CN109175601A - Underwater confined space local dry cavity welding robot - Google Patents
Underwater confined space local dry cavity welding robot Download PDFInfo
- Publication number
- CN109175601A CN109175601A CN201811193252.5A CN201811193252A CN109175601A CN 109175601 A CN109175601 A CN 109175601A CN 201811193252 A CN201811193252 A CN 201811193252A CN 109175601 A CN109175601 A CN 109175601A
- Authority
- CN
- China
- Prior art keywords
- welding
- arm
- underwater
- train
- walking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/0061—Underwater arc welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
A kind of underwater confined space local dry cavity welding robot.Including walking mechanism, mechanically actuated arm mechanism, underwater confined space welder and hydraulic system, wherein, walking mechanism includes robot shell and walking triangle Athey wheel, and walking triangle Athey wheel includes crawler belt, A-frame, drive train, tensioning train, connection belt and anti-rollover train；Mechanically actuated arm mechanism includes mechanical arm principal arm and mechanical arm oscilaltion apparatus for work；Underwater closed welding room device, including upper case portion, lower housing section, capping and interior welds executing agency.Using the untethered movement under water of triangle crawler type, it carries and pipeline all-position automatic welding is realized with the structure type of motion arm connecting welding Working cabin, cylindrical case local dry cavity welding manner and mobile arc welding gun head match, in the case where pipeline is relatively fixed, by means of all water for emptying entire operating area using injection air, drive welding equipment along weld seam around vessel wall motion, to realize automatic welding.
Description
Technical field
The present invention relates to a kind of Underwater Welding robots.
Background technique
In sea transport pipe road construction in offshore oil and gas industry, oil-gas transportation is as an important ring
Section, its pipeline is laid with and welding technique is with regard to particularly important.Currently, the underwater welding technology in China largely also rests on craft
The level of welding, is substantially dived into the water by diver and is welded.Therefore high efficiency, low cost Automation of Welding is realized always
A problem of welding technology field, wherein Underwater Welding automation realization require than land welding difficulty much.
It is deep for water depth, pressure is big, working space is narrow, the even strong underwater environment of nuclear radiation, existing welding robot is also not
People can be replaced to complete corresponding task.Realize that Underwater Welding automation is to carry out the important topic of marine resources development, underwater
People's automatic welding technique excludes interference from human factor first, also to have stability and high efficiency and adaptation while simplifying and operating equipment
The problem of the characteristics of underwater environment, these are all currently available technologies.
Summary of the invention
In order to solve the technical problems mentioned in the background art, the present invention provides a kind of submarine pipeline confined space part
Dry method welding robot, walking manner imitate tank or some caterpillar type robots, to deal with water-bed complicated adverse circumstances.
Its crawler belt is different from general tank or robot, advances using triangular track wheel.It is parallel compared to common
Formula Athey wheel, triangular track wheel, which has, overcomes roughness pavement, prevents recess or rollover when seabed encounters soft sand
The case where, and there is good mobility and stability.In the welding position of robot fuselage roof placement, machinery is taken
Motion arm connects underwater closed welding room device, and mechanically actuated arm can carry out upper and lower movement by control, underwater closed
Welding room device is the cylindrical device that can be open, and inside is mobile welding rifle, and it is adjustable to complete multiposition jointly by three
The weld job of control can preferably complete Automation of Welding and safe under water.
The technical scheme is that this kind of underwater confined space local dry cavity welding robot, including walking mechanism, machine
Tool motion arm mechanism 2, underwater confined space welder 1 and hydraulic system, are unique in that:
The walking mechanism includes robot shell 3 and walking triangle Athey wheel 4；Wherein,
3 shape of robot shell is rectangular box body shape, and shell itself uses stratified form, by upper pressure hull 15 and lower pressure resistance
Shell 17 forms, and the lower half portion of robot shell 3 is bottom plate 20 for assembling movement mechanism 19, the bottom of robot shell 3,
In the top seating table 18 of movement mechanism 19；The top half of robot shell 3 is for disposing electronic component and detection
Equipment and power-equipment, upper and lower two parts separate completely；A dismountable end socket is disposed between the upper and lower pressure hull
16a, for assembling and disassembling the intracorporal electronic device of shell and instrument；Sealing 16 between the upper and lower pressure hull be welded seal and
Contact sealing, fills O-shaped rubber ring 16b in the upper and lower pressure hull surrounding gap and interlayer；The lower pressure hull bottom
The four corners in portion are provided with the through-hole of four walking belt wheels 4 of placement, and there are the mechanical behaviour of placement in the lower pressure hull top right front
Make the rectangle vacancy of arm mechanism 2.
The walking triangle Athey wheel 4, including crawler belt 21, A-frame 22, drive train 23, tensioning train 24, connection
Belt 25 and anti-rollover train 26；The main body frame of walking triangle Athey wheel 4 is by wrapping up crawler belt outside two panels A-frame 22
21 compositions, 22 shape of A-frame are that the steel plate that one piece of top of triangle is driveed there are many hole is pacified in parallel for two panels
It sets；Drive train 23 is located at the gable top of the walking triangle Athey wheel 4, and drive train 23 is co-axially mounted by three gears
Synthesis is responsible for the anti-side that the connection belt 25 inside cooperation connects centre wherein intermediate gear diameter is small compared with two sides
Turning wheel system 26, both sides external are installed terminal pad, are connected on A-frame 22 by bolt and nut；The anti-rollover train 26,
It is made of the terminal pad of a gear and a tape spool, the gear connection connection belt 25, the terminal pad connects triangle branch
Frame 22, the axis in the terminal pad is for connecting internal drive system；The tensioning train 24, by a gear wheel and two sides two
A terminal pad composition, the gear wheel are responsible for connecting outer track, and the terminal pad is used to connect the A-frame 22 of two sides, and three
The angular each tensioning train 24 in crawler belt two sides of the bottom.
The mechanically actuated arm mechanism 2, including mechanical arm principal arm 11 and mechanical arm oscilaltion apparatus for work, wherein machine
Tool arm principal arm 11 is the cube of prolate, is above provided with multiple slotted eyes, is provided with flat key shape hole at top semi-circular, at bottom semicircular
Round hole there are five opening；Two panels mechanical arm principal arm 11 is placed in parallel, and centre installation chain-drive mechanism, principal arm 11 and chain conveyer are fixed
On pedestal, complete mechanical arm principal arm is formed；The mechanical arm oscilaltion apparatus for work is mounted on and mechanical arm principal arm 11
On identical pedestal, 12 are combined by rotating lifting gear 13 and motor reducer and is composed, wherein rotating lifting gear 13 connects
Principal arm 11 and chain conveyer are connect, transmission mechanism is formed, achives up and down；12 inside connection rotation and lifting dress of motor reducer combination
13 are set, provides power and control for oscilaltion；Rotating device 14 is mounted on the top of mechanical arm principal arm 11, by being clamped in two
Connector connection mechanically actuated arm system 2 and underwater confined space welder 1 between a mechanical arm principal arm 11, for controlling
The rotation of underwater closed welder 1.
The underwater closed welding room device 1, including upper case portion 5, lower housing section 6, capping 9 and internal weldering
Meet executing agency 7；The upper case portion 5 is a semi- cylindrical, and inner hollow cuts with dovetail slot above, up and down cloth respectively
There are 7 connector fixed positions, wherein smaller two latch installation position for sealing hydraulic pressure lock, for sealing upper case portion 5
With lower housing section 6, two of top are for disposing hydraulic system, and the control opening of upper housing 5 is closed up, and following three for connecting
Connect shell 5 and rack 8；Check valve 10 is placed in capping 9, for the hydraulic size inside control device；Lower case 6 and upper
Shell 5 is similarly semi- cylindrical, and inner hollow is provided with dovetail slot, and lesser two connector positions are sealing hydraulic pressure locks
Lock pillar position；The interior welds executing agency 7, including sliding block 7b and welding rifle 7a are executed, execute the shape cooperation of sliding block 7b
The two dovetail slots opened on upper housing 5 and lower case 6, can mutually slide, and come along the x axis in closed cylindrical space
Backhaul it is dynamic, and so as to form moving track；Semicircular ring rack gear is installed on sliding block 7b, and mobile welding is installed in its notch
Rifle 7a.
The invention has the following beneficial effects:
This kind of robot mainly solves that water depth is deep, pressure is big, working space is narrow, even under the strong underwater environment of nuclear radiation
Welding technique problem.The characteristics of this kind of robot uses for reference underwater robot and welding robot and machinery, hydraulic, electric drive
Method, simplify operation equipment simultaneously also to have the characteristics that stability and high efficiency and adapt to underwater environment, using triangle crawler type water
Under untethered movement, carry and pipeline all-position automatic welding, cylinder realized with the structure type of motion arm connecting welding Working cabin
The pipe welding robot that body partial dry method welding mode and mobile arc welding gun head match, the case where pipeline is relatively fixed
Under, by means of emptying all water of entire operating area using injection air, the environment of simulated air welding is manufactured, then
Drive welding equipment along weld seam around vessel wall motion, to realize automatic welding.
Selection of this kind of robot in welding method, has selected local dry cavity welding, and be correspondingly made that confined air
Between device, local dry cavity welding technique is to form an office by squeezing into high pressure gas or atmosphere gas using by the water of part
The dry gas chamber in portion is welded, and formula welding is also referred to as done.This kind of robot can inflate draining for welding portion is directly fixed,
The gas chamber of a large area is formed, does not have to drain again because welding position is changed in the whole welding process.Avoid wet process
Some drawbacks of welding.The shell of this kind of underwater robot uses the LC9 aluminium of 25mm, and shell has dismountable end socket, is convenient for
Assemble and disassemble the intracorporal electronic device of shell and instrument.Detachable end socket is close by triangle aluminum plate using welded seal and contact sealing
The mode of capsule body surrounding, inside welding realizes sealing.It is also filled with O-shaped rubber ring in shell surrounding gap and interlayer,
Protect internal element not by the erosion of water and corrosion.The autonomous driving triangle crawler type chosen in walking mechanism, have it is light,
Replaceability；Low noise, low vibration, low impact；Cross-country traveling ability, high stability and low grounding pressure, high maneuverability it is many
Feature is more suitable for underwater operation, improves and encounters different road conditions and the stability in operation on the way during passing through.Using certainly
Main drive control preferably mitigates weight of equipment again.
Detailed description of the invention:
Fig. 1 is the general assembly drawing of this kind of underwater confined space local dry cavity welding robot.
Fig. 2 is the underwater closed welding room device structure chart of this kind of underwater confined space local dry cavity welding robot.
Fig. 3 is the structure chart of welding gun in the underwater closed welding room device.
Fig. 4 is slide block structure figure in the underwater closed welding room device.
Fig. 5 is mechanically actuated arm system mechanics arm body structure chart.
Fig. 6 is the structure chart of mechanically actuated arm system oscilaltion device.
Fig. 7 is the rotary-top structure drawing of device of mechanically actuated arm system oscilaltion device.
Fig. 8 is the robot automobile body part-structure figure of this kind of underwater confined space local dry cavity welding robot.
Fig. 9 is the partial enlarged view of Fig. 8.
Figure 10 is interior of body Working table structure figure.
Figure 11 is interior of body movement mechanism structure chart.
Figure 12 is interior of body floor structure figure.
Figure 13 is the triangular track wheel construction figure of this kind of underwater confined space local dry cavity welding robot.
1- closed welding room device under water, 2- mechanically actuated arm mechanism, 3- robot automobile body, 4- triangular track in figure
Wheel, 5- upper housing, 6- lower case, the mobile welder of 7-, the mobile welding gun of 7a-, the big sliding block of 7b-, 8- pedestal, 9- capping, 10- are mono-
To valve, 11- mechanical arm principal arm, the combination of 12- motor reducer, 13- rotating lifting gear, 14- rotating device, the upper pneumatic shell of 15-
Body, 16- sealing ring, the detachable end socket of 16a-, 16b- sealing rubber ring, pressure hull under 17-, 18- station, 19- fitness machine
Structure, 20- bottom plate, 21- crawler belt, 22- A-frame, 23- drive train, 24- are tensioned train, 25- belt, 26- anti-rollover train.
Specific embodiment:
Generally, this kind of underwater confined space local dry cavity welding robot, including walking mechanism, mechanically actuated arm mechanism,
Sliding block sliding equipment, welding gun mobile mechanism and hydraulic system, the walking mechanism include that robot shell and walking triangle are carried out
Belt wheel.
Wherein, the robot shell is rectangular box body shape, and shell itself uses stratified form, by upper pressure hull and
Movement mechanism is assembled in lower pressure hull composition, lower half portion, and top half device electronic component and detection device and power are set
Standby, upper and lower two parts separate completely, and two pressure hulls are provided with electronic component, detecting instrument etc., dispose between pressure hull
One dismountable end socket, the intracorporal electronic device of assembly and disassembly shell and instrument.Sealing between pressure hull using welded seal and
Contact sealing, uses rubber seal technology, and using triangle aluminum plate seal casinghousing surrounding, inside is realized using the mode of welding
Sealing.O-shaped rubber ring is filled in shell surrounding gap and interlayer.The through-hole of installation belt wheel, placement are provided at bottom four corners
Four walking belt wheels, there are the rectangle sky portion positions of placement motion arm mechanism in top right front.
The walking belt wheel is triangle Athey wheel, and shape is triangle.Triangle Athey wheel is (to be divided into rubber to carry out by crawler belt
Two kinds of band and metal track), A-frame, driving wheel, support wheel, tensioning wheel, there are also anti-rollover, terminal pad device form.Its
In in three apexes of A-frame dispose driving wheel support wheel and tensioning wheel, crawler belt passes through them and is trapped among on A-frame,
Centre disposes Anti-side-turning device, and terminal pad is placed in centre, is pivotally connected to robot shell by transmission, and with driving
It is linked between wheel support wheel and tensioning wheel with belt, outer perimeter section installs crawler belt, and crawler belt selects replaceable rubber belt track.
The motion arm is made of single-beam arm and lifting device, and single-beam arm positioned inside chain conveyer is provided with regular
Vacancy, top placement connects the connector of underwater confined space welder, and bottom connects motor and retarder, motor,
Retarder, chain conveyer cooperate jointly it is lower complete lifting, lift in height range is 500 ~ 1500mm, lifting speed is 300 ~
1000mm/min.It joined the rotating mechanism formed with gear drive in motion arm endpoint location.Rotating angle is 180
Degree.It can be used as full angle weld task, be Motor Control.
The underwater confined space welder, including sliding block sliding equipment, welding gun mobile mechanism；The confined space is
It is made of two semicircle cylindrical walls and two sides capping, disposes two moving parts on two cylindrical walls respectively, device is made using hydraulic
It, which is closed, clamps steel pipe, then locks cylindrical shell by two hydraulic locks, fixes it, inside carries out weld job.The placement of its two sides
Four cappings, capping are removably, to adapt to the steel pipe of different tube diameters, caliber range is 300mm ~ 500mm.The sliding block sliding
Mechanism is respectively provided with a dovetail groove on amount cylindrical wall inside confined space, places sliding block, sliding block is semicircle, with dovetail
Slot is connected through sliding block sliding inside motor-driven gear rack drives.Semicircular ring rack gear is mounted on sliding block, in sliding block notch
The mobile welding gun of middle installation, welding gun top shoe are driven by motor gear and are allowed to move on semicircular ring rack gear.The welding gun moving machine
Structure, wherein welding gun support is provided with hydraulic device, can be used as the flexible and wire feed of welding gun, and two sides are equipped with check valve, and head is equipped with
Capillary
The present invention will be further explained below with reference to the attached drawings:
As shown in Figure 1, in conjunction with Fig. 8, Fig. 9, Figure 10, Figure 11 and Figure 12, this kind of underwater confined space local dry cavity welding robot,
With robot automobile body part 3, shape is rectangular box body shape, and shell itself uses stratified form, by upper 15 He of pressure hull
Lower pressure hull 17 forms, lower half portion assembly movement mechanism 19, the movement mechanism 19 in the robot automobile body internal structure,
Shape is combined by motor and gear drive train like square box and connecting shaft forms, wherein connecting shaft is responsible for connecting triangle
Athey wheel simultaneously carries out rotation walking by motor and train drive.Bottom is bottom plate 20, and bottom plate 20 is shape and robot automobile body
Lower 17 inside dimension of pressure hull mutually agree be responsible for installation four robot automobile body internal structures in movement mechanism 19, highly with
The arch door shape hole that 17 4 angles of pressure hull are provided under robot automobile body is mutually agreed with, 18 shape of station be cuboid thin slice, four
Zhou Kaiyou small holes are mounted on 19 top of movement mechanism in robot automobile body internal structure, with pneumatic shell with robot car
Body 15 is connected in inside.Sealing mechanism 16 is disposed between upper and lower pressure hull.
Underwater closed welding room device 1, as shown in Figure 1 and Figure 2, the underwater closed welding room device, by upper housing
Part 5, lower housing section 6, capping 9, internal mobile welding executing agency 7；The upper case portion 5 is a semi- cylindrical, interior
Portion is sky, cuts with dovetail slot above, is furnished with 7 connector fixed positions respectively up and down, wherein smaller two are sealed hydraulic
Lock lock installation position seals two shells 5,6 up and down, and two placement hydraulic systems at top, control upper housing 5, which is opened, to be closed
Hold together, following three connection upper housings 5 and rack 8, wherein check valve 10 is placed in capping 9, control device internal hydraulic pressure size.
The lower case 6 and upper housing 5 are similarly semi- cylindrical, and inside is sky, are provided with dovetail slot, lesser two connector positions
It is the lock pillar position of sealing hydraulic pressure lock.The interior welds executing agency 7 is composed to execute sliding block 7b and welding rifle 7a,
Two dovetail slots that sliding block 7b shape cooperates upper housing 5 and lower case 6 to be provided with wherein are executed, can mutually be slided, closed
It is moved back and forth along the x axis in cylindrical space, and so as to form moving track.Semicircular ring rack gear is also mounted on sliding block 7b,
And mobile welding rifle 7a is installed in its notch.
In conjunction with Fig. 1 and Fig. 5, Fig. 6 it is found that the mechanically actuated arm mechanism 2, is risen up and down by mechanical arm principal arm 11 and mechanical arm
Drop apparatus for work is composed, wherein mechanical arm principal arm 11 is the cube of prolate, is above provided with multiple slotted eyes, top half
It is provided with flat key shape hole at circle, is opened at bottom semicircular there are five round hole.Two panels principal arm 11 is placed in parallel, centre installation chain conveyer machine
Structure, principal arm 11 and chain conveyer are fixed on the base, and form complete mechanical arm principal arm.The mechanical arm oscilaltion apparatus for work figure
6, be mounted on on the identical pedestal of mechanical arm principal arm 11, by rotating lifting gear 13 and motor reducer combine 12 combination and
At, wherein rotating lifting gear 13 connects principal arm 11 and chain conveyer, forms transmission mechanism, achives up and down.Motor reducer
12 inside of combination connects rotating lifting gear 13, provides power and control for oscilaltion.The mechanical arm top control connection
The rotating device 14 of part rotation, position is mounted on the top of mechanical arm principal arm 11, by being clamped in two mechanical arm principal arm main bodys
Connector connection mechanically actuated arm system 2 and underwater confined space welder 1 between 11, control underwater closed welder
1 rotation；Its structure is gear drive, passes through bottom square shape Motor Control.
As shown in Figure 13, the triangular track wheel 4, including crawler belt 21, A-frame 22, drive train 23, tensioning wheel
It is 24, connection belt 25, anti-rollover train 26.Wherein main body frame is formed by wrapping up crawler belt 21 outside two panels A-frame 22,
22 shape of A-frame is the steel plate in hole there are many one piece of top of triangle is driveed, and is two panels, arranged parallel.Described three
Angular Athey wheel internal structure is mounted with that drive train 23, drive train 23 are co-axially mounted by three gears in gable top
Synthesis is responsible for the anti-side that the connection belt 25 inside cooperation connects centre wherein intermediate gear diameter is small compared with two sides
Turning wheel system 26, both sides external are installed terminal pad, are connected on A-frame 22 by bolt and nut.The anti-rollover train 26,
It is made of a gear and a terminal pad (tape spool), gear connects the connection belt 24 of top drive train 25, and terminal pad connects
Connect A-frame 22, axis connection internal drive system.The tensioning train 24, by a gear wheel and the terminal pad group of two sides two
At gear wheel is responsible for connecting outer track, and terminal pad connects the A-frame 22 of two sides, each one of triangular track two sides of the bottom
It is tensioned train 24.
The process using present apparatus operation is given below:
One, robot ambulation process
First stage: four gear drives are driven to rotate using motor each inside robot automobile body, between each gear mutually
Engagement rotation drives the transmission shaft rotation of connection external triangular Athey wheel, so that triangular track wheel inner driving wheel be driven to turn
It is dynamic.
Second stage: driving wheel rotates at triangular track wheel inside center, is connected to top driving wheel, band by belt
Rotation is moved, top driving wheel connects the tensioning wheel at other two corners by crawler belt, and tensioning encompasses the crawler belt of triangle, prevents
It skids or falls off, and drives crawler belt smooth motion, and robot is pushed to advance.
Phase III: using robot automobile body upper-lower casing connector as horizontal line, installing four triangular track wheels, guarantees
Four wheels horizontal position is consistent, and walking process is more stable.
Two, Underwater Welding process
First stage: when robot is moved to the place for needing to weld accordingly, mechanical arm system passes through motor reducer
Control, chaindriven adjusting change the front-rear position up and down of robotic welding apparatus, it is made to correspond to welding region.
Second stage: the rotating device of mechanical arm top installation, by the control of motor, band moving gear is rotated, therefore band
The position of dynamic underwater closed welder is adjusted, it is made preferably to be connected welding region.
Phase III: when underwater closed welder reaches corresponding welding region, control that upper-lower casing passes through hydraulic station
System clamps the region, forms confined space, then by the check valve in the capping of control two sides, internal seawater is discharged, makes inside
The environment gone into opposite drying.
Fourth stage: it by execution sliding block of the motor control on conduit and welding gun thereon, is moved into and needs to weld
Hydraulic system is installed in the region connect, welding gun inside, and control capillary is flexible and replaces, and is welded after reaching designated position.
Underwater confined space local dry cavity welding robot proposed by the invention, it is poor to can be applied to underwater visibility,
The region of ground injustice carries out dry method welding.Innovative is applied to triangular track wheel in welding robot, has very
Big innovative significance provides new thinking for the researcher in the field.Triangular track wheel be can all positon independently move
It is dynamic without guide rail mode, be a kind of integrated form machinery assembly.Maximum feature is that full landform is cross-country, walks.With it is light, can be more
It is transsexual；Low noise, low vibration, low impact；Cross-country traveling ability, high stability；The advantages that low grounding pressure, high maneuverability, has very well
Adaptability with ensure Underwater Welding work progress.
Claims (1)
1. a kind of underwater confined space local dry cavity welding robot, including it is walking mechanism, mechanically actuated arm mechanism (2), underwater
Confined space welder (1) and hydraulic system, it is characterised in that:
The walking mechanism includes robot shell (3) and walking triangle Athey wheel (4)；Wherein,
Robot shell (3) shape be rectangular box body shape, shell itself use stratified form, by upper pressure hull (15) and under
Pressure hull (17) composition, the lower half portion of robot shell (3) are used to assemble movement mechanism (19), robot shell (3)
Bottom is bottom plate (20), in the top seating table (18) of movement mechanism (19)；The top half of robot shell (3) is used for
Placement electronic component and detection device and power-equipment, upper and lower two parts separate completely；Between the upper and lower pressure hull
A dismountable end socket (16a) is disposed, for assembling and disassembling the intracorporal electronic device of shell and instrument；The upper and lower pressure hull it
Between sealing (16) be welded seal and contact sealing, fill O-shaped rubber in the upper and lower pressure hull surrounding gap and interlayer
Cushion rubber (16b)；The four corners of the lower pressure hull bottom are provided with the through-hole of four walking belt wheels (4) of placement, the lower pressure resistance
There are the rectangle vacancy of placement mechanically actuated arm mechanism (2) for case top right front；
The walking triangle Athey wheel (4), including crawler belt (21), A-frame (22), drive train (23), tensioning train
(24), belt (25) and anti-rollover train (26) are connected；The main body frame of walking triangle Athey wheel (4) is by two panels A-frame
(22) external package crawler belt (21) composition, A-frame (22) shape are hole there are many one piece of top of triangle is driveed
Steel plate is two panels, arranged parallel；Drive train (23) is located at the gable top of walking triangle Athey wheel (4), driving wheel
System (23) is co-axially mounted by three gears to be synthesized, wherein intermediate gear diameter is small compared with two sides, the connection being responsible for inside cooperation
Belt (25) connects the anti-rollover train (26) in centre, and both sides external installs terminal pad, is connected to three by bolt and nut
In angle support (22)；The anti-rollover train (26), is made of the terminal pad of a gear and a tape spool, the gear connection
It connects belt (25), the terminal pad connects A-frame (22), and the axis in the terminal pad is for connecting internal drive system；
The tensioning train (24) is made of a gear wheel and the terminal pad of two sides two, and the gear wheel is responsible for connecting outer track,
The terminal pad is used to connect the A-frame (22) of two sides, each tensioning train (24) in triangular track two sides of the bottom；
The mechanically actuated arm mechanism (2), including mechanical arm principal arm (11) and mechanical arm oscilaltion apparatus for work, wherein machine
Tool arm principal arm (11) is the cube of prolate, is above provided with multiple slotted eyes, flat key shape hole, bottom semicircular are provided at top semi-circular
It opens there are five round hole at place；Two panels mechanical arm principal arm (11) is placed in parallel, and centre installation chain-drive mechanism, principal arm (11) and chain pass
It is dynamic to be fixed on the base, form complete mechanical arm principal arm；The mechanical arm oscilaltion apparatus for work, is mounted on and mechanical arm
On the identical pedestal of principal arm (11), (12) are combined by rotating lifting gear (13) and motor reducer and are composed, wherein rotation
Lifting device (13) connects principal arm (11) and chain conveyer, forms transmission mechanism, achives up and down；Motor reducer combines (12)
Inside connection rotating lifting gear (13), provides power and control for oscilaltion；Rotating device (14) is mounted on mechanical arm master
The top of arm (11), by the connector that is clamped between two mechanical arm principal arms (11) connection mechanically actuated arm system (2) and
Underwater confined space welder (1), for controlling the rotation of underwater closed welder (1)；
The underwater closed welding room device (1), including upper case portion (5), lower housing section (6), cover it is (9) and interior
Weld executing agency (7) in portion；The upper case portion (5) is a semi- cylindrical, and inner hollow cuts with dovetail slot above, on
It is lower to be furnished with 7 connector fixed positions respectively, wherein smaller two latch installation position for sealing hydraulic pressure lock, for sealing upper casing
Body portion (5) and lower housing section (6), for disposing hydraulic system, control upper housing (5) is opened closes up two of top, under
Three of side are for connecting upper housing (5) and rack (8)；Check valve (10) is placed on capping (9), for inside control device
Hydraulic size；Lower case (6) and upper housing (5) are similarly semi- cylindrical, inner hollow, are provided with dovetail slot, and lesser two
A connector position is the lock pillar position of sealing hydraulic pressure lock；The interior welds executing agency (7), including execute sliding block (7b) and
It welds rifle (7a), executes the two dovetail slots opened in shape cooperation upper housing (5) and lower case (6) of sliding block (7b), it can
Mutually to slide, moved back and forth along the x axis in closed cylindrical space, and so as to form moving track；On sliding block (7b)
Semicircular ring rack gear is installed, and mobile welding rifle (7a) is installed in its notch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811193252.5A CN109175601A (en) | 2018-10-14 | 2018-10-14 | Underwater confined space local dry cavity welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811193252.5A CN109175601A (en) | 2018-10-14 | 2018-10-14 | Underwater confined space local dry cavity welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109175601A true CN109175601A (en) | 2019-01-11 |
Family
ID=64944753
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811193252.5A Withdrawn CN109175601A (en) | 2018-10-14 | 2018-10-14 | Underwater confined space local dry cavity welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109175601A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142484A (en) * | 2019-04-28 | 2019-08-20 | 合肥工业大学 | Hull bottom welds underwater robot |
| CN113089590A (en) * | 2021-03-19 | 2021-07-09 | 浙江大学 | Underwater movable drilling platform |
| CN113319428A (en) * | 2021-08-04 | 2021-08-31 | 山东辛丁技术有限公司 | Submarine pipeline welding device |
| CN114709759A (en) * | 2022-06-06 | 2022-07-05 | 山东尼采科技有限公司 | Laying device for submarine cable and working method thereof |
| CN116197501A (en) * | 2023-02-09 | 2023-06-02 | 广东福维德焊接股份有限公司 | Protective gas hood dragging device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102039500A (en) * | 2009-10-13 | 2011-05-04 | 北京石油化工学院 | Submarine pipeline dry welding work cabin with sealed cabin |
| CN106080815A (en) * | 2016-08-24 | 2016-11-09 | 李玉婷 | A kind of triangle Athey wheel robot |
| CN106114662A (en) * | 2016-08-24 | 2016-11-16 | 李玉婷 | A kind of triangle Athey wheel robot |
| CN106346440A (en) * | 2016-08-24 | 2017-01-25 | 李玉婷 | Triangular crawler wheel robot |
| WO2017177258A1 (en) * | 2016-04-12 | 2017-10-19 | Neptune Marine Services Ltd | Underwater dry welding apparatus |
| CN107598425A (en) * | 2017-10-21 | 2018-01-19 | 孟庆仕 | A kind of closed Underwater Welding robot |
| CN108296598A (en) * | 2018-03-28 | 2018-07-20 | 北京隆源自动成型系统有限公司 | Underwater pipeline dry-type automatic soldering method and welder |
-
2018
- 2018-10-14 CN CN201811193252.5A patent/CN109175601A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102039500A (en) * | 2009-10-13 | 2011-05-04 | 北京石油化工学院 | Submarine pipeline dry welding work cabin with sealed cabin |
| WO2017177258A1 (en) * | 2016-04-12 | 2017-10-19 | Neptune Marine Services Ltd | Underwater dry welding apparatus |
| CN106080815A (en) * | 2016-08-24 | 2016-11-09 | 李玉婷 | A kind of triangle Athey wheel robot |
| CN106114662A (en) * | 2016-08-24 | 2016-11-16 | 李玉婷 | A kind of triangle Athey wheel robot |
| CN106346440A (en) * | 2016-08-24 | 2017-01-25 | 李玉婷 | Triangular crawler wheel robot |
| CN107598425A (en) * | 2017-10-21 | 2018-01-19 | 孟庆仕 | A kind of closed Underwater Welding robot |
| CN108296598A (en) * | 2018-03-28 | 2018-07-20 | 北京隆源自动成型系统有限公司 | Underwater pipeline dry-type automatic soldering method and welder |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142484A (en) * | 2019-04-28 | 2019-08-20 | 合肥工业大学 | Hull bottom welds underwater robot |
| CN110142484B (en) * | 2019-04-28 | 2021-02-09 | 合肥工业大学 | Underwater robot for ship bottom welding |
| CN113089590A (en) * | 2021-03-19 | 2021-07-09 | 浙江大学 | Underwater movable drilling platform |
| CN113319428A (en) * | 2021-08-04 | 2021-08-31 | 山东辛丁技术有限公司 | Submarine pipeline welding device |
| CN113319428B (en) * | 2021-08-04 | 2021-10-29 | 山东辛丁技术有限公司 | Submarine pipeline welding device |
| CN114709759A (en) * | 2022-06-06 | 2022-07-05 | 山东尼采科技有限公司 | Laying device for submarine cable and working method thereof |
| CN116197501A (en) * | 2023-02-09 | 2023-06-02 | 广东福维德焊接股份有限公司 | Protective gas hood dragging device |
| CN116197501B (en) * | 2023-02-09 | 2024-01-26 | 广东福维德焊接股份有限公司 | Protective gas hood dragging device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109175601A (en) | Underwater confined space local dry cavity welding robot | |
| CN103785923B (en) | A kind of local dry underwater welding robot based on ROV | |
| JP4745729B2 (en) | Friction stir welding equipment | |
| CN110125950B (en) | Underwater posture-changing crawler-type robot | |
| CN108296598A (en) | Underwater pipeline dry-type automatic soldering method and welder | |
| CN100355626C (en) | 'cabin inside cabin' type working space for welding subwater pipeline in dry mode and under normal pressure | |
| CN106270802A (en) | A kind of submarine pipeline cutting underwater robot | |
| CN210793594U (en) | Underwater multifunctional robot | |
| JP2024027130A (en) | Device for performing operation on structure | |
| CN106426204A (en) | Remote operated vehicle for welding submarine pipeline | |
| CN112278204B (en) | Underwater operation device | |
| CN108994423B (en) | Submersible underwater pipeline remote operation welding maintenance equipment and method | |
| JP2011149151A (en) | Submarine underground survey excavator | |
| CN107021194B (en) | The power tool library and its docking facilities that ROV underwater wet-type modularization changes the outfit | |
| JPS62502746A (en) | Remotely operated machines for cleaning, inspection and maintenance of underwater structures | |
| KR101403565B1 (en) | Blasting apparatus | |
| NO154874B (en) | DEVICE FOR FITTING THRUSTER PROPELLERS. | |
| CN106394814B (en) | A kind of working ship | |
| WO2022192791A1 (en) | Subsea anchorage installation system | |
| CN212927768U (en) | Submerged working device | |
| CN209261477U (en) | Coal mine Pneumatic crawler drilling machine | |
| CN217597104U (en) | Underwater three-dimensional multifunctional working robot | |
| CN212479140U (en) | Movable submerged working device | |
| JPH05118054A (en) | Machine for public civil engineering work | |
| CN219770145U (en) | Ship lock underwater exploration flexible robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190111 |