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在海底管道高压焊接维修中,虽然空气作为舱内气体成本低廉而且容易获得,但是空气的氧含量高,压力增加时,舱内物体的可燃性显著增加。此外,为了保证焊接质量,需要在高压环境下保护熔池避免与空气中的氮和氧接触。在压缩空气环境下进行了爆炸燃烧试验,试验表明,当压力低于0.6MPa时,把可燃物浓度控制在体积比5.60%以下,进行海底管道焊接维修作业是安全的。研制了海底管道维修焊接机器人,以高压力、大流量氩气进行TIG焊熔池保护,通过手控盒与焊接视频以遥操作方式进行管道全位置焊接,设计了弧压反馈控制程序,并解决了弧压损失、舱内供电、接触引弧等水下干式舱内应用的电磁问题。在高压焊接试验舱内进行了0.6MPa以内的压缩空气环境海底管道机器人焊接工艺试验,焊接过程安全可控,管道全位置环焊缝性能符合相关标准的要求。成功地进行了海底管道机器人焊接维修海上试验,焊工在母船控制台进行遥操作焊接,获得了外观优良的海底管道全位置环焊缝。
In the submarine pipeline high pressure welding repair, although the air as the gas in the cabin is cheap and easily available, the oxygen content of the air is high, and when the pressure is increased, the flammability of the cabin object significantly increases. In addition, in order to ensure the welding quality, it is necessary to protect the weld pool under high pressure to avoid contact with nitrogen and oxygen in the air. Explosion combustion test was carried out in compressed air environment. The test shows that when the pressure is lower than 0.6MPa, the concentration of combustibles is controlled to below 5.60% by volume, so it is safe to carry out submarine pipeline welding and repairing work. A submarine pipeline maintenance welding robot was developed to protect the TIG weld pool with high pressure and high flow rate argon gas. The arc welding control procedure was designed and solved by remote control of the manual control box and welding video. The arc pressure loss, power supply in the cabin, contact arc and other underwater dry cabin applications electromagnetic problems. The welding process of submarine pipeline robots under compressed air environment within 0.6MPa was carried out in the high pressure welding test chamber. The welding process was safely and controllable. The performance of all-position girth weld pipe meets the requirements of relevant standards. Successfully carried out the marine pipeline welding robot maintenance test, the welder in the mother console teleoperation welding, access to the appearance of the submarine pipeline full location of the ring weld.