Crawling mechanism of underwater welding robot

Abstract

The invention discloses a crawling mechanism of an underwater welding robot. The crawling mechanism comprises an electric box, a left transmission box and a right transmission box. The left and righttransmission boxes are rotatably provided with a left driven shaft, a right driven shaft, a left driving shaft and a right driving shaft, separately, and are provided with chain wheels, separately, aleft immersible motor and right immersible motor are fixed to the left and right transmission boxes, separately, a left transmission mechanism and a right transmission mechanism are mounted in the left and right transmission boxes, separately, left circulation chains and right circulation chains are mounted on the chain wheels, and permanent magnets are fixedly mounted in an equally spaced on theleft circulation chains and right circulation chains. Control panel which controls the immersible motors to work is arranged in the electric box, a wiring harness export hole is formed in the electric box, and a wiring harness sealing and fixing structure is mounted on the wiring harness export hole. The crawling mechanism can turn better under a circumstance of guaranteeing an enough adhesive force without arranging a turning mechanism, so that the crawling mechanism is reliable in crawling action.

Description

technical field [0001] The invention relates to a crawling mechanism, in particular to a crawling mechanism for an underwater welding robot. Background technique [0002] In recent years, due to the maintenance of large ships, underwater drilling platforms, etc. and the development of ocean engineering, underwater welding technology is urgently needed. The development of underwater welding robots is proposed to meet this need. Underwater welding is different from land welding, and has the particularity of its working environment. We must take a series of measures in view of the particularity of the underwater environment. Welding operations under water need to ensure good sealing, avoid control components from being immersed in water, and at the same time ensure that there is sufficient adhesion on the underwater hull to facilitate crawling . However, there are generally several methods for the crawling mechanism of the current underwater welding robot. One is the magnetic...

AI Technical Summary

Problems solved by technology

It is characterized by a large floor area, easy to generate a large adsorption force, and strong adaptability to the wall. Its disadvantage is that it is difficult to turn because of its large size, and it also needs to be equipped with a separate steering mechanism.

[0006] The last way of driving is walking, which relies on the repeated adsorption and detachment of multiple legs or frames. Although this way has a good load-bearing capacity, its biggest disadvantage is that it is difficult to move and the walking speed is slow.

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