Underwater local dry method additive repairing and remanufacturing device and method for thin-wall cavity structure

Abstract

The invention provides an underwater local dry method additive repairing and remanufacturing device and method for a thin-wall cavity structure, and the device comprises an additive repairing system, an underwater local protection system, a heating system and a control system, and the additive repairing system comprises an additive cladding mechanism, a feeding device, energy equipment and a protective gas container; the underwater local protection system comprises a protection cover special for underwater repair, a drainage device and a ventilation device, the heating system comprises an induction measurement device and a heating device, and the control system comprises a temperature control system and a motion control system. The double-layer gas protection cover and the movable heating trolley are adopted, water vapor and smoke in the protection cover are eliminated, the dryness and stability of the underwater repairing environment are guaranteed, and the applicability of the underwater additive repairing and remanufacturing technology is enhanced.

Description

Technical Field

[0001] The present invention relates to the field of additive manufacturing, and in particular to an underwater local dry additive repair and remanufacturing device and method for thin-walled cavity structures. Background Art

[0002] With the continuous development of marine resources, marine engineering equipment such as submarine pipelines, oil platforms, and cruise ships have been vigorously constructed and developed, and the development of marine resources has become an important direction for the current development of the marine economy. However, the harsh marine environment can easily cause damage to marine engineering equipment. Compared with structures on land, marine underwater structures, in addition to normal working loads, must also withstand additional loads caused by seawater corrosion, marine quicksand abrasion, marine biological collisions, and storm tides, which are more likely to cause surface defects and failure. The maintenance of marine equipment has become an important part of the daily operation of marine engineering equipment. The special marine environment determines that the seabed repair has the disadvantages of long replacement cycle, difficult repair, and single means. The complex and diverse marine components and equipment have put forward higher requirements for their fault repair. The manufacture and maintenance of underwater complex engineering equipment has become a prerequisite for the development of marine engineering and inland water resources. Strengthening the development of robot repair systems suitable for complex underwater working conditions has become a key technology that needs to be urgently solved in the current marine engineering construction.

[0003] Compared with traditional underwater repair technology, underwater local dry additive repair technology is to artificially remove the water in the local range around the repair part to form a local air chamber, and the welding arc or laser is protected in this area. Underwater local dry additive repair and remanufacturing technology can realize the "free forming" of complex damaged parts, follow the "fit for use" principle, and restore the geometric shape and performance of parts. With the continuous advancement of my country's blue ocean strategy, as an important supporting technology for marine resource development and marine national defense, underwater local dry additive repair and remanufacturing technology has broad application prospects, especially in the repair technology of thin-walled cavity structures such as submarine pipelines, cabins and submarine hulls. However, the underwater environment interferes with arc ignition or laser beam transmission, affects heat transfer and material transfer in the additive repair process, and easily forms manufacturing defects such as pores, surface oxidation, and cracks, which is an important factor inhibiting the development of underwater repair technology. Therefore, improving the stability of the underwater additive repair process, improving the forming quality and accuracy, and meeting the repair needs of actual underwater projects are important problems that need to be solved urgently. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the present invention provides a device and method for underwater local dry additive repair and remanufacturing of thin-walled cavity structures, which aims to reduce water vapor in the repair protection cover, improve the stability of the underwater additive repair process, and enhance the quality and precision of deposited layer forming.

[0005] To achieve the above object, the technical solution of the present invention is as follows:

[0006] The present invention provides an underwater local dry additive repair and remanufacturing device for thin-walled cavity structures, comprising an additive repair system, an underwater local protection system, a heating system and a control system. The additive repair system comprises an additive cladding mechanism, a feeding device, an energy device, and a protective gas container. The underwater local protection system comprises a special protective cover for underwater repair, a drainage device, and a ventilation device. The heating system comprises an inductive measuring device and a heating device. The control system comprises a temperature control system and a motion control system.

[0007] The feeding device, energy equipment and protective gas container are connected to the additive cladding mechanism, and the additive cladding mechanism is fixed to the six-degree-of-freedom underwater motion mechanism. The special underwater repair protective cover is fixed to the additive cladding mechanism, and has an inner and outer double-layer structure. During the movement of the welding gun, the inner layer structure of the protective cover completely covers the repair molten pool. The bottom of the special underwater repair protective cover is made of flexible material. The upper end of the special underwater repair protective cover is provided with an air inlet and an air outlet. The inner side of the inner layer of the special underwater repair protective cover is fixed with an induction measuring device, and the induction measuring device feeds back the smoke and humidity conditions to the control computer. The air inlet and the air outlet are alternately distributed, and the air inlet is connected to the outer shell of the protective cover, and the air outlet is connected to the inner shell of the special underwater repair protective cover. The ventilation device is connected to the air outlet through a pipeline, and the drainage device is connected to the air inlet through a pipeline.

[0008] The heating device is located at the bottom of the heating trolley. The wheels of the heating trolley are magnetic spherical wheels that support omnidirectional movement. The heating trolley contains a power device and a control module. The control computer establishes communication with the control module. The control computer receives smoke and humidity information and outputs movement mode, heating mode and task sequence instructions to the control module.

[0009] The present invention provides an operating method for the above-mentioned underwater local dry additive repair and remanufacturing device for thin-walled cavity structure, which is characterized by comprising the following steps:

[0010] Step 1: Divide the area to be repaired after surface cleaning into several parts, plan the path for one of the parts to be repaired and output the execution file, the underwater actuator implements the repair according to the execution file, and sets the process parameters of underwater repair such as current, voltage, wire feeding speed and protective gas flow rate;

[0011] Step 2: Open and set the air flow rate of the drainage device, wait for the water in the protective cover to be completely drained, operate the control computer to start the heating trolley and adsorb it on the back of the substrate to be repaired, control the trolley to move to the back of the area to be repaired, turn on the heating device and set the heating mode, turn on the ventilation device and set the power, wait for the relative humidity value in the local air cavity of the inner shell of the protective cover to be lower than 50%, and then carry out underwater repair work;

[0012] Step 3: Carry out the repair work according to the above settings, monitor the changes in smoke concentration and water vapor content generated during the repair process, and dynamically adjust the repair parameters to control the air flow and heat input according to the detection results;

[0013] Step 4. After completing the repair of the above-mentioned local areas, repeat the operations of steps 1 to 3, and carry out the repair work of the remaining local areas in turn until the repair of all areas is completed.

[0014] The beneficial effects of the present invention are:

[0015] 1. The equipment uses a local gas protection device and a heating device to prevent external water from squeezing into the repair area, eliminate residual water on the surface to be repaired, avoid splashing and arc extinction during the repair process, and ensure the stability of the underwater repair process. In addition, the back heating method of the repair area can reduce the waterproof requirements of the heating device and ensure the stable transmission of heat.

[0016] 2. The gas protective cover adopts a double-layer structure, combined with a ventilation method of external inflation and internal exhaust, to eliminate water vapor and smoke in the protective cover, and combined with the implementation of a control device to ensure the stability of the underwater repair environment, reduce the pores and oxidation of the additive repair layer in the humid repair environment, and improve the repair quality.

[0017] 3. The device and method can realize underwater repair of defects such as holes, wear, cracks, etc. The magnetic mobile trolley improves the flexibility of the heating method. The use of a mobile heat source can meet the repair needs of large-area damage and enhance the applicability of underwater repair and remanufacturing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0019] Figure 1 A schematic diagram of a preheating device for underwater local dry additive repair and remanufacturing of thin-walled cavity structures provided by the present invention;

[0020] Figure 2 A schematic diagram of the internal structure of the underwater local dry additive repair protection cover provided by the present invention;

[0021] Figure 3A schematic diagram of a heating trolley provided by the present invention;

[0022] Figure 4 This is a schematic diagram of the area to be repaired provided by the present invention.

[0023] Explanation of the reference numerals: 1. welding gun; 2. protective cover; 3. substrate to be repaired; 4. heating trolley; 5. heating coil; 6. vacuum pump; 7. air compressor; 8. wire feeder and welding machine; 9. argon gas cylinder; 10. control computer; 11. six-degree-of-freedom robotic arm; 201. air outlet; 202. air inlet; 203. protective cover outer shell; 204. protective cover inner shell; 205. induction measuring device; 301. magnetic wheel; 302. power unit; 303. control module; 401. first repair area; 402. second repair area; 403. third repair area. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] The present invention will be further described below in conjunction with the embodiments.

[0026] This embodiment of the present invention provides an underwater local dry additive repair and remanufacturing device for thin-walled cavity structures. Figure 1 As shown, the underwater local dry additive repair and remanufacturing device includes an additive repair system, an underwater local protection system, a heating system and a control system. The additive repair system includes a welding gun 1, a wire feeder and a welding machine 8, an argon gas bottle 9, and a six-degree-of-freedom robotic arm 11. The underwater local protection system includes a protective cover 2, an air extractor 6, and an air compressor 7. The heating system includes an induction measuring device 205 and a heating coil 5. The control system includes a heating trolley 4 and a control computer 10.

[0027] The wire feeder and welding machine 8 and argon gas bottle 9 are connected to the welding gun 1, and the welding gun 1 is fixed on a six-degree-of-freedom robotic arm 11. The six-degree-of-freedom robotic arm 11 has a supporting load of not less than 13kg, an arm span of 900mm, a waterproof depth of 350m, is driven by a servo motor, and the control protocol is CAN2.0 / CANopen.

[0028] The protective cover 2 is fixed on the welding gun 1 and has an inner and outer double-layer structure. Figure 2As shown, the inner shell 205 of the protective cover completely covers the repair molten pool, the bottom of the protective cover 2 is made of flexible material, the upper end of the protective cover 2 is provided with an air inlet 202 and an air outlet 201, the inner side of the inner shell 204 of the protective cover is fixed with a sensing measuring device 205, the sensing measuring device 205 feeds back the smoke and humidity conditions to the control computer 10, the air inlet 202 and the air outlet 201 are alternately distributed, the air inlet 202 is connected with the outer shell 203 of the protective cover, the air outlet 201 is connected with the inner shell 204 of the protective cover, the vacuum fan 6 is connected to the air outlet 201 through a pipeline, and the air compressor 7 is connected to the air inlet 202 through a pipeline.

[0029] The heating coil 5 is located at the bottom of the heating trolley 4. Figure 3 As shown, the wheels of the heating trolley 4 are spherical magnetic wheels 301, and the spherical magnetic wheels 301 support omnidirectional movement. The heating trolley 4 includes a power device 302 and a control module 303. The control computer 10 establishes communication with the control module 303. The control computer 10 receives smoke and humidity information and outputs movement mode, heating mode and task sequence instructions to the control module 303.

[0030] The present invention provides an operating method for the above-mentioned underwater local dry additive repair and remanufacturing device for thin-walled cavity structure, which is characterized by comprising the following steps:

[0031] Step 1: Divide the area to be repaired after surface cleaning into three parts, such as Figure 4 As shown, path planning is performed for the first repair area 401 and an execution file is output, and the six-degree-of-freedom manipulator 11 performs the repair according to the execution file, and sets relevant repair process parameters such as current, voltage, wire feeding speed, and shielding gas flow rate for underwater repair;

[0032] Step 2: Turn on and set the air flow rate of the air compressor 7, wait for the water in the protective cover 2 to be completely drained, operate the control computer 10 to start the heating trolley 4 and adsorb it on the back of the substrate 3 to be repaired, control the heating trolley 4 to move to the back of the first repair area 401, heat up the heating coil 4 and set the heating mode, turn on the exhaust fan 6 and set the power, wait for the relative humidity value in the local air cavity of the inner shell 204 of the protective cover to be lower than 50%, and then carry out underwater repair work;

[0033] Step 3: Carry out the repair work according to the above settings, monitor the changes in smoke concentration and water vapor content generated during the repair process, and dynamically adjust the repair parameters to control air flow and heat input based on the detection results:

[0034] Step 4, after completing the repair of the first repair area 401, repeat the operations of steps 1 to 3, and carry out the repair work of the second repair area 402 and the third repair area 403 in turn until the repair of all areas is completed.

[0035] The embodiments described above are only used to illustrate the technical ideas and features of the present invention, and their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. The patent scope of the present invention cannot be limited only by this embodiment, that is, any equivalent changes or modifications made to the spirit disclosed by the present invention still fall within the patent scope of the present invention.

Claims

1. An underwater local dry additive repair and remanufacturing device for thin-walled cavity structures, characterized by: It includes an additive repair system, an underwater local protection system, a heating system and a control system. The additive repair system includes an additive cladding mechanism, a feeding device, an energy device, and a protective gas container. The underwater local protection system includes a special protective cover for underwater repair, a drainage device, and a ventilation device. The heating system includes an induction measuring device and a heating device. The control system includes a temperature control system and a motion control system.

2. The device for underwater local dry additive repair and remanufacturing of thin-walled cavity structures according to claim 1, characterized in that: The feeding device, energy equipment and protective gas container are connected to an additive cladding mechanism, and the additive cladding mechanism is fixed on a six-degree-of-freedom underwater motion mechanism.

3. The device for underwater local dry additive repair and remanufacturing of thin-walled cavity structures according to claim 1, characterized in that: The special protective cover for underwater repair is fixed on the additive cladding mechanism, which has an inner and outer double-layer structure. During the movement of the welding gun, the inner layer structure of the protective cover completely covers the repair molten pool. The bottom of the special protective cover for underwater repair is made of flexible material. The upper end of the special protective cover for underwater repair is provided with an air inlet and an air outlet. The inner side of the inner layer of the special protective cover for underwater repair is fixed with a sensing measuring device, and the sensing measuring device feeds back the smoke and humidity conditions to the control computer. The air inlet and the air outlet are alternately distributed, the air inlet is connected to the outer shell of the protective cover, and the air outlet is connected to the inner shell of the special protective cover for underwater repair. The ventilation device is connected to the air outlet through a pipe, and the drainage device is connected to the air inlet through a pipe.

4. The device for underwater local dry additive repair and remanufacturing of thin-walled cavity structures according to claim 1, characterized in that: The heating device is located at the bottom of the heating trolley. The wheels of the heating trolley are magnetic spherical wheels that support omnidirectional movement. The heating trolley contains a power device and a control module. The control computer establishes communication with the control module. The control computer receives smoke and humidity information and outputs movement mode, heating mode and task sequence instructions to the control module.

5. The device for underwater local dry additive repair and remanufacturing of thin-walled cavity structures according to claim 1, characterized in that: The device adopts an operation method of an underwater local dry additive repair and remanufacturing device, including the following steps: Step 1: Divide the area to be repaired after surface cleaning into several parts, plan the path for one of the parts to be repaired and output the execution file, the underwater actuator implements the repair according to the execution file, and sets the process parameters of underwater repair such as current, voltage, wire feeding speed and protective gas flow rate; Step 2: Open and set the air flow rate of the drainage device, wait for the water in the protective cover to be completely drained, operate the control computer to start the heating trolley and adsorb it on the back of the substrate to be repaired, control the trolley to move to the back of the area to be repaired, turn on the heating device and set the heating mode, turn on the ventilation device and set the power, wait for the relative humidity value in the local air cavity of the inner shell of the protective cover to be lower than 50%, and then carry out underwater repair work; Step 3: Carry out the repair work according to the above settings, monitor the changes in smoke concentration and water vapor content generated during the repair process, and dynamically adjust the repair parameters to control the air flow and heat input according to the detection results; Step 4. After completing the repair of the above-mentioned local areas, repeat the operations of steps 1 to 3, and carry out the repair work of the remaining local areas in turn until the repair of all areas is completed.

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