A deep sea in-situ laser cladding device and method

Abstract

The present invention discloses a deep-sea in-situ laser cladding device and method, which relates to the field of deep-sea in-situ repair technology, including a part to be repaired, an arc-shaped rack, a stabilizing seat, the outer wall of the stabilizing seat is provided with a contact piece, the outer walls of both sides of the heat dissipation coil are provided with an arc-shaped contact block, and one side of the arc-shaped contact block is provided with an oscillation shell, an oscillation piece, and a retractable assembly. The present invention is provided with an oscillation piece, a pulling assembly, and a circulation unit, and the circulation unit is used to move the U-shaped slide seat upward intermittently. When the U-shaped slide seat moves upward, it drives the pulling seat to move upward to pull the pulling rope, thereby pulling the oscillation block to rotate. When the circulation guide block is separated from the second rolling ball, the oscillation torsion spring drives the oscillation block to reset and hit the outer wall of the guide arc-shaped contact block, so that the arc-shaped contact block generates vibration to act on the heat dissipation coil, and acts on the gas-powder mixing channel through resonance, so as to prevent the powder from adhering to the inner wall of the channel, so that the gas-powder mixing channel can smoothly transport gas and powder.

Description

Technical Field

[0001] The present invention relates to the technical field of deep-sea in-situ repair, and in particular to a deep-sea in-situ laser cladding device and method. Background Art

[0002] At present, human activities have moved from offshore to deep sea. Especially since the 21st century, human activities in the deep sea have intensified, such as deep sea oil and gas exploitation, large-scale and long-term deep sea environmental observation, etc. The deep sea engineering structures required for these activities are affected by factors such as ocean pressure and corrosion. As marine engineering equipment gradually moves to the deep sea, deep sea in-situ maintenance and additive manufacturing are urgently needed to reduce maintenance costs and increase service life. In addition, deep sea emergency salvage such as ships and plane crashes at sea also requires the support of deep sea in-situ additive technology.

[0003] Most of the existing underwater in-situ repair technologies require air and powder delivery through pipelines. However, powder easily adheres to the inner wall of the pipeline, which can easily cause the inside of the pipeline to be blocked for a long time, thereby affecting the smoothness of the pipeline's air and powder delivery. For this reason, we provide a deep-sea in-situ laser cladding device and method to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a deep-sea in-situ laser cladding device and method to solve the problem that powder is easily adhered to the inside of the pipeline during the process of gas and powder delivery, which is easy to block the pipeline.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a deep-sea in-situ laser cladding device, comprising a workpiece to be repaired, a deep-sea in-situ laser additive repair device, a control cable, a deep-sea in-situ laser additive repair control system and a deep-sea operation robot, wherein the outer wall of the workpiece to be repaired is provided with a deep-sea in-situ laser additive repair device, the deep-sea in-situ laser additive repair device comprises a deep-sea laser cladding operation platform provided on the outer wall of the workpiece to be repaired, a plurality of clamping cylinders are installed on the inner side of the deep-sea laser cladding operation platform, and the deep-sea laser cladding operation platform is provided with a plurality of clamping cylinders. A clamping structure is installed on one side outer wall of the deep-sea laser cladding operation platform, and telescopic cylinders are installed on one side outer wall of the deep-sea laser cladding operation platform at both sides of the clamping structure, and the output end of the telescopic cylinder is connected to a telescopic rod, and one end of the telescopic rod is fixedly connected to a telescopic head, and the outer wall of the telescopic head is rotatably connected to an arc-shaped rack, and a deep-water motor is fixedly connected to one side outer wall of the telescopic head, and a gear is connected to the output end of the deep-water motor, and the gear is meshed with the arc-shaped rack, and the arc-shaped rack and the outer wall of one side of the arc-shaped rack are installed with an underwater laser cladding terminal, The underwater laser cladding terminal comprises a flange fixedly connected to the outer wall of the arc-shaped rack, a heat dissipation coil is arranged on one side of the flange, an underwater optical fiber connector is arranged on the inner side of the heat dissipation coil, a protective device is arranged at the bottom end of the heat dissipation coil, the protective device comprises a set screw and a protective lens, an underwater laser cladding head is arranged at the bottom end of the protective device, the underwater laser cladding head comprises an optical path sealing cabin arranged at the bottom end of the protective device, a gas-powder mixing channel is arranged at the bottom end of the optical path sealing cabin, and the bottom end of the gas-powder mixing channel A gas-liquid two-phase flow stabilizer is provided, and a nozzle is provided at the bottom end of the gas-powder mixing channel, and the nozzle is located on the inner side of the gas-liquid two-phase flow stabilizer. The outer wall of the arc-shaped rack is fixedly connected to a stabilizing seat, and a contact piece is provided on the outer wall of the stabilizing seat. Arc-shaped contact blocks are provided on the outer walls of both sides of the heat dissipation coil, and an oscillation shell is provided on one side of the arc-shaped contact block, and an oscillation piece for knocking the arc-shaped contact block is provided inside the oscillation shell, and retractable components for assisting the oscillation piece to contact the arc-shaped contact block are provided on the outer walls of both sides of the stabilizing seat.

[0006] As a further scheme of the present invention: the contact piece includes a rectangular derivation block fixedly connected to the outer wall of one side of the arc-shaped contact block, one end of the rectangular derivation block penetrates to the outside of the oscillation shell and is rotatably connected to the derivation wheel, the outer wall of the arc-shaped contact block is fixedly connected to a first compression spring, one end of the first compression spring is fixedly connected to the oscillation shell, one side outer wall of the stabilizing seat is fixedly connected to a hydraulic cylinder, the output of the hydraulic cylinder is connected to a U-shaped toggle seat, the bottom end of the U-shaped toggle seat is fixedly connected to a special-shaped auxiliary rod, one side outer wall of the special-shaped auxiliary rod is fixedly connected to a special-shaped toggle block, a second guide bevel is provided on the inner side of the special-shaped toggle block, the second guide bevel is attached to the outer wall of the derivation wheel, and a square fastening component is provided on the outer wall of the special-shaped toggle block and one end of the oscillation shell.

[0007] As a further solution of the present invention: the square fastening assembly includes four L-shaped clamping seats fixedly connected to the outer wall of one side of the oscillation shell, the four L-shaped clamping seats are distributed around the outer wall of the rectangular derivation block, the inner side of the L-shaped clamping seat is slidably connected with a clamping rod, one end of the clamping rod is fixedly connected to the clamping seat, the inner side of the clamping seat is rotatably connected with a first clamping wheel, the other end of the clamping rod passes through the outside of the L-shaped clamping seat and is fixedly connected with a clamping ring, the outer wall of the clamping ring is fixedly connected with a second clamping spring, one end of the second clamping spring is fixedly connected to the L-shaped clamping seat, and a toggle unit is provided on the inner side of the L-shaped clamping seat and the outer wall of the special-shaped toggle block.

[0008] As a further scheme of the present invention: the toggle unit includes a rectangular power rod slidably connected to the inner side of the L-shaped clamping seat, the bottom end of the rectangular power rod is rotatably connected to the second clamping wheel, the inner side of the clamping rod is provided with a first guide slope, the bottom end of the second clamping wheel is fitted on the top of the first guide slope, the outer wall of the rectangular power rod is fixedly connected to a fixing ring, the outer wall of the fixing ring is fixedly connected to a power spring, one end of the power spring is fixedly connected to the L-shaped clamping seat, the other end of the rectangular power rod passes through the outside of the L-shaped clamping seat and is fixedly connected to a toggle ring, one side outer wall of the toggle ring is fixedly connected to a first ball, the two side outer walls of the special-shaped toggle block are fixedly connected to a deduction block, one end of the deduction block is provided with a third guide slope, and the third guide slope is fitted on the outer wall of the first ball.

[0009] As a further solution of the present invention: the oscillation member includes an oscillation shaft rotatably connected to the inner side of the oscillation shell, an oscillation connecting ring is fixedly connected to the outer wall of the oscillation shaft, an oscillation torsion spring is installed on the outer wall of the oscillation connecting ring, one end of the oscillation torsion spring is installed inside the oscillation shell, an oscillation block is fixedly connected to the outer wall of the oscillation shaft, one end of the oscillation block is attached to the outer wall of the arc-shaped contact block, and a pulling component is provided on the outer wall of the oscillation block.

[0010] As a further solution of the present invention: the pulling assembly includes a U-shaped slide seat fixedly and slidably connected to the inner side of the U-shaped toggle seat, the outer wall of the U-shaped slide seat is provided with a pulling seat, the inner part of the pulling seat is rotatably connected to a winding roller, the outer wall of the winding roller is wound with a pulling rope, one end of the pulling rope is fixedly connected to the oscillation block, the outer wall of the oscillation shell is fixedly connected to an L-shaped connecting frame, the inner side of the L-shaped connecting frame is rotatably connected to a guide wheel, the pulling rope is attached to the inner side of the guide wheel, a limited guide is provided between the pulling seat and the stable seat, and a circulation unit is provided on the outer wall of the U-shaped toggle seat and the top of the pulling seat.

[0011] As a further solution of the present invention: the guide limiter includes a guide limiter shell fixedly connected to the outer walls on both sides of the stabilizing seat, a guide limiter groove is provided inside the guide limiter shell, a rectangular guide limiter block is slidably connected to the inner side of the guide limiter groove, the top end of the rectangular guide limiter block is fixedly connected to the guide limiter block, one end of the guide limiter block is fixedly connected to the pulling seat, the bottom end of the rectangular guide limiter block is fixedly connected to the guide limiter spring, and one end of the guide limiter spring is fixedly connected to the guide limiter shell.

[0012] As a further solution of the present invention: the circulation unit includes a driving motor fixedly connected to the top of the U-shaped toggle seat, the output end of the driving motor is connected to the toggle shaft, the outer wall of one side of the toggle shaft is fixedly connected to a circulation toggle guide block, the top of the circulation toggle guide block is provided with an arc-shaped guide inclined surface, the top of the U-shaped sliding seat is fixedly connected to a circulation pulling column, the outer wall of one side of the circulation pulling column is fixedly connected to an L-shaped pulling rod, and the bottom end of the L-shaped pulling rod is provided with a second rolling ball.

[0013] As a further solution of the present invention: the retractable assembly includes a driving shaft fixedly connected to one end of the winding roller, one end of the driving shaft passes through the outside of the pulling seat and is fixedly connected to a toggle gear, one side outer wall of the U-shaped sliding seat is fixedly connected to a toggle block, one end of the toggle block passes through the outer wall of the pulling seat and is fixedly connected to a toggle rack, and the toggle rack is meshed with the toggle gear.

[0014] The present invention also discloses a deep-sea in-situ laser cladding method, which uses the above-mentioned deep-sea in-situ laser cladding device and comprises the following steps:

[0015] S1. When the equipment is running, the hydraulic cylinder is started, and the output end of the hydraulic cylinder drives the U-shaped toggle seat to drive the special-shaped toggle block to move through the two special-shaped auxiliary rods, and under the action of the second guide slope, the derivation wheel drives the arc-shaped contact block to fit the outer wall of the heat dissipation coil through the rectangular derivation block;

[0016] S2, the special-shaped toggle block moves while driving the two derivation blocks to move, and the first ball is pushed by the action of the third guide slope to drive the toggle ring to move, so that the four rectangular power rods drive each of the second clamping wheels to move toward the clamping rod, and the clamping rod is pushed by the first guide slope through the clamping seat to drive the first clamping wheel to press on the outer wall of the rectangular derivation block, thereby limiting the four sides of the rectangular derivation block;

[0017] S3, the output end of the hydraulic cylinder drives the U-shaped toggle seat to extend and at the same time stretches the U-shaped slide, so that the U-shaped slide slides relative to the pulling seat. When the U-shaped slide moves away from the pulling seat, the toggle block pulls the toggle rack to move, thereby driving the toggle gear to drive the winding roller to rotate through the driving shaft, so that the pulling rope is released, and then the oscillation torsion spring drives the oscillation block to rotate through the oscillation connecting ring and the oscillation shaft to tighten the pulling rope, so that the oscillation block is tightly attached to the outer wall of the arc-shaped contact block;

[0018] S4. When the two arc-shaped contact blocks are attached to the outer wall of the heat dissipation coil, the driving motor is started, and the output end of the driving motor drives the toggle shaft to drive the circulating guide block to rotate. When the arc-shaped guide inclined surface contacts the second ball, the second ball is driven to drive the U-shaped slide seat to move upward through the L-shaped pulling rod and the circulating pulling column. When the U-shaped slide seat moves upward, it drives the pulling seat to move upward to pull the pulling rope, thereby pulling the vibration block to rotate through the vibration shaft and the vibration connecting ring, and the pulling seat moves upward while pulling one end of the limiting guide spring upward through the limiting guide block and the rectangular limiting guide block. When the circulating guide block is separated from the second ball, the vibration torsion spring drives the vibration block to reset through the vibration connecting ring and the vibration shaft, so that the vibration block hits the outer wall of the guide arc-shaped contact block, thereby causing the arc-shaped contact block to vibrate and act on the heat dissipation coil.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. By setting the contact piece and the square fastening assembly, the output end of the pressure cylinder drives the U-shaped toggle seat to move the special-shaped toggle block through two special-shaped auxiliary rods. Under the action of the second guide slope, the derivation wheel drives the arc-shaped contact block to fit the outer wall of the heat dissipation coil through the rectangular derivation block. The rectangular derivation block is limited by the square fastening assembly to prevent the rectangular derivation block from deviating during the movement, so that the arc-shaped contact block can fit the outer wall of the heat dissipation coil;

[0021] 2. By setting an oscillating member, a pulling assembly, and a circulation unit, the U-shaped slide is moved upward intermittently by the circulation unit. When the U-shaped slide moves upward, it drives the pulling seat to move upward to pull the pulling rope, thereby pulling the oscillating block to rotate. When the circulation guide block is separated from the second rolling ball, the oscillating torsion spring drives the oscillating block to reset and hit the outer wall of the guide arc-shaped contact block, so that the arc-shaped contact block generates vibration to act on the heat dissipation coil, and acts on the gas-powder mixing channel through resonance, so as to prevent the powder from adhering to the inner wall of the channel, thereby enabling the gas-powder mixing channel to smoothly transport gas and powder;

[0022] 3. By setting up the retracting and releasing assembly, the output end of the hydraulic cylinder drives the U-shaped toggle seat to extend and at the same time stretches the U-shaped slide, so that the U-shaped slide slides relative to the pulling seat. When the U-shaped slide moves away from the pulling seat, the toggle block pulls the toggle rack to move, thereby driving the toggle gear to drive the winding roller to rotate through the driving shaft, so that the pulling rope is released, and then the oscillation torsion spring drives the oscillation block to rotate through the oscillation connecting ring and the oscillation shaft to tighten the pulling rope, so that the oscillation block is close to the outer wall of the arc contact block, so that the oscillation block can operate normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is an overall schematic diagram of the present invention;

[0024] Figure 2 The deep-sea in-situ laser additive repair device of the present invention;

[0025] Figure 3 It is a schematic diagram of the underwater laser cladding terminal structure of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of the protective device of the present invention;

[0027] Figure 5 It is a schematic diagram of the structure of the underwater laser cladding head of the present invention;

[0028] Figure 6 It is a schematic diagram of the local structure after the contact member, the oscillating member and the retractable assembly of the present invention are installed;

[0029] Figure 7 It is a cross-sectional view of the pulling seat of the present invention;

[0030] Figure 8 It is a cross-sectional view of the oscillation shell of the present invention;

[0031] Fig. 9 It is a schematic diagram of the structure of the four-way fastening assembly of the present invention;

[0032] Fig.10 A partial cross-sectional view of the compression seat of the present invention;

[0033] Fig.11 It is a schematic diagram of the structure of the circulation unit of the present invention;

[0034] Fig.12 It is a schematic diagram of the contact structure of the present invention;

[0035] Fig.13 It is a cross-sectional view of the guide shell of the present invention;

[0036] Fig.14 It is a schematic diagram of the structure of the toggle unit of the present invention.

[0037] In the figure: 1. Parts to be repaired; 2. Deep-sea laser cladding operation platform; 3. Clamping structure; 4. Clamping cylinder; 5. Telescopic cylinder; 6. Telescopic rod; 7. Deep-water motor; 8. Gear; 9. Telescopic head; 10. Arc rack; 11. Underwater laser cladding terminal; 12. Underwater optical fiber connector; 13. Heat dissipation coil; 14. Flange; 15. Protective device; 16. Underwater laser cladding head; 17. Set screw; 18. Protective lens; 19. Light path sealing cabin; 20. Gas-powder mixing passage duct; 21. gas-liquid two-phase stabilizing cover; 22. nozzle; 23. deep-sea in-situ laser additive repair device; 24. control cable; 25. deep-sea in-situ laser additive repair control system; 26. deep-sea operation robot; 27. U-shaped toggle seat; 28. hydraulic cylinder; 29. ​​U-shaped slide seat; 30. pulling seat; 31. toggle block; 32. arc contact block; 33. oscillation shell; 34. toggle rack; 35. stabilizing seat; 36. toggle gear; 37. winding roller; 38. pulling rope; 39 , special-shaped auxiliary rod; 40, guide wheel; 41, L-shaped connecting frame; 42, special-shaped toggle block; 43, circulating pulling column; 44, L-shaped pulling rod; 45, driving motor; 46, toggle shaft; 47, circulating toggle guide block; 48, rectangular derivation block; 49, first compression spring; 50, oscillation block; 51, oscillation shaft; 52, oscillation connecting ring; 53, oscillation torsion spring; 54, L-shaped compression seat; 55, toggle ring; 56, derivation block; 57, first ball; 58, derivation wheel; 5 9. Rectangular power rod; 60. Power spring; 61. Clamping ring; 62. Second clamping spring; 63. Clamping rod; 64. Clamping seat; 65. First clamping wheel; 66. Second clamping wheel; 67. First guide slope; 68. Fixed ring; 69. Arc guide slope; 70. Second rolling ball; 71. Limit guide shell; 72. Limit guide block; 73. Rectangular limit guide block; 74. Limit guide spring; 75. Limit guide groove; 76. Second guide slope; 77. Third guide slope; 78. Drive shaft. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following is an explanation of an embodiment of the present invention based on the overall structure of the present invention.

[0040] See also Figures 1 to 14In an embodiment of the present invention, a deep-sea in-situ laser cladding device comprises a workpiece to be repaired 1, a deep-sea in-situ laser additive repair device 23, a control cable 24, a deep-sea in-situ laser additive repair control system 25 and a deep-sea operation robot 26. The outer wall of the workpiece to be repaired 1 is provided with a deep-sea in-situ laser additive repair device 23. The deep-sea in-situ laser additive repair device 23 comprises a deep-sea laser cladding operation platform 2 arranged on the outer wall of the workpiece to be repaired 1. A plurality of clamping cylinders 4 are installed on the inner side of the deep-sea laser cladding operation platform 2. A clamping cylinder 4 is installed on one side of the outer wall of the deep-sea laser cladding operation platform 2. The outer wall of one side of the deep-sea laser cladding operation platform 2 is located on both sides of the clamping structure 3 and is equipped with a telescopic cylinder 5. The output end of the telescopic cylinder 5 is connected to a telescopic rod 6. One end of the telescopic rod 6 is fixedly connected to a telescopic head 9. The outer wall of the telescopic head 9 is rotatably connected to an arc-shaped rack 10. The outer wall of one side of the telescopic head 9 is fixedly connected to a deep-water motor 7. The output end of the deep-water motor 7 is connected to a gear 8, and the gear 8 is meshed with the arc-shaped rack 10. The arc-shaped rack 10 and the outer wall of one side of the arc-shaped rack 10 are equipped with an underwater laser cladding terminal 11. The underwater laser cladding terminal 11 includes a fixed A flange 14 is connected to the outer wall of the arc-shaped rack 10, a heat dissipation coil 13 is arranged on one side of the flange 14, an underwater optical fiber connector 12 is arranged on the inner side of the heat dissipation coil 13, a protective device 15 is arranged at the bottom end of the heat dissipation coil 13, the protective device 15 includes a set screw 17 and a protective lens 18, an underwater laser cladding head 16 is arranged at the bottom end of the protective device 15, the underwater laser cladding head 16 includes an optical path sealing cabin 19 arranged at the bottom end of the protective device 15, a gas-powder mixing channel 20 is arranged at the bottom end of the optical path sealing cabin 19, and a gas-powder mixing channel 20 is arranged at the bottom end A gas-liquid two-phase flow stabilizer 21 and a nozzle 22 are arranged at the bottom end of the gas-powder mixing channel 20, and the nozzle 22 is located on the inner side of the gas-liquid two-phase flow stabilizer 21. The outer wall of the arc-shaped rack 10 is fixedly connected with a stabilizing seat 35, and the outer wall of the stabilizing seat 35 is provided with a contact piece. The outer walls of both sides of the heat dissipation coil 13 are provided with an arc-shaped contact block 32, and one side of the arc-shaped contact block 32 is provided with an oscillation shell 33. The interior of the oscillation shell 33 is provided with an oscillation piece for knocking the arc-shaped contact block 32, and the outer walls of both sides of the stabilizing seat 35 are provided with a retractable and retractable assembly for assisting the oscillation piece to contact the arc-shaped contact block 32.

[0041] In this embodiment: the deep-sea operation robot 26 is fixed to the deep-sea laser cladding operation platform 2 through the clamping structure 3. The clamping mechanism can be a bolt assembly or the like for connecting workpieces. The deep-sea laser cladding operation platform 2 and the part to be repaired 1 can be fixed by telescoping the output end of the clamping cylinder 4. The telescopic rod 6 is driven by the output end of the telescopic cylinder 5 to drive the telescopic head 9 to move, so as to realize the lateral repair operation of the part to be repaired 1. Then, the output end of the deep-water motor 7 is used to rotate forward or reverse, so that the underwater laser cladding terminal 11 is driven to rotate back and forth through the cooperation of the gear 8 and the arc rack 10, so that the circumferential repair operation of the part to be repaired 1 can be performed. The gas-powder mixing channel 20 is used for coaxial gas and powder delivery during the laser cladding process. The gas-liquid two-phase steady flow cover 21 is used to form a stable "waterless environment" in the repair area during the laser cladding process to ensure the laser cladding operation.

[0042] Please refer to Figures 6 to 14 The contact piece includes a rectangular derivation block 48 fixedly connected to the outer wall of one side of the arc-shaped contact block 32, one end of the rectangular derivation block 48 penetrates to the outside of the oscillation shell 33 and is rotatably connected to a derivation wheel 58, the outer wall of the arc-shaped contact block 32 is fixedly connected to a first compression spring 49, one end of the first compression spring 49 is fixedly connected to the oscillation shell 33, one side outer wall of the stabilizing seat 35 is fixedly connected to a hydraulic cylinder 28, the output of the hydraulic cylinder 28 is connected to a U-shaped toggle seat 27, the bottom end of the U-shaped toggle seat 27 is fixedly connected to a special-shaped auxiliary rod 39, one side outer wall of the special-shaped auxiliary rod 39 is fixedly connected to a special-shaped toggle block 42, a second guide inclined surface 76 is provided on the inner side of the special-shaped toggle block 42, the second guide inclined surface 76 is attached to the outer wall of the derivation wheel 58, and a square fastening component is provided on the outer wall of the special-shaped toggle block 42 and one end of the oscillation shell 33.

[0043] In this embodiment: the output end of the pressure cylinder 28 drives the U-shaped toggle seat 27 to move the special-shaped toggle block 42 through two special-shaped auxiliary rods 39, and under the action of the second guide slope 76, the derivation wheel 58 drives the arc contact block 32 to fit the outer wall of the heat dissipation coil 13 through the rectangular derivation block 48, and the rectangular derivation block 48 is limited by the four-party fastening assembly to prevent the rectangular derivation block 48 from shifting during the movement, so that the arc contact block 32 can fit the outer wall of the heat dissipation coil 13.

[0044] Please refer to Figures 8 to 10The square fastening assembly includes four L-shaped clamping seats 54 fixedly connected to the outer wall of one side of the oscillation shell 33, and the four L-shaped clamping seats 54 are distributed around the outer wall of the rectangular derivation block 48. The inner side of the L-shaped clamping seat 54 is slidably connected with a clamping rod 63, one end of the clamping rod 63 is fixedly connected with the clamping seat 64, and the inner side of the clamping seat 64 is rotatably connected with a first clamping wheel 65. The other end of the clamping rod 63 passes through the outside of the L-shaped clamping seat 54 and is fixedly connected with a clamping ring 61. The outer wall of the clamping ring 61 is fixedly connected with a second clamping spring 62, and one end of the second clamping spring 62 is fixedly connected to the L-shaped clamping seat 54. A toggle unit is provided on the inner side of the L-shaped clamping seat 54 and the outer wall of the special-shaped toggle block 42, and the toggle unit includes a rectangular movable The power rod 59, the bottom end of the rectangular power rod 59 is rotatably connected to the second clamping wheel 66, the inner side of the clamping rod 63 is provided with a first guide slope 67, the bottom end of the second clamping wheel 66 is fitted on the top of the first guide slope 67, the outer wall of the rectangular power rod 59 is fixedly connected to a fixing ring 68, the outer wall of the fixing ring 68 is fixedly connected to a power spring 60, one end of the power spring 60 is fixedly connected to the L-shaped clamping seat 54, the other end of the rectangular power rod 59 passes through the outside of the L-shaped clamping seat 54 and is fixedly connected to a toggle ring 55, one side outer wall of the toggle ring 55 is fixedly connected to a first ball 57, the outer walls of both sides of the special-shaped toggle block 42 are fixedly connected to a deduction block 56, one end of the deduction block 56 is provided with a third guide slope 77, the third guide slope 77 is fitted on the outer wall of the first ball 57.

[0045] In this embodiment: the special-shaped toggle block 42 moves while driving the two deduction blocks 56 to move. The first ball 57 is pushed by the action of the third guide slope 77 to drive the toggle ring 55 to move, so that the four rectangular power rods 59 drive each of the second clamping wheels 66 to move toward the clamping rod 63. The clamping rod 63 is pushed by the action of the first guide slope 67 through the clamping seat 64 to drive the first clamping wheel 65 to press on the outer wall of the rectangular deduction block 48, thereby limiting the four sides of the rectangular deduction block 48, thereby improving the stability of the arc contact block 32 during movement, so that the arc contact block 32 can fit the outer wall of the heat dissipation coil 13.

[0046] Please refer to Figures 6 to 14The oscillating member includes an oscillating shaft 51 rotatably connected to the inner side of the oscillating shell 33, an oscillating connecting ring 52 is fixedly connected to the outer wall of the oscillating shaft 51, an oscillating torsion spring 53 is installed on the outer wall of the oscillating connecting ring 52, one end of the oscillating torsion spring 53 is installed inside the oscillating shell 33, an oscillating block 50 is fixedly connected to the outer wall of the oscillating shaft 51, one end of the oscillating block 50 is attached to the outer wall of the arc-shaped contact block 32, and a pulling component is arranged on the outer wall of the oscillating block 50, which includes a fixed sliding connection to the U-shaped toggle seat 2 The U-shaped slide 29 is provided on the inner side of the U-shaped slide 29, and a pulling seat 30 is provided on the outer wall of the U-shaped slide 29. The inner part of the pulling seat 30 is rotatably connected to a winding roller 37, and a pulling rope 38 is wound on the outer wall of the winding roller 37. One end of the pulling rope 38 is fixedly connected to the vibration block 50. The outer wall of the vibration shell 33 is fixedly connected to an L-shaped connecting frame 41, and the inner side of the L-shaped connecting frame 41 is rotatably connected to a guide wheel 40. The pulling rope 38 is attached to the inner side of the guide wheel 40. A limited guide is provided between the pulling seat 30 and the stable seat 35. The U-shaped dial The outer wall of the moving seat 27 and the top of the pulling seat 30 are provided with a circulation unit, and the limiting guide member includes a limiting guide shell 71 fixedly connected to the outer walls of both sides of the stable seat 35, and a limiting guide groove 75 is provided inside the limiting guide shell 71. A rectangular limiting guide block 73 is slidably connected to the inner side of the limiting guide groove 75, and the top of the rectangular limiting guide block 73 is fixedly connected to the limiting guide block 72, and one end of the limiting guide block 72 is fixedly connected to the pulling seat 30, and the bottom end of the rectangular limiting guide block 73 is fixedly connected to the limiting guide spring 74, and one end of the limiting guide spring 74 is fixedly connected to the limiting guide shell 7 The circulation unit comprises a driving motor 45 fixedly connected to the top of the U-shaped toggle seat 27, the output end of the driving motor 45 is connected to the toggle shaft 46, a circulation toggle guide block 47 is fixedly connected to the outer wall of one side of the toggle shaft 46, the top of the circulation toggle guide block 47 is provided with an arc-shaped guide inclined surface 69, the top of the U-shaped slide seat 29 is fixedly connected to the circulation pulling column 43, the outer wall of one side of the circulation pulling column 43 is fixedly connected to the L-shaped pulling rod 44, and the bottom end of the L-shaped pulling rod 44 is provided with a second rolling ball 70.

[0047] In this embodiment, when the two arc-shaped contact blocks 32 are attached to the outer wall of the heat dissipation coil 13, the drive motor 45 is started, and the output end of the drive motor 45 drives the toggle shaft 46 to drive the circular toggle guide block 47 to rotate. When the arc-shaped guide inclined surface 69 contacts the second rolling ball 70, the second rolling ball 70 drives the U-shaped slide 29 to move upward through the L-shaped pulling rod 44 and the circular pulling column 43. When the U-shaped slide 29 moves upward, it drives the pulling seat 30 to move upward to pull the pulling rope 38, thereby pulling the vibration block 50 to drive one end of the vibration torsion spring 53 through the vibration shaft 51 and the vibration connecting ring 52. When the pull seat 30 moves upward, one end of the limit guide spring 74 is pulled upward through the limit guide block 72 and the rectangular limit guide block 73. When the circulating guide block 47 is separated from the second ball 70, the oscillation torsion spring 53 drives the oscillation block 50 to reset through the oscillation connecting ring 52 and the oscillation shaft 51, so that the oscillation block 50 hits the outer wall of the guide arc contact block 32, so that the arc contact block 32 generates vibration to act on the heat dissipation coil 13, and then acts on the gas-powder mixing channel 20 through resonance, so as to avoid powder adhering to the inner wall of the channel, so that the gas-powder mixing channel 20 can smoothly transport gas and powder.

[0048] Please refer to Figures 6 to 8 The retracting and unwinding assembly includes a driving shaft 78 fixedly connected to one end of the winding roller 37, one end of the driving shaft 78 passes through the outside of the pulling seat 30 and is fixedly connected to a toggle gear 36, a toggle block 31 is fixedly connected to the outer wall of one side of the U-shaped slide 29, one end of the toggle block 31 passes through the outer wall of the pulling seat 30 and is fixedly connected to a toggle rack 34, and the toggle rack 34 is meshed with the toggle gear 36.

[0049] In this embodiment: the output end of the hydraulic cylinder 28 drives the U-shaped toggle seat 27 to extend and at the same time stretches the U-shaped slide 29, so that the U-shaped slide 29 slides relative to the pulling seat 30. When the U-shaped slide 29 moves away from the pulling seat 30, the toggle block 31 pulls the toggle rack 34 to move, thereby driving the toggle gear 36 to rotate the winding roller 37 through the driving shaft 78, so that the pulling rope 38 is released, and then the oscillation torsion spring 53 drives the oscillation block 50 to rotate through the oscillation connecting ring 52 and the oscillation shaft 51 to tighten the pulling rope 38, so that the oscillation block 50 is close to the outer wall of the arc contact block 32, so that the oscillation block 50 can operate normally.

[0050] In combination with the above-mentioned deep-sea in-situ laser cladding device, a deep-sea in-situ laser cladding method is provided, which specifically includes the following steps:

[0051] S1. When the equipment is running, the hydraulic cylinder 28 is started, and the output end of the hydraulic cylinder 28 drives the U-shaped toggle seat 27 to move the special-shaped toggle block 42 through the two special-shaped auxiliary rods 39. Under the action of the second guide inclined surface 76, the derivation wheel 58 drives the arc-shaped contact block 32 to fit the outer wall of the heat dissipation coil 13 through the rectangular derivation block 48;

[0052] S2, the special-shaped toggle block 42 moves while driving the two derivation blocks 56 to move, and the first ball 57 is pushed by the third guide inclined surface 77 to drive the toggle ring 55 to move, so that the four rectangular power rods 59 drive each of the second clamping wheels 66 to move toward the clamping rod 63, and the first guide inclined surface 67 pushes the clamping rod 63 through the clamping seat 64 to drive the first clamping wheel 65 to press on the outer wall of the rectangular derivation block 48, thereby limiting the four sides of the rectangular derivation block 48;

[0053] S3, the output end of the hydraulic cylinder 28 drives the U-shaped toggle seat 27 to extend and at the same time stretches the U-shaped slide 29, so that the U-shaped slide 29 slides relative to the pulling seat 30. When the U-shaped slide 29 moves away from the pulling seat 30, the toggle block 31 pulls the toggle rack 34 to move, thereby driving the toggle gear 36 to drive the winding roller 37 to rotate through the driving shaft 78, so that the pulling rope 38 is released, and then the oscillation torsion spring 53 drives the oscillation block 50 to rotate through the oscillation connecting ring 52 and the oscillation shaft 51 to tighten the pulling rope 38, so that the oscillation block 50 is tightly attached to the outer wall of the arc-shaped contact block 32;

[0054] S4. When the two arc-shaped contact blocks 32 are attached to the outer wall of the heat dissipation coil 13, the drive motor 45 is started. The output end of the drive motor 45 drives the toggle shaft 46 to drive the circular toggle guide block 47 to rotate. When the arc-shaped guide inclined surface 69 contacts the second rolling ball 70, the second rolling ball 70 drives the U-shaped slide 29 to move upward through the L-shaped pulling rod 44 and the circular pulling column 43. When the U-shaped slide 29 moves upward, it drives the pulling seat 30 to move upward to pull the pulling rope 38, thereby pulling the vibration block 50 through The oscillation shaft 51 and the oscillation connecting ring 52 drive one end of the oscillation torsion spring 53 to rotate, and the pulling seat 30 moves upward while pulling one end of the limit guide spring 74 upward through the limit guide block 72 and the rectangular limit guide block 73. When the circulating guide block 47 is separated from the second rolling ball 70, the oscillation torsion spring 53 drives the oscillation block 50 to reset through the oscillation connecting ring 52 and the oscillation shaft 51, so that the oscillation block 50 hits the outer wall of the guide arc contact block 32, thereby causing the arc contact block 32 to vibrate and act on the heat dissipation coil 13.

[0055] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A deep-sea in-situ laser cladding device, comprising a part to be repaired (1), a deep-sea in-situ laser additive repair device (23), a control cable (24), a deep-sea in-situ laser additive repair control system (25) and a deep-sea operation robot (26), characterized in that: The outer wall of the part to be repaired (1) is provided with a deep-sea in-situ laser additive repair device (23), the deep-sea in-situ laser additive repair device (23) comprising a deep-sea laser cladding operation platform (2) provided on the outer wall of the part to be repaired (1), a plurality of clamping cylinders (4) being installed on the inner side of the deep-sea laser cladding operation platform (2), a clamping structure (3) being installed on one side of the outer wall of the deep-sea laser cladding operation platform (2), telescopic cylinders (5) being installed on both sides of the clamping structure (3) on one side of the outer wall of the deep-sea laser cladding operation platform (2), the output end of the telescopic cylinder (5) being connected to a telescopic rod (6), one end of the telescopic rod (6) The end of the telescopic head (9) is fixedly connected to the telescopic head (9), the outer wall of the telescopic head (9) is rotatably connected to an arc-shaped rack (10), one side of the outer wall of the telescopic head (9) is fixedly connected to a deep-water motor (7), the output end of the deep-water motor (7) is connected to a gear (8), and the gear (8) is meshed with the arc-shaped rack (10), the arc-shaped rack (10), and one side of the outer wall of the arc-shaped rack (10) is equipped with an underwater laser cladding terminal (11), the underwater laser cladding terminal (11) comprises a flange (14) fixedly connected to the outer wall of the arc-shaped rack (10), one side of the flange (14) is provided with a heat dissipation coil (13), the heat dissipation coil An underwater optical fiber connector (12) is arranged on the inner side of the coil (13); a protective device (15) is arranged at the bottom end of the heat dissipation coil (13); the protective device (15) comprises a set screw (17) and a protective lens (18); an underwater laser cladding head (16) is arranged at the bottom end of the protective device (15); the underwater laser cladding head (16) comprises an optical path sealing cabin (19) arranged at the bottom end of the protective device (15); a gas-powder mixing channel (20) is arranged at the bottom end of the optical path sealing cabin (19); a gas-liquid two-phase stabilizing cover (21) is arranged at the bottom end of the gas-powder mixing channel (20); ) is provided with a nozzle (22) at the bottom end, the nozzle (22) is located on the inner side of the gas-liquid two-phase flow stabilizing cover (21), the outer wall of the arc-shaped rack (10) is fixedly connected to a stabilizing seat (35), the outer wall of the stabilizing seat (35) is provided with a contact piece, the outer walls of both sides of the heat dissipation coil (13) are provided with an arc-shaped contact block (32), one side of the arc-shaped contact block (32) is provided with an oscillation shell (33), the interior of the oscillation shell (33) is provided with an oscillation piece for striking the arc-shaped contact block (32), and the outer walls of both sides of the stabilizing seat (35) are provided with a retractable assembly for assisting the oscillation piece to contact the arc-shaped contact block (32).

2. The deep-sea in-situ laser cladding device according to claim 1, characterized in that: The contact member comprises a rectangular derivation block (48) fixedly connected to an outer wall of one side of the arc-shaped contact block (32); one end of the rectangular derivation block (48) penetrates the outside of the oscillation shell (33) and is rotatably connected to a derivation wheel (58); the outer wall of the arc-shaped contact block (32) is fixedly connected to a first compression spring (49); one end of the first compression spring (49) is fixedly connected to the oscillation shell (33); the outer wall of one side of the stabilizing seat (35) is fixedly connected to a hydraulic cylinder (28); the hydraulic cylinder ( The output of the guide wheel (58) is connected to a U-shaped toggle seat (27), the bottom end of the U-shaped toggle seat (27) is fixedly connected to a special-shaped auxiliary rod (39), an outer wall of one side of the special-shaped auxiliary rod (39) is fixedly connected to a special-shaped toggle block (42), a second guide inclined surface (76) is arranged on the inner side of the special-shaped toggle block (42), the second guide inclined surface (76) is attached to the outer wall of the derivation wheel (58), and a square fastening component is arranged between the outer wall of the special-shaped toggle block (42) and one end of the oscillation shell (33).

3. The deep-sea in-situ laser cladding device according to claim 2, characterized in that: The square fastening assembly comprises four L-shaped clamping seats (54) fixedly connected to the outer wall of one side of the oscillation shell (33), the four L-shaped clamping seats (54) are distributed around the outer wall of the rectangular derivation block (48), the inner side of the L-shaped clamping seat (54) is slidably connected with a clamping rod (63), one end of the clamping rod (63) is fixedly connected to the clamping seat (64), the inner side of the clamping seat (64) is rotatably connected with a first clamping wheel (65), the other end of the clamping rod (63) passes through the outside of the L-shaped clamping seat (54) and is fixedly connected with a clamping ring (61), the outer wall of the clamping ring (61) is fixedly connected with a second clamping spring (62), one end of the second clamping spring (62) is fixedly connected to the L-shaped clamping seat (54), and a toggle unit is provided on the inner side of the L-shaped clamping seat (54) and the outer wall of the special-shaped toggle block (42).

4. The deep-sea in-situ laser cladding device according to claim 3, characterized in that: The toggle unit comprises a rectangular power rod (59) slidably connected to the inner side of the L-shaped clamping seat (54); the bottom end of the rectangular power rod (59) is rotatably connected to a second clamping wheel (66); a first guide inclined surface (67) is provided on the inner side of the clamping rod (63); the bottom end of the second clamping wheel (66) is attached to the top end of the first guide inclined surface (67); the outer wall of the rectangular power rod (59) is fixedly connected to a fixing ring (68); the outer wall of the fixing ring (68) is fixedly connected to a power spring (60); the power spring One end of the spring (60) is fixedly connected to the L-shaped clamping seat (54), the other end of the rectangular power rod (59) passes through the outside of the L-shaped clamping seat (54) and is fixedly connected to a toggle ring (55), one side outer wall of the toggle ring (55) is fixedly connected to a first ball (57), and both side outer walls of the special-shaped toggle block (42) are fixedly connected to guide blocks (56), one end of the guide block (56) is provided with a third guide inclined surface (77), and the third guide inclined surface (77) is attached to the outer wall of the first ball (57).

5. The deep-sea in-situ laser cladding device according to claim 2, characterized in that: The oscillating member comprises an oscillating shaft (51) rotatably connected to the inner side of the oscillating shell (33); an oscillating connecting ring (52) is fixedly connected to the outer wall of the oscillating shaft (51); an oscillating torsion spring (53) is installed on the outer wall of the oscillating connecting ring (52); one end of the oscillating torsion spring (53) is installed inside the oscillating shell (33); an oscillating block (50) is fixedly connected to the outer wall of the oscillating shaft (51); one end of the oscillating block (50) is attached to the outer wall of the arc-shaped contact block (32); and a pulling component is provided on the outer wall of the oscillating block (50).

6. The deep-sea in-situ laser cladding device according to claim 5, characterized in that: The pulling assembly comprises a U-shaped slide seat (29) fixedly and slidably connected to the inner side of the U-shaped toggle seat (27); a pulling seat (30) is arranged on the outer wall of the U-shaped slide seat (29); a winding roller (37) is rotatably connected to the inside of the pulling seat (30); a pulling rope (38) is wound on the outer wall of the winding roller (37); one end of the pulling rope (38) is fixedly connected to the oscillation block (50); an L-shaped connecting frame (41) is fixedly connected to the outer wall of the oscillation shell (33); a guide wheel (40) is rotatably connected to the inner side of the L-shaped connecting frame (41); the pulling rope (38) is attached to the inner side of the guide wheel (40); a limited guide is arranged between the pulling seat (30) and the stabilizing seat (35); and a circulation unit is arranged between the outer wall of the U-shaped toggle seat (27) and the top of the pulling seat (30).

7. The deep-sea in-situ laser cladding device according to claim 6, characterized in that: The guide limiting member comprises a guide limiting shell (71) fixedly connected to the outer walls of both sides of the stabilizing seat (35); a guide limiting groove (75) is provided inside the guide limiting shell (71); a rectangular guide limiting block (73) is slidably connected to the inner side of the guide limiting groove (75); the top end of the rectangular guide limiting block (73) is fixedly connected to the guide limiting block (72); one end of the guide limiting block (72) is fixedly connected to the pulling seat (30); the bottom end of the rectangular guide limiting block (73) is fixedly connected to the guide limiting spring (74); one end of the guide limiting spring (74) is fixedly connected to the guide limiting shell (71).

8. The deep-sea in-situ laser cladding device according to claim 6, characterized in that: The circulation unit comprises a driving motor (45) fixedly connected to the top of the U-shaped toggle seat (27); the output end of the driving motor (45) is connected to a toggle shaft (46); a circulation guide block (47) is fixedly connected to an outer wall of one side of the toggle shaft (46); an arc-shaped guide slope (69) is arranged at the top of the circulation guide block (47); a circulation pulling column (43) is fixedly connected to the top of the U-shaped sliding seat (29); an L-shaped pulling rod (44) is fixedly connected to an outer wall of one side of the circulation pulling column (43); and a second rolling ball (70) is arranged at the bottom of the L-shaped pulling rod (44).

9. The deep-sea in-situ laser cladding device according to claim 6, characterized in that: The retractable assembly comprises a drive shaft (78) fixedly connected to one end of the reel (37); one end of the drive shaft (78) passes through the outside of the pulling seat (30) and is fixedly connected to a toggle gear (36); an outer wall of one side of the U-shaped slide seat (29) is fixedly connected to a toggle block (31); one end of the toggle block (31) passes through the outer wall of the pulling seat (30) and is fixedly connected to a toggle rack (34); and the toggle rack (34) is meshed with the toggle gear (36).

10. A deep-sea in-situ laser cladding method, characterized in that: A deep-sea in-situ laser cladding device according to any one of claims 1 to 9 is used, comprising the following steps: The deep-sea operation robot (2) is fixed to the deep-sea laser cladding operation platform (2) through a clamping structure (3). The deep-sea laser cladding operation platform (2) and the to-be-repaired part (1) can be fixed by telescoping the output end of the clamping cylinder (4). The output end of the telescopic cylinder (5) drives the telescopic rod (6) to drive the telescopic head (9) to move, thereby realizing a lateral repair operation on the to-be-repaired part (1). Then, the output end of the deep-water motor (7) is rotated forward or reversely, thereby driving the underwater laser cladding terminal (11) to reciprocate through the cooperation of the gear (8) and the arc-shaped rack (10), thereby realizing a circumferential repair operation on the to-be-repaired part (1). The gas-powder mixing channel (20) is used for coaxial gas and powder delivery during the laser cladding process. The gas-liquid two-phase steady flow cover (21) is used to form a stable "waterless environment" in the repair area during the laser cladding process, thereby ensuring the laser cladding operation.

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