CN114918515A - High-adaptability multi-position local dry underwater TIG welding device - Google Patents

Abstract

The invention provides a high-adaptability multi-pose local dry underwater TIG welding device, and belongs to the technical field of local dry underwater TIG welding. The device comprises a binocular vision camera, an arc voltage monitoring system, a bottom waterproof baffle, a high-temperature-resistant glass welding gun nozzle, a double-wire feeding pipe, a distance sensor, a silica gel pad, a high-temperature-resistant sponge, a split type wire harness sealing module, a drainage cover body and a high-pressure gas nozzle; the binocular vision camera, the TIG welding gun, the distance sensor, the wire feeding pipe and the high-temperature resistant sponge are all arranged inside the drainage cover, the bottom sucker baffle and the drainage cover are integrated in the water inlet and outlet processes, and the arc pressure monitoring system is connected with the motion control system; the device can adapt to the complex welding condition, is suitable for horizontal welding, transverse welding and vertical welding pose welding, has high efficiency and controllability in the welding process, and greatly improves the quality and efficiency of underwater welding operation.

Description

High-adaptability multi-position local dry underwater TIG welding device

Technical Field

The invention relates to the technical field of local dry underwater TIG welding, in particular to a high-adaptability multi-pose local dry underwater TIG welding device.

Background

With the increasing exhaustion of mineral resources on land and the constant search of living space for human beings, the 21 st century will be the "ocean century" for human beings to develop and utilize ocean! The continuous coast continental shelf contains abundant resources, ships, oil production platforms, scientific research platforms, oil storage tanks, oil pipeline frames and the like required by developing corresponding resources, besides designing and selecting metal materials suitable for seawater conditions, the construction technical problems of underwater environment installation, maintenance, reconstruction and the like are also solved, and underwater welding is an essential important technological means in construction. Compared with the dry underwater welding, the local dry underwater welding has lower cost and higher forming quality, and is an important development direction of the underwater welding. Meanwhile, the TIG welding method has the advantages of concentrated arc energy, small heat input, no welding slag, no spark, splashing, noise, no smoke and dust, no pollution to welding environment, capability of welding most of metals and alloys, and good technological adaptability of complex poses such as transverse welding, vertical welding, overhead welding and the like. Therefore, the local dry method underwater TIG welding has great development potential in underwater installation, maintenance and reconstruction of metal structures. However, the existing local dry underwater TIG welding device is difficult to complete underwater welding tasks efficiently and in high quality.

Disclosure of Invention

The invention aims to provide a high-adaptability multi-position local dry underwater TIG welding device, which is beneficial to improving the quality and efficiency of underwater welding operation. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.

In order to realize the purpose, the invention provides the following technical scheme:

the invention provides a high-adaptability multi-position local dry underwater TIG welding device, which comprises a drainage cover, a bottom waterproof baffle and a locking device, wherein the drainage cover is used for installing a welding gun and a wire feeding pipe, the drainage cover is arranged above the bottom waterproof baffle, the bottom waterproof baffle covers a bottom opening of the drainage cover, the drainage cover is in sealing fit with the bottom waterproof baffle, the drainage cover and the bottom waterproof baffle can be fixedly connected through the locking device, and after the drainage cover is unlocked by the locking device, the drainage cover can be horizontally pushed away from the bottom waterproof baffle.

Further, the bottom water-proof baffle comprises a bottom plate and a side plate, the side plate is connected with the bottom plate, the side plate extends along the circumferential direction of the bottom plate and is provided with a moving opening, and the bottom plate and the side plate are respectively matched with the bottom surface and the side surface of the bottom water-proof baffle in a sealing mode.

Furthermore, a silica gel pad is sleeved on the circumferential edge of the bottom of the drainage cover, an insertion groove is formed in the top surface of the silica gel pad, and the circumferential outer edge of the bottom of the drainage cover is inserted into the insertion groove; the silica gel pad is characterized in that a hollow hole is formed in the silica gel pad, the extending direction of the hollow hole is along the length extending direction of the silica gel pad, the hollow hole is located below the insertion groove, and one side, deviating from the insertion groove, of the silica gel pad is an arc surface.

Furthermore, the locking device is fixed on the bottom waterproof baffle and comprises a linear actuating mechanism and a pressing plate, the pressing plate is connected with a telescopic shaft of the linear actuating mechanism, and the pressing plate is driven by the linear actuating mechanism to move downwards so as to press the drainage cover on the bottom waterproof baffle.

Further, a vacuum chuck is arranged on the bottom waterproof baffle.

Furthermore, welding set still includes the high-pressure gas nozzle, the high-pressure gas nozzle sets up in the drainage cover, the high-pressure gas nozzle is more than one, the front end of high-pressure gas nozzle is flat fan-shaped, through the remaining drop of water on the welding zone position can be swept to the gas of high-pressure gas nozzle spun.

Further, the inside of water drainage cover is provided with ring baffle, ring baffle with form annular high temperature resistant sponge mounting groove between the bottom circumference outside board of water drainage cover, set up high temperature resistant sponge in the high temperature resistant sponge mounting groove, high temperature resistant sponge protrusion the bottom of water drainage cover.

Furthermore, a low-pressure drainage gas quick-connection plug is arranged on the drainage cover, a low-pressure drainage gas through hole is formed in the drainage cover, the low-pressure drainage gas through hole is communicated with the interior of the low-pressure drainage gas quick-connection plug, and the low-pressure drainage gas through hole is obliquely arranged.

Further, the drainage cover comprises a lower drainage cover, an upper drainage cover and a drainage cover cap, the lower drainage cover, the upper drainage cover and the drainage cover cap are sequentially arranged from bottom to top, the upper drainage cover is detachably connected with the lower drainage cover and the drainage cover cap respectively, the lower drainage cover is connected with the bottom waterproof baffle through the locking device, and a welding gun mounting hole, a wire feeding pipe mounting hole and a camera passing hole are formed in the drainage cover cap.

Furthermore, the drainage cover further comprises a wiring harness sealing module, the wiring harness sealing module is arranged above the drainage cover cap and detachably connected with the drainage cover cap, the wiring harness sealing module is of a split structure, a silica gel block is arranged inside the wiring harness sealing module, and a wire hole is formed in the silica gel block.

The invention has the following beneficial effects:

1. the water inlet and outlet processes are reliable and efficient, low-pressure drainage gas is consumed less, the bottom waterproof baffle can be dynamically separated from the drainage cover in the welding process, the welding space is not occupied, the operation is simple and easy, the time of the welding preparation process is saved, and the efficiency of the whole welding process is improved;

2. the surface flatness of the structure can be measured in real time, the positions of a welding gun and a wire feeding pipe are adjusted by matching with an arc pressure monitoring system, the complex welding environment is highly adapted, and the surface of a certain abrupt structure has strong adaptability;

3. the drainage and sealing structure with high adaptability can realize the whole welding process in a dry cavity and can realize underwater welding in horizontal welding, transverse welding and vertical welding poses;

4. the distance between the tip of the tungsten electrode and the workpiece can be observed, the alignment and debugging process before welding is accelerated, and the efficiency of the whole welding process is directly accelerated;

5. the double-wire feeding structure has reasonable structural arrangement and small volume of the drainage cover, has good adaptability to different welding paths and different wire welding requirements, and ensures normal wire feeding of complex welding beads;

6. the invention can monitor the welding process in real time, visually display the molten drop transition state and the post-welding forming in real time, facilitate the field operators to evaluate the welding task, and save a great deal of follow-up re-inspection cost;

7. the invention directly reduces the difficulty and the production cost of underwater welding tasks, has stable construction quality and strong adaptability, and is suitable for underwater repair and material increase welding tasks.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a welding apparatus provided in an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a welding apparatus provided in an embodiment of the present invention;

FIG. 3 is an enlarged view of a portion of FIG. 2 at A;

FIG. 4 is a schematic front view of a welding apparatus provided by an embodiment of the invention;

FIG. 5 is a schematic sectional view taken along line C-C in FIG. 4;

FIG. 6 is a schematic structural view of a lower drain cover according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of a drain cover according to an embodiment of the present invention;

FIG. 8 is a cross-sectional schematic view of a drain cover provided in accordance with an embodiment of the present invention;

fig. 9 is a schematic structural view of a wire harness sealing module provided in an embodiment of the present invention;

FIG. 10 is a schematic front view of a silicone block provided in an embodiment of the present invention;

FIG. 11 is a schematic sectional view taken along line B-B in FIG. 10;

fig. 12 is a schematic structural view of an upper drain cover according to an embodiment of the present invention.

Figure 1-underdrain cover; 101-high pressure water blowing nozzle mounting holes; 102-a distance sensor mounting slot; 103-high temperature resistant sponge mounting groove; 104-an annular baffle; 2-upper drainage cover; 3-a drainage cover; 301-wire feeding pipe mounting hole; 302-low pressure vent gas holes; 303-installing threaded holes on the wiring harness sealing module; 304-a torch mounting hole; 305-camera through hole; 306-wires pass through holes; 4-a wiring harness sealing module; 401-a silica gel block; 402-welding gun fastening threaded hole; 5-a hollow bolt; 6-low pressure drainage gas quick plug; 7-bottom waterproof board; 8-vacuum chuck; 9-a pressing cylinder; 10-high pressure water gas discharging quick connector; 11-silica gel pad; 1101-an insertion slot; 1102-hollow bore; 12-binocular vision camera; 13-a wire feeding pipe; 14-high temperature resistant sponge; 15-high pressure gas nozzle; 16-a distance sensor; 17-a welding gun; 18-high temperature resistant glass welding gun nozzle; 19-welding gun and wire feeding tube fixing frame; 20-a light supplement lamp.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It should be apparent that the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

The invention provides a high-adaptability multi-position local dry underwater TIG welding device, which comprises a drainage cover for mounting a welding gun and a wire feeding pipe, a bottom waterproof baffle 7 and a locking device, wherein the drainage cover is arranged above the bottom waterproof baffle 7, the bottom waterproof baffle 7 covers a bottom opening of the drainage cover, the drainage cover is in sealing fit with the bottom waterproof baffle 7, the drainage cover and the bottom waterproof baffle 7 can be fixedly connected through the locking device, and after the locking of the drainage cover by the locking device is released, the drainage cover can be horizontally pushed away from the bottom waterproof baffle 7. When using welding set, through locking device with the cover fastening of draining before going into water on bottom water baffle 7, the laminating of the surface of cover bottom and bottom water baffle 7 and sealed cooperation, the motion platform carries on this welding set under water and accomplishes the action of going into water, and lets in low pressure drainage gas in the cover of draining when going into water, when needing the welding, removes locking device to the locking of cover of draining, pushes away the cover of draining from bottom water baffle 7, moves to treating the welded position. After the welding is finished, the drainage cover is pushed to the bottom waterproof baffle 7, the locking device tightly fixes the drainage cover on the bottom waterproof baffle 7 again, and then the welding device is operated to discharge water. By arranging the matched structure of the drainage cover and the bottom waterproof baffle 7, the time of a welding preparation process can be saved, and the efficiency of the whole welding process is improved; meanwhile, the consumption of low-pressure drainage gas can be reduced to a certain extent, and a large amount of water can be effectively prevented from entering the drainage cover.

Regarding the structure of the bottom flashing 7, see fig. 1, the bottom flashing 7 comprises a bottom plate to which side plates are connected, and side plates extending in the circumferential direction of the bottom plate and having movement openings formed therein, which bottom plate and side plates are sealingly engaged with the bottom surface and the side surfaces of the bottom flashing 7, respectively. Fig. 1 illustrates a state in which the drain cover is pushed away from the bottom flashing 7 through the moving opening in the bottom flashing 7. An inclined surface is formed on one side of the bottom plate of the bottom water-proof baffle 7 close to the moving opening so as to push the drain cover away from and onto the bottom water-proof baffle 7.

The sealing structure between the drain cover and the bottom flashing 7 is explained as follows: the circumferential edge of the bottom of the drainage cover is sleeved with a silica gel pad 11, an insertion groove 1101 is formed in the top surface of the silica gel pad 11, the silica gel pad 11 is adhered to the drainage cover by using special silica gel glue, and the circumferential outer edge of the bottom of the drainage cover is inserted into the insertion groove 1101; the inside of silica gel pad 11 is provided with hollow hole 1102, and the extending direction of hollow hole 1102 is along the length extending direction of silica gel pad 11, and hollow hole 1102 is located the below of insertion groove 1101, and the one side that silica gel pad 11 deviates from insertion groove 1101 is the arc surface. Referring to fig. 5, 10-11, the hollow hole 1102 is formed in the silica gel pad 11, so that the compressibility of the silica gel pad 11 can be increased (the maximum compressibility of the silica gel pad 11 can be set to 10mm), and the maximum compressibility of the silica gel pad 11 is greater than the thickness of the bottom waterproof baffle 7 (the thickness of the bottom waterproof baffle 7 can be about 5 mm), which is beneficial for realizing that the silica gel pad is tightly attached to a structure in the side wall welding and overhead welding positions.

The silica gel pad 11 is waterproof sealing's essential element, offers stress release hole in four regional insides of buckling of silica gel pad 11, prevents to lead to the fact deformation owing to buckle the stress concentration who arouses, influences drainage sealing performance.

The locking device is explained as follows: the locking device is fixed on the bottom waterproof baffle 7 and comprises a linear actuating mechanism and a pressing plate, the linear actuating mechanism can be a pressing cylinder 9, the pressing plate is connected with a telescopic shaft of the linear actuating mechanism, and the pressing plate is driven by the linear actuating mechanism to move downwards so that the drainage cover can be pressed on the bottom waterproof baffle 7. Referring to fig. 1, a pressing cylinder 9 is illustrated, and the locking device has a simple structure and is convenient to operate. The locking means may be two, see fig. 1, which illustrates two locking means arranged opposite each other.

Preferably, a vacuum chuck 8 is arranged on the bottom water-proof baffle 7. When the welding device enters water and the bottom waterproof baffle 7 and the drainage cover need to be separated, the bottom waterproof baffle 7 can be fixed on the surface of a structure through the vacuum chuck 8.

In an alternative embodiment, the welding device further comprises a high-pressure gas nozzle 15, the high-pressure gas nozzle 15 is arranged in the drain cover, the number of the high-pressure gas nozzles 15 is more than one, the front end of the high-pressure gas nozzle 15 is in a flat fan shape, and residual water drops on the position of the welding area can be swept by gas sprayed out of the high-pressure gas nozzle 15. The front end of the high-pressure gas nozzle 15 is arranged to be flat, so that residual water drops at the position of a welding area can be effectively swept. Referring to fig. 2, the high pressure gas nozzle 15 is illustrated. The number of the high-pressure gas nozzles 15 may be four, and the four high-pressure gas nozzles are respectively dispersed around the welding gun 17.

Referring to fig. 2 and 3, the inside of the drain cover is provided with an annular baffle 104, an annular high-temperature-resistant sponge mounting groove 103 is formed between the annular baffle 104 and a bottom circumferential outer side plate (a silica gel pad 11 is sleeved on the bottom circumferential outer side plate) of the drain cover, high-temperature-resistant sponge 14 is arranged in the high-temperature-resistant sponge mounting groove 103, and the high-temperature-resistant sponge 14 protrudes out of the bottom of the drain cover. The high temperature resistant sponge 14 is arranged in the high temperature resistant sponge mounting groove 103 and cannot fall off from the high temperature resistant sponge mounting groove 103 under the action of pressing force, referring to fig. 3, two sides of the high temperature resistant sponge 14 are attached to the annular baffle 104 and the silica gel pad 11 in the welding process, and the bottom of the high temperature resistant sponge 14 is in contact with a welding structure. The high-temperature-resistant sponge 14 assists in draining high-pressure gas (capable of absorbing residual water drops blown by the high-pressure gas nozzle 15) in the welding process, and water inrush caused by failure of the silica gel pad 11 can be avoided in a welding motion system.

Referring to fig. 1, 7 and 8, a low pressure drain gas quick-connection plug 6 is provided on the drain cover, a low pressure drain gas passing hole 302 is provided on the drain cover, the low pressure drain gas passing hole 302 communicates with the inside of the low pressure drain gas quick-connection plug 6, and the low pressure drain gas passing hole 302 is obliquely provided. Referring to fig. 8, the low pressure drain gas passage holes 302 are seen in an inclined arrangement. By providing the low pressure vent gas passage holes 302 in an inclined (rather than vertical) arrangement, the drainage and weld shield gas is facilitated to descend in a spiral fashion to reduce, to some extent, the interference of the drainage and weld shield gas with the weld forming process. The low pressure drain gas passing hole 302 may be plural, and referring to fig. 7, four low pressure drain gas passing holes 302 are illustrated.

As for the structure of the drain cover, the following may be made: the drainage cover comprises a lower drainage cover 1, an upper drainage cover 2 and a drainage cover cap 3, wherein the lower drainage cover 1, the upper drainage cover 2 and the drainage cover cap 3 are sequentially arranged from bottom to top, the upper drainage cover 2 is detachably connected with the lower drainage cover 1 and the drainage cover cap 3 respectively, the upper drainage cover 2 is connected with the lower drainage cover 1 and the drainage cover cap 3 through screws respectively, a sealing rubber gasket is clamped between the upper drainage cover 2 and the drainage cover cap 3, the sealing rubber gasket is clamped between the upper drainage cover 2 and the lower drainage cover 1, the cross-sectional area of the outer contour of the lower drainage cover 1 is larger than that of the upper drainage cover 2, the lower drainage cover 1 is connected with a bottom waterproof baffle 7 through a locking device, and the drainage cover cap 3 is provided with a welding gun mounting hole 304, a wire feeding pipe mounting hole 301 and a camera through hole 305.

Referring to fig. 7, the lower drain cover 1 is further provided with a low-pressure drain gas through hole 302, a wiring harness sealing module mounting threaded hole 303, and a line through hole 306. Referring to fig. 6, the lower drainage cover 1 is provided with a high-pressure water blowing nozzle mounting hole 101, distance sensor mounting grooves 102 and a high-temperature-resistant sponge mounting groove 103, the inner layer of the annular baffle 104 of the lower drainage cover 1 is provided with the distance sensor mounting grooves 102, and the number of the distance sensor mounting grooves 102 is four, and the distance sensor mounting grooves are respectively arranged on four plate surfaces of the annular baffle 104. Two high-pressure water blowing nozzle mounting holes 101 which are oppositely arranged are formed in the lower drainage cover 1.

Referring to fig. 5, the wire feeding pipes 13 are distributed on two sides of the welding gun, so that the wire feeding requirements of different angles or different welding wire materials can be met; referring to fig. 3, a welding gun and a wire feed tube holder 19 are provided between the welding gun 17 and the wire feed tube 13. Referring to fig. 3, a light supplement lamp 20 and two binocular vision cameras 12 are schematically shown, the light supplement lamp 20 being disposed on the inner side surface of the upper drain cover 2.

The binocular vision camera 12, the TIG welding gun 17, the distance sensor 16 and the wire feeding pipe 13 are all installed inside the drainage cover, and the arc voltage monitoring system is connected with a motion control system of the welding device. Binocular vision camera 12 possesses rotatable adjustment mechanism of head and binocular camera collection function, the image of multiplying and rotatory image function, at camera front end installation protection casing, has the light filter microscope base on the protection casing, and the light filter microscope base passes through threaded connection with the protection casing, and the light filter plays protection camera lens and filters high highlight effect, does not receive the high highlight influence that the electric arc produced at welding process binocular vision camera 12.

The arc voltage monitoring system of welding arc voltage is in welding process accessible real-time collection welding process in-process arc voltage signal, and the arc voltage height becomes positive correlation with the arc length, and the arc length has direct influence to the penetration fusion width, is important parameter that can't be neglected among the welding process, and the arc voltage is compared with the setting value after the arc voltage monitoring system gathers electric arc, and the moving system adjusts the arc voltage through adjusting tungsten needle and welding wire and distance between the work piece after the feedback. In the welding process, the monitored value is higher than the required value, the motion system enables the tungsten needle to be close to the workpiece at the axial position after feedback, the motion system enables the tungsten needle to be far away from the workpiece at the axial position when the arc pressure is lower than the required value, and when the distance sensor 16 collects the surface change of a large-range structure, the welding path can be adjusted manually.

The front end of the welding gun 17 is provided with a high-temperature-resistant glass welding gun nozzle 18, and the high-temperature-resistant glass welding gun nozzle 18 can still keep better transparency and structural stability under the high temperature of the environment of more than 1000 ℃, so that the welding condition can be observed and detected in the inner space of the limited drainage cover for the camera.

Distance sensor 16 is spring self-resetting formula sharp differential pressure sensor among the prior art, installs in the inside water discharge cover down, and the inside distance sensor mounting groove 102 that sets up of water discharge cover down, and distance sensor 16 installs in distance sensor mounting groove 102 department. The distance sensor 16 and the surface of the drain cover are subjected to insulation treatment, so that high voltage breakdown of internal components of the distance sensor 16 during high-frequency arcing is prevented. When the device is used, the installation height of the distance sensor 16 is adjusted in the distance sensor installation groove 102 according to process conditions, the lower part of the distance sensor 16 is provided with a ball, the ball can rotate freely, the sensor is in point contact with the surface of a structure, and the influence of friction force is avoided.

Preferably, a graduated tape is attached to the side of the distance sensor mounting groove 12 to facilitate the adjustment of the position of the distance sensor 16. The distance between the distance sensor 16 and the plane where the tip of the tungsten needle is located is set according to a welding process before construction, and the distance sensor 16 can feed back the surface change condition of the structure in real time in the welding process.

The drain cover still includes the sealed module 4 of pencil, and the sealed module 4 setting of pencil just can dismantle with drainage shroud 3 in the top of drainage shroud 3 and be connected, and the inside of the sealed module 4 of pencil is silica gel piece 401, sets up the line hole on the silica gel piece 401. Referring to fig. 9, the wire harness sealing module 4 is of a left-right split structure, the wire harness sealing module 4 is connected with the drainage cover cap 3 through bolts, connecting holes are formed in two sides of the shell of the wire harness sealing module 4, after the wire harness passes through the connecting holes, the connecting holes are connected through the bolts, and the silica gel block 401 in the module is extruded and tightly attached to the wire harness to achieve a sealing function.

The welding gun cable is clamped and fixed by the split type wire harness sealing module 4, and the bolt tightly presses and fixes the welding gun 17 through a welding gun fastening threaded hole 402 reserved on the split type wire harness sealing module 4. Inside the connection pencil of binocular vision camera 12 passed split type pencil seal module 14 and drainage shroud 3 and got into the drain cover, binocular vision camera 12 connecting line was universal coiled pipe, can walk around wire feeding pipe 13.

A high-adaptability multi-pose local dry underwater TIG welding method comprises the following steps:

the first step is as follows: debugging and inspecting equipment, specifically comprising gas pipeline inspection, bolt fastening condition, sealing ring abrasion condition, clamping high-temperature-resistant sponge 14, polishing the front end of a tungsten needle of a welding gun 17, determining the exposed length of the tungsten needle according to working conditions, adjusting the distance between the front end of a distance sensor 16 and the plane where the front end of the tungsten needle is located, checking a wire feeding angle, the distance between a welding wire and the tungsten needle, a camera shooting function, the brightness of an internal light supplementing lamp 20 and the structural integrity of a silica gel pad 11;

the second step is that: after debugging, the device is installed on an underwater motion platform, gas is injected into a compression cylinder 9, the compression cylinder 9 compresses a drainage cover body on a bottom waterproof baffle 7, the underwater motion platform carries the device to complete water injection, low-pressure drainage gas is introduced into the drainage cover through a low-pressure drainage gas through hole 302 at a small flow rate, a binocular vision camera 12 is started, the internal condition of the drainage cover is monitored, and the flow rate of the low-pressure drainage gas is adjusted in time;

the third step: when the welding target reaches the position near the welding target, the vacuum chuck 8 is subjected to ventilation, drainage, air suction and compression operations, the vacuum chuck 8 is adsorbed on the surface of the welding structure, the compression cylinder 9 acts to remove the fixation of the drainage cover, meanwhile, the flow of low-pressure drainage gas is increased, the built-in light supplement lamp 20 is turned on, the drainage condition in the drainage cover is observed through the binocular vision camera 12, the drainage cover is moved to the preset welding target position after the condition is stable, the binocular vision camera 12 is used for observing through the high-temperature-resistant glass welding gun nozzle 18, and the position of the tip of the moving tungsten electrode is aligned with the initial point of a welding track; the height of the tungsten needle from a target structure is adjusted by combining a distance sensor 16, and a high-pressure gas nozzle 15 is used for removing residual water on the surface of the structure in the drainage cover;

the fourth step: setting welding process parameters according to the requirements of the position and the track of a welding bead, wherein a continuous current welding mode is used in a flat welding position by default, and a pulse current welding mode is used in a vertical welding position, a transverse welding position and an overhead welding position by default; the binocular vision camera 12 recovers after short power failure at the moment of high-frequency arcing, the binocular vision camera 12 before the welding bead position observes the molten drop transition condition, the camera observes the welding bead forming condition after the welding bead position, the distance sensor 16 in the drainage cover predicts the change condition of the surface flatness of a structure in front of the welding bead in advance, the welding bead track is adjusted in time by combining an arc pressure monitoring system, arc breakage and wire sticking are prevented, the controllability of the welding process is improved, and the detection time after welding is reduced to a certain extent;

the fifth step: after the welding work is finished, the binocular vision camera 12 is kept open, the low-pressure drainage gas is opened, the underwater motion mechanism moves the drainage cover into the bottom waterproof baffle 7, the high-pressure gas nozzle 15 sweeps residual water mist, the compression cylinder 9 acts after sweeping, the cylinder rod compresses the drainage cover onto the bottom waterproof baffle 7, the flow of the low-pressure drainage gas is reduced, gas is filled into the vacuum sucker 8, the sucker is separated from a structure, the underwater motion platform moves the drainage cover to a new area to be welded, the third step is repeated, and after the welding task is finished, the fourth step is executed to finish the water outlet action of the drainage cover.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (10)

1. A high-adaptability multi-position local dry underwater TIG welding device is characterized by comprising a drainage cover for installing a welding gun and a wire feeding pipe, a bottom waterproof baffle (7) and a locking device, wherein,

the drain cover sets up the top of bottom water proof baffle (7) just bottom water proof baffle (7) cover the bottom opening of drain cover, the drain cover with bottom water proof baffle (7) sealed cooperation and both can pass through locking device fixed connection is when relieving locking device is right behind the locking of drain cover, the drain cover can be pushed away along the level bottom water proof baffle (7).

2. A highly adaptable multi-pose local dry underwater TIG welding device according to claim 1, characterized in that the bottom watertight shutter (7) comprises a bottom plate and side plates connected to the bottom plate, the side plates extending in the circumferential direction of the bottom plate and forming movement openings on the side plates, the bottom plate and the side plates being sealingly engaged with the bottom surface and the side surfaces of the bottom watertight shutter (7), respectively.

3. The high-adaptability multi-pose local dry underwater TIG welding device according to claim 1 or 2, wherein a silicone gasket (11) is sleeved at the circumferential edge of the bottom of the drainage cover, an insertion groove (1101) is formed in the top surface of the silicone gasket (11), and the circumferential outer edge of the bottom of the drainage cover is inserted into the insertion groove (1101); the silica gel pad is characterized in that a hollow hole (1102) is formed in the silica gel pad (11), the extending direction of the hollow hole (1102) is along the length extending direction of the silica gel pad (11), the hollow hole (1102) is located below the insertion groove (1101), and one side, deviating from the insertion groove (1101), of the silica gel pad (11) is an arc surface.

4. A high-adaptability multi-position local dry underwater TIG welding device according to claim 1, wherein the locking device is fixed on a bottom waterproof baffle (7), the locking device comprises a linear actuator and a pressing plate, the pressing plate is connected with a telescopic shaft of the linear actuator, and the pressing plate is driven by the linear actuator to move downwards so as to press the drainage cover on the bottom waterproof baffle (7).

5. A highly adaptive multi-pose local dry underwater TIG welding device according to claim 1, wherein a vacuum chuck (8) is provided on the bottom water baffle (7).

6. A highly adaptable multi-pose local dry underwater TIG welding device according to claim 1, further comprising high pressure gas nozzles (15), wherein the high pressure gas nozzles (15) are arranged in the drain cover, the number of the high pressure gas nozzles (15) is more than one, the front end of the high pressure gas nozzle (15) is in a flat fan shape, and gas sprayed from the high pressure gas nozzle (15) can sweep residual water drops on the welding area position.

7. A high-adaptability multi-pose local dry underwater TIG welding device according to claim 1 or 6, wherein an annular baffle plate (104) is arranged inside the drainage cover, an annular high-temperature-resistant sponge installation groove (103) is formed between the annular baffle plate (104) and a bottom circumferential outer side plate of the drainage cover, high-temperature-resistant sponge (14) is arranged in the high-temperature-resistant sponge installation groove (103), and the high-temperature-resistant sponge (14) protrudes out of the bottom of the drainage cover.

8. A high-adaptability multi-pose local dry underwater TIG welding device according to claim 1, characterized in that a low-pressure drainage gas quick-connection plug (6) is arranged on the drain cover, a low-pressure drainage gas through hole (302) is arranged on the drain cover, the low-pressure drainage gas through hole (302) is communicated with the inside of the low-pressure drainage gas quick-connection plug (6), and the low-pressure drainage gas through hole (302) is obliquely arranged.

9. A high-adaptability multi-pose local dry underwater TIG welding device according to claim 1, wherein the drain cover comprises a lower drain cover (1), an upper drain cover (2) and a drain cover cap (3), the lower drain cover (1), the upper drain cover (2) and the drain cover cap (3) are sequentially arranged from bottom to top, the upper drain cover (2) is detachably connected with the lower drain cover (1) and the drain cover cap (3) respectively, the lower drain cover (1) is connected with the bottom waterproof baffle (7) through the locking device, and a welding gun mounting hole (304), a wire feeding pipe mounting hole (301) and a camera passing hole (305) are formed in the drain cover cap (3).

10. A high-adaptability multi-pose local dry underwater TIG welding device according to claim 9, wherein the drain cover further comprises a wire harness sealing module (4), the wire harness sealing module (4) is arranged above the drain cover cap (3) and is detachably connected with the drain cover cap (3), the wire harness sealing module (4) is of a split structure, a silica gel block (401) is arranged inside the wire harness sealing module (4), and a wire hole is formed in the silica gel block (401).

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