Robot for underwater welding, robot system and operation method

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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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 interferences, the weld seam can be detected by the camera device During detection, it is difficult to match the characteristic points, and it is impossible to obtain accurate weld coordinate information, and it is difficult to realize real-time and accurate weld detection and positioning

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