Macro-micro robot remote welding method for pipeline maintenance in extreme environment

Abstract

The invention discloses a macro-micro robot remote welding method for pipeline maintenance in an extreme environment. The method comprises the following steps: achieving autonomous rapid connection between a macro robot and a micro robot through a tool conversion interface and a pneumatic clamping module; arranging a six-dimensional force sensor between the macro robot and the micro robot to make the macro-micro robot have active compliance during the remote operation; compensating for the gravity of the micro robot to achieve pipeline grabbing and assembly in the distal environment according to the pipeline self-adaptive assembly strategy; and achieving remote welding with controllable welding quality by arc voltage sensing control. The method can achieve grabbing and assembly of pipelines with different attitudes in various complex environments so as to greatly save the preparation time before welding and improve the assembly accuracy. The micro robot has light weight, is easy in grabbing and flexible in operation and can adopt program control to be suitable for welding seams with different forms and shapes. Additionally, an arc voltage sensor system is arranged to achieve controllable welding and improve the welding quality.

Description

technical field [0001] The invention relates to the field of remote welding, in particular to a macro-micro robot remote welding method for pipeline maintenance in extreme environments. Background technique [0002] At present, nuclear power has become a form of new energy vigorously developed in my country due to its clean, environmentally friendly, high-efficiency and energy-saving features. In the maintenance work of nuclear power plant operation, pipeline crack detection and welding repair are the main tasks, but in this extreme environment where people cannot enter, remote welding can only be used. [0003] Remote welding refers to the remote monitoring and control of welding equipment and welding process by people in a safe environment away from the site according to various sensor information sent from the site, so as to complete the complete welding operation. Most of the current solutions are to develop special equipment and systems for specific tasks, or to use ro...

AI Technical Summary

Problems solved by technology

At present, most of the solutions are to develop special equipment and systems for specific tasks, or use robots to carry pipeline all-position welding mechanisms, but these equipment and systems not only have a long development cycle and high cost, but are also limited to specific maintenance tasks

The intelligent degree of the all-position pipeline welding mechanism carried by the robot is not high, and the welding quality cannot be effectively controlled. The end of the robot is heavy and easy to exceed the standard, so it is not suitable for pipeline maintenance tasks in complex environments

Images