A work platform equipped with underwater laser additive in-situ repair and a method of using the same

Abstract

The application discloses a work platform equipped with underwater laser additive in-situ repair and a use method thereof, and relates to the technical field of underwater laser additive repair, which comprises an underwater three-dimensional movement mechanism and an underwater laser additive system. The bottom of the underwater three-dimensional movement mechanism is fixedly connected with a workpiece to be repaired. The underwater laser additive system comprises a laser head sealing cover, a laser head is arranged in the laser head sealing cover, and the laser head is externally connected with a fiber laser through a waterproof optical fiber. The bottom of the laser head sealing cover is connected with an underwater laser additive welding torch. The top of the underwater laser additive welding torch can transmit laser emitted by the laser head. The bottom of the underwater laser additive welding torch can be sealingly connected with the workpiece to be repaired. The underwater laser additive welding torch is internally provided with a three-dimensional scanning device and a wire guide pipe. The wire guide pipe is used for conveying metal wires. The underwater laser additive welding torch can maintain a dry cavity through a gas supply device. The working method based on the above equipment can realize underwater laser additive in-situ repair of ocean-going equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater laser additive repair, in particular to a working platform for underwater laser additive in-situ repair and a use method thereof. BACKGROUND

[0002] In the service process of various large ocean-going ships and deep-sea resource exploitation equipment, structural parts are prone to serious corrosion in seawater environment in addition to normal working load, and most of the marine engineering structures are located in underwater environment, so it is difficult to replace the damaged structural parts and there is no condition for factory repair. For the damaged structural parts, timely on-site emergency repair is needed, therefore, the research and development of underwater in-situ repair technology has irreplaceable important significance for the maintenance and repair of marine engineering structures.

[0003] Additive manufacturing technology uses three-dimensional data of parts to drive equipment, and adopts a method of gradually accumulating materials to quickly and accurately manufacture parts of any complex shape, greatly reducing the processing procedures and shortening the processing cycle. Underwater laser wire filling additive manufacturing technology has high efficiency and process adaptability, and is easy to control and automate repair, which is a high-efficiency and reliable underwater repair technology. Compared with traditional electric arc heat source, laser heat source has high energy density and excellent directivity, and can use optical fiber to transmit laser beam to any desired position, which is convenient for integration and miniaturization of repair equipment. However, so far, there are few reports on underwater laser additive in-situ repair, and the emergency in-situ repair capability of large ocean-going equipment is very limited, and there is still a lack of in-situ repair equipment for on-site implementation. SUMMARY

[0004] The purpose of the present application is to provide a working platform for underwater laser additive in-situ repair and a use method thereof, so as to solve the problems existing in the prior art and realize underwater laser additive in-situ repair of ocean-going equipment.

[0005] To achieve the above purpose, the present application provides the following solutions:

[0006] The application provides a working platform equipped with underwater laser additive in-situ repair, which is suitable for emergency in-situ repair of large ocean-going equipment, and the structure comprises an underwater three-dimensional movement mechanism, a top of the underwater three-dimensional movement mechanism is provided with an underwater laser additive system, and a bottom of the underwater three-dimensional movement mechanism is used for fixed adsorption connection with a workpiece to be repaired; the underwater laser additive system comprises a laser head sealing cover, a laser head is arranged in the laser head sealing cover, the laser head sealing cover and the laser head axis coincide, and the laser head is externally connected with a fiber laser through a waterproof optical fiber; a bottom of the laser head sealing cover is fixedly connected with an underwater laser additive torch, a top of the underwater laser additive torch can transmit laser emitted by the laser head, a bottom of the underwater laser additive torch can be sealingly connected with the workpiece to be repaired, a three-dimensional scanning device and a wire guide pipe are arranged in the underwater laser additive torch, the three-dimensional scanning device and the position of the laser beam are relatively fixed, the environment to be repaired is scanned before underwater laser additive repair, the additive repair path is designed, and the underwater three-dimensional movement mechanism is guided to travel; the wire guide pipe is used for conveying metal wires, the metal wires reach the damaged parts of the workpiece to be repaired through the wire guide pipe, and only the end of the metal wires reaching the repaired parts is in the laser spot of the laser beam on the surface of the repaired parts, and the underwater laser additive torch can maintain a dry cavity through a gas supply device; and the underwater three-dimensional movement mechanism, the underwater laser additive system and the gas supply device are electrically connected with a control system respectively.

[0007] Optionally, the underwater three-dimensional movement mechanism comprises a horizontal linear slide, a vertical linear slide and a vertical lifting slide; one side of one end of the horizontal linear slide is provided with a horizontal driving motor, one side of one end of the vertical lifting slide is provided with a vertical driving motor, and one end of each of the two vertical linear slides is provided with a vertical driving motor; a horizontal adapter plate is slidably installed on each of the two vertical linear slides, and two ends of the lower surface of the horizontal linear slide are fixedly connected with the horizontal adapter plates; the horizontal linear slide on the vertical linear slide can realize longitudinal movement by driving of the vertical driving motor; a vertical adapter plate is slidably installed on one side of the horizontal linear slide, and the vertical lifting slide is fixedly connected with the vertical adapter plate through a screw; the vertical lifting slide can realize horizontal movement by driving of the horizontal driving motor; one side of the vertical lifting slide is provided with an adapter plate, the laser head sealing cover is fixedly installed on the adapter plate, and the laser head sealing cover can realize vertical movement by driving of the vertical driving motor. Further preferably, the horizontal linear slide, the vertical linear slide and the vertical lifting slide are arranged perpendicular to each other, the two ends of the horizontal linear slide are slidably connected with the vertical linear slides, the middle part of the horizontal linear slide is slidably connected with the vertical lifting slide, and the laser head in the laser head sealing cover can realize movement in the horizontal, vertical and longitudinal directions by driving of the horizontal driving motor, the vertical driving motor and the vertical driving motor. The axis of the laser head sealing cover and the laser head is the same as the axial direction of the vertical lifting slide; the horizontal driving motor, the vertical driving motor and the vertical driving motor are integrated waterproof driving motors, and the materials of the horizontal linear slide, the vertical linear slide, the vertical lifting slide, the horizontal adapter plate, the vertical adapter plate and the adapter plate are high-quality aluminum profiles, which are completely suitable for the working environment of underwater repair.

[0008] Optionally, the bottom of the vertical linear slide is provided with a posture adjusting device, and the bottom of the posture adjusting device is provided with a vacuum suction cup, which is used for fixedly and adsorptively connecting with the surface of the workpiece to be repaired.

[0009] Optionally, the posture adjusting device comprises a rotating adjusting shaft connected with the bottom of the vertical linear slide, and a waterproof shell is arranged below the rotating adjusting shaft; a dynamic sealing ring is fixedly arranged at the upper opening of the waterproof shell, and the rotating adjusting shaft is sealingly connected with the inner side of the dynamic sealing ring; a threaded hole is arranged at the center of the lower surface of the rotating adjusting shaft, an adjusting screw is threadedly connected in the threaded hole, an electric motor is drivingly connected with the adjusting screw through a shaft coupling, and the electric motor is fixedly installed on a clamping tool in the waterproof shell through four fastening bolts; a micro distance meter is arranged on one side of the lower surface of the rotating adjusting shaft, and is used for measuring the distance between the lower surface of the rotating adjusting shaft and the lower surface of the waterproof shell; the axis of the dynamic sealing ring, the rotating adjusting shaft, the adjusting screw, the shaft coupling and the electric motor are in the same line.

[0010] Optionally, the underwater laser additive welding torch comprises a drainage device flange, a disc-shaped fixer fixedly connected with the bottom of the laser head sealing cover is arranged at the center of the drainage device flange; a through hole penetrating up and down is formed in the center of the disc-shaped fixer, a glass sheet is sealingly installed on the through hole, a wire feeding port is arranged on the disc-shaped fixer, the wire feeding port is provided with the wire guide tube, and the three-dimensional scanning device is fixed on the lower surface of the disc-shaped fixer; a plurality of radial inner drying cavity air inlets are arranged on the upper part of the side wall of the drainage device flange, and the number thereof is at least six in this embodiment; the inner layer drainage cylinder and the outer layer drainage cylinder are fixedly and sealingly connected with the bottom of the drainage device flange, the area between the inner layer drainage cylinder, the outer layer drainage cylinder and the drainage device flange is formed into an outer drying cavity, the area between the inner layer drainage cylinder and the drainage device flange is formed into an inner drying cavity, and the inner drying cavity air inlets are in communication with the inner drying cavity; a plurality of outer drying cavity air inlets are arranged on the upper part of the outer layer drainage cylinder, and the number thereof is at least four in this embodiment, the outer drying cavity air inlets are tangent to the inner wall of the outer layer drainage cylinder, the outer drying cavity air inlets are tangentially arranged along the inner wall of the outer layer drainage cylinder, and annular airflow is conducive to maintaining the stability of the outer drying cavity; the outer drying cavity air inlets are connected with the air outlet of the air compressor through quick-insert pneumatic joints, and the inner drying cavity air inlets are connected with the air outlet of the shielding gas cylinder through quick-insert pneumatic joints, so that the cost is controlled while the stable local drying cavity is maintained; the outer layer drainage cylinder is provided with a telescopic drainage sealing pad, and the telescopic drainage sealing pad can sealingly abut against the surface of the workpiece to be repaired.

[0011] Optionally, the gas supply device comprises an air compressor and a shielding gas cylinder, the outer drying cavity air inlets are connected with the air outlet of the air compressor through quick-insert pneumatic joints, and the inner drying cavity air inlets are connected with the air outlet of the shielding gas cylinder through quick-insert pneumatic joints.

[0012] Optionally, a MEMS gyroscope is arranged in the laser head sealing cover, and the MEMS gyroscope is fixed on the upper part of the laser head; a wire feeding mechanism is arranged in the laser head sealing cover, and the metal wire output by the wire feeding mechanism can reach the damaged part of the workpiece to be repaired through the wire guide tube.

[0013] Optionally, the telescopic drainage sealing pad comprises a foldable rubber ring, and a flexible bushing skirt is fixedly connected to the bottom of the rubber ring; the telescopic drainage sealing pad extends downward beyond the lower end of the outer layer drainage cylinder.

[0014] Optionally, the glass sheet is an anti-reflection glass, the glass sheet is fixed on the disc-shaped fixer through a glass mounting frame, the glass mounting frame is threadedly connected with the disc-shaped fixer, and an annular sealing ring is arranged between the glass mounting frame and the disc-shaped fixer.

[0015] The application also provides a use method of the working platform equipped with the underwater laser additive in-situ repair, comprising the following steps:

[0016] Step one, start the air compressor, and compressed air enters the outer dry chamber of the underwater laser additive welding torch; when gas is emitted from the lower part of the underwater laser additive welding torch, place the underwater three-dimensional movement mechanism above the workpiece to be repaired, and the vacuum chuck is tightly attached to the surface of the workpiece to be repaired;

[0017] Step two, when the outer dry chamber is stable, use the underwater three-dimensional movement mechanism to move the underwater laser additive welding torch to the upper part of the workpiece to be repaired, and the flexible bushing skirt of the telescopic drainage sealing pad is tightly attached to the surface of the workpiece to be repaired;

[0018] Step three, the underwater three-dimensional movement mechanism drives the underwater laser additive welding torch to walk above the workpiece to be repaired; after scanning the surface of the workpiece to be repaired by the three-dimensional scanning device, the data is transmitted to the control system; the control system performs three-dimensional modeling and spatial reconstruction on the damaged part of the workpiece to be repaired, and plans the additive path;

[0019] Step four, open the protective gas cylinder, and the protective gas enters the inner dry chamber of the underwater laser additive welding torch; start the fiber laser and the wire feeding mechanism; according to the planned additive path, perform the wire filling type underwater laser additive repair on the damaged part of the surface of the workpiece to be repaired;

[0020] Step five, after the repair work is completed, turn off the fiber laser and the wire feeding mechanism, turn off the protective gas cylinder, maintain the working state of the air compressor, keep the outer dry chamber of the underwater laser additive welding torch stable, and completely remove the underwater laser additive in-situ repair equipment from the water surface.

[0021] The application has the following technical effects compared with the prior art:

[0022] The application uses high-pressure air to form a local dry space from the underwater laser additive welding torch, uses high-pressure protective gas for protection during the underwater laser additive process, the three-dimensional underwater movement mechanism is made of high-quality aluminum alloy, the driving motor, the laser head and the attitude adjusting device have waterproof design, the fiber laser and the gas supply device are in the air environment and are connected with the underwater repair platform through the waterproof fiber and the gas pipeline, and completely adapt to the in-situ repair work of the underwater additive repair; the three-dimensional scanning device in the underwater laser additive welding torch is used for three-dimensional scanning on the damaged part of the workpiece to be repaired, and the data is transmitted to the control system; the damaged part is spatially reconstructed, and the additive path is planned; the MEMS gyroscope installed on the laser head and the three-dimensional scanning device in the underwater laser additive welding torch are used for real-time sensing of the spatial position and real-time attitude of the underwater laser additive welding torch, and the underwater in-situ repair platform is adjusted to the target attitude in real time through the underwater three-dimensional movement mechanism and the attitude adjusting device. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings described below only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0024] Figure 1 is the overall structure schematic diagram of the working platform of the present application for underwater laser additive in-situ repair;

[0025] Figure 2 is the schematic diagram of the underwater three-dimensional motion mechanism, the underwater laser additive system and the underwater laser additive torch arrangement structure of the present application;

[0026] Figure 3 is the front view of Figure 2 ;

[0027] Figure 4 is the side view of Figure 2 ;

[0028] Figure 5 is the cross-sectional schematic diagram of the underwater laser additive torch of the present application;

[0029] Figure 6 is the cross-sectional schematic diagram of the attitude adjusting device of the present application;

[0030] In the figure: 1-control system; 2-fiber laser; 3-workpiece to be repaired; 4-vacuum chuck; 5-attitude adjusting device; 501-rotary adjusting shaft; 502-waterproof shell; 503-micro distance meter; 504-fastening bolt; 505-clamping and fixing tool; 506-electric motor; 507-coupling; 508-adjusting screw; 509-moving sealing ring; 6-three-dimensional scanning device; 7-underwater laser additive torch; 701-drainage device flange; 702-outer drainage cylinder; 703-inner drainage cylinder; 704-rubber ring; 705-flexible bushing skirt; 706-wire guide pipe; 707-metal wire; 708-melt pool; 709-outer dry cavity air inlet; 710-inner dry cavity air inlet; 711-disc-shaped fixator; 712-glass sheet; 713-glass mounting rack; 8-laser head; 9-laser head sealing cover; 10-wire feeding mechanism; 11-driving motor; 12-underwater three-dimensional motion mechanism; 13-air compressor; 14-protective gas cylinder; 15-waterproof optical fiber; 16-MEMS gyroscope. DETAILED DESCRIPTION

[0031] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those ordinarily skilled in the art without creative effort belong to the scope of the present application.

[0032] The present application aims to provide a working platform for underwater laser additive in-situ repair and a method for using the same, so as to solve the problems in the prior art and realize underwater laser additive in-situ repair of ocean equipment.

[0033] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] The present application provides a working platform for underwater laser additive in-situ repair, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 , which comprises a control system 1, an underwater motion traction system, an underwater laser additive system and a gas supply device; the underwater motion traction system comprises an underwater three-dimensional motion mechanism 12, a MEMS gyroscope 16, an attitude adjustment device 5 and a vacuum chuck 4; the underwater laser additive system comprises a fiber laser 2, a waterproof optical fiber 15, a laser head sealing cover 9, a laser head 8, a wire feeding mechanism 10, an underwater laser additive torch 7 and a three-dimensional scanning device 6; the gas supply device comprises an air compressor 13 and a protective gas cylinder 14; the underwater motion traction system, the underwater laser additive system and the gas supply device are electrically connected with the control system 1; the MEMS gyroscope 16 in the embodiment is a micro-mechanical gyroscope.

[0035] Specifically, the fiber laser 2 is connected with the laser head 8 inside the laser head sealing cover 9 through the waterproof optical fiber 15, the laser head sealing cover 9 is connected with the underwater three-dimensional motion mechanism 12 through an adapter plate, and the underwater three-dimensional motion mechanism 12 is connected with the three-dimensional scanning device 6 through a connecting rod. Figure 2 、 Figure 3 and Figure 4 It can be seen that the underwater three-dimensional motion mechanism 12 is provided with the attitude adjustment device 5 at the bottom, the attitude adjustment device 5 is provided with the vacuum chuck 4 at the bottom, and the vacuum chuck 4 is placed on the surface of the workpiece 3 to be repaired. The underwater laser additive torch 7 is arranged below the laser head sealing cover 9. Figure 5As can be seen, the underwater laser additive welding torch 7 structure comprises a drainage device flange plate 701, an outer drainage cylinder 702, an inner drainage cylinder 703, a foldable rubber ring 704, and a flexible bushing skirt 705; the inner drainage cylinder 703 is located inside the outer drainage cylinder 702, and the two are coaxially arranged, and the upper end surfaces of the inner drainage cylinder 703 and the outer drainage cylinder 702 are sealingly connected to the lower end surface of the drainage device flange plate 701; the area between the inner drainage cylinder 703, the outer drainage cylinder 702, and the drainage device flange plate 701 is an outer drying cavity, at least four outer drying cavity air inlets 709 are arranged in a circular array on the upper part of the outer drainage cylinder 702, the outer drying cavity air inlets 709 are connected to the air outlet of the air compressor 13 through a quick plug pneumatic joint via a gas conveying pipeline, and the outer drying cavity air inlets 709 are tangent to the inner wall of the outer drainage cylinder 702; the area between the inner drainage cylinder 703 and the drainage device flange plate 701 is an inner drying cavity, and at least six inner drying cavity air inlets 710 are arranged in a circular array on the drainage device flange plate 701 and are arranged radially along the drainage device flange plate 701, the inner drying cavity air inlets 710 are connected to the gas outlet of the shielding gas cylinder 14 via a quick plug pneumatic joint via a gas conveying pipeline; a disc-shaped fixator 711 is arranged at the center of the drainage device flange plate 701, a through hole penetrating upward and downward is formed in the center of the disc-shaped fixator 711, a glass sheet 712 is sealingly mounted on the through hole, a wire feeding port is arranged on the disc-shaped fixator 711, a wire guide tube 706 is arranged on the wire feeding port, and a three-dimensional scanning device 6 is fixed to the lower surface of the disc-shaped fixator 711; the metal wire 707 sent by the wire feeding mechanism 10 reaches the surface of the workpiece to be repaired 3 via the wire guide tube 706; the glass sheet 712 is a transparent glass, the glass sheet 712 is fixed on the disc-shaped fixator 711 at the center of the drainage device flange plate 701 via a glass mounting frame 713, an annular sealing ring is arranged between the glass mounting frame 713 and the disc-shaped fixator 711, and the glass mounting frame 713 is mounted on the internal thread of the disc-shaped fixator 711 via external threads; the flexible drainage sealing pad extends downward from the lower end of the outer drainage cylinder 702 and closely adheres to the surface of the workpiece to be repaired 3. The fiber laser 2, the underwater three-dimensional motion mechanism 12, the attitude adjusting device 5, the wire feeding mechanism 10, the three-dimensional scanning device 6, and the control system 1 are electrically connected. The control system is a PC upper computer, which can realize the adjustment of laser output parameters and wire feeding parameters, the spatial reconstruction of the repair environment and the planning control of the additive repair path, the movement of the underwater laser additive welding torch and the adjustment of its attitude. The three-dimensional scanning device 6 performs three-dimensional panoramic scanning on the damaged part of the workpiece to be repaired 3 and transmits real-time signals to the control system 1, and the control system 1 reconstructs the space of the repair environment and plans the underwater laser additive repair path.

[0036] The underwater three-dimensional movement mechanism 12 is provided with an adapter plate on the vertical lifting slide, the adapter plate is fixed with a laser head sealing cover 9, the laser head sealing cover 9 is internally provided with a laser head 8, the laser head 8 is provided below with an underwater laser additive welding torch 7, the spatial position of the laser head 8 and the underwater laser additive welding torch 7 can be changed by driving a driving motor 11, and the underwater laser additive repair is carried out according to the instruction of a control system 1, and the driving motor 11 used in the embodiment is an integrated waterproof driving motor.

[0037] By Figure 6 As can be seen, the posture adjusting device 5 comprises a waterproof shell 502, a dynamic sealing ring 509, a rotary adjusting shaft 501, an adjusting screw 508, a coupling 507, a motor 506, a clamping fixing tool 505, fastening bolts 504 and a micro distance meter 503; the dynamic sealing ring 509 is fixed on the upper part of the waterproof shell 502, and the rotary adjusting shaft 501 is sealingly connected with the dynamic sealing ring 509; the rotary adjusting shaft 501 is provided below with the adjusting screw 508, the lower surface center of the rotary adjusting shaft 501 is provided with a threaded hole, the adjusting screw 508 is provided with an external thread, and the adjusting screw 508 is installed below the rotary adjusting shaft 501 in a threaded fit; the lower surface of the rotary adjusting shaft 501 is provided with the micro distance meter 503 for measuring the distance between the lower surface of the rotary adjusting shaft 501 and the lower surface of the waterproof shell 502; the lower part of the waterproof shell 502 is provided with the clamping fixing tool 505, the motor 506 is fixed on the clamping fixing tool 505 through the four fastening bolts 504, and the shaft of the motor 506 is fixedly connected with the lower part of the adjusting screw 508 through the coupling 507; the dynamic sealing ring 509, the rotary adjusting shaft 501, the adjusting screw 508, the coupling 507 and the shaft of the motor 506 are arranged on the same straight line.

[0038] The MEMS gyroscope acquires a real-time tilting angle signal of the reaction work platform posture in the underwater laser additive repair process and transmits the real-time tilting angle signal to the control system 1. The control system 1 comprehensively analyzes the real-time tilting angle signal and the three-dimensional panoramic real-time scanning signal acquired by the three-dimensional scanning device 6, calculates the spatial offset between the underwater in-situ repair platform and the workpiece 3 to be repaired, refers to the target additive path to issue a control instruction, and sends a traction control signal and an adjustment control signal to the underwater three-dimensional movement mechanism 12 and the posture adjusting device 5, respectively. The underwater three-dimensional movement mechanism 12 controls the underwater laser additive welding torch 7 to move linearly in three mutually perpendicular directions by using the traction control signal, so as to eliminate the spatial offset between the in-situ repair platform and the damaged part. The posture adjusting device 5 controls the motor 506 to drive the adjusting screw 508 by using the posture adjusting signal, so that the rotating adjusting shaft 501 moves up and down, and the adjusting distance is measured by the micro distance meter 503 arranged below the rotating adjusting shaft 501 and the data is transmitted to the control system 1 to complete the closed-loop feedback. The underwater in-situ repair platform is adjusted by the underwater three-dimensional movement mechanism 12 and the posture adjusting device 5 to restore to the target posture, and the repair work is continued according to the target additive repair path.

[0039] The application provides a use method of the work platform for underwater laser additive in-situ repair, which comprises the following steps:

[0040] Step one, start the air compressor 13, and compressed air enters the outer dry cavity of the underwater laser additive welding torch 7 through the quick plug pneumatic joint. When gas is discharged from the lower part of the underwater laser additive welding torch 7, the underwater three-dimensional movement mechanism 12 is placed above the workpiece 3 to be repaired by using the external clamping device, the vacuum chuck 4 is closely attached to the surface of the workpiece 3 to be repaired, so that the work platform for underwater laser additive in-situ repair and the workpiece 3 to be repaired are relatively fixed.

[0041] Step two, when the local dry cavity is stable, the underwater three-dimensional movement mechanism 12 is used to move the underwater laser additive welding torch 7 to the upper part of the workpiece 3 to be repaired, and the flexible lining skirt 705 of the telescopic drainage sealing pad is closely attached to the surface of the workpiece 3 to be repaired.

[0042] Step three, the underwater three-dimensional movement mechanism 12 drives the underwater laser additive welding torch 7 to walk above the workpiece 3 to be repaired. After the surface of the workpiece 3 to be repaired is scanned by the three-dimensional scanning device 6, the data is transmitted to the control system 1. The control system 1 performs three-dimensional modeling and spatial reconstruction on the damaged part of the workpiece 3 to be repaired, and plans the additive path.

[0043] Step four, open the protective gas cylinder 14, the protective gas enters the dry cavity of the underwater laser additive welding torch 7 through the quick plug pneumatic connector, a small local dry environment is created in the stable local dry cavity formed by the protective gas, the fiber laser 2 and the wire feeding mechanism 10 are turned on, the laser enters the underwater laser additive welding torch 7 through the glass sheet, a molten pool 708 is formed on the surface of the workpiece to be repaired, and the damaged part of the surface of the workpiece to be repaired is repaired by the wire filling type underwater laser additive repair according to the planned additive path.

[0044] Step five, after the repair work is completed, the fiber laser 2 and the wire feeding mechanism 10 are turned off, the protective gas cylinder 14 is closed, the air compressor is kept in working condition, and the stability of the local dry space inside the underwater laser additive welding torch 7 is maintained until the underwater laser additive in-situ repair work platform is completely removed from the water surface.

[0045] In the process of the above-mentioned steps three and four, the attitude adjusting device 5 is turned on and kept in normal working condition; during the underwater laser additive repair, the underwater laser additive in-situ repair work platform is deviated from the damaged part of the surface of the workpiece to be repaired due to external factors, the MEMS gyroscope 16 arranged on the upper part of the laser head is used to obtain the roll angle signal reflecting the attitude of the work platform in real time, the three-dimensional scanning device 6 arranged inside the underwater laser additive welding torch 7 is used to obtain the offset distance signal of the laser spot and the damaged part of the surface of the workpiece to be repaired in real time, the control system 1 comprehensively analyzes the roll angle signal and the offset distance signal received in real time, calculates the control amount according to the target attitude, and generates a control instruction, the control instruction of the controlled object is converted into a traction control signal and an adjustment control signal and is sent to the underwater three-dimensional motion mechanism 12 and the attitude adjusting device 5 respectively; the underwater three-dimensional motion mechanism 12 controls the underwater laser additive welding torch 7 to move linearly in three mutually perpendicular directions by using the traction control signal, so as to eliminate the spatial deviation between the in-situ repair platform and the damaged part; the attitude adjusting device 5 controls the motor 506 to drive the adjusting screw 508 by using the attitude adjusting signal, so that the rotating adjusting shaft 501 moves up and down, and the micro distance meter 503 arranged below the rotating adjusting shaft 501 measures the adjusting distance and transmits the data to the control system 1 to complete the closed-loop feedback, and the in-situ repair platform is adjusted to the target attitude by the underwater three-dimensional motion mechanism 12 and the attitude adjusting device 5.

[0046] In the description of the present application, it should be noted that the terms "center", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0047] The principles and implementation manners of the present application are described by applying specific examples in the present application, and the above description of the examples is only for the purpose of helping to understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application range. In view of the above, the content of the present application should not be understood as a limitation on the present application.

Claims

1. A working platform equipped with underwater laser additive in-situ repair equipment, characterized in that: The system includes an underwater 3D motion mechanism, with an underwater laser additive manufacturing system mounted on its top and a bottom for fixed adhesion to the workpiece to be repaired. The underwater laser additive manufacturing system includes a laser head sealing cover containing a laser head with a fiber laser externally connected via a waterproof optical fiber. An underwater laser additive welding torch is fixedly connected to the bottom of the laser head sealing cover. The top of the underwater laser additive welding torch can transmit the laser emitted by the laser head, and the bottom of the torch can be sealed to the workpiece to be repaired. The underwater laser additive welding torch contains a 3D scanning device and a wire guide tube for conveying metal wire. The underwater laser additive welding torch can be connected to the workpiece by a gas supply device. A drying chamber is provided; the underwater three-dimensional motion mechanism, the underwater laser additive manufacturing system, and the air supply device are electrically connected to the control system; the underwater three-dimensional motion mechanism includes a transverse linear slide, a longitudinal linear slide, and a vertical lifting slide; the bottom of the longitudinal linear slide is provided with an attitude adjustment device, and the bottom of the attitude adjustment device is equipped with a vacuum suction cup, which is used to fix and adsorb to the surface of the workpiece to be repaired; a MEMS gyroscope is provided inside the laser head sealing cover, and the MEMS gyroscope is fixed to the upper part of the laser head; the underwater laser additive welding torch includes a drainage device flange, and the bottom of the drainage device flange is fixedly and sealed to an inner drainage cylinder and an outer drainage cylinder; the bottom of the outer drainage cylinder is provided with a telescopic drainage sealing gasket.

2. The underwater laser additive in-situ repair platform for equipment as described in claim 1, characterized in that: A horizontal drive motor is provided on one side of the transverse linear slide, a vertical drive motor is provided on one side of the vertical lifting slide, and a vertical drive motor is provided on one end of each of the two longitudinal linear slides; a horizontal adapter plate is slidably mounted on each of the two longitudinal linear slides, and the two ends of the lower surface of the transverse linear slide are fixedly connected to the horizontal adapter plate; a vertical adapter plate is slidably mounted on one side of the transverse linear slide, and the vertical lifting slide is fixedly connected to the vertical adapter plate by screws; an adapter plate is installed on one side of the vertical lifting slide, and the laser head sealing cover is fixed on the adapter plate.

3. The underwater laser additive in-situ repair platform for equipment as described in claim 1, characterized in that: The attitude adjustment device includes a rotary adjustment shaft connected to the bottom of the longitudinal linear slide, and a waterproof housing is provided below the rotary adjustment shaft; a dynamic sealing ring is fixed at the opening on the upper part of the waterproof housing, and the rotary adjustment shaft is sealed to the inner side of the dynamic sealing ring; a threaded hole is provided at the center of the lower surface of the rotary adjustment shaft, and an adjusting screw is threaded into the threaded hole; a motor is driven to the bottom of the adjusting screw via a coupling, and the motor is mounted on a clamping and fixing tool inside the waterproof housing; a miniature rangefinder is provided on one side of the lower surface of the rotary adjustment shaft for measuring the distance between the lower surface of the rotary adjustment shaft and the lower surface of the waterproof housing.

4. The underwater laser additive in-situ repair platform for equipment as described in claim 1, characterized in that: A disc-shaped retainer is fixedly connected to the bottom of the laser head sealing cover at the center of the drainage device flange; the disc-shaped retainer has a through hole running vertically through the center, and a glass plate is sealed and installed on the through hole; the disc-shaped retainer has a wire feeding port, and the wire guide tube is installed on the wire feeding port; the three-dimensional scanning device is fixed on the lower surface of the disc-shaped retainer; multiple radial air inlets for the inner drying chamber are provided on the upper side wall of the drainage device flange; the area between the inner drainage cylinder, the outer drainage cylinder, and the drainage device flange forms the outer drying chamber, and the area between the inner drainage cylinder and the drainage device flange forms the inner drying chamber, with the air inlets of the inner drying chamber communicating with the inner drying chamber; multiple air inlets for the outer drying chamber are provided on the upper part of the outer drainage cylinder, and the air inlets of the outer drying chamber are tangent to the inner wall of the outer drainage cylinder; the telescopic drainage sealing gasket can seal against the surface of the workpiece to be repaired.

5. The underwater laser additive in-situ repair platform for equipment as described in claim 4, characterized in that: The air supply device includes an air compressor and a protective gas cylinder. The air inlet of the outer drying chamber is connected to the air outlet of the air compressor via a quick-connect pneumatic connector, and the air inlet of the inner drying chamber is connected to the air outlet of the protective gas cylinder via a quick-connect pneumatic connector.

6. The underwater laser additive in-situ repair platform for equipment as described in claim 1, characterized in that: The laser head sealing cover is equipped with a wire feeding mechanism, and the metal wire output by the wire feeding mechanism can reach the damaged part of the workpiece to be repaired through the wire guide tube.

7. The underwater laser additive in-situ repair platform for equipment as described in claim 4, characterized in that: The telescopic drainage sealing gasket includes a foldable rubber ring, the bottom of which is fixedly connected to a flexible lining skirt.

8. The underwater laser additive in-situ repair platform for equipment as described in claim 4, characterized in that: The glass sheet is an anti-reflective glass. The glass sheet is fixed to the disc-shaped fixture by a glass mounting bracket. The glass mounting bracket is threadedly connected to the disc-shaped fixture. An annular sealing ring is provided between the glass mounting bracket and the disc-shaped fixture.

9. A method of using a work platform for in-situ underwater laser additive repair of equipment as described in any one of claims 1 to 8, characterized in that: Includes the following steps: Step 1: Turn on the air compressor and compress the air into the outer drying chamber of the underwater laser additive welding torch. When gas escapes from the lower part of the underwater laser additive welding torch, place the underwater three-dimensional motion mechanism above the underwater workpiece to be repaired and ensure that the vacuum suction cup is in close contact with the surface of the workpiece to be repaired. Step 2: When the external drying chamber is stable, the underwater laser additive welding torch is moved to the top of the workpiece to be repaired using the underwater three-dimensional motion mechanism, and the flexible liner of the telescopic drainage sealing gasket is tightly attached to the surface of the workpiece to be repaired. Step 3: The underwater 3D motion mechanism drives the underwater laser additive welding torch to move above the workpiece to be repaired. After the 3D scanning device scans the surface of the workpiece to be repaired, the data is transmitted to the control system. The control system performs 3D modeling and spatial reconstruction of the damaged part of the workpiece to be repaired and plans the additive path. Step 4: Turn on the protective gas cylinder and the protective gas enters the inner drying chamber of the underwater laser additive welding torch. Turn on the fiber laser and wire feeding mechanism and perform wire-filling underwater laser additive repair on the damaged parts of the workpiece surface according to the planned additive path. Step 5: After the repair work is completed, turn off the fiber laser and wire feeding mechanism, shut off the protective gas cylinder, maintain the working state of the air compressor, and keep the outer drying chamber of the underwater laser additive welding torch stable until the underwater laser additive in-situ repair equipment is completely removed from the water surface.

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