CN211305199U - Underwater laser welding integrated control system - Google Patents
Underwater laser welding integrated control system Download PDFInfo
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- CN211305199U CN211305199U CN201921116345.8U CN201921116345U CN211305199U CN 211305199 U CN211305199 U CN 211305199U CN 201921116345 U CN201921116345 U CN 201921116345U CN 211305199 U CN211305199 U CN 211305199U
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Abstract
The utility model provides an underwater laser welding integrated control system, including removing gas hood (11), send a machine (13), laser source switch board (7), pneumatic control case (14), water-cooled generator (8), controller (4), accumulator (3), image processor (6), industrial computer (5), monitoring host computer (1), panoramic camera (2), horizontal displacement sensor (9), vertical distance sensor (12), fixed frame (10), laser welder head (71), local observation camera (15) under water. The system improves the control precision and the welding quality, lightens the workload of operators, and reduces the errors and the track deviation of manual operation; the system can weld and repair the crack of the steel cladding surface at the bottom of the water tank by controlling the laser welding head, can thoroughly solve the leakage problem, and avoids the problems of short effective period, inconvenient construction and the like caused by the prior measures such as temporary plugging and the like.
Description
Technical Field
The utility model relates to an automatic technical field of industrial welding, especially a control system of laser welding equipment under water.
Background
The bottom and the periphery of a spent fuel water pool of a nuclear power plant are covered by steel covering surfaces, and the nuclear power plant has a large number of welding lines and a long welding line. The weld joint can not be inspected in service under the water depth of 15 meters, and after long-term operation, the spent fuel pool can be leaked due to the reasons of stress corrosion and defects of the weld joint.
As most of spent fuel pools of power stations adopt a single pool design and do not have the condition for maintaining an empty pool, and because the radiation dosage at the bottom of the pool is high, personnel are difficult to maintain, and part of foreign power plants can only adopt polymers to temporarily plug, the development of an underwater welding automation system has stronger practical requirements and significance.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model discloses a technical scheme is: an underwater laser welding integrated control system comprises a movable gas hood (11), a wire feeder (13), a laser source control cabinet (7), a gas control box (14), a water cooler (8), a controller (4), a storage (3), an image processor (6), an industrial personal computer (5), a monitoring host (1), an underwater panoramic camera (2), a horizontal displacement sensor (9), a vertical distance sensor (12), a fixed rack (10), a laser welding head (71) and a local observation camera (15);
the monitoring host (1) displays and adjusts all process parameters in the controller (4), and displays pictures shot by the local observation camera (15), pictures processed by the image processor (6) and the moving track of the movable gas hood (11); the underwater panoramic camera (2) is fixed on the fixed rack (10) and is used for shooting a picture of the bottom of the water pool right below the fixed rack (10); the storage (3) is used for storing real-time parameters and images; the controller (4) can adjust the underwater welding of the position of the movable gas hood (11) in real time; the industrial personal computer (5) can perform image recognition and welding path planning on the processed image; the image processor (6) may perform image processing; generating a welding repair path of the mobile gas hood (11) after the identification by an image identification algorithm, and transmitting parameters of the welding repair path into the controller (4); the laser source control cabinet (7) is a control unit independent of the controller (4), and the laser source control cabinet (7) can autonomously control the output of laser and the operation of the water cooling machine (8) for providing cooling for the laser; the laser source control cabinet (7) is in real-time communication with the controller (4), and the operating parameters of the laser source control cabinet (7) can be adjusted through the controller (4); the water cooling machine (8) is used for cooling the laser; the movable air hood (11) is fixed on the fixed rack (10), and an axial movement device of the fixed rack (10) provides directional and constant displacement for the movable air hood (11) according to feedback signals of the horizontal displacement sensor (9) and the vertical distance sensor (12) which are installed on the fixed rack (10); the movable gas hood (11) is inflated at high pressure by the gas control box (14) to drain pool water, and the laser welding head (71) inside the movable gas hood (11) is matched with the wire feeder (13) for welding; the local observation camera (15) is mounted in the moving gas hood (11) and above the laser welding head (71).
Preferably, the monitoring host (1) comprises a display and an input device, and is provided with a human-computer interaction interface.
Preferably, the controller (4) is a PLC system and is divided into a laser control subsystem (41), a fixed frame control subsystem (42), and a movable gas hood control subsystem (43).
Preferably, the image processor (6) forms a pool bottom panoramic photo taking the supporting legs of the fixed rack (10) as an X \ Y coordinate system and a pool bottom panoramic photo with higher contrast at the periphery under the fixed rack (10) through the industrial personal computer (5).
Preferably, the local observation camera (15) is internally provided with cold light illumination and adopts an automatic aperture and an automatic shading electric welding lens.
Preferably, the fixed frame (10) is constructed by three axial motion devices, and comprises a first frequency converter (101) and an X-axis motion motor (104) for driving the X-axis direction motion device (107), a second frequency converter (102) and a Y-axis motion motor (105) for driving the Y-axis direction motion device (108), and a third frequency converter (103) and a Z-axis motion motor (106) for driving the Z-axis direction motion device (109).
Preferably, the monitoring host (1), the storage (3), the controller (4), the industrial personal computer (5), the image processor (6), the laser source control cabinet (7), the water cooling machine (8), the wire feeding machine (13) and the air control box (14) are located on the water surface.
Preferably, the components are all connected by hard wiring or an industrial field bus.
Technical scheme more than adopting, the utility model has the following effect and advantage:
the system is in modular control, simple in structure and convenient to operate; the image recognition technology is adopted, the welded object can be automatically recognized, and the welding path can be automatically planned, so that the control precision and the welding quality are improved, the workload of operators is reduced, and the errors and the track deviation of manual operation are reduced; the panoramic camera and the local camera are arranged, so that the scene that people in and out are limited in deep water, radiation environment and the like can be remotely observed and monitored. The system can weld and repair the crack of the steel cladding surface at the bottom of the water tank by controlling the laser welding head, can thoroughly solve the leakage problem, and avoids the problems of short effective period, inconvenient construction and the like caused by the prior measures such as temporary plugging and the like.
Drawings
FIG. 1 is a system diagram of the present invention;
wherein: 1-monitoring host, 2-underwater panoramic camera, 3-storage, 4-controller, 41-laser control subsystem, 42-fixed frame control subsystem, 43-movable gas hood control subsystem, 5-industrial personal computer, 6-image processor, 7-laser source control cabinet, 71-laser welding head, 8-water cooling machine, 9-horizontal displacement sensor, 10-fixed frame, 101-frequency converter I, 102-frequency converter II, 103-frequency converter III, 104-X axis motion motor, 105-Y axis motion motor, 106-Z axis motion motor, 107-X axis direction motion device, 108-Y axis direction motion device, 109-Z axis direction motion device, 11-movable gas hood, 12-vertical distance sensor, 13-wire feeder, 14-pneumatic control box and 15-local observation camera.
Detailed Description
The technical solution of the present invention will be described in detail with reference to the following examples.
As shown in fig. 1: the utility model provides an underwater laser welding integrated control system which characterized in that: comprises a movable gas hood 11 (a laser welding head 71, a machine head of a wire feeder 13, a protective gas nozzle of a gas control box 14, a local observation camera 15, a vertical distance sensor 12 for feeding back the vertical height of the movable gas hood), a fixed frame 10 for supporting the XYZ-axis direction movement of the movable gas hood (comprising an X-axis movement motor 104 for driving the X-axis direction movement of the movable gas hood, a Y-axis movement motor 105 for driving the Y-axis direction movement of the movable gas hood, a Z-axis movement motor 106 for driving the Z-axis direction movement of the movable gas hood, a first frequency converter 101 for controlling the rotating speed of the X-axis movement motor, a second frequency converter 102 for controlling the rotating speed of the Y-axis movement motor, a third frequency converter 103 for controlling the rotating speed of the Z-axis movement motor, an X/Y/Z-axis direction movement device 107/108/109 driven by the frequency converters, and a horizontal displacement sensor 9 for, An underwater panoramic camera 2), a wire feeder 13, a laser source control cabinet 7, a pneumatic control box 14, a water cooling machine 8, an underwater welding controller 4 capable of adjusting the position of a movable gas hood in real time, a storage 3 for storing real-time parameters and images, an image processor 6 capable of processing images, an industrial personal computer 5 capable of carrying out image recognition and welding path planning on the processed images, and a control host 1 capable of monitoring and setting process parameters.
The controller 4 is a PLC system, and is divided into a laser control subsystem 41, a fixed frame control subsystem 42, and a movable gas hood control subsystem 43.
The fixed frame 10 is mainly constructed by three axial motion devices, and the main body of the fixed frame comprises a first frequency converter 101 and an X-axis motion motor 104 which drive an X-axis direction motion device 107, a first frequency converter 102 and a Y-axis motion motor 105 which drive a Y-axis direction motion device 108, a first frequency converter 103 and a Z-axis motion motor 106 which drive a Z-axis direction motion device 109 and the like. The movable air hood 11 is fixed on a fixed machine frame 10, and an axial movement device of the fixed machine frame 10 provides directional and constant displacement for the movable air hood 11 according to feedback signals of a horizontal displacement sensor 9 and a vertical distance sensor 12 which are installed on the fixed machine frame 10.
The interior of the movable gas hood 11 is inflated at high pressure by the gas control box 14 during work to drain pool water, a local dry environment is created, and the laser welding head 71 inside the movable gas hood 11 is matched with the wire feeder to carry out welding treatment. The local view camera 15 is mounted in the moving mask 11 above the laser welding head 71, houses cold light illumination, and employs an automatic aperture and automatic shadow mask.
The underwater panoramic camera 2 is fixed on the fixed frame 10 and is used for shooting a picture of the bottom of the pool right below the fixed frame, the picture processor 6 processes the picture and forms a panoramic picture of the bottom of the pool right below the fixed frame 10, wherein the panoramic picture has higher contrast with the surrounding of a crack at the bottom of the pool which takes a supporting leg of the fixed frame 10 as an X \ Y coordinate system, the panoramic picture is recognized by the industrial personal computer 5, a welding repairing path of the movable gas hood 11 is generated after the panoramic picture is recognized by an image recognition algorithm, and parameters are transmitted into the controller 4.
The laser source control cabinet 7 is a control unit independent of the controller 4, and can autonomously control the output of the laser and the operation of a water cooling machine 8 for cooling the laser. The laser source control cabinet 7 is in real-time communication with the controller 4, and the operating parameters of the laser source control cabinet 7 can be adjusted through the controller.
The monitoring host 1 comprises a display and an input device, has a human-computer interaction interface, can display and adjust all process parameters in the controller, and can display pictures shot by the camera, processed pictures, the moving track of the moving air hood and the like.
All the components are connected by hard wires or industrial field buses.
The monitoring host 1, the storage 3, the controller 4, the industrial personal computer 5, the image processor 6, the laser source control cabinet 7, the water cooling machine 8, the wire feeding machine 13, the air control box 14 and the like are located on the shore, and other components are located under water during working.
The specific application mode of the underwater laser welding integrated control system is as follows:
(1) after all the parts are installed, the fixed frame 10 and the auxiliary parts thereof are sunk into water and fall to the bottom of the spent fuel pool;
(2) the underwater panoramic camera 2 is started to operate, the shot pool bottom photos are transmitted into the image processor 6, the photos processed by the image processor 6 are spliced by the industrial personal computer (5), and the pool bottom panoramic photos with the X \ Y coordinate system of the supporting legs of the fixed rack (10) and the pool bottom panoramic photos under the fixed rack (10) with higher contrast on the periphery are formed, so that workers can know the related information of the pool bottom cracks.
(3) The industrial personal computer (5) identifies the crack by using a built-in image identification algorithm and generates a laser welding crack repairing path.
(4) The controller (4) moves the moving device on the fixed rack (10) through the repair path parameters to drive the movable gas hood (11) to perform repair path simulation in a non-welding state, and a worker can confirm the path route and the state of the movable gas hood (11) through the local observation camera (15).
(5) And the control system starts a laser welding head (71), a wire feeder (13) and other components to repair and weld the crack at the bottom of the pool according to the corrected repair path, so as to finish the work.
While specific embodiments of the present invention have been described in detail, it will be appreciated that modifications and variations can be made by persons skilled in the art in light of the above teachings without inventive faculty. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.
Claims (8)
1. The utility model provides an underwater laser welding integrated control system which characterized in that: the device comprises a movable gas hood (11), a wire feeder (13), a laser source control cabinet (7), a gas control box (14), a water cooling machine (8), a controller (4), a storage device (3), an image processor (6), an industrial personal computer (5), a monitoring host (1), an underwater panoramic camera (2), a horizontal displacement sensor (9), a vertical distance sensor (12), a fixed rack (10), a laser welding head (71) and a local observation camera (15);
the monitoring host (1) displays and adjusts all process parameters in the controller (4), and displays pictures shot by the local observation camera (15), pictures processed by the image processor (6) and the moving track of the movable gas hood (11);
the underwater panoramic camera (2) is fixed on the fixed rack (10) and is used for shooting a picture of the bottom of the water pool right below the fixed rack (10);
the storage (3) is used for storing real-time parameters and images;
the controller (4) can adjust the underwater welding of the position of the movable gas hood (11) in real time;
the industrial personal computer (5) can perform image recognition and welding path planning on the processed image;
the image processor (6) may perform image processing; generating a welding repair path of the mobile gas hood (11) after the identification by an image identification algorithm, and transmitting parameters of the welding repair path into the controller (4);
the laser source control cabinet (7) is a control unit independent of the controller (4), and the laser source control cabinet (7) can autonomously control the output of laser and the operation of the water cooling machine (8) for providing cooling for the laser; the laser source control cabinet (7) is in real-time communication with the controller (4), and the operating parameters of the laser source control cabinet (7) can be adjusted through the controller (4);
the water cooling machine (8) is used for cooling the laser;
the movable air hood (11) is fixed on the fixed rack (10), and an axial movement device of the fixed rack (10) provides directional and constant displacement for the movable air hood (11) according to feedback signals of the horizontal displacement sensor (9) and the vertical distance sensor (12) which are installed on the fixed rack (10);
the movable gas hood (11) is inflated at high pressure by the gas control box (14) to drain pool water, and the laser welding head (71) inside the movable gas hood (11) is matched with the wire feeder (13) for welding;
the local observation camera (15) is mounted in the moving gas hood (11) and above the laser welding head (71).
2. The integrated control system for underwater laser welding as claimed in claim 1, wherein: the monitoring host (1) comprises a display and an input device and is provided with a human-computer interaction interface.
3. The integrated control system for underwater laser welding as claimed in claim 1, wherein: the controller (4) is a PLC system and is divided into a laser control subsystem (41), a fixed frame control subsystem (42) and a movable gas hood control subsystem (43).
4. The integrated control system for underwater laser welding as claimed in claim 1, wherein: the image processor (6) forms a pool bottom crack with the supporting legs of the fixed rack (10) as an X \ Y coordinate system and a pool bottom panoramic photo with high contrast at the periphery under the fixed rack (10) through the industrial personal computer (5).
5. The integrated control system for underwater laser welding as claimed in claim 1, wherein: the local observation camera (15) is internally provided with cold light illumination and adopts an automatic aperture and an automatic shading electric welding lens.
6. The integrated control system for underwater laser welding as claimed in claim 1, wherein: the fixed rack (10) is built by three axial motion devices and comprises a first frequency converter (101) and an X-axis motion motor (104) which drive the X-axis direction motion device (107), a second frequency converter (102) and a Y-axis motion motor (105) which drive the Y-axis direction motion device (108), and a third frequency converter (103) and a Z-axis motion motor (106) which drive the Z-axis direction motion device (109).
7. The integrated control system for underwater laser welding as claimed in claim 1, wherein: the monitoring host (1), the storage (3), the controller (4), the industrial personal computer (5), the image processor (6), the laser source control cabinet (7), the water cooling machine (8), the wire feeding machine (13) and the pneumatic control box (14) are located on the water surface.
8. The integrated control system for underwater laser welding as claimed in claim 1, wherein: all the components are connected by hard wires or industrial field buses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921116345.8U CN211305199U (en) | 2019-07-16 | 2019-07-16 | Underwater laser welding integrated control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921116345.8U CN211305199U (en) | 2019-07-16 | 2019-07-16 | Underwater laser welding integrated control system |
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| CN211305199U true CN211305199U (en) | 2020-08-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253144A (en) * | 2019-07-16 | 2019-09-20 | 上海核工程研究设计院有限公司 | A kind of underwater laser welding complex control system and its welding method |
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- 2019-07-16 CN CN201921116345.8U patent/CN211305199U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253144A (en) * | 2019-07-16 | 2019-09-20 | 上海核工程研究设计院有限公司 | A kind of underwater laser welding complex control system and its welding method |
| CN110253144B (en) * | 2019-07-16 | 2024-06-18 | 上海核工程研究设计院股份有限公司 | Underwater laser welding integrated control system and welding method thereof |
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Address after: No. 29 Hong Cao Road, Xuhui District, Shanghai Patentee after: Shanghai Nuclear Engineering Research and Design Institute Co.,Ltd. Address before: No. 29 Hong Cao Road, Xuhui District, Shanghai Patentee before: SHANGHAI NUCLEAR ENGINEERING RESEARCH & DESIGN INSTITUTE Co.,Ltd. |