CN112743192B - Air chamber type local dry method underwater welding robot - Google Patents
Air chamber type local dry method underwater welding robot Download PDFInfo
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- CN112743192B CN112743192B CN202110244781.9A CN202110244781A CN112743192B CN 112743192 B CN112743192 B CN 112743192B CN 202110244781 A CN202110244781 A CN 202110244781A CN 112743192 B CN112743192 B CN 112743192B
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- air chamber
- welding
- robot frame
- robot
- chamber body
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- 238000003466 welding Methods 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 title abstract description 10
- 230000001681 protective effect Effects 0.000 claims abstract description 11
- 230000006835 compression Effects 0.000 claims abstract description 9
- 238000007906 compression Methods 0.000 claims abstract description 9
- 238000007667 floating Methods 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 238000001035 drying Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 4
- 238000007781 pre-processing Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 239000013049 sediment Substances 0.000 description 4
- 108010066114 cabin-2 Proteins 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 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
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 239000005002 finish coating Substances 0.000 description 1
- 238000009434 installation 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
- 238000002203 pretreatment Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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 and a propeller, wherein the floating body is arranged at the top of the robot frame, the top and the tail of the robot frame are respectively symmetrically provided with a pair of propellers, the pressure-resistant cabin is internally arranged, a pre-welding processing module, an underwater welding work module battery and an engine are arranged on a chassis of the robot frame, and the engine is connected with the triangular walking crawler through a transmission shaft. The air chamber type local dry method underwater welding robot has the function of preprocessing the welded part of the pipeline, improves the actual welding condition, adopts the air chamber type local dry method underwater welding technology, is convenient to form a relatively stable dry space, ensures the welding effect, and has a preprocessing module, so that the actual welding process is easier to reach an ideal state.
Description
Technical Field
The invention relates to the technical field of underwater operation, in particular to a gas chamber type local dry underwater welding robot.
Background
The underwater welding technology is a key technology in the fields of marine pipeline, ocean platform, ship, nuclear power equipment maintenance, rush repair and the like, the underwater local dry method welding has the advantages of good welding effect and low cost, and the existing technology mainly comprises a plurality of common local dry method underwater welding technologies such as underwater TIG welding, underwater MIG/MAG welding, underwater laser-electric arc composite welding and the like, and the existing technology uses a movable drain cover for a plurality of times, so that the formed local dry cavity is unstable enough, dynamic sealing is difficult to realize, and the welding quality is difficult to control due to too many influencing factors.
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 a gas chamber type local dry underwater welding robot, which aims to solve the problem that the prior underwater welding technology is insufficient in welding quality in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a local dry process welding robot under water of air chamber formula, includes body, pressure-resistant cabin, robot frame, battery, protection gas compression bottle, triangle-shaped walking track and screw, the body is installed at the robot frame top, and robot frame top and afterbody symmetry set up a pair of screw respectively to internally mounted pressure-resistant cabin, the robot frame chassis is installed and is welded pretreatment module, is welded work module battery under water and engine, and the engine passes through the transmission shaft and links to each other with triangle-shaped walking track.
Preferably, the batteries are mounted to the front and rear of the robot frame chassis, respectively, and a motor is mounted in front of the batteries, and the motor powers the first and second hydraulic pumps.
Preferably, the welding pretreatment module comprises a first hydraulic pump, an ejector pipe, a mechanical arm and a first jet pump, wherein the first hydraulic pump is arranged in front of the front surface of the chassis of the robot frame, the mechanical arm is symmetrically arranged in front of the back surface of the chassis of the robot frame, the tail end of the mechanical arm is provided with a drill bit, and the mechanical arm is finally connected with the first hydraulic pump through the ejector pipe, and simultaneously the first jet pump is formed together.
Preferably, the underwater welding work module comprises a hydraulic rod, an air chamber body, a second hydraulic pump, a welding track, a welding gun and a male and female connector, wherein the hydraulic rod is arranged in the middle of the back surface of the chassis of the robot frame, the tail end of the hydraulic rod is hinged with the symmetrically arranged air chamber body, and meanwhile an air chamber opening and closing control rod is arranged to open and close the air chamber body.
Preferably, the outer surface of the air chamber body is of a concave semicircular structure and is bilaterally symmetrical, and the top of the air chamber body is provided with a protective gas input pipe and is finally connected with a protective gas compression bottle arranged in the middle of the front surface of the robot frame.
Preferably, the welding track is arranged in the air chamber body, the welding gun is arranged in the welding track through the sliding block, the male connector and the female connector are respectively arranged at the left side and the right side of the air chamber body, and meanwhile the air chamber body is automatically connected after being closed.
Preferably, the bottom of the air chamber body is provided with a drain pipe and forms a second jet pump together with a second hydraulic pump arranged on the front surface 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 second jet pump underwater welding robot is provided with a pre-welding treatment module, has the function of preprocessing the welded part of the pipeline, improves the actual welding condition, adopts an air chamber type local dry underwater welding technology, is convenient to form a relatively stable dry space, ensures the welding effect, and is provided with the pre-treatment module, so that the actual welding process is easier to reach an ideal state;
2. The second jet pump pre-welding treatment module adopts a jet pump to suck sediment, so that sediment at a welding part can be effectively discharged, and the next welding work is convenient to carry out;
3. the second jet pump underwater welding robot adopts an air chamber type local dry method technology, so that a formed local dry cavity is stable, and a good welding effect is easy to obtain;
4. the second jet pump air chamber adopts the jet pump to drain, can avoid making the pump unable drainage because of inhaling the height too big, prevents simultaneously that the residual silt in the air chamber from damaging the pump.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic diagram of the front view of the floating body of the present invention;
FIG. 3 is a schematic side view of the floating body of the present invention;
FIG. 4 is a schematic top view of the floating body of the present invention;
FIG. 5 is a schematic view of the floating body of the present invention in a bottom view;
FIG. 6 is a schematic view of a partial structure of a pre-weld treatment module according to the present invention;
FIG. 7 is a schematic diagram of a side view and partial structure of an underwater welding work module according to the present invention;
FIG. 8 is a schematic diagram of the front view of a partial structure of the underwater welding work module of the present invention;
FIG. 9 is a schematic view showing the bottom structure of the air chamber of the present invention.
In the figure: 1. a floating body; 2. a pressure-resistant cabin; 3. a robot frame; 4. a battery; 5. a protective gas compression bottle; 6. a motor; 7. a pre-welding treatment module; 71. a first hydraulic pump; 72. an ejector tube; 73. a mechanical arm; 74. a drill bit; 75. a first jet pump; 8. an underwater welding work module; 81. a hydraulic rod; 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 rail; 88. a slide block; 89. a welding gun; 810. a male and female connector; 9. an engine; 10. triangular walking tracks; 11. and a propeller.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-9, the present invention provides a technical solution: the utility model provides a gas chamber formula local dry process welding robot under water, including body 1, withstand voltage cabin 2, robot frame 3, battery 4, protection gas compression bottle 5, motor 6, welding pretreatment module 7, hydraulic pump 71, the ejector tube 72, arm 73, drill bit 74, jet pump 75, welding work module under water 8, hydraulic rod 81, the air chamber body 82, air chamber open and shut control lever 83, protection gas input tube 84, hydraulic pump 85, jet pump 86, welding track 87, slider 88, welder 89, public and female joint 810, engine 9, triangle-shaped walking track 10 and screw 11, body 1 installs at the top of robot frame 3, and robot frame 3 top and afterbody symmetry set up a pair of screw 11 respectively, and internally mounted withstand voltage cabin 2, robot frame 3 chassis installation welding pretreatment module 7, welding work module 8 battery 4 under water and engine 9, and engine 9 link with triangle-shaped walking track 10 through the transmission shaft.
The battery 4 is installed at the front and rear of the chassis of the robot frame 3, respectively, and the motor 6 is installed in front of the battery 4, and the motor 6 supplies power to the first hydraulic pump 71 and the second hydraulic pump 85, and supplies different power systems to different positions for use.
The welding pretreatment module 7 comprises a first hydraulic pump 71, an ejector pipe 72, a mechanical arm 73 and a first jet pump 75, wherein the first hydraulic pump 71 is arranged in front of the chassis front of the robot frame 3, the mechanical arm 73 is symmetrically arranged in front of the chassis back of the robot frame 3, meanwhile, a drill bit 74 is arranged at the tail end of the mechanical arm 73, a hollow pipeline is arranged outside the drill bit 74, and finally the drill bit is connected with the first hydraulic pump 71 through the ejector pipe 72, and meanwhile, the first jet pump 75 is formed together to discharge sediment generated during drilling and ditching.
The underwater welding work module 8 comprises a hydraulic rod 81, an air chamber 82, a second hydraulic pump 85, a welding track 87, a welding gun 89 and a male and female joint 810, wherein the hydraulic rod 81 is arranged in the middle of the back of the chassis of the robot frame 3, the tail ends of the hydraulic rod 81 are hinged with the symmetrically arranged air chamber 82, and meanwhile, an air chamber opening and closing control rod 83 is arranged to realize the opening and closing of the air chamber 82, so that the device can realize more stable movement through the device when in use, and collision among the devices is avoided.
The outer surface of the air chamber 82 is of a concave semicircular structure and is bilaterally symmetrical, and the top of the air chamber 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, so that the air chamber has certain protective performance and is prevented from being damaged.
The welding track 87 is arranged in the air chamber 82, the welding gun 89 is arranged in the welding track 87 through the sliding block 88 and can freely move, the male and female connectors 810 are respectively arranged on the left side and the right side of the air chamber 82, and meanwhile, the air chamber 82 is automatically connected after being closed, so that sealing is formed, and air leakage is prevented.
The bottom of the air chamber 82 is provided with a drain pipe 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, so that the drain operation can be conveniently completed in use.
Working principle: when the air chamber type local dry method underwater welding robot is used, according to fig. 1, the device is firstly placed at a position needing to work, the 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 specified working area, the posture of the robot is adjusted to enable an engine 9 to drive a triangular walking crawler 10 to move, the robot head faces a welding position and is controlled to move across the underwater pipeline needing to be maintained, the mechanical arm 73 stops after approaching the welding position, a drill bit 74 is started to break sediment around the welding position through a welding pretreatment module 7, an injection pipe 72, a first hydraulic pump 71 and a first injection pump 75 are adopted to discharge, the aim is to expose the position needing to be welded to the environment, the welding position is conveniently coated by the air chamber 82 in the next step, after the pretreatment is finished, the robot moves forwards to enable the underwater welding work module 8 to face the position to be welded, the hydraulic rod 81 is controlled to descend, meanwhile, the air chamber 82 is controlled by the air chamber opening and closing control rod 83 to finish coating the welding position, after the air chamber 82 is closed, the male and female joint 810 is automatically buckled, the protective air compression bottle 5 is controlled to charge air in the air chamber 82, meanwhile, the second hydraulic pump 85 is started to enable the second jet pump 86 to work, the water discharging operation is carried out, 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, the welding work is carried out again, after the welding work is finished, the male and female joint 810 is unlocked, the protective air input pipe 84 is closed, the air chamber 82 is controlled by the air chamber opening and closing control rod 83 to open and separate from the underwater pipeline, the second hydraulic pump 85 stops working, the air chamber 82 is controlled to lift up, the welding work is completed completely, and the overall practicability is increased.
What is not described in detail in this specification is prior art known to those skilled in the art.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (1)
1. The utility model provides a local dry process welding robot under water of air chamber formula, includes body (1), pressure-resistant 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 floating body (1) is arranged at the top of the robot frame (3), a pair of propellers (11) are symmetrically arranged at the top and the tail of the robot frame (3) respectively, the pressure-resistant cabin (2) is internally arranged, a pre-welding treatment module (7), an underwater welding working module (8), a battery (4) and an engine (9) are arranged on the chassis of the robot frame (3), and the engine (9) is connected with the triangular walking crawler belt (10) through a transmission shaft;
The battery (4) is 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 battery (4), and the motor (6) provides power for the first hydraulic pump (71) and the second hydraulic pump (85); the welding pretreatment module (7) comprises a first hydraulic pump (71), an ejector pipe (72), a mechanical arm (73) and a first jet pump (75), wherein the first hydraulic pump (71) is arranged in front of the front surface of a chassis of the robot frame (3), the mechanical arm (73) is symmetrically arranged in front of the back surface of the chassis of the robot frame (3), meanwhile, a drill bit (74) is arranged at the tail end of the mechanical arm (73), and the mechanical arm is finally connected with the first hydraulic pump (71) through the ejector pipe (72), and meanwhile, the first jet pump (75) is formed together;
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 and female joint (810), wherein the hydraulic rod (81) is installed in the middle of the back 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, meanwhile, an air chamber opening and closing control rod (83) is arranged to realize opening and closing of the air chamber body (82), the outer surface of the air chamber body (82) is of a concave semicircular structure and is bilaterally symmetrical, a protective air input pipe (84) is installed at the top of the air chamber body (82) and finally connected with a protective air compression bottle (5) installed in the middle of the front of the robot frame (3), the welding gun (89) is installed in the inside of the air chamber body (82) through a sliding block (88), the male and female joint (810) is respectively arranged on the left and right sides of the inside of the air chamber body (82), simultaneously, the air chamber body (82) is automatically connected after being closed, a drain pipe is installed at the bottom of the air chamber body (82) and the second hydraulic pump (86) is installed on the front 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112743192A CN112743192A (en) | 2021-05-04 |
| CN112743192B true CN112743192B (en) | 2024-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110244781.9A Active CN112743192B (en) | 2021-03-05 | 2021-03-05 | Air chamber type local dry method underwater welding robot |
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| CN (1) | CN112743192B (en) |
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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| CN112743192A (en) | 2021-05-04 |
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