Underwater high-pressure dry type welding cabin test verification method

Abstract

The invention provides an underwater high-pressure dry type welding cabin test verification method, and relates to the technical field of sunken ship salvage, and the method comprises the following steps: testing the sealing performance and effectiveness of a magnetic adsorption mechanism and a rubber seal on a welding cabin under the 300-meter environmental water pressure under the action of the designed magnetic adsorption force and the 5-meter internal and external pressure difference; testing the sealing performance of the watertight door on the welding cabin under the environment water pressure of 300 meters, including testing the effectiveness of opening and closing of the sealing door and the effectiveness of sealing of the sealing door; according to the invention, subsystem process tests such as a high-pressure adsorption sealing test, a watertight door high-pressure functional test, an air pressure control system high-pressure test, a propulsion ballast system shallow water test, a robot high-pressure action test, a welding process laboratory inspection and the like, a pool test of an integrated system, a shallow water functional test and a final sea test are carried out; a scientific, rigorous and complete test verification system is formed, and the feasibility of the underwater high-pressure dry-type welding cabin is fully proved.

Description

Technical Field

[0001] The invention relates to the technical field of shipwreck salvage, and in particular to an underwater high-pressure dry welding cabin test verification method. Background Art

[0002] At present, the mainstream method for the overall salvage of large sunken ships is to use a floating crane or a double-ship lifting method to lift the sunken ship from the seabed, then seal the cabin and drain the water or directly place it on a semi-submersible ship, and then tow it to a designated treatment site. Before the sunken ship is floated, it is necessary to connect the floating wire to the sunken ship to provide a fulcrum for the overall salvage of the sunken ship. The conventional practice is to use a horizontal non-excavation directional drill to pass the bottom wire from the bottom of the sunken ship, and then lift and float the sunken ship by dragging the wire. However, this method has two operational difficulties: first, the wire threading process requires the cooperation of multiple ships, and the wire threading process is prone to twisting and rework, which has low construction efficiency, and it is difficult for directional drills to drill into hard bottom conditions; second, for the salvage of sunken ships in deep waters, non-excavation directional drilling is not applicable; The existing project "Development of underwater high-pressure dry welding technology and equipment" Figure 2 , which is composed of a working cabin, an annular ballast tank, a welding robot storage cabin, a welding robot and other structures. The welding cabin can create a dry environment underwater, adjust the working environment pressure according to the working water depth, and use the welding robot to automatically complete high-quality welding underwater. It has many application scenarios. It can be used to weld the eye plate structure on the side of the sunken ship to facilitate the connection of the floating wire and solve the problem of floating wire caused by the current trenchless directional drilling; it can also be used for the repair of partially damaged ships, military rescue and expanded to the maintenance and repair of offshore platform structures, jacket structures and subsea pipelines. However, for this project, there is currently a lack of scientific support to verify its application, and a scientific, rigorous and complete test verification system has not been formed, which cannot fully prove its feasibility. Therefore, the present invention proposes an underwater high-pressure dry welding cabin test verification method to solve the problems existing in the prior art. Summary of the invention

[0003] In view of the above problems, the present invention proposes an underwater high-pressure dry welding cabin test verification method, which forms a scientific, rigorous and complete test verification system, fully proving the feasibility of the underwater high-pressure dry welding cabin.

[0004] To achieve the purpose of the present invention, the present invention is implemented by the following technical scheme: an underwater high-pressure dry welding chamber test verification method, comprising the following steps: S1: Test the sealing performance and effectiveness of the magnetic adsorption mechanism and rubber seal on the welding cabin under the designed magnetic adsorption force and the 5-meter internal and external pressure difference under the ambient water pressure of 300 meters; S2: Test the sealing performance of the watertight doors on the welded cabin under 300m ambient water pressure, including testing the effectiveness of the opening and closing of the sealed doors and the effectiveness of the sealing of the sealed doors; S3: Check the effectiveness of environmental control and automatic pressure adjustment capability during the diving of the welding cabin to 300m, including the effectiveness of the pressure difference control and the reliability of the gas path logic; S4: Carry out functional inspection on the thruster, ballast tank and annular ballast tank to verify the indicators of propulsion power performance, load adjustment capability and control capability; S5: simulates a high-pressure environment at a depth of 300 meters underwater to verify the welding robot's ability to withstand high pressure and complete actions in the simulated environment; S6: The simulated test environment is 300 meters water depth pressure, and welding tests are carried out to detect the toughness and plasticity of welding materials and the yield strength of welding welds; S7: Debug the integrated welding cabin as a whole and verify various performance indicators in the water tank, including testing the propulsion capability, effectiveness of ballast control, and the capabilities of adsorption sealing and dry welding; S8: In waters between 20-50 meters, simulate the entire sea trial process of the welding tank to obtain problems; S9: Verify the overall system capability of the welding cabin, the pressure resistance of the equipment, and the high-pressure dry welding capability at 100 meters and 300 meters underwater.

[0005] Further improvement is that: S1 includes checking the effectiveness of the magnetic head opening; the effective items of the magnetic head telescopic cylinder; the sealing performance of rubber rings of different materials and forms and the sealing performance under different concave and convex conditions of the sealing surface, specifically including the following steps: Conduct tests in hyperbaric chambers and prepare scale models of water tanks and welding chambers; Connect the cables of the welding cabin to the outside of the high-voltage cabin through the cabin penetration piece, and test the connectivity and effectiveness of each cable; Place the welding cabin with the sealing surface facing downward in the water tank, with the magnetic head in contact with the bottom of the water tank, and adjust the telescopic rod of the magnetic head to separate the fitting surface of the model from the bottom of the water tank; Pressurize the welding cabin to increase the pressure inside the cabin to 2.95MPa, shorten the magnetic head cylinder, make the sealing rubber ring of the welding cabin fit with the steel plate at the bottom of the water tank, and stop when the pressure of the cylinder reaches the design value; Pour water into the water tank to make the water surface submerge the adsorption surface by 0.2m, continue to increase the internal pressure of the welding cabin to 3MPa, stabilize the pressure for 1h, observe the pressure changes inside and outside the welding cabin through the pressure sensor inside the welding cabin, and observe the water seepage through the camera arranged in the welding cabin; When the pressure in the welding cabin rises by more than 0.01MPa or the water level in the cabin is greater than 1cm, the test is terminated. When the pressure is stabilized for 1h and there is no obvious change in the pressure and water level in the cabin, the test is terminated. When the pressure is stabilized for 1 hour, if the pressure change in the welding cabin is less than 0.01MPa and the water level change is less than 1cm, it indicates that the sealing performance is good and the adsorption seal meets the requirements; When the test pressure maintenance fails or water seepage occurs, optimize the sealing plan and conduct the test again after improvement.

[0006] A further improvement is that: S2 comprises the following steps: The test was conducted in a hyperbaric chamber, and the pressure inside the chamber was increased to 3.3 MPa; Carry out the opening and closing test of the watertight door, opening and closing it 30 times in a row. If the watertight door can open and close normally, it proves that the high-pressure opening and closing function of the watertight door is effective; Pressurize the welding cabin to increase the pressure inside the cabin to 2.9MPa, close the watertight door, and increase the pressure inside the watertight door to 3MPa; Keep the pressure steady for 1 hour, and measure the pressure changes inside and outside the watertight door. When the pressure inside the watertight door decreases to less than 0.01MPa, it proves that the sealing of the watertight door is effective. Pressurize the welding cabin to increase the pressure inside the cabin to 2.9MPa, close the watertight door, and increase the pressure inside the watertight door to 3MPa; Keep the pressure steady for 1 hour, measure the pressure change inside and outside the watertight door, and when the internal pressure of the watertight door decreases to less than 0.01MPa, it proves that the sealing of the watertight door is effective.

[0007] A further improvement is that: S3 comprises the following steps: Tests were conducted in a high-pressure chamber to simulate the gas circuit design of a welding chamber, including gas cylinder groups, gas circuit flow rates, and electromagnetic valves; Slowly and evenly pressurize the hyperbaric chamber, initially pressurize to 0.1MPa, stay for the designed time, then continue to pressurize the hyperbaric chamber to 0.2MPa, and after staying for the designed time, the pressure value increases to 3.3MPa; Record the pressure values ​​and recording time in the high-pressure chamber and welding chamber respectively, and record the opening and closing status of the solenoid valve that controls the gas line pressure in the welding chamber; Conduct data analysis to analyze the pressure difference changes in the hyperbaric chamber and welding chamber; The solenoid valve is opened when the pressure difference between the inside and outside of the welding chamber reaches 5MPa each time, indicating that the reliability and sensitivity of the solenoid valve meet the requirements.

[0008] A further improvement is that: said S4 comprises the following steps: Relying on the frame support structure of the welded cabin, the thrusters, ballast tanks and annular ballast tanks are installed to adjust the weight center of the cabin; Control the propellers to go forward at full speed, check whether the speed reaches 1.5 knots, test the forward and reverse functions of a single propeller, test the control functions of different propeller combinations, and test the program control function of the propellers; Check the control functions of the pumps and solenoid valves in the ballast tanks and annular ballast tanks, and test the ability of the ballast regulating welding tank to dive, rise and suspend; Test the ballast's ability to adjust the welding cabin's posture, including forward tilt, backward tilt, and side tilt, and test the ballast's program-controlled automatic adjustment function.

[0009] A further improvement is that: S5 comprises the following steps: Test in a high-pressure chamber to confirm that the welding robot components can work normally under normal pressure, and then put them into a 3MPa high-pressure chamber for pressure resistance test; The main body of the welding robot is placed in a high-pressure chamber, and the robot control cabinet and welding power supply are placed outside the chamber. They are connected to the main body of the welding robot through the chamber penetration parts. A startup test is performed in a 3MPa environment to test the movement of the robot's six axes in a high-pressure environment. When the welding robot components are not damaged after the total pressure test in the 3MPa high-pressure chamber 1 for not less than 4 hours, they meet the standard; When the high-pressure chamber maintains a pressure of 3MPa, the welding robot drives the welding gun to pass along a weld with a side length of not less than 20cm to complete the welding of the welded parts, which meets the standards.

[0010] A further improvement is that: S6 comprises the following steps: The test environment is simulated in a high-pressure chamber with a water depth of 300 meters to conduct welding tests. After welding, samples are taken to conduct weld yield strength tests; The welding test was carried out in a high-pressure chamber simulating a test environment of 300 meters water depth. After welding, samples were taken to test the impact toughness and plasticity of the weld. When the weld test yield strength is not less than 235MPa of the parent material strength, and the impact toughness and plasticity meet industry requirements, it meets the standard.

[0011] A further improvement is that: said S7 comprises the following steps: Select a test water tank, configure water inlet and outlet devices, lifting machinery and test equipment; Complete the integration and onshore commissioning of various systems in the welding cabin, fix the welding eye plate on the welding cabin, retract the welding robot into the operating cabin, and close the watertight door; The welding tank ballast is configured to float, simulating the placement of shipboard in a water tank; Use a crane to lower the welding cabin into the water pool, unhook it, and adjust the ballast of the welding cabin to make it nearly buoyant; Maneuver the welding cabin close to the simulated shipboard, open the magnetic head and adsorb it, tighten the magnetic head cylinder to squeeze the fitting surface rubber to form a sealed dry cabin in the welding cabin; Drain the water in the dry cabin of the welding cabin, open the watertight door, let the robot exit the operation cabin, and adjust the welding eye plate clamping system to make the welding eye plate fit tightly with the simulated ship plate; The welding robot is driven to spot-weld and fix the weld eye plate, and the weld eye plate clamping system is separated from the weld eye plate and then retracted; After the welding of the eye plate is completed, the welding robot retracts into the operation cabin and the watertight door is closed; Water is poured into the dry tank, the welding tank is separated from the simulated shipboard, and the hook is used to recover the welding tank; In this process, the positioning control performance and operational performance of the propulsion and ballast functions, as well as the performance of automatically adjusting the welding cabin attitude and draft, are analyzed as verification criteria; When the entire process from positioning to welding and then to detachment of the welding cabin is trouble-free, the design requirements are met.

[0012] A further improvement is that: said S8 comprises the following steps: Select a sea area with a water depth of 20-50 meters and good underwater visibility for shallow water testing, and lower the simulated shipboard to the seabed; Use a crane to lower the welding cabin into the water and unhook it. Adjust the ballast of the welding cabin to make it nearly buoyant. Maneuver the welding cabin close to the simulated shipboard, open the magnetic head and attach it. Tighten the magnetic head cylinder to squeeze the fitting surface rubber to make the welding cabin a sealed dry cabin. Drain the water in the dry cabin, open the watertight door, let the welding robot exit the cabin, and adjust the weld eye plate clamping system to make the weld eye plate fit tightly with the simulated ship plate; The welding robot is driven to spot-weld and fix the weld eye plate, and the weld eye plate clamping system is separated from the weld eye plate and then retracted; After the welding of the eye plate is completed, the welding robot retracts into the operation cabin and the watertight door is closed; Water is poured into the dry tank, the welding tank is separated from the simulated shipboard, the welding tank floats to the surface, and the welding tank is recovered; In this process, the control flexibility of the propulsion and positioning functions in the water is analyzed to determine whether the accuracy of fixed depth and fixed distance navigation meets the requirements; Determine whether the ballast, propulsion and environmental control are coordinated, whether the ascent and descent are coordinated, and whether the functions of the entire process of adsorption sealing and underwater welding are normal.

[0013] A further improvement is that: said S9 comprises the following steps: Select a sea area with a water depth of more than 100 meters and lower the simulated shipboard structure to a suitable area on the seabed; Functional test of the welding cabin in shallow water, with a water depth of less than 10 meters, to carry out underwater deployment and recovery drills, operational performance surveys, functional tests and emergency simulations; Deep water test of welding cabin, with a water depth of 50 meters, to test the underwater navigation, attitude adjustment and environmental control capabilities of the welding cabin; Functional test of welding cabin, at a water depth of more than 100 meters, to test the whole process of the welding cabin underwater positioning, adsorption sealing, wet cabin dry environment creation, watertight door opening, welding robot exiting the cabin, welding eye plate positioning, robot welding eye plate, robot returning to the cabin, closing the watertight door, wet cabin water filling, welding cabin detachment, and welding cabin return; On the mother ship, fix the sample to be welded on the flat structure and the adsorption surface, lower the welding cabin into the water, automatically control the internal pressure of the welding cabin, and dive to a depth of 300 meters; Operate to weld the sample and after completion reclaim the welding cabin to the deck; During this process, the cabin pressure control, adsorption sealing performance, watertight door opening and closing function, cabin humidity control, six-degree-of-freedom motion of the welding robot, welding eye plate posture adjustment, welding operation function and welding seam quality are tested.

[0014] The beneficial effects of the present invention are: 1. The present invention forms a scientific, rigorous and complete test verification system through subsystem process tests such as high-pressure adsorption sealing test, high-pressure functional test of watertight door, high-pressure test of air pressure control system, shallow water test of propulsion ballast system, high-pressure action test of robot, welding process laboratory inspection, water tank test of integrated system, shallow water functional test and final sea trial verification, which fully proves the feasibility of underwater high-pressure dry welding cabin.

[0015] 2. According to the experimental verification of the present invention, the welding cabin has many application scenarios. It can not only be used to weld the eye plate structure on the side of the sunken ship to conveniently connect the floating wire and solve the problem of floating wire caused by the current trenchless directional drilling, but also can be used for the repair of partially damaged ships, military rescue and expanded to the maintenance and repair of offshore platform structures, jacket structures and subsea pipelines, which is of great significance to underwater engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a flow chart of the present invention; Figure 2 It is a three-dimensional diagram of the high-pressure dry welding cabin of the present invention.

[0017] Among them: 1. Operation cabin; 2. Annular ballast cabin; 3. Welding robot storage cabin; 4. Welding robot; 5. Magnetic adsorption mechanism; 6. Rubber seal; 7. Welding eye plate clamping system; 8. Welding eye plate; 9. Thruster; 10. Ballast cabin; 11. Normal pressure equipment cabin; 12. Attitude adjustment weight; 13. Gas cylinder group; 14. Frame support structure. DETAILED DESCRIPTION

[0018] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with examples. The examples are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention. Embodiment 1

[0019] according to Figure 1 , 2 As shown, this embodiment proposes an underwater high-pressure dry welding chamber test verification method, comprising the following steps: Test the sealing performance and effectiveness of the magnetic adsorption mechanism 5 and rubber seal 6 on the welding cabin under the designed magnetic adsorption force and the 5-meter internal and external pressure difference under the 300-meter ambient water pressure; Test the sealing performance of the watertight doors on the welded cabins under 300m ambient water pressure, including testing the effectiveness of the opening and closing of the sealed doors and the effectiveness of the sealing of the sealed doors; Verify the effectiveness of environmental control and automatic pressure regulation during the diving of the welding cabin to 300m, including the effectiveness of the pressure difference control and the reliability of the gas path logic; Perform functional tests on the thruster 9, ballast tank 10 and annular ballast tank 2 to verify the indicators of propulsion power performance, load adjustment capability and control capability; Simulate a high-pressure environment at a depth of 300 meters underwater to verify the welding robot 4's ability to withstand high pressure and complete actions in the simulated environment; The simulated test environment is 300 meters of water depth pressure, and welding tests are carried out to detect the toughness and plasticity of welding materials and the yield strength of welding welds; Debug the integrated welding cabin as a whole and verify various performance indicators in the water tank, including testing the propulsion capability, effectiveness of ballast control, and the capabilities of adsorption sealing and dry welding; In waters between 20-50 meters, simulate the entire sea trial process of the welding cabin to obtain problems; Verify the overall system capability of the welding cabin, the pressure resistance of the equipment, and the high-pressure dry welding capability at 100 meters and 300 meters underwater.

[0020] According to the system composition and functional requirements of the underwater high-pressure dry welding cabin, a scientific test verification plan is designed, including test plans for subsystems such as high-pressure adsorption sealing test, high-pressure functional test of watertight doors, high-pressure test of air pressure control system, shallow water test of propulsion ballast system, high-pressure action test of robots, and welding process laboratory inspection to verify the feasibility of each subsystem.

[0021] Design a water tank test plan to debug the integrated welding cabin system and verify the performance indicators of each subsystem in the integrated system in water.

[0022] A shallow water test plan is designed to test and debug the performance and reliability of various functions of the system equipment before the sea trial. The test is selected in waters between 20-50 meters. The test process completely simulates the entire sea trial process of the welding cabin system to find possible problems in the system and avoid risks in the formal sea trial.

[0023] A sea trial test plan was designed, including a functional test of a 100-meter underwater high-pressure dry welding cabin and a welding test of a 300-meter underwater high-pressure dry welding cabin, to verify the system capability of the 100-meter and 300-meter underwater high-pressure dry welding cabins, the pressure resistance of the equipment and the high-pressure dry welding capability. Embodiment 2

[0024] according to Figure 1 , 2 As shown, this embodiment proposes an underwater high-pressure dry welding chamber test verification method, comprising the following steps: S1: Test the sealing performance and effectiveness of the magnetic adsorption mechanism 5 and rubber seal 6 on the welding cabin under the action of the designed magnetic adsorption force and the 5-meter internal and external pressure difference under the environmental water pressure of 300 meters; including testing the effectiveness of the magnetic head opening; the effective items of the magnetic head telescopic cylinder; the sealing performance of rubber rings of various materials and forms and the sealing performance under different concave and convex conditions of the sealing surface, specifically including the following steps: conduct tests in a high-pressure cabin, prepare a water tank and a scaled model of the welding cabin; connect the cables of the welding cabin to the outside of the high-pressure cabin through the cabin penetration, and test the connectivity and effectiveness of each cable; place the welding cabin sealing surface downward in the water tank, with the magnetic head in contact with the bottom of the water tank, and adjust the magnetic head telescopic rod to separate the model fitting surface from the bottom of the water tank; pressurize the welding cabin to increase the pressure inside the cabin to 2.95MPa, shorten the magnetic head oil pressure, and then test the sealing performance of the welding cabin. Cylinder, make the sealing rubber ring of the welding cabin fit with the steel plate at the bottom of the water tank, and stop when the pressure of the cylinder reaches the designed value; fill water into the water tank, make the water surface cover the adsorption surface by 0.2m, continue to increase the internal pressure of the welding cabin to 3MPa, stabilize the pressure for 1h, observe the pressure change inside and outside the welding cabin through the pressure sensor in the welding cabin, and observe the water seepage through the camera arranged in the welding cabin; when the pressure in the welding cabin rises by more than 0.01MPa or the water level in the cabin is greater than 1cm, the test is terminated, and when the pressure is stabilized for 1h, there is no obvious change in the pressure and water level in the cabin, the test is terminated; when the pressure is stabilized for 1h, the pressure change in the welding cabin is less than 0.01MPa and the water level change is less than 1cm, it indicates that the sealing performance is good and the adsorption seal meets the requirements; when the test pressure maintenance fails or water seepage occurs, optimize the sealing scheme and conduct the test again after improvement.

[0025] Judging criteria: If the pressure changes within the cabin less than 0.01 MPa and the water level changes less than 1 cm after stabilizing the pressure for 1 hour during the test, it indicates that the sealing performance is good and the adsorption sealing system meets the requirements; If the test pressure maintenance fails or water seepage occurs, the sealing solution must be optimized and tested again after improvement until the solution meets the design requirements.

[0026] S2: Test the sealing performance of the watertight door on the welding cabin under 300m ambient water pressure, including testing the effectiveness of the opening and closing of the sealing door and the effectiveness of the sealing of the sealing door; specifically, the following steps are included: Test in the high-pressure cabin, pressurize the cabin, and increase the pressure in the high-pressure cabin to 3.3MPa; Test the opening and closing of the watertight door, open and close it 30 times in a row. When the watertight door can open and close normally, it proves that the high-pressure opening and closing function of the watertight door is effective; pressurize the welding cabin to increase the pressure in the cabin to 2.9MPa , close the watertight door, and increase the pressure inside the watertight door to 3MPa; maintain the pressure for 1h, measure the change in pressure inside and outside the watertight door, when the pressure inside the watertight door decreases to less than 0.01MPa, it proves that the sealing of the watertight door is effective; pressurize the welding cabin, increase the pressure inside the cabin to 2.9MPa, close the watertight door, and increase the pressure inside the watertight door to 3MPa; maintain the pressure for 1h, measure the change in pressure inside and outside the watertight door, when the pressure inside the watertight door decreases to less than 0.01MPa, it proves that the sealing of the watertight door is effective.

[0027] Judging criteria: During the opening and closing test, if the watertight door can open and close normally under the test pressure, it means that the watertight door mechanism can work normally under high pressure and meets the requirements; If the pressure difference between the inside larger and outside smaller sealing test and the inside smaller and outside larger sealing test of the watertight door is within the permitted range, it is judged to meet the requirements.

[0028] S3: Inspect the effectiveness of environmental control and the ability to automatically adjust pressure during the diving of the welding cabin to 300m, including inspecting the effectiveness of the pressure difference control and the reliability of the gas path logic; specifically including the following steps: conduct tests in a high-pressure cabin to simulate the gas path design of the welding cabin, including the gas cylinder group 13, the gas path flow rate and the electromagnetic valve; slowly and evenly pressurize the high-pressure cabin, initially pressurize to 0.1MPa, and after staying for the designed time, continue to pressurize the high-pressure cabin to 0.2MPa, and after staying for the designed time, the pressure value increases to 3.3MPa; record the pressure values ​​and recording times in the high-pressure cabin and the welding cabin respectively, and record the opening and closing of the electromagnetic valve that controls the gas path pressure in the welding cabin; conduct data analysis to analyze the changes in the pressure difference between the high-pressure cabin and the welding cabin; open the electromagnetic valve every time the pressure difference between the internal and external pressures of the welding cabin reaches 5MPa, indicating that the reliability and sensitivity of the electromagnetic valve meet the requirements.

[0029] Judging criteria: After analysis, the valve is opened every time the pressure difference between the internal and external pressures of the simulated welding cabin reaches 5MPa, indicating that the reliability and sensitivity of the valve meet the requirements; The pressure difference between the high-pressure chamber and the welding chamber can be stabilized at a constant value of 7MPa.

[0030] S4: Perform functional inspection on the thruster 9, ballast tank 10 and annular ballast tank 2 to verify the indicators of propulsion power performance, load adjustment capacity and control capacity; specifically include the following steps: relying on the frame support structure 14 of the welding tank, install the thruster 9, ballast tank 10 and annular ballast tank 2, and adjust the weight center of the tank; control the thruster 9 to move forward at full speed to check whether the speed reaches 1.5 knots, test the forward and reverse functions of a single thruster 9 respectively, test the control functions of different thruster 9 combinations respectively, and test the program control function of the thruster 9; check the control functions of each pump and solenoid valve in the ballast tank 10 and the annular ballast tank 2, and test the ability of the ballast to adjust the welding tank to dive, rise and suspend; test the ability of the ballast to adjust the posture of the welding tank, including forward tilt, backward tilt and side tilt, and test the program control automatic adjustment function of the ballast.

[0031] Judging criteria: The test meets the following conditions to prove that the requirements are met: Promote various functional tests to achieve expected goals; All tests on the ballast function achieved the expected results.

[0032] S5: simulate a high-pressure environment at a depth of 300 meters underwater to verify the high-pressure resistance and action completion of the welding robot 4 in the simulated environment; specifically include the following steps: conduct a test in a high-pressure chamber to confirm that the components of the welding robot 4 can work normally under normal pressure, and then place it in a 3MPa high-pressure chamber for a pressure resistance test; place the main body of the welding robot 4 in the high-pressure chamber, place the robot control cabinet and welding power supply outside the chamber, connect them to the main body of the welding robot 4 through the chamber parts, and conduct a power-on test in a 3MPa environment to test the action of the robot's six axes in a high-pressure environment; when the components of the welding robot 4 are not damaged in the 3MPa high-pressure chamber 1 for a total pressure resistance test time of not less than 4h, they meet the standards; when the high-pressure chamber maintains a pressure of 3MPa, the welding robot 4 drives the welding gun to walk along a weld with a side length of not less than 20cm to complete the welding of the workpiece to be welded, which meets the standards.

[0033] Judging criteria: The total pressure test time of the 4 components of the welding robot in the 3MPa high-pressure chamber is not less than 4 hours, and there is no damage; The high-pressure chamber maintains a pressure of 3 MPa. The welding robot 4 drives the welding gun to move along a weld bead with a side length of not less than 20 cm once, and then completes the welding of the workpiece to be welded.

[0034] S6: simulate the test environment to be 300 meters water depth pressure, conduct welding test, detect the toughness and plasticity of welding materials, and test the yield strength of welding seams; specifically include the following steps: simulate the test environment to be 300 meters water depth pressure in the high pressure chamber, conduct welding test, take samples after welding is completed, and conduct welding seam yield strength test; simulate the test environment to be 300 meters water depth pressure in the high pressure chamber, conduct welding test, take samples after welding is completed, and test the impact toughness and plasticity of the weld; when the weld test yield strength is not less than 235MPa of the parent material strength, and the impact toughness and plasticity meet the industry requirements, it meets the standard.

[0035] Judging criteria: Issue a dry welding weld test report under underwater high pressure environment, the yield strength is not less than the parent material strength 235MPa; A dry welding weld test report under underwater high-pressure environment is issued, and the impact toughness and plasticity meet the requirements of the specifications "GB / T2650-2008 Impact Test Method for Welded Joints", "GB / T2651-2008 Tensile Test Method for Welded Joints" and "GB / T2653-2008 Bending Test Method for Welded Joints".

[0036] S7: Debug the integrated welding cabin as a whole, and verify various performance indicators in the water tank, including testing propulsion capability, effectiveness of ballast control, and adsorption sealing and dry welding capabilities; specifically including the following steps: select a test water tank, configure water inlet and outlet devices, lifting and hoisting machinery and test equipment; complete the integration and onshore debugging of various systems in the welding cabin, fix the weld eye plate 8 on the welding cabin, retract the welding robot 4 into the working cabin 1, and close the watertight door; configure the ballast of the welding cabin to a floating state to simulate the placement of the shipboard in the water tank; use a crane to lift the welding cabin into the water tank, unhook it, and adjust the ballast of the welding cabin to make the welding cabin in a nearly positive floating state; manipulate the welding cabin to approach the simulated shipboard, open the magnetic head and adsorb it, and tighten the magnetic head cylinder to squeeze the rubber of the fitting surface to make it float. The welding cabin forms a sealed dry cabin; the water in the dry cabin of the welding cabin is drained, the watertight door is opened, the robot goes out of the operating cabin 1, and the weld eye plate clamping system 7 is adjusted to make the weld eye plate 8 fit tightly with the simulated ship plate; the welding robot 4 is driven to spot weld and fix the weld eye plate 8, and the weld eye plate clamping system 7 is separated from the weld eye plate 8 and then retracted; after the welding of the weld eye plate 8 is completed, the welding robot 4 retracts into the operating cabin 1 and the watertight door is closed; water is injected into the dry cabin, the welding cabin is separated from the simulated ship plate, and the hook is used to recover the welding cabin; in this process, the positioning control performance and operating performance of the propulsion and ballast functions, as well as the performance of automatically adjusting the posture and draft of the welding cabin are analyzed as verification standards; when the entire process from the welding cabin being in place to welding and then being separated is fault-free, the design requirements are met.

[0037] Judging criteria: The positioning control and operation performance of the thruster 9 and the ballast function in the tank were good, indicating that the propulsion and positioning systems met the requirements; If the ballast system can automatically adjust the posture and draft of the welding cabin according to the needs, it proves that the ballast system meets the requirements; The welding cabin completed the entire process from positioning to welding and then to detaching without any problems. The successful completion of the welding task shows that the system integration is good and meets the design requirements.

[0038] S8: In waters between 20-50 meters, simulate the whole process of sea trial of the welding cabin to obtain the problem; specifically, the following steps are included: select a sea area with a water depth of 20-50 meters and good underwater visibility for shallow water test, and lower the simulated ship plate to the seabed; use a crane to lift the welding cabin into the water, and unhook it, adjust the ballast of the welding cabin to make the welding cabin in a nearly positive floating state, manipulate the welding cabin to approach the simulated ship plate, open the magnetic head and adsorb it, tighten the magnetic head cylinder to squeeze the fitting surface rubber to make the welding cabin form a sealed dry cabin; empty the water in the dry cabin, open the watertight door, let the welding robot 4 go out of the cabin, adjust the welding eye plate clamping system 7 to make the welding eye plate 8 close to the simulated ship plate The plates fit tightly together; the welding robot 4 is driven to spot weld the weld eye plate 8 to fix it, and the weld eye plate clamping system 7 is separated from the weld eye plate 8 and then retracted; after the welding of the weld eye plate 8 is completed, the welding robot 4 is retracted into the operating cabin 1, and the watertight door is closed; water is poured into the dry cabin, the welding cabin is separated from the simulated ship plate, the welding cabin floats to the surface, and the welding cabin is recovered; in this process, the control flexibility of the propulsion function and the positioning function in the water is analyzed, and it is determined whether the accuracy of fixed depth and fixed distance navigation meets the requirements; it is determined whether the coordination of ballast, propulsion and environmental control is coordinated, whether the buoyancy and diving are coordinated, and whether the functions of the adsorption sealing and underwater welding process are normal.

[0039] Judging criteria: The propeller 9 and the positioning system are flexible to operate in the water, and the navigation accuracy of fixed depth and fixed distance meets the requirements; The ballast, propulsion and environmental control systems work well together, and ascent and descent can be coordinated; The whole process of adsorption sealing and underwater welding functions normally.

[0040] S9: Verify the overall system capability of the welding cabin, the pressure resistance of the equipment, and the high-pressure dry welding capability at 100 meters and 300 meters underwater; specifically include the following steps: select a sea area with a water depth of more than 100 meters, and lower the simulated ship plate structure to a suitable area on the seabed; conduct shallow water functional tests of the welding cabin, with a water depth of less than 10 meters, to conduct underwater deployment and recovery drills, operational performance surveys, functional tests, and emergency simulations; deep water tests of the welding cabin, with a water depth of 50 meters, to test the underwater navigation, attitude adjustment, and environmental control capabilities of the welding cabin; functional tests of the welding cabin, with a water depth of more than 100 meters, to test the underwater positioning, adsorption sealing, wet cabin dry environment creation, and watertightness of the welding cabin. The whole process includes: door opening, welding robot 4 exiting the cabin, welding eye plate 8 being in place, robot welding eye plate, robot returning to the cabin, closing watertight door, filling the wet cabin with water, welding cabin detaching, and welding cabin returning; on the mother ship, the sample to be welded is fixed on the plane structure and fixed on the adsorption surface, the welding cabin is lowered into the water, the internal pressure of the welding cabin is automatically controlled, and it dives to a water depth of 300 meters; the sample is welded and the welding cabin is recovered to the deck after completion; in this process, the pressure control in the cabin, the adsorption sealing performance, the opening and closing function of the watertight door, the humidity control in the cabin, the six-degree-of-freedom motion of the welding robot 4, the posture adjustment of the welding eye plate 8, the welding operation function and the quality of the welding weld are tested.

[0041] Judging criteria: The propulsion, ballast, positioning, underwater monitoring, hydraulic and gas pressure control and other system functions are started and operated normally; Satisfy navigation control requirements and function normally; The posture adjustment function is normal; The orientation, depth and height control functions are normal; The cabin pressure control, adsorption sealing performance, watertight door opening and closing function, cabin humidity control, welding robot six-degree-of-freedom motion, eye plate posture adjustment, welding and other operating functions are operating normally; The welding seam quality meets the requirements.

[0042] The cabin pressure control, adsorption sealing performance, watertight door opening and closing function, cabin humidity control, six-degree-of-freedom motion of the welding robot, eye plate posture adjustment, welding and other operating functions operate normally.

[0043] The underwater high-pressure dry welding cabin test verification method forms a scientific, rigorous and complete test verification system through subsystem process tests such as high-pressure adsorption sealing test, high-pressure functional test of watertight door, high-pressure test of air pressure control system, shallow water test of propulsion ballast system, high-pressure action test of robot, welding process laboratory inspection, etc., integrated system water tank test, shallow water functional test and final sea trial verification, which fully proves the feasibility of underwater high-pressure dry welding cabin. And under the experimental verification of the present invention, the welding cabin has many application scenarios, not only can it be used to weld the eye plate structure on the side of the sunken ship, conveniently connect the floating wire, solve the problem of floating wire caused by current trenchless directional drilling, but also can be used for the repair of partially damaged ships, military rescue and expanded to offshore platform structures, jacket structures and maintenance and repair of sea pipes, which is of great significance to underwater engineering.

[0044] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An underwater high-pressure dry welding chamber test verification method, characterized in that: The following steps are involved: S1: Test the sealing performance and effectiveness of the magnetic adsorption mechanism (5) and rubber seal (6) on the welding cabin under the environmental water pressure of 300 meters, the designed magnetic adsorption force and the pressure difference between the inside and outside of 5 meters; S2: Test the sealing performance of the watertight doors on the welded cabin under 300m ambient water pressure, including testing the effectiveness of the opening and closing of the sealed doors and the effectiveness of the sealing of the sealed doors; S3: Check the effectiveness of environmental control and automatic pressure adjustment capability during the diving of the welding cabin to 300m, including the effectiveness of the pressure difference control and the reliability of the gas path logic; S4: Performing functional inspection on the propeller (9), the ballast tank (10) and the annular ballast tank (2) to verify the indicators of propulsion power performance, load adjustment capability and control capability; S5: simulate a high-pressure environment at a depth of 300 meters underwater to verify the welding robot (4)'s ability to withstand high pressure and complete movements in the simulated environment; S6: The simulated test environment is 300 meters water depth pressure, and welding tests are carried out to detect the toughness and plasticity of welding materials and the yield strength of welding welds; S7: Debug the integrated welding cabin as a whole and verify various performance indicators in the water tank, including testing the propulsion capability, effectiveness of ballast control, and the capabilities of adsorption sealing and dry welding; S8: In waters between 20-50 meters, simulate the entire sea trial process of the welding tank to obtain problems; S9: Verify the overall system capability of the welding cabin, the pressure resistance of the equipment, and the high-pressure dry welding capability at 100 meters and 300 meters underwater.

2. The underwater high-pressure dry welding chamber test verification method according to claim 1 is characterized in that: S1 includes checking the effectiveness of the magnetic head opening; the effective items of the magnetic head telescopic cylinder; the sealing performance of rubber rings of various materials and forms and the sealing performance under different concave and convex conditions of the sealing surface, and specifically includes the following steps: Conduct tests in hyperbaric chambers and prepare scale models of water tanks and welding chambers; Connect the cables of the welding cabin to the outside of the high-voltage cabin through the cabin penetration piece, and test the connectivity and effectiveness of each cable; Place the welding cabin with the sealing surface facing downward in the water tank, with the magnetic head in contact with the bottom of the water tank, and adjust the telescopic rod of the magnetic head to separate the fitting surface of the model from the bottom of the water tank; Pressurize the welding cabin to increase the pressure inside the cabin to 2.95MPa, shorten the magnetic head cylinder, make the sealing rubber ring of the welding cabin fit with the steel plate at the bottom of the water tank, and stop when the pressure of the cylinder reaches the design value; Pour water into the water tank to make the water surface submerge the adsorption surface by 0.2m, continue to increase the internal pressure of the welding cabin to 3MPa, stabilize the pressure for 1h, observe the pressure changes inside and outside the welding cabin through the pressure sensor inside the welding cabin, and observe the water seepage through the camera arranged in the welding cabin; When the pressure in the welding cabin rises by more than 0.01MPa or the water level in the cabin is greater than 1cm, the test is terminated. When the pressure is stabilized for 1h and there is no obvious change in the pressure and water level in the cabin, the test is terminated. When the pressure is stabilized for 1 hour, if the pressure change in the welding cabin is less than 0.01MPa and the water level change is less than 1cm, it indicates that the sealing performance is good and the adsorption seal meets the requirements; When the test pressure maintenance fails or water seepage occurs, optimize the sealing plan and conduct the test again after improvement.

3. The underwater high-pressure dry welding chamber test verification method according to claim 1 is characterized in that: The S2 comprises the following steps: The test was conducted in a hyperbaric chamber, and the pressure inside the chamber was increased to 3.3 MPa; Carry out the opening and closing test of the watertight door, opening and closing it 30 times in a row. If the watertight door can open and close normally, it proves that the high-pressure opening and closing function of the watertight door is effective; Pressurize the welding cabin to increase the pressure inside the cabin to 2.9MPa, close the watertight door, and increase the pressure inside the watertight door to 3MPa; Keep the pressure steady for 1 hour, and measure the pressure changes inside and outside the watertight door. When the pressure inside the watertight door decreases to less than 0.01MPa, it proves that the sealing of the watertight door is effective. Pressurize the welding cabin to increase the pressure inside the cabin to 2.9MPa, close the watertight door, and increase the pressure inside the watertight door to 3MPa; Keep the pressure steady for 1 hour, measure the pressure change inside and outside the watertight door, and when the internal pressure of the watertight door decreases to less than 0.01MPa, it proves that the sealing of the watertight door is effective.

4. The underwater high-pressure dry welding chamber test verification method according to claim 1 is characterized in that: The S3 comprises the following steps: Conducting tests in a high-pressure chamber to simulate the gas circuit design of a welding chamber, including a gas cylinder group (13), gas circuit flow rate, and an electromagnetic valve; Slowly and evenly pressurize the hyperbaric chamber, initially pressurize to 0.1MPa, stay for the designed time, then continue to pressurize the hyperbaric chamber to 0.2MPa, and after staying for the designed time, the pressure value increases to 3.3MPa; Record the pressure values ​​and recording time in the high-pressure chamber and welding chamber respectively, and record the opening and closing status of the solenoid valve that controls the gas line pressure in the welding chamber; Conduct data analysis to analyze the pressure difference changes in the hyperbaric chamber and welding chamber; The solenoid valve is opened when the pressure difference between the inside and outside of the welding chamber reaches 5MPa each time, indicating that the reliability and sensitivity of the solenoid valve meet the requirements.

5. The underwater high-pressure dry welding chamber test verification method according to claim 1 is characterized in that: The S4 comprises the following steps: Relying on the frame support structure (14) of the welded cabin, the propeller (9), the ballast tank (10) and the annular ballast tank (2) are installed to adjust the weight center of the cabin; Control the propeller (9) to move forward at full speed to check whether the speed reaches 1.5 knots, test the forward and reverse functions of a single propeller (9), test the control functions of different combinations of propellers (9), and test the program control function of the propeller (9); Check the control functions of the pumps and solenoid valves in the ballast tank (10) and the annular ballast tank (2), and test the ability of the ballast regulating welding tank to dive, rise and suspend; Test the ballast's ability to adjust the welding cabin's posture, including forward tilt, backward tilt, and side tilt, and test the ballast's program-controlled automatic adjustment function.

6. The underwater high-pressure dry welding chamber test verification method according to claim 1 is characterized in that: The S5 comprises the following steps: Conduct tests in a high-pressure chamber to confirm that the welding robot (4) components can work normally under normal pressure, and then place them in a 3MPa high-pressure chamber for pressure resistance performance testing; The main body of the welding robot (4) is placed in a high-pressure chamber, and the robot control cabinet and the welding power supply are placed outside the chamber, connected to the main body of the welding robot (4) via a through-chamber component, and a startup test is performed in a 3MPa environment to test the movement of the six axes of the robot in the high-pressure environment; If the components of the welding robot (4) are not damaged during the total pressure test in the 3MPa high-pressure chamber 1 for a total time of not less than 4 hours, they meet the standard; When the pressure in the high-pressure chamber is maintained at 3 MPa, the welding robot (4) drives the welding gun to pass through a weld bead with a side length of not less than 20 cm to complete the welding of the workpiece to be welded, which meets the standard.

7. The underwater high-pressure dry welding chamber test verification method according to claim 1 is characterized in that: The S6 comprises the following steps: The test environment is simulated in a high-pressure chamber with a water depth of 300 meters to conduct welding tests. After welding, samples are taken to conduct weld yield strength tests; The welding test was carried out in a high-pressure chamber simulating a test environment of 300 meters water depth. After welding, samples were taken to test the impact toughness and plasticity of the weld. When the weld test yield strength is not less than 235MPa of the parent material strength, and the impact toughness and plasticity meet industry requirements, it meets the standard.

8. The underwater high-pressure dry welding chamber test verification method according to claim 1 is characterized by: The S7 comprises the following steps: Select a test water tank, configure water inlet and outlet devices, lifting machinery and test equipment; After the integration and onshore commissioning of the various systems in the welding cabin are completed, the welding eye plate (8) is fixed on the welding cabin, the welding robot (4) is retracted into the operation cabin (1), and the watertight door is closed; The welding tank ballast is configured to float, simulating the placement of shipboard in a water tank; Use a crane to lower the welding cabin into the water pool, unhook it, and adjust the ballast of the welding cabin to make it nearly buoyant; Maneuver the welding cabin close to the simulated shipboard, open the magnetic head and adsorb it, tighten the magnetic head cylinder to squeeze the fitting surface rubber to form a sealed dry cabin in the welding cabin; The water in the dry compartment of the welding cabin is drained, the watertight door is opened, the robot exits the operation cabin (1), and the welding eye plate clamping system (7) is adjusted to ensure that the welding eye plate (8) is tightly fitted to the simulated ship plate; The welding robot (4) is driven to spot-weld and fix the weld eye plate (8), and the weld eye plate clamping system (7) is separated from the weld eye plate (8) and then retracted; After the welding of the welding eye plate (8) is completed, the welding robot (4) is retracted into the operation cabin (1) and the watertight door is closed; Water is poured into the dry tank, the welding tank is separated from the simulated shipboard, and the hook is used to recover the welding tank; In this process, the positioning control performance and operational performance of the propulsion and ballast functions, as well as the performance of automatically adjusting the welding cabin attitude and draft, are analyzed as verification criteria; When the entire process from positioning to welding and then to detachment of the welding cabin is trouble-free, the design requirements are met.

9. The underwater high-pressure dry welding chamber test verification method according to claim 1, characterized in that: The S8 comprises the following steps: Select a sea area with a water depth of 20-50 meters and good underwater visibility for shallow water testing, and lower the simulated shipboard to the seabed; Use a crane to lower the welding cabin into the water and unhook it. Adjust the ballast of the welding cabin to make it nearly buoyant. Maneuver the welding cabin close to the simulated shipboard, open the magnetic head and attach it. Tighten the magnetic head cylinder to squeeze the fitting surface rubber to make the welding cabin a sealed dry cabin. The water in the dry cabin is drained, the watertight door is opened, the welding robot (4) exits the cabin, and the weld eye plate clamping system (7) is adjusted so that the weld eye plate (8) fits tightly with the simulated ship plate; The welding robot (4) is driven to spot-weld and fix the weld eye plate (8), and the weld eye plate clamping system (7) is separated from the weld eye plate (8) and then retracted; After the welding of the welding eye plate (8) is completed, the welding robot (4) is retracted into the operation cabin (1) and the watertight door is closed; Water is poured into the dry tank, the welding tank is separated from the simulated shipboard, the welding tank floats to the surface, and the welding tank is recovered; In this process, the control flexibility of the propulsion and positioning functions in the water is analyzed to determine whether the accuracy of fixed depth and fixed distance navigation meets the requirements; Determine whether the ballast, propulsion and environmental control are coordinated, whether the ascent and descent are coordinated, and whether the functions of the entire process of adsorption sealing and underwater welding are normal.

10. The underwater high-pressure dry welding chamber test verification method according to claim 1, characterized in that: The S9 comprises the following steps: Select a sea area with a water depth of more than 100 meters and lower the simulated shipboard structure to a suitable area on the seabed; Functional test of the welding cabin in shallow water, with a water depth of less than 10 meters, to carry out underwater deployment and recovery drills, operational performance surveys, functional tests and emergency simulations; Deep water test of welding cabin, with a water depth of 50 meters, to test the underwater navigation, attitude adjustment and environmental control capabilities of the welding cabin; Functional test of welding cabin, at a water depth of more than 100 meters, to test the whole process of the welding cabin underwater positioning, adsorption sealing, wet cabin dry environment creation, watertight door opening, welding robot (4) exiting the cabin, welding eye plate (8) positioning, robot welding eye plate, robot returning to the cabin, closing the watertight door, wet cabin water filling, welding cabin detachment, and welding cabin return; On the mother ship, fix the sample to be welded on the flat structure and the adsorption surface, lower the welding cabin into the water, automatically control the internal pressure of the welding cabin, and dive to a depth of 300 meters; Operate to weld the sample and after completion reclaim the welding cabin to the deck; During this process, the pressure control in the cabin, the adsorption sealing performance, the opening and closing function of the watertight door, the humidity control in the cabin, the six-degree-of-freedom motion of the welding robot (4), the posture adjustment of the welding eye plate (8), the welding operation function and the quality of the welding seam are tested.

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