An intelligent in-situ repair equipment for underwater space by intelligent arc additive manufacturing

Abstract

The present invention provides an underwater space intelligent arc additive in-situ repair equipment, which includes a magnetic adsorption mobile device, a five-degree-of-freedom execution device and an industrial control computer; the magnetic adsorption mobile device includes a mobile vehicle body, an outer binocular vision module and a drainage structure; the five-degree-of-freedom execution device includes a motion module and a rotating cutter head; the rotating cutter head is rotatably arranged at the end of the motion module; the rotating cutter head is provided with an arc additive manufacturing module for realizing arc additive manufacturing, a laser cleaning and shaping module for realizing laser cleaning and laser shaping, and a laser detection module for acquiring image information of the repair area; the outer binocular vision module, the drainage structure and the five-degree-of-freedom execution device are arranged on the mobile vehicle body. This repair equipment integrates functions such as underwater additive repair area visual detection, laser cleaning, arc additive repair and laser finishing; it realizes the emergency repair of high-efficiency, intelligent and high-quality offshore equipment during its in-service process.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater arc additive repair, and more specifically, to an underwater spatial intelligent arc additive in-situ repair equipment. Background Art

[0002] Underwater arc additive technology is widely used in the field of high-end marine equipment manufacturing due to its advantages such as high forming quality, high forming efficiency, and flexible operation. It has become a key core technology in the fields of underwater operation and maintenance of offshore wind power, laying of oil and gas pipelines, and maintenance of offshore ships, with great research value and broad application prospects.

[0003] During the service process of marine equipment, especially ships, the surface to be repaired is prone to corrosion and crack damage, facing major underwater emergency repair requirements. Due to the particularity and importance of offshore engineering equipment, short-time, high-efficiency, and high-reliability repair technologies are required during the service process to ensure the integrity and reliability of the structure of offshore engineering equipment in a timely manner and quickly restore the operation ability of offshore engineering equipment.

[0004] At present, arc additive repair technology generally relies on manual operation, which has major problems such as high labor intensity, low automation level, and poor repair quality. To solve the problem of repair automation, some automated underwater repair equipment has been developed. Existing underwater repair equipment generally only has a single welding function; if the damaged area can be cleaned and the repaired area can be shaped after repair, it is beneficial to improve the repair quality and repair efficiency; however, there is currently no underwater repair equipment that can achieve these functions. Summary of the Invention

[0005] To overcome the deficiencies in the prior art, the purpose of the present invention is to provide an underwater spatial intelligent arc additive in-situ repair equipment; this repair equipment integrates functions such as visual inspection of the underwater additive repair area, laser cleaning, arc additive repair, and laser finishing; it realizes the emergency repair of high-efficiency, intelligent, and high-quality offshore engineering equipment during its service process.

[0006] To achieve the above purpose, the present invention is realized through the following technical solutions: An underwater spatial intelligent arc additive in-situ repair equipment, characterized in that it includes a magnetic adsorption moving device, a five-degree-of-freedom execution device, and an industrial control computer;

[0007] The magnetic adsorption moving device includes: a moving vehicle body that adsorbs and moves on the repair surface by magnetic adsorption, an outer binocular vision module for obtaining images of the surrounding environment, and a drainage structure for providing a dry and sealed environment for the repair area;

[0008] The five-degree-of-freedom execution device includes a motion module for realizing linear motion in three directions of the X-axis, Y-axis, and Z-axis, and a rotating tool disc for realizing switching; the rotating tool disc is rotatably arranged at the end of the motion module; the rotating tool disc is provided with an arc additive manufacturing module for realizing arc additive manufacturing, a laser cleaning and shaping module for realizing laser cleaning and laser shaping, and a laser detection module for acquiring image information of the repair area.

[0009] The outer binocular vision module, the drainage structure, and the five-degree-of-freedom execution device are arranged on the mobile vehicle body; the mobile vehicle body, the outer binocular vision module, the drainage structure, the motion module, the rotating tool disc, the arc additive manufacturing module, the laser cleaning and shaping module, and the laser detection module are respectively connected to the industrial control computer in signal.

[0010] The repair equipment of the present invention can adsorb the whole equipment on the repair surface by means of magnetic adsorption through the mobile vehicle body, and move stably and quickly on the repair surface; the surrounding environment can be recognized through the outer binocular vision module, so as to interact with the industrial control computer to drive the movement of the mobile platform; the drainage structure provides a dry and sealed environment for the repair area. The motion module can realize linear motion in three directions of the X-axis, Y-axis, and Z-axis, and the rotating tool disc can swing at the end of the motion module to adapt to various welding positions and complex surfaces. The industrial control computer is connected to the magnetic adsorption mobile device and the five-degree-of-freedom execution device, and can realize drive control, status monitoring, information interaction, etc., so that each component cooperates with each other. The repair equipment of the present invention integrates functions such as underwater additive repair area visual detection, laser cleaning, arc additive repair, and laser finishing; it can clean the repair area before repair and perform shaping after repair; it realizes efficient, intelligent, and high-quality emergency repair during the in-service process of marine engineering equipment.

[0011] Preferably, the rotating tool disc includes a tool disc support and a switching disc; the tool disc support is hinged to the end of the motion module through a hinge support, and the tool disc support is also connected to the end of the motion module through a first rotating mechanism; the switching disc is rotatably connected to the tool disc support through a second rotating mechanism to realize the switching use of the arc additive manufacturing module, the laser cleaning and shaping module, and the laser detection module.

[0012] The arc additive manufacturing module, the laser cleaning and shaping module, and the laser detection module are integrated on the rotating tool disc; the rotating tool disc rotates by a certain angle to realize the rapid and free switching of the laser detection, arc additive manufacturing, and laser cleaning / finishing modes; the rotating tool disc is hinged at the end of the motion module and can swing by a certain angle, and can realize various welding working positions such as overhead welding, vertical welding, and flat welding, and at the same time adapt to the complex repair requirements of different shapes or different curvature repair surfaces.

[0013] Preferably, the motion module includes three screw linear guide rail modules; the three screw linear guide rail modules are respectively arranged along the X-axis, Y-axis, and Z-axis.

[0014] Preferably, the arc additive manufacturing module includes: a welding torch for welding, an arc additive manufacturing power source for supplying power to the welding torch, a wire feeding device for feeding the welding wire, and an arc additive manufacturing control unit; the arc additive manufacturing control unit realizes the operation state control and monitoring of the arc additive manufacturing power source, the wire feeding device and the shielding gas; the arc additive manufacturing control unit is connected to the industrial control computer.

[0015] Preferably, the laser cleaning and shaping module includes: a fiber laser with adjustable output power, a laser head, an optical fiber, and a cleaning and shaping control unit; the laser head adopts a two-in-one structure of cleaning and shaping; the cleaning and shaping control unit realizes the multi-level adjustable output power of the fiber laser; the cleaning and shaping control unit is connected to the industrial control computer. The laser cleaning and shaping module can output lasers with various powers, and uses the same laser head to realize the two functions of cleaning and shaping, meeting the cleaning and post-repair finishing requirements of various damaged areas with different shapes, and the overall structure is compact.

[0016] Preferably, the laser detection module includes: a three-dimensional laser scanner, a CCD camera, and a laser detection control unit; the laser detection control unit is used to collect the images of the CCD camera and control the laser scanning range and rate of the three-dimensional laser scanner; the laser detection control unit is connected to the industrial control computer. The laser detection module can realize the rapid and precise control of the damaged area.

[0017] Preferably, the drainage structure includes a strong drainage cover, a lifting module, and a plurality of one-way drainage valves; the strong drainage cover includes a rigid cover body and a soft suction cup; the soft suction cup is arranged on the opening edge of the rigid cover body; the strong drainage cover is covered on the moving vehicle body, and the rigid cover body is connected to the moving vehicle body through the lifting module to realize the lifting of the strong drainage cover, so that the soft suction cup gradually adheres tightly to the repair surface as the strong drainage cover descends, separating the inside of the strong drainage cover from the external water environment; and the soft suction cup separates from the repair surface as the strong drainage cover rises; the rigid cover body is connected to an external gas supply device to realize the input of shielding gas or drainage gas; each one-way drainage valve is respectively arranged on the rigid cover body to discharge the water inside the strong drainage cover to the outside.

[0018] For the repair equipment of the present invention, after reaching the repair area, the lifting module drives the strong drainage cover to closely adhere to the repair surface. The surface of the soft suction cup adheres to moisture. As the strong drainage cover closely adheres to the repair surface, the soft suction cup and the repair surface are closely adhered together through negative pressure, separating the inside of the strong drainage cover from the external water environment; the external gas supply device fills the inside of the strong drainage cover with high-pressure gas to drain the water inside the strong drainage cover, realizing the complete drying of the internal environment of the strong drainage cover, ensuring the stability of the gas phase space in the repair area and the arc combustion; after the repair is completed, the lifting module lifts the strong drainage cover to separate the strong drainage cover from the repair surface; the repair equipment leaves the repair area and recovers the whole set of repair equipment.

[0019] The repair equipment of the present invention can make the entire internal cavity relatively dry, achieving a welding environment similar to completely dry welding; compared with the existing local dry welding that uses a micro drainage cover to create a dry environment in the welding micro area, the completely dry underwater welding process will not be interfered by the underwater environment at all, ensuring the stable combustion of the arc and high quality of the weld formation. The repair equipment of the present invention uses a strong drainage cover with a soft suction cup at the lower end to fit the repair surface, which can meet the in-situ repair needs of offshore engineering equipment with a certain curvature underwater and a large repair area. In addition, the strong drainage cover of the present invention can complete all arc repair tasks in a large area with only one strong drainage, and is hardly affected by the strong cooling of water during the repair process.

[0020] Preferably, the bottom surface and the side surface of the hard cover body are both provided with the one-way drainage valves; each one-way drainage valve includes a valve body housing; the valve body housing is provided with a valve body cavity with both ends open; a valve body installation platform is arranged in the middle of the valve body cavity, dividing the valve body cavity into a distal cavity far from the inside of the hard cover body and a proximal cavity close to the inside of the hard cover body; the proximal cavity is communicated with the distal cavity; a gravity block is arranged in the proximal cavity; the gravity block is connected with the valve body installation platform through an elastic element to block the opening of the valve body cavity close to the inside of the hard cover body; the gravity block can push the elastic element through the gravity of the gravity block to open the opening of the valve body cavity close to the inside of the hard cover body; the distal cavity is provided with a one-way water stop structure.

[0021] The one-way drainage valve uses the gravity block to open and close the opening. During vertical welding or overhead welding, only a batch of one-way drainage valves at the lowest position along the gravity direction, the gravity block overcomes the thrust of the elastic element through its own gravity to open the opening, and the gravity generated by the weight of the gravity blocks of the remaining one-way drainage valves cannot overcome the thrust of the elastic element and continuously block the opening to close the one-way drainage valve. The advantage of this is that the one-way drainage valve is efficiently controlled, so that the water and gas inside the strong drainage cover are discharged in one direction, and there is no gas discharged to other positions to affect the drainage effect. After the opening of the one-way drainage valve is opened, the external air supply device fills the cavity with high-pressure gas, and the one-way water stop structure only allows air / water to exit from the inside and does not allow entry from the outside.

[0022] Preferably, the valve body housing includes a proximal housing close to the inside of the hard cover body and a distal housing far from the inside of the hard cover body; the proximal cavity is located in the proximal housing, and the distal cavity is located in the distal housing; an inner cylinder is arranged in the proximal housing, dividing the proximal cavity into a guiding cavity and a drainage cavity arranged inside and outside; the gravity block is slidably arranged in the guiding cavity through the elastic element; the drainage cavity is communicated with the distal cavity; the gravity generated by the weight of the gravity block is much greater than the buoyancy force of the gravity block underwater;

[0023] The one-way water stop structure includes a one-way water stop piece that is disposed in the distal cavity and can be opened and closed, and a ball stopper that is disposed in the distal cavity. The ball stopper is located on the side of the one-way water stop piece close to the proximal cavity, so that the one-way water stop piece can only be opened unidirectionally towards the outside.

[0024] Preferably, the mobile vehicle body includes a vehicle body and magnetic adsorption wheels for driving the vehicle body to move; the magnetic adsorption wheels are driven by a waterproof motor; the vehicle body is provided with an operation cavity with an opening facing downwards; the five-degree-of-freedom actuating device is disposed in the operation cavity; the outer binocular vision module is disposed on the front and rear sides of the vehicle body.

[0025] The mobile vehicle body works in cooperation with multiple magnetically adsorbing wheels with adjustable strong magnetic adsorption, and can realize working modes such as forward movement, backward movement, and turning. After reaching the repair area, it is immediately locked to fix the whole machine, ensuring that the whole repair equipment maintains the same motion state as the repair surface. The magnetically adsorbing wheels can adapt to repair surfaces with a certain curvature and can overcome the weakening effect of a certain thickness of surface paint on the magnetic adsorption force, ensuring that the whole repair equipment can be reliably and stably adsorbed on the repair surface.

[0026] The outer binocular vision module, based on computer vision technology, real-time obtains the position information and surrounding environment information of the mobile vehicle body, and sends signals to the industrial control computer, so as to control the mobile vehicle body to quickly and accurately reach the repair area and brake in time.

[0027] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0028] 1. The repair equipment of the present invention can achieve rapid, efficient, and high-quality in-situ additive repair of marine equipment, and solve problems such as difficult repair of damage to marine equipment during service, long repair time in port, and high repair cost.

[0029] 2. The repair equipment of the present invention integrates functions such as visual inspection of the underwater additive repair area, laser cleaning, arc additive repair, and laser finishing, and realizes emergency repair of high-efficiency, intelligent, and high-quality marine engineering equipment during operation.

[0030] 3. The repair equipment of the present invention is provided with an outer binocular vision module and a laser detection module located inside. The inner and outer two-layer vision detection modules can obtain surrounding environment images and internal images of the arc additive manufacturing area, providing a reliable information source for path planning before arc additive repair, state monitoring during additive repair, and quality analysis after forming; it is beneficial to realize fine adjustment of the additive repair path, improve the accuracy of additive repair and welding quality, and enable the repair equipment to better meet the extremely complex working conditions during in-service repair operations of marine engineering equipment.

[0031] 4. The repair equipment of the present invention is adsorbed on the repair surface by magnetic adsorption, enabling the whole to be reliably attached to the surface of the marine engineering equipment, and can realize working modes such as the whole machine moving forward, backward, and turning;

[0032] 5. For the repair equipment of the present invention, high-pressure gas is introduced into the strong drainage cover, which can make the internal cavity of the whole device relatively dry, achieving a welding environment similar to completely dry welding. The repair process will not be interfered by the underwater environment, ensuring the stable combustion of the arc and high-quality weld formation; it can complete all arc repair tasks in a large area with only one strong drainage, and the repair process is hardly affected by the strong cooling of water;

[0033] 6. In the repair equipment of the present invention, multiple gravity-switch type one-way drainage valves are distributed on the strong drainage cover. Whether it is vertical welding or overhead welding, the gravity block of the one-way drainage valve at the bottom will open the opening under the action of gravity, ensuring that the one-way drainage valves at other positions are closed during drainage / venting, enabling the water and gas inside the strong drainage cover to be discharged in one direction, with a controllable drainage / venting path and good drainage effect; it can meet the welding requirements such as vertical welding and overhead welding during the in-service repair of marine engineering equipment, and has strong adaptability;

[0034] 7. In the repair equipment of the present invention, when the surface of the soft suction cup is attached with moisture and the strong drainage cover is pressed against the repair surface, the soft suction cup and the repair surface are tightly attached together through negative pressure, separating the inside of the strong drainage cover from the external water environment; after welding, the soft suction cup is lifted and separated from the repaired surface; using the soft suction cup to fit the repair surface can meet the in-situ repair requirements of marine engineering equipment with a certain curvature and a large repair area underwater. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is the structural block diagram of the repair equipment of the present invention;

[0036] Figure 2 is one of the structural schematic diagrams of the repair equipment of the present invention;

[0037] Figure 3 is another structural schematic diagram of the repair equipment of the present invention;

[0038] Figure 4 is the structural schematic diagram of the five-degree-of-freedom actuator in the repair equipment of the present invention;

[0039] Figure 5 is the structural schematic diagram of the rotating cutter head in the repair equipment of the present invention;

[0040] Figure 6 is the structural schematic diagram of the repair equipment in Embodiment 2;

[0041] Figure 7 is the structural schematic diagram of the repair equipment in Embodiment 2 in the state where the strong drainage cover is lifted;

[0042] Figure 8 is Figure 7 The sectional view taken along A-A in it;

[0043] Figure 9 is the sectional view of the repair equipment in Embodiment 2 when the strong drainage cover is in the lowered state;

[0044] Figure 10 is the structural schematic diagram of the one-way drainage valve in the repair equipment of Embodiment 2;

[0045] Figure 11 is the sectional view of the one-way drainage valve in the repair equipment of Embodiment 2;

[0046] Figures 12(a) to 12(c) are respectively the schematic diagrams of different states of the one-way drainage valve in the repair equipment of Embodiment 2;

[0047] Among them, 1 is a magnetic adsorption wheel, 2 is a soft suction cup, 3 is a one-way drainage valve, 3.1 is a proximal housing, 3.2 is a distal housing, 3.3 is an inner layer cylinder, 3.4 is a gravity block, 3.5 is a drainage cavity, 3.6 is an elastic element, 3.7 is a distal cavity, 3.8 is a blocking ball, 3.9 is a one-way water stop piece, 4 is a rigid cover body, 5 is a cable channel, 6 is a lifting module, 7 is a vehicle body, 8 is a motion module, 9 is a rotary cutter head, 9.1 is a cutter head support, 9.2 is a multi-module cable, 9.3 is a switching disk, 9.4 is an arc additive manufacturing module, 9.5 is a laser cleaning and shaping module, 9.6 is a laser detection module, 10 is a hinge support, and 11 is an outer binocular vision module. Specific Embodiments

[0048] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0049] Embodiment 1

[0050] An underwater space intelligent arc additive manufacturing in-situ repair equipment in this embodiment, as Figures 1 to 5 shown, includes a magnetic adsorption moving device, a five-degree-of-freedom execution device, and an industrial control computer.

[0051] The magnetic adsorption moving device includes: a moving vehicle body 7 for adsorbing and walking on the repair surface by means of magnetic adsorption, an outer binocular vision module 11 for acquiring images of the surrounding environment, and a drainage structure (the drainage structure is not shown) for providing a dry and sealed environment for the repair area.

[0052] The mobile vehicle body 7 includes a vehicle body 7 and magnetic adsorption wheels 1 for driving the vehicle body 7 to move; the magnetic adsorption wheels 1 are driven by a waterproof motor; the vehicle body 7 is provided with an operation cavity opening downward; a five-degree-of-freedom execution device is arranged in the operation cavity; outer binocular vision modules 11 are arranged on the front and rear sides of the vehicle body 7. In addition, a drainage structure and a five-degree-of-freedom execution device are also arranged on the vehicle body 7. The vehicle body 7, the outer binocular vision modules 11, and the drainage structure are respectively connected to the industrial control computer in signal.

[0053] The mobile vehicle body can achieve working modes such as forward movement, backward movement, and turning through the collaborative work of multiple adjustable and powerful magnetic adsorption wheels 1. After reaching the repair area, it will be immediately locked to fix the whole machine, ensuring that the whole repair equipment maintains the same motion state as the repair surface. The magnetic adsorption wheels 1 can adapt to repair surfaces with a certain curvature and can overcome the weakening effect of surface paint with a certain thickness on the magnetic adsorption force, ensuring that the whole repair equipment can be reliably and stably adsorbed on the repair surface.

[0054] The outer binocular vision modules 11 can obtain the position information and surrounding environment information of the mobile vehicle body in real time based on computer vision technology, and send signals to the industrial control computer, so as to control the mobile vehicle body to quickly and accurately reach the repair area and brake in time.

[0055] The five-degree-of-freedom execution device includes a motion module 8 for realizing linear motion in three directions of the X-axis, Y-axis, and Z-axis, and a rotary cutter head 9 for realizing switching; the rotary cutter head 9 is rotatably arranged at the end of the motion module 8; the rotary cutter head 9 is provided with an arc additive manufacturing module 9.4 for realizing arc additive manufacturing, a laser cleaning and shaping module 9.5 for realizing laser cleaning and laser shaping, and a laser detection module 9.6 for obtaining image information of the repair area. The motion module 8, the rotary cutter head 9, the arc additive manufacturing module 9.4, the laser cleaning and shaping module 9.5, and the laser detection module 9.6 are respectively connected to the industrial control computer in signal.

[0056] The repair equipment of the present invention can adsorb the whole equipment on the repair surface by the magnetic adsorption method of the mobile vehicle body and move stably and quickly on the repair surface; the outer binocular vision modules 11 are used to identify the surrounding environment, so as to interact with the industrial control computer to drive the movement of the mobile platform; the drainage structure provides a dry and airtight environment for the repair area. The motion module 8 can realize linear motion in three directions of the X-axis, Y-axis, and Z-axis, and the rotary cutter head 9 can swing at the end of the motion module 8 to adapt to various welding positions and complex surfaces. The industrial control computer is connected to the magnetic adsorption mobile device and the five-degree-of-freedom execution device, and can realize drive control, status monitoring, and information interaction, etc., so that each component can cooperate with each other.

[0057] Specifically, the motion module 8 preferably includes three screw linear guide modules; the three screw linear guide modules are respectively arranged along the X-axis, Y-axis, and Z-axis. The rotary tool disc 9 includes a tool disc bracket 9.1 and a switching disc 9.3; the tool disc bracket 9.1 is hinged to the end of the motion module 8 through a hinge support 10, and the tool disc bracket 9.1 is also connected to the end of the motion module 8 through a first rotating mechanism; the switching disc 9.3 is rotatably connected to the tool disc bracket 9.1 through a second rotating mechanism to realize the switching use of the arc additive manufacturing module 9.4, the laser cleaning and shaping module 9.5, and the laser detection module 9.6. The second rotating mechanism can be a reduction motor, which can make the switching disc 9.3 rotate forward and backward by 60 degrees (but not limited to 60 degrees) to realize the switching of multiple modes.

[0058] The arc additive manufacturing module 9.4 includes: a welding torch for welding, an arc additive manufacturing power source for supplying power to the welding torch, a wire feeding device for feeding the welding wire, and an arc additive manufacturing control unit; the arc additive manufacturing control unit realizes the operation state control and monitoring of the arc additive manufacturing power source, the wire feeding device, and the shielding gas; the arc additive manufacturing control unit is connected to the industrial control computer.

[0059] The laser cleaning and shaping module 9.5 includes: a fiber laser with adjustable output power, a laser head, an optical fiber, and a cleaning and shaping control unit; the laser head adopts a two-in-one structure of cleaning and shaping; the cleaning and shaping control unit realizes the multi-level adjustment of the output power of the fiber laser; the cleaning and shaping control unit is connected to the industrial control computer. The laser cleaning and shaping module 9.5 can output lasers with multiple powers, and uses the same laser head to realize the two functions of cleaning and shaping, meeting the cleaning and finishing requirements of multiple different-shaped damaged areas, and the overall structure is compact.

[0060] The laser detection module 9.6 includes: a three-dimensional laser scanner, a CCD camera, and a laser detection control unit; the laser detection control unit is used to collect the images of the CCD camera and control the laser scanning range and rate of the three-dimensional laser scanner; the laser detection control unit is connected to the industrial control computer. The laser detection module 9.6 can realize the rapid and precise control of the damaged area.

[0061] The arc additive manufacturing module 9.4, the laser cleaning and shaping module 9.5, and the laser detection module 9.6 are integrated on the rotary tool disc 9; the rotary tool disc 9 can rotate by a certain angle to realize the rapid and free switching of the laser detection, arc additive manufacturing, and laser cleaning / finishing modes; the rotary tool disc 9 is hinged at the end of the motion module 8 and can swing by a certain angle, which can realize various welding working positions such as overhead welding, vertical welding, and flat welding, and at the same time meet the complex repair requirements of different-shaped or different-curvature repair surfaces.

[0062] The repair method of the underwater space intelligent arc additive manufacturing in-situ repair equipment in this embodiment includes the following steps:

[0063] S1. The magnetic adsorption mobile device and the five-degree-of-freedom execution device are lowered into the water as a whole. The industrial control computer sends a motion trajectory instruction to the mobile vehicle body, and the mobile vehicle body moves according to the trajectory. At this time, the outer binocular vision module scans and reconstructs the surrounding environment, and transmits the image signal near the mobile vehicle body to the industrial control computer and displays it on its interface. After the industrial control computer issues an instruction to the mobile vehicle body to stop moving, the drainage structure is closely attached to the repair area.

[0064] S2. High-pressure gas is filled into the drainage structure to discharge the water inside the drainage structure. The industrial control computer issues an instruction to the five-degree-of-freedom execution device. Through the scanning of the laser detection module, it is judged whether the inside of the drainage structure reaches relative dryness. Subsequently, the industrial control computer continues to issue an instruction to the five-degree-of-freedom operation module to perform three-dimensional reconstruction on the repair area inside the drainage structure and feedback the data to the industrial control computer.

[0065] S3. The industrial control computer issues an instruction to the five-degree-of-freedom execution device to perform laser cleaning, arc additive repair, and laser finishing operations in sequence. The images of the whole process can be obtained through the laser detection module. If an abnormality occurs, the industrial control computer will issue an interruption instruction to stop the corresponding operation.

[0066] S4. After the laser finishing is completed, the industrial control computer judges the forming quality according to the image of the laser detection module, collects, collates, and stores the arc additive repair process and the forming quality information. The industrial control computer controls the five-degree-of-freedom execution device to leave the repair area and return to its original position, controls the mobile vehicle body to leave the repair area, and collects all sets of equipment.

[0067] Embodiment 2

[0068] The difference between an underwater space intelligent arc additive in-situ repair equipment in this embodiment and that in Embodiment 1 is as follows: As Figures 6 to 11 shown, in this embodiment, the drainage structure includes a strong drainage cover, a lifting module 6, and several one-way drainage valves 3; the strong drainage cover includes a rigid cover body 4 and a soft suction cup 2; the soft suction cup 2 is arranged on the opening edge of the rigid cover body 4; the rigid cover body 4 and the soft suction cup 2 are detachably connected, for example, fixed by bolts; to adapt to more complex repair surfaces, soft suction cups of different sizes and materials can be replaced. And a sealing structure is adopted at the connection between the rigid cover body 4 and the soft suction cup 2.

[0069] The strong drainage cover is arranged on the vehicle body 7, and the rigid cover body 4 is connected to the vehicle body 7 through the lifting module 6 to realize the lifting of the strong drainage cover, so that the soft suction cup 2 gradually adheres to the repair surface as the strong drainage cover descends, separating the inside of the strong drainage cover from the external water environment; and the soft suction cup 2 separates from the repair surface as the strong drainage cover rises; the rigid cover body 4 is connected to an external gas supply device to realize the input of protective gas or drainage gas; several one-way drainage valves 3 are arranged on the rigid cover body 4 to discharge the water inside the strong drainage cover to the outside.

[0070] The working principle of the repair equipment of the present invention is as follows: The whole repair equipment is adsorbed on the surface of the equipment to be repaired by magnetic adsorption and moved to the repair area; the lifting module 6 drives the strong drainage cover to closely adhere to the repair surface, and the soft suction cup 2 is adsorbed on the repair surface by pressure, so that the inside of the strong drainage cover is separated from the external water environment; the external air supply device fills high-pressure gas into the inside of the strong drainage cover to drain the water inside the strong drainage cover, realizing that the internal environment of the strong drainage cover is completely dry, ensuring the stability of the gas phase space in the repair area and the arc combustion; the operator constructs on the repair area, such as welding; after the construction is completed, the lifting module 6 lifts the strong drainage cover to separate the strong drainage cover from the repaired surface; the repair equipment leaves the repair area and the whole set of repair equipment is recycled.

[0071] One-way drainage valves 3 are provided on both the bottom surface and the side surface of the hard cover body 4. The number of one-way drainage valves 3 is at least 20, with at least 4 on each surface, and can be appropriately increased according to the drainage efficiency.

[0072] The one-way drainage valve 3 includes a valve body shell; the valve body shell is provided with a valve body cavity with openings at both ends; a valve body installation platform is provided in the middle of the valve body cavity, dividing the valve body cavity into a distal cavity away from the inside of the hard cover body 4 and a proximal cavity close to the inside of the hard cover body 4.

[0073] Specifically, the valve body shell includes a proximal shell 3.1 close to the inside of the hard cover body 4 and a distal shell 3.2 away from the inside of the hard cover body 4; the proximal cavity is located in the proximal shell 3.1, and the distal cavity 3.7 is located in the distal shell 3.2; an inner cylinder 3.3 is provided in the proximal shell, dividing the proximal cavity into a guiding cavity and a drainage cavity 3.5 arranged inside and outside; the drainage cavity 3.5 is communicated with the distal cavity 3.7. The gravity block 3.4 is connected to the valve body installation platform through an elastic element 3.6 and is slidably arranged in the guiding cavity through the elastic element 3.6 to block the opening of the valve body cavity close to the inside of the hard cover body 4; the gravity block 3.4 can push the elastic element 3.6 through the gravity of the gravity block 3.4 to open the opening of the valve body cavity close to the inside of the hard cover body 4.

[0074] The distal cavity 3.7 is provided with a one-way water stop structure. Specifically, the wall of the distal cavity 3.7 is provided with an openable one-way water stop piece 3.9; a blocking ball 3.8 is also provided on the wall of the distal cavity 3.7, and the blocking ball 3.8 is located on the side of the one-way water stop piece 3.9 close to the proximal cavity, so that the one-way water stop piece 3.9 can only open unidirectionally towards the outside. After the opening of the one-way drainage valve 3 is opened, the external air supply device fills high-pressure gas into the inside of the strong drainage cover. The one-way water stop structure only allows air / water to flow out from the inside, while in the reverse direction, the one-way water stop piece 3.9 is pressed tightly by the blocking ball 3.8, preventing water from flowing back in the reverse direction.

[0075] The one-way drainage valve 3 uses a gravity block 3.4 to open and close the opening. During vertical welding or overhead welding, only the batch of one-way drainage valves 3 at the lowest position along the gravity direction, the gravity block 3.4 overcomes the thrust of the elastic element 3.6 through its own gravity and opens the opening. The gravity generated by the weight of the gravity blocks 3.4 of the remaining one-way drainage valves 3 cannot overcome the thrust of the elastic element 3.6 and continuously blocks the opening to close the one-way drainage valve 3.

[0076] For example, in the repair welding of the outer plate of a large ship, vertical welding or overhead welding is generally required; vertical welding means that the repair equipment is adsorbed on the vertical surface for welding; overhead welding means that the repair equipment is adsorbed upside down below the plane for welding. During vertical welding, the state of the one-way drainage valve on the side surface below is shown in Fig. 12(a). The gravity block 3.4 is above the elastic element 3.6, and the gravity block 3.4 overcomes the thrust of the elastic element 3.6 through its own gravity and opens the opening; the state of the one-way drainage valve on the side surface above is shown in Fig. 12(b). The gravity block 3.4 is below the elastic element 3.6, and the gravity block 3.4 is pulled into the elastic element after being affected by gravity and abuts against the opening; the states of the one-way drainage valves on the remaining side surfaces and the one-way drainage valves on the bottom surface are shown in Fig. 12(c). The gravity block 3.4 is on one side of the elastic element 3.6, and as long as the thrust of the elastic element 3.6 is greater than the underwater pressure at the working position, it can ensure that the one-way drainage valve is closed. Similarly, during overhead welding, only the batch of one-way drainage valves 3 at the lowest position along the gravity direction, that is, the one-way drainage valves 3 on the bottom surface, are allowed to open the opening.

[0077] The advantage of doing this is that it efficiently controls the one-way drainage valve, enabling the water and gas inside the strong drainage cover to be discharged in one direction, and there is no gas discharged to other positions, which affects the drainage effect.

[0078] To prevent the one-way drainage valves 3 at other positions from opening, the elastic element 3.6 needs to maintain a certain initial force to resist the lateral accidental opening of the gravity block 3.4 by the underwater pressure; the gravity generated by the weight of the gravity block 3.4 is much greater than the buoyancy force of the gravity block 3.4 underwater, ensuring the normal operation of the gravity block at the bottom end.

[0079] The gravity block 3.4 will always open after being affected by gravity. During the welding process, the shielding gas can still be discharged from these one-way drainage valves 3, avoiding the separation of the strong drainage cover from the repair surface due to excessive internal pressure.

[0080] The remaining structures of this embodiment are the same as those of the first embodiment.

[0081] The above embodiments are the preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. An intelligent underwater space in-situ repair equipment for arc additive manufacturing, characterized in that: It includes a magnetic adsorption moving device, a five-degree-of-freedom execution device, and an industrial control computer; The magnetic adsorption moving device includes: a moving vehicle body for adsorbing and walking on the repair surface by magnetic adsorption, an outer binocular vision module for obtaining images of the surrounding environment, and a drainage structure for providing a dry and sealed environment for the repair area; The five-degree-of-freedom execution device includes a motion module for realizing linear motion in three directions of the X-axis, Y-axis, and Z-axis, and a rotating cutter head for realizing switching; the rotating cutter head is rotatably arranged at the end of the motion module; the rotating cutter head is provided with an arc additive manufacturing module for realizing arc additive manufacturing, a laser cleaning and shaping module for realizing laser cleaning and laser shaping, and a laser detection module for obtaining image information of the repair area; The outer binocular vision module, the drainage structure, and the five-degree-of-freedom execution device are arranged on the moving vehicle body; the moving vehicle body, the outer binocular vision module, the drainage structure, the motion module, the rotating cutter head, the arc additive manufacturing module, the laser cleaning and shaping module, and the laser detection module are respectively signal-connected to the industrial control computer; The drainage structure includes a strong drainage cover, a lifting module, and a number of one-way drainage valves; the strong drainage cover includes a rigid cover body and a soft suction cup; the soft suction cup is arranged on the opening edge of the rigid cover body; the strong drainage cover covers the moving vehicle body, and the rigid cover body is connected to the moving vehicle body through the lifting module to realize the lifting of the strong drainage cover, so that the soft suction cup gradually adheres tightly to the repair surface as the strong drainage cover descends, separating the inside of the strong drainage cover from the external water environment; and the soft suction cup separates from the repair surface as the strong drainage cover rises; the rigid cover body is connected to an external gas supply device to realize the input of protective gas or drainage gas; each one-way drainage valve is respectively arranged on the rigid cover body to discharge the water inside the strong drainage cover to the outside; The bottom surface and side surface of the rigid cover body are both provided with the one-way drainage valves; each one-way drainage valve includes a valve body housing; the valve body housing is provided with a valve body cavity with openings at both ends; a valve body installation platform is arranged in the middle of the valve body cavity, dividing the valve body cavity into a distal cavity far from the inside of the rigid cover body and a proximal cavity close to the inside of the rigid cover body; the proximal cavity is communicated with the distal cavity; a gravity block is arranged in the proximal cavity; the gravity block is connected to the valve body installation platform through an elastic element to block the opening of the valve body cavity close to the inside of the rigid cover body; the gravity block can push the elastic element through the gravity of the gravity block to open the opening of the valve body cavity close to the inside of the rigid cover body; the distal cavity is provided with a one-way water stop structure.

2. The intelligent underwater space in-situ repair equipment for arc additive manufacturing according to claim 1, wherein: The rotating cutter head includes a cutter head support and a switching disk; the cutter head support is hinged to the end of the motion module through a hinge support, and the cutter head support is also connected to the end of the motion module through a rotating mechanism I; the switching disk is rotatably connected to the cutter head support through a rotating mechanism II to realize the switching use of the arc additive manufacturing module, the laser cleaning and shaping module, and the laser detection module.

3. An in-situ repair equipment for intelligent underwater space by arc additive manufacturing according to claim 1, characterized in that: The motion module includes three screw linear guide rail modules; The three screw linear guide rail modules are respectively arranged along the X-axis, Y-axis, and Z-axis.

4. An in-situ repair equipment for intelligent underwater spatial arc additive manufacturing according to claim 1, characterized in that: The arc additive manufacturing module includes: a welding torch for welding, an arc additive manufacturing power source for providing power to the welding torch, a wire feeding device for feeding the welding wire, and an arc additive manufacturing control unit; the arc additive manufacturing control unit realizes the operation state control and monitoring of the arc additive manufacturing power source, the wire feeding device, and the shielding gas; the arc additive manufacturing control unit is connected to the industrial control computer.

5. An in-situ repair equipment for intelligent underwater spatial arc additive manufacturing according to claim 1, characterized in that: The laser cleaning and shaping module includes: a fiber laser with adjustable output power, a laser head, an optical fiber, and a cleaning and shaping control unit; the laser head adopts a two-in-one structure of cleaning and shaping; the cleaning and shaping control unit realizes the multi-level adjustable output power of the fiber laser; the cleaning and shaping control unit is connected to the industrial control computer.

6. An in-situ repair equipment for intelligent underwater space by arc additive manufacturing according to claim 1, characterized in that: The laser detection module includes: a three-dimensional laser scanner, a CCD camera, and a laser detection control unit; the laser detection control unit is used for collecting the images of the CCD camera and controlling the laser scanning range and rate of the three-dimensional laser scanner; the laser detection control unit is connected to the industrial control computer.

7. An in-situ repair equipment for intelligent underwater spatial arc additive manufacturing according to claim 1, characterized in that: The valve body housing includes a proximal housing near the inside of the hard cover and a distal housing far from the inside of the hard cover; the proximal cavity is located in the proximal housing, and the distal cavity is located in the distal housing; an inner cylinder is provided in the proximal housing, so that the proximal cavity is divided into a guiding cavity and a drainage cavity arranged inside and outside. The gravity block is slidably arranged in the guiding cavity through the elastic element; the drainage cavity is communicated with the distal cavity; the gravity generated by the weight of the gravity block is much greater than the buoyancy force received by the gravity block underwater. The one-way water stop structure includes a one-way water stop piece arranged in the distal cavity and capable of opening and closing, and a retaining ball arranged in the distal cavity. The retaining ball is located on the side of the one-way water stop piece close to the proximal cavity, so that the one-way water stop piece can only be opened unidirectionally towards the outside.

8. An in-situ repair equipment for intelligent underwater spatial arc additive manufacturing according to any one of claims 1 to 6, characterized in that: The mobile vehicle body includes a vehicle body and magnetic adsorption wheels for driving the vehicle body to move; the magnetic adsorption wheels are driven by a waterproof motor; an operation cavity with an opening downward is provided in the vehicle body; the five-degree-of-freedom execution device is arranged in the operation cavity; the outer binocular vision module is arranged on the front and back sides of the vehicle body.

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