发电机组蒸汽阀门密封面机器人双丝TIG在线修复焊接系统

Dual-wire TIG robot welding system for on-site repairing seal surface of valve

发电机组蒸汽阀门由于规格复杂、修复空间狭小、数量众多,目前在工业界尚缺乏能全范围适应的通用配套设备,所以开发自动化程度高,堆焊稀释率低的方法与装备是目前亟待解决的问题。在论证了发电机组阀门修复技术难点的基础上,确立了发电机组蒸汽阀门密封面双丝"三明治"焊接工艺,利用离线仿真软件对焊枪轨迹、姿态、路径以及焊枪尺寸进行了预设计;根据工艺特点设计了适应于阀门特殊空间施焊的焊枪;针对阀门密封面施焊部位距离阀门端面处于深孔内的特征,设计了快速示教算法;为了避免焊丝回烧、粘丝等问题,设计了特定的逻辑控制与时序。

There are numerous causes of steam turbine failures worldwide.Because there are substantial differences in the design,complexity,steam valve repairing space and size of steam valves,it needs to develop a high degree of automation and low dilution rate method to repair the valves.The technical difficulties of the valve on site repairing technology were discussed,and then a dual-wire'sandwich'welding technology was determined to repair the seal surface of the valves in generators.By using an offline simulation software,the torch trajectory,gesture,path,and sizes of torch were pre-designed.According to the technological features of the steam valve,a special welding torch was designed to adapt the narrow space inside the valve;Due to the repair part was far away from the flange face of the valve,a quick teaching algorithm was designed to save the teaching time.In order to avoid the process problems such as wire burn-back and adhesions,a specific logic and sequence control unit were designed.