Underwater closed space local dry method welding robot

Abstract

The invention discloses an underwater closed space local dry method welding robot. The device comprises a walking mechanism, a mechanical operation arm mechanism, an underwater closed space welding device and a hydraulic system, wherein the walking mechanism comprises a robot shell and a walking triangular crawler wheel; the walking triangular crawler wheel comprises a crawler belt, a triangular bracket, a driving wheel system, a tensioning wheel system, a connecting belt and an anti-rollover wheel system; the mechanical arm mechanism comprises mechanical arm main arms and a mechanical arm up-down lifting operation device; and the underwater closed welding space device comprises an upper shell part, a lower shell part, a sealing cover and an internal welding executing mechanism. Accordingto the underwater closed space local dry method welding robot, the triangular crawler type underwater cable-free movement is adopted, the full-position automatic welding of the pipeline is realized bycarrying a structural form of an operation arm connected to a welding operation cabin, a cylindrical box body local dry method welding mode and a movable welding gun head are matched, under the condition that the pipeline is relatively fixed, all the water in the whole operation area is emptied by means of injection air, so that the welding equipment is driven along a welding seam to move aroundthe wall of the pipe, and therefore the automatic welding can be realized.

Description

technical field [0001] The invention relates to an underwater welding robot. Background technique [0002] In the construction of offshore pipelines in the offshore oil and gas industry, oil and gas transportation is an important link, and its pipeline laying and welding technology is particularly important. At present, most of my country's underwater welding technology still stays at the level of manual welding, basically by divers diving into the bottom of the water for welding. Therefore, realizing high-efficiency and low-cost welding automation has always been a difficult problem in the field of welding technology, and the realization of underwater welding automation is much more difficult than welding on land. For underwater environments with deep water depth, high pressure, narrow working space, and even strong nuclear radiation, existing welding robots cannot replace humans to complete corresponding tasks. The realization of underwater welding automation is an impor...

AI Technical Summary

Problems solved by technology

For underwater environments with deep water depth, high pressure, narrow working space, and even strong nuclear radiation, existing welding robots cannot replace humans to complete corresponding tasks

Images