Robot for underwater welding, robot system and operation method

A robot system and underwater welding technology, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problems of difficult welding seam detection and positioning, many interferences, and difficult matching of feature points, etc., to achieve guaranteed Welding reliability, the effect of accurate welding

Pending Publication Date: 2018-02-23
CHINA NUCLEAR POWER TECH RES INST CO LTD +2
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Problems solved by technology

[0004] However, there are following deficiencies in the prior art: because the weld seam has a certain depth, the accurate depth information of the weld seam cannot be obtained only through the camera device; moreover, because the underwater environment is complex and there are many int

Method used

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  • Robot for underwater welding, robot system and operation method
  • Robot for underwater welding, robot system and operation method
  • Robot for underwater welding, robot system and operation method

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Embodiment Construction

[0042] In order to describe the technical content, structural features, achieved goals and effects of the present invention in detail, the following will be described in detail in conjunction with the embodiments and accompanying drawings.

[0043] Please refer to figure 1 , the present invention provides a robot system 100 for underwater welding, including a robot 1 for underwater welding and a control monitoring module 7, the robot 1 for underwater welding can be controlled by the control monitoring module 7 Identify and weld the welding seam, including the mobile carrier 10, the panoramic camera module 40 installed on the mobile carrier 10, the multi-degree-of-freedom mechanical arm 20, the welding torch 30 installed on the end joint 21 of the multi-degree-of-freedom mechanical arm 20, the installation The visual detection module 50 of the adjacent terminal joint 22 of the multi-degree-of-freedom mechanical arm 20 coaxially connected with the terminal joint 21, and the comm...

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Abstract

The invention discloses a robot for underwater welding, which can identify and weld welding lines under control of an external control monitoring module. The robot for underwater welding comprises a mobile carrier, a panorama camera module, a multi-degree-of-freedom mechanical arm, a welding gun, a visual detecting module and a communication module; the panorama camera module searches the weldinglines; the visual detecting module comprises a first camera, a second camera and a laser; the laser projects lasers on the welding lines, and scans the welding lines; the first and second cameras acquire laser images, and send the laser images to the control monitoring module for processing and welding monitoring; and the multi-degree-of-freedom mechanical arm controls the welding gun to move to acorresponding position according to coordinate information of the welding lines obtained by processing. The invention further discloses a robot system for underwater welding, which comprises the robot for underwater welding and the control monitoring module. In addition, the invention further discloses an operation method of the robot system for underwater welding.

Description

technical field [0001] The invention relates to the technical field of robot welding, in particular to a robot for underwater welding, a robot system and an operation method. Background technique [0002] With the development of nuclear power industry technology, more and more radioactive containers are used in nuclear power plants, such as reactor pressure vessels, evaporators, condensers, spent fuel pools, refueling pools, etc. Due to the influence of radiation stress and the increase in use time, The surface of the container has surface corrosion and corrosion cracks that seriously threaten the safe operation of nuclear power plants. Therefore, it is necessary to carry out welding repairs such as leak patch welding, crack opening repair welding, and wear and corrosion surface overlay welding. In order to reduce the impact of nuclear radiation on construction personnel And the impact of the surrounding environment, welding needs to be carried out in water. At this stage, ...

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Application Information

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IPC IPC(8): B25J18/00B25J19/00B23K37/00G21C21/00
CPCG21C21/00B23K37/00B25J18/00B25J19/00Y02E30/30
Inventor 董鹏飞陈国栋巴金玉杜佳胡海翔周军张美玲陈少南邓志燕吴玉
Owner CHINA NUCLEAR POWER TECH RES INST CO LTD
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