Underwater welding robot for ship

Abstract

The utility model relates to the technical field of underwater welding, in particular to a ship underwater welding robot which comprises a robot body, a sealing box is fixed at the rear end of the robot body, an air box is fixed in the robot body, an air pipe is fixed at the rear end of the air box, and an attaching rod is arranged in the robot body. A supporting disc is fixed to the rear end of the attaching rod, a moving rod is arranged at the rear end of the supporting disc, a positioning plate is fixed to the rear end of the moving rod, a laser welding machine is fixed to the rear end of the positioning plate, a welding wire positioning disc is arranged at the left end of the laser welding machine, a water outlet pipe is arranged at the bottom of the sealing box, and a plurality of positioning rods are further arranged outside the robot body. An electromagnet is arranged at the rear end of each positioning rod; a place is provided for welding of the laser welding machine through the sealing box, the sealing ring can guarantee that the whole robot is tightly attached to the position needing to be welded, and therefore it is guaranteed that the interior of the sealing box is dry, and the welding effect is guaranteed.

Description

Technical Field

[0001] This utility model belongs to the field of underwater welding technology, specifically a ship underwater welding robot. Background Technology

[0002] The development of marine resources cannot be separated from the support of high-end marine engineering equipment. Among them, underwater welding plays a crucial role as a core technology to ensure the efficient development, maintenance and repair of marine engineering equipment and facilities.

[0003] However, traditional underwater welding operations mainly rely on experienced welders to perform underwater welding, which results in low efficiency and is a core factor limiting the development of underwater welding technology to the deep sea. At the same time, existing underwater welding equipment suffers from low welding stability due to wave impact, resulting in poor welding effects. In response, this utility model designs a ship underwater welding robot to solve the above problems. Utility Model Content

[0004] In view of the above situation and to overcome the defects of the prior art, this utility model provides an underwater welding robot for ships, which effectively solves the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an underwater welding robot for ships, comprising a robot body, a plurality of lifting propellers on the top of the robot body, a sealed box fixed to the rear end of the robot body, a sealing ring fixed to the rear end of the sealed box, an air box fixed inside the robot body, an air pipe fixed to the rear end of the air box, a proximity rod inside the robot body, a support plate fixed to the rear end of the proximity rod, a moving rod at the rear end of the support plate, a positioning plate fixed to the rear end of the moving rod, a laser welding machine fixed to the rear end of the positioning plate, a welding wire positioning plate at the left end of the laser welding machine, a rear door fixed to the rear end of the robot body, a sealing plate slidably connected to the rear end of the rear door, a water outlet pipe at the bottom of the sealed box, and a plurality of positioning rods outside the robot body, each positioning rod having a contact rod fixed to its rear end, and each contact rod having an electromagnet at its rear end.

[0006] Preferably, the robot body has several lifting motors fixed inside, each of which is rotatably connected to the lifting propeller on its top. A door is fastened to the front end of the robot body by bolts. A moving camera is fixed to the top of the robot body. A counterweight is fixed to the bottom of the robot body. A controller is also fixed inside the robot body. A power supply is fixed to the left end of the controller. A balancing bucket is fixed to both the left and right ends of the robot body. A horizontal motor is fixed inside the balancing bucket. A horizontal propeller is rotatably connected to the front end of each horizontal motor.

[0007] Preferably, a plurality of positioning blocks are fixed to the outside of the robot body. Each positioning block has a front end fixed to a main motor. Each main motor is rotatably connected to the positioning rod at its rear end. Each main motor has a bonding block fixed to its rear end. Each bonding block has a bonding motor fixed to its inner side. Each bonding motor has a connecting block rotatably connected to its outer side. Each connecting block is fixedly connected to the electromagnet at its rear end. Each positioning rod also has an electromagnet camera fixed to its outer side.

[0008] Preferably, an air pump is also fixed inside the robot body, the air pump is fixedly connected to the air pipe, an air inlet valve is fixed to the rear end of the air pump, an air pressure sensor is fixed to the rear door, a sealing motor is fixed to the front end of the rear door, the sealing motor is rotatably connected to the sealing disc, a water outlet valve is fixed to the top of the water outlet pipe, a water pump is fixed to the top of the water outlet pipe, and the water pump is fixedly connected to the sealing box.

[0009] Preferably, a support bar is fixed inside the robot body, and the support bar is fixedly connected to the proximity rod at its rear end. A reversing motor is fixed to the rear end of the support plate, and the reversing motor is rotatably connected to the moving rod at its rear end. A welding camera is fixed to the rear end of the positioning plate, and a light is fixed to the right end of the welding camera. The welding wire positioning plate is rotatably connected to the positioning plate through a fixing rod. Welding wire is wound inside the welding wire positioning plate, and two welding wire moving toothed discs mesh with the outside of the welding wire. Welding wire moving toothed disc positioning rings are rotatably connected to the outside of the two welding wire moving toothed discs. The front end of each welding wire moving toothed disc positioning ring is fixedly connected to the positioning plate through a connecting bar. A welding wire moving motor is rotatably connected to the top of each welding wire moving toothed disc, and the two welding wire moving motors are fixedly connected to the welding wire moving toothed disc positioning rings.

[0010] Compared with the prior art, the beneficial effects of this utility model are:

[0011] This invention provides a welding site for laser welding machines through a sealed box. The sealing ring ensures that the entire robot fits tightly with the required welding position, thereby ensuring that the inside of the sealed box is dry and thus ensuring the welding effect. The main motor can drive the positioning rod to rotate, and the extension and retraction of the bonding rod can drive the bonding block to move. In turn, the bonding motor can drive the connecting block to rotate, so that the electromagnet is in close contact with the required welding equipment, thereby ensuring the stability of the entire device and ensuring the welding effect.

[0012] This invention uses an air pump and an air inlet valve to deliver air from inside the air chamber to the sealed chamber through an air pipe. This prevents the sealed chamber from deforming and also prevents the electrical components inside the robot from failing due to excessive water pressure, thus ensuring the robot's service life. At the same time, a water pump and a water outlet valve work together to drain the water between the sealed chamber and the welding equipment through a water outlet pipe, thus ensuring the dryness of the sealed chamber and guaranteeing the welding effect.

[0013] This invention utilizes the extension and retraction of a proximity rod to move the support plate. A reversing motor drives the moving rod to rotate, and the extension and retraction of the moving rod further moves the positioning plate, allowing it to be moved to the desired position. This ensures welding accuracy and effectiveness, while also improving welding efficiency. Furthermore, since the laser welding machine can perform welding, the welding wire moving motor drives the welding wire moving gear to rotate, thus conveying the welding wire to the rear end of the laser welding machine, thereby ensuring welding accuracy. Attached Figure Description

[0014] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof.

[0015] In the attached diagram:

[0016] Figure 1 This is a schematic diagram of the overall design of this utility model;

[0017] Figure 2 This is a schematic diagram of the overall rear of the present invention;

[0018] Figure 3 This is a schematic diagram of the internal structure of the robot body of this utility model;

[0019] Figure 4 This is a schematic diagram of the rear end of the positioning rod of this utility model;

[0020] Figure 5 This is a schematic diagram of the interior of the balance bucket of this utility model;

[0021] Figure 6 This is a cross-sectional view of the robot of this utility model;

[0022] Figure 7 This is a schematic diagram of the rear end of the support plate of this utility model;

[0023] Figure 8 This is a schematic diagram of the rear end of the positioning plate of this utility model.

[0024] In the diagram: 1-Robot body; 2-Lifting propeller; 3-Balancing bucket; 4-Positioning rod; 5-Sealed box; 6-Approaching rod; 7-Moving rod; 8-Air pipe; 101-Box door; 102-Balancing weight; 103-Moving camera; 104-Rear door; 105-Sealing disc; 106-Sealing motor; 107-Controller; 108-Power supply; 109-Pressure sensor; 201-Lifting motor; 301-Horizontal propeller; 302-Horizontal motor; 401-Approaching main motor; 402-Applying rod; 403-Applying block; 404-Positioning block; 405-Applying motor; 406-Connecting block; 407-Electromagnet; 408-Electromagnet camera; 501-Sealing ring; 502-Water pump; 503-Outlet valve; 504-Outlet pipe; 601-Support plate; 602-Support bar; 701-Reversing motor; 702-Positioning plate; 703-Welding camera; 704-Lighting lamp; 705-Laser welding machine; 706-Connecting bar; 707-Welding wire positioning plate; 708-Welding wire; 709-Welding wire moving gear plate; 710-Welding wire moving motor; 711-Welding wire moving gear plate positioning ring; 801-Air box; 802-Air pump; 803-Inlet valve. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0026] Example 1, by Figures 1-3 , Figure 8The present invention includes a robot body 1, which is made of alloy material and serves to support the robot. Several lifting propellers 2 are mounted on the top of the robot body 1, which rotate to move the robot underwater. A sealed box 5, also made of alloy material, is fixed to the rear end of the robot body 1. The sealed box 5 provides a welding location for the laser welding machine 705. A sealing ring 501, made of rubber material, is fixed to the rear end of the sealed box 5. The sealing ring 501 ensures a tight fit between the entire robot and the desired welding location, thereby ensuring the dryness inside the sealed box 5 and guaranteeing the welding effect. An air tank 801 is fixed inside the robot body 1. The air tank 801 is used to hold the required air. An air pipe 8 is fixed to the rear end of the air tank 801. The air pipe 8 provides the required air to the equipment at the rear end of the rear door 104, thereby preventing the sealed box 5 from deforming and preventing the electrical components inside the robot from failing due to excessive water pressure, thus ensuring the service life of the robot. A proximity rod 6 is provided inside the robot body 1. The proximity rod 6 is telescopic, thereby driving the support plate 601 to move. The support plate 601 is fixed to the rear end of the proximity rod 6. The support plate 601 is made of alloy material and is used to position the commutator motor 701. A moving rod 7 is provided at the rear end of the support plate 601. The telescopic rod 7 can move the positioning plate 702, thereby moving the laser welding machine 705 to the required position, ensuring welding accuracy and effect. The positioning plate 702, made of alloy material, is fixed to the rear end of the telescopic rod 7. The positioning plate 702 is used to position the laser welding machine 705. The laser welding machine 705 is fixed to the rear end of the positioning plate 702 and is used for welding. A welding wire positioning disc 707 is provided on the left end of the laser welding machine 705 to hold the welding wire 708. A rear door 104, made of alloy material, is fixed to the rear end of the robot body 1. A sealing disc 105, made of alloy material, is slidably connected to the rear end of the box door 104. The sealing disc 105 seals the rear box door 104, preventing water from entering the robot body 1 and ensuring the robot's safety. A water outlet pipe 504, also made of alloy material, is located at the bottom of the sealed box 5. Several positioning rods 4, also made of alloy material, are located on the outside of the robot body 1. These positioning rods are used to position the bonding rods 402. Each positioning rod 4 has a bonding rod 402 fixed to its rear end. The bonding rods 402 are retractable, allowing the bonding block 403 to move. An electromagnet 407 is located at the rear end of each bonding rod 402.The electromagnet 407 uses magnetic force to fix the robot to the equipment to be welded.

[0027] Example 2, based on Example 1, combined with... Figures 4-7The robot body 1 is provided with several lifting motors 201 fixed inside. Each lifting motor 201 drives the lifting propeller 2 to rotate. Each lifting motor 201 is rotatably connected to the lifting propeller 2 at its top. A door 101 is bolted to the front end of the robot body 1, ensuring the robot's airtightness. A mobile camera 103 is fixed to the top of the robot body 1 to monitor the robot's movement. A counterweight 102, made of alloy material, is fixed to the bottom of the robot body 1 to ensure the robot's center of gravity is at the bottom, thus ensuring stability. The robot body 1 also has internal components... A controller 107 is provided to control the robot. A power supply 108 is fixed to the left end of the controller 107, providing the robot with the necessary electrical energy. Balancing tanks 3, made of plastic material, are fixed to both ends of the robot body 1 to ensure the balance of the entire device. A horizontal motor 302 is fixed inside the balancing tank 3, driving a horizontal propeller 301 to rotate, thus enabling the robot to move horizontally underwater and turn. Each horizontal motor 302 has a horizontal propeller 301 rotatably connected to its front end. Several positioning blocks 404, made of alloy material, are fixed to the outside of the robot body 1. The positioning block 404 is used to position the positioning rod 4. Each positioning block 404 has a front end fixed to a main motor 401, which can drive the positioning rod 4 to rotate. Each main motor 401 is rotatably connected to the positioning rod 4 at its rear end. Each main motor 401 has a mating block 403 fixed to its rear end, which is used to position the connecting block 406. Each mating block 403 has a mating motor 405 fixed inside, which can drive the connecting block 406 to rotate. Each mating motor 405 has a connecting block 406 rotatably connected to its outer side. Each connecting block 406 is fixedly connected to the electromagnet 407 at its rear end. Each positioning rod 4 is also externally fixed... An electromagnet camera 408 is fixedly installed in the robot body 1 to monitor the position of the electromagnet 407. An air pump 802 is also fixedly installed inside the robot body 1, and is fixedly connected to the air pipe 8. An air inlet valve 803 is fixedly installed at the rear end of the air pump 802. The air pump 802 and the air inlet valve 803 work together to deliver air from the air box 801 to the sealed box 5, thereby ensuring the safety of the internal parts of the sealed box 5. A pressure sensor 109 is also fixedly installed on the rear door 104 to monitor the internal pressure of the sealed box 5. A sealing motor 106 is fixedly installed at the front end of the rear door 104, and the sealing motor 106 can drive the sealing disc 105 to rotate.The sealing motor 106 is rotatably connected to the sealing disc 105. A water outlet valve 503 is fixed to the top of the water outlet pipe 504, and a water pump 502 is fixed to the top of the water outlet pipe 504. The water pump 502 and the water outlet valve 503 work together to discharge water from inside the sealing box 5, thus ensuring the welding effect. The water pump 502 is fixedly connected to the sealing box 5. A support bar 602 is fixed inside the robot body 1. The support bar 602 is made of alloy material and is used to position the proximity rod 6. The support bar 602 is fixedly connected to the proximity rod 6 at its rear end. A reversing motor 701 is fixed to the rear end of the support disc 601. The reversing motor 701 can drive the moving rod 7 to rotate. The reversing motor 701 is rotatably connected to the moving rod 7 at its rear end. A welding camera 703 is fixed to the rear end of the positioning plate 702. The welding camera 703 is used to monitor the welding process. An illumination lamp 704 is fixed to the right end of the camera 703, providing lighting for the welding camera 703. A welding wire positioning disc 707 is rotatably connected to the positioning plate 702 via a fixing rod. Welding wire 708 is wound inside the welding wire positioning disc 707, and two welding wire moving gear discs 709 mesh with the outside of the welding wire 708. Welding wire moving gear disc positioning rings 711 are rotatably connected to the outside of the two welding wire moving gear discs 709. The front end of each welding wire moving gear disc positioning ring 711 is fixedly connected to the positioning plate 702 via a connecting strip 706. A welding wire moving motor 710 is rotatably connected to the top of each welding wire moving gear disc 709, driving the welding wire 708 to rotate, thereby conveying the welding wire 708 to the bottom of the laser welding machine 705, ensuring welding effect. The two welding wire moving motors 710 are fixedly connected to the welding wire moving gear disc positioning rings 711.

[0028] When using this device, the operator places the robot underwater. The controller 107 controls the lifting motor 201 to rotate the lifting propeller 2, causing the robot to descend. Furthermore, the controller 107 controls two horizontal motors 302 to work together, enabling the robot to move horizontally underwater and change direction. When the moving camera 103 detects that the robot has reached the desired welding equipment position, the controller 107 controls the main motor 401 to rotate the positioning rod 4. The extension and retraction of the bonding rod 402 further... The bonding block 403 is moved, and the bonding motor 405 further drives the connecting block 406 to rotate, thereby making the electromagnet 407 tightly attached to the welding equipment. At this time, the electromagnet camera 408 can monitor the position of the electromagnet 407. The controller 107 then controls the electromagnet 407 to be energized, thereby fixing the robot to the required welding equipment. The controller 107 then controls the bonding rod 402 to retract a certain distance, so that the sealing ring 501 can seal the entire device. At this time, the controller 107 controls the water pump. In conjunction with the outlet valve 503, water can be drained from the sealed box 5. Furthermore, the controller 107 controls the air pump 802 and the inlet valve 803 to deliver air from the air chamber 801 to the sealed box 5, ensuring the dryness of the sealed box 5. At this time, the air pressure sensor 109 monitors the air pressure inside the sealed box 5. Further, the controller 107 controls the sealing motor 106 to operate, thereby rotating the sealing disc 105. Simultaneously, the controller 107 controls the extension of the proximity rod 6, thereby driving the support... The disk 601 moves backward, and the controller 107 further controls the reversing motor 701 and the moving rod 7 to work together, thereby driving the positioning plate 702 to move, thus ensuring the accuracy of welding. The controller 107 further controls the laser welding machine 705 to start welding. At this time, the welding camera 703 and the lighting lamp 704 ensure the accuracy of welding. The controller 107 further controls the welding wire moving motor 710 to work, which can drive the welding wire moving gear disk 709 to rotate, thereby feeding the welding wire 708, thus ensuring the welding effect.

[0029] The working process of this utility model is as follows: When using this device, the operator places the robot underwater. At this time, the controller 107 controls the lifting motor 201 to rotate the lifting propeller 2, thereby causing the robot to descend. Furthermore, the controller 107 controls the two horizontal motors 302 to work together, thereby driving the robot to move horizontally underwater and change direction. Further, when the moving camera 103 detects that the robot has reached the required welding equipment position, the controller 107 controls the approach motor 401 to rotate the positioning rod 4. Further, through the... The extension and retraction of the bonding rod 402 can move the bonding block 403, and further, the bonding motor 405 can drive the connecting block 406 to rotate, thereby making the electromagnet 407 tightly attached to the welding equipment. At this time, the electromagnet camera 408 can monitor the position of the electromagnet 407. Then, the controller 107 controls the electromagnet 407 to be energized, thereby fixing the robot to the required welding equipment. At this time, the controller 107 controls the bonding rod 402 to retract a certain distance, so that the sealing ring 501 can seal the entire device. At this time, the controller 107... The water pump 502 and the outlet valve 503 are controlled to discharge water from the sealed box 5. Furthermore, the controller 107 controls the air pump 802 and the air inlet valve 803 to deliver air from the air box 801 to the sealed box 5, ensuring the dryness of the sealed box 5. At this time, the air pressure sensor 109 monitors the air pressure inside the sealed box 5. The controller 107 then controls the sealing motor 106 to operate, thereby rotating the sealing disc 105. Simultaneously, the controller 107 controls the extension of the proximity rod 6, thereby driving the... The support plate 601 moves backward, and the controller 107 further controls the reversing motor 701 and the moving rod 7 to work together, thereby driving the positioning plate 702 to move, thus ensuring the accuracy of welding. The controller 107 further controls the laser welding machine 705 to start welding. At this time, the welding camera 703 and the lighting lamp 704 ensure the accuracy of welding. The controller 107 further controls the welding wire moving motor 710 to work, which can drive the welding wire moving gear 709 to rotate, thereby feeding the welding wire 708, thus ensuring the welding effect.

[0030] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0031] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A ship underwater welding robot, characterized in that: The robot body (1) includes a robot body (1) with several lifting propellers (2) on its top. A sealed box (5) is fixed to the rear end of the robot body (1), and a sealing ring (501) is fixed to the rear end of the sealed box (5). An air box (801) is fixed inside the robot body (1), and an air pipe (8) is fixed to the rear end of the air box (801). A proximity rod (6) is provided inside the robot body (1), and a support plate (601) is fixed to the rear end of the proximity rod (6). A moving rod (7) is provided to the rear end of the support plate (601), and a positioning plate is fixed to the rear end of the moving rod (7). (702), a laser welding machine (705) is fixed at the rear end of the positioning plate (702), a welding wire positioning plate (707) is provided at the left end of the laser welding machine (705), a rear box door (104) is fixed at the rear end of the robot body (1), a sealing plate (105) is slidably connected at the rear end of the rear box door (104), a water outlet pipe (504) is provided at the bottom of the sealing box (5), and several positioning rods (4) are also provided on the outside of the robot body (1), a bonding rod (402) is fixed at the rear end of each positioning rod (4), and an electromagnet (407) is provided at the rear end of each bonding rod (402).

2. A ship underwater welding robot according to claim 1, characterized in that: The robot body (1) has several lifting motors (201) fixed inside. Each lifting motor (201) is rotatably connected to the lifting propeller (2) on its top. The front end of the robot body (1) is fastened with a box door (101) by bolts. A mobile camera (103) is fixed on the top of the robot body (1). A counterweight (102) is fixed on the bottom of the robot body (1). A controller (107) is also fixed inside the robot body (1). A power supply (108) is fixed on the left end of the controller (107). A balance bucket (3) is fixed on both the left and right ends of the robot body (1). A horizontal motor (302) is fixed inside the balance bucket (3). A horizontal propeller (301) is rotatably connected to the front end of each horizontal motor (302).

3. A ship underwater welding robot according to claim 2, characterized in that: The robot body (1) has several positioning blocks (404) fixed to its exterior. Each positioning block (404) has a main motor (401) fixed to its front end. Each main motor (401) is rotatably connected to the positioning rod (4) at its rear end. Each main motor (401) has a bonding block (403) fixed to its rear end. Each bonding block (403) has a bonding motor (405) fixed to its inner side. Each bonding motor (405) has a connecting block (406) rotatably connected to its outer side. Each connecting block (406) is fixedly connected to the electromagnet (407) at its rear end. Each positioning rod (4) also has an electromagnet camera (408) fixed to its exterior.

4. A ship underwater welding robot according to claim 3, characterized in that: An air pump (802) is fixed inside the robot body (1). The air pump (802) is fixedly connected to the air pipe (8). An air inlet valve (803) is fixed at the rear end of the air pump (802). An air pressure sensor (109) is fixed on the rear door (104). A sealing motor (106) is fixed at the front end of the rear door (104). The sealing motor (106) is rotatably connected to the sealing disc (105). A water outlet valve (503) is fixed at the top of the water outlet pipe (504). A water pump (502) is fixed at the top of the water outlet pipe (504). The water pump (502) is fixedly connected to the sealing box (5).

5. A ship underwater welding robot according to claim 4, characterized in that: The robot body (1) has a support bar (602) fixed inside, which is fixedly connected to the proximity rod (6) at its rear end. The support plate (601) has a reversing motor (701) fixed at its rear end, which is rotatably connected to the moving rod (7) at its rear end. The positioning plate (702) has a welding camera (703) fixed at its rear end, and a lighting lamp (704) is fixed at the right end of the welding camera (703). The welding wire positioning plate (707) is rotatably connected to the positioning plate (702) through a fixed rod. 707) is internally wound with welding wire (708), and two welding wire moving gears (709) mesh with the outside of the welding wire (708). The two welding wire moving gears (709) are rotatably connected to the outside of the two welding wire moving gears (709). The front end of each welding wire moving gear positioning ring (711) is fixedly connected to the positioning plate (702) through a connecting strip (706). The top of each welding wire moving gear (709) is rotatably connected to a welding wire moving motor (710). The two welding wire moving motors (710) are fixedly connected to the welding wire moving gear positioning ring (711).

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