Underwater robot for ship welding

Abstract

The ship welding underwater robot comprises a robot body, a first open groove is formed in the bottom of one side of the robot body, a first rotating shaft is rotationally connected into the first open groove, one end of a rotating rod is fixedly connected to the circumferential side of the first rotating shaft in a sleeved mode, one side of the rotating rod is slidably connected with a first moving rod, and a first square groove is formed in one side of the first moving rod; a third rotating shaft is rotationally connected into the first square groove, a rotating block fixedly sleeves the circumferential side of the third rotating shaft, and a welding head is fixedly connected to one side of the rotating block; a second square groove is formed in the top of one side of the robot body and internally rotationally connected with a second rotating shaft. The direction and angle of the welding head and the camera can be conveniently adjusted, the direction and angle can be adjusted according to the welding position of a ship during underwater welding of the ship, welding work is facilitated, convenience is brought to the welding work, the robot body can be firmly fixed to the welding position through cooperation of the electromagnetic device and the suction cup, and the welding efficiency is improved. And the robot body can conveniently carry out welding work better.

Description

Technical Field

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

[0002] Ship is a general term for various vessels. Ships are vehicles that can sail or anchor in waters for transportation or operations. They have different technical performance, equipment and structural types according to different usage requirements. Underwater robots, also known as unmanned remote-controlled submersibles, are extreme operation robots that work underwater. The underwater environment is harsh and dangerous, and the diving depth of humans is limited, so underwater robots have become an important tool for developing the ocean. When welding a ship underwater, a ship welding underwater robot is needed.

[0003] In this regard, the Chinese utility model with the authorization announcement number CN218050962U discloses an underwater welding robot, which includes a body, a camera, a welding gun and a control line, and also includes a protective device, the camera is arranged on the surface of the body, the welding gun is fixedly connected to the surface of the body, the control line is plugged and connected to the surface of the body, the protective device is arranged on the side of the body close to the camera, and the protective device includes a card slot, the card slot is arranged on the surface of the body, the inner wall of the card slot is slidably connected to a baffle, and the surface of the baffle is fixedly connected to a rack. The surface of the card slot is rotatably connected to a gear, the gear is meshed and connected to the surface of the rack, and the surface of the gear is fixedly connected to a rotating wheel.

[0004] The underwater welding robot is provided with a protective device to facilitate shielding and protecting the camera to avoid damage to the camera due to collision when placed. However, when performing underwater welding, the welding head and the camera of the underwater welding robot are not convenient to adjust the direction and angle. When performing underwater welding of ships, it cannot be adjusted according to the welding part of the ship, which is not conducive to the welding work and brings trouble to the welding work. For this reason, we propose a ship welding underwater robot to solve the above problems. Utility Model Content

[0005] The utility model aims to provide a ship 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 ship welding underwater robot, comprising a robot body, a groove one is provided at the bottom of one side of the robot body, the groove one is rotatably connected to a rotating shaft one, one end of a rotating rod is fixedly sleeved on one side of the rotating shaft, one side of the rotating rod is slidably connected to a moving rod one, a square groove one is provided on one side of the moving rod one, the square groove one is rotatably connected to a rotating shaft three, the rotating shaft three is fixedly sleeved on one side of the rotating block, one side of the rotating block is fixedly connected to a welding head; a square groove two is provided on the top of one side of the robot body, the square groove two is rotatably connected to a rotating shaft two, and the top of the rotating shaft two is fixedly connected to a camera; a plurality of slide grooves are provided on the top and bottom surfaces of the robot body, a plurality of slide grooves are slidably connected to a plurality of sliders, a plurality of sliders are fixedly connected to a plurality of moving rods two on one side, a plurality of moving rods two are fixedly connected to a plurality of electromagnetic devices at one end, and a plurality of suction cups are fixedly connected to a plurality of electromagnetic devices at one end.

[0007] Preferably, the top end of the rotating shaft 3 is fixedly connected to the rotating shaft of the servo motor 1, and the servo motor 1 is fixedly connected to the top end of one side of the moving rod 1.

[0008] Preferably, the threaded structure of the movable rod is sleeved with a screw rod 1, one end of the screw rod 1 is fixedly connected to the rotating shaft of the servo motor 2, the servo motor 2 is fixedly connected to the inside of one side of the rotating rod, a cylindrical groove is opened inside the movable rod 1, a limiting disc is slidably connected inside the cylindrical groove, and the limiting disc is fixedly connected to one end of the screw rod 1.

[0009] Preferably, a square cavity is opened inside the robot body, one side of the square cavity is fixedly connected to servo motor three, a worm is fixedly connected to the rotating shaft of servo motor three, the worm is meshingly connected to a worm wheel, the worm wheel is fixedly connected to rotating shaft one, the top circumference of rotating shaft one is fixedly connected to sprocket one, sprocket one is connected to chain for transmission, the chain is connected to sprocket two for transmission, sprocket two is fixedly connected to rotating shaft two, a chain groove is opened on the top of the robot body, sprocket one, chain and sprocket two are located inside the chain groove, and the worm and worm wheel are located inside the square cavity.

[0010] Preferably, multiple slider thread structures are sleeved with multiple screw rods 2, multiple screw rods 2 are rotatably connected to multiple slide grooves, one end of multiple screw rods 2 is fixedly connected to the rotating shaft of servo motor 4, and multiple servo motors 4 are fixedly connected to the top and bottom of the robot body.

[0011] Preferably, a top surface of one side of the robot body is fixedly connected to a connection block, one side of the connection block is fixedly connected to a control line, and one side of the robot body is fixedly connected to two propulsion devices.

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

[0013] The welding head and camera of the utility model are convenient for adjusting the direction and angle. When performing underwater welding of ships, the direction and angle can be adjusted according to the welding position of the ship, which is beneficial to the welding work and brings convenience to the welding work. The cooperation of the electromagnetic device and the suction cup can firmly fix the robot body at the welding position, so that the robot body can better perform the welding work. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the utility model;

[0015] Figure 2 It is a cross-sectional schematic diagram of the utility model;

[0016] Figure 3 It is a cross-sectional schematic diagram of the utility model;

[0017] Figure 4 For this utility model Figure 2 Enlarged schematic diagram at point A in the middle.

[0018] In the figure: 1. robot body; 2. slot one; 3. rotating shaft one; 4. rotating rod; 5. moving rod one; 6. square slot one; 7. rotating block; 8. welding head; 9. slide groove; 10. slider; 11. moving rod two; 12. electromagnetic device; 13. square slot two; 14. rotating shaft two; 15. camera; 16. rotating shaft three; 17. servo motor one; 18. servo motor two; 19. screw rod one; 20. cylindrical groove; 21. limiting disc; 22. square cavity; 23. servo motor three; 24. worm; 25. worm wheel; 26. sprocket one; 27. chain; 28. chain groove; 29. ​​sprocket two; 30. screw rod two; 31. servo motor four; 32. suction cup; 33. connecting block; 34. control line; 35. propulsion device. 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 , Figure 4, which is the first embodiment of the utility model, and provides a ship welding underwater robot, including a robot body 1, a groove 2 is provided at the bottom of one side of the robot body 1, the groove 2 is internally rotatably connected to a rotating shaft 3, the rotating shaft 3 is fixedly sleeved on one end of a rotating rod 4 on one side, the rotating rod 4 is slidably connected to a moving rod 5 on one side, a square groove 6 is provided on one side of the moving rod 5, the square groove 6 is internally rotatably connected to a rotating shaft 3 16, the rotating shaft 3 16 is fixedly sleeved on one side of the rotating block 7, and one side of the rotating block 7 is fixedly connected to a welding head 8; a square groove is provided on the top of one side of the robot body 1 The second slot 13 is rotatably connected to the second rotating shaft 14 inside the square slot 13, and the top of the second rotating shaft 14 is fixedly connected to the camera 15; the top and bottom surfaces of the robot body 1 are provided with multiple sliding slots 9, and the multiple sliding slots 9 are slidably connected to the multiple sliders 10 inside, and one side of the multiple sliders 10 is fixedly connected to the multiple moving rods 11, and one end of the multiple moving rods 11 is fixedly connected to the multiple electromagnetic devices 12, and one end of the multiple electromagnetic devices 12 is fixedly connected to the multiple suction cups 32. When in use, the robot body 1 is put into water, the robot body 1 is moved to the welding position, and the slider 10 is moved, and the slider 10 moves with The moving rod 11 is moved, the moving rod 11 drives the electromagnetic device 12 to move, the electromagnetic device 12 drives the suction cup 32 to move, according to the surface condition of the ship, the position of each electromagnetic device 12 and the suction cup 32 is adjusted, the suction cup 32 contacts the ship, the electromagnetic device 12 is turned on, the electromagnetic device 12 strengthens the suction force of the suction cup 32, so that the suction cup 32 is firmly fixed at the welding position of the ship, the direction angle and distance of the welding head 8 are adjusted according to the welding position, the rotating shaft 3 is rotated, the rotating shaft 3 drives the rotating rod 4 to rotate, and after the rotating rod 4 is rotated to a suitable position, the moving rod 11 is moved, the electromagnetic device 12 is turned on, the suction force of the suction cup 32 is strengthened, and the suction cup 32 is firmly fixed at the welding position of the ship, and the direction angle and distance of the welding head 8 are adjusted according to the welding position, and the rotating shaft 3 is rotated. The rotating shaft 3 drives the rotating rod 4 to rotate. After the rotating rod 4 is rotated to a suitable position, the moving rod 11 is moved. Move the moving rod 15, the moving rod 15 drives the rotating block 7 and the welding head 8 to move. After moving to the welding position, adjust the direction of the welding head 8 to facilitate better welding, rotate the rotating shaft 3 16, the rotating shaft 3 16 drives the rotating block 7 to rotate, the rotating block 7 drives the welding head 8 to rotate, and after adjusting the welding head 8, welding work is carried out. While the rotating shaft 13 rotates, the rotating shaft 2 14 rotates in the square groove 2 13, and the rotating shaft 2 14 drives the camera 15 to rotate. The camera 15 and the welding head 8 are at the same angle direction, which is convenient for real-time observation during welding.

[0021] Example 2: Reference Figure 4 The top of the rotating shaft 3 16 is fixedly connected to the rotating shaft of the servo motor 17, and the servo motor 17 is fixedly connected to the top of one side of the moving rod 15. Turn on the servo motor 17, and the rotation of the servo motor 17 drives the rotating shaft 3 16 to rotate, and the rotation of the rotating shaft 3 16 drives the rotating block 7 to rotate.

[0022] Reference Figure 2The threaded structure of the moving rod 15 is sleeved with a screw rod 19, one end of the screw rod 19 is fixedly connected to the rotating shaft of the servo motor 2 18, the servo motor 2 18 is fixedly connected to the inside of one side of the rotating rod 4, a cylindrical groove 20 is opened inside the moving rod 5, and a limiting disc 21 is slidably connected inside the cylindrical groove 20, and the limiting disc 21 is fixedly connected to one end of the screw rod 19. Turn on the servo motor 2 18, the servo motor 2 18 rotates to drive the screw rod 19 to rotate, the screw rod 19 rotates to drive the limiting disc 21 to slide in the cylindrical groove 20, the limiting disc 21 helps to limit, and the screw rod 19 rotates to drive the moving rod 5 to move on the rotating rod 4.

[0023] Reference Figure 2 A square cavity 22 is provided inside the robot body 1, one side of the square cavity 22 is fixedly connected to a servo motor 3 23, a worm 24 is fixedly connected to the rotating shaft of the servo motor 3 23, the worm 24 is meshedly connected to a worm wheel 25, the worm wheel 25 is fixedly sleeved on a rotating shaft 3, a sprocket 1 26 is fixedly sleeved on the top peripheral side of the rotating shaft 3, the sprocket 1 26 is transmission-connected to a chain 27, the chain 27 is transmission-connected to a sprocket 29, the sprocket 29 is fixedly sleeved on the rotating shaft 2 14, a chain groove 28 is provided on the top of the robot body 1, the sprocket 1 26, the chain 27 and the sprocket 29 are located inside the chain groove 28, the chain groove 28 To help the sprocket 1 26, chain 27 and sprocket 29 to work normally, the worm 24 and worm wheel 25 are located inside the square cavity 22. The square cavity 22 helps the worm 24 and worm wheel 25 to work normally. Turn on the servo motor 3 23. The rotation of the servo motor 3 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 shaft 1 3 to rotate. The rotation of the rotating shaft 1 3 drives the sprocket 1 26 to rotate. The rotation of the sprocket 1 26 drives the chain 27 to rotate. The rotation of the chain 27 drives the sprocket 2 29 to rotate. The rotation of the sprocket 2 29 drives the rotating shaft 2 14 to rotate.

[0024] Reference Figure 3 , multiple sliders 10 are threaded with multiple screw rods 2 30, multiple screw rods 2 30 are rotatably connected to multiple slide grooves 9, one end of multiple screw rods 2 30 is fixedly connected to the rotating shaft of servo motor 4 31, and multiple servo motor 4 31 is fixedly connected to the top and bottom of the robot body 1. Turn on the servo motor 4 31, the servo motor 4 31 rotates to drive the screw rod 2 30 to rotate, and the screw rod 2 30 rotates to drive the slider 10 to move.

[0025] Reference Figure 1-2 A connecting block 33 is fixedly connected to the top surface of one side of the robot body 1, a control line 34 is fixedly connected to one side of the connecting block 33, and two propulsion devices 35 are fixedly connected to one side of the robot body 1. The connecting block 33 helps to connect the control line 34 with the robot body 1, and the propulsion devices 35 help the robot body 1 to move.

[0026] Example 3: Reference Figure 1-4, which is the third embodiment of the utility model. This embodiment is based on the above two embodiments. When in use, the robot body 1 is placed in water, and the staff controls the robot body 1 through the control line 34, and moves the robot body 1 to the vicinity of the ship through the propulsion device 35, and turns on the servo motor 4 31. The rotation of the servo motor 4 31 drives the screw rod 2 30 to rotate, and the rotation of the screw rod 2 30 drives the slider 10 to move. The movement of the slider 10 drives the moving rod 2 11 to move, and the movement of the moving rod 2 11 drives the electromagnetic device 12 to move. The movement of the electromagnetic device 12 drives the suction cup 32 to move, and the positions of each electromagnetic device 12 and the suction cup 32 are adjusted according to the surface conditions of the ship. , the suction cup 32 contacts the ship, the electromagnetic device 12 is turned on, the electromagnetic device 12 strengthens the suction force of the suction cup 32, so that the suction cup 32 is firmly fixed at the welding position of the ship, the direction angle and distance of the welding head 8 are adjusted according to the welding position, the servo motor three 23 is turned on, the servo motor three 23 rotates to drive the worm 24 to rotate, the worm 24 rotates to drive the worm wheel 25 to rotate, the worm wheel 25 rotates to drive the rotating shaft 3 to rotate, the rotating shaft 3 rotates to drive the rotating rod 4 to rotate, after the rotating rod 4 rotates to the appropriate position, the servo motor two 18 is turned on, the servo motor two 18 rotates to drive the screw rod one 19 to rotate, the screw rod one 19 rotates to drive the limiting disc 21 in the cylindrical groove 2 0 slides inside, the limiting disc 21 helps to limit, the screw rod 19 rotates to drive the moving rod 15 to move on the rotating rod 4, the moving rod 15 moves to drive the rotating block 7 and the welding head 8 to move, after moving to the welding position, adjust the direction of the welding head 8 for better welding, turn on the servo motor 17, the servo motor 17 rotates to drive the rotating shaft 3 16 to rotate, the rotating shaft 3 16 rotates to drive the rotating block 7 to rotate, the rotating block 7 rotates to drive the welding head 8 to rotate, after adjusting the welding head 8, the welding work is carried out, the rotating shaft 3 rotates and drives the sprocket 1 26 to rotate, the sprocket 26 rotates to drive the chain 27 to rotate, the chain 27 rotates to drive the sprocket 2 29 rotates, the sprocket 29 rotates to drive the rotating shaft 2 14 to rotate, the rotating shaft 2 14 rotates in the square groove 2 13, the rotating shaft 2 14 rotates to drive the camera 15 to rotate, the camera 15 and the welding head 8 are at the same angle direction, which is convenient for real-time observation during welding. The welding head 8 and the camera 15 of the utility model are convenient for adjusting the direction angle. When performing underwater welding of ships, the direction angle can be adjusted according to the welding part of the ship, which is beneficial to the welding work and brings convenience to the welding work. The cooperation of the electromagnetic device 12 and the suction cup 32 can firmly fix the robot body 1 at the welding part, which is convenient for the robot body 1 to better perform 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 ship welding underwater robot, comprising a robot body (1), characterized in that: A groove (2) is provided at the bottom of one side of the robot body (1); the groove (2) is rotatably connected to a rotating shaft (3); the rotating shaft (3) is fixedly sleeved on one end of a rotating rod (4) on one side; the rotating rod (4) is slidably connected to a moving rod (5) on one side; a square groove (6) is provided on one side of the moving rod (5); the square groove (6) is rotatably connected to a rotating shaft (16); the rotating shaft (16) is fixedly sleeved on one side of a rotating block (7); one side of the rotating block (7) is fixedly connected to a welding head (8); A second square groove (13) is provided at the top of one side of the robot body (1), the second square groove (13) is rotatably connected to a second rotating shaft (14) inside, and the top of the second rotating shaft (14) is fixedly connected to a camera (15); The robot body (1) has a plurality of slide grooves (9) on the top and bottom surfaces, the plurality of slide grooves (9) are slidably connected to a plurality of sliders (10), one side of the plurality of sliders (10) is fixedly connected to a plurality of moving rods (11), one end of the plurality of moving rods (11) is fixedly connected to a plurality of electromagnetic devices (12), and one end of the plurality of electromagnetic devices (12) is fixedly connected to a plurality of suction cups (32).

2. A ship welding underwater robot according to claim 1, characterized in that: The top end of the rotating shaft three (16) is fixedly connected to the rotating shaft of the servo motor one (17), and the servo motor one (17) is fixedly connected to the top of one side of the moving rod one (5).

3. A ship welding underwater robot according to claim 1, characterized in that: The threaded structure of the movable rod 1 (5) is sleeved with a screw rod 1 (19), one end of the screw rod 1 (19) is fixedly connected to the rotating shaft of the servo motor 2 (18), the servo motor 2 (18) is fixedly connected inside one side of the rotating rod (4), a cylindrical groove (20) is provided inside the movable rod 1 (5), a limiting disc (21) is slidably connected inside the cylindrical groove (20), and the limiting disc (21) is fixedly connected to one end of the screw rod 1 (19).

4. A ship welding underwater robot according to claim 1, characterized in that: A square cavity (22) is provided inside the robot body (1), one side of the square cavity (22) is fixedly connected to a servo motor three (23), a worm (24) is fixedly connected to the rotating shaft of the servo motor three (23), the worm (24) is meshingly connected to a worm wheel (25), the worm wheel (25) is fixedly sleeved on a rotating shaft one (3), a sprocket wheel one (26) is fixedly sleeved on the top peripheral side of the rotating shaft one (3), the sprocket wheel one (26) is transmission-connected to a chain (27), the chain (27) is transmission-connected to a sprocket wheel two (29), the sprocket wheel two (29) is fixedly sleeved on a rotating shaft two (14), a chain groove (28) is provided on the top of the robot body (1), the sprocket wheel one (26), the chain (27) and the sprocket wheel two (29) are located inside the chain groove (28), and the worm (24) and the worm wheel (25) are located inside the square cavity (22).

5. A ship welding underwater robot according to claim 1, characterized in that: The threaded structures of the plurality of sliders (10) are sleeved with a plurality of screw rods (30), the plurality of screw rods (30) are rotatably connected to the plurality of slide grooves (9), one end of the plurality of screw rods (30) is fixedly connected to the rotating shaft of the servo motor four (31), and the plurality of servo motors four (31) are fixedly connected to the top and bottom of the robot body (1).

6. A ship welding underwater robot according to claim 1, characterized in that: A top surface on one side of the robot body (1) is fixedly connected to a connection block (33), one side of the connection block (33) is fixedly connected to a control line (34), and one side of the robot body (1) is fixedly connected to two propulsion devices (35).

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