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浙江大学学报(工学版)
浙江大学学报(工学版)  2019, Vol. 53 Issue (7): 1252-1264    DOI: 10.3785/j.issn.1008-973X.2019.07.003
机械与能源工程     
局部干法水下焊接技术的发展
韩雷刚1(),钟启明1,陈国栋2,张芩3,王振民1,*()
1. 华南理工大学 机械与汽车工程学院，广东 广州 510640
2. 中广核研究院有限公司 智能设备和机器人研究所，广东 深圳 518031
3. 华南理工大学 计算机科学与工程学院，广东 广州 510640
Development of local dry underwater welding technology
Lei-gang HAN1(),Qi-ming ZHONG1,Guo-dong CHEN2,Qin ZHANG3,Zhen-min WANG1,*()
1. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, China
2. Intelligent Equipment and Robotics Institute, China Nuclear Power Technology Research Institute Limited Company, Shenzhen 518031, China
3. School of Computer Science and Engineering, South China University of Technology, Guangzhou 510640, China
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摘要：

为了引导和促进局部干法水下焊接的发展，完善局部干法水下焊接技术在海洋资源开发以及核电站建设和维修中的应用，探讨局部干法水下焊接的研究内容，评述相关应用背景、水下环境特点及各种工艺方法，以利于局部干法水下焊接工艺技术研究“标准化”和“科学化”的实现. 针对局部干法水下焊接自动化的发展问题，列举和分析水下自动化移动平台、双目立体视觉、排水装置、熔池模拟和焊接质量预测等关键技术存在的主要问题以及研究现状，总结了局部干法水下焊接技术未来的发展趋势和重点研究方向.
关键词： 局部干法水下焊接;  标准化和科学化;  自动化;  研究现状    
Abstract:

The research content of local dry underwater welding was discussed in order to guide and promote the development of local underwater welding technology and improve the application of local dry underwater welding technology in marine resource development and nuclear power plant construction and maintenance. The relevant application background, underwater environment characteristics and various process methods were reviewed in order to realize " standardization” and " scientific” research on local dry underwater welding technology. The main problems and research status of key technologies such as underwater automatic mobile platform, binocular stereo vision, drainage device, molten pool simulation and welding quality prediction were listed and analyzed for the development of local dry underwater welding automation. The future development trend and key research directions of local dry underwater welding technology were summarized.
Key words: local dry underwater welding    standardization and scientification    automation    research status
收稿日期: 2019-01-19 出版日期: 2019-06-25
CLC:  TG 47  
通讯作者: 王振民     E-mail: msleigang@mail.scut.edu.cn;wangzhm@scut.edu.cn
作者简介: 韩雷刚（1987?），男，博士生，从事水下焊缝成形研究. orcid.org/0000-0001-8440-371X. E-mail： msleigang@mail.scut.edu.cn
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韩雷刚
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引用本文:

韩雷刚,钟启明,陈国栋,张芩,王振民. 局部干法水下焊接技术的发展[J]. 浙江大学学报(工学版), 2019, 53(7): 1252-1264.

Lei-gang HAN,Qi-ming ZHONG,Guo-dong CHEN,Qin ZHANG,Zhen-min WANG. Development of local dry underwater welding technology. Journal of ZheJiang University (Engineering Science), 2019, 53(7): 1252-1264.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2019.07.003    或    http://www.zjujournals.com/eng/CN/Y2019/V53/I7/1252

图 1  局部干腔形成示意图
图 2  核电站多功能局部干法水下机器人焊接电弧-电源系统
图 3  焊缝横断面形状与熔合线的计算与试验结果的对比
图 4  水下焊缝不同基体组织上的裂纹形式
图 5  水下焊接过程电压电流波形图、曲线图及对应的焊缝
图 6  LC-FCTIG示意图及熔滴过渡形式
图 7  局部干法自动水下MIG焊接试验系统及焊缝成形效果
图 8  水下激光-电弧复合焊示意图
图 9  药芯焊丝微型排水罩示意图
图 10  SiC高频数字化焊接与增材电源样机、驱动信号、SiC MOS管工作温度和DS级电压波形
图 11  ASEA IRB 6/2机器人和TA9机器人
图 12  水下双目立体视觉子系统
图 13  排水罩风场仿真与实验结果对比
图 14  排水装置外形轮廓及工作形式示意图
图 15  船舶水下焊接质量在线监测画面
图 16  水下焊缝正中横截面上不同时间的温度场和液体流动
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