A nuclear power underwater laser-FCAW composite wet welding device and method

Abstract

The present invention discloses a nuclear power underwater laser-FCAW composite wet welding device and method, including a flux-cored wire arc welding mechanism. The present invention further includes a laser welding mechanism. The top ends of both the laser welding mechanism and the flux-cored wire arc welding mechanism are arranged on a three-axis mechanism through an angle-adjusting clamping mechanism; the bottom output ends of the laser welding mechanism and the flux-cored wire arc welding mechanism are aligned with the welding workpiece; the welding workpiece is vertically arranged with respect to the laser welding mechanism, and the laser welding mechanism and the flux-cored wire arc welding mechanism are arranged at a set angle to each other. By using the above nuclear power underwater laser-FCAW composite wet welding device, through the coupling of the laser welding process and the FCAW welding process, the bubbles generated by the combustion of the flux-cored wire provide a gas environment for the arc, molten droplets and laser beam, and the laser beam provides an axial acting force for the molten droplets, promoting the stable transition of the molten droplets into the molten pool, thereby achieving the purpose of improving the quality of underwater wet welding joints.

Description

Technical Field

[0001] The present invention relates to an underwater welding technology, and particularly to a nuclear power underwater laser - FCAW hybrid wet welding device and method. Background Art

[0002] With the rapid development of the nuclear power industry, the demand for nuclear safety and nuclear maintenance technologies is becoming increasingly urgent. As a key repair technology for nuclear power engineering maintenance and emergency rescue, underwater welding is of particular importance. Due to the characteristics of high deposition efficiency and high welding joint quality of flux cored wire, underwater flux cored arc welding (FCAW) is a promising underwater welding method.

[0003] The self - shielded flux cored wire underwater wet welding technology has many advantages such as convenient operation, high efficiency, low cost and high quality. During the welding process, the flux cored gas - forming agent and water continuously decompose, evaporate or react under heat to form bubbles, providing a gas environment for the arc combustion. However, the periodic growth and floating of the arc bubbles will affect the stability of the welding arc, hinder the droplet transfer, cause the droplets to transfer in a larger size and lower frequency manner, and the falling trajectory shows a random and non - axial shape, resulting in unstable droplet transfer, a lot of spatter, and longitudinal and transverse asymmetry and non - uniformity of the weld, and uneven distribution of the microstructure morphology in the weld and the heat - affected zone. These seriously restrict and challenge the acquisition of high - quality welding joints. Summary of the Invention

[0004] To solve the above problems, the present invention provides a nuclear power underwater laser - FCAW hybrid wet welding device and method. The positions of the laser welding mechanism and the flux cored arc welding mechanism are adjusted through a three - axis mechanism and an angle - adjusting clamping mechanism, and the hybrid wet welding parameters are adjusted in real time through a parameter control system to realize the combination of laser welding and FCAW welding. During the welding process, the flux cored wire burns to generate bubbles, providing a gas environment for the arc, droplets and laser beam, reducing the energy attenuation of the laser beam. The laser beam provides an axial acting force for the droplets, promoting the droplets to transfer in a stable manner, so as to achieve the purpose of improving the quality of underwater wet welding joints.

[0005] To achieve the above object, the present invention provides a nuclear power underwater laser - FCAW hybrid wet welding device, which includes a flux cored arc welding mechanism. The present invention further includes a laser welding mechanism arranged in parallel with the flux cored arc welding mechanism. The top ends of the laser welding mechanism and the flux cored arc welding mechanism are both arranged on a three - axis mechanism through an angle - adjusting clamping mechanism;

[0006] The bottom output ends of the laser welding mechanism and the flux cored arc welding mechanism are aligned with the welding workpiece;

[0007] The welded workpiece is vertically arranged with respect to the laser welding mechanism, and the laser welding mechanism and the flux-cored arc welding mechanism are arranged at a set angle to achieve the coupling of the laser welding process and the flux-cored arc welding process.

[0008] Preferably, the laser welding mechanism includes a laser head fixed on the angle-adjusting clamping mechanism, and the laser beam emitted by the laser head is vertically arranged with respect to the welded workpiece.

[0009] Preferably, the flux-cored arc welding mechanism includes an FCAW welding gun fixed on the angle-adjusting clamping mechanism, a conductive rod with one end connected to the FCAW welding gun in communication, and a conductive nozzle connected to the other end of the conductive rod. The flux-cored wire sequentially passes through the FCAW welding gun and the conductive rod and then extends out from the conductive nozzle.

[0010] Preferably, the set angle between the central axis of the flux-cored arc welding mechanism and the central axis of the laser welding mechanism is 20° - 60°;

[0011] The vertical distance between the conductive nozzle and the surface of the welded workpiece is 10 mm - 20 mm;

[0012] The horizontal distance between the end of the flux-cored wire close to the welded workpiece and the central axis of the laser welding mechanism ranges from 0 mm to 10 mm;

[0013] To ensure that the focus of the laser beam emitted by the laser head acts on the arc and molten droplets of the FCAW welding gun, thereby realizing the coupling of the underwater laser welding process and the FCAW welding process.

[0014] Preferably, the FCAW welding gun is electrically connected to the positive electrode of the welding power supply through a positive power supply wire, and the negative electrode of the welding power supply is electrically connected to the welded workpiece through a negative power supply wire;

[0015] The positive power supply wire passes through a current transformer, and the current transformer is electrically connected to a computer;

[0016] When the computer determines that the fluctuation of the working current exceeds the set value according to the collected value of the current transformer, an adjustment message is output to adjust the welding parameters in real time, so as to monitor and adjust the coupling effect of the composite welding process in real time.

[0017] Preferably, the laser welding mechanism is electrically connected to a laser generator, and the laser generator is electrically connected to the computer.

[0018] Preferably, the welding power of the laser welding mechanism: 1.5 kW - 10 kW;

[0019] The welding parameters of the flux-cored wire arc welding mechanism are as follows: welding voltage: 25V - 40V, welding current: 150A - 250A.

[0020] Preferably, the three-axis mechanism includes a Y-axis moving unit, an X-axis moving unit, and a first Z-axis moving unit and a second Z-axis moving unit arranged on the X-axis moving unit, which are connected in sequence;

[0021] The output ends of the first Z-axis moving unit and the second Z-axis moving unit are respectively connected to the laser welding mechanism and the flux-cored wire arc welding mechanism through the angle-adjusting clamping mechanism, and are used to adjust the distance and angle among the laser welding mechanism, the flux-cored wire arc welding mechanism, and the welding workpiece.

[0022] A nuclear power underwater laser-FCAW composite wet welding method includes the following steps:

[0023] Step 1: Installation and debugging

[0024] Step 1.1: Installation

[0025] Use the angle-adjusting clamping mechanism to fix the laser welding mechanism and the flux-cored wire arc welding mechanism to the first Z-axis moving unit and the second Z-axis moving unit respectively;

[0026] Step 1.2: Debugging

[0027] Step 1.2.1: Vertical position adjustment

[0028] First, adjust the vertical distance of the laser welding mechanism relative to the welding workpiece through the first Z-axis moving unit until the defocus range is ±10mm. Then, adjust the front end of the contact tip of the flux-cored wire arc welding mechanism through the second Z-axis moving unit until the vertical distance between it and the upper surface of the welding workpiece is in the range of 10mm - 20mm;

[0029] Step 1.2.2: Angle adjustment

[0030] Adjust the angle-adjusting clamping mechanism of the corresponding flux-cored wire arc welding mechanism so that the set angle between the central axis of the flux-cored wire arc welding mechanism and the central axis of the laser welding mechanism is 20° - 60°;

[0031] Step 1.2.3: Horizontal position adjustment

[0032] Horizontally adjust the front end of the flux-cored wire of the flux-cored wire arc welding mechanism through the X-axis moving unit until the horizontal distance between it and the central axis of the laser welding mechanism is in the range of 0mm - 10mm;

[0033] Step 2: Start the three-axis mechanism, and through computer control, make the overall running speed of the laser welding mechanism and the flux-cored wire arc welding mechanism between 0.5 m / min and 5 m / min. Simulate a walking trajectory once. After confirming that the operation is stable and unobstructed, reset.

[0034] Step 3: After inputting the welding parameters, turn on the welding power supply and the laser generator in sequence. The laser emits from the laser head through the optical fiber. At the same time, an arc is generated by the FCAW welding torch. Start the three-axis mechanism again to perform underwater laser-FCAW hybrid wet welding on the welding workpiece.

[0035] Step 4: After welding is completed, turn off the three-axis mechanism, the laser generator, and the welding power supply in sequence.

[0036] Preferably, in Step 3, the FCAW welding current during the welding process is collected in real time through a current transformer, and further fed back to the computer. The collected data is stored and analyzed. When the working current fluctuation exceeds the set value, the welding parameters of each mechanism are adjusted in real time through the computer.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] Since there are arc bubbles during underwater wet welding, the arc bubbles will dynamically float upward due to the buoyancy force, resulting in unstable arcs and droplets. Therefore, a laser is added to act on the arc and the droplet. For this reason, the present invention adopts the underwater laser-FCAW hybrid wet welding technology, which can give full play to the advantages of the laser and arc heat sources, and has the advantages of large penetration depth, strong bridging ability, fast welding speed, low heat input, and small welding deformation. During the underwater hybrid welding process, the laser will have an attracting and compressing effect on the arc, increasing the arc conduction angle, reducing the electromagnetic force that hinders droplet transfer, and increasing the droplet transfer frequency. The two welding methods complement each other, thereby improving the welding stability and obtaining high-quality welding joints.

[0039] The technical solution of the present invention will be further described in detail below through the drawings and embodiments. Brief Description of the Drawings

[0040] Figure 1 It is a structural schematic diagram of the present invention.

[0041] Wherein: 1. Computer; 2. Welding power source; 3. Current transformer; 4. Test water tank; 5. Y-axis moving unit; 6. FCAW welding torch; 7. Angle-adjusting clamping mechanism; 8. Second Z-axis moving unit; 9. X-axis moving unit; 10. Positive power supply line; 11. First Z-axis moving unit; 12. Laser head; 13. Laser beam; 14. Laser generator; 15. Water; 16. Workbench; 17. Welding workpiece; 18. Bubble; 19. Arc; 20. Droplet; 21. Flux-cored wire; 22. Conductive nozzle; 23. Conductive rod; 24. Fixture; 25. Negative power supply line. Detailed implementation manners

[0042] The present invention will be further described below in conjunction with the accompanying drawings. It should be noted that this embodiment is based on the present technical solution and gives detailed implementation manners and specific operation procedures, but the protection scope of the present invention is not limited to this embodiment.

[0043] Figure 1 For the structural schematic diagram of the present invention, as Figure 1 shown, a nuclear power underwater laser-FCAW hybrid wet welding device includes a flux-cored wire arc welding mechanism. The present invention further includes a laser welding mechanism arranged in parallel with the flux-cored wire arc welding mechanism. The top ends of both the laser welding mechanism and the flux-cored wire arc welding mechanism are arranged on a three-axis mechanism through the angle-adjusting clamping mechanism 7;

[0044] The bottom output end of the laser welding mechanism and the bottom output end of the flux-cored wire arc welding mechanism are aligned with the welding workpiece 17;

[0045] The welding workpiece 17 is vertically arranged with respect to the laser welding mechanism, and the laser welding mechanism and the flux-cored wire arc welding mechanism are arranged at a set angle to realize the coupling of the laser welding process and the flux-cored wire arc welding process.

[0046] Preferably, the laser welding mechanism includes a laser head 12 fixed on the angle-adjusting clamping mechanism 7, and the laser beam 13 emitted by the laser head 12 is vertically arranged with respect to the welding workpiece 17.

[0047] Preferably, the flux-cored wire arc welding mechanism includes an FCAW welding torch 6 fixed on the angle-adjusting clamping mechanism 7, a conductive rod 23 with one end communicating with the FCAW welding torch 6, and a conductive nozzle 22 communicating with the other end of the conductive rod 23. The flux-cored wire 21 passes through the FCAW welding torch 6 and the conductive rod 23 in sequence and extends out from the conductive nozzle 22, that is, one end of the flux-cored wire 21 enters from the upper end of the filling port of the FCAW welding torch 6, and the other end passes out from the front end of the conductive nozzle 22.

[0048] Preferably, the set angle between the central axis of the flux-cored wire arc welding mechanism and the central axis of the laser welding mechanism is 20°-60°;

[0049] The vertical distance between the contact tip 22 and the surface of the welded workpiece 17 is 10 mm - 20 mm;

[0050] The horizontal distance between the end of the flux-cored wire near the welded workpiece 17 and the central axis of the laser welding mechanism ranges from 0 mm to 10 mm;

[0051] It is used to ensure that the focus of the laser beam 13 emitted by the laser head 12 acts on the arc 19 and the molten droplet 20 of the FCAW torch 6, so as to realize the coupling of the laser welding process and the FCAW welding process.

[0052] Preferably, the FCAW torch 6 is electrically connected to the positive pole of the welding power source 2 through the positive power supply line 10, and the negative pole of the welding power source 2 is electrically connected to the welded workpiece 17 through the negative power supply line 25;

[0053] The positive power supply line 10 passes through the current transformer 3, and the current transformer 3 is electrically connected to the computer 1;

[0054] When the computer 1 determines that the fluctuation of the working current exceeds the set value according to the collected value of the current transformer 3, it outputs adjustment information to adjust the welding parameters in real time, so as to monitor and adjust the coupling effect of the hybrid welding process in real time.

[0055] Preferably, the laser welding mechanism is electrically connected to the laser generator 14, and the laser generator 14 is electrically connected to the computer 1.

[0056] Preferably, the welding power of the laser welding mechanism: 1.5 kW - 10 kW;

[0057] The welding parameters of the flux-cored wire arc welding mechanism are: welding voltage: 25 V - 40 V, welding current: 150 A - 250 A.

[0058] Preferably, the three-axis mechanism includes a Y-axis moving unit 5, an X-axis moving unit 9 connected in sequence, and a first Z-axis moving unit 11 and a second Z-axis moving unit 8 arranged on the X-axis moving unit 9;

[0059] The output ends of the first Z-axis moving unit 11 and the second Z-axis moving unit 8 are respectively connected to the laser welding mechanism and the flux-cored wire arc welding mechanism through the angle-adjusting clamping mechanism 7, which is used to adjust the distance and angle among the laser welding mechanism, the flux-cored wire arc welding mechanism and the welded workpiece 17. It should be noted that the structures and working principles of the three-axis mechanism and the angle-adjusting clamping mechanism 7 itself are well-known common knowledge in the art, so they will not be elaborated here.

[0060] A nuclear power underwater laser-FCAW hybrid wet welding method includes the following steps:

[0061] Step 1: Installation and debugging

[0062] Step 1.1: Installation

[0063] Use the angle-adjusting clamping mechanism 7 to fix the laser welding mechanism and the flux-cored wire arc welding mechanism to the first Z-axis moving unit 11 and the second Z-axis moving unit 8 respectively;

[0064] Step 1.2: Debugging

[0065] Step 1.2.1: Vertical position adjustment

[0066] First, adjust the vertical distance between the laser welding mechanism and the welding workpiece 17 through the first Z-axis moving unit 11 until the defocus range is ±10 mm. Then, adjust the front end of the contact tip 22 of the flux-cored wire arc welding mechanism through the second Z-axis moving unit 8 until the vertical distance between it and the upper surface of the welding workpiece 17 is in the range of 10 mm - 20 mm;

[0067] Step 1.2.2: Angle adjustment

[0068] Adjust the angle-adjusting clamping mechanism 7 corresponding to the flux-cored wire arc welding mechanism so that the set angle between the central axis of the flux-cored wire arc welding mechanism and the central axis of the laser welding mechanism is 20° - 60°;

[0069] Step 1.2.3: Horizontal position adjustment

[0070] Horizontally adjust the front end of the flux-cored wire 21 of the flux-cored wire arc welding mechanism through the X-axis moving unit 9 until the horizontal distance between it and the central axis of the laser welding mechanism is in the range of 0 mm - 10 mm;

[0071] Step 2: Start the three-axis mechanism, and through the computer 1, control the overall running speed of the laser welding mechanism and the flux-cored wire arc welding mechanism to be between 0.5 m / min and 5 m / min, simulate a walking trajectory once. After confirming that the operation is stable and there are no obstacles, reset;

[0072] Step 3: After inputting the welding parameters, turn on the welding power supply 2 and the laser generator 14 in sequence. The laser is emitted from the laser head 12 through the optical fiber. At the same time, an arc 19 is generated by the FCAW torch 6. Start the three-axis mechanism again to perform underwater laser-FCAW hybrid wet welding on the welding workpiece 17;

[0073] Step 4: After welding is completed, turn off the three-axis mechanism, the laser generator 14 and the welding power supply 2 in sequence.

[0074] Preferably, in Step 3, the FCAW welding current during the welding process is collected in real time through the current transformer 3, and further fed back to the computer 1. The collected data is stored and analyzed. When the working current fluctuation exceeds the set value, the welding parameters of each mechanism are adjusted in real time through the computer 1.

[0075] As can be seen from the above, during the welding process, the flux-cored wire 21 burns to generate bubbles 18, providing a gas environment for the arc 19, the molten droplet 20, and the laser beam 13, reducing the energy attenuation of the laser beam 13. The laser beam 13 provides an axial force along the molten droplet 20, promoting the transition of the molten droplet 20 in a stable manner, achieving the purpose of improving the quality of underwater wet welding joints.

[0076] For further illustration, the following test examples are disclosed:

[0077] For the laser-FCAW hybrid welding with side-axis combination, different welding directions will result in differences in the forming effect. The welding directions of laser-FCAW hybrid welding are divided into two categories: one is that the laser guides the arc 19 heat source behind during welding, that is, the laser guiding mode; the other is that the arc 19 guides the laser heat source behind during welding, that is, the arc 19 guiding mode. Compared with the laser guiding mode, the arc 19 guiding mode can obtain a larger weld penetration depth and a smaller weld width, thus being more conducive to exerting the potential of the laser heat source. This example will be described by taking the arc 19 guiding mode, that is, the arc 19 guides the laser heat source behind during welding, as an example.

[0078] This embodiment is described by taking a 316L steel plate with a thickness of 8 mm as an example:

[0079] Step 1: Place the test water tank 4 on the workbench 16, fix the welding workpiece 17 at the bottom of the test water tank 4 through the fixture 24, and fill the test water tank 4 with water 15 so that the welding workpiece 17 is below the water surface;

[0080] Step 2: Fix the laser head 12 on the first Z-axis moving unit 11, adjust the distance between the laser head 12 and the welding workpiece 17 up and down through the first Z-axis moving unit 11, so that the laser beam 13 acts on the surface of the welding workpiece 17, and the defocus range is ±10 mm;

[0081] Step 3: Fix the FCAW welding torch 6 on the second Z-axis moving unit 8, adjust the vertical distance between the FCAW welding torch 6 and the welding workpiece 17 through the second Z-axis moving unit 8, so that the vertical distance between the front end of the contact tip 22 and the upper surface of the welding workpiece 17 ranges from 10 mm to 20 mm, adjust the angle between the central axis of the FCAW welding torch 6 and the central axis of the laser welding mechanism (the range is 20° - 60°), and then horizontally adjust the horizontal distance between the front end of the flux-cored wire 21 and the central axis of the laser welding mechanism (the range is 0 mm - 10 mm) through the X-axis moving unit 9, ensuring that the focus position of the laser beam 13 acts on the FCAW welding arc 19 and the molten droplet 20, thereby realizing the coupling of the laser welding process and the FCAW welding process;

[0082] Step 4: Start the three-axis mechanism, and control the overall running speed of the laser welding mechanism and the flux-cored wire arc welding mechanism at 0.5 m / min - 5 m / min. Simulate one walking trajectory. After confirming smooth running without obstacles, reset.

[0083] Step 5: Input the laser welding parameters, laser power: 1.5 kW - 10 kW. Turn on the flux-cored wire arc welding machine and adjust the welding parameters, welding voltage: 25 V - 40 V, welding current: 150 A - 250 A.

[0084] Step 6: Turn on the laser generator 14. The laser emits from the laser head 12 through the optical fiber. At the same time, ignite the arc 19 of the flux-cored wire arc welding machine. Start the three-axis mechanism again to perform underwater laser-FCAW hybrid wet welding on the workpiece.

[0085] Step 7: Use the current transformer 3 to collect the welding current of the flux-cored wire arc welding machine during the welding process in real time, and further feedback it to the computer 1. Store and analyze the collected data. When the current fluctuation exceeds the set value, it indicates that the coupling effect of the laser and the FCAW arc 19 is poor. Adjust the welding parameters of each mechanism in real time through the computer 1.

[0086] Step 8: After welding is completed, turn off the three-axis mechanism, the laser generator 14, and the welding power supply 2 in sequence.

[0087] Therefore, the nuclear power underwater laser-FCAW hybrid wet welding device with the above structure is adopted in the present invention. Through the coupling of the laser welding process and the FCAW welding process, during the welding process, the flux-cored wire burns to generate bubbles to provide a gas environment for the arc, molten droplets, and laser beam, reducing the energy attenuation of the laser beam. At the same time, the laser beam provides an axial acting force for the molten droplets, promoting the stable transition of the molten droplets to the molten pool, achieving the purpose of improving the quality of underwater wet welding joints.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify or equivalently replace the technical solutions of the present invention, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A nuclear power underwater laser - FCAW composite wet welding device, including a flux - cored arc welding mechanism, characterized in that: It further includes a laser welding mechanism arranged in parallel with the flux-cored wire arc welding mechanism. The tops of the laser welding mechanism and the flux-cored wire arc welding mechanism are both arranged on a three-axis mechanism through an angle-adjusting clamping mechanism; The bottom output end of the laser welding mechanism and the bottom output end of the flux-cored wire arc welding mechanism are aligned with the welding workpiece; The welding workpiece is vertically arranged with respect to the laser welding mechanism, and the laser welding mechanism and the flux-cored wire arc welding mechanism are arranged at a set angle to realize the coupling of the laser welding process and the flux-cored wire arc welding process; The set angle between the central axis of the flux-cored wire arc welding mechanism and the central axis of the laser welding mechanism is 20°-60°; The vertical distance between the welding tip and the upper surface of the welding workpiece is 10mm-20mm; The horizontal distance between the end of the flux-cored wire near the welding workpiece and the central axis of the laser welding mechanism ranges from 0mm to 10mm; It is used to ensure that the focus of the laser beam emitted by the laser head acts on the arc and molten droplets of the FCAW welding torch, so as to realize the coupling of the laser welding process and the FCAW welding process.

2. The underwater laser-FCAW composite wet welding device for nuclear power according to claim 1, characterized in that: The laser welding mechanism includes a laser head fixed on the angle-adjusting clamping mechanism, and the laser beam emitted by the laser head is vertically arranged with respect to the welding workpiece.

3. The underwater laser - FCAW hybrid wet welding device for nuclear power according to claim 2, characterized in that: The flux-cored wire arc welding mechanism includes an FCAW welding torch fixed on the angle-adjusting clamping mechanism, a conductive rod with one end connected to the FCAW welding torch, and a welding tip connected to the other end of the conductive rod. The flux-cored wire passes through the FCAW welding torch and the conductive rod in sequence and then extends out from the welding tip.

4. The underwater laser - FCAW hybrid wet welding device for nuclear power according to claim 3, characterized in that: The FCAW welding torch is electrically connected to the positive pole of the welding power supply through a positive power supply line, and the negative pole of the welding power supply is electrically connected to the welding workpiece through a negative power supply line; The positive power supply line passes through a current transformer, and the current transformer is electrically connected to a computer; When the computer judges that the fluctuation of the working current exceeds the set value according to the collected value of the current transformer, it outputs adjustment information to adjust the welding parameters in real time, so as to monitor and adjust the coupling effect of the composite welding process in real time.

5. The underwater laser - FCAW hybrid wet welding device for nuclear power according to claim 4, characterized in that: The laser welding mechanism is electrically connected to a laser generator, and the laser generator is electrically connected to the computer.

6. The underwater laser-FCAW hybrid wet welding device for nuclear power according to claim 1, characterized in that: The welding power of the laser welding mechanism: 1.5kW-10kW; The welding parameters of the flux-cored wire arc welding mechanism are: welding voltage: 25V-40V, welding current: 150A-250A.

7. An underwater laser-FCAW composite wet welding device for nuclear power according to claim 1, characterized in that: The three-axis mechanism includes a Y-axis moving unit, an X-axis moving unit connected in sequence, and a first Z-axis moving unit and a second Z-axis moving unit arranged on the X-axis moving unit; The output ends of the first Z-axis moving unit and the second Z-axis moving unit are respectively connected to the laser welding mechanism and the flux-cored wire arc welding mechanism through the angle-adjusting clamping mechanism, and are used to adjust the distance and angle among the laser welding mechanism, the flux-cored wire arc welding mechanism and the welding workpiece.

8. A nuclear power underwater laser - FCAW hybrid wet welding method, which uses the nuclear power underwater laser - FCAW hybrid wet welding device as described in the above - mentioned claim 7, is characterized in that: It includes the following steps: Step 1: Installation and debugging Step 1.1: Installation Fix the laser welding mechanism and the flux-cored wire arc welding mechanism to the first Z-axis moving unit and the second Z-axis moving unit respectively by using the angle-adjustable clamping mechanism; Step 1.2: Debugging Step 1.2.1: Vertical position adjustment First, adjust the vertical distance between the laser welding mechanism and the welding workpiece through the first Z-axis moving unit until the defocus range is ±10 mm. Then, adjust the front end of the contact tip of the flux-cored wire arc welding mechanism through the second Z-axis moving unit until the vertical distance between it and the upper surface of the welding workpiece is in the range of 10 mm - 20 mm; Step 1.2.2: Angle adjustment Adjust the angle-adjustable clamping mechanism corresponding to the flux-cored wire arc welding mechanism so that the set angle between the central axis of the flux-cored wire arc welding mechanism and the central axis of the laser welding mechanism is 20° - 60°; Step 1.2.3: Horizontal position adjustment Horizontally adjust the front end of the flux-cored wire of the flux-cored wire arc welding mechanism through the X-axis moving unit until the horizontal distance between it and the central axis of the laser welding mechanism is in the range of 0 mm - 10 mm; Step 2: Start the three-axis mechanism, and control the overall running speed of the laser welding mechanism and the flux-cored wire arc welding mechanism through the computer to be between 0.5 m / min and 5 m / min. Simulate a walking trajectory once. After confirming that the operation is stable and there are no obstacles, reset; Step 3: After inputting the welding parameters, turn on the welding power supply and the laser generator in sequence. The laser is emitted from the laser head through the optical fiber. At the same time, an arc is generated by the FCAW welding torch. Start the three-axis mechanism again to perform underwater laser-FCAW hybrid wet welding on the welding workpiece; Step 4: After welding is completed, turn off the three-axis mechanism, the laser generator, and the welding power supply in sequence.

9. A nuclear power underwater laser - FCAW composite wet welding method according to claim 8, characterized in that: In Step 3, the FCAW welding current during the welding process is collected in real time through the current transformer, and further fed back to the computer. The collected data is stored and analyzed. When the working current fluctuation exceeds the set value, the welding parameters of each mechanism are adjusted in real time through the computer.

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