CN112404658A - Remote control-based in-service pipeline arc 3D printing repair system and method - Google Patents
Remote control-based in-service pipeline arc 3D printing repair system and method Download PDFInfo
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- CN112404658A CN112404658A CN202011120869.1A CN202011120869A CN112404658A CN 112404658 A CN112404658 A CN 112404658A CN 202011120869 A CN202011120869 A CN 202011120869A CN 112404658 A CN112404658 A CN 112404658A
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- 238000010146 3D printing Methods 0.000 title claims abstract description 25
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- 238000003466 welding Methods 0.000 claims abstract description 152
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- 230000007797 corrosion Effects 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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Abstract
The invention discloses an in-service pipeline arc 3D printing repair system and method based on remote control, wherein an arc repair device comprises a cold metal transition welding power supply and a welding gun, and the metal transition welding power supply is connected with the welding gun; the welding robot comprises a driving system, a welding arm and a rotating arm connected to the end of the welding arm, the laser three-dimensional scanner is installed at one end of the bottom of the rotating arm, and the welding gun is installed at the other end of the bottom of the rotating arm; the central control system is respectively in communication connection with the arc repair device, the laser three-dimensional scanner and the driving system; the laser three-dimensional scanner is used for acquiring the contour data of the to-be-repaired defect part, the remote monitoring system is used for sending a welding signal to the central control system, and the central control system is used for obtaining a welding arc repairing path according to the contour data of the to-be-repaired defect part and controlling the action of the welding gun according to the welding arc repairing path and the welding signal. The invention has good safety and avoids causing serious casualties and property loss.
Description
Technical Field
The invention belongs to the technical field of pipeline repair, and relates to an in-service pipeline arc 3D printing repair system and method based on remote control.
Background
The petroleum and natural gas pipeline transportation is a safe, economic and uninterrupted transportation mode. The region that long distance pipeline passed through is complicated, inevitably can receive the influence of factors such as corruption, manpower, nature, and then leads to local wall thickness attenuate or warp and unable safe transportation, and medium leaks in the intraductal even takes place when serious, causes great loss. Therefore, it is necessary to repair the local defect of the pipe. At present, the common non-stop repair technology for pipe body defects of in-service pipelines is welding repair (such as a patch plate and an A-type/B-type sleeve) and non-welding repair (such as an epoxy steel sleeve, a composite material and a mechanical clamp). The welding repair has the advantages of high structural strength and large bearing capacity, so the welding repair is widely applied to the pipeline emergency maintenance.
At present, almost all in-service pipeline rush-repair and maintenance welding are carried out by welding workers in a short distance, so that the labor intensity is high, huge potential safety hazards exist, in-service pipeline welding is easy to burn through, once the burn-through happens, the pipeline explosion is possibly caused, and serious casualties and property loss are caused.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides the in-service pipeline arc 3D printing repair system and method based on remote control, which greatly reduce the labor intensity, have good safety and avoid causing serious casualties and property loss.
In order to solve the technical problems, the invention is realized by the following technical scheme:
an in-service pipeline electric arc 3D printing repair system based on remote control comprises an electric arc repair device, a laser three-dimensional scanner, a central control system, a remote monitoring system and a welding robot, wherein the electric arc repair device comprises a cold metal transition welding power supply and a welding gun, and the metal transition welding power supply is connected with the welding gun; the welding robot comprises a driving system, a welding arm and a rotating arm connected to the end part of the welding arm, the laser three-dimensional scanner is installed at one end of the bottom of the rotating arm, and the welding gun is installed at the other end of the bottom of the rotating arm; the remote monitoring system is in communication connection with the central control system, and the central control system is in communication connection with the arc repair device, the laser three-dimensional scanner and the driving system respectively; the laser three-dimensional scanner is used for acquiring the outline data of a to-be-repaired defect part, the central control system is used for carrying out information interaction with the remote monitoring system, the remote monitoring system is used for sending a welding signal to the central control system, the central control system is used for obtaining a welding arc repairing path according to the outline data of the to-be-repaired defect part, and is used for controlling the driving system to drive the welding arm and the rotating arm to drive the welding gun to move according to the welding arc repairing path and the welding signal.
Furthermore, the repair system also comprises a heating device, the heating device is connected with the central control system, and the central control system is also used for controlling the heating device to heat the defect part to be repaired; when the device is used, the heating device is arranged on the pipeline at a position close to the position of the defect to be repaired.
Further, the repair system further comprises an infrared thermometer, the infrared thermometer is connected with the central control system, the infrared thermometer is used for measuring the temperature of the defect part to be repaired, and the central control system controls the heating device to heat the defect part to be repaired according to the temperature of the defect part to be repaired.
Further, the repair system also comprises a vision system, the vision system is installed in the middle of the bottom of the rotating arm and connected with the central control system, and the vision system is used for acquiring the position information of the welding gun relative to the defect part to be repaired.
Further, the arc repair device further comprises a wire feeding mechanism and an air supply device, wherein the wire feeding mechanism and the air supply device are respectively connected with the welding gun.
Further, the welding robot further comprises a magnet switch base, and the magnet switch base is used for being fixedly connected with the pipeline.
Furthermore, the remote monitoring system is in wireless communication connection with the central control system.
The in-service pipeline electric arc 3D printing repair method based on remote control is characterized in that the repair system is applied, the welding robot is installed on the pipeline at a position close to a to-be-repaired defect part, the remote monitoring system sends a welding signal to the central control system, the laser three-dimensional scanner obtains outline data of the to-be-repaired defect part, the central control system obtains a welding electric arc repair path according to the outline data of the to-be-repaired defect part, and controls the driving system to drive the welding arm and the rotating arm to drive the welding gun to act according to the welding electric arc repair path and the welding signal, so that repair welding of the to-be-repaired defect part is completed.
Further, after the central control system obtains a welding arc repair path according to the profile data of the defect part to be repaired, the central control system controls the heating device to heat the defect part to be repaired, and when the temperature of the defect part to be repaired measured by the infrared thermometer reaches a preset welding temperature, the central control system controls the heating device to stop heating the defect part to be repaired.
Compared with the prior art, the invention has at least the following beneficial effects: according to the in-service pipeline arc 3D printing repair system based on remote control, the cold metal transition welding power supply is adopted for repair, the welding heat input is small, and the possibility of pipeline repair burnthrough is reduced; the welding robot is arranged on the position, close to the to-be-repaired defect part, of the pipeline, the remote monitoring system sends a welding signal to the central control system, the laser three-dimensional scanner obtains outline data of the to-be-repaired defect part, the central control system obtains a welding arc repairing path according to the outline data of the to-be-repaired defect part, and controls the driving system to drive the welding arm and the rotating arm to drive the welding gun to move according to the welding arc repairing path and the welding signal, and repair welding of the to-be-repaired defect part is completed. In conclusion, the invention adopts the remote monitoring system, avoids serious casualties caused by burning-through once the pipeline is repaired, adopts the electric arc 3D printing repair technology, and has the advantages of high repair precision, good quality, high automation degree, low labor intensity and high working efficiency.
Further, the gas supply device supplies welding protection gas to a nozzle of the welding gun to flow out, so that high-temperature metal is protected and welded.
Further, utilize magnet switch base to be convenient for be connected fixedly welding robot and pipeline.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of an in-service pipeline arc 3D printing repair system based on remote control.
In the figure: 1-an arc repair device; 101-cold metal transition welding power supply; 102-a welding torch; 103-a wire feeder; 104-an air supply device; 2-laser three-dimensional scanner; 3-a central control system; 4-remote monitoring system; 5-a welding robot; 501-a driving system; 502-welding arms; 503-a rotating arm; 504-magnet switch base; 6-a heating device; 7-a vision system; 8-infrared thermometer.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As a specific embodiment of the present invention, as shown in fig. 1, an in-service pipeline arc 3D printing repair system based on remote control includes an arc repair device 1, a laser three-dimensional scanner 2, a central control system 3, a remote monitoring system 4, a welding robot 5, a heating device 6, a vision system 7, and an infrared thermometer 8, where the arc repair device 1 includes a cold metal transition welding power supply 101, a welding torch 102, a wire feeder 103, and a gas feeder 104, the metal transition welding power supply 101 is connected to the welding torch 102, the wire feeder 103 and the gas feeder 104 are respectively connected to the welding torch 102, the wire feeder 103 feeds a welding wire to the welding torch 102 along a welding torch cable, and the gas feeder 104 feeds a welding protection gas to a nozzle of the welding torch 102 to flow out, so as to protect welding high-temperature metals.
The welding robot 5 includes a driving system 501, a welding arm 502, a rotating arm 503 connected to the end of the welding arm 502, and a magnet switch base 504, and the magnet switch base 504 is used for being connected and fixed with a pipeline, so as to fix the welding robot body. In the present embodiment, the welding arm 502 is a six-joint welding arm, the center line of the rotating arm 503 is aligned with the end axis of the welding arm 502, and the rotating arm 503 can rotate with the end axis of the welding arm 502 as the rotation center line. In the present embodiment, the welding robot 5 is a micro-welding robot.
As shown in fig. 1, the laser three-dimensional scanner 2 and the infrared thermometer 8 are mounted at one end of the bottom of the rotating arm 503, the welding torch 102 is mounted at the other end of the bottom of the rotating arm 503, and the vision system 7 is mounted at an intermediate position of the bottom of the rotating arm 503. The remote monitoring system 4 is in communication connection with the central control system 3, and preferably, the remote monitoring system 4 is in wireless communication connection with the central control system 3. The central control system 3 is respectively in communication connection with the arc repair device 1, the laser three-dimensional scanner 2, the driving system 501, the heating device 6, the vision system 7 and the infrared thermometer 8. The laser three-dimensional scanner 2 is used for acquiring contour data of a defect part to be repaired, the central control system 3 is used for performing information interaction with the remote monitoring system 4, the remote monitoring system 4 is used for sending a welding signal to the central control system 3, the central control system 3 is used for obtaining a welding arc repair path according to the contour data of the defect part to be repaired, and is used for controlling the driving system 501 to drive the welding arm 502 and the rotating arm 503 to drive the welding gun 102 to move according to the welding arc repair path and the welding signal. When the device is used, the heating device 6 is arranged on the pipeline close to the position of the defect part to be repaired, in the embodiment, the heating device 6 comprises a left heating device and a right heating device, the left heating device and the right heating device are induction heating belts or induction heating coils, the left heating device and the right heating device are symmetrically distributed on two sides of the defect part to be repaired along the axial direction of the pipeline, and the central control system 3 is also used for controlling the heating device 6 to heat the defect part to be repaired. Preferably, the infrared thermometer 8 is used for measuring the temperature of the defect part to be repaired, and the central control system 3 controls the heating device 6 to heat the defect part to be repaired according to the temperature of the defect part to be repaired. The vision system 7 is connected with the central control system 3, and the vision system 7 is used for acquiring the position information of the welding gun 102 relative to the defect part to be repaired.
More specifically, with reference to the above embodiment, the central control system 3 is composed of a central control unit, a control interface, and a signal unit. The control interface is connected with the arc repairing device 1, the laser three-dimensional scanner 2, the welding robot 5, the heating device 6, the vision system 7 and the infrared thermometer 8 through cables. The signal unit receives signals of the remote monitoring system 4, the signals are output by the control interface after being processed by the central control unit, the working state control of the arc repairing device 1, the laser three-dimensional scanner 2, the welding robot 5, the heating device 6, the vision system 7 and the infrared thermometer 8 is realized, the working state parameters are timely fed back to the central control unit, and then the working state parameters are reversely transmitted to the remote monitoring system 4 for parameter adjustment.
The remote monitoring system 4 is composed of a monitoring operation interface, a monitoring unit and a monitoring signal output and input unit. An operator carries out remote operation control and working state monitoring on the arc repairing device 1, the laser three-dimensional scanner 2, the welding robot 5, the heating device 6, the vision system 7 and the infrared thermometer 8 through the central control system 3 outside the safe distance of the repaired pipeline.
The invention relates to an in-service pipeline electric arc 3D printing repair method based on remote control, which is characterized in that the repair system is applied, a welding robot 5 is arranged on a pipeline at a position close to a to-be-repaired defect part, a remote monitoring system 4 sends a welding signal to a central control system 3, a laser three-dimensional scanner 2 acquires profile data of the to-be-repaired defect part, the central control system 3 acquires a welding electric arc repair path according to the profile data of the to-be-repaired defect part, the central control system 3 controls a heating device 6 to heat the to-be-repaired defect part after the central control system 3 acquires the welding electric arc repair path according to the profile data of the to-be-repaired defect part, and when the temperature of the to-be-repaired defect part measured by an infrared thermometer 8 reaches a preset welding temperature, the central control system 3 controls the heating device 6 to stop heating the to-be, and controlling a driving system 501 to drive a welding arm 502 and a rotating arm 503 to drive the welding gun 102 to move according to the welding arc repairing path and the welding signal, so as to complete the repairing welding of the to-be-repaired defect part.
The method for repairing the local corrosion pit outside the gas transmission pipeline with the phi 1219mm X80 is described in detail below by taking the example of repairing the local corrosion pit outside the gas transmission pipeline with the phi 1219mm X80 gas transmission pipeline, and comprises the following steps:
step 1, cleaning the surface of an etch pit; adopting a mechanical polishing mode to polish the outer surface of the pipeline to be repaired in a corrosion pit manner, and removing corrosion products and impurities on the surface to be repaired;
step 3, measuring and modeling the appearance of the defect part to be repaired; installing a micro welding robot near a pipeline defect to be repaired through a magnet switch base, performing 3D scanning measurement on the appearance of the defect part to be repaired by using a laser three-dimensional scanner to obtain profile data of the defect part to be repaired, and performing modeling treatment to obtain a welding arc repair path;
step 5.1, arc 3D printing and repairing, wherein a coaxial equal-radius rotating arm of the miniature welding robot is rotated by 180 degrees under the control of a remote monitoring system, and whether a welding gun is in a repairing initial position or not is checked through a vision system; starting the micro welding robot and the arc repairing device, carrying out arc 3D printing welding repair by the six-joint welding arm according to the welding repair path obtained in the step 3, and observing the movement track and the arc state of the welding gun by a vision system;
step 5.2, measuring and controlling interlayer temperature; after the micro welding robot finishes repairing one layer, rotating a coaxial equal-radius rotating arm of the micro welding robot by 180 degrees under the control of a remote monitoring system, measuring the interlayer temperature of a repaired welding layer by using an automatic infrared thermometer, and adjusting the interlayer temperature to be within the process specification by using a heating device;
step 5.3, repeating the step 5.1 and the step 5.2 until the repairing layer is 0.5-1.0 mm higher than the outer surface of the pipeline, and finishing the arc 3D printing repairing;
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. An in-service pipeline electric arc 3D printing repair system based on remote control is characterized by comprising an electric arc repair device (1), a laser three-dimensional scanner (2), a central control system (3), a remote monitoring system (4) and a welding robot (5), wherein the electric arc repair device (1) comprises a cold metal transition welding power supply (101) and a welding gun (102), and the metal transition welding power supply (101) is connected with the welding gun (102); the welding robot (5) comprises a driving system (501), a welding arm (502) and a rotating arm (503) connected to the end of the welding arm (502), the laser three-dimensional scanner (2) is installed at one end of the bottom of the rotating arm (503), and the welding gun (102) is installed at the other end of the bottom of the rotating arm (503); the remote monitoring system (4) is in communication connection with the central control system (3), and the central control system (3) is in communication connection with the arc repair device (1), the laser three-dimensional scanner (2) and the driving system (501) respectively; the laser three-dimensional scanner (2) is used for obtaining contour data of a to-be-repaired defect part, the central control system (3) is in information interaction with the remote monitoring system (4), the remote monitoring system (4) is used for sending a welding signal to the central control system (3), the central control system (3) is used for obtaining a welding arc repairing path according to the contour data of the to-be-repaired defect part, and is used for controlling the driving system (501) to drive the welding arm (502) and the rotating arm (503) to drive the welding gun (102) to move according to the welding arc repairing path and the welding signal.
2. The in-service pipeline arc 3D printing repair system based on remote control as claimed in claim 1, wherein the repair system further comprises a heating device (6), the heating device (6) is connected with the central control system (3), and the central control system (3) is further configured to control the heating device (6) to heat the defect part to be repaired; when in use, the heating device (6) is arranged on the pipeline at a position close to the defect part to be repaired.
3. The in-service pipeline arc 3D printing repair system based on remote control according to claim 2, characterized in that the repair system further comprises an infrared thermometer (8), the infrared thermometer (8) is connected with the central control system (3), the infrared thermometer (8) is used for measuring the temperature of the defect part to be repaired, and the central control system (3) controls the heating device (6) to heat the defect part to be repaired according to the temperature of the defect part to be repaired.
4. The in-service pipeline arc 3D printing repair system based on remote control as claimed in claim 1, wherein the repair system further comprises a vision system (7), the vision system (7) is installed at the middle position of the bottom of the rotating arm (503), the vision system (7) is connected with the central control system (3), and the vision system (7) is used for acquiring the position information of the welding gun (102) relative to the defect part to be repaired.
5. The in-service pipeline arc 3D printing repair system based on remote control according to claim 1, wherein the arc repair device (1) further comprises a wire feeder (103) and a gas feeder (104), and the wire feeder (103) and the gas feeder (104) are respectively connected with the welding gun (102).
6. The in-service pipeline arc 3D printing repair system based on remote control as claimed in claim 1, wherein the welding robot (5) further comprises a magnet switch base (504), and the magnet switch base (504) is used for being fixedly connected with a pipeline.
7. The in-service pipeline arc 3D printing repair system based on remote control according to claim 1, wherein the remote monitoring system (4) is in wireless communication connection with the central control system (3).
8. A remote control-based in-service pipeline arc 3D printing repair method is characterized in that the repair system according to any one of claims 1 to 7 is applied to install the welding robot (5) on a pipeline at a position close to a defect part to be repaired, the remote monitoring system (4) sends a welding signal to the central control system (3), the laser three-dimensional scanner (2) acquires the profile data of the defect part to be repaired, the central control system (3) obtains a welding arc repair path according to the profile data of the defect part to be repaired, and controlling the driving system (501) to drive the welding arm (502) and the rotating arm (503) to drive the welding gun (102) to act according to the welding arc repair path and the welding signal, so as to finish repair welding of the to-be-repaired defect part.
9. The in-service pipeline arc 3D printing repair method based on remote control according to claim 8, wherein after the central control system (3) obtains a welding arc repair path according to the profile data of the defect part to be repaired, the central control system (3) controls the heating device (6) to heat the defect part to be repaired, and when the temperature of the defect part to be repaired measured by the infrared thermometer (8) reaches a preset welding temperature, the central control system (3) controls the heating device (6) to stop heating the defect part to be repaired.
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| CN112958874A (en) * | 2021-03-19 | 2021-06-15 | 南京航空航天大学 | Electric arc additive remanufacturing device and method for recyclable rocket box body structure |
| CN113523496A (en) * | 2021-08-24 | 2021-10-22 | 华北水利水电大学 | A method and equipment for electric arc additive repair of turbine blades |
| CN115971786A (en) * | 2022-12-19 | 2023-04-18 | 电子科技大学 | A multi-energy field assisted integrated repair system |
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