The invention belongs to the technical field of nuclear power, and particularly relates to a carrying robot for underwater defect welding repair. In the invention, the welding repair assembly is arranged at the front end of the carrying robot instead of the middle part (inner and outer arrangement) of the carrying robot, so that the welding operation has higher reachable rate; a propeller and a walking adsorption system are arranged, floating movement and wall-attaching crawling movement of the carrying robot can be achieved, and welding repair of weld defects of the bottom or the wall of the water pool in the water environment can be achieved; the walking mechanism is matched with the walking adsorption system, and stepping type crawling of the robot is achieved. The walking mechanism realizes three-degree-of-freedom orthogonal decoupling motion in a plane through a specific mounting structure of a rotating table and a linear sliding table, the degree of freedom of the mechanism is simplified, and the positioning precision is high.

    本公开属于核电技术领域,具体涉及一种用于水下缺陷焊接修复的运载机器人。本公开中,焊接修复组件布置在运载机器人前端,而非运载机器人中间部位(内外布置),焊接作业具有更高的可达率;配备推进器和行走吸附系统,可实现运载机器人浮游运动和贴壁爬行运动,可以实现有水环境下水池池底或池壁焊缝缺陷的焊接修复;本公开行走机构与行走吸附系统配合,实现机器人步进式爬行。行走机构通过一个旋转台和一个直线滑台的特定安装结构实现平面内三自由度正交解耦运动,简化机构自由度,定位精度高。


    Access

    Download


    Export, share and cite



    Title :

    Carrying robot for underwater defect welding repair


    Additional title:

    用于水下缺陷焊接修复的运载机器人


    Contributors:
    ZHOU ZHENG (author) / DUAN HONGBIN (author) / ZHANG XIAO (author) / ZHANG BIN (author) / YANG BIN (author) / ZHANG LI (author)

    Publication date :

    2024-07-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B23K Löten , SOLDERING OR UNSOLDERING / B25J Manipulatoren , MANIPULATORS / B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen



    Underwater robot carrying device

    TAN LEI / CHEN CHAOHE / JIANG MENGJIE | European Patent Office | 2024

    Free access

    Carrying type underwater robot sub-machine

    ZHOU HONGKUN / CHU WEI / YANG FAN et al. | European Patent Office | 2022

    Free access

    Underwater robot carrying multiple functional modules and ecological system of underwater robot

    NI RONGZHI / WU ZHICHENG | European Patent Office | 2021

    Free access

    DEVICE CARRYING PLATFORM BASED ON UNDERWATER ROBOT

    LIU AIRONG / LI XUESONG / YANG ZHICHENG et al. | European Patent Office | 2022

    Free access

    Underwater robot capable of carrying out ocean underwater hydrological detection

    CUI DONGYANG / CHEN DENG / WU GUIMIN et al. | European Patent Office | 2022

    Free access