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Six degrees of freedom underwater mobile platform

A mobile platform, degree of freedom technology, applied in auxiliary welding equipment, welding equipment, manufacturing tools, etc., can solve the problem of automatic tracking welding of welding seams, etc., to improve welding quality, reduce cost, reduce weight and volume. Effect

Active Publication Date: 2019-07-30
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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  • Six degrees of freedom underwater mobile platform
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  • Six degrees of freedom underwater mobile platform

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] 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 connected to a glass cylinder 3 at the front end of the platform through a hose 4 On the solenoid valve in the middle, the front-view camera 5 and the down-view camera 6, a horizontal lead screw 7 is installed on the front end of the bottom of the platform, and a transverse groove 8 is installed on the other side parallel to the horizontal lead screw 7, and installed on the horizontal lead screw 7 A vertical lead screw 9, the waterproof motor 10 that one end of the vertical lead screw 9 is provided with is installed on the horizontal lead screw 7, and the outer cover that the other end of the vertical lead screw 9 is provided with is embedded in the transverse groove 8, and also includes a The vertical groove 11 that moves together with the lead screw 9, the welding control box...

Embodiment 2

[0036] According to the kinematic mechanism of the six-degree-of-freedom underwater mobile platform in Embodiment 1, the platform is equipped with two vertical propellers 14 and four horizontal propellers 15, and the four horizontal propellers 15 are arranged in a four-corner opposite manner; the propellers use DC The brushless inner rotor motor 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

[0038] According to the kinematic mechanism of the six-degree-of-freedom underwater mobile platform in Embodiment 1, the other end of the glass cylinder 3 at the front end of the platform is connected to the image processing equipment and the air pump of the on-shore control system; the solenoid valve is connected to the on-shore air pump and the cylindrical airbag 2 around the platform to realize the platform Flip 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, ocean exploration platforms, and offshore drilling platforms, maintenance of nuclear power facilities, underwater welding operations in harsh environments, etc., and have broad application prospects. Underwater welding robots should meet the requirements of adapting to various environments, long-term stable operation, sufficient structural strength, and easy maintenance. The current underwater welding robots are mostly bulky and inflexible underwater crawlers, and the multi-degree-of-freedom underwater mobile platforms with welding functions still need to be further developed. An existing underwater welding experiment platform can only perform ma...

Claims

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Application Information

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Patent Type & Authority Patents(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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