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A six-degree-of-freedom underwater moving platform

A technology with a mobile platform and a degree of freedom, which is applied in the direction of auxiliary devices, devices supporting electrode clamps, arc welding equipment, etc., can solve the problems of automatic welding seam tracking and other problems, and achieve improved welding quality, simplified attitude control, and low cost Effect

Active Publication Date: 2017-06-27
智真海洋科技(威海)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

An existing underwater welding experiment platform can only carry out manual remote control linear welding experiments, but cannot complete automatic tracking welding of arbitrary welds

Method used

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  • A six-degree-of-freedom underwater moving platform
  • A six-degree-of-freedom underwater moving platform
  • A six-degree-of-freedom underwater moving platform

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0032] A six-degree-of-freedom underwater mobile platform, which consists of: an open-frame underwater robot (1); four cylindrical airbags (2) are installed around the open-frame underwater robot (1), and then pass through a hose ( 4) Connected to the solenoid valve in the glass cylinder (3) at the front of the platform, the front-view camera (5) and the down-view camera (6), a horizontal screw (7) and a horizontal screw ( 7) Install a horizontal groove (8) on the other side of the parallel, install a vertical screw (9) on the horizontal screw (7), and fix one end of the vertical screw (9) to drive the waterproof motor (10) On the horizontal screw (7), the other end of the outer cover is embedded in the horizontal groove (8), the vertical groove (11) that moves with the vertical screw (9), and the vertical groove (11) is embedded Welding control box (12), welding torch (13) extends through the hollow area at the bottom of the platform, and by controlling the movement posture of...

Embodiment 2

[0034] According to the movement mechanism of the six-degree-of-freedom underwater mobile platform described in Embodiment 1, the platform is equipped with two vertical thrusters (14) and four horizontal thrusters (15), and the four horizontal thrusters ( 15) The four corners are arranged oppositely; the said propeller uses a DC brushless inner rotor motor and is equipped with a reduction box. The tail end and the front end are sealed with a sealing ring, and the shaft is sealed with a skeleton oil seal.

Embodiment 3

[0036] According to the movement mechanism of the six-degree-of-freedom underwater mobile platform described in embodiment 1, the glass cylinder (3) at the front end of the platform is connected to the image processing equipment and the air pump of the shore control system; the solenoid valve is connected to the shore air pump With the cylindrical airbag (2) around the platform, the platform can be turned in any direction.

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Abstract

The invention relates to a six-degree-of-freedom underwater moving platform. An open frame type structure is employed, so that the weight and the size of the platform are reduced and the platform is suitable for more kinds of working areas; various structure of the platform are controlled via cables and the bottom of the platform is provided with a welding control box, so that the function of real-time welding tracking of the platform is guaranteed and the welding quality is improved; the platform can be turned simply via air bags, so that the cost is reduced and the posture control of the platform is simplified; via two vertical propelling devices and four horizontal propelling devices, six-degree-of-freedom movement can be realized; by combining the platform movement posture control mode and universal wheels, a wall climbing function is fulfilled, and the platform can move freely on any working planes. With the platform structure and with the functions of wall climbing and real-time welding tracking, an open frame type underwater working robot which is novel and stable and is low in cost is realized.

Description

Technical field [0001] The invention relates to the technical field of underwater robots, in particular to a six-degree-of-freedom underwater mobile platform with six degrees of freedom and a stable welding function. Background technique [0002] Underwater welding robots can be widely used in underwater maintenance of large ships, marine exploration platforms, marine drilling platforms, etc., maintenance of nuclear power facilities, underwater welding operations in harsh environments and other fields, and have broad application prospects. The underwater welding robot should meet the requirements of adapting to multiple environments, long-term stable operation, sufficient structural strength, and easy maintenance. The current underwater welding robots are mostly large-sized underwater crawlers that lack flexibility, and the multi-degree-of-freedom underwater mobile platform with welding function needs to be further developed. An existing underwater welding experiment platform ca...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/00B23K37/02B23K9/28
CPCB23K9/0061B23K9/287B23K37/0247B23K37/0252
Inventor 王天
Owner 智真海洋科技(威海)有限公司
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