Welding robot containing cabin in dry type welding cabin and using method of welding robot containing cabin

Abstract

The invention discloses a welding robot containing cabin in a dry type welding cabin and a using method of the welding robot containing cabin, and belongs to the technical field of underwater welding robos.The welding robot containing cabin comprises an outer frame, a sealed cabin, oil cylinder lifting devices and a base, the sealed cabin is arranged in the outer frame, and the oil cylinder lifting devices are arranged on the two sides of the inner wall of the outer frame; the outer wall of the sealed cabin is connected with the oil cylinder lifting device, the base is arranged at the bottom of the outer frame, the sealed cabin is a sealed cabin body with an opening in the bottom face, the opening of the sealed cabin makes contact with the base and is sealed, and one side of the lower portion of the outer frame is open. According to the welding robot containing cabin in the dry type welding cabin, it can be effectively guaranteed that the welding cabin has the excellent watertight performance in the high-pressure underwater environment, the problem of high-pressure leakage of an existing welding cabin is solved, the safety of a welding robot is effectively protected when the welding robot enters water and leaves water, and guarantee is provided for underwater welding operation; the method is suitable for various underwater engineering scenes such as deep sea resource development and submarine pipeline maintenance.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater welding robots, and in particular to a welding robot accommodating cabin in a dry welding cabin and a use method thereof. Background Art

[0002] Underwater welding has always been an essential and critical process in the marine engineering, shipbuilding, and salvage industries. Traditional underwater wet welding suffers from low quality and poor reliability, and is limited to temporary fixation of lightly stressed components, falling far short of the high-stress welding requirements of underwater salvage. The difficulties of underwater welding severely constrain technological innovation and development in the underwater construction industry. Marine engineering has successfully experimented with dry high-pressure and dry atmospheric welding in the repair of subsea pipelines and underwater jackets. In the underwater salvage sector, the application of dry welding technology can significantly improve welding quality.

[0003] Existing dry welding typically involves attaching a dry welding chamber to the surface of the object being welded underwater, followed by a welding robot. However, existing high-pressure dry welding chambers often experience high-pressure leakage in high-pressure underwater environments, which not only affects welding quality but also poses a threat to the safety of workers and equipment. Therefore, a welding robot housing chamber is needed to address these technical issues and ensure a watertight weld chamber in high-pressure underwater environments. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a welding robot accommodating cabin used in a welding cabin, ensuring that the welding cabin has good watertightness in a high-pressure underwater environment, thereby guaranteeing welding quality and equipment safety.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a welding robot accommodating cabin in a dry welding cabin, comprising an external frame, a sealed cabin, a cylinder lifting device and a base, the sealed cabin is arranged in the external frame, and the cylinder lifting devices are arranged on both sides of the inner wall of the external frame, the outer wall of the sealed cabin is connected to the cylinder lifting device, the base is arranged at the bottom of the external frame, the sealed cabin is a sealed cabin body with an opening on the bottom, the opening of the sealed cabin is in contact with the base and is sealed, and one side of the lower part of the external frame is open.

[0006] Preferably, it also includes a hydraulic clamp, which includes a clamp, a hydraulic rod and a hinged joint. Two clamps are provided, one end of the two clamps are hinged together, and the other ends of the two clamps are respectively connected to the hydraulic rod through the hinged joint. One end of the hydraulic rod is hinged to the hinged joint, and the other end is hinged to the inner wall of the base.

[0007] Preferably, there are two hydraulic rods, which are arranged on the same side of the sealed cabin. The clamp is in a semicircular shape. After the sealed cabin contacts the base, the hydraulic rod extends and drives the clamp to tighten, further increasing the sealing performance of the sealed cabin and the base.

[0008] Preferably, a raised flange frame is fixedly provided on the upper surface of the base, and the outer side of the raised flange frame is clearance-fitted with the inner side of the sealed cabin. The raised flange frame plays a role in guiding and facilitating the fixing of the sealed cabin.

[0009] Preferably, a sealing strip is provided at the contact point between the raised flange frame and the sealed cabin.

[0010] Preferably, sealant is applied on the sealing strip to improve the sealing performance.

[0011] Preferably, the cylinder lifting device includes a lifting rail, a slider and a lifting cylinder. The lifting rail is vertically fixed to the upper inner wall of the external frame. The slider is arranged on the lifting rail. One end of the lifting cylinder is fixed to the slider and the other end is fixed to the base. The slider is connected to the outer wall of the sealed cabin by bolts.

[0012] Preferably, the base is a hollow structure, and the diameter of the base is larger than the diameter of the external frame.

[0013] A method for using a welding robot accommodating cabin in a dry welding cabin comprises the following steps: (1) Use professional cleaning equipment to deeply clean all parts and remove surface impurities. Use high-precision measuring tools and flaw detection equipment to conduct dimensional accuracy, surface quality inspection and flaw detection inspection on the sealed cabin, base and clamp. Conduct sampling inspection on the sealing strips to test their elasticity, corrosion resistance, temperature resistance and other performance indicators. Insert the sealing strips into the raised flange frame, apply sealant on the surface of the sealing strips and lay the sealing gasket. (2) Fix the base on the underwater support structure, level the base and ensure it is firmly connected, connect the cylinder lifting device to the sealed cabin and debug it, simulate the lifting action, optimize the cylinder parameters, and check the sealing of the connection parts; (3) Lift the sealed cabin to the top of the base and use auxiliary tools to accurately align the bottom of the sealed cabin and the raised flange frame; (4) Start the hydraulic clamp system, set the initial clamping force according to the design requirements, and adjust the hydraulic system parameters to ensure uniform clamping force; (5) Close the sealed cabin, connect it to a high-pressure gas source to simulate a high-pressure environment, use a pressure sensor to monitor the pressure changes inside and outside the cabin, and inspect the appearance for leaks. If there are any problems, troubleshoot and repair them in a timely manner; (6) Monitor the pressure difference between inside and outside the cabin in real time by installing pressure sensors at key locations of the sealed cabin, set alarm thresholds, and troubleshoot sealing failures when pressure is abnormal; arrange personnel or use equipment to conduct visual inspections of the welding cabin according to the scheduled period, check the status of sealing components, and repair or replace any problems in a timely manner if any are found; (7) The welding robot is installed on the base and set in the sealed cabin. After the sealed cabin is lowered to the base and sealed, the hydraulic clamp is started to tighten the clamp to fasten the sealed cabin to the base; (8) The containment cabin is fixed in the dry welding cabin and lowered into the water with the welding cabin. The water in the dry welding cabin is pumped out so that the dry welding cabin is adsorbed on the hull. Then the clamp is released and the oil cylinder lifting device is started to lift the sealed cabin to the top of the external frame to expose the welding robot. The welding robot's mechanical arm extends out of the opening at the bottom of the external frame to start welding; (9) After welding is completed, the welding robot is retracted into the external frame, and the oil cylinder lifting device is started to lower the sealed cabin. After the sealed cabin is fully in contact with the base, the clamp is tightened to isolate the welding robot from the outside world, and then the entire dry welding cabin is recovered.

[0014] The technical solution of the present invention can achieve the following beneficial effects: The welding robot accommodation cabin in the dry welding cabin of the present invention can effectively ensure that the welding cabin has watertight performance in a high-pressure underwater environment, solve the high-pressure leakage problem of the existing welding cabin, effectively protect the safety of the welding robot when entering and exiting the water, and provide protection for underwater welding operations. It is suitable for many underwater engineering scenarios such as deep-sea resource development and submarine pipeline maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The following is a brief description of the contents and symbols in the drawings of this specification: Figure 1 This is a structural diagram of the accommodation cabin; Figure 2 for Figure 1 Exploded diagram; Figure 3 for Figure 2 Schematic diagram of the structure of the middle base; Figure 4 This is a schematic diagram of the structure of the storage cabin placed in the dry welding cabin Figure 1 ; Figure 5 This is a schematic diagram of the structure of the storage cabin placed in the dry welding cabin Figure 2 ; The markings in the above figures are: 1. External frame; 2. Sealed cabin; 3. Cylinder lifting device; 31. Lifting track; 32. Slider; 33. Lifting cylinder; 4. Base; 5. Hydraulic clamp; 51. Clamp; 52. Hydraulic rod; 53. Hinge joint; 6. Raised flange frame; 7. Hinge point. DETAILED DESCRIPTION

[0016] The following describes the embodiments with reference to the accompanying drawings to further illustrate the specific implementation of the present invention, such as the shape, structure, relative position and connection relationship between the various components involved, the function and working principle of each component.

[0017] As shown in the figure, the welding robot accommodating cabin in the dry welding cabin includes an external frame 1, a sealed cabin 2, a cylinder lifting device 3 and a base 4. The sealed cabin 2 is arranged in the external frame 1, and the cylinder lifting devices 3 are arranged on both sides of the inner wall of the external frame 1. The outer wall of the sealed cabin 2 is connected to the cylinder lifting device 3, and the base 4 is arranged at the bottom of the external frame 1. The sealed cabin 2 is a sealed cabin body with an opening on the bottom. The opening of the sealed cabin 2 is in contact with the base 4 and is sealed, and one side of the lower part of the external frame 1 is open.

[0018] The device also includes a hydraulic clamp 5, which includes a clamp 51, a hydraulic rod 52 and a hinge head 53. Two clamps 51 are provided, and one end of the two clamps 51 is hinged together to form a hinge point 7. The other ends of the two clamps are respectively connected to the hydraulic rod 52 through the hinge head 53. One end of the hydraulic rod 52 is hinged to the hinge head 53, and the other end is hinged to the inner wall of the base 4.

[0019] There are two hydraulic rods 52, which are arranged on the same side of the sealed cabin 2. The clamp 51 is semicircular. After the sealed cabin 2 contacts the base 4, the hydraulic rod 52 extends and drives the clamp 51 to tighten, further increasing the sealing performance of the sealed cabin 2 and the base 4.

[0020] A raised flange frame 6 is fixedly provided on the upper surface of the base 4. The outer side of the raised flange frame 6 is loosely fitted with the inner side of the sealed cabin 2. The raised flange frame 6 serves to guide and facilitate the fixing of the sealed cabin 2. A sealing strip is provided at the contact point between the raised flange frame 6 and the sealed cabin 2. To enhance the sealing performance, sealant is applied to the sealing strip.

[0021] The cylinder lifting device 3 includes a lifting rail 31, a slider 32 and a lifting cylinder 33. The lifting rail 31 is vertically fixed to the upper part of the inner wall of the external frame 1. The slider 32 is set on the lifting rail 31. One end of the lifting cylinder 33 is fixed on the slider 32, and the other end is fixed on the base 4. The slider 32 is connected to the outer wall of the sealed cabin 2 by bolts.

[0022] The base 4 is a hollow structure. The diameter of the base 4 is larger than the diameter of the external frame 1 . The base 4 is fixed in the dry welding cabin.

[0023] A method for using a welding robot accommodating cabin in a dry welding cabin comprises the following steps: (1) Use professional cleaning equipment to deeply clean all components and remove surface impurities. Use high-precision measuring tools and flaw detection equipment to perform dimensional accuracy, surface quality inspection and flaw detection on the sealed cabin 2, base 4 and clamp 51. Perform sampling inspection on the sealing strips to test their elasticity, corrosion resistance, temperature resistance and other performance indicators. Insert the sealing strips into the raised flange frame 6, apply sealant on the surface of the sealing strips and lay the sealing gasket. (2) Fix the base 4 on the underwater support structure, level the base 4 and ensure it is firmly connected, connect the cylinder lifting device 3 to the sealed cabin 2 and debug it, simulate the lifting action, optimize the cylinder parameters, and check the sealing of the connection parts; (3) Lift the sealed cabin 2 to the top of the base 4 and use auxiliary tools to accurately align it so that the bottom of the sealed cabin 2 overlaps with the raised flange frame 6; (4) Start the hydraulic clamp system, set the initial clamping force according to the design requirements, and adjust the hydraulic system parameters to ensure that the clamping force of the clamp 51 is uniform; (5) Seal the sealed cabin 2, connect it to a high-pressure gas source to simulate a high-pressure environment, use a pressure sensor to monitor the pressure changes inside and outside the cabin, and perform an external inspection to check for leaks. If there are any problems, promptly investigate and repair them; (6) Monitor the pressure difference between inside and outside the cabin in real time by installing pressure sensors at key locations of the sealed cabin, set alarm thresholds, and troubleshoot sealing failures when pressure is abnormal; arrange personnel or use equipment to conduct visual inspections of the welding cabin according to the scheduled period, check the status of sealing components, and repair or replace any problems in a timely manner if any are found; (7) The welding robot is installed on the base 4 and is set in the sealed cabin 2. After the sealed cabin 2 is lowered onto the base 4 and sealed, the hydraulic clamp 5 is started to tighten the clamp 51 to fasten the sealed cabin 2 to the base 4; (8) The accommodating cabin is fixed in the dry welding cabin and lowered into the water along with the welding cabin. The water in the dry welding cabin is pumped out so that the dry welding cabin is adsorbed on the hull. Then the clamp 51 is released and the oil cylinder lifting device 3 is started to lift the sealed cabin 2 to the top of the external frame to expose the welding robot. The welding robot's mechanical arm extends out of the opening at the bottom of the external frame to start welding. (9) After welding is completed, the welding robot is retracted into the external frame 1, and the oil cylinder lifting device 3 is started to lower the sealed cabin 2. After the sealed cabin 2 is fully in contact with the base 4, the clamp 51 is started to tighten to isolate the welding robot from the outside world, and then the entire dry welding cabin is recovered.

[0024] like Figure 4 、 5As shown, when in use, the entire housing chamber is placed within the dry welding chamber. Since the welding robot cannot enter water and has high requirements for the operating environment, the welding robot is placed within the housing chamber. This allows the welding robot to be isolated from the outside world during both launching and exiting the welding chamber, ensuring a tight seal and preventing water from entering. After the dry welding chamber is drained underwater and attached to the hull or the object being welded, the clamp 51 is released, and then the cylinder lifting device 3 is activated to lift the sealed chamber 2 to the top of the external frame 1. The welding robot then extends through an opening on one side of the external frame 1 to begin welding.

[0025] After welding, the welding robot is retracted, and then the sealed cabin 2 is lowered to the base 4, and the clamp 51 is tightened to make the sealed cabin 2 tight and waterproof. At this time, the welding robot is stored in the sealed cabin 2 and isolated from the outside world, and then the dry welding cabin is recovered to the surface working mother ship.

[0026] The welding robot housing in this dry welding cabin can effectively ensure that the welding cabin is watertight in a high-pressure underwater environment, solve the high-pressure leakage problem of the existing welding cabin, and effectively protect the safety of the welding robot when entering and exiting the water, providing protection for underwater welding operations. It is suitable for many underwater engineering scenarios such as deep-sea resource development and submarine pipeline maintenance.

[0027] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the scope of protection of the present invention.

Claims

1. A dry welding cabin containing a welding robot, characterized by: It includes an external frame, a sealed cabin, a cylinder lifting device and a base. The sealed cabin is arranged in the external frame. The cylinder lifting devices are arranged on both sides of the inner wall of the external frame. The outer wall of the sealed cabin is connected to the cylinder lifting device. The base is arranged at the bottom of the external frame. The sealed cabin is a sealed cabin body with an opening on the bottom. The opening of the sealed cabin is in contact with the base and is sealed. The lower side of the external frame is open.

2. The dry welding robot accommodating cabin according to claim 1, characterized in that: It also includes a hydraulic clamp, which includes a clamp, a hydraulic rod and a hinged joint. Two clamps are provided, one end of the two clamps are hinged together, and the other ends of the two clamps are respectively connected to the hydraulic rod through the hinged joint. One end of the hydraulic rod is hinged to the hinged joint, and the other end is hinged to the inner wall of the base.

3. The dry welding robot accommodating cabin according to claim 2, characterized in that: There are two hydraulic rods, which are arranged on the same side of the sealed cabin. The clamp is in a semicircular shape. After the sealed cabin contacts the base, the hydraulic rod extends to drive the clamp to tighten, further increasing the sealing performance between the sealed cabin and the base.

4. The dry welding robot accommodating cabin according to claim 3, characterized in that: A raised flange frame is fixedly provided on the upper surface of the base, and the outer side of the raised flange frame is clearance-matched with the inner side of the sealed cabin. The raised flange frame plays a role in guiding and facilitating the fixing of the sealed cabin.

5. The dry welding robot accommodating cabin according to claim 4, characterized in that: A sealing strip is provided at the contact point between the raised flange frame and the sealed cabin.

6. The dry welding robot accommodating cabin according to claim 5, characterized in that: The sealing strip is coated with sealant to improve the sealing performance.

7. The dry welding robot accommodating cabin according to claim 1, characterized in that: The cylinder lifting device includes a lifting rail, a slider and a lifting cylinder. The lifting rail is vertically fixed to the upper part of the inner wall of the external frame. The slider is set on the lifting rail. One end of the lifting cylinder is fixed on the slider and the other end is fixed on the base. The slider is connected to the outer wall of the sealed cabin by bolts.

8. The welding robot accommodation cabin in a dry welding cabin according to claim 1, characterized in that: The base is a hollow structure, and the diameter of the base is larger than the diameter of the external frame.

9. A method for using a welding robot housing in a dry welding cabin, characterized in that: The following steps are involved: (1) Use professional cleaning equipment to deeply clean all parts and remove surface impurities. Use high-precision measuring tools and flaw detection equipment to conduct dimensional accuracy, surface quality inspection and flaw detection inspection on the sealed cabin, base and clamp. Conduct sampling inspection on the sealing strips to test their elasticity, corrosion resistance, temperature resistance and other performance indicators. Insert the sealing strips into the raised flange frame, apply sealant on the surface of the sealing strips and lay the sealing gasket. (2) Fix the base on the underwater support structure, level the base and ensure it is firmly connected, connect the cylinder lifting device to the sealed cabin and debug it, simulate the lifting action, optimize the cylinder parameters, and check the sealing of the connection parts; (3) Lift the sealed cabin to the top of the base and use auxiliary tools to accurately align the bottom of the sealed cabin and the raised flange frame; (4) Start the hydraulic clamp system, set the initial clamping force according to the design requirements, and adjust the hydraulic system parameters to ensure uniform clamping force; (5) Close the sealed cabin, connect it to a high-pressure gas source to simulate a high-pressure environment, use a pressure sensor to monitor the pressure changes inside and outside the cabin, and inspect the appearance for leaks. If there are any problems, troubleshoot and repair them in a timely manner; (6) Monitor the pressure difference between inside and outside the cabin in real time by installing pressure sensors at key locations of the sealed cabin, set alarm thresholds, and troubleshoot sealing failures when pressure is abnormal; arrange personnel or use equipment to conduct visual inspections of the welding cabin according to the scheduled period, check the status of sealing components, and repair or replace any problems in a timely manner if any are found; (7) The welding robot is installed on the base and set in the sealed cabin. After the sealed cabin is lowered to the base and sealed, the hydraulic clamp is started to tighten the clamp to fasten the sealed cabin to the base; (8) The containment cabin is fixed in the dry welding cabin and lowered into the water with the welding cabin. The water in the dry welding cabin is pumped out so that the dry welding cabin is adsorbed on the hull. Then the clamp is released and the oil cylinder lifting device is started to lift the sealed cabin to the top of the external frame to expose the welding robot. The welding robot's mechanical arm extends out of the opening at the bottom of the external frame to start welding; (9) After welding is completed, the welding robot is retracted into the external frame, and the oil cylinder lifting device is started to lower the sealed cabin. After the sealed cabin is fully in contact with the base, the clamp is tightened to isolate the welding robot from the outside world, and then the entire dry welding cabin is recovered.

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