 54, shaft position sensor 58 and radial displacement transducer 46 respectively, realize the collection of sensor information; Three interfaces in four axle control output interfaces are connected with circumferential motor 114, axial direction electric machine 115 and radial motor 116 respectively, for the output of motion control instruction, form closed-loop control circumferentially, axially, radially, guarantee that welder can accurately navigate to the damage reparation position of weld seam 62, guarantee the accessibility of weld job position, and circumferentially motor 114, axial direction electric machine 115 are all connected with four axle control output interfaces by a motor driver 117 with radial motor 116.
Further, the polishing module that described welder comprises welding module, driven by air motor 25 and for switching the oscillating cylinder 26 of welding module and polishing module, described air motor 25 is connected with gas tank 76 by the first two five-way valves 88, described oscillating cylinder 26 is connected with gas tank 76 by the second two five-way valves 89, and described first, second two five-way valves 88,89 are all connected with PLC control module 100.In the present embodiment, described welding module comprises wire-feed motor 55, the wire feeding mouth 50 being connected with wire-feed motor 55 and the welding torch 51 being oppositely arranged with wire feeding mouth 50, described wire feeding mouth 50 and welding torch 51 are arranged on a plumb joint back-up block 52, described plumb joint back-up block 52 is fixed on described working head installing rack 47, described wire-feed motor 55 is fixed on the second installing plate 56, be used for to wire feeding mouth 50 wire feeds, described high-speed CCD camera 48 is arranged on plumb joint back-up block 52.In order to prevent that wrapping phenomena appears in wire feed cable in welding process, therefore a wire feed positioning disk 22 is set on described the first installing plate 42, wire-feed motor 55 process wire feed positioning disks 22 are to wire feeding mouth 50 wire feeds, thus elimination wire feed cable wrapping phenomena.Described polishing module comprises the emery wheel 24 that is fixed on air motor 25 outputs, and described oscillating cylinder 26 is located on workbench installing rack 47, and this working head installing rack 47 is provided with an opening, and described air motor 25 is positioned at this opening.Described oscillating cylinder 26 drives air motor 25 to swing, and to switch welding job and polishing work, the course bearing that air motor 25 swings is take over 63 inwalls circumferential.When welding, PLC control module 100 is controlled oscillating cylinder 26 by the second two five-way valves 89 and is moved, and makes air motor 25 forward retrieving position to; When polishing, PLC control module 100 is controlled oscillating cylinder 26 by the second two five-way valves 89 and is moved, make air motor 25 forward operating position to, simultaneously, PLC control module 100 is controlled air motor 25 by the first two five-way valves 88 and is moved, thereby drive emery wheel 24 to rotate, to realize the polishing of butt welded seam 62.In addition, in described opening, be provided with the stopping means of restriction air motor 25 swing ceilings.Preferably, between described gas tank 76 and the second two five-way valves 89, be also provided with an electric Proportion valve 91 being connected with PLC control module 100, described electric Proportion valve 91 carries out real-time parameter setting by long-range PC work station 99, exert oneself for the swinging of controlling oscillating cylinder 26, thereby control the thrust between emery wheel 24 and the buffed surface that is located at air motor 25 outputs, guarantee that this grinding thrust is predetermined value, to guarantee grinding efficiency.In addition, the two ends of described compression positioning cylinder 1, driving cylinder 36, oscillating cylinder 26 are equipped with flow speed control valve 92, the feeding and the withdrawal speed that compress positioning cylinder 1 for regulating respectively, drive cylinder 36, oscillating cylinder 26.
Preferably, also comprise that one for adjusting the position adjusting lever assembly 49 of wire feeding mouth 50 and welding torch 51 relative positions, see Figure 11 and Figure 12, described wire feeding mouth 50 is arranged on position adjusting lever assembly 49, and position adjusting lever assembly 49 is arranged on described plumb joint back-up block 52.This position adjusting lever assembly 49 comprises a dwang 73 and a moving block 74, the two ends of described dwang 73 are located in respectively in plumb joint back-up block 52 and moving block 74, described wire feeding mouth 50 is located in moving block 74, described moving block 74 lever 73 that can rotate is rotated, and wire feeding mouth 50 can rotate in moving block 74, and the length that can regulate wire feeding mouth 50 to stretch out from moving block 74, thereby regulate the relative position between wire feeding mouth 50 and welding torch 51, guarantee the adaptability of welding procedure to welding position.
Preferably, described welding module is provided with a suction tube, and this suction tube is connected with a vavuum pump 94 after a filter 93, and described wire-feed motor 55, welding torch 51 and vavuum pump 94 are all connected with PLC control module 100.Described suction tube, filter 93 and vavuum pump 94 form a vacuum draw path, to realize parital vacuum suction, for being collected in the foreign matters such as chip that welding, bruting process produce, guarantee the clean of working water environment 75 after maintenance activity, described suction tube, filter 93, vavuum pump 94 form a vacuum draw path.
In sum, in pneumatic control part of the present utility model, gas tank 76 is main air supply device, and the output of gas tank 76 is divided into three tunnels after connecting a pneumatic triple piece 96, as shown in Figure 2:
The first via connects after the first pressure-reducing valve 97, is divided into again two-way, is respectively air bag pressure dwelling loop and pneumatic control circuit; The first two-position three-way valve 78, four the first check valve 85, four the 5th two-position three-way valves 82 and four air bags form air bag pressure dwelling loops; The 3rd two-position three-way valve 80 and two-bit triplet Pneumatic valve 81 form pneumatic control circuit, for controlling the break-make of two-bit triplet Pneumatic valve 81.
The second tunnel is low tension loop, after connection the second pressure-reducing valve 98, is divided into again three tunnels, is respectively sealed compartment pressurize path, intake channel and pneumatic low tension loop; Adjustable relief valve 87, the 6th two-position three-way valve 83 and sealed compartment 95 form sealed compartment pressurize path; Heater 77, the second two-position three-way valve 79, air inlet pipe 13, working space 7, drainpipe 21, two-bit triplet Pneumatic valve 81, the second check valve 86, working water environment 75 form air inlet drainage channel; Described pneumatic low tension loop has again four branches: branch road one, be made up of the 3 two five-way valve 90 and multiple compression positioning cylinder; Branch road two, by three position five-way valve 84 and drive cylinder form; Branch road three, formed by the first two five-way valves 88 and air motor; Branch road four, formed by the second two five-way valves 89 and oscillating cylinder.
Third Road is high-pressure passage, Ye Yousige branch: branch road one, be made up of the 3 two five-way valve 90 and multiple compression positioning cylinder; Branch road two, by three position five-way valve 84 and drive cylinder form; Branch road three, formed by the first two five-way valves 88 and air motor; Branch road four, formed by electric Proportion valve 91, the second two five-way valves 89 and oscillating cylinder.
The specific works process of the maintenance of equipment of automatic welding under water that as shown in figure 14, the utility model relates to comprises following step:
1, reactor pit is full of water, the Non-Destructive Testing, pretreatment work that butt tube safe end 61 carries out early stage as milling, polishing etc. after, the damage position of weld seam 62 is determined, can carry out Underwater Welding maintenance activity;
2, start a whole set of control device and initialize setting, inputting instruction by on-the-spot touch-screen 106, four axes motion control module 103 is controlled circumferential motor 114, axial direction electric machine 115 and radial motor 116 three-degree-of-freedom motion mechanism is carried out compared with zero, resetted;
3, control three position five-way valve 84 by the I/O module 102 in PLC control module 100, make to drive the piston rod of cylinder 36 to stretch out, to drive movable cylindrical shell 11 to hold out against on the static sealing ring 10 on front medial branch fagging 8;
4, the interior ventilation pressurize of sealed compartment 95 to whole equipment by sealed compartment pressurize path, the pressure detecting according to pressure sensor 33 judges whether to reach predetermined dwell pressure, and now whole device interior forms a sealed compartment 95;
5, by whole equipment hoisting in special-purpose supporting frame, on bracing frame, have guide rail, cylinder, then by whole bracing frame handling in pressure vessel, and navigate to and take over 63 height; Cylinder on bracing frame stretches out, and under the guide effect of guide castor 2, equipment is sent into and taken in 63;
6, in the process of pushing equipment, in the time that thrust position-arresting disk 18 approaches pressure vessel wall, the continuous detection and location signal of proximity transducer 17, when after 17 while of two proximity transducers triggering signal, axial location completes, now the cylinder on bracing frame stops promoting, and sends control instruction by the PC work station 99 in remote control module, manipulation complete equipment:
7, control the 3 two five-way valve 90 and make two groups to compress positioning cylinders 1 and open, hold out against and take over 63 and safe end 61 inwalls, now obliquity sensor 32 records circumferential inclination angle, finishing equipment fixing;
8, control the 5th two-position three-way valve 82 simultaneously to four interior inflations of air bag 6, after air bag 6 expands, be adjacent to the inwall of adapter 63 and safe end 61, at adapter 63 and the interior formation distance piece of safe end 61, i.e. working space 7;
9, pass into the protective gas of setting pressure to air inlet pipe 13, now the water in working space 7 is discharged to working water environment 75 through the draining branch 65 of drainpipe 21, after water is discharged completely, open heater 77, in air inlet pipe 13, pass into the protective gas of heating, weld seam 62 and barrel in air-dry distance piece, close heater 77 after air-dry;
10, control three position five-way valve 84, make to drive the piston rod of cylinder 36 to be regained, movable cylindrical shell 11 is opened, the sealed compartment 95 that is equipment is opened, and control two-bit triplet Pneumatic valve 81 and close drainage channel, control the 3rd two-position three-way valve 80 the pressurize path of sealed compartment 95 is switched to exhaust condition, adjustable relief valve 87 is worked, and has so far interiorly set up one section of static dry operation environment in part taking over 63;
11, control circumferential motor 114, axial direction electric machine 115, radial motor 116 and move, welding torch 51 is navigated to the position that weld seam 62 damages, and the image information of transmitting by high-speed CCD camera 48 is as the auxiliary positioning verification of weld seam 62 damage positions;
12, by PC work station 99, technological parameter and movement locus are set, start welding torch 51, start REPAIR WELDING, in welding process, be transferred to the image on the first display 110 by high-speed CCD camera 48, observe the variation in molten bath, and the current signal of welding module feedback, control three-degree-of-freedom motion mechanism and adjust in real time, adjust the relative position of welding torch and weld seam 62, until complete built-up welding work;
13, according to technique needs, control oscillating cylinder 26 air motor 25, emery wheel 24 are produced, and navigate to polishing position, start air motor 25, make emery wheel 24 carry out grinding process to the weld seam 62 of heap postwelding;
14, control vavuum pump 94, by suction tube, the foreign matter producing in operation process is carried out to vacuum recovery;
15, after maintenance work completes, control circumferential motor 114, axial direction electric machine 115 and radial motor 116 and move, welder is recovered in equipment in the body of cabin; Control and drive the piston rod of cylinder 36 to stretch out, make movable cylindrical shell 11 hold out against the static sealing ring 10 on front medial branch fagging 8, close sealed compartment 95; Meanwhile, control sealed compartment 95 pressurize paths and switch to aeration status, wait that pressure sensor 33 detected values that are positioned at cabin body reach setting dwell pressure;
16, control four the 5th two-position three-way valves 82 and move, four air bags 6 are lost heart, and control the 3 two five-way valve 90 and move, make to compress positioning cylinder 1 and regain; Whole equipment is pulled out to bracing frame from taking in 63, and allocates and transports out pressure vessel, and then complete whole operation process.
So the maintenance of equipment of the automatic welding under water control device that the utility model relates to has following beneficial effect:
This control device can be realized pneumatic control, three-axis moving control, video monitoring, sensor information collection, the welding of automatic welding maintenance activity equipment under water and control, the final remote auto control that realizes the maintenance of adapter safe end weld seam Underwater Welding; And this control device is safe and reliable, manipulation convenient, field operation cost is relatively low, reduces the injury that operating personnel is produced by irradiation, improves quality and the operating efficiency of maintenance activity.Certainly, this control device also can apply to motion control and the data acquisition in the ultrasonic automatic inspection system of fuel assembly, therefore the utility model has effectively overcome various shortcoming of the prior art and tool high industrial utilization.
Above-described embodiment is illustrative principle of the present utility model and effect thereof only, but not for limiting the utility model.Any person skilled in the art scholar all can, under spirit of the present utility model and category, modify or change above-described embodiment.Therefore, have in technical field under such as and conventionally know that the knowledgeable modifies or changes not departing from all equivalences that complete under spirit that the utility model discloses and technological thought, must be contained by claim of the present utility model.
Claims (12)
1. an automatic welding maintenance of equipment control device under water, is characterized in that, comprising:
Main shaft and be arranged on respectively the air-bag support at the two ends of main shaft, on each air-bag support, be equipped with air bag, and form a working space between two air-bag supports, in this working space, being provided with one can axially movable cylindrical shell, described cylindrical shell is provided with an air inlet pipe and a drainpipe, described drainpipe is communicated with working space and is positioned at the working water environment in air-bag support outside, is provided with a welder in described cylindrical shell;
Gas tank, described gas tank connects respectively first, second, third two-position three-way valve, and described the first two-position three-way valve is connected with air bag, for giving air bag air feed; Described the second two-position three-way valve is connected with working space by air inlet pipe; Described the 3rd two-position three-way valve is connected with a two-bit triplet Pneumatic valve being located on drainpipe, for controlling the on-off of two-bit triplet Pneumatic valve;
Drive cylinder, for driving the movement of described cylindrical shell, this driving cylinder is connected with gas tank by a three position five-way valve;
PC work station, is connected with a PLC control module, and this PLC control module is connected with described first, second, third two-position three-way valve and three position five-way valve respectively.
2. the maintenance of equipment of automatic welding under water control device according to claim 1, it is characterized in that: on each air-bag support, be equipped with two air bags, between the output of described the first two-position three-way valve and each air bag, be equipped with the 5th two-position three-way valve that is connected with PLC control module.
3. the maintenance of equipment of automatic welding under water control device according to claim 1, is characterized in that: between described gas tank and the second two-position three-way valve, be provided with a heater, this heater is connected with PLC control module.
4. the maintenance of equipment of automatic welding under water control device according to claim 1, it is characterized in that: described inner barrel is a sealed compartment, in sealing cabin, be provided with a pressure sensor, described gas tank is connected with sealed compartment by one the 6th two-position three-way valve, and described pressure sensor, the 6th two-position three-way valve are connected with PLC control module.
5. the maintenance of equipment of automatic welding under water control device according to claim 4, is characterized in that: described the 6th two-position three-way valve is also connected with an adjustable relief valve.
6. the maintenance of equipment of automatic welding under water control device according to claim 1, it is characterized in that: in described cylindrical shell, be provided with a three-degree-of-freedom motion mechanism, this three-degree-of-freedom motion mechanism comprises by circumferential motor-driven circumferential movement mechanism, the axial motion mechanism being driven by axial direction electric machine and the radial movement mechanism that driven by radial motor, described axial motion mechanism is connected with circumferential movement mechanism, described radial movement mechanism is arranged in axial motion mechanism, and described welder is arranged in radial movement mechanism; Described circumferential motor, axial direction electric machine, radial motor are connected with PLC control module by a motor driver respectively.
7. the maintenance of equipment of automatic welding under water control device according to claim 1, it is characterized in that: the polishing module that described welder comprises welding module, driven by air motor and for switching the oscillating cylinder of welding module and polishing module, described air motor is connected with gas tank by the first two five-way valves, described oscillating cylinder is connected with gas tank by the second two five-way valves, and described first, second two five-way valves are all connected with PLC control module.
8. the maintenance of equipment of automatic welding under water control device according to claim 7, is characterized in that: between described gas tank and the second two five-way valves, be also provided with an electric Proportion valve being connected with PLC control module.
9. the maintenance of equipment of automatic welding under water control device according to claim 7, it is characterized in that: described welding module comprises wire-feed motor, the wire feeding mouth being connected with wire-feed motor and the welding torch being oppositely arranged with wire feeding mouth, described welding module is provided with a suction tube, this suction tube is connected with a vavuum pump after a filter, and described wire-feed motor, welding torch and vavuum pump are all connected with PLC control module.
10. the maintenance of equipment of automatic welding under water control device according to claim 1, it is characterized in that: described main shaft two ends are also provided with two guiding trestles that lay respectively at air-bag support outside, the periphery of described guiding trestle is provided with multiple compression positioning cylinders, described gas tank is connected with multiple compression positioning cylinders respectively after by the 3 two five-way valve, and described the 3 two five-way valve is connected with PLC control module.
11. maintenance of equipment of automatic welding under water control device according to claim 1, is characterized in that: the on-the-spot industrial computer that also comprises an on-the-spot touch-screen and be connected with this scene touch-screen, described on-the-spot industrial computer is connected with PLC control module.
12. maintenance of equipment of automatic welding under water control device according to claim 11, it is characterized in that: described welder also comprises a high-speed CCD camera, in described on-the-spot industrial computer, be provided with a video frequency collection card, described high-speed CCD camera is connected with this video frequency collection card; Described PC work station is also connected with input equipment, the first display and second display respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320700920.5U CN203610821U (en) | 2013-11-07 | 2013-11-07 | Underwater automatic control device for welding maintenance equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320700920.5U CN203610821U (en) | 2013-11-07 | 2013-11-07 | Underwater automatic control device for welding maintenance equipment |
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| CN203610821U true CN203610821U (en) | 2014-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320700920.5U Withdrawn - After Issue CN203610821U (en) | 2013-11-07 | 2013-11-07 | Underwater automatic control device for welding maintenance equipment |
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| CN (1) | CN203610821U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103551706A (en) * | 2013-11-07 | 2014-02-05 | 国核电站运行服务技术有限公司 | Control device for automatic underwater welding repair equipment |
-
2013
- 2013-11-07 CN CN201320700920.5U patent/CN203610821U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103551706A (en) * | 2013-11-07 | 2014-02-05 | 国核电站运行服务技术有限公司 | Control device for automatic underwater welding repair equipment |
| CN103551706B (en) * | 2013-11-07 | 2016-01-13 | 国核电站运行服务技术有限公司 | Automatic welding maintenance of equipment control device under water |
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