遥操作干式高压海底管道维修焊接机器人系统  

Tele-operated TIG welding robot for hyperbaric underwater pipeline repair welding

作　　者：焦向东[1] 周灿丰[1] 薛龙[1] 高辉[1] 房晓明 

机构地区：[1]北京石油化工学院海洋工程连接技术研究中心,北京102617 [2]中国海洋石油工程股份有限公司,天津300452

出　　处：《焊接学报》2009年第11期1-4,共4页Transactions of The China Welding Institution

基　　金：国家863高技术研究发展计划资助项目(2002AA602012);北京市人才强教计划高层次人才资助项目(PHR20090519)

摘　　要：干式高压焊接是既能保证焊接质量又易于实施的海底管道维修方法.基于目前的自动化技术水平和海管坡口制备难度大的现实,提出了基于高级焊工焊接知识和潜水员水下工作技能的遥控海底管道维修焊接策略.研制了一套干式高压环境管道全位置焊接机器人及其分置于水面母船甲板和水下干式舱的机器人焊接控制系统,研制了分别用于场景、坡口和焊缝的视觉监视系统,以及计算机远程信息采集监控系统,它们与水下干式舱系统一道构成了水下干式管道维修系统.还研究了干式舱充气气体种类、焊接电源特殊性和舱内引弧问题.利用先期在干式高压焊接实验室获得的海管焊接工艺完成了海上焊接维修试验,焊缝质量良好.Among the available underwater pipeline repair methods,hyperbaric TIG welding technology may be the easier one to obtain better joint quality.Due to the low automation level and the bevel preparation difficulty,the repair welding should be conducted based on both the welding knowledge of the welder on deck and the operation skill of the diver.A tele-operated robot for all position hyperbaric pipe welding was developed.In the specified case of underwater welding,the process was controlled by a surface based operator,a clear and real time image of the arc as well as the image of groove location were required.An observation system of three cameras for chamber,groove and weld was also developed respectively.All the necessary message of vision,welding current and arc voltage were collected and transferred to the surface by the developed computerized information system.The underwater pipeline maintanence system consists of the welding robot,observation system,the information system,together with the habitation.The chamber gas type,the welding power source and arc striking were also studied.With the welding proceedure developed in the hyperbaric welding laboratory, a good weld was obtained in a underwater pipe repair welding test at Bohai sea.

关 键 词：遥操作机器人 水下焊接 海底管道维修 焊接机器人 

分 类 号：TG456.5[金属学及工艺—焊接]