High adaptability multi-position local dry underwater TIG welding device

Abstract

The application provides a high-adaptability multi-position local dry underwater TIG welding device, belonging to the technical field of local dry underwater TIG welding technology.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 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 installed inside the drainage cover body, the bottom suction disc baffle is integrated with the drainage cover body during water entry and water exit, and the arc voltage monitoring system is connected with a motion control system; the equipment can adapt to complex welding conditions, is suitable for flat welding, horizontal welding and vertical welding positions, the welding process is efficient and controllable, and the quality and efficiency of underwater welding operation are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of local dry underwater TIG welding technology, and in particular to a highly adaptable multi-position local dry underwater TIG welding apparatus. Background Technology

[0002] With the increasing depletion of terrestrial mineral resources and humanity's continuous search for living space, the 21st century will be the "ocean century" for humankind's development and utilization of the ocean! The vast continental shelf along the coast holds abundant resources. Developing these resources requires vessels, oil production platforms, research platforms, oil storage tanks, and pipelines. Besides designing and selecting metal materials adapted to seawater conditions, it's also crucial to solve construction technology problems related to underwater installation, maintenance, and modification. Underwater welding is an indispensable and important process in these projects. Localized dry underwater welding, compared to traditional dry underwater welding, offers lower costs and higher forming quality than wet underwater welding, making it a significant development direction for underwater welding. Furthermore, TIG welding offers advantages such as concentrated arc energy, low heat input, no slag, no sparks, no spatter, no noise, no smoke or fumes, no environmental pollution, and the ability to weld most metals and alloys. It also possesses excellent adaptability to complex welding positions, such as horizontal, vertical, and overhead welding. Therefore, localized dry underwater TIG welding has great potential for development in the underwater installation, maintenance, and modification of metal structures. However, the existing local dry underwater TIG welding equipment is difficult to complete underwater welding tasks efficiently and with high quality. Summary of the Invention

[0003] The purpose of this invention is to provide a highly adaptable multi-pose local dry underwater TIG welding device to improve the quality and efficiency of underwater welding operations. The preferred technical solutions among the various technical solutions provided by this invention and their numerous technical effects are detailed below.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] The present invention provides a highly adaptable multi-position local dry underwater TIG welding device, comprising a drainage cover for mounting a welding torch and a wire feed tube, a bottom waterproof baffle, and a locking device. The drainage cover is disposed above the bottom waterproof baffle, and the bottom waterproof baffle covers the bottom opening of the drainage cover. The drainage cover and the bottom waterproof baffle are sealed together and can be fixedly connected by the locking device. When the locking device is released from locking the drainage cover, the drainage cover can be pushed horizontally away from the bottom waterproof baffle.

[0006] Furthermore, the bottom waterproof baffle includes a bottom plate and a side plate, the side plate being connected to the bottom plate, the side plate extending along the circumferential direction of the bottom plate and having a movable opening formed on the side plate, and the bottom plate and the side plate respectively sealingly engaging with the bottom surface and the side surface of the bottom waterproof baffle.

[0007] Furthermore, a silicone pad is fitted around the bottom circumferential edge of the drainage cover, and an insertion groove is formed on the top surface of the silicone pad. The outer circumferential edge of the bottom of the drainage cover is inserted into the insertion groove. A hollow hole is provided inside the silicone pad, and the extension direction of the hollow hole is along the length extension direction of the silicone pad. The hollow hole is located below the insertion groove, and the side of the silicone pad facing away from the insertion groove is an arc surface.

[0008] Furthermore, the locking device is fixed to the bottom waterproof baffle. The locking device includes a linear actuator and a pressing plate. The pressing plate is connected to the telescopic shaft of the linear actuator. The pressing plate can be pressed down by the linear actuator to press the drainage cover onto the bottom waterproof baffle.

[0009] Furthermore, a vacuum suction cup is provided on the bottom waterproof baffle.

[0010] Furthermore, the welding device also includes a high-pressure gas nozzle, which is disposed inside the drainage cover. There is one or more high-pressure gas nozzles, and the front end of the high-pressure gas nozzle is in the shape of a flat fan. The gas ejected through the high-pressure gas nozzle can blow away residual water droplets on the welding area.

[0011] Furthermore, the interior of the drainage cover is provided with an annular baffle, and an annular high-temperature resistant sponge mounting groove is formed between the annular baffle and the bottom circumferential outer plate of the drainage cover. A high-temperature resistant sponge is placed in the high-temperature resistant sponge mounting groove, and the high-temperature resistant sponge protrudes from the bottom of the drainage cover.

[0012] Furthermore, the drainage cover is provided with a low-pressure drainage gas quick-connect plug, and the drainage cover is provided with a low-pressure drainage gas passage hole, which is connected to the interior of the low-pressure drainage gas quick-connect plug, and the low-pressure drainage gas passage hole is inclined.

[0013] Furthermore, the drainage cover includes a lower drainage cover, an upper drainage cover, and a drainage cover cap, which are arranged sequentially from bottom to top. The upper drainage cover is detachably connected to the lower drainage cover and the drainage cover cap, respectively. The lower drainage cover is connected to the bottom waterproof baffle through the locking device. The drainage cover cap is provided with a welding gun mounting hole, a wire feeding tube mounting hole, and a camera passage hole.

[0014] Furthermore, the drainage cover also includes a wire harness sealing module, which is disposed above the drainage cover and detachably connected to it. The wire harness sealing module is a split structure, and the interior of the wire harness sealing module is a silicone block with wire holes provided on it.

[0015] The present invention has the following beneficial effects:

[0016] 1. The water inlet and outlet processes are reliable and efficient, with low-pressure drainage and low gas consumption. The bottom waterproof baffle can be dynamically separated from the drainage cover during the welding process, without occupying welding space. It is simple and easy to operate, saving welding preparation time and improving the overall welding process efficiency.

[0017] 2. It can measure the surface flatness of the structure in real time. With the help of the arc voltage monitoring system, it can adjust the position of the welding gun and wire feed tube, making it highly adaptable to complex welding environments and extremely adaptable to the surface of structures with certain abrupt changes.

[0018] 3. It has a highly adaptable drainage and sealing structure, which allows the entire welding process to be carried out in a dry cavity, and enables underwater welding in flat, horizontal and vertical positions;

[0019] 4. The distance between the tungsten electrode tip and the workpiece can be observed, which speeds up the pre-welding alignment and adjustment process and directly accelerates the overall welding process efficiency;

[0020] 5. The present invention has a reasonable structural layout, a small drainage cover, and a dual wire feeding structure that is highly adaptable to different welding paths and different wire welding requirements, ensuring normal wire feeding for complex welds.

[0021] 6. This invention can monitor the welding process in real time, and display the droplet transition state and post-weld formation in real time and intuitively, which makes it easier for on-site operators to evaluate the welding task and saves a lot of subsequent re-inspection costs;

[0022] 7. This invention directly reduces the difficulty and production cost of underwater welding tasks, ensures stable construction quality, has strong adaptability, and is suitable for underwater repair and additive welding tasks. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the welding apparatus provided in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the welding apparatus provided in an embodiment of the present invention;

[0026] Figure 3 yes Figure 2 A magnified view of a section at point A in the middle;

[0027] Figure 4 This is a front view schematic diagram of the welding apparatus provided in an embodiment of the present invention;

[0028] Figure 5 yes Figure 4 CC-direction sectional view in the diagram;

[0029] Figure 6 This is a schematic diagram of the structure of the lower drainage cover provided in an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of the structure of the drainage cover provided in an embodiment of the present invention;

[0031] Figure 8 This is a cross-sectional schematic diagram of the drainage cover provided in an embodiment of the present invention;

[0032] Figure 9 This is a schematic diagram of the structure of the wire harness sealing module provided in an embodiment of the present invention;

[0033] Figure 10 This is a front view schematic diagram of the silicone block provided in an embodiment of the present invention;

[0034] Figure 11 yes Figure 10 BB-direction sectional view in the diagram;

[0035] Figure 12 This is a schematic diagram of the structure of the upper drainage cover provided in an embodiment of the present invention.

[0036] In the diagram: 1-Lower drain cover; 101-High-pressure water nozzle mounting hole; 102-Distance sensor mounting slot; 103-High-temperature resistant sponge mounting slot; 104-Annular baffle; 2-Upper drain cover; 3-Drain cover; 301-Wire feed tube mounting hole; 302-Low-pressure drainage gas through hole; 303-Wire harness sealing module mounting threaded hole; 304-Welding gun mounting hole; 305-Camera through hole; 306-Wire through hole; 4-Wire harness sealing module; 401-Silicone block; 402-Welding gun fastening threaded hole; 5-Hollow bolt; 6-Low-pressure drainage gas quick connector; 7-Bottom waterproof plate; 8-Vacuum suction cup; 9-Pressure cylinder; 10-High-pressure drainage gas quick connector; 11-Silicone pad; 1101-Insert slot; 1102-Hollow hole; 12-Binocular vision camera; 13-Wire feed tube; 14-High temperature resistant sponge; 15-High pressure gas nozzle; 16-Distance sensor; 17-Welding torch; 18-High temperature resistant glass welding torch nozzle; 19-Welding torch and wire feed tube fixing bracket; 20-Supplemental light. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0038] This invention provides a highly adaptable multi-position local dry underwater TIG welding device, including a drainage cover for mounting a welding torch and wire feed tube, a bottom waterproof baffle 7, and a locking device. The drainage cover is positioned above the bottom waterproof baffle 7, with the bottom waterproof baffle 7 covering the bottom opening of the drainage cover. The drainage cover and the bottom waterproof baffle 7 are sealed together and fixedly connected by the locking device. When the locking device is released, the drainage cover can be pushed horizontally away from the bottom waterproof baffle 7. When using the welding device, before entering the water, the drainage cover is secured to the bottom waterproof baffle 7 using the locking device. The bottom of the drainage cover is in close contact with and sealed to the surface of the bottom waterproof baffle 7. An underwater platform carrying the welding device completes the water entry action, and low-pressure drainage gas is introduced into the drainage cover during entry. When welding is required, the locking device is released, the drainage cover is pushed away from the bottom waterproof baffle 7, and moved to the welding position. After welding is completed, push the drain cover to the bottom waterproof baffle 7, and the locking device will secure the drain cover back onto the bottom waterproof baffle 7. Then, operate the welding device to drain the water. By setting up the matching structure between the drain cover and the bottom waterproof baffle 7, the welding preparation time can be saved and the overall welding process efficiency can be improved. At the same time, it can reduce the consumption of low-pressure drainage gas to a certain extent and effectively prevent a large amount of water from entering the drain cover.

[0039] For the structure of the bottom waterproof baffle 7, see [link / reference]. Figure 1 The bottom waterproof baffle 7 includes a bottom plate and a side plate. The side plate is connected to the bottom plate. The side plate extends along the circumferential direction of the bottom plate and forms a movable opening on the side plate. The bottom plate and the side plate are respectively sealed to the bottom surface and the side surface of the bottom waterproof baffle 7. Figure 1 The diagram illustrates the state in which the drainage cover is pushed away from the bottom waterproof baffle 7 through the movable opening on the bottom waterproof baffle 7. The bottom plate of the bottom waterproof baffle 7 has a slope on the side near the movable opening to facilitate pushing the drainage cover away from and into the bottom waterproof baffle 7.

[0040] Regarding the sealing structure between the drainage cover and the bottom waterproof baffle 7, the following description is provided: A silicone pad 11 is fitted around the bottom circumferential edge of the drainage cover. An insertion groove 1101 is formed on the top surface of the silicone pad 11. The silicone pad 11 is adhered to the drainage cover using silicone adhesive. The outer circumferential edge of the bottom of the drainage cover is inserted into the insertion groove 1101. A hollow hole 1102 is provided inside the silicone pad 11. The hollow hole 1102 extends along the length of the silicone pad 11 and is located below the insertion groove 1101. The side of the silicone pad 11 facing away from the insertion groove 1101 is an arc surface. See also... Figure 5 , Figures 10-11 By setting a hollow hole 1102 inside the silicone pad 11, the compressibility of the silicone pad 11 can be increased (the maximum compressibility of the silicone pad 11 can be set to 10mm), and the maximum compressibility of the silicone pad 11 is greater than the thickness of the bottom waterproof baffle 7 (the thickness of the bottom waterproof baffle 7 can be about 5mm), which is conducive to achieving close contact with the structure when welding the side wall and the overhead welding position.

[0041] The silicone pad 11 is the main component for waterproof sealing. Stress relief holes are opened inside the four bending areas of the silicone pad 11 to prevent stress concentration caused by bending from causing deformation and affecting the drainage and sealing performance.

[0042] Regarding the locking device, the following description is provided: The locking device is fixed to the bottom waterproof baffle 7. The locking device includes a linear actuator and a pressing plate. The linear actuator can be a pressing cylinder 9. The pressing plate is connected to the telescopic shaft of the linear actuator. By driving the pressing plate downward through the linear actuator, the drain cover can be pressed onto the bottom waterproof baffle 7. See also... Figure 1 The diagram illustrates the clamping cylinder 9. The locking device has a simple structure and is easy to operate. Two locking devices can be used; see [reference needed]. Figure 1 This illustrates two locking devices positioned opposite each other.

[0043] Preferably, a vacuum suction cup 8 is provided on the bottom waterproof baffle 7. When the welding device is submerged in water and it is necessary to separate the bottom waterproof baffle 7 from the drainage cover, the bottom waterproof baffle 7 can be fixed to the surface of the structure first by using the vacuum suction cup 8.

[0044] As an optional embodiment, the welding apparatus further includes a high-pressure gas nozzle 15, which is disposed inside the drainage hood. There may be one or more high-pressure gas nozzles 15, and the front end of each nozzle is flat and fan-shaped. The gas ejected through the high-pressure gas nozzle 15 can blow away residual water droplets on the welding area. By making the front end of the high-pressure gas nozzle 15 relatively flat, it is easier to effectively blow away residual water droplets on the welding area. See also... Figure 2 The diagram illustrates the high-pressure gas nozzle 15. There can be four high-pressure gas nozzles 15, distributed around the welding torch 17.

[0045] See Figure 2 and Figure 3 The drain cover has an annular baffle 104 inside. An annular high-temperature resistant sponge mounting groove 103 is formed between the annular baffle 104 and the bottom circumferential outer plate of the drain cover (on which a silicone pad 11 is fitted). A high-temperature resistant sponge 14 is placed inside the high-temperature resistant sponge mounting groove 103, protruding from the bottom of the drain cover. The high-temperature resistant sponge 14 is installed in the high-temperature resistant sponge mounting groove 103 and will not fall out of the groove under pressure. See [reference needed]. Figure 3 During welding, the high-temperature resistant sponge 14 is attached to the annular baffle 104 and silicone pad 11 on both sides, and the bottom of the high-temperature resistant sponge 14 contacts the welded structure. The high-temperature resistant sponge 14 assists in high-pressure gas drainage during welding (it can absorb residual water droplets blown by the high-pressure gas nozzle 15), and can prevent water from rushing in due to the failure of the silicone pad 11 in the welding motion system.

[0046] See Figure 1 , Figure 7 and Figure 8 The drain cover is equipped with a low-pressure drainage gas quick-connect plug 6 and a low-pressure drainage gas passage hole 302. The low-pressure drainage gas passage hole 302 is connected to the interior of the low-pressure drainage gas quick-connect plug 6, and the low-pressure drainage gas passage hole 302 is inclined. See also Figure 8 As can be seen, the low-pressure drainage gas passage 302 is inclined. By inclined (rather than vertical) the low-pressure drainage gas passage 302, the drainage and welding shielding gases can descend in a spiral manner, thereby reducing the interference of the drainage and welding shielding gases on the weld formation process to a certain extent. There can be multiple low-pressure drainage gas passages 302, see [reference]. Figure 7 The diagram shows four low-pressure drainage gas passage holes 302.

[0047] The structure of the drainage cover can be described as follows: The drainage cover includes a lower drainage cover 1, an upper drainage cover 2, and a drainage cover 3. The lower drainage cover 1, upper drainage cover 2, and drainage cover 3 are arranged sequentially from bottom to top. The upper drainage cover 2 is detachably connected to the lower drainage cover 1 and the drainage cover 3, respectively. The upper drainage cover 2 is connected to the lower drainage cover 1 and the drainage cover 3 by screws. A sealing gasket is sandwiched between the upper drainage cover 2 and the drainage cover 3. A sealing gasket is sandwiched 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 to the bottom waterproof baffle 7 by a locking device. The drainage cover 3 is provided with a welding gun mounting hole 304, a wire feeding tube mounting hole 301, and a camera passage hole 305.

[0048] See Figure 7 The lower drainage cover 1 is also equipped with a low-pressure drainage gas passage 302, a wire harness sealing module mounting threaded hole 303, and a wiring passage hole 306. (See also...) Figure 6 The lower drainage cover 1 is provided with a high-pressure water blowing nozzle mounting hole 101, a distance sensor mounting slot 102, and a high-temperature resistant sponge mounting slot 103. The inner surface of the annular baffle 104 of the lower drainage cover 1 is provided with four distance sensor mounting slots 102, respectively located on the four surfaces of the annular baffle 104. Two opposing high-pressure water blowing nozzle mounting holes 101 are provided on the lower drainage cover 1.

[0049] See Figure 5 The wire feed tubes 13 are distributed on both sides of the welding torch, which can meet the wire feeding requirements of different angles or different welding wire materials; see also Figure 3 A welding torch and wire feed tube holder 19 is located between the welding torch 17 and the wire feed tube 13. (See also...) Figure 3 The diagram shows the supplementary light 20 and two binocular vision cameras 12. The supplementary light 20 is located on the inner side of the upper drainage cover 2.

[0050] The binocular vision camera 12, TIG welding torch 17, distance sensor 16, and wire feed tube 13 are all installed inside the drainage cover. The arc voltage monitoring system is connected to the motion control system of the welding device. The binocular vision camera 12 has a head-rotating adjustment mechanism, binocular image acquisition function, magnified image, and image rotation function. A protective housing is installed at the front end of the camera, and the protective housing has a filter lens mount. The filter lens mount is connected to the protective housing by threads. The filter protects the camera lens and filters high-intensity light, so the binocular vision camera 12 is not affected by the high-intensity light generated by the electric arc during the welding process.

[0051] The arc voltage monitoring system for welding arc voltage collects the arc voltage signal in real time during the welding process. The arc voltage is positively correlated with the arc length, which directly affects the penetration and width of the weld, making it a crucial parameter in the welding process. After collecting the arc voltage, the system compares it with the set value. The feedback is then used by the motion system to adjust the arc voltage by regulating the distance between the tungsten needle, the welding wire, and the workpiece. During welding, if the monitored value is higher than the required value, the motion system moves the tungsten needle closer to the workpiece in the axial direction. If the arc voltage is lower than the required value, the motion system moves the tungsten needle away from the workpiece in the axial direction. When the distance sensor 16 detects a large-scale change on the surface of the structure, the welding path can be manually adjusted.

[0052] The front end of the welding torch 17 is equipped with a high-temperature resistant glass welding torch nozzle 18. The high-temperature resistant glass welding torch nozzle 18 can still maintain good transparency and structural stability in environments with temperatures above 1000℃, allowing the camera to observe and detect the welding process within the limited space inside the drainage cover.

[0053] The distance sensor 16 is a spring-resetting linear differential pressure sensor, as used in the prior art. It is installed inside the lower drainage cover, where a distance sensor mounting slot 102 is provided. The distance sensor 16 is installed in the distance sensor mounting slot 102. The distance sensor 16 is insulated from the surface of the drainage cover to prevent high voltage from damaging the internal components of the distance sensor 16 during high-frequency arcing. During use, the installation height of the distance sensor 16 is adjusted within the distance sensor mounting slot 102 according to process conditions. A ball bearing is installed at the bottom of the distance sensor 16, which can rotate freely. The sensor makes point contact with the surface of the structure, eliminating the influence of friction.

[0054] Preferably, a graduated ruler is attached next to the distance sensor mounting slot 12 to facilitate adjustment of the position of the distance sensor 16. Before construction, the distance between the distance sensor 16 and the plane where the tungsten needle tip is located is set according to the welding process. During the welding process, the distance sensor 16 can provide real-time feedback on changes in the surface of the structure.

[0055] The drainage cover also includes a wire harness sealing module 4, which is positioned above and detachably connected to the drainage cover 3. The interior of the wire harness sealing module 4 is a silicone block 401, with wire holes provided on the silicone block 401. See also... Figure 9 The wire harness sealing module 4 is a left and right split structure. The wire harness sealing module 4 and the drainage cover 3 are connected by bolts. There are connection holes on both sides of the outer shell of the wire harness sealing module 4. After the wire harness passes through, the connection holes are connected by bolts. The silicone block 401 inside the module is squeezed and fits tightly with the wire harness to achieve the sealing function.

[0056] The welding torch cable is clamped and fixed by the split-type wire harness sealing module 4. Bolts are used to press and fix the welding torch 17 through the pre-drilled welding torch fastening threaded hole 402 on the split-type wire harness sealing module 4. The connecting wire harness of the binocular vision camera 12 passes through the split-type wire harness sealing module 14 and the drainage cover 3 into the interior of the drainage cover. The connecting pipe of the binocular vision camera 12 is a universal serpentine tube that can bypass the wire feeding tube 13.

[0057] A highly adaptable multi-pose local dry underwater TIG welding method includes the following steps:

[0058] Step 1: Debug and inspect the equipment, including checking the gas pipeline, bolt tightness, seal wear, high-temperature resistant sponge 14, grinding the front end of the tungsten needle of the welding torch 17, determining the exposed length of the tungsten needle according to the working conditions, adjusting the distance between the front end of the distance sensor 16 and the plane where the front end of the tungsten needle is located, checking the wire feeding angle, the distance between the welding wire and the tungsten needle, the camera function, the brightness of the internal supplementary light 20, and the integrity of the silicone pad 11 structure.

[0059] Step 2: After debugging, install the device on the underwater motion platform, press gas into the pressing cylinder 9 to press the drainage cover onto the bottom waterproof baffle 7. The underwater motion platform carries the device to complete the water entry action. At this time, low-pressure drainage gas is introduced into the drainage cover through the low-pressure drainage gas through hole 302 at a small flow rate. Turn on the binocular vision camera 12 to monitor the situation inside the drainage cover and adjust the low-pressure drainage gas flow rate as needed.

[0060] Step 3: Upon reaching the vicinity of the welding target, perform ventilation, drainage, and air extraction / pressurization operations on the vacuum suction cup 8 to allow it to adhere to the surface of the welding structure. Simultaneously, the pressing cylinder 9 releases the fixation of the drainage cover and increases the flow rate of low-pressure drainage gas. The built-in supplementary light 20 is turned on, and the drainage situation inside the drainage cover is observed through the binocular vision camera 12. Once the situation stabilizes, the drainage cover is moved to the predetermined welding target position. The binocular vision camera 12 is used to observe through the high-temperature resistant glass welding torch nozzle 18, and the tungsten electrode tip is moved to align with the starting point of the welding trajectory. The distance sensor 16 is used to adjust the height of the tungsten needle from the target structure, and the high-pressure gas nozzle 15 removes residual water from the surface of the structure inside the drainage cover.

[0061] Step 4: Set welding process parameters according to the weld position and trajectory requirements. Continuous current welding mode is used by default in flat welding position, while pulsed current welding mode is used by default in vertical, horizontal, and overhead welding positions. The binocular vision camera 12 briefly loses power and then resumes operation at the moment of high-frequency arc ignition. The binocular vision camera 12 in front of the weld position observes the droplet transition, while the camera behind the weld position observes the weld formation. The distance sensor 16 inside the drainage cover predicts changes in the flatness of the structure surface in front of the weld. Combined with the arc voltage monitoring system, the weld trajectory is adjusted in a timely manner to prevent arc interruption and wire sticking, improving the controllability of the welding process and reducing post-weld inspection time to some extent.

[0062] Step 5: After the welding work is completed, keep the binocular vision camera 12 on and the low-pressure drainage gas on. The underwater motion mechanism moves the drainage cover into the bottom waterproof baffle 7. The high-pressure gas nozzle 15 sweeps away the residual water mist. After purging, the clamping cylinder 9 is activated. The cylinder rod presses the drainage cover onto the bottom waterproof baffle 7. The low-pressure drainage gas flow rate is reduced. Gas is filled into the vacuum suction cup 8. The suction cup detaches from the structure. The underwater motion platform moves the drainage cover to a new area to be welded. Repeat step 3. After the welding task is completed, execute step 4 to complete the drainage cover water discharge action.

[0063] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A high adaptability multi-position local dry underwater TIG welding device, characterized in that, This includes a drainage cover for mounting the welding torch and wire feed tube, a bottom waterproof baffle (7), and a locking device, wherein, The drainage cover is positioned above the bottom waterproof baffle (7) and the bottom waterproof baffle (7) covers the bottom opening of the drainage cover. The drainage cover and the bottom waterproof baffle (7) are sealed together and can be fixedly connected by the locking device. When the locking device is released from locking the drainage cover, the drainage cover can be pushed horizontally away from the bottom waterproof baffle (7). The locking device is fixed on the bottom waterproof baffle (7). The locking device includes a linear actuator and a pressing plate. The pressing plate is connected to the telescopic shaft of the linear actuator. The pressing plate can press the drainage cover onto the bottom waterproof baffle (7) by moving the pressing plate downward through the linear actuator. A vacuum suction cup (8) is provided on the bottom waterproof baffle (7).

2. The highly adaptable multi-pose local dry underwater TIG welding device according to claim 1, characterized in that, The bottom waterproof baffle (7) includes a bottom plate and a side plate. The side plate is connected to the bottom plate. The side plate extends along the circumferential direction of the bottom plate and forms a movable opening on the side plate. The bottom plate and the side plate are respectively sealed to the bottom and side surfaces of the drainage cover.

3. The highly adaptable multi-pose local dry underwater TIG welding apparatus according to claim 1 or 2, characterized in that, A silicone pad (11) is fitted around the bottom circumferential edge of the drainage cover. An insertion groove (1101) is provided on the top surface of the silicone pad (11). The outer circumferential edge of the bottom of the drainage cover is inserted into the insertion groove (1101). A hollow hole (1102) is provided inside the silicone pad (11). The extension direction of the hollow hole (1102) is along the length extension direction of the silicone pad (11). The hollow hole (1102) is located below the insertion groove (1101). The side of the silicone pad (11) facing away from the insertion groove (1101) is an arc surface.

4. The highly adaptable multi-pose local dry underwater TIG welding device according to claim 1, characterized in that, The welding device also includes a high-pressure gas nozzle (15), which is disposed inside the drainage cover. There is one or more high-pressure gas nozzles (15). The front end of the high-pressure gas nozzle (15) is in the shape of a flat fan. The gas sprayed through the high-pressure gas nozzle (15) can blow away residual water droplets on the welding area.

5. The highly adaptable multi-pose local dry underwater TIG welding apparatus according to claim 1 or 4, characterized in that, The drainage cover is provided with an annular baffle (104) inside. An annular high-temperature resistant sponge mounting groove (103) is formed between the annular baffle (104) and the bottom circumferential outer plate of the drainage cover. A high-temperature resistant sponge (14) is provided in the high-temperature resistant sponge mounting groove (103) and the high-temperature resistant sponge (14) protrudes from the bottom of the drainage cover.

6. The highly adaptable multi-pose local dry underwater TIG welding device according to claim 1, characterized in that, The drain cover is provided with a low-pressure drainage gas quick connector (6) and a low-pressure drainage gas passage hole (302). The low-pressure drainage gas passage hole (302) is connected to the interior of the low-pressure drainage gas quick connector (6) and the low-pressure drainage gas passage hole (302) is inclined.

7. The highly adaptable multi-pose local dry underwater TIG welding device according to claim 1, characterized in that, The drainage cover includes a lower drainage cover (1), an upper drainage cover (2), and a drainage cover (3). The lower drainage cover (1), the upper drainage cover (2), and the drainage cover (3) are arranged sequentially from bottom to top. The upper drainage cover (2) is detachably connected to the lower drainage cover (1) and the drainage cover (3) respectively. The lower drainage cover (1) is connected to the bottom waterproof baffle (7) through the locking device. The drainage cover (3) is provided with a welding gun mounting hole (304), a wire feeding tube mounting hole (301), and a camera passage hole (305).

8. The highly adaptable multi-pose local dry underwater TIG welding apparatus according to claim 7, characterized in that, The drainage cover also includes a wire harness sealing module (4), which is located above the drainage cover (3) and is detachably connected to the drainage cover (3). The wire harness sealing module (4) is a split structure, and the interior of the wire harness sealing module (4) is a silicone block (401), on which wire holes are provided.

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