A variable stiffness dynamic sealing sliding curtain device, a local underwater dry welding system and control method

Abstract

This invention relates to the field of underwater welding technology and relates to a variable stiffness dynamic sealing sliding curtain device, a local underwater dry welding system, and a control method. The invention solves the problem of existing dynamic sealing sliding curtains easily deforming and failing under the combined action of deep-water high pressure and internal high-pressure gas. In this invention, multiple sliding curtain blocks are arranged sequentially from front to back, with adjacent sliding curtain blocks being movably connected, and each sliding curtain block can move in the front-to-back direction. A locking mechanism is used to form or release a locking fit between adjacent sliding curtain blocks. A position control mechanism is set on the movement path of the sliding curtain blocks to control the locking mechanism to switch between a locked and unlocked state according to the position of the sliding curtain blocks. When in the locked state, adjacent sliding curtain blocks are relatively fixed, making the sliding curtain device rigid; when in the unlocked state, adjacent sliding curtain blocks can move relative to each other, making the sliding curtain device flexible, realizing the rigid-flexible transition of the sliding curtain device. This invention is used for underwater local dry welding operations.

Description

Technical Field

[0001] This invention relates to the field of underwater welding technology, specifically to a variable stiffness dynamic sealing curtain device, a local underwater dry welding system, and a control method. Background Technology

[0002] Underwater localized dry welding technology uses a specialized welding drainage cover to pressurize and drain the surface being repaired, creating a localized dry cavity to achieve an effect similar to dry welding, greatly improving the efficiency and quality of underwater in-situ repair. However, current fixed welding drainage covers often use flexible, deformable skins for their interfaces with mechanical or manual work. On the one hand, with a large area, it is difficult to guarantee the rigidity to maintain the shape; on the other hand, under deep water pressure and high internal air pressure, deformation can occur, leading to leakage and seriously affecting the stability of the welding quality.

[0003] To address this problem, there is an urgent need for a large-area sliding curtain or other dynamic sealing device that can maintain shape rigidity under deep water pressure and internal high air pressure. Chinese utility model patent CN202114425U, published on January 18, 2012, discloses a chamber-type local dry automatic underwater welding device, providing a chamber-type local dry automatic underwater welding device with a large welding protection area and adaptable to automation requirements. This device uses a fixed drainage cover, internally equipped with a local micro-drainage device and a small three-axis motion device to hold the welding torch, including a camera and several sensors. During welding, the drainage device is relatively fixed to the workpiece. This method avoids movement of the drainage cover itself (i.e., the local dry chamber), eliminating the stability problem of the local dry chamber; it also avoids movement of the sealing position of the drainage cover, essentially eliminating the problem of dynamic sealing, and significantly improving welding quality.

[0004] However, this utility model patented automated welding equipment is integrated with the gas chamber, and its performance is limited by the micro-welding technology itself, making it difficult to perform high-quality welding work with complex device requirements. Moreover, its flexibility in dealing with different welding equipment is almost zero. At the same time, the structural design of the drainage cover limits the welding operation range, and the welding flexibility is significantly restricted compared to dry welding.

[0005] In summary, in existing underwater local dry welding devices, a flexible deformable skin is typically used as a dynamic sealing curtain above the drainage cover to accommodate the movement of the welding robotic arm 18 or manual operation. However, under the combined effects of the high-pressure environment in deep water and the high-pressure gas inside the drainage cover, this flexible skin is prone to uncontrollable deformation, leading to dynamic seal failure and failing to effectively maintain the stability of the local dry cavity. Summary of the Invention

[0006] The purpose of this invention is to solve the problem that in existing underwater partial dry welding devices, when the flexible deformable skin above the drainage cover is used as a dynamic sealing curtain, uncontrollable deformation easily occurs under the combined action of deep-water high-pressure environment and internal high-pressure gas, leading to dynamic seal failure and inability to effectively maintain the stability of the local dry cavity. Therefore, this invention provides a variable stiffness dynamic sealing curtain device, a partial underwater dry welding system, and a control method.

[0007] The technical solution of this invention is:

[0008] This invention provides a variable stiffness dynamic sealing sliding curtain device, comprising:

[0009] Multiple sliding curtain blocks 1 are arranged sequentially from front to back, with adjacent sliding curtain blocks 1 being movably connected, and each sliding curtain block 1 being movable in the front-back direction;

[0010] A locking mechanism is provided on each of the sliding curtain blocks 1, for forming a locking engagement or releasing the locking engagement between two adjacent sliding curtain blocks 1;

[0011] A position control mechanism is provided on the movement path of the sliding curtain block 1, and is used to control the locking mechanism to switch between the locked state and the unlocked state according to the position of the sliding curtain block 1;

[0012] When two adjacent sliding curtain blocks 1 are in the locked state, they are fixed relative to each other, making the sliding curtain device rigid; when two adjacent sliding curtain blocks 1 are in the unlocked state, they can move relative to each other, making the sliding curtain device flexible, thereby realizing the rigid-flexible conversion of the sliding curtain device.

[0013] Furthermore, the position control mechanism is a limiting magnetic attraction mechanism, including a first magnetic element 2 disposed on the movement path of the sliding block 1 and a second magnetic element 3 disposed on the sliding block 1. The locking mechanism switches between a locked state and an unlocked state under the magnetic force of the first magnetic element 2 and the second magnetic element 3.

[0014] Furthermore, the locking mechanism includes a locking tongue 4 and a locking tongue receiving space 5. The locking tongue 4 is slidably disposed on the sliding curtain block 1, and the locking tongue receiving space 5 is disposed on the adjacent sliding curtain block 1. When the locking tongue 4 extends and inserts into the locking tongue receiving space 5 under the action of external force, the two adjacent sliding curtain blocks 1 switch to the locked state. When the locking tongue 4 exits the locking tongue receiving space 5, the two adjacent sliding curtain blocks 1 switch to the unlocked state.

[0015] Furthermore, the locking mechanism also includes a push rod 6, on which the second magnetic element 3 is disposed. A transverse groove is formed on the sliding block 1 along a direction perpendicular to its movement path, and the push rod 6 is slidably installed in the transverse groove. Two parallel connecting rods 7 are provided between the latch 4 and the push rod 6. One end of each connecting rod 7 is rotatably connected to the push rod 6, and the other end of each connecting rod 7 is rotatably connected to the latch 4. The push rod 6 slides under the magnetic force between the first magnetic element 2 and the second magnetic element 3, and drives the latch 4 to extend or retract through the two connecting rods 7.

[0016] Furthermore, it also includes a sliding guide mechanism, which is used to constrain the movement of each of the sliding curtain blocks 1 in the front-back direction; the sliding guide mechanism includes a slide rail 8, which is disposed at the left and right ends of the sliding curtain block 1 in the front-back direction, and the slide rail 8 is slidably engaged with the longitudinal groove on the movement path of the sliding curtain block 1 to constrain the movement of each of the sliding curtain blocks 1 in the front-back direction.

[0017] Furthermore, it also includes a limiting structure 9, which is disposed in the transverse groove of the sliding curtain block 1 to limit the sliding stroke of the push rod 6.

[0018] Furthermore, each of the sliding curtain blocks 1 is covered with a flexible skin 10 on its upper and lower surfaces, and a spliced ​​skin is connected between two adjacent flexible skins 10. The spliced ​​skin deforms with the relative movement between the two adjacent sliding curtain blocks 1 and seals the gap between the two adjacent sliding curtain blocks 1 to achieve a seal.

[0019] The present invention also provides a local underwater dry welding system, comprising:

[0020] Drainage cover housing 11;

[0021] A high-temperature resistant sealing skirt 12 is provided at the bottom of the drainage cover box 11 for sealing against the surface to be welded;

[0022] The variable stiffness dynamic sealing curtain device is installed on the drainage cover box 11;

[0023] The adapter plate 13 is a hollow structure and is set on the upper part of the drainage cover box 11. The sliding curtain block 1 is connected to both sides of the adapter plate 13 respectively. The opening of the adapter plate 13 is provided with a mechanical arm interface 19 for connecting a welding mechanical arm so that the sliding curtain device moves synchronously with the welding mechanical arm.

[0024] The drive mechanism includes a front drive assembly 14 and a rear drive assembly 15, which are respectively disposed on the front and rear sides of the drainage cover box 11. The front drive assembly 14 and the rear drive assembly 15 are used to synchronously pull the sliding curtain device to move forward and / or backward.

[0025] A sealing element is provided between the sliding curtain device and the drainage cover box 11 to fill the gap between the two to achieve a seal;

[0026] A vent is provided on the drainage cover housing 11 for introducing high-pressure gas into the drainage cover housing 11 to form a local dry cavity.

[0027] Furthermore, the front drive assembly 14 and the rear drive assembly 15 each include a servo motor 16 and two drive belts 17. The servo motor 16 is installed at the front end and / or rear end of the drainage cover housing 11. The two drive belts 17 are arranged parallel to each other in the front-rear direction. The shaft of the servo motor 16 is connected to the two drive belts 17 via a drive wheel. The two drive belts 17 are respectively connected to the sliding curtain block 1 and are used to pull the sliding curtain device to move in the front-rear direction via the drive belts 17.

[0028] The present invention also provides a control method for a local underwater dry welding system, applied to the aforementioned local underwater dry welding system, comprising the following steps:

[0029] Step 1: Device Deployment and Positioning

[0030] The drainage cover 11 is placed on the surface to be welded, so that the high-temperature resistant sealing skirt 12 is in contact with and sealed to the surface to be welded.

[0031] Step 2: The welding robotic arm extends into and forms a local dry cavity.

[0032] The welding robotic arm is inserted into the sliding curtain device, and high-pressure gas is introduced into the drainage cover box 11 to form a local dry cavity inside the drainage cover box 11.

[0033] Step 3: Start the welding robotic arm and drive mechanism

[0034] Start the welding robotic arm and drive mechanism;

[0035] Step Four: Coordinated Motion and Transition from Rigid to Flexible

[0036] Drive each of the sliding curtain blocks 1 to move in the front-back direction, and control the adjacent two sliding curtain blocks 1 to switch between locked and unlocked states according to the position of each sliding curtain block 1 on the movement path, so that the sliding curtain device can switch between rigid and flexible states, and the welding robot arm and the sliding curtain device move together.

[0037] Step 5: Reset

[0038] After the welding operation is completed, the welding robotic arm and the drive mechanism are reset.

[0039] Step Six: Close the dynamic seal auxiliary device

[0040] Close the dynamic sealing auxiliary device of the drainage cover box 11;

[0041] Step 7: Stop gas supply and recycle the equipment

[0042] Stop the supply of the high-pressure gas and reclaim the drain cover 11.

[0043] Compared with the prior art, the present invention has the following advantages:

[0044] 1. This invention proposes a variable stiffness dynamic sealing curtain for localized underwater dry welding. It is mounted on a double-layered drainage cover fixed at the weld location and connected to a welding robotic arm via an adapter plate and a rubber elastic seal. The variable stiffness dynamic sealing curtain automatically changes its stiffness during movement through a limiting magnetic attraction mechanism on the drainage cover wall. On the one hand, it can flexibly adapt to the movement of the welding robotic arm; on the other hand, it can withstand bidirectional overturning pressure to a certain extent, adapting to the environment of high water pressure on the outside and high air pressure on the inside during underwater localized dry welding under arc welding. Simultaneously, the localized dry cavity of this invention does not move, fundamentally eliminating stability problems caused by dry cavity movement.

[0045] 2. This invention uses a variable stiffness dynamic sealing curtain structure to replace the common flexible deformable skin, and uses a magnetic device to control the stiffness of the curtain through stroke. In the working area, the dynamic sealing curtain is self-locking and has the ability to withstand bidirectional overturning pressure; in the non-working area, the dynamic sealing curtain is unlocked and can be lowered or folded to adapt to the confined space of complex underwater environments.

[0046] 3. After the sliding curtain is locked, its rigidity is maintained by the sliding rail and the locking tongue. It can be laid over a large area and still maintain a certain rigidity. It will not deform under deep water pressure and cause sealing failure. The interface 19 between the sliding curtain and the welding robot arm is made of flexible skin, which can be adapted to various models of welding robot arms. It provides great flexibility and high performance for the unrestricted movement of the welding robot arm and can adapt to various complex weld requirements.

[0047] 4. This invention uses a servo motor to control the transmission belt, which drives the sliding curtain and the welding robot arm to move in coordination. On the one hand, this reduces the force on the welding robot arm and improves its operating accuracy; on the other hand, it leaves room for the subsequent addition of sensors and the realization of feedback control of the welding system, which helps to further improve welding accuracy.

[0048] 5. This invention achieves position control and self-locking solely through a magnetic field, which not only reduces equipment costs but also proposes a position control method for extreme deep-sea environments. This magnetic field-based control method avoids potential malfunctions of electronic equipment in the high-pressure, high-humidity deep-sea environment, offering advantages such as high reliability, low cost, and small size.

[0049] 6. The locking tongue size and permanent magnet performance of the present invention can be changed to obtain greater rigidity to adapt to deeper water pressure and air pressure. At the same time, the area of ​​a single sliding curtain block can be increased to adapt to a larger drainage cover area. It has strong scalability and can be used in more severe working conditions. Attached Figure Description

[0050] Figure 1 This is a front view of the local underwater dry welding system of the present invention;

[0051] Figure 2 This is a top view of the local underwater dry welding system of the present invention;

[0052] Figure 3 This is an isometric view (I) of the local underwater dry welding system of the present invention;

[0053] Figure 4 This is a second isometric view of the local underwater dry welding system of the present invention.

[0054] Figure 5 This is a right view of the local underwater dry welding system of the present invention;

[0055] Figure 6 This is a left view of the local underwater dry welding system of the present invention;

[0056] Figure 7 This is an isometric view of the drainage cover box of the present invention;

[0057] Figure 8 This is an isometric view (I) of the overall structure of the variable stiffness dynamic sealing sliding curtain device and the adapter plate assembled according to the present invention.

[0058] Figure 9 This is an isometric view (II) of the overall structure of the variable stiffness dynamic sealing sliding curtain device and the adapter plate assembled according to the present invention.

[0059] Figure 10 This is an isometric view (a) of the sliding curtain block of the present invention;

[0060] Figure 11 This is the second isometric view of the sliding curtain block of the present invention;

[0061] Figure 12 This is an isometric view (a) of the sliding block and locking tongue of the present invention in the unlocked state;

[0062] Figure 13 This is an isometric view (II) of the sliding block and locking tongue of the present invention in the unlocked state;

[0063] Figure 14 This is a top view of the sliding block and locking tongue of the present invention in the unlocked state;

[0064] Figure 15 This is a side view of the sliding block and locking tongue of the present invention in the unlocked state;

[0065] Figure 16 This is an isometric view (a) of the sliding block and locking tongue of the present invention in the unlocked state;

[0066] Figure 17 This is an isometric view (II) of the sliding block and locking tongue of the present invention in the unlocked state;

[0067] Figure 18 This is a top view of the sliding block and locking tongue of the present invention in the unlocked state;

[0068] Figure 19 This is a side view of the sliding block and locking tongue of the present invention in the unlocked state.

[0069] In the diagram: 1-Sliding curtain block; 2-First magnetic element; 3-Second magnetic element; 4-Lock tongue; 5-Lock tongue receiving space; 6-Push rod; 7-Connecting rod; 8-Slide rail; 9-Limiting structure; 10-Flexible skin; 11-Drainage cover box; 12-High temperature resistant sealing skirt; 13-Adapter plate; 14-Front drive assembly; 15-Rear drive assembly; 16-Servo motor; 17-Transmission belt; 18-Welded robotic arm; 19-Robotic arm interface; 20-Lock tongue mounting groove; 21-Guide protrusion. Detailed Implementation

[0070] Specific implementation method one: Combining Figures 1 to 19 This embodiment describes a variable stiffness dynamic sealing sliding curtain device, comprising:

[0071] Multiple sliding curtain blocks 1 are arranged sequentially from front to back, with adjacent sliding curtain blocks 1 being movably connected, and each sliding curtain block 1 being movable in the front-back direction;

[0072] A locking mechanism is provided on each of the sliding curtain blocks 1, for forming a locking engagement or releasing the locking engagement between two adjacent sliding curtain blocks 1;

[0073] A position control mechanism is provided on the movement path of the sliding curtain block 1, and is used to control the locking mechanism to switch between the locked state and the unlocked state according to the position of the sliding curtain block 1;

[0074] When two adjacent sliding curtain blocks 1 are in the locked state, they are fixed relative to each other, making the sliding curtain device rigid; when two adjacent sliding curtain blocks 1 are in the unlocked state, they can move relative to each other, making the sliding curtain device flexible, thereby realizing the rigid-flexible conversion of the sliding curtain device.

[0075] The adjacent two sliding curtain blocks 1 are rotatably connected by a pin.

[0076] With this configuration, the position control mechanism automatically controls the locking mechanism to switch between locked and unlocked states based on the position of the sliding curtain block 1. This makes the sliding curtain device rigid in the working area to withstand internal and external pressure, and flexible in the non-working area to fold or hang down, thus realizing the rigid-flexible conversion of the sliding curtain device.

[0077] Specific Implementation Method Two: Combining Figures 1 to 19 In this embodiment, the position control mechanism is a limiting magnetic attraction mechanism, which includes a first magnetic element 2 disposed on the movement path of the sliding curtain block 1 and a second magnetic element 3 disposed on the sliding curtain block 1. The locking mechanism switches between a locked state and an unlocked state under the magnetic force of the first magnetic element 2 and the second magnetic element 3.

[0078] This configuration, using a magnetic field to achieve position control and self-locking, avoids potential malfunctions of electronic equipment in the high-pressure, high-humidity deep-sea environment, offering advantages such as high reliability, low cost, and small size. Other components and connections are the same as in Specific Implementation Method 1.

[0079] Specific implementation method three: Combining Figures 1 to 19 In this embodiment, the locking mechanism includes a locking tongue 4 and a locking tongue receiving space 5. The locking tongue 4 is slidably disposed on the sliding curtain block 1, and the locking tongue receiving space 5 is disposed on an adjacent sliding curtain block 1. When the locking tongue 4 extends and inserts into the locking tongue receiving space 5 under the action of external force, the two adjacent sliding curtain blocks 1 switch to the locked state. When the locking tongue 4 retracts from the locking tongue receiving space 5, the two adjacent sliding curtain blocks 1 switch to the unlocked state.

[0080] The sliding curtain block 1 is provided with a lock tongue mounting groove 20, the bottom of the lock tongue mounting groove 20 is provided with a guide protrusion 21, and the bottom of the lock tongue 4 is provided with a guide groove that slides in cooperation with the guide protrusion 21.

[0081] With this configuration, locking and unlocking between adjacent sliding curtain blocks 1 are achieved by inserting and retracting the locking tongue 4 and the locking tongue receiving space 5. Other components and connections are the same as in specific implementation method one or two.

[0082] Specific implementation method four: Combination Figures 1 to 19In this embodiment, the locking mechanism further includes a push rod 6, on which the second magnetic element 3 is disposed. A transverse groove is formed on the sliding block 1 along a direction perpendicular to its movement path, and the push rod 6 is slidably installed in the transverse groove. Two parallel connecting rods 7 are provided between the latch 4 and the push rod 6. One end of each connecting rod 7 is rotatably connected to the push rod 6, and the other end of each connecting rod 7 is rotatably connected to the latch 4. The push rod 6 slides under the magnetic force between the first magnetic element 2 and the second magnetic element 3, and drives the latch 4 to extend or retract via the two connecting rods 7.

[0083] With this configuration, when the push rod 6 slides along the transverse groove under magnetic force, the latch 4 extends or retracts laterally via two parallel connecting rods 7, thus achieving magnetically driven extension and retraction control of the latch 4. Other components and connections are the same as in specific embodiments one, two, or three.

[0084] Both the first magnetic element 2 and the second magnetic element 3 are permanent magnets.

[0085] Specific Implementation Method Five: Combining Figures 1 to 19 This embodiment further includes a sliding guide mechanism, which is used to constrain the movement of each of the sliding curtain blocks 1 in the front-back direction. The sliding guide mechanism includes a slide rail 8, which is disposed at the left and right ends of the sliding curtain block 1 in the front-back direction. The slide rail 8 is slidably engaged with the longitudinal groove on the movement path of the sliding curtain block 1 to constrain the movement of each of the sliding curtain blocks 1 in the front-back direction.

[0086] With this configuration, the sliding curtain block 1 is mounted on the drainage cover box 11 via the slide rail 8. The slide rail 8 is used to connect to the longitudinal sliding groove on the drainage cover box 11 to restrict the degree of freedom and position, allowing each sliding curtain block 1 to move in a directional manner along the front-back direction. Other components and connections are the same as in specific embodiments one, two, three, or four.

[0087] Specific Implementation Method Six: Combination Figures 1 to 19 This embodiment further includes a limiting structure 9, which is disposed in the transverse groove of the sliding curtain block 1 and is used to limit the sliding stroke of the push rod 6.

[0088] In this configuration, the limiting structure 9 restricts the stroke of the push rod 6. When the push rod 6 reaches its position under magnetic force, it is stopped by the limiting structure 9, ensuring that the locking tongue 4 accurately reaches the predetermined position for locking. Simultaneously, the limiting structure 9 and the first magnetic element 2 are located on the front and rear sides of the second magnetic element 3, respectively, forming a complete action chain of "magnetic attraction, push rod 6 sliding, limiting stop, and locking tongue 4 reaching its position." This achieves precise positioning and locking under magnetic drive, preventing the push rod 6 from sliding excessively due to excessive magnetic force. Other components and connections are the same as in specific embodiments one, two, three, four, or five.

[0089] Wherein, the second magnetic element 3 is located between the first magnetic element 2 and the limiting structure 9 in the direction of movement of the sliding block 1; when the sliding block 1 moves to the position of the first magnetic element 2, the magnetic force between the first magnetic element 2 and the second magnetic element 3 drives the push rod 6 to slide towards the limiting structure 9 until the push rod 6 is stopped by the limiting structure 9, so that the locking tongue 4 extends out and inserts into the locking tongue receiving space 5.

[0090] The limiting structure 9 is a stop block.

[0091] Specific implementation method seven: Combination Figures 1 to 19 In this embodiment, each of the sliding curtain blocks 1 is covered with a flexible skin 10 on its upper and lower surfaces. A spliced ​​skin is connected between two adjacent flexible skins 10. The spliced ​​skin deforms with the relative movement between the two adjacent sliding curtain blocks 1 and seals the gap between the two adjacent sliding curtain blocks 1 to achieve a seal.

[0092] This configuration achieves sealing of the gaps between the sliding curtain blocks 1 through spliced ​​skins. Simultaneously, the spliced ​​skins deform with the relative movement between the sliding curtain blocks 1, maintaining a constant seal. Other components and connections are the same as in specific embodiments one, two, three, four, five, or six.

[0093] The flexible skin 10 is fixed to each of the sliding curtain blocks 1 by fastening bolts.

[0094] Specific implementation method eight: Combination Figures 1 to 19 This embodiment describes a local underwater dry welding system, comprising:

[0095] Drainage cover housing 11;

[0096] A high-temperature resistant sealing skirt 12 is provided at the bottom of the drainage cover box 11 for sealing against the surface to be welded;

[0097] The variable stiffness dynamic sealing curtain device is installed on the drainage cover box 11;

[0098] The adapter plate 13 is a hollow structure and is set on the upper part of the drainage cover box 11. The sliding curtain block 1 is connected to both sides of the adapter plate 13 respectively. The opening of the adapter plate 13 is provided with a mechanical arm interface 19 for connecting a welding mechanical arm so that the sliding curtain device moves synchronously with the welding mechanical arm.

[0099] The drive mechanism includes a front drive assembly 14 and a rear drive assembly 15, which are respectively disposed on the front and rear sides of the drainage cover box 11. The front drive assembly 14 and the rear drive assembly 15 are used to synchronously pull the sliding curtain device to move forward and / or backward.

[0100] A sealing element is provided between the sliding curtain device and the drainage cover box 11 to fill the gap between the two to achieve a seal;

[0101] A vent is provided on the drainage cover housing 11 for introducing high-pressure gas into the drainage cover housing 11 to form a local dry cavity.

[0102] In this configuration, the drainage cover box 11 is a double-layered box structure fixed at the weld position. It is sealed to the surface to be welded by a high-temperature resistant rubber skirt. The vent is used to connect to the air supply pipe on the welding robotic arm 18 to introduce high-pressure gas into the drainage cover box 11. The sealing element fills the gap between the sliding curtain device and the drainage cover box 11 to achieve an overall seal. Sliding curtain blocks 1 are connected to both sides of the adapter plate 13, allowing the sliding curtain device to move synchronously when the welding robotic arm moves, achieving coordinated motion. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, or seven.

[0103] Specific Implementation Method Nine: Combining Figures 1 to 19 In this embodiment, the front drive assembly 14 and the rear drive assembly 15 each include a servo motor 16 and two drive belts 17. The servo motor 16 is installed at the front end and / or rear end of the drainage cover housing 11. The two drive belts 17 are arranged parallel to each other in the front-rear direction. The shaft of the servo motor 16 is connected to the two drive belts 17 via a drive wheel. The two drive belts 17 are respectively connected to the sliding curtain block 1 and are used to pull the sliding curtain device to move in the front-rear direction via the drive belts 17.

[0104] With this configuration, the servo motor 16 drives the transmission belt 17 to pull the sliding curtain. The rotation of the servo motor 16's shaft causes the transmission belt 17 to wrap around the shaft, enabling the sliding curtain device and the welding robotic arm 18 to move in tandem. This reduces the force on the welding robotic arm 18 and improves its operational accuracy. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, seven, or eight.

[0105] Specific Implementation Method Ten: Combining Figures 1 to 19 This embodiment describes a control method for a local underwater dry welding system, applied to the aforementioned local underwater dry welding system, comprising the following steps:

[0106] Step 1: Device Deployment and Positioning

[0107] The drainage cover 11 is placed on the surface to be welded, so that the high-temperature resistant sealing skirt 12 is in contact with and sealed to the surface to be welded.

[0108] Step 2: The welding robotic arm extends into and forms a local dry cavity.

[0109] The welding robotic arm is inserted into the sliding curtain device, and high-pressure gas is introduced into the drainage cover box 11 to form a local dry cavity inside the drainage cover box 11.

[0110] Step 3: Start the welding robotic arm and drive mechanism

[0111] Start the welding robotic arm and drive mechanism;

[0112] Step Four: Coordinated Motion and Transition from Rigid to Flexible

[0113] Drive each of the sliding curtain blocks 1 to move in the front-back direction, and control the adjacent two sliding curtain blocks 1 to switch between locked and unlocked states according to the position of each sliding curtain block 1 on the movement path, so that the sliding curtain device can switch between rigid and flexible states, and the welding robot arm and the sliding curtain device move together.

[0114] Step 5: Reset

[0115] After the welding operation is completed, the welding robotic arm and the drive mechanism are reset.

[0116] Step Six: Close the dynamic seal auxiliary device

[0117] Close the dynamic sealing auxiliary device of the drainage cover box 11;

[0118] Step 7: Stop gas supply and recycle the equipment

[0119] Stop the supply of the high-pressure gas and reclaim the drain cover 11.

[0120] This configuration, through the aforementioned steps, achieves rigid-flexible switching control of the sliding curtain device during underwater local dry welding. This allows the sliding curtain device to maintain rigidity in the working area to preserve sealing, and flexibility in the non-working area to adapt to confined spaces. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, seven, eight, or nine.

[0121] Working principle

[0122] This invention explains the working principle of a variable stiffness dynamic sealing curtain device and a local underwater dry welding system:

[0123] How the whole system works:

[0124] Due to the presence of the flexible skin 10, the welding robotic arm 18 can achieve small-scale longitudinal axial movement. When the welding robotic arm 18 performs transverse or combined axial movement, the servo motor 16 is controlled offline to pull the transmission belt 17, causing the sliding curtain to follow. Since the welding speed is typically 10 mm / s, which is relatively slow, the immediate response performance and small errors of the follow-up movement can be disregarded. During transverse movement, the locking state of the corresponding individual sliding curtain block 1 is determined based on the relative position of the sliding curtain block 1 and the permanent magnet, thus determining whether the next task of the target sliding curtain block 1 is to fold and tighten or to withstand pressure. At the same time, all sliding curtain blocks 1 are connected to two flexible skins 10, and the gaps between the sliding curtain blocks 1 are sealed through the flexible skins 10.

[0125] Structure and working principle of a single sliding curtain block 1:

[0126] The slide rail 8 of the sliding curtain block 1 is used to connect to the slide rail 8 on the drainage cover box 11 to restrict the degree of freedom and position. The stop block is used to limit the stroke of the push rod 6. The two connecting rods 7 are connected to the locking tongue 4 by bolts. When the push rod 6 moves, the locking tongue 4 achieves lateral movement. When the locking tongue 4 reaches its stroke, the sliding curtain blocks 1 are locked and fixed, thus possessing a certain rigidity. The permanent magnet is embedded inside the push rod 6. When passing the permanent magnet in the drainage cover box 11, the permanent magnet transmits magnetic force to the push rod 6 to achieve the movement of the push rod 6. Adjacent sliding curtain blocks 1 are movably connected by a revolute joint. The drive belt 17 track is used to accommodate the drive belt 17, and the locking tongue receiving space 5 is used to accommodate the locking tongue 4 of adjacent sliding curtain blocks 1.

[0127] Locked and unlocked states:

[0128] When the sliding curtain block 1 moves to the position of the locking permanent magnet, the magnetic force between the permanent magnet and the permanent magnet inside the push rod 6 drives the push rod 6 to slide towards the stop. The push rod 6 drives the locking tongue 4 to extend laterally through the two connecting rods 7. The locking tongue 4 is inserted into the locking tongue receiving space 5 of the adjacent sliding curtain block 1 until the push rod 6 is stopped by the stop. At this time, the two adjacent sliding curtain blocks 1 are relatively fixed and in a locked state. The sliding curtain device exhibits rigidity in the corresponding area.

[0129] When the sliding block 1 moves to the position of the permanent magnet for unlocking, the magnetic force between the permanent magnet and the permanent magnet inside the push rod 6 drives the push rod 6 to slide in the opposite direction. The push rod 6 drives the locking tongue 4 to retract laterally through the two connecting rods 7. The locking tongue 4 exits the locking tongue receiving space 5 of the adjacent sliding block 1. At this time, the two adjacent sliding blocks 1 can move relative to each other and are in the unlocked state. The sliding device is flexible in the corresponding area.

[0130] Overall rigidity and overall flexibility:

[0131] When all sliding curtain blocks 1 are in the locked state, each sliding curtain block 1 is relatively fixed, and the entire sliding curtain device is rigid, which can withstand the bidirectional pressure of high water pressure on the outside and high air pressure on the inside, and maintain the sealing stability of the local dry cavity.

[0132] When the sliding curtain block 1 is in the unlocked state, the adjacent sliding curtain blocks 1 can move relative to each other. The entire sliding curtain device is flexible and can be hung down or folded to adapt to the narrow space of the complex underwater environment.

[0133] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A variable stiffness dynamically sealed sliding curtain device, characterized in that, include: Multiple sliding curtain blocks (1) are arranged sequentially from front to back, with adjacent sliding curtain blocks (1) being movably connected, and each sliding curtain block (1) being movable in the front-back direction; A locking mechanism is provided on each of the sliding curtain blocks (1) for forming a locking fit or releasing the locking fit between two adjacent sliding curtain blocks (1); A position control mechanism is provided on the movement path of the sliding block (1) and is used to control the locking mechanism to switch between the locked state and the unlocked state according to the position of the sliding block (1); When the two adjacent sliding blocks (1) are in the locked state, they are fixed relative to each other, making the sliding device rigid; when the two adjacent sliding blocks (1) are in the unlocked state, they can move relative to each other, making the sliding device flexible, thereby realizing the rigid-flexible conversion of the sliding device.

2. The variable stiffness dynamic sealing sliding curtain device according to claim 1, characterized in that: The position control mechanism is a limiting magnetic attraction mechanism, including a first magnetic element (2) disposed on the movement path of the sliding block (1) and a second magnetic element (3) disposed on the sliding block (1). The locking mechanism switches between a locked state and an unlocked state under the magnetic force of the first magnetic element (2) and the second magnetic element (3).

3. The variable stiffness dynamic sealing sliding curtain device according to claim 1, characterized in that: The locking mechanism includes a locking tongue (4) and a locking tongue receiving space (5). The locking tongue (4) is slidably disposed on the sliding block (1), and the locking tongue receiving space (5) is disposed on the adjacent sliding block (1). When the locking tongue (4) extends out and inserts into the locking tongue receiving space (5) under the action of external force, the two adjacent sliding blocks (1) switch to the locked state. When the locking tongue (4) exits the locking tongue receiving space (5), the two adjacent sliding blocks (1) switch to the unlocked state.

4. The variable stiffness dynamic sealing sliding curtain device according to claim 2, characterized in that: The locking mechanism further includes a push rod (6), on which the second magnetic element (3) is provided. A transverse groove is provided on the sliding block (1) along a direction perpendicular to its movement path. The push rod (6) is slidably installed in the transverse groove. Two parallel connecting rods (7) are provided between the latch (4) and the push rod (6). One end of each connecting rod (7) is rotatably connected to the push rod (6), and the other end of each connecting rod (7) is rotatably connected to the latch (4). The push rod (6) slides under the magnetic force between the first magnetic element (2) and the second magnetic element (3), and drives the latch (4) to extend or retract through the two connecting rods (7).

5. The variable stiffness dynamic sealing sliding curtain device according to claim 1, characterized in that: It also includes a sliding guide mechanism, which is used to constrain each of the sliding curtain blocks (1) to move in the front-back direction; the sliding guide mechanism includes a slide rail (8), which is arranged at the left and right ends of the sliding curtain block (1) in the front-back direction, and the slide rail (8) is slidably engaged with the longitudinal groove on the movement path of the sliding curtain block (1) to constrain each of the sliding curtain blocks (1) to move in the front-back direction.

6. The variable stiffness dynamic sealing sliding curtain device according to claim 4, characterized in that: It also includes a limiting structure (9), which is disposed in the transverse groove of the sliding block (1) to limit the sliding stroke of the push rod (6).

7. The variable stiffness dynamic sealing sliding curtain device according to claim 1, characterized in that: Each of the sliding curtain blocks (1) is covered with a flexible skin (10) on its upper and lower surfaces. A spliced ​​skin is connected between two adjacent flexible skins (10). The spliced ​​skin deforms with the relative movement between the two adjacent sliding curtain blocks (1) and seals the gap between the two adjacent sliding curtain blocks (1) to achieve a seal.

8. A local underwater dry welding system, characterized in that, include: Drainage cover box (11); A high-temperature resistant sealing skirt (12) is provided at the bottom of the drainage cover box (11) for sealing against the surface to be welded; The variable stiffness dynamic sealing curtain device as described in any one of claims 1 to 7 is installed on the drainage cover box (11); The adapter plate (13) is a hollow structure and is set on the upper part of the drainage cover box (11). The sliding curtain block (1) is connected to both sides of the adapter plate (13). The opening of the adapter plate (13) is provided with a mechanical arm interface (19) for connecting the welding mechanical arm so that the sliding curtain device moves synchronously with the welding mechanical arm. The drive mechanism includes a front drive assembly (14) and a rear drive assembly (15), which are respectively disposed on the front and rear sides of the drainage cover box (11). The front drive assembly (14) and the rear drive assembly (15) are used to synchronously pull the sliding curtain device to move forward and / or backward. A sealing element is provided between the sliding curtain device and the drainage cover box (11) to fill the gap between the two to achieve a seal; A ventilation port is provided on the drainage cover box (11) for introducing high-pressure gas into the drainage cover box (11) to form a local dry cavity.

9. The local underwater dry welding system according to claim 8, characterized in that, The front drive assembly (14) and the rear drive assembly (15) each include a servo motor (16) and two drive belts (17). The servo motor (16) is installed at the front end and / or rear end of the drainage cover box (11). The two drive belts (17) are arranged in parallel along the front-rear direction. The shaft of the servo motor (16) is connected to the two drive belts (17) through a drive wheel. The two drive belts (17) are respectively connected to the sliding curtain block (1) for pulling the sliding curtain device to move along the front-rear direction through the drive belts (17).

10. A control method for a local underwater dry welding system, applied to the local underwater dry welding system of claim 9, characterized in that: Includes the following steps: Step 1: Device Deployment and Positioning The drainage cover box (11) is placed on the surface to be welded, so that the high temperature resistant sealing skirt (12) is in contact with and sealed to the surface to be welded; Step 2: The welding robotic arm extends into and forms a local dry cavity. The welding robotic arm is inserted into the sliding curtain device and high-pressure gas is introduced into the drainage cover box (11) to form a local dry cavity inside the drainage cover box (11); Step 3: Start the welding robotic arm and drive mechanism Start the welding robotic arm and drive mechanism; Step Four: Coordinated Motion and Transition from Rigid to Flexible Drive each of the sliding curtain blocks (1) to move in the front-back direction, and control the adjacent two sliding curtain blocks (1) to switch between locked and unlocked states according to the position of each sliding curtain block (1) on the movement path, so that the sliding curtain device can switch between rigid and flexible states, and the welding robot arm and the sliding curtain device move together. Step 5: Reset After the welding operation is completed, the welding robotic arm and the drive mechanism are reset. Step Six: Close the dynamic seal auxiliary device Close the dynamic sealing auxiliary device of the drainage cover box (11); Step 7: Stop gas supply and recycle the equipment Stop the supply of the high-pressure gas and reclaim the drain cover housing (11).

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