Submarine pipeline welding underwater robot

Abstract

The utility model discloses a submarine pipeline welding underwater robot which comprises a base, two sides of the base are rotatably connected with two first rotating rods, the two first rotating rods are fixedly connected with a plurality of clamping legs, the middle of the top face of the base is fixedly connected with a fixing block, the fixing block is rotatably connected with a semicircular gear ring, and the top end of the semicircular gear ring is fixedly connected with a fixing plate. One side of the sliding block is rotatably connected with a first rotating shaft, one end of the first rotating shaft is fixedly connected with a mechanical arm, one end of the mechanical arm is fixedly connected with a welding mechanism, and the peripheral side of the mechanical arm is fixedly connected with a high-definition underwater infrared camera. According to the marine pipeline welding mechanism, through cooperation of all the components, the welding mechanism can adjust the angle to be large, welding work can be well carried out when the marine pipeline is in a complex environment, and convenience is brought to welding work; according to the utility model, the clamping legs, the permanent magnet blocks and components are matched, so that the base can be firmly fixed on a pipeline, and the normal proceeding of welding work is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robots, in particular to an underwater robot for seabed pipeline welding. Background Art

[0002] Submarine pipelines are pipelines that continuously transport large amounts of oil and gas through closed pipes on the seabed. They are the main components of the offshore oil and gas field development and production system, and are also the fastest, safest, most economical and reliable way to transport offshore oil and gas. However, the corrosion and wear of oil and gas pipelines require welding of the pipelines, and at this time, a submarine pipeline welding underwater robot is needed.

[0003] In this regard, the Chinese utility model with authorization announcement number CN206717246U discloses an underwater pipeline welding robot, which includes a robot body, an adsorption mechanism, a motion mechanism, a fastening mechanism, an actuator, a welding mechanism, an information sensing system and a control system. The robot body includes a servo motor, a motor fixing support, a guide rod and a thrust rod, which are connected to the motion mechanism, the fastening mechanism and the actuator. The robot housing, the motion mechanism support plate and the bottom of the four legs are inlaid with permanent magnets. The welding mechanism is connected to the welding manipulator. The information sensing system is a laser vision sensor installed on one side of the welding gun. The control system includes a PLC and a DSP microprocessor.

[0004] The underwater pipeline welding robot can autonomously identify the weld target, and according to the detected weld position information, control the motion mechanism, fastening mechanism, and welding manipulator to coordinate the welding operation and realize automatic welding tracking. However, the underwater pipeline welding robot has a limited adjustment angle of the welding mechanism. When facing the marine pipeline in a complex environment, it cannot weld well, which brings trouble to the welding work. For this reason, we propose a submarine pipeline welding underwater robot to solve the above problems. Utility Model Content

[0005] The purpose of the utility model is to provide a submarine pipeline welding underwater robot to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a submarine pipeline welding underwater robot, comprising a base, two rotating rods 1 are rotatably connected on both sides of the base, the two rotating rods 1 are fixedly connected to a plurality of clamping legs, a fixed block is fixedly connected to the middle of the top surface of the base, the fixed block is rotatably connected to a semicircular gear ring, and the top of the semicircular gear ring is fixedly connected to a fixed plate; a slide groove is provided on one side of the fixed plate, a slider is slidably connected inside the slide groove, one side of the slider is rotatably connected to a rotating shaft 1, one end of the rotating shaft 1 is fixedly connected to a mechanical arm, one end of the mechanical arm is fixedly connected to a welding mechanism, and the peripheral side of the mechanical arm is fixedly connected to a high-definition underwater infrared camera.

[0007] Preferably, one end of the rotating shaft is fixedly connected to the rotating shaft of motor one, the motor one is fixedly connected to the inside of the slider, the threaded structure of the slider is sleeved with a screw rod, the screw rod is rotatably connected to the slide groove, the bottom end of the screw rod is fixedly connected to the rotating shaft of motor two, and the motor two is fixedly connected to the bottom of the fixed plate.

[0008] Preferably, a chamber is opened inside the fixed block, one side of the interior of the chamber is fixedly connected to motor three, the rotating shaft of motor three is fixedly connected to rotating shaft two, the peripheral side of rotating shaft two is fixedly connected to a gear, the gear is meshedly connected to a semicircular gear ring, and the gear is located inside the chamber.

[0009] Preferably, a square cavity 1 is opened in the middle part of the base, one side of the interior of the square cavity 1 is fixedly connected to a motor 4, a worm is fixedly connected to the rotating shaft of the motor 4, the worm is meshedly connected to a worm wheel, the worm wheel is fixedly connected to a rotating rod 2, two ends of the rotating rod 2 are fixedly connected to two bevel gears 1, two bevel gears 1 are meshedly connected to two bevel gears 2, and two bevel gears 2 are fixedly connected to two rotating rods 1.

[0010] Preferably, two square cavities 2 are provided on both sides of the base, the bevel gear 1 and the bevel gear 2 are located inside the square cavity 2, and the worm and the worm wheel are located inside the square cavity 1.

[0011] Preferably, the peripheral side of the base is fixedly connected to a plurality of thrusters one, the bottom surface of the base is fixedly connected to thruster two, and one end of the plurality of clamping legs is fixedly connected to a plurality of permanent magnet blocks.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] The utility model can adjust the welding mechanism to a large angle through the cooperation of various components, and can perform welding work well when facing marine pipelines in complex environments, bringing convenience to the welding work;

[0014] The cooperation of the clamping legs, the permanent magnetic blocks and the components of the utility model can firmly fix the base to the pipeline, thus ensuring the normal progress of the welding work. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the utility model;

[0016] Figure 2 It is a cross-sectional schematic diagram of the utility model;

[0017] Figure 3 For this utility model Figure 2 Enlarged schematic diagram at point A in the middle.

[0018] In the figure: 1. base; 2. rotating rod 1; 3. clamping leg; 4. fixed block; 5. semicircular gear ring; 6. fixed plate; 7. slide groove; 8. slider; 9. rotating shaft 1; 10. mechanical arm; 11. welding mechanism; 12. high-definition underwater infrared camera; 13. motor 1; 14. screw; 15. motor 2; 16. chamber; 17. motor 3; 18. rotating shaft 2; 19. gear; 20. propeller 1; 21. propeller 2; 22. square chamber 1; 23. motor 4; 24. worm; 25. worm wheel; 26. rotating rod 2; 27. bevel gear 1; 28. bevel gear 2; 29. ​​square chamber 2; 30. permanent magnet block. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] Example 1: Reference Figure 2, which is the first embodiment of the utility model, and provides an underwater robot for seabed pipeline welding, including a base 1, two rotating rods 2 are rotatably connected to the two sides of the base 1, and the two rotating rods 2 are fixedly connected to a plurality of clamping legs 3, a fixed block 4 is fixedly connected to the middle of the top surface of the base 1, the fixed block 4 is rotatably connected to the semicircular gear ring 5, and the top of the semicircular gear ring 5 is fixedly connected to the fixed plate 6; a slide groove 7 is provided on one side of the fixed plate 6, and a slider 8 is slidably connected inside the slide groove 7, and one side of the slider 8 is rotatably connected to a rotating shaft 9, one end of the rotating shaft 9 is fixedly connected to a mechanical arm 10, one end of the mechanical arm 10 is fixedly connected to a welding mechanism 11, and a high-definition underwater infrared camera 12 is fixedly connected to the peripheral side of the mechanical arm 10. The robot enters the seabed, uses the high-definition underwater infrared camera 12 to view the working site, and moves to the working site through the cooperation of the thruster 1 20 and the thruster 2 21. After the base 1 moves to the vicinity of the pipeline, the rotating rod 1 is rotated. 2. The rotation of the rotating rod 2 drives the clamping leg 3 to rotate, and the clamping leg 3 clamps the pipe to facilitate subsequent operations and start welding. When the welding angle needs to be adjusted, the semicircular gear ring 5 is rotated, and the rotation of the semicircular gear ring 5 drives the fixed plate 6 to rotate. After rotating to a suitable angle, the height of the mechanical arm 10 is adjusted to better weld. The slider 8 is moved, and the slider 8 moves in the slide groove 7. The movement of the slider 8 drives the rotating shaft 9 and the mechanical arm 10 to move. After moving to a suitable height, the direction angle of the mechanical arm 10 is adjusted, and the rotating shaft 9 is rotated. The rotating shaft 9 drives the mechanical arm 10 to rotate. After rotation, the mechanical arm 10 moves the welding mechanism 11 to the welding position, and the welding mechanism 11 is opened for welding. During welding, the high-definition underwater infrared camera 12 can observe in real time. The coordination of the components can be that the welding mechanism 11 performs welding at different angles, which is convenient for coping with pipeline welding under different circumstances.

[0021] Example 2: Reference Figure 2 , one end of the rotating shaft 9 is fixedly connected to the rotating shaft of the motor 13, the motor 13 is fixedly connected to the inside of the slider 8, the threaded structure of the slider 8 is sleeved with a screw rod 14, the screw rod 14 is rotatably connected to the slide groove 7, the bottom end of the screw rod 14 is fixedly connected to the rotating shaft of the motor 2 15, the motor 2 15 is fixedly connected to the bottom of the fixed plate 6, turn on the motor 2 15, the rotation of the motor 2 15 drives the screw rod 14 to rotate, the rotation of the screw rod 14 drives the slider 8 to move, the movement of the slider 8 drives the rotating shaft 9 to move, turn on the motor 13, the rotation of the motor 13 drives the rotating shaft 9 to rotate.

[0022] Reference Figure 2A chamber 16 is provided inside the fixed block 4, one side of the chamber 16 is fixedly connected to the motor three 17, the rotating shaft of the motor three 17 is fixedly connected to the rotating shaft two 18, the peripheral side of the rotating shaft two 18 is fixedly connected with a gear 19, the gear 19 is meshed and connected with the semicircular gear ring 5, the gear 19 is located inside the chamber 16, the chamber 16 provides assistance for the normal operation of the gear 19 and the motor three 17, turn on the motor three 17, the rotation of the motor three 17 drives the rotating shaft two 18 to rotate, the rotation of the rotating shaft two 18 drives the gear 19 to rotate, and the rotation of the gear 19 drives the semicircular gear ring 5 to rotate.

[0023] Reference Figure 2-3 A square cavity 22 is provided in the middle of the base 1, and a motor 23 is fixedly connected to one side of the square cavity 22. A worm 24 is fixedly connected to the rotating shaft of the motor 23. The worm 24 is meshed with a worm wheel 25. The worm wheel 25 is fixedly sleeved with a rotating rod 26. Two bevel gears 27 are fixedly connected at both ends of the rotating rod 26. Two bevel gears 27 are meshed with two bevel gears 28. Two bevel gears 28 are fixedly sleeved with two rotating rods 12. The motor 4 23 is turned on. The rotation of the motor 4 23 drives the worm 24 to rotate. The rotation of the worm 24 drives the worm wheel 25 to rotate. The rotation of the worm wheel 25 drives the rotating rod 26 to rotate. The rotation of the rotating rod 26 drives the bevel gear 127 to rotate. The rotation of the bevel gear 127 drives the bevel gear 28 to rotate. The rotation of the bevel gear 28 drives the rotating rod 12 to rotate.

[0024] Reference Figure 2-3 Two square cavities 29 are provided on both sides of the base 1, and the bevel gear 1 27 and the bevel gear 28 are located inside the square cavity 29, and the square cavity 29 provides assistance for the normal working of the bevel gear 1 27 and the bevel gear 28, and the worm 24 and the worm wheel 25 are located inside the square cavity 1 22, and the square cavity 1 22 provides assistance for the normal working of the worm 24 and the worm wheel 25.

[0025] Reference Figure 1-2 A plurality of thrusters 20 are fixedly connected to the periphery of the base 1, a thruster 21 is fixedly connected to the bottom surface of the base 1, and a plurality of permanent magnetic blocks 30 are fixedly connected to one end of a plurality of clamping legs 3. The cooperation of thrusters 20 and thrusters 2 21 can help move the robot to a designated location, and the permanent magnetic blocks 30 can make the clamping legs 3 clamp more firmly.

[0026] Example 3: Reference Figure 1-3, which is the third embodiment of the utility model. This embodiment is based on the above two embodiments. The robot enters the seabed and uses the high-definition underwater infrared camera 12 to view the operation site. Through the cooperation of the propeller 1 20 and the propeller 2 21, the robot moves to the operation site. After the base 1 moves to the vicinity of the pipeline, the motor 4 23 is turned on. The motor 4 23 rotates to drive the worm 24 to rotate. The worm 24 rotates to drive the worm gear 25 to rotate. The worm gear 25 rotates to drive the rotating rod 26 to rotate. The rotating rod 26 rotates to drive the bevel gear 1 27 to rotate. The bevel gear 1 27 rotates to drive the bevel gear 2 28 rotates, the rotation of bevel gear 28 drives the rotating rod 1 2 to rotate, the rotation of rotating rod 1 2 drives the clamping leg 3 to rotate, the clamping leg 3 clamps the pipe, and the permanent magnetic block 30 can make the clamping leg 3 clamp more firmly, which is convenient for subsequent operations. When welding work begins, when the welding angle needs to be adjusted, turn on motor 3 17, the rotation of motor 3 17 drives the rotating shaft 2 18 to rotate, the rotation of rotating shaft 2 18 drives gear 19 to rotate, the rotation of gear 19 drives the semicircular gear ring 5 to rotate, the rotation of semicircular gear ring 5 drives the fixed plate 6 to rotate, and after rotating to a suitable angle, adjust the mechanical arm 1 0 height, so as to better weld, turn on the motor 2 15, the motor 2 15 rotates to drive the screw rod 14 to rotate, the screw rod 14 rotates to drive the slider 8 to move, the slider 8 moves in the slide slot 7, the slider 8 moves to drive the rotating shaft 9 and the mechanical arm 10 to move, after moving to the appropriate height, adjust the direction angle of the mechanical arm 10, turn on the motor 13, the motor 13 rotates to drive the rotating shaft 9 to rotate, the rotating shaft 9 rotates to drive the mechanical arm 10 to rotate, after rotation, the mechanical arm 10 moves the welding mechanism 11 to the welding position, and turns on the welding mechanism 11 to perform welding work. During welding, the high-definition underwater infrared camera 12 can observe in real time. The cooperation of the components can be that the welding mechanism 11 performs welding at different angles, which is convenient for coping with pipeline welding under different circumstances. The utility model can adjust the angle of the welding mechanism 11 to a large extent through the cooperation of various components. When facing marine pipelines in complex environments, it can perform welding work well, which brings convenience to the welding work; the clamping legs 3, the permanent magnetic block 30 of the utility model cooperate with the components, and the base 1 can be firmly fixed to the pipeline, ensuring the normal progress of the welding work.

[0027] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A submarine pipeline welding underwater robot, comprising a base (1), characterized in that: The two sides of the base (1) are rotatably connected to two rotating rods (2), the two rotating rods (2) are fixedly connected to a plurality of clamping legs (3), the middle of the top surface of the base (1) is fixedly connected to a fixed block (4), the fixed block (4) is rotatably connected to a semicircular gear ring (5), and the top of the semicircular gear ring (5) is fixedly connected to a fixed plate (6); A slide groove (7) is provided on one side of the fixed plate (6), a sliding block (8) is slidably connected inside the slide groove (7), one side of the sliding block (8) is rotatably connected to a rotating shaft (9), one end of the rotating shaft (9) is fixedly connected to a mechanical arm (10), one end of the mechanical arm (10) is fixedly connected to a welding mechanism (11), and a high-definition underwater infrared camera (12) is fixedly connected to the peripheral side of the mechanical arm (10).

2. The submarine pipeline welding underwater robot according to claim 1, characterized in that: One end of the rotating shaft 1 (9) is fixedly connected to the rotating shaft of the motor 1 (13), and the motor 1 (13) is fixedly connected to the inside of the slider (8). The threaded structure of the slider (8) is sleeved with a screw rod (14), and the screw rod (14) is rotatably connected to the slide groove (7). The bottom end of the screw rod (14) is fixedly connected to the rotating shaft of the motor 2 (15), and the motor 2 (15) is fixedly connected to the bottom of the fixed plate (6).

3. The submarine pipeline welding underwater robot according to claim 1, characterized in that: A chamber (16) is provided inside the fixed block (4), one side of the chamber (16) is fixedly connected to a motor three (17), the rotation shaft of the motor three (17) is fixedly connected to a rotating shaft two (18), a gear (19) is fixedly sleeved on the circumference of the rotating shaft two (18), the gear (19) is meshingly connected to a semicircular gear ring (5), and the gear (19) is located inside the chamber (16).

4. The submarine pipeline welding underwater robot according to claim 1, characterized in that: A square cavity (22) is provided in the middle of the base (1); one side of the interior of the square cavity (22) is fixedly connected to a motor (23); a worm (24) is fixedly connected to the rotating shaft of the motor (23); the worm (24) is meshedly connected to a worm wheel (25); the worm wheel (25) is fixedly sleeved on a rotating rod (26); two ends of the rotating rod (26) are fixedly connected to two bevel gears (27); the two bevel gears (27) are meshedly connected to two bevel gears (28); the two bevel gears (28) are fixedly sleeved on the two rotating rods (2).

5. The submarine pipeline welding underwater robot according to claim 4, characterized in that: Two square cavities (29) are provided on both sides of the base (1); the bevel gear (27) and the bevel gear (28) are located inside the square cavity (29); and the worm (24) and the worm wheel (25) are located inside the square cavity (22).

6. The submarine pipeline welding underwater robot according to claim 1, characterized in that: The base (1) is fixedly connected to a plurality of thrusters 1 (20) on its circumferential side, the base (1) is fixedly connected to a thruster 2 (21) on its bottom surface, and a plurality of permanent magnet blocks (30) are fixedly connected to one end of the plurality of clamping legs (3).

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