A magnetic adsorption type multi-degree-of-freedom underwater in-situ welding repair device

Abstract

The present invention provides a magnetically adsorbed multi-degree-of-freedom underwater in-situ welding repair device, which includes a mobile platform, a manipulator and a giant drainage hood; the giant drainage hood includes a rigid hood body and a soft suction cup; the soft suction cup is arranged on the opening edge of the rigid hood body; the manipulator is carried on the mobile platform; the giant drainage hood covers the mobile platform, and the rigid hood body is connected to the mobile platform through a lifting module to realize the lifting of the giant drainage hood, so that the soft suction cup is closely attached to the surface of the welding area, separating the inside of the giant drainage hood from the external water environment; the soft suction cup is raised and separated from the surface of the welding area; the rigid hood body is connected to an external gas supply device; a number of one-way drainage valves are arranged on the rigid hood body to discharge the water inside the giant drainage hood to the outside. The internal cavity of this welding repair device is relatively dry, and the repair process will not be interfered by the underwater environment, which is beneficial to ensuring the stable combustion of the arc and the high quality of the weld formation.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater welding repair, and more specifically, to a magnetic adsorption type multi-degree-of-freedom underwater in-situ welding repair device. Background Technique

[0002] In recent years, with the vigorous development of China's marine industry, major projects such as offshore drilling platforms, offshore wind power platforms, underwater oil and gas pipelines, offshore ships, and strong nuclear radiation nuclear power plants have been increasing continuously. These large water-related equipment face huge construction, maintenance, and emergency repair needs. Due to the advantages of high welding efficiency, high-quality weld formation, and flexible operation of the device in gas metal arc welding, it has been widely used in the field of underwater welding.

[0003] Underwater welding methods mainly include wet underwater, dry underwater, and local dry underwater welding. The wet underwater device is flexible and simple, but the weld formation quality is poor; the equipment for dry welding is relatively complex, the construction difficulty is large, the cost is high, and the applicable range is limited; local dry method uses a micro drainage hood to drain the water in the micro area to be welded, achieving a locally dry environment, and can obtain a welding environment similar to that of dry welding, with high weld quality. However, when the marine equipment is damaged, there are often problems such as a large area of the damaged area and a relatively complex surface structure; for the repair of large underwater structures, the surface has a large unevenness and a certain curvature; during the local dry welding process, it is difficult for the drainage hood to fit on the uneven and curved surface, which will cause a large amount of water to enter the inside of the drainage hood during welding and cause the welding arc to extinguish; therefore, the local dry method is not applicable in the above application scenarios, which greatly limits the wide application of this device in marine equipment. In addition, due to the randomness of the position of the damaged area, complex welding requirements such as vertical welding and overhead welding also need to be met. Traditional welding devices cannot meet the in-service repair requirements of marine equipment, so there is an urgent need for a new underwater all-position welding in-situ repair device. Summary of the Invention

[0004] In order to overcome the disadvantages and deficiencies in the prior art, the purpose of the present invention is to provide a magnetic adsorption type multi-degree-of-freedom underwater in-situ welding repair device; the internal cavity of this welding modification device is relatively dry, and the repair process will not be interfered by the underwater environment, which is conducive to ensuring the stable combustion of the arc, with high weld formation quality, and can meet the in-situ repair requirements of marine equipment with a certain curvature and a large repair area underwater.

[0005] In order to achieve the above purpose, the present invention is realized through the following technical solutions: A magnetic adsorption type multi-degree-of-freedom underwater in-situ welding repair device, characterized in that it includes:

[0006] A mobile platform for moving underwater by means of magnetic adsorption;

[0007] An operator for performing construction operations including welding;

[0008] And a giant drainage hood for covering the welding area;

[0009] The giant drainage hood includes a rigid hood body and a soft suction cup; the soft suction cup is arranged on the opening edge of the rigid hood body; the operator is carried on a mobile platform; the giant drainage hood covers the mobile platform, and the rigid hood body is connected to the mobile platform through a lifting module to realize the lifting of the giant drainage hood, so that the soft suction cup gradually adheres to the surface of the welding area as the giant drainage hood descends, separating the inside of the giant drainage hood from the external water environment; and the soft suction cup separates from the surface of the welding area as the giant drainage hood rises;

[0010] The rigid hood body is connected to an external gas supply device to realize the input of protective gas or drainage gas; a number of one-way drainage valves are arranged on the rigid hood body to discharge the water inside the giant drainage hood to the outside.

[0011] The working principle of the welding repair device of the present invention is: the whole welding repair device is adsorbed on the surface of the equipment to be repaired by magnetic adsorption and moved to the welding area; the lifting module drives the giant drainage hood to closely adhere to the surface of the welding area, and the surface of the soft suction cup adheres to water. As the giant drainage hood closely adheres to the surface of the welding area, the soft suction cup and the surface of the welding area are closely adhered together by negative pressure, separating the inside of the giant drainage hood from the external water environment; the external gas supply device fills high-pressure gas into the inside of the giant drainage hood, drains the water inside the giant drainage hood, and realizes the complete drying of the internal environment of the giant drainage hood, ensuring the stability of the gas phase space in the welding area and the arc combustion; the operator performs construction such as welding on the welding area; after the construction is completed, the lifting module lifts the giant drainage hood to separate the giant drainage hood from the surface of the welded area; the welding repair device leaves the welding area and recovers the whole set of devices.

[0012] The welding repair device of the present invention can make the internal cavity of the whole device relatively dry, achieving a welding environment similar to completely dry welding; compared with the existing local dry welding that uses a micro drainage hood 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 weld formation. The welding repair device of the present invention uses a giant drainage hood with a soft suction cup at the lower end to fit the surface of the welding area, which can meet the in-situ repair requirements of offshore engineering equipment with a certain curvature and a large repair area underwater.

[0013] In addition, the giant drainage hood 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.

[0014] Preferably, the one-way drainage valves are provided on both the bottom surface and the side surface of the rigid cover body; 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 provided in the middle of the valve body cavity, dividing the valve body cavity into a distal cavity away from the inside of the rigid cover body and a proximal cavity close to the inside of the rigid cover body; the proximal cavity communicates with the distal cavity; a gravity block is provided 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; a one-way water stop structure is provided in the distal cavity.

[0015] The one-way drainage valve uses a 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, enabling the water and gas inside the giant drainage cover to be discharged in one direction, and there is no gas discharged to other positions to affect the drainage effect. After the gravity block is affected by gravity, it will always open, and during the welding process, the shielding gas can still be discharged from these one-way drainage valves, avoiding the separation of the giant drainage cover from the surface of the welding area due to excessive internal pressure.

[0016] After the opening of the one-way drainage valve is opened, the external gas supply device fills high-pressure gas into the inside of the giant drainage cover, and the one-way water stop structure only allows gas / water to escape from the inside and does not allow entry from the outside.

[0017] Preferably, the valve body housing includes a proximal housing close to the inside of the rigid cover body and a distal housing away from the inside of the rigid 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 provided 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 communicates with the distal cavity.

[0018] Preferably, 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 open unidirectionally towards the outside.

[0019] Preferably, the gravity generated by the weight of the gravity block is much greater than the buoyancy force received by the gravity block underwater.

[0020] Preferably, the rigid cover body and the soft suction cup are detachably connected, and the connection between the rigid cover body and the soft suction cup adopts a sealing structure. The detachable connection between the rigid cover body and the soft suction cup can adapt to the surface of more complex welding areas and can replace soft suction cups of different sizes and materials.

[0021] Preferably, a cable channel is provided on the rigid cover body; a power cable for power supply and signal transmission, a gas pipe for conveying drainage gas or protective gas, and a welding wire conduit for introducing welding wire are provided in the cable channel.

[0022] Preferably, the mobile platform 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 a construction cavity with an opening downward; the operator is arranged in the construction cavity. The present invention adsorbs on the surface of the welding area by means of magnetic adsorption, and the whole device is always fixedly connected to the structure to be repaired during the welding process, realizing in-situ in-service underwater repair of large underwater structures, and greatly improving the repair efficiency.

[0023] Preferably, the operator includes a construction module and a three-coordinate movement module for moving the construction module in the X-axis, Y-axis, and Z-axis directions.

[0024] Preferably, the construction module includes a rotating cutter head, a welding torch, and auxiliary devices; the rotating cutter head is rotatably arranged at the end of the three-coordinate movement module; the welding torch and the auxiliary devices are respectively arranged below the rotating cutter head. The rotating cutter head can realize the switching use of the welding torch and the auxiliary devices.

[0025] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0026] 1. For the welding repair device of the present invention, high-pressure gas is introduced into the giant 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;

[0027] 2. For the welding repair device of the present invention, a plurality of gravity switch type one-way drainage valves are distributed on the giant 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 giant drainage cover to be discharged in one direction, with a controllable drainage / venting path and good drainage effect;

[0028] 3. For the welding repair device of the present invention, moisture adheres to the surface of the soft suction cup. When the giant drainage cover is pressed against the surface of the welding area, the soft suction cup and the surface of the welding area are tightly attached together through negative pressure, separating the inside of the giant drainage cover from the external water environment; after welding, the soft suction cup is lifted and separated from the surface of the welded area; using the soft suction cup to fit the surface of the welding area can meet the in-situ repair requirements of offshore engineering equipment with a certain curvature underwater and a large repair area.

[0029] 4. The welding repair device of the present invention adsorbs on the surface of the welding area by magnetic adsorption. During the welding process, the whole device is always fixedly connected to the structure to be repaired, realizing the in-situ in-service underwater repair of large underwater structures, greatly improving the repair efficiency.

[0030] 5. The welding repair device of the present invention can meet the welding requirements such as vertical welding and overhead welding during the in-service repair of offshore engineering equipment, and has strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic structural diagram of the welding repair device of the present invention;

[0032] Figure 2 is a schematic structural diagram of the welding repair device of the present invention in the state where the giant drainage cover is lifted;

[0033] Figure 3 is Figure 2 the sectional view taken along A-A in

[0034] Figure 4 is the sectional view of the welding repair device of the present invention in the state where the giant drainage cover is lowered;

[0035] Figure 5 is a schematic structural diagram of the one-way drainage valve in the welding repair device of the present invention;

[0036] Figure 6 is the sectional view of the one-way drainage valve in the welding repair device of the present invention;

[0037] Figures 7(a) to 7(c) are respectively schematic diagrams of different states of the one-way drainage valve in the welding repair device of the present invention;

[0038] Figure 8 is a schematic structural diagram of the mobile platform and the manipulator in the welding repair device of the present invention;

[0039] Figure 9 is a schematic structural diagram of the manipulator in the welding repair device of the present invention;

[0040] 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 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 ball stopper, 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 three-coordinate moving module, 9 is a construction module, 9.1 is a rotating cutter head, 9.2 is a welding torch, and 9.3 is an auxiliary device. Detailed implementation manners

[0041] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0042] Embodiment

[0043] As Figures 1 to 9 shown, an underwater in-situ welding repair device with magnetic adsorption and multiple degrees of freedom in this embodiment includes a mobile platform, an operating hand, and a giant drainage cover; the mobile platform is used to move underwater in a magnetic adsorption manner; the operating hand is used to perform construction operations including welding; the giant drainage cover is used to cover the welding area.

[0044] The giant 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; different sizes and materials of soft suction cups can be replaced to adapt to more complex surfaces of the welding area.

[0045] And the connection between the rigid cover body 4 and the soft suction cup 2 adopts a sealing structure.

[0046] The giant drainage cover is covered on the mobile platform, and the rigid cover body 4 is connected to the mobile platform through a lifting module 6 to realize the lifting of the giant drainage cover, so that the soft suction cup 2 gradually adheres to the surface of the welding area as the giant drainage cover descends, separating the inside of the giant drainage cover from the external water environment; and the soft suction cup 2 separates from the surface of the welding area as the giant 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; a number of one-way drainage valves 3 are arranged on the rigid cover body 4 to discharge the water inside the giant drainage cover to the outside.

[0047] The working principle of the welding repair device of the present invention is as follows: The whole welding repair device is adsorbed on the surface of the equipment to be repaired by magnetic adsorption and moved to the welding area; the lifting module 6 drives the giant drainage cover to closely adhere to the surface of the welding area, and the soft suction cup 2 is adsorbed on the surface of the welding area by pressure, so that the inside of the giant drainage cover is separated from the external water environment; the external air supply device fills high-pressure gas into the inside of the giant drainage cover to drain the water inside the giant drainage cover, realizing that the internal environment of the giant drainage cover is completely dry, ensuring the stability of the gas phase space in the welding area and the arc combustion; the operator performs construction such as welding on the welding area; after the construction is completed, the lifting module 6 lifts the giant drainage cover to separate the giant drainage cover from the surface of the welded area; the welding repair device leaves the welding area and the whole set of devices is recycled.

[0048] One-way drainage valves 3 are arranged on both the bottom surface and the side surface of the rigid 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.

[0049] 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 arranged in the middle of the valve body cavity, dividing the valve body cavity into a distal cavity away from the inside of the rigid cover body 4 and a proximal cavity close to the inside of the rigid cover body 4.

[0050] Specifically, the valve body shell includes a proximal shell 3.1 close to the inside of the rigid cover body 4 and a distal shell 3.2 away from the inside of the rigid 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 arranged 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 rigid 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 rigid cover body 4.

[0051] The distal cavity 3.7 is provided with a one-way water stop structure. Specifically, a one-way water stop piece 3.9 that can be opened and closed is arranged on the wall of the distal cavity 3.7; a retaining ball 3.8 is also arranged on the wall of the distal cavity 3.7, and the retaining 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 be opened unidirectionally towards the outside. After the one-way drainage valve 3 is opened, the external air supply device fills high-pressure gas into the inside of the giant drainage cover, and the one-way water stop structure only allows air / water to flow out from the inside, while in the opposite direction, the one-way water stop piece 3.9 is pressed tightly by the retaining ball 3.8, preventing water from flowing back in the opposite direction.

[0052] 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 by its own gravity and opens the opening. For the remaining one-way drainage valves 3, the gravity generated by the weight of the gravity block 3.4 cannot overcome the thrust of the elastic element 3.6 and continuously blocks the opening to close the one-way drainage valve 3.

[0053] 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 welding repair device adsorbs on a vertical surface for welding. Overhead welding means that the welding repair device is inverted and adsorbed below a plane for welding. During vertical welding, the state of the one-way drainage valve on the lower side is shown in Figure 7(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 by its own gravity and opens the opening. The state of the one-way drainage valve on the upper side is shown in Figure 7(b). The gravity block 3.4 is below the elastic element 3.6. After the gravity block 3.4 is subjected to gravity, it is pulled into the elastic element and abuts against the opening. The states of the one-way drainage valves on the remaining sides and the one-way drainage valves on the bottom surface are shown in Figure 7(c). The gravity block 3.4 is on one side of the elastic element 3. 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.

[0054] The advantage of doing this is that the one-way drainage valve is efficiently controlled, enabling the water and gas inside the giant drainage cover to be discharged in one direction, and there is no gas discharged to other positions to affect the drainage effect.

[0055] 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.

[0056] After the gravity block 3.4 is subjected to gravity, it will always open. During the welding process, the shielding gas can still be discharged from these one-way drainage valves 3, preventing the internal pressure from being too high and causing the separation of the giant drainage cover from the surface of the welding area.

[0057] The mobile platform includes a vehicle body 7 and a magnetic adsorption wheel 1 for driving the vehicle body 7 to move. The magnetic adsorption wheel 1 is movably connected to the vehicle body 7 through a shaft sleeve, and the magnetic adsorption wheel 1 is driven by two groups of independently controlled motors to realize the movement modes of the whole machine moving forward, backward, and turning. The motor is preferably a waterproof motor.

[0058] The vehicle body 7 is provided with a construction cavity opening downward; the operator is arranged in the construction cavity. The operator includes a construction module and a three-coordinate movement module 8 for moving the construction module in the X-axis, Y-axis, and Z-axis directions. The construction module 9 includes a rotary cutter head 9.1, a welding torch 9.2, and auxiliary devices 9.3; the rotary cutter head 9.1 is rotatably arranged at the end of the three-coordinate movement module 8 to realize the angle adjustment of the rotary cutter head 9.1; the welding torch 9.2 and the auxiliary devices 9.3 are respectively arranged below the rotary cutter head 9.1; the rotary cutter head 9.1 can rotate forward and backward by 60 degrees (but not limited to 60 degrees) itself to realize the switching of multiple modes.

[0059] The above embodiments are the preferred embodiments of the present invention, but the embodiments of the present invention are not limited to 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. A magnetic adsorption type multi-degree-of-freedom underwater in-situ welding and repair device, characterized in that: Comprising: A mobile platform for underwater movement by magnetic adsorption; An operator for performing construction operations including welding; And a giant drainage hood for covering the welding area; The giant drainage hood includes a rigid hood body and a soft suction cup; the soft suction cup is arranged on the opening edge of the rigid hood body; the operator is carried on the mobile platform; the giant drainage hood covers the mobile platform, and the rigid hood body is connected to the mobile platform through a lifting module to realize the lifting of the giant drainage hood, so that the soft suction cup gradually clings to the surface of the welding area as the giant drainage hood descends, separating the inside of the giant drainage hood from the external water environment; and the soft suction cup separates from the surface of the welding area as the giant drainage hood rises; The rigid hood body is connected to an external gas supply device to realize the input of protective gas or drainage gas; a number of one-way drainage valves are arranged on the rigid hood body to discharge the water inside the giant drainage hood to the outside; The bottom surface and side surface of the rigid hood 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 away from the inside of the rigid hood body and a proximal cavity close to the inside of the rigid hood 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 hood 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 hood body; the distal cavity is provided with a one-way water stop structure; 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 blocking ball arranged in the distal cavity, and the blocking 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 open unidirectionally towards the outside.

2. The magnetic adsorption type multi-degree-of-freedom underwater in-situ welding and repair device according to claim 1, wherein: The valve body housing includes a proximal housing close to the inside of the rigid hood body and a distal housing away from the inside of the rigid hood 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.

3. The magnetic adsorption type multi-degree-of-freedom underwater in-situ welding and repair device according to claim 1, characterized in that: The gravity generated by the weight of the gravity block is much greater than the buoyancy force of the gravity block underwater.

4. The magnetic adsorption type multi-degree-of-freedom underwater in-situ welding and repair device according to claim 1, characterized in that: The connection between the rigid hood body and the soft suction cup is detachable, and the connection part between the rigid hood body and the soft suction cup adopts a sealing structure.

5. The magnetic adsorption type multi-degree-of-freedom underwater in-situ welding and repair device according to claim 1, characterized in that: The rigid hood body is provided with a cable channel; a power cable for power supply and signal transmission, a gas pipe for conveying drainage gas or protective gas, and a welding wire conduit for introducing welding wire are arranged in the cable channel.

6. The magnetic adsorption type multi-degree-of-freedom underwater in-situ welding and repair device according to claim 1, wherein: The mobile platform 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 a construction cavity with an opening downward; the operator is arranged in the construction cavity.

7. The magnetic adsorption type multi-degree-of-freedom underwater in-situ welding and repair device according to claim 1, characterized in that: The operator includes a construction module and a three-coordinate movement module for moving the construction module in the X-axis, Y-axis, and Z-axis directions.

8. The magnetic adsorption type multi-degree-of-freedom underwater in-situ welding and repair device according to claim 7, characterized in that: The construction module includes a rotating cutter head, a welding torch, and auxiliary devices; the rotating cutter head is rotatably arranged at the end of the three-coordinate moving module; the welding torch and the auxiliary devices are respectively arranged below the rotating cutter head.

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