CN207087172U - Underwater Welding robot mobile vehicle - Google Patents
Underwater Welding robot mobile vehicle Download PDFInfo
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- CN207087172U CN207087172U CN201720898115.6U CN201720898115U CN207087172U CN 207087172 U CN207087172 U CN 207087172U CN 201720898115 U CN201720898115 U CN 201720898115U CN 207087172 U CN207087172 U CN 207087172U
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- welding robot
- mobile vehicle
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Abstract
The utility model discloses Underwater Welding robot mobile vehicle,Walk and welded in pond for carrying weld job device,It includes car body module,Walking module and photographing module,Walking module driving car body module walking,Photographing module is used to gather the image under Spent Fuel Pool,Wherein,Photographing module includes video camera,Underwater lamp,Base,Slide bar,Support,Drive component and head,Floor installation is in car body module,Slide bar is inserted in base in the engaging of multi-segment,Slide bar is connected with support,Head also has in the mounting rod laterally protruded out,Drive component driving head horizontally rotates and drive installation bar rotates in vertical direction,The drive video camera of the rotation of head and the rotation synchronization of mounting rod rotates,The regulation of three-dimensional can be carried out under water so as to image function,Effectively raise the imaging effect of underwater image capturing and thorough property,Accurately welding is carried out to weld seam for weld job device and provides sound assurance,With stronger practicality.
Description
Technical field
A kind of used in nuclear power station equipment is the utility model is related to, more particularly to it is a kind of for carrying weld job device in pond
The middle Underwater Welding robot mobile vehicle walked and welded.
Background technology
Nuclear power station can guarantee that its security from the angle of technology and management, but when undergo serious super design reference from
After right disaster (such as earthquake, tsunami, typhoon) or human-initiated accident, it can not exclude to occur nuclear accident or key equipment damage completely
Risk.In nuclear power station basis accident and emergent accident, it may occur however that the accident such as pond crackle, hole, cut, it is necessary to implement water
Lower detection, leak stopping and welding, and nuclear power plant reactor and Spent Fuel Pool radioactivity are higher, many operations usually require under water
Carry out, therefore underwater robot can play a significant role when pond is safeguarded and performs emergent operation.Underwater robot application
There is operating efficiency height, personnel safety compared with the past traditional emergency processing method in appraising and deciding stand quasi- accident and emergent accident
High many advantages.Other underwater robot is in the operational maintenance of nuclear power station pond with can also be played a significant role in upkeep operation.
Robot, English name Robot, it is the abbreviation for automatically controlling machine.In contemporary industry, robot refers to
The man-made machine device of task can be performed automatically, for substituting or assisting human work, especially in some danger and to human body
There are injury or the place that can not stay surely for a long time of human body, for example, explosive-removal robot, underwater robot etc..By foregoing underwater robot
The importance of maintenance and emergent operation to Spent Fuel Pool, heap pond etc. understands that underwater robot is in nuclear power station basis accident
With in emergent accident handle in it is extremely important；Underwater Welding robot is numerous robots for Nuclear Power Station Accident Emergency rescue
One kind；Underwater Welding is performed using Underwater Welding robot, helps to ensure the safety of maintenance operation personnel, improves nuclear power fortune
Row enhancing station basis accident and after should protect the safety of maintenance operation personnel, improve nuclear power operation enhancing station basis accident and rear emergent
Disposal ability.
Underwater Welding robot mainly includes weld job device and carries the mobile vehicle of weld job device movement, moves
During dynamic load body carries the walking of weld job device, gather the image of surrounding and pass to ground handling operator in real time,
Ground handling operator walks under water according to the underwater image control mobile vehicle received, and weld job device is in mobile vehicle
Driving under reach welding position region, ground staff instruction carry out weld job, so as to complete Underwater Welding；It is but existing
Video camera on some mobile vehicles is all fixed, and its image visual angle provided is all fixed, can not be applicable week
The change in collarette border and carry out visual angle adaptability regulation, cause the underwater image effect for being transferred to ground staff poor and inconsiderate
Entirely, and then cause ground staff comprehensively to recognize the positional information that underwater needs weld, influence the operating efficiency of operation
And operation effectiveness, and may cause situations such as solder skip occur；The image visual angle transmission of this fixation is particularly with some corners, folding
The underwater image at the non-flat forms position such as side, its monitoring effect are worse.
Therefore, a kind of Underwater Welding robot mobile vehicle that video camera can be adjusted under water is needed badly.
Utility model content
The purpose of this utility model is that providing a kind of Underwater Welding robot that camera orientation can be adjusted moves
Dynamic load body.
To achieve the above object, the utility model provides a kind of Underwater Welding robot mobile vehicle, is welded for carrying
Connect apparatus for work to walk and welded in pond, Underwater Welding robot mobile vehicle includes car body module, walking
Module and photographing module, the walking module are arranged in the car body module, and the walking module drives the car body module
Walking, the photographing module are provided projectingly in the car body module, and the photographing module is used to gather the image under pond, its
In, the photographing module includes video camera, underwater lamp, base, slide bar and head, and the head includes head pedestal, head drives
Dynamic component, panoramic table and mounting bracket, the lower end of the base are removably vertically arranged in the car body module, the cunning
The lower end of bar is inserted in the upper end of the base in the engaging of multi-segment, under the upper end of the slide bar and the head pedestal
End connection, the panoramic table are in the upper end for being arranged at the head pedestal horizontally rotated, and the panoramic table also has in laterally
The trip shaft protruded out, two mounting brackets are fixedly installed in the both ends of trip shaft, the video camera and the underwater lamp pair
It should be installed in the mounting bracket, the head drive component is arranged inside the panoramic table, the head drive component
Drive the panoramic table to horizontally rotate and drive the trip shaft to be rotated in vertical direction, the rotation of the panoramic table and trip shaft
The synchronous drive video camera of rotation rotated with the underwater lamp.
It is preferred that the base from top to bottom through the first adjustment hole is offered, corresponds to described first and adjusted on the slide bar
Knothole offers the second adjustment hole, and a locking pin is inserted in the first adjustment hole and the second adjustment hole of diverse location, realizes slide bar
Engage with the multi-segment of base.
It is preferred that the head drive component includes the first actuator and the second actuator, the first actuator installation
In lower end in the panoramic table and the panoramic table is driven to horizontally rotate, on second actuator is installed in the panoramic table
Hold and drive the trip shaft to be rotated in vertical direction with the upset axis connection, second actuator, the trip shaft
The synchronous drive video camera is rotated to rotate with the underwater lamp.
It is preferred that it is in symmetrically to set that Underwater Welding robot mobile vehicle, which includes the video camera with the underwater lamp,
Put.
It is preferred that the car body module includes vehicle frame, protecgulum, bonnet, installing plate and mounting seat, the walking module is set
In the both sides of the vehicle frame, the protecgulum, installing plate and bonnet dock successively to be arranged on the top surface of the vehicle frame, the vehicle frame
In engraved structure, the mounting seat, which is arranged on the vehicle frame, is used for erecting and welding apparatus for work.
It is preferred that the walking module includes hoofing part mechanism and crawler belt, the crawler belt is arranged at the two of the vehicle frame
Side, the hoofing part mechanism are in being arranged on the vehicle frame and driving the crawler belt to rotate for the integral type of sealing.
It is preferred that Underwater Welding robot mobile vehicle also includes illuminating lamp, the illuminating lamp is arranged at the car
The front end of frame.
Compared with prior art, due to panoramic table of the present utility model be in horizontally rotate be arranged at the cloud being connected with slide bar
On sewing platform base, and panoramic table also has the trip shaft for connecting mounting bracket respectively in the both ends laterally protruded out, video camera and water
Lower lamp is correspondingly installed in the mounting bracket, and head drive component driving panoramic table horizontally rotates and drives trip shaft in vertical side
To rotation, the drive video camera of the rotation of panoramic table and the rotation synchronization of trip shaft rotates with underwater lamp, therefore video camera and water
Lower lamp can rotate in the horizontal direction under the driving of head drive component, and can vertical direction rotate so that video camera and
Underwater lamp can carry out the regulation of three-dimensional, carry out three-dimensional regulation under water with imaging function due to underwater lamp energy synchronization, therefore
Enable video camera to handle the adverse circumstances that underwater various interference images are caught, effectively raise underwater image capturing into
As effect and thorough property, the various environment that underwater interference images are caught are can adapt to, are provided for accurately identification and tack weld
Sound assurance, control weld job device to carry out accurately welding to weld seam for ground handling operator and provide strong guarantor
Barrier, has stronger practicality.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model Underwater Welding robot mobile vehicle.
Fig. 2 is that the structure that the car body module of the utility model Underwater Welding robot mobile vehicle is connected with walking module is shown
It is intended to.
Fig. 3 is the structural representation of the photographing module of the utility model Underwater Welding robot mobile vehicle.
Fig. 4 is the structural representation that slide bar extracts certain distance out from base in Fig. 3.
Embodiment
Embodiment of the present utility model described with reference now to accompanying drawing, similar element numbers represent similar member in accompanying drawing
Part.
As Figure 1-Figure 4, Underwater Welding robot of the present utility model mobile vehicle 100, for carrying weld job
Device is walked and welded in pond, is mainly used in using in the underwater environments such as Spent Fuel Pool, heap pond, this implementation
Mode only illustrates by taking Spent Fuel Pool as an example, identical for its operation principle of the ponds such as heap pond and effect, herein
It is not described in detail；The Underwater Welding robot mobile vehicle 100 includes car body module 10, walking module 20 and photographing module
30, walking module 20 is arranged in car body module 10, and walking module 20 drives car body module 10 to walk, and photographing module 30 is protruded and set
It is placed in car body module 10, car body module 10 drives the row in Spent Fuel Pool of photographing module 30 by the driving of walking module 20
Walk, during walking, the camera 31 for the photographing module 30 being arranged in car body module 10 gathers spentnuclear fuel water in real time
Image under pond, the underwater image that ground handling operator provides in real time according to photographing module 30, by earth terminal to car body
The control module 40 set in module 10 sends instruction, and control module 40 receives the walking side of control walking module 20 after instruction
Formula, the camera 31 of photographing module 30 is controlled to rotate regulation and the welding job of control weld job device.Below continuing with
Fig. 1-Fig. 4 is described in further detail to the utility model Underwater Welding robot mobile vehicle 100：
As shown in Figures 1 and 2, the car body module 10 of Underwater Welding robot of the present utility model mobile vehicle 100 includes
Vehicle frame 11, protecgulum 12, bonnet 13, installing plate 14 and mounting seat 15, walking module 20 are arranged at the both sides of vehicle frame 11, protecgulum 12,
Installing plate 14 and bonnet 13 dock successively to be arranged on the top surface of vehicle frame 11, and vehicle frame 11 is in engraved structure, the vehicle frame of engraved structure
11 are easy to the utility model to walk under water, are greatly reduced weight of the present utility model, and mounting seat 15 is arranged at vehicle frame 11
On, the mounting seat 15 is used for erecting and welding apparatus for work.
Continuing with shown in Fig. 1 and Fig. 2, the walking module of Underwater Welding robot of the present utility model mobile vehicle 100
20 include crawler belt 21 and hoofing part mechanism 22, and crawler belt 21 is arranged at the both sides of vehicle frame 11, and hoofing part mechanism 22 is in sealing
It is arranged on vehicle frame 11 and drives crawler belt 21 to rotate；It is worth noting that, hoofing part mechanism 22 of the present utility model is using existing
There is design, such as cooperated using battery, motor, reduction box and driving gear set, specifically, battery carries for motor
Power supply power, the output shaft of motor and the input of reduction box connect, and the output end of reduction box and the input of gear train connect, tooth
The output end of wheel group is connected with crawler belt, and the rotation of motor drives gear train to rotate by the rotational speed regulation of reduction box, gear train
Rotation drive crawler belt to rotate, the rotation of crawler belt drives the utility model to be walked in Spent Fuel Pool；Certainly walking driving machine
Structure also may be used using other existing drive mechanisms that crawler belt can be driven to rotate.
With reference to shown in Fig. 1-Fig. 4, photographing module 30 of the present utility model includes video camera 31, underwater lamp 32, base 33, cunning
Bar 34, drive component and head 35, the head 35 include head pedestal 36, panoramic table 37, mounting bracket 38 and head driving
Part (not shown), the lower end of base 33 are removably vertically arranged on the installing plate 14 of car body module 10 by screw, sliding
The lower end of bar 34 is inserted in the upper end of base 33 in the engaging of multi-segment, and the upper end of slide bar 34 connects with the lower end of head pedestal 36
Connect, panoramic table 37 is in the upper end for being arranged at head pedestal 36 horizontally rotated, and panoramic table 37 also has to be turned in what is laterally protruded out
Rotating shaft 39, two mounting brackets 38 are fixedly installed in the both ends of trip shaft 39, and video camera 31 is corresponding with underwater lamp 32 to be installed on installation
On support 38, i.e., two mounting brackets 38 are fixedly installed on the both ends of trip shaft 39 respectively, and video camera 31 is installed on an installation branch
On frame 38, underwater lamp 32 is installed in another mounting bracket 38, and head drive component is arranged inside panoramic table 37, head driving
Component driver panoramic table 37 horizontally rotates and drives trip shaft 39 to be rotated in vertical direction, the rotation of panoramic table 37 and trip shaft 39
The synchronous drive video camera 31 of rotation rotated with underwater lamp 32；Specifically, panoramic table 37 horizontally rotate synchronous drive by
The trip shaft 39 for being provided with camera 31 and underwater lamp 32 as mounting bracket 38 rotates (arrow E shown in Fig. 3 in the horizontal direction
Direction), and trip shaft 39 drives synchronous thereon from the rotation in vertical direction under the driving of head drive component
Video camera 31 and underwater lamp 32 rotate (direction of arrow F shown in Fig. 3) in vertical direction, therefore video camera 31 and underwater lamp 32
It can be rotated in the horizontal direction under the driving of drive component, and can rotates in vertical direction so that video camera 31 can carry out three
The regulation of dimension, therefore it can handle the adverse circumstances that underwater various interference images are caught, and welding is controlled for ground handling operator
Apparatus for work carries out accurately welding to weld seam and provides sound assurance, has stronger practicality.
As shown in Fig. 1, Fig. 3 and Fig. 4, the base 33 of Underwater Welding robot of the present utility model mobile vehicle 100 is from upper
First adjustment hole 321 is corresponded on slide bar 34 and offers the second adjustment hole 331 through the first adjustment hole 321 is offered from lower,
In the first adjustment hole 321 and the second adjustment hole 331 of one locking pin 37 insertion diverse location, the more of slide bar 34 and base 33 are realized
Section engages；Specifically, when needing to adjust the height of video camera 31, the depth in the inserted base 33 of slide bar 34 is adjusted, works as tune
When section is to satisfactory depth, latch 37 is inserted in the first adjustment hole 321 and the second adjustment hole 331 of face, so that
Obtain slide bar 34 and fix height herein with base 33, and then complete the height adjustment of camera 31；When needing to adjust camera again
During 31 height, latch 37 is extracted from the first adjustment hole 321 and the second adjustment hole 331, slide bar 34 is then adjusted and inserts bottom
Depth in seat 33, when regulation is to satisfactory depth, by latch 37 again insertable into the first adjustment hole 321 of face and the
In two adjustment holes 331, so as to complete the regulation of the height of camera 31, by the adjustment hole 321 of latch 37 and first and the second regulation
The cooperation in hole 331 realizes that slide bar 34 and the multi-segment of base 33 engage, simple in construction and practical.
Preferably, the drive component of Underwater Welding robot mobile vehicle 100 include the first actuator and the second drive
Moving part, the first actuator are installed on the upper end of support 34 and drive head 35 to horizontally rotate, and the second actuator is installed on head 35
Interior and be connected with mounting rod 36, the second actuator drive installation bar 36 rotates in vertical direction, and the rotation of mounting rod 36 is synchronous
Video camera 31 is driven to rotate；It is worth noting that, the first actuator of the present utility model and the second actuator use prior art
, and the two structure is identical, is such as cooperated using battery and motor, and specifically battery provides electric power for motor, one
Motor drives cloud platform rotation, and a motor drive installation bar 36 rotates, and the output shaft of certain motor can also be with moving part and reduction box
Be used cooperatively so that head 35 and mounting rod 36 that motor is driven rotate it is more steady and precisely.
As shown in Figures 1 and 3, preferably, Underwater Welding robot mobile vehicle 100 includes two video cameras
31, two video cameras 31 are set in symmetrical；Two video cameras 31 being symmetrical set can preferably provide underwater image.
As shown in Figures 1 and 2.Preferably, Underwater Welding robot mobile vehicle 100 also include illuminating lamp 50, institute
State the front end that illuminating lamp 50 is arranged at the vehicle frame 11；By the illumination of the illuminating lamp 50 so that camera 31 can be apparent
Catch the image in Spent Fuel Pool.
With reference to shown in Fig. 1-Fig. 4, because the head 35 of the utility model Underwater Welding robot mobile vehicle 100 is in level
What is rotated is arranged on support 34, and head 35 also has in the mounting rod 36 for being provided with video camera 31 laterally protruded out, drives
Dynamic Component driver head 35 horizontally rotates and drive installation bar 36 drives and rotated in vertical direction；Head 35 horizontally rotates synchronization
Drive the mounting rod 36 of camera 31 be installed rotated in the horizontal direction, mounting rod 36 vertical direction rotation by synchronization
Video camera 31 thereon is driven to be rotated in vertical direction, therefore video camera 31 can be in the horizontal direction under the driving of drive component
Rotate, and can rotates in vertical direction so that video camera 31 can carry out the regulation of three-dimensional, because video camera 31 can enter under water
The three-dimensional regulation of row, therefore it can handle the adverse circumstances that underwater various interference images are caught, and effectively raise underwater shadow
The imaging effect and thorough property that picture is caught, the various environment that underwater interference images are caught are can adapt to, accurately to identify and determining
Position weld seam provides sound assurance, controls weld job device to carry out accurately welding to weld seam for ground handling operator and provides
Sound assurance, has a stronger practicality.
In addition, the structure and working principle of the video camera 31 involved by the utility model, is those of ordinary skill in the art
Known, no longer it is described in detail herein.
Above disclosed is only preferred embodiment of the present utility model, certainly can not be new to limit this practicality with this
The interest field of type, therefore the equivalent variations made according to present utility model application the scope of the claims, still belong to the utility model and covered
Scope.
Claims (7)
1. a kind of Underwater Welding robot mobile vehicle, walk and welded in pond for carrying weld job device,
Underwater Welding robot mobile vehicle includes car body module, walking module and photographing module, and the walking module is arranged at
In the car body module, the walking module drives the car body module walking, and the photographing module is provided projectingly on the car
On module, the photographing module is used to gather the image under Spent Fuel Pool, it is characterised in that the photographing module includes taking the photograph
Camera, underwater lamp, base, slide bar and head, the head include head pedestal, head drive component, panoramic table and installation branch
Frame, the lower end of the base are removably vertically arranged in the car body module, and the lower end of the slide bar is in the card of multi-segment
Conjunction is inserted in the upper end of the base, and the upper end of the slide bar is connected with the lower end of the head pedestal, and the panoramic table is in
What is horizontally rotated is arranged at the upper end of the head pedestal, and the panoramic table also has in the trip shaft laterally protruded out, two institutes
The both ends that mounting bracket is fixedly installed in trip shaft are stated, the video camera is corresponding with the underwater lamp to be installed on the mounting bracket
On, the head drive component is arranged inside the panoramic table, and the head drive component drives the panoramic table is horizontal to turn
Move and drive the trip shaft to be rotated in vertical direction, described in the drive of the rotation of the panoramic table and the rotation synchronization of trip shaft
Video camera rotates with the underwater lamp.
2. Underwater Welding robot as claimed in claim 1 mobile vehicle, it is characterised in that the base runs through from top to bottom
The first adjustment hole is offered, first adjustment hole is corresponded on the slide bar and offers the second adjustment hole, a locking pin inserts not
With in the first adjustment hole and the second adjustment hole of position, realize that slide bar engages with the multi-segment of base.
3. Underwater Welding robot as claimed in claim 1 mobile vehicle, it is characterised in that the head drive component includes
First actuator and the second actuator, first actuator are installed on lower end in the panoramic table and drive the panoramic table water
Flat turn is moved, second actuator be installed in the panoramic table upper end and with the upset axis connection, second actuator
The trip shaft is driven to be rotated in vertical direction, the synchronous drive video camera of rotation of the trip shaft and the underwater lamp
Rotate.
4. Underwater Welding robot as claimed in claim 3 mobile vehicle, it is characterised in that including the video camera with it is described
Underwater lamp is set in symmetrical.
5. Underwater Welding robot as claimed in claim 1 mobile vehicle, it is characterised in that the car body module includes car
Frame, protecgulum, bonnet, installing plate and mounting seat, the walking module are arranged at the both sides of the vehicle frame, the protecgulum, installing plate
And bonnet docks be arranged on the top surface of the vehicle frame successively, the vehicle frame is in engraved structure, and the mounting seat is arranged at described
It is used for erecting and welding apparatus for work on vehicle frame.
6. Underwater Welding robot as claimed in claim 5 mobile vehicle, it is characterised in that the walking module includes walking
Drive mechanism and crawler belt, the crawler belt are arranged at the both sides of the vehicle frame, and the hoofing part mechanism is in the integral type of sealing
It is arranged on the vehicle frame and drives the crawler belt to rotate.
7. Underwater Welding robot as claimed in claim 5 mobile vehicle, it is characterised in that also including illuminating lamp, the photograph
Bright lamp is arranged at the front end of the vehicle frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720898115.6U CN207087172U (en) | 2017-07-21 | 2017-07-21 | Underwater Welding robot mobile vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720898115.6U CN207087172U (en) | 2017-07-21 | 2017-07-21 | Underwater Welding robot mobile vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207087172U true CN207087172U (en) | 2018-03-13 |
Family
ID=61544079
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720898115.6U Active CN207087172U (en) | 2017-07-21 | 2017-07-21 | Underwater Welding robot mobile vehicle |
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| Country | Link |
|---|---|
| CN (1) | CN207087172U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111323714A (en) * | 2020-03-30 | 2020-06-23 | 山东理工职业学院 | New energy automobile battery system burning test device |
-
2017
- 2017-07-21 CN CN201720898115.6U patent/CN207087172U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111323714A (en) * | 2020-03-30 | 2020-06-23 | 山东理工职业学院 | New energy automobile battery system burning test device |
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