A cruising underwater laser cutting device and method

Abstract

The present invention relates to a cruise-type underwater laser cutting device and method, comprising a shell, a cutting system equipment cabin, a submersible cabin, an air supply equipment cabin and a diversion cabin are arranged in the shell, the diversion cabin surrounds the cutting system equipment cabin, a main propeller is installed inside the diversion cabin, a movable shutter is installed at the rear end of the diversion cabin, a laser and an ultrasonic generator are arranged in the cutting system equipment cabin, an infrared sensor and a night vision camera are installed at the end of the cutting system equipment cabin, a ballast water tank is opened in the submersible cabin, a ballast water tank bottom valve and a ballast water tank top valve are arranged on the ballast water tank, a high-pressure gas tank group is arranged in the air supply equipment cabin, and the ballast water tank bottom valve and the ballast water tank top valve are connected to the compressor gas circuit. The present invention uses ultrasonic waves as a slag cleaning means, uses the cabin body and the propeller for diversion, and realizes diving and floating by adjusting the ratio of gas to seawater in the ballast water tank to reach the operation area and be at a suitable cutting angle.

Description

Technical Field

[0001] The present invention relates to the field of laser cutting technology, in particular to a cruising underwater laser cutting device and method. Background Art

[0002] In the marine environment, many facilities are below sea level. When these facilities need to be cut, they are often difficult to reach and the cutting conditions are harsh. In the traditional underwater cutting methods, underwater oxygen flame cutting and underwater arc oxygen cutting use gas as the medium, which will inevitably produce a large number of bubbles, greatly reducing underwater visibility and increasing the difficulty of cutting. With the advancement of science and technology, underwater cutting technology is increasingly required to meet requirements such as fast cutting speed, high efficiency, high cutting quality, small heat-affected zone, and no deformation of the cut workpiece, which are also the advantages of laser cutting. However, traditional laser cutting machines require inert gas for slag cleaning, and high-energy lasers will also produce a large number of bubbles when cutting underwater, which does not meet the needs of improving cutting visibility in the marine environment. In addition, in the marine environment, there are often complex underwater facilities and tortuous navigation routes. Operators often need to use ships or submersibles to find the operating area. Therefore, in order to eliminate such factors, a cruise underwater laser cutting device is designed. Summary of the invention

[0003] The purpose of the present invention is to provide a cruising underwater laser cutting device and method, which uses laser cutting to achieve underwater cutting work in a marine environment, and uses ultrasound as a slag cleaning method to avoid the influence of cavitation generated during gas laser cutting on visibility, and further uses the cabin and propeller for diversion to avoid a large number of bubbles generated by high-energy lasers during underwater cutting that affect visibility. At the same time, by adjusting the ratio of gas to seawater in the ballast water tank, diving and buoyancy can be achieved, and the propeller and balance water tank are used to adjust the underwater posture of the equipment and cruise propulsion to reach the operating area and be at a suitable cutting angle.

[0004] To achieve the above-mentioned purpose of the invention, the technical solution adopted by the present invention is: a cruising underwater laser cutting device, including a shell, in which a cutting system equipment cabin, a lifting cabin, an air supply equipment cabin and a diversion cabin are arranged, the diversion cabin surrounds the cutting system equipment cabin, a main propeller is installed inside the diversion cabin, and a movable shutter is installed at the rear end of the diversion cabin. A laser and an ultrasonic generator are arranged in the cutting system equipment cabin, an infrared sensor and a night vision camera are installed at the end of the cutting system equipment cabin, a ballast water tank is opened in the lifting cabin, a ballast water tank bottom valve and a ballast water tank top valve are arranged on the ballast water tank, a high-pressure gas tank group is arranged in the air supply equipment cabin, the high-pressure gas tank group is connected to the compressor through a pipeline, and the ballast water tank bottom valve and the ballast water tank top valve are connected to the compressor gas circuit.

[0005] In the above scheme, the laser and ultrasonic generator are inside the cutting system equipment compartment and isolated from external waters by a waterproof end cover. The waterproof end cover is provided with an infrared sensor hole and a built-in infrared sensor for determining whether the cutting area has completed the cutting operation target. Laser transmission holes and ultrasonic terminal installation holes are respectively provided at the projection positions of the laser and the ultrasonic generator, and protective glasses and sealing rings are respectively installed thereon. The laser cuts the surface to be processed through the protective glasses, and the ultrasonic generator extends out of the waterproof end cover through the sealing ring to remove the slag generated during the laser cutting process by emitting ultrasonic waves.

[0006] In the above scheme, a front balancing water tank and a rear balancing water tank are also provided in the submersible tank, the front balancing water tank is provided with a front balancing water tank bottom valve and a front balancing water tank top valve, the rear balancing water tank is provided with a rear balancing water tank bottom valve and a rear balancing water tank top valve, the front balancing water tank bottom valve, the front balancing water tank top valve, the rear balancing water tank bottom valve and the rear balancing water tank top valve are all connected to the compressor air circuit.

[0007] In the above scheme, axially rotatable attitude balancing propellers are symmetrically arranged on both sides of the shell. The angle and speed of the attitude balancing propellers are changed in real time to cope with the interference of different ocean current conditions in the marine environment on the equipment attitude. The front balancing water tank and the rear balancing water tank are cooperated to ensure that the equipment has a smooth working route. If necessary, the ballast water tank can also be cooperated to adjust the diving position.

[0008] In the above scheme, transverse propellers are symmetrically arranged on both sides of the shell, and the transverse propellers connect the diversion cabin and the external waters to realize the lateral movement of the equipment to meet the needs of laser cutting of the lateral path of the equipment. At the same time, certain cutting bubble diversion tasks can be achieved through the diversion cabin during the cutting process.

[0009] In the above solution, an electric control unit is arranged between the air supply equipment compartment and the cutting system equipment compartment.

[0010] In the above scheme, the guide cabin is equipped with a filter screen on the front end surface to filter large particulate impurities, and a protective end cover is installed outside the main propeller to protect the equipment.

[0011] In the above scheme, the gas supply equipment cabin is sealed and protected by a gas supply equipment cabin cover, and the gas supply equipment cabin cover can be opened to inspect the compressor and the high-pressure gas cylinder group during equipment maintenance.

[0012] In the above scheme, the electronic control unit is equipped with an electronic control cabin cover, and the wiring harness and the quick plug on the electronic control cabin cover supply power to the entire equipment. At the same time, the signal line in the wiring harness transmits the equipment status collected by the electronic control unit, the images of the night vision camera and the infrared sensor to the ground operator.

[0013] The present invention also provides a method for laser cutting using a cruise-type underwater laser cutting device, comprising: S1: checking whether the gas in the high-pressure gas tank group is sufficient through the electronic control unit, and if insufficient, opening the hatch cover of the gas supply equipment to inflate until the electronic control unit displays that the gas volume required for one operation has been reached; S2: placing the equipment on the sea surface near the operation area, controlling the electronic control unit to open the bottom valve and the top valve of the ballast water tank, and filling the ballast water tank with seawater to increase the overall density of the equipment, and the attitude balance propeller starts to work to make the equipment dive smoothly to the depth of the operation area; S3: the movable shutter is opened, the main propeller and the transverse propeller start to work, and the electronic control unit refers to the underwater image collected by the night vision camera to adjust the speed and direction of the main propeller and the transverse propeller, so that the equipment sails to the vicinity of the operation area; S4: the electronic control unit adjusts the opening and closing of the bottom valve of the front balance water tank, the top valve of the front balance water tank, the bottom valve of the rear balance water tank and the top valve of the rear balance water tank, and cooperates with the compressor to The air supply of the front balance water tank and the rear balance water tank is adjusted to keep the equipment in a balanced state and maintain a suitable working inclination angle; S5: The laser and the ultrasonic generator are turned on, and the trial cutting begins. The laser working parameters are adjusted by the electronic control unit. The night vision camera observes the generation of a large number of bubbles, which means that the laser working parameters are effective cutting parameters; S6: The movable shutters are closed, the main propeller remains open, the cutting bubbles are diverted to the diversion cabin, the visual obstruction is reduced, and the cutting status of the working area can be observed by the night vision camera and the infrared sensor; S7: The speed of the transverse propellers on both sides is adjusted to make the equipment move laterally to complete the path cutting; S8: The cutting task is completed, the movable shutters are opened, the main propeller is reversed, and the equipment is returned to the floating sea area, so that the bottom valve of the ballast water tank is in the open state, and the top valve of the ballast water tank is in the closed state. The compressor injects the gas in the high-pressure gas tank group into the ballast water tank to discharge the seawater, the overall density of the equipment is reduced, and it floats to the sea surface for equipment recovery.

[0014] The beneficial effects of the present invention are as follows: (1) Through the coordination of ballast tanks, propellers and night vision devices, it can effectively cope with complex and changeable underwater environments and quickly reach the operating area; (2) The combination of an ultrasonic generator and laser cutting can reduce cutting bubbles while cleaning the laser cutting melt path; (3) Diverting bubbles can effectively reduce the impact of a large number of bubbles and cavitations generated in the water during laser cutting on visibility; (4) Laser cutting has high cutting quality, does not require auxiliary chemical reagents, does not produce harmful substances, and is green and environmentally friendly. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1This is an axonometric view of one angle of the device of the present invention.

[0016] Figure 2 It is an axonometric view of the device of the present invention from another angle.

[0017] Figure 3 It is a cross-sectional view of the device of the present invention.

[0018] Figure 4 It is a schematic diagram of the bottom structure of the submersible tank in the device of the present invention.

[0019] In the figure: 1. Submersible lift tank, 2. Waterproof end cover, 3. Infrared sensor hole, 4. Transmission hole, 5. Ultrasonic terminal installation hole, 6. Filter, 7. Night vision camera, 8. Shell, 9. Electric control hatch, 10. Quick plug, 11. Wiring harness, 12. Air supply equipment hatch, 13. Attitude balance propeller, 14. Rear balance water tank top valve, 15. Active shutter, 16. Transverse propeller, 17. Ballast water tank top valve, 18. Front balance water tank top valve, 19. Protective end cover, 20. Main propeller, 21. Bottom valve of rear balance water tank, 22. Bottom valve of ballast water tank, 23. Bottom valve of front balance water tank, 24. Air supply equipment compartment, 25. High-pressure gas tank group, 26. Compressor, 27. Electronic control unit, 28. Laser, 29. Cutting system equipment compartment, 30. Ultrasonic generator, 31. Infrared sensor, 32. Front balance water tank, 33. Ballast water tank, 34. Rear balance water tank, 35. Diversion tank, 36. Sealing ring, 37. Protective mirror. Specific implementation methods

[0020] like Figures 1 to 4 As shown, the present invention uses a cruise-type underwater laser cutting device, which includes 1. a submersible cabin, 2. a waterproof end cover, 3. an infrared sensor hole, 4. a transmission hole, 5. an ultrasonic terminal installation hole, 6. a filter, 7. a night vision camera, 8. a housing, 9. an electric control hatch, 10. a quick plug, 11. a wiring harness, 12. a gas supply equipment hatch, 13. an attitude balancing propeller, 14. a rear balancing water tank top valve, 15. a movable shutter, 16. a transverse propeller, 17. a ballast water tank top valve, 18. a front balancing water tank top valve 1. Valve, 2. Protective end cover, 3. Main propeller, 4. Bottom valve of rear balance water tank, 5. Bottom valve of ballast water tank, 6. Bottom valve of front balance water tank, 7. Air supply equipment compartment, 8. High-pressure gas cylinder group, 9. Compressor, 10. Electronic control unit, 11. Laser, 12. Cutting system equipment compartment, 13. Ultrasonic generator, 14. Infrared sensor, 15. Front balance water tank, 16. Ballast water tank, 17. Rear balance water tank, 18. Diversion compartment, 19. Sealing ring, 20. Protective mirror.

[0021] The laser 28 and the ultrasonic generator 30 are inside the cutting system equipment compartment 29 and isolated from the external water area by the waterproof end cover 2. The laser 28 cuts the surface to be processed through the protective mirror 37. The ultrasonic generator 30 extends out of the waterproof end cover 2 through the sealing ring 36, and can emit ultrasonic waves to remove the slag generated during the laser cutting process to ensure the processing quality of laser cutting when the air nozzle is not used. The waterproof end cover 2 is provided with an infrared sensor hole 3 and a built-in infrared sensor 31, which is used to determine whether the cutting area has completed the cutting operation target. The laser transmission hole 4 and the ultrasonic terminal installation hole 5 are respectively provided at the projection position of the laser 28 and the ultrasonic generator 30, and the protective mirror 37 and the sealing ring 36 are respectively installed thereon to ensure the normal operation of the equipment while isolating it from the water environment to provide protection.

[0022] The diversion cabin 35 is connected to the main propeller 20, and surrounds the cutting system equipment cabin 29 on three sides to cover the bubble generation area during cutting, and is equipped with a filter screen 6 on the front face to filter large particle impurities. The diversion cabin 35 is equipped with a movable shutter 15 at the rear end. When the movable shutter 15 is opened, a large amount of water flows from the diversion cabin 35 through the main propeller 20 to enter the cruising state. When the movable shutter 15 is closed, water is sucked from the diversion cabin 35 to achieve the diversion of cutting bubbles. The main propeller 20 is equipped with a protective end cover 19 to protect the equipment.

[0023] A ballast water tank 33 is opened in the submersible tank 1. When the equipment dives, the bottom valve 22 of the ballast water tank and the top valve 17 of the ballast water tank are opened, so that seawater is poured into the ballast water tank 33, and the overall density of the equipment increases and starts to dive. When the equipment floats up, the compressor 26 in the air supply equipment cabin 24 injects the gas stored in the high-pressure gas cylinder group 25 into the ballast water tank 33. At this time, the bottom valve 22 of the ballast water tank is opened, and the top valve 17 of the ballast water tank is closed. The seawater in the cabin is pressed out by the high-pressure gas, and the overall density of the equipment is reduced and the buoyancy is increased to achieve floating. The air supply equipment cabin 24 is sealed and protected by the air supply equipment hatch 12. When the equipment is maintained, the air supply equipment hatch 12 can be opened to inspect the compressor 26 and the high-pressure gas cylinder group 25. The front balancing water tank 32 and the rear balancing water tank 34 are connected to the air path of the compressor 26, and are respectively provided with the front balancing water tank bottom valve 23, the front balancing water tank top valve 18, the rear balancing water tank bottom valve 21 and the rear balancing water tank top valve 14. The tilting posture adjustment of the equipment is realized by opening and closing the valves and discharging the compressed gas. The axially rotatable posture balancing propeller 13 is symmetrically arranged on the shell 8 to cope with the interference of different ocean current conditions in the marine environment on the posture of the equipment by changing the angle and speed in real time, and cooperates with the front balancing water tank 32 and the rear balancing water tank 34 to ensure that the equipment has a stable working route. If necessary, it can also cooperate with the ballast water tank 33 to adjust the diving position. The transverse propeller 16 is symmetrically arranged on both sides of the shell 8, connecting the diversion cabin 35 and the external waters, and is used to realize the lateral movement of the equipment to meet the needs of laser cutting of the lateral path of the equipment. At the same time, a certain cutting bubble diversion task can be realized through the diversion cabin 35 during the cutting process.

[0024] The specific implementation method includes the following steps: first, the electronic control unit 27 is used to check whether the gas in the high-pressure gas tank group 25 is sufficient. If it is insufficient, the air supply equipment hatch 12 is opened to inflate until the electronic control unit 27 shows that the gas volume required for one operation has been reached. The equipment is placed on the sea surface near the operation area, and the electronic control unit 27 is controlled to open the bottom valve 22 of the ballast water tank and the top valve 17 of the ballast water tank to fill the ballast water tank 33 with seawater. The overall density of the equipment increases, and the attitude balance propeller 13 starts to work so that the equipment dives smoothly to the depth of the operation area. The movable shutter 15 is opened, the main propeller 20 and the transverse propeller 16 start to work, and the electronic control unit 27 refers to the underwater image collected by the night vision camera 7 to adjust the speed and direction of the main propeller 20 and the transverse propeller 16 so that the equipment can sail to the vicinity of the operation area. The electronic control unit 27 adjusts the opening and closing of the front balance water tank bottom valve 23, the front balance water tank top valve 18, the rear balance water tank bottom valve 21 and the rear balance water tank top valve 14, and cooperates with the compressor 26 to adjust the air supply to the front balance water tank 32 and the rear balance water tank 34, so that the equipment is in a balanced state and maintains a suitable working inclination angle. The laser 28 and the ultrasonic generator 30 are turned on, and the trial cutting begins. The laser working parameters are adjusted by the electronic control unit 27. The night vision camera 7 observes the generation of a large number of bubbles, which means that the laser working parameters are effective cutting parameters. The movable shutter 15 is closed, the main propeller 20 remains open, and the cutting bubbles are diverted to the diversion cabin 35, the visual field obstruction is reduced, and the cutting state of the working area can be observed through the night vision camera 7 and the infrared sensor 31. The rotation speed of the lateral propellers 16 on both sides is adjusted to make the equipment move laterally to complete the path cutting. After the cutting task is completed, the movable shutter 15 is opened, the main propeller 20 is reversed, and the equipment is returned to the sea area where it can float, so that the bottom valve 22 of the ballast water tank is in an open state, and the top valve 17 of the ballast water tank is in a closed state, and the compressor 26 injects the gas in the high-pressure gas cylinder group 25 into the ballast water tank 33 to discharge the seawater, the overall density of the equipment is reduced, and it floats to the sea surface for equipment recovery.

[0025] The implementation cases are only used to illustrate the technical solutions of the present invention, are not limited to the above implementation modes, and shall not limit the present invention in any form. Obvious improvements and substitutions made to the present invention by those skilled in the art are all within the protection scope of the present invention.

Claims

1. A cruising underwater laser cutting device, comprising a housing (8), characterized in that: The housing (8) is provided with a cutting system equipment cabin (29), a submersible cabin (1), an air supply equipment cabin (24) and a diversion cabin (35); the diversion cabin (35) surrounds the cutting system equipment cabin (29); a main propeller (20) is installed inside the diversion cabin (35); a movable shutter (15) is installed at the rear end of the diversion cabin (35); a laser (28) and an ultrasonic generator (30) are arranged in the cutting system equipment cabin (29); an infrared sensor (31) and a night vision camera (7) are installed at the end of the cutting system equipment cabin (29) The submersible tank (1) is provided with a ballast tank (33), and the ballast tank (33) is provided with a ballast tank bottom valve (22) and a ballast tank top valve (17). The air supply equipment compartment (24) is provided with a high-pressure gas tank group (25), and the high-pressure gas tank group (25) is connected to a compressor (26) through a pipeline. The ballast tank bottom valve (22) and the ballast tank top valve (17) are connected to the compressor (26) gas circuit. The submersible tank (1) is also provided with a front balance water tank (32) and a rear balance water tank (34). The front balance water tank (32) is provided with a valve (22) at the bottom of the ballast water tank and a valve (17) at the top of the ballast water tank. A front balancing water tank bottom valve (23) and a front balancing water tank top valve (18) are provided, and a rear balancing water tank bottom valve (21) and a rear balancing water tank top valve (14) are provided on the rear balancing water tank (34); the front balancing water tank bottom valve (23), the front balancing water tank top valve (18), the rear balancing water tank bottom valve (21) and the rear balancing water tank top valve (14) are all connected to the air path of the compressor (26); and axially rotatable attitude balancing propellers (13) are symmetrically arranged on both sides of the housing (8). By changing the attitude balancing propellers (13) in real time, 3) to cope with the interference of different ocean current conditions on the posture of the equipment, cooperate with the front balance water tank (32) and the rear balance water tank (34) to ensure that the equipment has a stable working route, and can also cooperate with the ballast water tank (33) to adjust the diving position; transverse propellers (16) are symmetrically arranged on both sides of the shell (8), and the transverse propellers (16) are connected to the diversion cabin (35) and the external water area to achieve the lateral movement of the equipment to meet the needs of laser cutting of the lateral path of the equipment. At the same time, during the cutting process, a certain cutting bubble diversion task can be achieved through the diversion cabin (35).

2. A cruising underwater laser cutting device according to claim 1, characterized in that: The laser (28) and the ultrasonic generator (30) are located inside the cutting system equipment compartment (29) and isolated from the external water area by a waterproof end cover (2). The waterproof end cover (2) is provided with an infrared sensor hole (3) and a built-in infrared sensor (31) for determining whether the cutting area has completed the cutting operation target. A laser transmission hole (4) and an ultrasonic terminal installation hole (5) are respectively provided at the projection positions of the laser (28) and the ultrasonic generator (30), and a protective mirror (37) and a sealing ring (36) are respectively installed thereon. The laser (28) performs a cutting operation on the surface to be processed through the protective mirror (37), and the ultrasonic generator (30) extends out of the waterproof end cover (2) through the sealing ring (36) to remove the slag generated during the laser cutting process by emitting ultrasonic waves.

3. The cruising underwater laser cutting device according to claim 1, characterized in that: An electric control unit (27) is provided between the air supply equipment compartment (24) and the cutting system equipment compartment (29).

4. The cruising underwater laser cutting device according to claim 1, characterized in that: The guide cabin (35) is provided with a filter screen (6) at the front end surface to filter large particle impurities, and the main propeller (20) is provided with a protective end cover (19) to protect the equipment.

5. The cruising underwater laser cutting device according to claim 1, characterized in that: The gas supply equipment cabin (24) is sealed and protected by a gas supply equipment cabin cover (12); during equipment maintenance, the gas supply equipment cabin cover (12) can be opened to inspect and repair the compressor (26) and the high-pressure gas tank group (25).

6. The cruising underwater laser cutting device according to claim 3, characterized in that: The electric control unit (27) is additionally equipped with an electric control cabin cover (9), and the wiring harness (11) and the quick plug (10) on the electric control cabin cover (9) supply electric energy to the entire device. At the same time, the signal line in the wiring harness (11) transmits the device status collected by the electric control unit (27) and the images of the night vision camera (7) and the infrared sensor (31) to the ground operator.

7. A method for laser cutting using the cruise-type underwater laser cutting device as claimed in claim 6, characterized in that: include: S1: Checking whether the gas in the high-pressure gas tank group (25) is sufficient through the electronic control unit (27); if insufficient, opening the gas supply equipment hatch (12) to inflate the gas until the electronic control unit (27) indicates that the gas volume required for one operation has been reached; S2: The equipment is launched onto the sea surface near the operation area, and the electronic control unit (27) is controlled to open the bottom valve (22) and the top valve (17) of the ballast water tank. Seawater is poured into the ballast water tank (33), and the overall density of the equipment is increased. The attitude balancing propeller (13) starts to work, so that the equipment can dive steadily to the depth of the operation area. S3: The movable shutter (15) is opened, the main propeller (20) and the transverse propeller (16) start to work, and the electronic control unit (27) refers to the underwater image collected by the night vision camera (7) to adjust the speed and direction of the main propeller (20) and the transverse propeller (16) so that the equipment can sail to the vicinity of the operation area; S4: the electronic control unit (27) adjusts the opening and closing of the front balance water tank bottom valve (23), the front balance water tank top valve (18), the rear balance water tank bottom valve (21) and the rear balance water tank top valve (14), and cooperates with the compressor (26) to adjust the air supply to the front balance water tank (32) and the rear balance water tank (34), so that the equipment is in a balanced state and maintains a suitable working inclination angle; S5: The laser (28) and the ultrasonic generator (30) are turned on, and the trial cutting begins. The laser operating parameters are adjusted by the electronic control unit (27). The night vision camera (7) observes the generation of a large number of bubbles, indicating that the laser operating parameters are effective cutting parameters; S6: The movable shutter (15) is closed, the main propeller (20) remains open, the cutting bubbles are directed to the diversion cabin (35), the visual field obstruction is reduced, and the cutting status of the working area can be observed through the night vision camera (7) and the infrared sensor (31); S7: adjusting the rotation speed of the transverse propellers (16) on both sides to make the device move laterally to complete the path cutting; S8: The cutting task is completed, the movable shutter (15) is opened, the main propeller (20) is reversed, and the equipment is returned to the sea area where it can float. The valve (22) at the bottom of the ballast water tank is in an open state, and the valve (17) at the top of the ballast water tank is in a closed state. The compressor (26) injects the gas in the high-pressure gas tank group (25) into the ballast water tank (33) to discharge the seawater. The overall density of the equipment is reduced, and it floats to the sea surface for equipment recovery.

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