CN204934942U - A kind of Underwater Welding robot - Google Patents
A kind of Underwater Welding robot Download PDFInfo
- Publication number
- CN204934942U CN204934942U CN201520747230.4U CN201520747230U CN204934942U CN 204934942 U CN204934942 U CN 204934942U CN 201520747230 U CN201520747230 U CN 201520747230U CN 204934942 U CN204934942 U CN 204934942U
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- Prior art keywords
- pedestal
- welding robot
- underwater
- control device
- described pedestal
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Abstract
The utility model discloses a kind of Underwater Welding robot, comprise pedestal, be positioned at welding arm on described pedestal and wire feeder; Comprise supply unit, PLC control circuit and wireless communication module in described pedestal, described wireless communication module circuit connects PLC control circuit; Described pedestal is also provided with sniffer, mobile device and Hovering control device; Described sniffer comprises moveable support and is arranged at the ultrasonic probe of described frame upper, supersonic generator and ultrasonic receiver; Be positioned at the Hovering control device in the middle part of pedestal, the supporting air bag that described Hovering control device comprises hydraulic pressure sensor, gyroscope and at least three are distributed in described pedestal surrounding, each supporting air bag correspondence connects a high-pressure pump; Beneficial effect is: the Underwater Welding robot of the application, and the work can Automatic-searching damage location automatic welding of diving beneath the water, passes to testing staff waterborne in real time by welding process simultaneously, thus accurately weld.
Description
Technical field
The utility model relates to a kind of automated machine, is specifically related to a kind of Underwater Welding robot.
Background technology
Underwater operation is much larger compared with land work difficulty, need to overcome a various natural difficult problem, such as Underwater Welding work, staff need to put on diving equipment slip into several meters even tens meters carry out work under water, for a long time after work, hydraulic pressure can cause certain infringement to human body by force, the attack of animal may be subject to simultaneously, and, when crank, welding difficulty is also very large, and efficiency is lower.
In sum, there is following defect in prior art: existing Underwater Welding work many uses manual work, and Underwater Welding difficulty is large, can cause certain infringement to human body, and needing provides a kind of Underwater Welding robot to replace manual work.
Utility model content
The utility model provides a kind of novel Underwater Welding robot for solving prior art problem.
The technical solution of the utility model is as follows: Underwater Welding robot, comprises pedestal, is positioned at welding arm on described pedestal and wire feeder; Comprise supply unit, PLC control circuit and wireless communication module in described pedestal, described wireless communication module circuit connects PLC control circuit; Described pedestal is also provided with sniffer, mobile device and Hovering control device; Described sniffer comprises moveable support and is arranged at the ultrasonic probe of described frame upper, supersonic generator and ultrasonic receiver; Be positioned at the Hovering control device in the middle part of pedestal, the supporting air bag that described Hovering control device comprises hydraulic pressure sensor, gyroscope and at least three are distributed in described pedestal surrounding, each supporting air bag correspondence connects a high-pressure pump.
Preferred version, also comprise mobile device, described mobile device comprises the steering ring being sheathed on described pedestal sidepiece, the connector being fixedly connected on described steering ring end and propeller, described connector sidepiece is provided with the first stepper motor, and described propeller front end connects the shaft of described first stepper motor.
Preferred version, described pedestal sidepiece is provided with guide groove, and described steering ring snaps in described guide groove, and be rotatably connected by roll shaft between described steering ring is interior with guide groove, described pedestal sidepiece arranges the second stepper motor, and the shaft of the second stepper motor connects described roll shaft.
Preferred version, described base bottom is connected with fixed arm, and described fixation wall one end is connected with motor driver, and the relative other end is provided with magnetic suction disc, and described fixation wall comprises the first swing arm and the second swing arm, and described first swing arm is rotatably connected with the second swing arm.
Preferred version, described welding arm top is provided with underwater camera and searchlighting light source, and described underwater camera connects described wireless communication module.
The beneficial effects of the utility model are: the Underwater Welding robot using such scheme, can dive beneath the water and carry out welding job, automatic accurately can search out damage location and automatic welding simultaneously, welding process be passed to testing staff waterborne in real time simultaneously, thus accurately weld.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation.
Detailed description of the invention
The explanation of following embodiment is graphic with reference to what add, can in order to the specific embodiment implemented in order to illustrate the utility model.The direction term that the utility model is mentioned, such as " on ", D score, "front", "rear", "left", "right", " interior ", " outward ", " side " etc., be only the direction with reference to annexed drawings.Therefore, the direction term of use is in order to illustrate and to understand the utility model, and is not used to limit the utility model.In the drawings, the unit that structure is similar represents with identical label.
As shown in Figure 1, Underwater Welding robot of the present utility model, comprises pedestal 1, is positioned at welding arm 2 on described pedestal 1 and wire feeder; Comprise supply unit, PLC control circuit and wireless communication module in described pedestal 1, described wireless communication module circuit connects PLC control circuit; Described pedestal 1 is also provided with sniffer, mobile device and Hovering control device; Described sniffer comprises moveable support 301 and is arranged at the ultrasonic probe 302 on described support 301 top, supersonic generator and ultrasonic receiver; Be positioned at the Hovering control device in the middle part of pedestal 1, the supporting air bag 4 that described Hovering control device comprises hydraulic pressure sensor, gyroscope and at least three are distributed in described pedestal 1 surrounding, each supporting air bag 4 correspondence connects a high-pressure pump.
In such scheme, after described pedestal 1 pulls the plug, described hydraulic pressure sensor detects ambient pressure and by Signal transmissions to PLC control circuit, whether gyroscope detects described pedestal 1 and tilts and tilt data is transferred to PLC control circuit, controlled the unlatching of high-pressure pump and gas flow that is closed and then that control in each supporting air bag 4 by PLC control circuit, the gas flow in the change passed through each supporting air bag 4 is to keep the balance of pedestal 1 and to control the underwater degree of depth of pedestal 1; Described support 301 is connected with motor and drives, and support 301 moves the position regulating ultrasonic probe 302, finds cracking position, and then welded this position by welding arm 2 by acoustic emission principle.
Also comprise mobile device, described mobile device comprises the steering ring 501 being sheathed on described pedestal 1 sidepiece, the connector 502 being fixedly connected on described steering ring 501 end and propeller 503, described connector 502 sidepiece is provided with the first stepper motor, described propeller 503 front end connects the shaft of described first stepper motor, by the rotation of described steering ring 501, make described propeller 503 change direction of propulsion, and then change position and the direction of described pedestal 1.
Described pedestal 1 sidepiece is provided with guide groove, and described steering ring 501 snaps in described guide groove, and be rotatably connected by roll shaft between described steering ring 501 is interior with guide groove, described pedestal 1 sidepiece arranges the second stepper motor, and the shaft of the second stepper motor connects described roll shaft.
Fixed arm 601 is connected with bottom described pedestal 1, described fixation wall one end is connected with motor driver, the relative other end is provided with magnetic suction disc 602, described fixation wall comprises the first swing arm and the second swing arm, described first swing arm is rotatably connected with the second swing arm, fixed arm 601 is adsorbed on soldered object, thus makes pedestal 1 more stable, improves welding precision.
Described welding arm 2 top is provided with underwater camera and searchlighting light source, and described underwater camera connects described wireless communication module, thus underwater operation process can be passed to aquatic work personnel supervision.
The beneficial effects of the utility model are: the Underwater Welding robot using such scheme, can dive beneath the water and carry out welding job, automatic accurately can search out damage location and automatic welding simultaneously, welding process be passed to testing staff waterborne in real time simultaneously, thus accurately weld.
Claims (5)
1. Underwater Welding robot, is characterized in that, comprises pedestal, is positioned at welding arm on described pedestal and wire feeder; Comprise supply unit, PLC control circuit and wireless communication module in described pedestal, described wireless communication module circuit connects PLC control circuit; Described pedestal is also provided with sniffer, mobile device and Hovering control device; Described sniffer comprises moveable support and is arranged at the ultrasonic probe of described frame upper, supersonic generator and ultrasonic receiver; Be positioned at the Hovering control device in the middle part of pedestal, the supporting air bag that described Hovering control device comprises hydraulic pressure sensor, gyroscope and at least three are distributed in described pedestal surrounding, each supporting air bag correspondence connects a high-pressure pump.
2. Underwater Welding robot according to claim 1, it is characterized in that, also comprise mobile device, described mobile device comprises the steering ring being sheathed on described pedestal sidepiece, the connector being fixedly connected on described steering ring end and propeller, described connector sidepiece is provided with the first stepper motor, and described propeller front end connects the shaft of described first stepper motor.
3. Underwater Welding robot according to claim 2, it is characterized in that, described pedestal sidepiece is provided with guide groove, described steering ring snaps in described guide groove, be rotatably connected by roll shaft between described steering ring is interior with guide groove, described pedestal sidepiece arranges the second stepper motor, and the shaft of the second stepper motor connects described roll shaft.
4. Underwater Welding robot according to claim 1, it is characterized in that, described base bottom is connected with fixed arm, described fixation wall one end is connected with motor driver, the relative other end is provided with magnetic suction disc, described fixation wall comprises the first swing arm and the second swing arm, and described first swing arm is rotatably connected with the second swing arm.
5. Underwater Welding robot according to claim 1, is characterized in that, described welding arm top is provided with underwater camera and searchlighting light source, and described underwater camera connects described wireless communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520747230.4U CN204934942U (en) | 2015-09-25 | 2015-09-25 | A kind of Underwater Welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520747230.4U CN204934942U (en) | 2015-09-25 | 2015-09-25 | A kind of Underwater Welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204934942U true CN204934942U (en) | 2016-01-06 |
Family
ID=55002398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520747230.4U Expired - Fee Related CN204934942U (en) | 2015-09-25 | 2015-09-25 | A kind of Underwater Welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204934942U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965198A (en) * | 2016-07-13 | 2016-09-28 | 中山鑫辉精密技术股份有限公司 | Welding robot workstation based on wireless control |
| CN107520562A (en) * | 2017-10-18 | 2017-12-29 | 胡景棋 | One kind promptly welds car for steamer leak |
| CN107839860A (en) * | 2017-12-13 | 2018-03-27 | 北京圣世信通科技发展有限公司 | A kind of underwater equipment for carrying underwater ultrasound ranging |
| CN108263573A (en) * | 2016-12-30 | 2018-07-10 | 核动力运行研究所 | A kind of nuclear power plant's sucked type float assembly |
| CN110550168A (en) * | 2019-08-22 | 2019-12-10 | 南京信息工程大学 | Intelligent counterweight device of underwater robot |
-
2015
- 2015-09-25 CN CN201520747230.4U patent/CN204934942U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965198A (en) * | 2016-07-13 | 2016-09-28 | 中山鑫辉精密技术股份有限公司 | Welding robot workstation based on wireless control |
| CN108263573A (en) * | 2016-12-30 | 2018-07-10 | 核动力运行研究所 | A kind of nuclear power plant's sucked type float assembly |
| CN107520562A (en) * | 2017-10-18 | 2017-12-29 | 胡景棋 | One kind promptly welds car for steamer leak |
| CN107839860A (en) * | 2017-12-13 | 2018-03-27 | 北京圣世信通科技发展有限公司 | A kind of underwater equipment for carrying underwater ultrasound ranging |
| CN110550168A (en) * | 2019-08-22 | 2019-12-10 | 南京信息工程大学 | Intelligent counterweight device of underwater robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Huang Huaitian Inventor before: Zou Qiaohui |
|
| COR | Change of bibliographic data | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160711 Address after: 528400, Guangdong City, Zhongshan province Qi Yuan District Electronic Science and Technology University, Zhongshan Academy of dragon on the third floor, Zhongshan university student incubation base D5 card Patentee after: Zhongshan Debock Automation Equipment Co., Ltd. Address before: Zhenjiang Zhen Da Dong village in Guangdong province Maoming city 525200 full Gaozhou City No. 23 Patentee before: Zou Qiaohui |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160106 Termination date: 20160925 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |