A magnetic wheel adsorption underwater MIG welding robot

Abstract

The present invention provides a magnetic wheel adsorption underwater MIG welding robot, comprising a magnetic adsorption trolley, a wire feeding device, a welding gun moving device and a welding gun; the wire feeding device and the welding gun moving device are respectively arranged on the magnetic adsorption trolley; the welding gun is located on one side of the magnetic adsorption trolley; the welding gun moving device is connected to the welding gun through a welding gun arm to achieve lifting and horizontal movement of the welding gun; the welding gun is also connected to the wire feeding device through a cable to realize the input of welding wire from the wire feeding device into the welding gun. The welding robot can achieve effective movement on complex geometric metal surfaces, has good movement stability, is conducive to improving the welding process, and can control the welding wire to be transported to the molten pool along the cable at a stable wire feeding speed to ensure the weld forming effect.

Description

Technical Field

[0001] The invention relates to the technical field of underwater welding robots, and more specifically to a magnetic wheel adsorption type underwater MIG welding robot. Background Art

[0002] At present, the mainstream way to achieve underwater welding is to rely on manual work, and safety and welding efficiency cannot be guaranteed; manual underwater welding is limited by water depth and water pressure, and cannot effectively complete welding tasks in large infrastructure projects and shipbuilding. At the same time, the welding process involves strong electricity, and the safety of diving welding workers will be affected by complex underwater working conditions and reduced.

[0003] At present, the research on underwater welding robots in the industry is limited and cannot meet the current underwater welding needs. Existing underwater welding robots are mainly floating and crawler types, which are large in size and complex in equipment. The floating robot has a more complex fixing mechanism during the welding process, which leads to reduced stability, thus affecting the welding forming process. The crawler robot has a larger mass and vibrates more strongly when moving, which is not conducive to the positioning of the welding mechanism. In addition, the welding wire is transported over a long distance, and the wire feeding speed is unstable, which affects the welding effect.

[0004] In view of the above problems, it is urgent to innovate on the basis of current underwater welding equipment. Summary of the invention

[0005] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the present invention is to provide a magnetic wheel adsorption type underwater MIG welding robot; the welding robot can achieve effective movement on complex geometric metal surfaces, has good movement stability, is conducive to improving the welding process, and can control the welding wire to be transported along the cable to the molten pool at a stable wire feeding speed to ensure the weld formation effect.

[0006] In order to achieve the above-mentioned purpose, the present invention is implemented through the following technical scheme: a magnetic wheel adsorption underwater MIG welding robot, characterized in that: it includes a magnetic adsorption trolley, a wire feeding device, a welding gun moving device and a welding gun; the wire feeding device and the welding gun moving device are respectively arranged on the magnetic adsorption trolley; the welding gun is located on one side of the magnetic adsorption trolley; the welding gun moving device is connected to the welding gun through a welding gun arm to realize the lifting and horizontal movement of the welding gun; the welding gun is also connected to the wire feeding device through a cable to realize the input of welding wire from the wire feeding device to the welding gun.

[0007] The working principle of the welding robot of the present invention is: first, the overall welding robot is adsorbed on the transition metal plate, and the magnetic adsorption trolley is moved along the transition metal plate to the area to be welded (such as a hull, a nuclear spent fuel pool, etc.); after moving to the area to be welded, the relative position of the welding gun and the area to be welded is adjusted by controlling the magnetic adsorption trolley and the welding gun moving device, and the welding gun performs welding work according to the shape and path of the weld, and at the same time the wire feeding device transports the welding wire to the molten pool.

[0008] The welding robot of the present invention adopts a magnetic adsorption mode to walk, can realize effective movement on metal surfaces with complex geometry, has good movement stability, and is beneficial to improving the welding process; a wire feeding device is provided on the magnetic adsorption trolley, and the wire feeding device controls the welding wire to be transported along the cable to the molten pool at a stable wire feeding speed to ensure the weld forming effect.

[0009] Preferably, the wire feeding device comprises a welding wire rack, a wire feeder assembly arranged above the welding wire rack, a wire feeder power motor, a welding gun support and a welding wire reel for winding the welding wire; the welding wire reel is arranged in the welding wire rack;

[0010] The wire feeder assembly comprises an assembly frame, two welding wire guide nozzles, a central welding wire guide, a driving gear, two driven gears, two driven pulleys and two pinch wheels; the wire feeder power motor is connected to the driving gear, the driving gears are respectively meshed with the two driven gears, and the two driven pulleys are respectively coaxially connected with the two driven gears; the central welding wire guide is located between the two welding wire guide nozzles; the two welding wire guide nozzles and the central welding wire guide are respectively located on the welding wire output path; one of the driven pulleys is located between one of the welding wire guide nozzles and the central welding wire guide, and the other driven pulley is located between the other welding wire guide nozzle and the central welding wire guide; the two pinch wheels are respectively opposite to the two driven pulleys, and the pinch wheels and the driven pulleys are respectively located on both sides of the welding wire output path.

[0011] The wire feeding device of the above-mentioned method can effectively and stably transport the welding wire outward, thereby improving the quality of the weld.

[0012] Preferably, the power motor of the wire feeder is a watertight motor; the watertight motor is connected to the driving gear through a worm gear and a worm. Since the watertight motor has a waterproof function and can be used underwater, and the worm gear and the worm gear themselves are not electrically charged, this design can avoid the excessive volume and mass caused by the overall sealing of the wire feeder.

[0013] Preferably, the clamping wheel is swingably arranged on the assembly frame through a swing frame to adjust the distance between the clamping wheel and the driven pulley; a fixed structure is arranged between the swing frame and the assembly frame. When the swing frame is opened, operations such as replacing welding wire can be easily performed.

[0014] Preferably, the welding gun moving device includes a screw mounting seat arranged on a magnetic adsorption trolley, a vertical screw assembly and a horizontal screw assembly arranged on the screw mounting seat, and two screw power motors respectively used to drive the vertical screw assembly and the horizontal screw assembly to work; the seat body of the horizontal screw assembly is connected to the movable end of the vertical screw assembly; the movable end of the horizontal screw assembly is connected to the welding gun arm. The welding gun moving device cooperates with the magnetic adsorption trolley to realize the four-degree-of-freedom movement of the welding gun within the spatial range, which is conducive to underwater welding work on complex welding surfaces. Compared with the use of a robotic arm, in the welding gun moving device of the present invention, the main part of the actuator that controls the movement of the welding gun is located in the middle of the magnetic adsorption trolley, which makes it easier to ensure that the overall center of gravity of the welding robot does not shift; the movement accuracy of the screw assembly is very high, which can ensure the linear accuracy of the welding gun in three-dimensional translation.

[0015] Preferably, a welding gun support is provided on the magnetic adsorption trolley; a hollow ring is provided on the top of the welding gun support to lift the cable in a certain arc. The cable is lifted in a certain arc, which is conducive to the wire feeding device to deliver the welding wire with minimal resistance for welding.

[0016] Preferably, the welding gun arm includes a connecting block, an inclined connecting rod and two or more horizontal connecting rods; the connecting block is connected to the movable end of the horizontal screw assembly; the inclined connecting rod is obliquely connected to the bottom of the connecting block; and each horizontal connecting rod is horizontally connected to the side of the inclined connecting rod away from the magnetic adsorption trolley.

[0017] Preferably, the welding gun moving device further comprises a horizontal distance measuring sensor for detecting the position of the movable end of the horizontal lead screw assembly and a vertical distance measuring sensor for detecting the position of the movable end of the vertical lead screw assembly. The horizontal distance measuring sensor and the vertical distance measuring sensor can prevent collision between the horizontal lead screw assembly and the vertical lead screw assembly, thereby improving work safety.

[0018] Preferably, the magnetic adsorption trolley includes a chassis body, two active magnetic wheels, two driven magnetic wheels, and two chassis power motors; the two chassis power motors are symmetrically installed inside the chassis body at the origin; the two active magnetic wheels are respectively installed on both sides of the chassis body; the two driven magnetic wheels are respectively installed on both sides of the chassis body; the power output of the two chassis power motors is transmitted from the active magnetic wheels to the driven magnetic wheels through synchronous pulleys and synchronous belts. The use of two active magnetic wheels and two driven magnetic wheels, a total of four magnetic wheels, ensures that the welding robot can be completely attached to the surface of the material to be welded, and through the speed distribution of the magnetic wheels on the left and right sides, the welding robot can be effectively moved on complex geometric metal surfaces.

[0019] Preferably, the front and rear sides of the magnetic adsorption trolley are respectively provided with panoramic cameras; ultrasonic probes are symmetrically provided on both sides of the panoramic camera; and a welding torch monitoring camera is provided on the side of the magnetic adsorption trolley close to the welding torch. The panoramic camera and ultrasonic probe can detect images and data of the surrounding environment, which improves the environmental perception of the welding robot in complex underwater working conditions, and the welding torch monitoring camera provides real-time feedback of the weld formation image to provide a practical reference for parameter adjustment.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0021] 1. The welding robot of the present invention adopts magnetic adsorption to move, which can realize effective movement on metal surfaces with complex geometry, has good movement stability, and is conducive to improving the welding process; a wire feeding device is provided on the magnetic adsorption trolley, and the wire feeding device controls the welding wire to be transported along the cable to the molten pool at a stable wire feeding speed to ensure the welding seam forming effect;

[0022] 2. The wire feeding device of the welding robot of the present invention can effectively and stably feed the welding wire outward, thereby improving the quality of the weld; a watertight motor is used to transmit power to the driving gear through a worm gear, thereby avoiding the excessive volume and mass caused by the overall sealing of the wire feeding device;

[0023] 3. In the welding robot of the present invention, the magnetic adsorption trolley cooperates with the welding gun moving device to realize the four-degree-of-freedom movement of the welding gun in the spatial range, which is conducive to underwater welding work on complex welding surfaces; the main part of the actuator that controls the movement of the welding gun is located in the middle of the magnetic adsorption trolley, which makes it easier to ensure that the overall center of gravity of the welding robot does not shift; the movement accuracy of the screw assembly is very high, which can ensure the linear accuracy of the welding gun in three-dimensional translation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is one of the structural schematic diagrams of the magnetic wheel adsorption type underwater MIG welding robot of the present invention;

[0025] Figure 2 This is the second structural schematic diagram of the magnetic wheel adsorption type underwater MIG welding robot of the present invention;

[0026] Figure 3 This is one of the structural schematic diagrams of the wire feeding device in the magnetic wheel adsorption type underwater MIG welding robot of the present invention;

[0027] Figure 4 It is a schematic structural diagram of a wire feeding device in a magnetic wheel adsorption type underwater MIG welding robot of the present invention when the swing frame is opened;

[0028] Figure 5 This is the second structural schematic diagram of the wire feeding device in the magnetic wheel adsorption type underwater MIG welding robot of the present invention;

[0029] Figure 6 It is a structural schematic diagram of a welding gun moving device in a magnetic wheel adsorption type underwater MIG welding robot of the present invention;

[0030] Figure 7 It is a structural schematic diagram of the magnetic adsorption trolley in the magnetic wheel adsorption type underwater MIG welding robot of the present invention;

[0031] Among them, 1 is a magnetic adsorption trolley, 11 is a chassis body, 12 is a driven magnetic wheel, 13 is an active magnetic wheel, 14 is a chassis power motor, 15 is a synchronous belt, 2 is a welding gun, 21 is a welding torch, 3 is a cable, 4 is a welding gun support, 5 is a wire feeding device, 51 is a welding wire reel, 52 is a welding wire rack, 53 is a driving gear, 54 is a driven pulley, 55 is a driven gear, 56 is a welding wire guide nozzle, 57 is a central welding wire guide, 58 is a clamping wheel, 59 is a swing frame, and 510 is an assembly The frame is 511 for welding wire, 512 for wire feeder power motor, 513 for worm gear, 514 for worm, 6 for welding gun moving device, 61 for screw mounting seat, 62 for horizontal screw assembly, 63 for vertical screw assembly, 64 for screw power motor, 65 for horizontal distance measuring sensor, 66 for vertical distance measuring sensor, 7 for welding gun arm, 71 for connecting block, 72 for tilting connecting rod, 73 for horizontal connecting rod, 81 for panoramic camera, 82 for ultrasonic probe and 83 for welding torch monitoring camera. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0033] Example

[0034] like Figures 1 to 7 As shown, the present embodiment is a magnetic wheel adsorption type underwater MIG welding robot, comprising a magnetic adsorption trolley 1, a wire feeding device 5, a welding gun moving device 6 and a welding gun 2; the wire feeding device 5 and the welding gun moving device 6 are respectively arranged on the magnetic adsorption trolley 1; the welding gun 2 is located on one side of the magnetic adsorption trolley 1; the welding gun moving device 6 is connected to the welding gun 2 through a welding gun arm 7 to realize the lifting and horizontal movement of the welding gun 2; the welding gun 2 is also connected to the wire feeding device 5 through a cable to realize the input of the welding wire 511 of the wire feeding device 5 into the welding gun 2.

[0035] Specifically, the magnetic adsorption vehicle 1 includes a chassis body 11, two active magnetic wheels 13, two driven magnetic wheels 12, and two chassis power motors 14; the two chassis power motors 14 are symmetrically installed inside the chassis body 11 according to the origin; the two active magnetic wheels 13 are respectively installed on both sides of the chassis body 11; the two driven magnetic wheels 12 are respectively installed on both sides of the chassis body 11; the power output of the two chassis power motors 14 is transmitted from the active magnetic wheel 13 to the driven magnetic wheel 12 through the synchronous pulley and the synchronous belt 15. The use of four magnetic wheels, two active magnetic wheels 13 and two driven magnetic wheels 12, ensures that the welding robot can be completely attached to the surface of the material to be welded, and the speed distribution of the magnetic wheels on the left and right sides can realize the effective movement of the welding robot on the complex geometric metal surface.

[0036] Magnetic shielding wheel covers are installed above the two active magnetic wheels 13 and the two driven magnetic wheels 12 to prevent the magnetic wheels from interfering with the magnetic field of the sensor device and the driver device.

[0037] Panoramic cameras 81 are respectively provided on the front and rear sides of the magnetic adsorption trolley 1; ultrasonic probes 82 are symmetrically provided on both sides of the panoramic camera 81; and a welding torch monitoring camera 83 is provided on the side of the magnetic adsorption trolley 1 close to the welding torch 2.

[0038] The welding gun moving device 6 includes a screw mounting base 61 arranged on the magnetic adsorption trolley 1, a vertical screw assembly 63 and a horizontal screw assembly 62 arranged on the screw mounting base 61, and two screw power motors 64 respectively used to drive the vertical screw assembly 63 and the horizontal screw assembly 62 to work; the seat body of the horizontal screw assembly 62 is connected to the movable end of the vertical screw assembly 63; the movable end of the horizontal screw assembly 62 is connected to the welding gun arm 7.

[0039] A welding gun support 4 is provided on the magnetic adsorption trolley 1; a hollow ring is provided on the top of the welding gun support 4 to lift the cable 3 to a certain arc. The welding gun arm 7 includes a connecting block 71, an inclined connecting rod 72 and two or more horizontal connecting rods 73; the connecting block 71 is connected to the movable end of the horizontal screw assembly 62; the inclined connecting rod 72 is obliquely connected to the bottom of the connecting block 71; each horizontal connecting rod 73 is horizontally connected to the side of the inclined connecting rod 72 away from the magnetic adsorption trolley 1. The cable 3 pulls the welding gun 2 from above to support the welding gun 2; each horizontal connecting rod 73 is respectively connected to the welding gun 2 to assist in supporting and positioning the welding gun 2. The welding torch 21 is installed at the tail of the welding gun 2.

[0040] The welding gun moving device 6 further includes a horizontal distance measuring sensor 65 for detecting the position of the movable end of the horizontal lead screw assembly 62 and a vertical distance measuring sensor 66 for detecting the position of the movable end of the vertical lead screw assembly 63 .

[0041] The wire feeding device 5 includes a wire rack 52 , a wire feeder assembly arranged above the wire rack 52 , a wire feeder power motor 512 , a welding gun support 4 , and a wire reel 51 for winding a welding wire 511 ; the wire reel 51 is arranged in the wire rack 52 .

[0042] The wire feeder assembly includes an assembly frame 510, two welding wire guide nozzles 56, a central welding wire guide 57, a driving gear 53, two driven gears 55, two driven pulleys 54 and two clamping wheels 58; the wire feeder power motor 512 is connected to the driving gear 53, the driving gear 53 is respectively meshed with the two driven gears 55, and the two driven pulleys 54 are respectively coaxially connected with the two driven gears 55; the central welding wire guide 57 is located between the two welding wire guide nozzles; the two welding wire guide nozzles 56 and the central welding wire guide 57 are respectively located on the output path of the welding wire 511; one of the driven pulleys 54 is located between one of the welding wire guide nozzles 56 and the central welding wire guide 57, and the other driven pulley 54 is located between the other welding wire guide nozzle 56 and the central welding wire guide 57; the two clamping wheels 58 are respectively opposite to the two driven pulleys 54, and the clamping wheels 58 and the driven pulleys 54 are respectively located on both sides of the output path of the welding wire 511.

[0043] The welding wire 511 is wound on the welding wire reel 51, and one end of the welding wire 511 passes through the welding wire guide nozzle 56 and the central welding wire guide 57 and then enters the welding gun 2 through the cable 3. When the wire feeding device 5 is working, the clamping wheel 58 presses the welding wire 511 tightly to be tangent to the driven pulley 54, and the wire feeding machine power motor 512 drives the driving gear 53 through the mechanical transmission of the worm gear 513 and the worm 514, and then drives the driven gear 55 through the gear meshing transmission to drive the driven pulley 54 fixed thereon to rotate, so as to feed the welding wire 511 clamped between the driven pulley 54 and the clamping wheel 58 into the welding gun 2. The wire feeding device 3 in the above manner can effectively and stably transport the welding wire outward and improve the quality of the weld.

[0044] The wire feeder power motor 512 is preferably a watertight motor, which is connected to the driving gear via a worm wheel 513 and a worm 514. Since the watertight motor has a waterproof function and can be used underwater, and the worm wheel and the worm are not electrically charged, this design can avoid the excessive volume and mass caused by the overall sealing of the wire feeder.

[0045] The clamping wheel 58 is swingably arranged on the assembly frame 510 through a swing frame 59 to adjust the distance between the clamping wheel 58 and the driven pulley 54; a fixed structure is arranged between the swing frame 59 and the assembly frame 510. After the swing frame 59 is opened, operations such as welding wire replacement can be performed.

[0046] The working process of the welding robot of the present invention is: first, the whole welding robot is adsorbed on the transition metal plate, and the chassis power motor 14 of the magnetic adsorption trolley 1 outputs power to four magnetic wheels, driving the welding robot to move along the transition metal plate to the area to be welded (such as a hull, a nuclear spent fuel pool, etc.). During the movement, the ultrasonic probe 82 and the panoramic camera 81 of the welding robot continuously feed back underwater environmental data to prevent the welding robot from colliding with obstacles. After the welding robot moves to the area to be welded, the relative position of the welding torch 21 of the welding gun 2 and the area to be welded is adjusted by controlling the magnetic adsorption trolley 1, the horizontal screw assembly 62 and the vertical screw assembly 63, and the position between the welding torch 21 and the weld is observed through the welding torch monitoring camera 83, as well as the vertical distance of the welding wire 511 at the outlet of the welding torch 21 relative to the weld.

[0047] During the movement of the movable ends of the horizontal screw assembly 62 and the vertical screw assembly 63, the movable end positions of the horizontal screw assembly 62 and the vertical screw assembly 63 are fed back through the horizontal ranging sensor 65 and the vertical ranging sensor 66 to avoid collisions between parts due to the movable ends being in extreme positions.

[0048] After the preparations before welding are completed, the weld shape and path are set, and the arc is started under the action of the welding power source, and then the stable welding stage is entered. The wire feeder power motor 512 of the wire feeding device 5 controls the welding wire 511 to be delivered to the molten pool along the cable 3 at a stable wire feeding speed to ensure the weld formation effect.

[0049] When the welding robot performs a plane welding task, the magnetic adsorption trolley 1 and the horizontal lead screw assembly 62 cooperate to control the welding torch 21 to move accurately along the preset weld track on the two-dimensional plane until the welding task is completed. When the welding robot performs a space welding task, the magnetic adsorption trolley 1, the horizontal lead screw assembly 62 and the vertical lead screw assembly 63 cooperate to control the welding torch 21 to move stably and accurately along the preset weld track in three-dimensional space until the welding task is completed.

[0050] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A magnetic wheel adsorption type underwater MIG welding robot, characterized in that: It comprises a magnetic adsorption trolley, a wire feeding device, a welding gun moving device and a welding gun; the wire feeding device and the welding gun moving device are respectively arranged on the magnetic adsorption trolley; the welding gun is located on one side of the magnetic adsorption trolley; the welding gun moving device is connected to the welding gun through a welding gun arm to realize lifting and horizontal movement of the welding gun; the welding gun is also connected to the wire feeding device through a cable to realize the input of welding wire from the wire feeding device into the welding gun; The wire feeding device comprises a wire rack, a wire feeder assembly arranged above the wire rack, a wire feeder power motor, a welding gun support and a wire reel for winding the welding wire; the wire reel is arranged in the wire rack; The wire feeder assembly comprises an assembly frame, two welding wire guide nozzles, a central welding wire guide, a driving gear, two driven gears, two driven pulleys and two pinch wheels; the wire feeder power motor is connected to the driving gear, the driving gears are respectively meshed with the two driven gears, and the two driven pulleys are respectively coaxially connected with the two driven gears; the central welding wire guide is located between the two welding wire guide nozzles; the two welding wire guide nozzles and the central welding wire guide are respectively located on the welding wire output path; one of the driven pulleys is located between one of the welding wire guide nozzles and the central welding wire guide, and the other driven pulley is located between the other welding wire guide nozzle and the central welding wire guide; the two pinch wheels are respectively opposite to the two driven pulleys, and the pinch wheel and the driven pulley are respectively located on both sides of the welding wire output path; The clamping wheel is swingably arranged on the assembly frame through a swing frame to adjust the distance between the clamping wheel and the driven pulley; a fixed structure is arranged between the swing frame and the assembly frame; The welding gun moving device comprises a screw mounting seat arranged on the magnetic adsorption trolley, a vertical screw assembly and a horizontal screw assembly arranged on the screw mounting seat, and two screw power motors respectively used to drive the vertical screw assembly and the horizontal screw assembly to work; the seat body of the horizontal screw assembly is connected to the movable end of the vertical screw assembly; the movable end of the horizontal screw assembly is connected to the welding gun arm; The welding gun arm includes a connecting block, an inclined connecting rod and more than two horizontal connecting rods; the connecting block is connected to the movable end of the horizontal screw assembly; the inclined connecting rod is obliquely connected to the bottom of the connecting block; and each horizontal connecting rod is horizontally connected to the side of the inclined connecting rod away from the magnetic adsorption trolley.

2. The magnetic wheel adsorption type underwater MIG welding robot according to claim 1, characterized in that: The wire feeder power motor is a watertight motor; the watertight motor is connected to the driving gear through a worm gear and a worm.

3. The magnetic wheel adsorption type underwater MIG welding robot according to claim 1, characterized in that: A welding gun support is provided on the magnetic adsorption trolley; a hollow ring is provided on the top of the welding gun support to lift the cable into a certain arc.

4. The magnetic wheel adsorption type underwater MIG welding robot according to claim 1, characterized in that: The welding gun moving device also includes a horizontal distance measuring sensor for detecting the position of the movable end of the horizontal lead screw assembly and a vertical distance measuring sensor for detecting the position of the movable end of the vertical lead screw assembly.

5. The magnetic wheel adsorption type underwater MIG welding robot according to claim 1, characterized in that: The magnetic adsorption vehicle comprises a chassis body, two active magnetic wheels, two driven magnetic wheels, and two chassis power motors; the two chassis power motors are symmetrically installed inside the chassis body according to the origin; Two active magnetic wheels are respectively installed on both sides of the chassis body; two driven magnetic wheels are respectively installed on both sides of the chassis body; the power output of the two chassis power motors is transmitted from the active magnetic wheel to the driven magnetic wheel through synchronous pulleys and synchronous belts.

6. The magnetic wheel adsorption type underwater MIG welding robot according to claim 1, characterized in that: Panoramic cameras are respectively arranged on the front and rear sides of the magnetic adsorption trolley; ultrasonic probes are symmetrically arranged on both sides of the panoramic camera; and a welding torch monitoring camera is arranged on the side of the magnetic adsorption trolley close to the welding torch.

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