CN206383147U - A kind of Underwater Welding robot - Google Patents
A kind of Underwater Welding robot Download PDFInfo
- Publication number
- CN206383147U CN206383147U CN201621483244.0U CN201621483244U CN206383147U CN 206383147 U CN206383147 U CN 206383147U CN 201621483244 U CN201621483244 U CN 201621483244U CN 206383147 U CN206383147 U CN 206383147U
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- China
- Prior art keywords
- axis
- slide unit
- electronic slide
- support frame
- underwater welding
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Abstract
A kind of Underwater Welding robot, it is related to underwater welding technology field, provided with support frame, the electronic slide unit of Y-axis, the electronic slide unit of Z axis and the electronic slide unit of X-axis are provided with the upside of described support frame, the sliding seat of the electronic slide unit of X-axis is provided with mounting seat, and mounting seat, which is provided with the downside of underwater welding device, support frame, is provided with support feet, support frame is provided with kinematic screw oar, moves left and right propeller and forward and backward movement knob oar, corresponding with each propeller to be provided with a servomotor.Servomotor drives each propeller cooperating, can be with mobile robot above and below, left and right and movable, fore-and-aft direction upset and left and right directions upset.Underwater Welding robot architecture of the present utility model is simple, manipulation is convenient, flexibly can move and overturn under water, soldering angle can be adjusted arbitrarily, and the fixation between underwater robot and weldment is simple firmly, cost is low, and welding effect is good.
Description
Technical field
The present invention relates to underwater welding technology field, say it is that a kind of simple in construction, convenient under-water welding of manipulation picks in detail
Device people.
Background technology
It is known that existing underwater welding technology is increasingly ripe, it is to build and tie up in large-scale waters and ocean
Repair steel building, laying pipeline etc. and provide strong technical support.But the completion of existing Underwater Welding is welding
Operation is completed workman under water, there is labor intensity greatly, operating risk is high, the low defect of operating efficiency.In order to solve above-mentioned skill
Art problem, it is thus proposed that completed using underwater robot, as disclosed in State Intellectual Property Office Application No.：
201310710984.8, invention and created name be：The patent of invention of Underwater Welding robot Multifunctional welding welding system, application number
For：201610812114.5, invention and created name be：In a kind of application for a patent for invention of the people of automatic welding machine under water, all carry
And the concept of Underwater Welding robot, but not providing the concrete structure of underwater robot, robot is in water when actual use
Lower motion is dumb, it is impossible to the operating angle of any adjustment arc welding gun head, the fixed complicated, cost between underwater robot and weldment
Height, and be not fixed easily, influence welding effect.
The content of the invention
The purpose of this utility model is to solve above-mentioned the deficiencies in the prior art there is provided one kind is simple in construction, easy to operate, is welded
The operating angle of pipette tips can be adjusted arbitrarily, the Underwater Welding robot of stable connection between robot body and weldment.
This practicality is that the technical scheme that the above-mentioned the deficiencies in the prior art of new solution are used is：
A kind of Underwater Welding robot, provided with support frame, it is characterised in that：Provided with Y-axis electricity on the upside of described support frame
Dynamic slide unit, the sliding seat of the electronic slide unit of Y-axis is provided with the electronic slide unit of Z axis, and the sliding seat of the electronic slide unit of Z axis is electronic provided with X-axis
Slide unit, the sliding seat of the electronic slide unit of X-axis is provided with mounting seat, and mounting seat is provided with underwater welding device, it is characterised in that：It is described
Support frame on the downside of be provided with support feet, support frame is respectively arranged on the left side and the right side the kinematic screw oar that two above-below directions are set, branch
Support provided with left and right directions set move left and right on the forward and backward movement knob oar that propeller and fore-and-aft direction are set, support with
Each propeller is corresponding to be provided with a servomotor for driving it to move.
Heretofore described underwater welding device includes arc welding gun head, wire-feed motor and wire reel, and arc welding gun head is set along X-direction
Put on the downside of mounting seat, wire reel is arranged on mounting seat top, wire-feed motor is arranged between arc welding gun head and wire reel.
Two electronic slide units of the Y-axis being parallel to each other, two Y-axis electricity are installed with the upside of heretofore described support frame
Two sliding seats of dynamic slide unit are provided with two electronic slide units of Z axis being parallel to each other, and the electronic slide unit of X-axis is arranged on Z axis electric sliding
On the sliding seat of platform.Gantry shape supporting construction is formed, is worked more steady,
Electromagnet is provided with the downside of heretofore described support feet.When the article for needing to weld is magnetic material or contains foot
During the magnetic materials such as enough iron, cobalt, nickel, work of electromagnet can be fixed or assist to fix to the present invention.
Heretofore described support frame is provided with float, and described float is the floating drum of hollow sealing.Worked in water
When, float increases the overall buoyancy of robot, and flexibly, energy consumption is low for the motion of robot.
In the use of the present invention, by controlling servomotor powered motion propeller, moving left and right propeller and front and rear shifting
The work of dynamic propeller, can with mobile robot above and below, left and right and front and rear stay a direction movement.By controlling servomotor to drive
Dynamic four kinematic screw oars carry out rotating cooperating, it is possible to achieve the fore-and-aft direction upset of robot and turning over for left and right directions
Turn.After robot is turned to proper angle, four kinematic screw oars promote robot its support feet is contacted with weldment,
In the presence of the thrust that four kinematic screw oars are provided, robot, which is pressed against, to be fixed on weldment.The Underwater Welding of the present invention
Robot architecture is simple, manipulation is convenient, flexibly can move and overturn under water, soldering angle can be adjusted arbitrarily, underwater
The simple firm, cost of fixation between people and weldment is low, and welding effect is good.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is Fig. 1 left view.
Fig. 3 is the dimensional structure diagram of the present invention.
Embodiment
Underwater Welding robot as Figure 1-3, provided with support frame 6, support frame is the hollow stent of cubic；Branch
Support 6 is installed with the electronic slide unit 5 of two Y-axis being parallel to each other, two sliding seats of the electronic slide unit 5 of two Y-axis on upside
X-axis is installed provided with the electronic slide unit 4 of two Z axis being parallel to each other, on two sliding seats of the electronic slide unit 4 of two Z axis electronic
Slide unit 2.The electronic slide unit 4 of Z axis and X-axis electronic slide unit 2 formation gantry shape supporting construction, work more steady.The electronic slide unit 2 of X-axis
Sliding seat is provided with mounting seat, and mounting seat is provided with underwater welding device, and the arc welding gun head of underwater welding device is perpendicular to Y-axis electric sliding
The electronic slide unit of platform, Z axis, the electronic slide unit of X-axis；Underwater welding device includes arc welding gun head 14, wire-feed motor 3 and wire reel 1, arc welding gun head 14
It is arranged on along X-direction on the downside of mounting seat, wire reel 1 is arranged on mounting seat top, and wire-feed motor 3 is arranged on arc welding gun head 14 and welding wire
Between disk 1.Underwater welding device can also for BROCO Underwater Weldings system or other existing can complete the dress of Underwater Welding
Put.Said structure is same as the prior art, the method have the characteristics that：The described downside of support frame 6 is provided with support feet 9, from figure
In as can be seen that provided with four support feets on the downside of support frame, supporting more steady.Support frame 6 is respectively arranged on the left side and the right side on two
The kinematic screw oar 7 that lower direction is set, support frame moves left and right propeller 12 and fore-and-aft direction provided with what left and right directions was set
It is corresponding with each propeller on the forward and backward movement knob oar 10 of setting, support to be provided with a servomotor for driving it to move
13。
Of the invention further to improve, the described downside of support feet 9 is provided with electromagnet 11.When the article for needing to weld is magnetic
Material or during containing magnetic materials such as enough iron, cobalt, nickel, electromagnet 11 works, and the present invention can be fixed or be assisted
It is fixed.Described support frame is provided with float 8, and described float 8 is the floating drum of hollow sealing.When being worked in water, float increases
Plus the overall buoyancy of robot, flexibly, energy consumption is low for the motion of robot.
In the use of the present invention, Underwater Camera is provided with support frame, by whole electronic slide units, servomotor, water
The control section of lower welder, electromagnet and it is connected through signal wire and power line 15 with controller and power supply.By taking the photograph under water
The image that camera is collected controls the motion of each propeller, make Underwater Welding robot be moved to position while welding, arc welding gun head with
Weld seam to be welded is relative on workpiece.Under water in welding robot moving process, by controlling servomotor powered motion spiral shell
Rotation oar, move left and right the work of propeller and forward and backward movement knob oar, can with mobile robot above and below, left and right and front and rear stay
Move in direction.By controlling servomotor to drive four kinematic screw oars to carry out rotating cooperating, it is possible to achieve robot
Fore-and-aft direction upset and left and right directions upset.After robot is turned to proper angle, four kinematic screw oars promote machine
Device people makes its support feet be contacted with weldment, in the presence of the thrust that four kinematic screw oars are provided, and robot is pressed against solid
It is scheduled on weldment.The Underwater Welding robot architecture of the present invention is simple, manipulation is convenient, flexibly can move and turn under water
Turn, soldering angle can be adjusted arbitrarily, the fixation between underwater robot and weldment is simple firmly, cost is low, and welding effect is good.
Claims (5)
1. a kind of Underwater Welding robot, provided with support frame, it is characterised in that：It is electronic provided with Y-axis on the upside of described support frame
Slide unit, the sliding seat of the electronic slide unit of Y-axis is provided with the electronic slide unit of Z axis, and the sliding seat of the electronic slide unit of Z axis is provided with X-axis electric sliding
Platform, the sliding seat of the electronic slide unit of X-axis is provided with mounting seat, and mounting seat is provided with underwater welding device, it is characterised in that：Described
Support feet is provided with the downside of support frame, support frame is respectively arranged on the left side and the right side the kinematic screw oar that two above-below directions are set, support
It is on the forward and backward movement knob oar for moving left and right propeller and fore-and-aft direction setting that frame is set provided with left and right directions, support and every
Individual propeller is corresponding to be provided with a servomotor for driving it to move.
2. Underwater Welding robot according to claim 1, it is characterised in that：Described underwater welding device includes welding gun
Head, wire-feed motor and wire reel, arc welding gun head are arranged on the downside of mounting seat along X-direction, and wire reel is arranged on mounting seat top, wire feed
Machine is arranged between arc welding gun head and wire reel.
3. Underwater Welding robot according to claim 1, it is characterised in that：It is installed with the upside of described support frame
Two electronic slide units of the Y-axis being parallel to each other, two sliding seats of two electronic slide units of Y-axis are provided with two Z axis being parallel to each other
Electronic slide unit, the electronic slide unit of X-axis is arranged on the sliding seat of the electronic slide unit of Z axis.
4. Underwater Welding robot according to claim 1, it is characterised in that：Electromagnetism is provided with the downside of described support feet
Iron.
5. Underwater Welding robot according to claim 1, it is characterised in that：Described support frame is provided with float, institute
The float stated is the floating drum of hollow sealing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621483244.0U CN206383147U (en) | 2016-12-30 | 2016-12-30 | A kind of Underwater Welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621483244.0U CN206383147U (en) | 2016-12-30 | 2016-12-30 | A kind of Underwater Welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206383147U true CN206383147U (en) | 2017-08-08 |
Family
ID=59490679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621483244.0U Expired - Fee Related CN206383147U (en) | 2016-12-30 | 2016-12-30 | A kind of Underwater Welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206383147U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107520562A (en) * | 2017-10-18 | 2017-12-29 | 胡景棋 | One kind promptly welds car for steamer leak |
| CN107598425A (en) * | 2017-10-21 | 2018-01-19 | 孟庆仕 | A kind of closed Underwater Welding robot |
| CN108714750A (en) * | 2018-04-23 | 2018-10-30 | 西安工业大学 | A kind of Underwater Welding robot |
| CN108857204A (en) * | 2018-08-21 | 2018-11-23 | 袁年来 | A kind of steamer welding robot |
| CN109848539A (en) * | 2019-01-29 | 2019-06-07 | 燕山大学 | Electromagnetism welder and control method under a kind of full-automatic water |
| CN114669933A (en) * | 2022-03-29 | 2022-06-28 | 河海大学 | Underwater welding robot and operation process thereof |
| CN115140141A (en) * | 2022-06-22 | 2022-10-04 | 国网天津市电力公司建设分公司 | Electric power iron tower climbing robot connects soon and transports butt joint car |
-
2016
- 2016-12-30 CN CN201621483244.0U patent/CN206383147U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107520562A (en) * | 2017-10-18 | 2017-12-29 | 胡景棋 | One kind promptly welds car for steamer leak |
| CN107598425A (en) * | 2017-10-21 | 2018-01-19 | 孟庆仕 | A kind of closed Underwater Welding robot |
| CN108714750A (en) * | 2018-04-23 | 2018-10-30 | 西安工业大学 | A kind of Underwater Welding robot |
| CN108857204A (en) * | 2018-08-21 | 2018-11-23 | 袁年来 | A kind of steamer welding robot |
| CN109848539A (en) * | 2019-01-29 | 2019-06-07 | 燕山大学 | Electromagnetism welder and control method under a kind of full-automatic water |
| CN114669933A (en) * | 2022-03-29 | 2022-06-28 | 河海大学 | Underwater welding robot and operation process thereof |
| CN115140141A (en) * | 2022-06-22 | 2022-10-04 | 国网天津市电力公司建设分公司 | Electric power iron tower climbing robot connects soon and transports butt joint car |
| CN115140141B (en) * | 2022-06-22 | 2023-10-03 | 国网天津市电力公司建设分公司 | Electric power iron tower climbing robot connects fortune butt joint car soon |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170808 Termination date: 20201230 |