JPH0260434B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an anchoring device for a mobile robot used underwater. More specifically, the present invention relates to a fixing device that can strongly and stably fix a mobile robot to an underwater structure even in situations where a gripping type or adsorption type cannot be used to fix the mobile robot to an underwater structure.

[Prior art]

For example, as a method for fixing a mobile robot moving underwater such as the sea to an underwater structure,
There are gripping type, suction type, etc., and it is known that the mobile robot is fixed to an underwater structure by operating the gripping tool or the suction tool attached to the tip of the mobile robot's legs.

However, in the case of a grasping type, the mobile robot cannot be fixed unless there is a part of the underwater structure that has a shape and size suitable for being grasped by the grasping means. In addition, in the case of the suction type, the mobile robot cannot be fixed to the structure unless it has a smooth and flat suction surface.

In particular, in the case of the adsorption type, it cannot be used in areas with strong tidal currents, and a stronger and more stable fixing method has been desired.

By the way, the general stud welding system is already known as a completed technical means.

On the other hand, as stud welding performed underwater, there is currently a wet welding technique that uses purging such as argon. In this underwater stud welding system, the area around the welded tip of the stud and the area to be welded (arc generation area) on the surface of the base metal workpiece is surrounded with a rubber skirt or sponge, and immediately before welding starts,
By blowing purging gas into the area to be welded, water on the surface to be welded is removed and dried before welding is performed.

The present invention focuses on such stud welding and attempts to fix a mobile robot to an underwater structure using stud welding.

[Purpose of the invention]

That is, the present invention aims to provide a device that can firmly and stably fix a mobile robot to an underwater structure, regardless of its shape or surface condition, as long as the structure can be stud-welded. This is the purpose.

[Structure of the Invention] In order to achieve the above object, the fixing device for an underwater mobile robot of the present invention includes a fixing portion in a housing of a welding stud device, and a fixing portion for attaching the housing to an underwater structure within the housing. A stud welding gun having a gripping mechanism is installed at the tip of the leg of the underwater mobile robot, and the fixed part of the housing is gripped by the gripping mechanism. It is.

The welding stud device described above only needs to include at least a housing and a stud member for fixing the housing to an underwater structure, and if necessary, an already established terrestrial or underwater stud welding system may be adopted. .

Further, the fixed part provided on the housing may be of any type, such as a flange shape, which has a function that allows the gripping mechanism provided on the stud welding gun to engage, and the gripping mechanism may be, for example, a chuck type, which grips the fixed part. It is sufficient if it has the functions that can be used.

Further, the stud member must have the function of fixing the housing to an underwater structure, such as a flange.

Furthermore, the mobile robot shall be equipped with a DC arc welding power source, a control unit, and the like.

As described above, in the present invention, the housing of the welding stud device is provided with a fixing portion, and
A stud member for fixing the housing to an underwater structure is built into the housing, and a stud welding gun having a gripping mechanism is provided at the tip of the leg of the underwater mobile robot, and the gripping mechanism allows the housing to be fixed to the underwater structure. When the housing of the stud device is fixed to an underwater structure by the stud member, the stud welding gun installed at the tip of the leg of the mobile robot is fixed to the housing by the gripping mechanism. Therefore, the mobile robot can be firmly and stably fixed to an underwater structure via the housing, regardless of the shape or surface condition of the underwater structure.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view of a mobile robot 1 that moves underwater, and a plurality of legs 2 of this mobile robot 1 are each equipped with a fixing device A at the tip thereof. As shown in FIG. 2, this fixing device A includes a stud welding gun 3, a gripping mechanism 6 attached to this stud welding gun 3, and a welding stud device 10 secured by this gripping mechanism 6. It consists of

The stud welding gun 3 has a flanged rod 5 in the center of its main body 4 that connects with the stud member 11.
It also has a plurality of gripping mechanisms 6 around the lower part of the main body 4. Each gripping mechanism 6 has a hook shape, and when pressed by the locking member 9, it closes as shown by the solid line and locks the fixed portion 1 of the housing 16.
7. This locking member 9 is moved in and out by a hydraulic cylinder mechanism (not shown), and when the locking member 9 protrudes as shown by arrow B, each gripping mechanism 6 grips the fixed portion 17 as shown by solid lines. When the locking member 9 retreats, each gripping mechanism 6 is released by the spring force of the spring 8 wound around its support shaft 7, as shown by the two-dot broken line, and is no longer engaged with the fixed portion 17 of the housing 16. The connection is canceled.

The stud welding gun 3 also includes a pipe (not shown) for supplying purging gas to the arc generation area.

The welding stud device 10 includes a housing 16
and a stud member 11 for fixing this housing 16 to an underwater structure 23.

The housing 16 is shaped like a container with a bottom, and has a flange-like fixing portion 17 on its upper outer periphery and an opening 19 on its bottom portion 18 . Also,
The stud member 11 has a housing 1 near its lower end.
A flange 13 is provided for fixing the flange 6, and a distal end portion from the flange 13 serves as a proximal welding portion 12. Further, in order to locate the stud member 11 at the center of the housing 16, the flange 13 has a truncated conical shape 14 on the side facing the bottom 18 of the housing 16, and the housing 16 facing the truncated conical shape 14 has a truncated conical shape 14.
The upper surface of the bottom part 18 is shaped like a funnel 20.

Further, the housing 16 is provided with a check valve 21 on its outer periphery that can release gas only from the inside to the outside, and a rubber shield 22 for preventing water intrusion is fitted on the bottom 18 of the housing 16. .

The opening 19 has a size intermediate between the flange 13 of the stud member 11 and the proximal welded portion 12 of the stud member 11, so that when the stud member 11 is welded to the underwater structure 23, the flange 13 of the stud member The housing 16 is fixed to the structure 23 using the housing 16.

Next, the fixing work of the work robot 1 will be explained in order.

As shown in FIG. 2, a welding stud device 10 is held in advance at the bottom of each stud welding gun 3 by a holding mechanism 6, and a welding stud device 10 is held at the bottom of each stud welding gun 3 in advance.
When fixing the welding stud device 10 to an underwater structure 23, the legs 2 of the mobile robot 1 are operated to press the welding stud device 10 onto a desired location on the underwater structure 23, as shown in FIG.

Next, underwater welding was started according to the normal arc stud welding sequence, and an arc was generated between the proximal welded part 12 of the stud member 11 and the structure 22, and the temperature reached an appropriate temperature. Sometimes, when the two are brought into close contact, as shown in Figure 4,
Stud member 11 is stud-welded to structure 23.

When the stud member 11 is stud-welded to the structure 23 in this manner, the housing 16 is fixed to the structure 23 by the flange 13 of the stud member 11.

By the way, since the mobile robot 1 grips the housing 16 by the gripping mechanism 6 of the stud welding gun 3 attached to the tip of the leg 2, the mobile robot 1 can grip the structure 23 via the housing 16.
It will be fixed strongly and stably.

On the other hand, when moving the mobile robot 1, the lock member 9 is moved backward as shown by arrow C, as shown in FIG. Then, each gripping mechanism 6 opens its legs in the direction shown by the arrow D and releases the fixed part 17 of the housing 16. Therefore, as shown in FIG. Move the stud welding gun 3 to Then, since the stud welding gun 3 is separated from the housing 16, the mobile robot 1 can be moved to any desired location.

When re-fixing the mobile robot 1 to the housing 16 that is fixed to the structure 23,
As shown in FIG. 6, the stud welding gun 3 is moved in the direction of arrow F to weld the rod 5 to the stud member 1.
1, each gripping mechanism 6 is closed in the direction of arrow G, as shown in FIG.
Then, each gripping mechanism 6 grips the fixed portion 17 of the housing 16, so that the mobile robot 1 is fixed to the housing 16 after all.

If you want to fix the mobile robot 1 to another new location, you can follow the procedure described above, but in that case, operate the legs 2 to fix the mobile robot 1 in a magazine (not shown) in large numbers. The welding stud device 10 is held at the bottom of each stud welding gun 3, and then the welding is carried out.

FIG. 7 shows another embodiment of the stud device 10, in which a bellows 24 is provided in the housing 16 constituting the stud device 10, and a thin metal sheet that can be cut by melting is provided in the opening 19 of the bellows 24. 25 are provided. Then, a section 26 sealing the proximal welded portion 12 of the stud member 11 is provided.
This section 26 is filled with an appropriate pressure gas that will not interfere with the welding action.

The stud device 10 constructed in this manner has the advantage that not only is the device simple, but also highly reliable and high-quality welds can be obtained.

〔Effect of the invention〕

As described above, the present invention provides a welding stud device with a housing having a fixing portion, a stud member for fixing the housing to an underwater structure built in the housing, and a welding stud device for attaching the legs of an underwater mobile robot. A stud welding gun is provided with a gripping mechanism at the tip, and the gripping mechanism grips the fixed part of the housing, so that if it is on a structure that can be welded, it will not fit the shape or surface condition of the structure. To firmly and stably fix a mobile robot without being affected by the influence.

In particular, with the present invention, if welding is possible even on thin frames, uneven surfaces, or surfaces with gaps,
Mobile robots can be fixed anywhere. Furthermore, since the adhesion force is large, there is less risk of shifting or peeling off, and there is an advantage that stable adhesion can be maintained.

[Brief explanation of drawings]

FIG. 1 is a perspective view of an underwater mobile robot equipped with the fixing device of the present invention, FIG. 2 is a side view including a partial cross section of the fixing device, and FIGS. 3 and 4 are explanations showing the fixing process of the fixing device. 5 and 6 are explanatory diagrams showing the separation process of the fixing device, and FIG. 7 is a side view including a partial cross section of the fixing device provided with another stud device. DESCRIPTION OF SYMBOLS 1... Mobile robot, 2... Leg, 3... Stud welding gun, 6... Grasping mechanism, 10... Stud device for welding, 11... Stud member, 16... Housing, 17... Fixing part.

Claims (1)

[Claims] 1. The housing of the welding stud device is provided with a fixing part, and a stud member for fixing the housing to an underwater structure is built into the housing, and at the tip of the leg of the underwater mobile robot,
1. A fixing device for an underwater mobile robot, comprising a stud welding gun having a gripping mechanism, the gripping mechanism gripping a fixed portion of the housing.