Underwater welding method and welding robot

Abstract

The underwater welding robot comprises a frame module, a buoyancy module, a mechanical arm welding module, a wheel type moving module, a thrust module, a damping ball stability adjusting module, a multi-mode environment sensing module and an electric control module, and the frame module is used for carrying other modules of the welding robot; the buoyancy module provides buoyancy for the welding robot; the mechanical arm welding module is used for executing underwater welding operation; the wheel type moving module is used for moving the welding robot on the surface of the hull; the thrust module is used for enabling the welding robot to be tightly attached to the surface of the ship body and providing multi-degree-of-freedom propelling power for the welding robot; the damping ball stability adjusting module is used for improving the dynamic stability of the welding robot in the water body; the multi-mode environment sensing module is used for the welding robot to detect the underwater environment and avoid obstacles in water. When the robot is close to the surface of the ship body, reliable attachment to the ship body is achieved through thrust adsorption, and in the adsorption state, the thrust module and the wheel type moving module are fused to achieve movement on the surface of the ship body.

Description

Technical Field

[0001] This invention relates to the field of underwater welding technology, and more particularly to an underwater welding method and a welding robot. Background Technology

[0002] Currently, land resources are becoming increasingly depleted, while the ocean holds abundant resource reserves. This makes ocean development an inevitable choice for expanding human living space and achieving sustainable development of human society. Marine equipment is regarded as a key tool for unlocking the ocean's treasures, bearing the important mission of transforming resource potential into real value. However, the development and long-term maintenance of marine equipment are highly dependent on advanced underwater welding technology and related underwater welding robot technology.

[0003] In existing technologies, underwater welding robots move in water and on ship surfaces in two ways. One is to use an underwater robot with propulsion capabilities as a carrier, equipped with a welding robotic arm. Although it can navigate and hover freely in the water, it cannot stably adhere to the ship surface and move. The other is to rely on wheeled or tracked mobile mechanisms to achieve stable attachment and movement on the ship surface through magnetic adsorption or other means. However, this type of equipment lacks autonomous swimming ability in water and is difficult to achieve autonomous transition and positioning from the water to the ship. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this invention is to propose an underwater welding method and a welding robot to solve the problem of incompatibility between the swimming and adsorption movement of existing underwater welding robots.

[0005] To address the aforementioned problems, the present invention first provides an underwater welding robot, comprising:

[0006] The frame module is used as an attachment for other modules of the welding robot.

[0007] A buoyancy module that provides buoyancy for the welding robot;

[0008] A robotic arm welding module, which is used to perform underwater welding operations;

[0009] A wheeled movement module, the wheeled movement module being used to enable the welding robot to move on the surface of the ship's hull;

[0010] A thrust module is used to keep the welding robot in close contact with the hull surface and to provide the welding robot with multi-degree-of-freedom propulsion power;

[0011] A damping ball stability adjustment module is used to improve the dynamic stability of the welding robot in water.

[0012] A multimodal environment perception module is used by the welding robot to detect the underwater environment and avoid obstacles in the water.

[0013] An electronic control module is used to regulate the robotic arm welding module, the thrust module, and the multimodal environment sensing module.

[0014] Preferably, the frame module includes at least two layers of three-dimensional frame structure, and each layer of three-dimensional frame structure has a number of horizontal and vertical support rods on its inner side to form an internal support structure, and each layer of three-dimensional frame structure is connected by a number of vertical rods.

[0015] Preferably, the buoyancy module includes two first buoyancy blocks and one second buoyancy block. The two first buoyancy blocks are respectively located below the two ends of the second buoyancy block. The first buoyancy blocks and the second buoyancy blocks are connected to the inner side of the top-layer three-dimensional frame structure through a fixing plate assembly.

[0016] Preferably, the robotic arm welding module includes a connecting part, on which a six-axis robotic arm is connected. A welding bracket is connected to the end effector of the six-axis robotic arm, and a welding camera assembly, a welding lighting assembly, and a welding torch assembly are connected to the welding bracket.

[0017] Preferably, the wheeled mobile module includes a mobile component connected to the opposite side of the underlying three-dimensional frame structure.

[0018] Preferably, the thrust module includes thrusters arranged along the positive and negative z-axis, the positive and negative x-axis, and the positive and negative y-axis. The thrusters arranged along the positive and negative z-axis are connected to the opposite sides of the bottom layer of the three-dimensional frame structure, the thrusters arranged along the positive and negative x-axis are connected to the inner side of the top layer of the three-dimensional frame structure, and the thrusters arranged along the positive and negative y-axis are connected to the inner side of the top layer of the three-dimensional frame structure.

[0019] Preferably, the damping ball stability adjustment module includes a gravity ball, springs, and flexible cables. The springs are connected to the eight vertices of the inscribed regular tetrahedron of the gravity ball, and the springs are connected to the inner side of the bottom three-dimensional frame structure. The flexible cables are connected to the center of one face of the circumscribed regular tetrahedron of the gravity ball, and the flexible cables are connected to the three-dimensional frame structure.

[0020] Preferably, the multimodal environment perception module includes environment perception components arranged along the positive and negative z-axis, the positive and negative x-axis, and the positive and negative y-axis. The environment perception components consist of an ultrasonic sensor assembly, a camera assembly, and a lighting assembly.

[0021] Preferably, the electronic control module includes a power supply compartment and a control compartment. The power supply compartment is equipped with power supply devices, and the control compartment is equipped with control devices. The power supply compartment and the control compartment are connected to the inner side of the top-level three-dimensional frame structure.

[0022] The present invention also provides an underwater welding method, wherein the underwater welding method employs the underwater welding robot described above.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The robotic arm welding module enables the welding robot to be equipped with a six-axis robotic arm, freeing up the adjustment of the welding torch's posture. A thrust module provides multi-degree-of-freedom thrust for the welding machine, while a wheeled mobility module allows the robot to operate along the ship's hull surface. These thrust and wheeled mobility modules endow the robot with autonomous movement capabilities in aquatic environments. When encountering high obstacles while working along the ship's surface, it can actively detach from its attachment state, swim freely over obstacles, and then reposition and attach to the hull surface to continue its work. This feature significantly enhances the robot's adaptability and continuity in continuous operation on complex curved surfaces, thus achieving a higher level of full automation.

[0025] 2. The addition of a robotic arm to a welding robot can easily cause the overall center of gravity to shift upwards, resulting in a "top-heavy" posture imbalance. When the welding robot is swimming in water, environmental disturbances such as water flow can easily induce low-frequency swaying. Relying solely on the control algorithm to dynamically adjust the thruster output to maintain stability is not only extremely energy-intensive but also greatly increases the system's control complexity and the risk of instability. Therefore, a damping ball stability adjustment module is incorporated. When the robot body sways, this structure generates a counter-torque in the opposite direction through the inertial motion of the damping ball, thereby passively and in real-time suppressing or even counteracting the body's swaying, allowing the welding robot platform to quickly approach dynamic stability. Attached Figure Description

[0026] Figure 1 A three-dimensional structural diagram of the welding robot provided in an embodiment of the present invention;

[0027] Figure 2 A front view of a welding robot provided in an embodiment of the present invention;

[0028] Figure 3 A side view of a welding robot provided in an embodiment of the present invention;

[0029] Figure 4 A top view of the welding robot provided in an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the structure of the framework module provided in an embodiment of the present invention;

[0031] Figure 6 This is a schematic diagram of the buoyancy module provided in an embodiment of the present invention;

[0032] Figure 7 This is a schematic diagram of the installation of the buoyancy module provided in an embodiment of the present invention;

[0033] Figure 8 This is a schematic diagram of the structure of the robotic arm welding module provided in an embodiment of the present invention;

[0034] Figure 9 This is a schematic diagram of the installation of the robotic arm welding module provided in an embodiment of the present invention;

[0035] Figure 10 This is a schematic diagram of the structure of the electronic control module provided in an embodiment of the present invention;

[0036] Figure 11 This is a schematic diagram of the structure of the wheeled mobile module provided in an embodiment of the present invention;

[0037] Figure 12 This is a schematic diagram of the thrust module provided in an embodiment of the present invention;

[0038] Figure 13 This is a schematic diagram of the structure of the damping ball stability adjustment module provided in an embodiment of the present invention;

[0039] Figure 14 This is another schematic diagram of the damping ball stability adjustment module provided in an embodiment of the present invention;

[0040] Figure 15 This is a schematic diagram of the structure of the multimodal environment perception module provided in an embodiment of the present invention. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "top surface," "bottom surface," "inner," "outer," "inner side," and "outer side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0043] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. Where the terms "first," "second," and "third" are used for descriptive purposes and to distinguish technical features, they should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0044] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The embodiments of this invention will now be described according to its overall structure.

[0045] Figure 1 This is a three-dimensional structural diagram of the welding robot provided in an embodiment of the present invention. Figure 2-4 The front view, side view, and top view of the welding robot provided in the embodiments of the present invention are shown in the reference. Figure 1-4An underwater welding robot includes a frame module 1, which is used as a mounting component for other modules of the welding robot; a buoyancy module 2, which provides buoyancy for the welding robot; a robotic arm welding module 3, which performs underwater welding operations; a wheeled movement module 5, which enables the welding robot to move on the surface of a hull; a thrust module 6, which keeps the welding robot close to the hull surface and provides multi-degree-of-freedom propulsion; a damping ball stability adjustment module 7, which improves the dynamic stability of the welding robot in water; a multimodal environment perception module 8, which helps the welding robot detect the underwater environment and avoid obstacles; and an electronic control module 4, which controls the robotic arm welding module 3, the thrust module 5, and the multimodal environment perception module 8.

[0046] As the welding robot approaches the ship's surface, thrust module 6 provides multi-degree-of-freedom propulsion, enabling reliable attachment to the hull through thrust adsorption. In this adsorption state, the thruster propulsion and wheeled movement modules are further integrated to achieve flexible and stable movement on the hull surface.

[0047] The frame module 1 forms a frame-like integrated platform. This platform is equipped with a thrust module to achieve omnidirectional movement in water, and uses thrust adsorption combined with a wheeled movement module to achieve stable adsorption and flexible movement on the hull surface. The buoyancy module also contains buoyancy materials to maintain neutral buoyancy. The electronic control module 4 serves as the intelligent hub, a vision and ultrasonic fusion perception system is used for weld seam identification and positioning, and a six-axis robotic arm drives the welding end to perform precise welding operations. All modules work together to form a complete underwater welding solution.

[0048] Figure 5 This is a schematic diagram of the framework module provided in an embodiment of the present invention. (See attached diagram.) Figure 5 In a preferred embodiment, the frame module 1 includes at least two layers of three-dimensional frame structure. Each layer of three-dimensional frame structure has several horizontal and vertical support rods on its inner side to form an internal support structure. Each layer of three-dimensional frame structure is connected to the other by several vertical rods.

[0049] In this embodiment of the invention, the frame module is provided with a two-layer three-dimensional frame structure. The inner sides of the top and bottom three-dimensional frame structures are provided with horizontal and vertical support rods. The three-dimensional frame structures are connected by several vertical rods. The support rods and vertical rods are used to support other modules of the underwater welding robot, namely the buoyancy module, the robotic arm welding module, the wheeled movement module, the thrust module, the damping ball stability adjustment module, the multimodal environment perception module, and the electronic control module.

[0050] Figure 6 This is a schematic diagram of the buoyancy module provided in an embodiment of the present invention. (See attached diagram.) Figure 6 In a preferred embodiment, the buoyancy module 2 includes two first buoyancy blocks 2-1 and one second buoyancy block 2-2. The two first buoyancy blocks 2-1 are located below the two ends of the second buoyancy block 2-2, and the first buoyancy blocks 2-1 and the second buoyancy blocks 2-2 are connected to the inner side of the top layer of the three-dimensional frame structure through a fixing plate assembly.

[0051] Figure 7 This is a schematic diagram of the installation of the buoyancy module provided in an embodiment of the present invention. (See attached diagram.) Figure 6 and Figure 7 In a specific implementation, the fixing plate assembly is connected to the three-dimensional frame structure of the frame module 1. The fixing plate assembly includes a first fixing plate 2-3, a second fixing plate 2-4, and a third fixing plate 2-5, as shown in the figure. Figure 7 It is connected to the three-dimensional frame structure as shown.

[0052] Each of the first buoyancy blocks 2-1 is configured with a third fixing plate 2-5 and two second fixing plates 2-4. The first buoyancy block 2-1 is fixedly connected to the third fixing plate 2-5 and the second fixing plate 2-4 by screws, thereby connecting the two first buoyancy blocks 2-1 to the frame module 1.

[0053] The second buoyancy block 2-2 is equipped with two fixing plates 2-3. The second buoyancy block 2-2 is fixedly connected to the fixing plates 2-3 by screws, so as to connect the second buoyancy block 2-2 to the frame module 1.

[0054] The volume of the second buoyancy block 2-2 is larger than that of the first buoyancy block 2-1. The second buoyancy block 2-2 is provided with mounting holes for installing the robotic arm welding module, which facilitates the connection between the robotic arm welding module and the frame module 1.

[0055] Figure 8 This is a schematic diagram of the structure of the robotic arm welding module provided in an embodiment of the present invention. (See attached diagram.) Figure 8 In a preferred embodiment, the robotic arm welding module 3 includes a connecting part 3-1, on which a six-axis robotic arm is connected. A welding bracket 3-2 is connected to the end of the six-axis robotic arm. A welding camera assembly 3-3, a welding lighting assembly 3-5, and a welding torch assembly 3-7 are connected to the welding bracket 3-2.

[0056] Figure 9 This is an installation diagram of the robotic arm welding module provided in an embodiment of the present invention. (See attached diagram.) Figure 8 and Figure 9In a specific implementation, the connecting part 3-1 is a mounting flange, which is disposed in the mounting hole of the second buoyancy block 2-2. The bottom of the mounting flange is connected to the first clamping block 3-8, which is connected to the frame module 1, as shown in Figure 9. The mounting flange is connected to the inner side of the top-level three-dimensional frame structure of the frame module 1, and the inner support rod is connected to the first clamping block 3-8. In this way, the six-axis robotic arm is connected to the frame module 1.

[0057] See Figure 8 and Figure 9 The welding bracket 3-2 is connected to the end effector of the robotic arm by screws, the welding camera assembly 3-3 is fixed to the welding bracket 3-2 by screws, the welding lighting assembly 3-5 is fixed to the welding bracket 3-2 by the second clamp 3-4, and the welding torch 3-7 is fixed to the welding bracket 3-2 by the second clamp 3-6.

[0058] Both the welding lighting assembly 3-5 and the welding torch 3-7 feature adjustable mounting designs for easy and flexible positioning. The six-axis robotic arm provides six degrees of freedom of motion at the welding end effector. The welding torch 3-7 is responsible for performing the specific welding operations, while the welding lighting assembly 3-5 provides ample illumination to the welding area. The welding camera assembly 3-3 is responsible for capturing real-time images of the welding area and transmitting them to the control terminal and human-machine interface via a data transmission system, allowing computers or operators to analyze and evaluate the welding quality.

[0059] Figure 10 This is a schematic diagram of the structure of the electronic control module provided in an embodiment of the present invention. (See attached diagram.) Figure 10 In a preferred embodiment, the electronic control module includes a power supply compartment and a control compartment. The power supply compartment is equipped with power supply devices, and the control compartment is equipped with control devices. The power supply compartment and the control compartment are connected to the inner side of the top-level three-dimensional frame structure.

[0060] See Figure 10 In the specific implementation scheme, both the power supply compartment and the control compartment include a sealed compartment 4-3, which is fixed to the three-dimensional frame of the frame module 1 via a first connecting block 4-1 and a second connecting block 4-2. To avoid interference from the AC power and high current of the power supply device on the signal of the control device, the power supply device is installed in the power supply compartment, and the control device is installed in the control compartment.

[0061] For example, in a specific implementation plan, the robot's electronic control cabin also integrates sensing units such as depth sensors, IMU attitude sensors, water temperature and pressure sensors, and GPS, while a camera is installed at the end effector of the robotic arm. All these sensors and image acquisition systems are processed collaboratively through multi-source information fusion algorithms to build a more comprehensive and reliable perception capability of the environment, thereby improving the robot's survivability and task execution accuracy in complex underwater environments.

[0062] Figure 11 This is a schematic diagram of the structure of the wheeled mobile module provided in an embodiment of the present invention. (See attached diagram.) Figure 11 In a preferred embodiment, the wheeled mobile module 5 includes a moving component connected to opposite sides of the underlying three-dimensional frame structure. For example... Figure 11 As shown, the mobile component is connected to the side of the frame module 1. Wheeled mobile modules 5 are equipped on both the left and right sides of the robot, ensuring reliable adhesion and free movement regardless of which side is close to the hull surface, thus significantly reducing the difficulty of robot operation. The mobile component includes a mobile wheel kit 5-1, which is connected to a mounting plate 5-2. The mounting plate 5-2 is connected to the three-dimensional frame of the frame module 1.

[0063] In a specific implementation, the movable wheel kit 5-1 is a movable wheel kit. The robot uses thrust to adhere the omnidirectional wheels tightly to the hull surface, and the propeller provides power, enabling flexible movement and turning on the hull surface. Alternatively, magnetic adsorption wheels can be used instead of omnidirectional wheels to further enhance adsorption stability.

[0064] Figure 12 The diagram above shows the structure of the thrust module provided in an embodiment of the present invention. Referring to 12, in a preferred embodiment, the thrust module 6 includes thrusters arranged along the positive and negative z-axis, the positive and negative x-axis, and the positive and negative y-axis. The thrusters arranged along the positive and negative z-axis are connected to the opposite sides of the bottom layer of the three-dimensional frame structure, the thrusters arranged along the positive and negative x-axis are connected to the inner side of the top layer of the three-dimensional frame structure, and the thrusters arranged along the positive and negative y-axis are connected to the inner side of the top layer of the three-dimensional frame structure.

[0065] In specific implementation plans, such as Figure 12 As shown, the thrusters arranged along the positive and negative z-axis include a first thruster 6-2, a second thruster 6-4, a third thruster 6-10, and a fourth thruster 6-12, which are symmetrically arranged on the frame module 1.

[0066] The thrusters arranged along the positive and negative x-axis include a fifth thruster 6-7 and a sixth thruster 6-13 symmetrically arranged on the frame module 1.

[0067] The thrusters arranged along the positive and negative directions of the y-axis include the seventh thruster 6-5, the eighth thruster 6-9, the ninth thruster 6-11, and the tenth thruster 6-14, which are symmetrically arranged on the frame module 1.

[0068] If the first thruster 6-2, the second thruster 6-4, the third thruster 6-10, and the fourth thruster 6-12 simultaneously generate a leftward thrust, the robot can move to the right. Conversely, if the first thruster 6-2, the second thruster 6-4, the third thruster 6-10, and the fourth thruster 6-12 simultaneously generate a rightward thrust, the robot can move to the left.

[0069] The first thruster 6-2 and the second thruster 6-4 simultaneously generate a thrust to the left, while the third thruster 6-10 and the fourth thruster 6-12 simultaneously generate a thrust to the right, which can drive the robot to rotate around the negative y-axis. Conversely, they can drive the robot to rotate around the positive y-axis.

[0070] The fifth thruster 6-7 and the sixth thruster 6-13 simultaneously generate forward thrust, which can drive the robot to move backward, and conversely, can drive the robot to move forward.

[0071] The fifth thruster 6-7 generates forward thrust, while the sixth thruster 6-13 generates backward thrust, which can drive the robot to rotate around the positive y-axis, and conversely, drive the robot to rotate around the negative y-axis.

[0072] The seventh thruster 6-5, the eighth thruster 6-9, the ninth thruster 6-11, and the tenth thruster 6-14 simultaneously generate a downward thrust, which can drive the robot to move upward, and conversely, can drive the robot to move downward.

[0073] The seventh thruster 6-5 and the eighth thruster 6-9 generate downward thrust, while the ninth thruster 6-11 and the tenth thruster 6-14 generate upward thrust, which can drive the robot to rotate around the positive z-axis, and conversely, can drive the robot to rotate around the negative z-axis.

[0074] like Figure 12 As shown, in a more specific embodiment, the front-to-back thrusters are connected to the three-dimensional frame of the frame module 1 via a first mounting plate 6-1 and a second mounting plate 6-3. The left-to-right thrusters are connected to the three-dimensional frame of the frame module 1 via a third mounting plate 6-8. The top-to-bottom thrusters are connected to the three-dimensional frame of the frame module 1 via a fourth mounting plate 6-6.

[0075] Figure 13 This is a schematic diagram of the structure of the damping ball stability adjustment module provided in an embodiment of the present invention. Figure 14 This is another schematic diagram of the damping ball stability adjustment module provided in an embodiment of the present invention. (See attached diagram.) Figure 13 and Figure 14In a preferred embodiment, the damping ball stability adjustment module 7 includes a gravity ball 7-4, a spring 7-3, and a flexible cable 7-1. The eight vertices of the gravity ball 7-4, which is inscribed in a regular hexahedron, are respectively connected to the spring 7-3. The spring 7-3 is connected to the inner side of the bottom three-dimensional frame structure. The flexible cable 7-1 is connected to the center of one face of the gravity ball 7-4, which is circumscribed in a regular hexahedron. The flexible cable 7-1 is connected to the three-dimensional frame structure.

[0076] See Figure 13 and Figure 14 In a specific implementation, eight hooks are respectively provided at the eight vertices of the inscribed regular hexahedron of the gravity sphere 7-4. Each hook is connected to one end of a spring 7-3, and the other ends of the eight springs 7-3 are connected to the frame in the same way. A hook is also provided at the center of one face of the circumscribed regular hexahedron of the gravity sphere 7-4 to connect one end of the flexible cable 7-1. The other end of the flexible cable 7-1 is connected to a hook on the mounting block 7-2. The mounting block 7-2 is connected to the mounting flange of the robotic arm module, thereby suspending the entire damping ball module on the three-dimensional frame of the frame module 1 via the flexible cable 7-1.

[0077] When a robot swims in water, disturbances in the external environment can cause changes in its posture, affecting its motion stability. If the robot accelerates forward due to the disturbance, the damping ball will move backward relative to the robot due to inertia, causing the front spring to be stretched and the rear spring to be compressed. Both of these forces exert a backward force on the robot, thereby suppressing its acceleration tendency, helping it to return to its original motion state, and ultimately improving the robot's stability in dynamic water bodies.

[0078] It should be noted that in actual design, the mass, geometric dimensions, spring stiffness coefficient, and structural parameters of the gravity ball can be designed and optimized in a coordinated manner based on the specific structural form of the robot and its mass, gravity, and buoyancy distribution, so as to achieve the best dynamic adjustment performance.

[0079] Figure 15 This is a schematic diagram of the structure of the multimodal environment perception module provided in an embodiment of the present invention. (See attached diagram.) Figure 15 In a preferred embodiment, the multimodal environment sensing module 8 includes environment sensing components arranged along the positive and negative z-axis, the positive and negative x-axis, and the positive and negative y-axis. The environment sensing components consist of an ultrasonic sensor assembly, a camera assembly, and a lighting assembly.

[0080] In a specific implementation, the environmental sensing components arranged along the positive and negative z-axis include a first ultrasonic sensor group 8-1, a second ultrasonic sensor group 8-6, a first camera assembly 8-3, and a first lighting assembly 8-5 arranged at the front end of the robot. It also includes a third ultrasonic sensor group 8-8, a fourth ultrasonic sensor group 8-12, a second camera assembly 8-10, and a second lighting assembly 8-11 arranged at the rear end of the robot.

[0081] The environmental sensing components arranged along the positive and negative y-axis include the fifth ultrasonic sensor group 8-7 and the sixth ultrasonic sensor group 8-9 arranged on the top of the robot, and the seventh ultrasonic sensor group 8-13 and the eighth ultrasonic sensor group 8-14 arranged on the bottom.

[0082] Each camera module is equipped with a lighting module to provide sufficient light for the camera. The ultrasonic sensors at the front and rear ends are mainly used to detect obstacles in the space at the front and rear ends, the ultrasonic sensor at the top is mainly used to detect obstacles in the space above the robot, and the ultrasonic sensor at the bottom is mainly used to detect obstacles in the space below the robot, enabling the robot to effectively avoid obstacles in all directions.

[0083] It should be noted that in actual design, ultrasonic sensors, camera components, and lighting components along the positive and negative x-axis can be set according to the specific structural form of the robot and the obstacle detection requirements.

[0084] This invention also provides an underwater welding method, wherein the underwater welding method employs the underwater welding robot described above.

[0085] The described underwater welding method enables the robot to move autonomously in all directions in water through the coordinated drive of multiple thrusters. When approaching the hull surface, it achieves reliable attachment to the hull through thrust adsorption. In the adsorbed state, the system further integrates thruster propulsion and wheel-like movement mechanisms to complete flexible and stable movement on the hull surface.

[0086] To achieve autonomous operation, the robot is equipped with a multimodal perception system that integrates vision and ultrasound to accurately identify weld features and achieve precise three-dimensional positioning. A six-axis robotic arm drives the welding end effector to complete the welding operation, ensuring accurate tracking of the welding trajectory and process implementation. To address complex underwater disturbances, a strategy combining damping mechanisms and intelligent control algorithms is employed to form a stable control mechanism that coordinates the mechanical structure and control system, thereby ensuring the robot's overall stability and welding quality throughout the entire operation.

[0087] The above description is only a specific embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An underwater welding robot, characterized in that, include: The frame module is used as an attachment for other modules of the welding robot. A buoyancy module that provides buoyancy for the welding robot; A robotic arm welding module, which is used to perform underwater welding operations; A wheeled movement module, used to enable the welding robot to move on the surface of the ship's hull; The thrust module is used to keep the welding robot in close contact with the surface of the ship's hull and to provide the welding robot with multi-degree-of-freedom propulsion power. A damping ball stability adjustment module is used to improve the dynamic stability of the welding robot in water. A multimodal environment perception module is used by the welding robot to detect the underwater environment and avoid obstacles in the water. An electronic control module is used to regulate the robotic arm welding module, the thrust module, and the multimodal environment sensing module.

2. The underwater welding robot according to claim 1, characterized in that, The frame module includes at least two layers of three-dimensional frame structure. Each layer of three-dimensional frame structure has several horizontal and vertical support rods on its inner side to form an internal support structure. Each layer of three-dimensional frame structure is connected to the other by several vertical rods.

3. The underwater welding robot according to claim 2, characterized in that, The buoyancy module includes two first buoyancy blocks and one second buoyancy block. The two first buoyancy blocks are located below the two ends of the second buoyancy block, and the first buoyancy blocks and the second buoyancy blocks are connected to the inner side of the top-level three-dimensional frame structure through a fixing plate assembly.

4. An underwater welding robot according to claim 2, characterized in that, The robotic arm welding module includes a connecting part, on which a six-axis robotic arm is connected. A welding bracket is connected to the end effector of the six-axis robotic arm, and a welding camera assembly, a welding lighting assembly, and a welding torch assembly are connected to the welding bracket.

5. An underwater welding robot according to claim 2, characterized in that, The wheeled mobile module includes a mobile component connected to the opposite side of the underlying three-dimensional frame structure.

6. An underwater welding robot according to claim 2, characterized in that, The thrust module includes thrusters arranged along the positive and negative z-axis, the positive and negative x-axis, and the positive and negative y-axis. The thrusters arranged along the positive and negative z-axis are connected to the opposite sides of the bottom layer of the three-dimensional frame structure, the thrusters arranged along the positive and negative x-axis are connected to the inner side of the top layer of the three-dimensional frame structure, and the thrusters arranged along the positive and negative y-axis are connected to the inner side of the top layer of the three-dimensional frame structure.

7. An underwater welding robot according to claim 2, characterized in that, The damping ball stability adjustment module includes a gravity ball, springs, and flexible cables. The springs are connected to the eight vertices of the gravity ball inscribed in a regular hexahedron, and the springs are connected to the inner side of the bottom three-dimensional frame structure. The flexible cables are connected to the center of one face of the gravity ball circumscribed in a regular hexahedron, and the flexible cables are connected to the three-dimensional frame structure.

8. An underwater welding robot according to claim 2, characterized in that, The multimodal environment perception module includes environment perception components arranged along the positive and negative z-axis, the positive and negative x-axis, and the positive and negative y-axis. The environment perception components consist of an ultrasonic sensor assembly, a camera assembly, and a lighting assembly.

9. An underwater welding robot according to claim 2, characterized in that, The electronic control module includes a power supply compartment and a control compartment. The power supply compartment contains power supply devices, and the control compartment contains control devices. The power supply compartment and the control compartment are connected to the inner side of the top-level three-dimensional frame structure.

10. An underwater welding method, characterized in that, The underwater welding method employs the underwater welding robot described in any one of claims 1-9.

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