CN112743192A - Air chamber type local dry method underwater welding robot - Google Patents
Air chamber type local dry method underwater welding robot Download PDFInfo
- Publication number
- CN112743192A CN112743192A CN202110244781.9A CN202110244781A CN112743192A CN 112743192 A CN112743192 A CN 112743192A CN 202110244781 A CN202110244781 A CN 202110244781A CN 112743192 A CN112743192 A CN 112743192A
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- welding
- air chamber
- robot
- robot frame
- local dry
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- 238000003466 welding Methods 0.000 title claims abstract description 101
- 238000000034 method Methods 0.000 title abstract description 12
- 230000006835 compression Effects 0.000 claims abstract description 9
- 238000007906 compression Methods 0.000 claims abstract description 9
- 230000001681 protective effect Effects 0.000 claims abstract description 8
- 238000007667 floating Methods 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000001035 drying Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 8
- 238000002347 injection Methods 0.000 description 8
- 239000007924 injection Substances 0.000 description 8
- 108010066114 cabin-2 Proteins 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000007781 pre-processing Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
Abstract
The invention discloses an air chamber type local dry underwater welding robot which comprises a floating body, a pressure-resistant cabin, a robot frame, a battery, a protective gas compression bottle, a triangular walking crawler belt and propellers, wherein the floating body is arranged at the top of the robot frame, the top and the tail of the robot frame are respectively and symmetrically provided with a pair of propellers, the pressure-resistant cabin is arranged in the robot frame, a welding pretreatment module, an underwater welding working module battery and an engine are arranged on a chassis of the robot frame, and the engine is connected with the triangular walking crawler belt through a transmission shaft. This air chamber type local dry method underwater welding robot, this underwater welding robot possess welding pretreatment module, possess the function to the preliminary treatment of pipeline welding position, improve actual welding condition, adopt air chamber type local dry method underwater welding technique, be convenient for form a comparatively stable dry-type space, ensured the welding effect to have pretreatment module, make actual welding process change and reach the ideal state.
Description
Technical Field
The invention relates to the technical field of underwater operation, in particular to an air chamber type local dry method underwater welding robot.
Background
The underwater welding technology is a key technology in the fields of maintenance and rush repair of marine pipelines, marine platforms, ships, nuclear power equipment and the like, the underwater local dry welding has the advantages of good welding effect and low cost, at present, several common local dry underwater welding technologies such as underwater TIG welding, underwater MIG/MAG welding, underwater laser-arc hybrid welding and the like mainly exist, and the existing technology uses a plurality of movable drainage covers, so that a formed local dry cavity is not stable enough, the dynamic sealing is difficult to realize, the welding is influenced by too many factors, and the welding quality is difficult to control.
Aiming at the problems, innovative design is urgently needed on the basis of the original underwater welding robot structure.
Disclosure of Invention
The invention aims to provide an air chamber type local dry method underwater welding robot to solve the problem that the existing underwater welding technology is insufficient in welding quality in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a local dry process of air-chamber formula is welding robot under water, includes body, withstand voltage cabin, robot frame, battery, protection gas compression bottle, triangle-shaped walking track and screw, the body is installed at robot frame top, and robot frame top and afterbody symmetry respectively set up a pair of screw to the withstand voltage cabin of internally mounted, robot frame chassis installation welding pretreatment module, underwater welding work module battery and engine, and the engine passes through the transmission shaft and links to each other with triangle-shaped walking track.
Preferably, the batteries are respectively installed at the front and the rear of the chassis of the robot frame, and the motor is installed in front of the batteries and powers the first hydraulic pump and the second hydraulic pump.
Preferably, the pre-welding treatment module comprises a first hydraulic pump, an injection pipe, a mechanical arm and a first jet pump, the first hydraulic pump is installed on the front portion of the chassis of the robot frame, the mechanical arm is symmetrically installed on the front portion of the back of the chassis of the robot frame, a drill bit is installed at the tail end of the mechanical arm, the drill bit is finally connected with the first hydraulic pump through the injection pipe, and the first jet pump is formed simultaneously.
Preferably, the underwater welding work module comprises a hydraulic rod, a gas chamber body, a second hydraulic pump, a welding track, a welding gun and a male-female connector, the hydraulic rod is installed in the middle of the back face of the chassis of the robot frame, the tail end of the hydraulic rod is hinged with the gas chamber body which is symmetrically arranged, and meanwhile, an air chamber opening and closing control rod is arranged to achieve opening and closing of the gas chamber body.
Preferably, the outer surface of the air chamber body is of a concave semicircular structure and is symmetrical left and right, and the top of the air chamber body is provided with a protective air input pipe and is finally connected with a protective air compression bottle arranged in the middle of the front surface of the robot frame.
Preferably, the welding track is installed inside the air chamber body, the welding gun is installed inside the welding track through the sliding block, the male connector and the female connector are arranged on the left side and the right side of the inside of the air chamber body respectively, and meanwhile the air chamber body is automatically connected after being closed.
Preferably, a drain pipe is installed at the bottom of the air chamber body and forms a second jet pump together with a second hydraulic pump installed on the front face of the robot frame through a pipeline.
Compared with the prior art, the invention has the beneficial effects that: the air chamber type local dry underwater welding robot;
1. the underwater welding robot of the second jet pump is provided with a pre-welding processing module, has a function of preprocessing a pipeline welding part, improves actual welding conditions, adopts an air chamber type local dry method underwater welding technology, is convenient to form a stable dry space, ensures welding effect, and is provided with the pre-processing module, so that the actual welding process can reach an ideal state more easily;
2. the second jet pump pre-welding treatment module adopts a jet pump to pump silt, so that the silt at a welding part can be effectively discharged, and the next welding work is convenient to carry out;
3. the underwater welding robot of the second jet pump adopts an air chamber type local dry method technology, a formed local dry cavity is relatively stable, and a good welding effect is easy to obtain;
4. the second jet pump air chamber adopts the jet pump to carry out the drainage, can avoid making the unable drainage of pump because of inhaling the height too big, prevents simultaneously that remaining silt in the air chamber from damaging the pumping.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the floating body of the present invention in elevation;
FIG. 3 is a schematic diagram of the side view of the float of the present invention;
FIG. 4 is a schematic top view of the float of the present invention;
FIG. 5 is a schematic bottom view of the float of the present invention;
FIG. 6 is a schematic view of a partial structure of a pre-welding treatment module according to the present invention;
FIG. 7 is a side view of a partial block diagram of an underwater welding module according to the present invention;
FIG. 8 is a schematic view of a front view of a partial structure of an underwater welding module according to the present invention;
FIG. 9 is a schematic bottom view of the gas chamber of the present invention.
In the figure: 1. a float; 2. a pressure-resistant cabin; 3. a robot frame; 4. a battery; 5. a shielding gas compression bottle; 6. a motor; 7. a welding pretreatment module; 71. a first hydraulic pump; 72. an injection pipe; 73. a mechanical arm; 74. a drill bit; 75. a first jet pump; 8. an underwater welding work module; 81. a hydraulic lever; 82. a gas chamber body; 83. an air chamber opening and closing control rod; 84. a shielding gas input pipe; 85. a second hydraulic pump; 86. a second jet pump; 87. welding the track; 88. a slider; 89. a welding gun; 810. a male and female connector; 9. an engine; 10. a triangular walking crawler belt; 11. a propeller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-9, the present invention provides a technical solution: an air chamber type local dry underwater welding robot comprises a floating body 1, a pressure-resistant cabin 2, a robot frame 3, a battery 4, a shielding gas compression bottle 5, a motor 6, a pre-welding treatment module 7, a hydraulic pump 71, an injection pipe 72, a mechanical arm 73, a drill bit 74, a jet pump 75, an underwater welding work module 8, a hydraulic rod 81, an air chamber body 82, an air chamber opening and closing control rod 83, a shielding gas input pipe 84, a hydraulic pump 85, a jet pump 86, a welding track 87, a sliding block 88, a welding gun 89, a male and female joint 810, an engine 9, a triangular walking crawler 10 and propellers 11, wherein the floating body 1 is arranged at the top of the robot frame 3, a pair of propellers 11 is respectively and symmetrically arranged at the top and the tail of the robot frame 3, the pressure-resistant cabin 2 is arranged inside, the pre-welding treatment module 7, the underwater welding work module 8, the battery 4 and, and the engine 9 is connected with the triangular walking crawler 10 through a transmission shaft.
The batteries 4 are respectively installed at the front and rear parts of the chassis of the robot frame 3, the motor 6 is installed in front of the batteries 4, and the motor 6 powers the first hydraulic pump 71 and the second hydraulic pump 85 to provide different power systems to different locations for use.
The pre-welding treatment module 7 comprises a first hydraulic pump 71, an injection pipe 72, a mechanical arm 73 and a first jet pump 75, wherein the first hydraulic pump 71 is installed on the front portion of the chassis of the robot frame 3, the mechanical arm 73 is symmetrically installed on the front portion of the back of the chassis of the robot frame 3, a drill bit 74 is installed at the tail end of the mechanical arm 73, a hollow pipeline is arranged outside the drill bit 74, the drill bit is finally connected with the first hydraulic pump 71 through the injection pipe 72, and the first jet pump 75 is formed simultaneously and used for discharging silt generated during drilling and ditching.
The underwater welding work module 8 comprises a hydraulic rod 81, an air chamber body 82, a second hydraulic pump 85, a welding track 87, a welding gun 89 and a male-female connector 810, the hydraulic rod 81 is installed in the middle of the back face of a chassis of the robot frame 3, the tail end of the hydraulic rod 81 is hinged with the air chamber body 82 symmetrically arranged, meanwhile, an air chamber opening and closing control rod 83 is arranged to achieve opening and closing of the air chamber body 82, stable movement can be achieved through a device when the underwater welding work module is used conveniently, and mutual collision is avoided.
The outer surface of the air chamber body 82 is of a concave semicircular structure and is symmetrical left and right, the top of the air chamber body 82 is provided with a protective air input pipe 84 and is finally connected with a protective air compression bottle 5 arranged in the middle of the front surface of the robot frame 3, and the air chamber body has certain protective performance and avoids damage.
The welding track 87 is installed inside the air chamber body 82, the welding gun 89 is installed inside the welding track 87 through the sliding block 88 and can move freely, the male connector 810 and the female connector 810 are arranged on the left and the right inside the air chamber body 82 respectively, and meanwhile the air chamber body 82 is automatically connected after being closed, sealing is formed, and air leakage is prevented.
The air chamber body 82 is provided with a drain pipe at the bottom thereof and forms a second jet pump 86 together with a second hydraulic pump 85 installed at the front surface of the robot frame 3 through a pipe, so that the drain operation is performed when in use.
The working principle is as follows: when the air chamber type local dry method underwater welding robot is used, according to a graph 1, the device is firstly placed at a position needing to work, electric power is transmitted to a motor 6 through a battery 4, a floating body 1, a pressure resistant cabin 2 and a robot frame 3 are adjusted, a propeller 11 and the underwater welding robot are controlled to reach a designated working area, the posture of the robot is adjusted to enable an engine 9 to drive a triangular walking crawler 10 to move to stride over an underwater pipeline needing to be maintained, the head of the robot faces a welding part, the robot is controlled to advance, the robot stops when a mechanical arm 73 approaches the welding part, a pre-welding processing module 7 is used for starting a drill bit 74 to break silt around the welding part and discharging the silt by adopting an injection pipe 72, a first hydraulic pump 71 and a first injection pump 75, the purpose is to expose the part needing to be welded in the environment, and the air chamber body 82 is convenient to coat the welding part on the next step, after the pretreatment is finished, the robot moves forwards, the underwater welding working module 8 is enabled to face the part to be welded, the hydraulic rod 81 is controlled to descend, the air chamber opening and closing control rod 83 controls the air chamber body 82 to cover the welding part, the male connector 810 and the female connector 810 are automatically buckled after the air chamber body 82 is closed, the shielding gas compression bottle 5 is controlled to inflate the air chamber body 82, the second hydraulic pump 85 is started simultaneously, the second jet pump 86 works to drain water, after the air pressure meets the requirement, the sliding block 88 connected with the welding gun 89 is controlled to slide on the inner surface of the welding track 87, then the welding work is carried out, after the welding work is finished, the male connector 810 and the female connector are unlocked, the shielding gas input pipe 84 is closed, the air chamber opening and closing control rod 83 controls the air chamber body 82 to be opened and separated from the underwater pipeline, the second hydraulic pump 85 stops working, the hydraulic rod 81 is controlled to lift the air chamber body, the overall practicability is increased.
Those not described in detail in this specification are within the skill of the art.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a local dry process of air-chamber formula is welding robot under water, includes body (1), withstand voltage cabin (2), robot frame (3), battery (4), protection gas compression bottle (5), triangle-shaped walking track (10) and screw (11), its characterized in that: the robot is characterized in that the floating body (1) is installed at the top of the robot frame (3), a pair of propellers (11) is symmetrically arranged at the top and the tail of the robot frame (3) respectively, the pressure-resistant cabin (2) is installed inside, a welding pretreatment module (7), an underwater welding working module (8), a battery (4) and an engine (9) are installed on a chassis of the robot frame (3), and the engine (9) is connected with the triangular walking crawler (10) through a transmission shaft.
2. The air chamber type local dry underwater welding robot as claimed in claim 1, wherein: the batteries (4) are respectively arranged at the front part and the rear part of the chassis of the robot frame (3), the motor (6) is arranged in front of the batteries (4), and the motor (6) provides power for the first hydraulic pump (71) and the second hydraulic pump (85).
3. The air chamber type local dry underwater welding robot as claimed in claim 1, wherein: welding pretreatment module (7) include first hydraulic pump (71), draw and penetrate pipe (72), arm (73), first jet pump (75), and first hydraulic pump (71) are installed in the front of robot frame (3) chassis, and arm (73) symmetry is installed at robot frame (3) chassis back front portion, and end installation drill bit (74) of arm (73) simultaneously, and finally link to each other with first hydraulic pump (71) through drawing and penetrate pipe (72), constitute first jet pump (75) simultaneously jointly.
4. The air chamber type local dry underwater welding robot as claimed in claim 1, wherein: the underwater welding work module (8) comprises a hydraulic rod (81), an air chamber body (82), a second hydraulic pump (85), a welding track (87), a welding gun (89) and a male-female connector (810), wherein the hydraulic rod (81) is installed in the middle of the back face of a chassis of the robot frame (3), the tail end of the hydraulic rod (81) is hinged with the air chamber body (82) which is symmetrically arranged, and an air chamber opening and closing control rod (83) is arranged to achieve opening and closing of the air chamber body (82).
5. The air-chamber type local dry underwater welding robot as claimed in claim 4, wherein: the outer surface of the air chamber body (82) is of a concave semicircular structure and is symmetrical left and right, and the top of the air chamber body (82) is provided with a protective air input pipe (84) and is finally connected with a protective air compression bottle (5) arranged in the middle of the front surface of the robot frame (3).
6. The air-chamber type local dry underwater welding robot as claimed in claim 4, wherein: the welding rail (87) is installed inside the air chamber body (82), the welding gun (89) is installed inside the welding rail (87) through the sliding block (88), the male connector and the female connector (810) are arranged on the left and the right inside the air chamber body (82), and meanwhile the air chamber body (82) is automatically connected after being closed.
7. The air-chamber type local dry underwater welding robot as claimed in claim 4, wherein: and a drain pipe is arranged at the bottom of the air chamber body (82) and forms a second jet pump (86) together with a second hydraulic pump (85) arranged on the front surface of the robot frame (3) through a pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110244781.9A CN112743192B (en) | 2021-03-05 | 2021-03-05 | Air chamber type local dry method underwater welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110244781.9A CN112743192B (en) | 2021-03-05 | 2021-03-05 | Air chamber type local dry method underwater welding robot |
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| Publication Number | Publication Date |
|---|---|
| CN112743192A true CN112743192A (en) | 2021-05-04 |
| CN112743192B CN112743192B (en) | 2024-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110244781.9A Active CN112743192B (en) | 2021-03-05 | 2021-03-05 | Air chamber type local dry method underwater welding robot |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103302396A (en) * | 2013-06-19 | 2013-09-18 | 深圳市德润青华水下工程科技股份有限公司 | Underwater robot friction welding system and welding method thereof |
| WO2015081013A1 (en) * | 2013-11-26 | 2015-06-04 | Elwha Llc | Structural assessment, maintenance, and repair apparatuses and methods |
| KR101681316B1 (en) * | 2016-06-13 | 2016-12-02 | 한국해양과학기술원 | A multi-joint underwater robot system for deep sea exploration |
| CN109277727A (en) * | 2017-07-21 | 2019-01-29 | 中广核研究院有限公司 | Underwater Welding robot mobile vehicle |
| CN209795791U (en) * | 2019-04-30 | 2019-12-17 | 广东海洋大学 | multi-section type triangular track robot capable of cruising at water bottom |
| CN112027015A (en) * | 2020-09-22 | 2020-12-04 | 天津科技大学 | Adsorption type underwater cleaning robot |
| CN214443728U (en) * | 2021-03-05 | 2021-10-22 | 广东海洋大学 | Air chamber type local dry method underwater welding robot |
-
2021
- 2021-03-05 CN CN202110244781.9A patent/CN112743192B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103302396A (en) * | 2013-06-19 | 2013-09-18 | 深圳市德润青华水下工程科技股份有限公司 | Underwater robot friction welding system and welding method thereof |
| WO2015081013A1 (en) * | 2013-11-26 | 2015-06-04 | Elwha Llc | Structural assessment, maintenance, and repair apparatuses and methods |
| KR101681316B1 (en) * | 2016-06-13 | 2016-12-02 | 한국해양과학기술원 | A multi-joint underwater robot system for deep sea exploration |
| CN109277727A (en) * | 2017-07-21 | 2019-01-29 | 中广核研究院有限公司 | Underwater Welding robot mobile vehicle |
| CN209795791U (en) * | 2019-04-30 | 2019-12-17 | 广东海洋大学 | multi-section type triangular track robot capable of cruising at water bottom |
| CN112027015A (en) * | 2020-09-22 | 2020-12-04 | 天津科技大学 | Adsorption type underwater cleaning robot |
| CN214443728U (en) * | 2021-03-05 | 2021-10-22 | 广东海洋大学 | Air chamber type local dry method underwater welding robot |
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| Publication number | Publication date |
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| CN112743192B (en) | 2024-04-26 |
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