An underwater laser welding optical fiber replacement device, robot and optical fiber replacement method

Abstract

The application provides an underwater laser welding optical fiber replacement device, a robot and an optical fiber replacement method, and relates to the technical field of laser welding.The technical problem that the prior art underwater laser welding optical fiber replacement is complex, time-consuming and labor-intensive is solved.The underwater laser welding optical fiber replacement device comprises a drainage device, a traveling device, a plugging device and a transposition mechanism.When the optical fiber needs to be corrected, the traveling device drives the optical fiber to travel to an abnormal position and adjust the position of the corrected optical fiber.When the optical fiber needs to be replaced, the traveling device drives the device carrying the spare optical fiber to travel to a specified position, the drainage device forms a local air chamber in the casing, the damaged detection optical fiber is pulled out through the plugging device, the position of the detection optical fiber and the spare optical fiber is exchanged through the transposition mechanism, and the replacement of the underwater optical fiber is completed by inserting the spare optical fiber into the laser head through the plugging device.The application realizes the quick replacement of the underwater laser welding optical fiber in the simulated air environment, and saves time and labor.

Description

Technical Field

[0001] This invention relates to the field of laser welding technology, and in particular to an underwater laser welding fiber replacement device, robot, and fiber replacement method. Background Technology

[0002] In the field of laser welding, the laser and laser head are connected via laser fiber. Currently, most laser fiber replacements are performed in the air when the laser is not in operation. However, in underwater laser welding, due to the greater distance between the laser and laser head, the fiber is easily damaged by bending or other factors during transportation, assembly, and operation, causing it to stop working and affecting welding efficiency. In such cases, replacement can only be performed underwater by specialized divers carrying equipment, or by raising the underwater welding equipment to the air for replacement. Both methods are complex, time-consuming, labor-intensive, and delay the work cycle. Summary of the Invention

[0003] The purpose of this invention is to provide an underwater laser welding fiber replacement device, robot, and fiber replacement method, which at least solves the technical problems of complex, time-consuming, and labor-intensive fiber replacement in underwater laser welding existing technologies. The various technical effects of the preferred solutions among the many technical solutions provided by this invention are detailed below.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] The present invention provides an underwater laser welding fiber replacement device, comprising:

[0006] chassis;

[0007] A drainage device, installed in the housing, is used to drain water from inside the housing and form a local air chamber inside the housing;

[0008] The propulsion device can move the underwater laser welding fiber replacement device to the designated position;

[0009] A plug-in / plug-out device, which is installed in the housing, is capable of unplugging the damaged detection fiber from the laser head or plugging a spare fiber into the laser head.

[0010] A switching mechanism, installed in the housing, is used to switch the positions of the detection optical fiber and the spare optical fiber.

[0011] Optionally, the drainage device includes an air supply assembly, the gas outlet of which is connected to the housing.

[0012] Optionally, the traveling device includes a propeller device and a tracked clamping guide device. The propeller device is mounted on the housing. The tracked clamping guide device is mounted on the shifting mechanism, and the tracked clamping guide device includes three sets of tracked traveling components that can form a triangular clamping structure around the optical fiber.

[0013] Optionally, each of the tracked travel components includes a hydraulic mechanism, a transmission rod, and track wheels. The hydraulic mechanism is connected to the track wheels via the transmission rod, causing the track wheels to press or release the optical fiber.

[0014] Optionally, the propeller device includes an offset mechanism that enables it to rotate in both the horizontal and vertical planes, thereby allowing the underwater laser welding fiber replacement device to offset within a certain range to correct the bent fiber.

[0015] Optionally, the insertion / removal device includes a translation platform disposed on the housing and a robotic arm mounted on the translation platform.

[0016] Optionally, the switching mechanism includes a drive motor, an inner flange, and an outer flange;

[0017] The outer flange includes an inner flange and an outer flange, with the inner flange rotatably mounted on the outer flange. The inner flange has two centrally symmetrical external optical fiber holes, and the inner flange has two centrally symmetrical internal optical fiber holes at corresponding positions. The inner flange and the inner flange are fixedly connected by multiple flange connecting rods and can rotate synchronously.

[0018] The present invention provides an underwater laser welding fiber replacement robot, comprising a control device, a sensor, and any of the above-described underwater laser welding fiber replacement devices; the sensor is connected to the control device and transmits the collected signals to the control device; the control device is connected to the traveling device to control the movement of the traveling device.

[0019] Optionally, the sensor includes a vibration sensor, an infrared sensor, and a water pressure sensor.

[0020] The present invention provides a fiber replacement method for an underwater laser welding fiber replacement robot based on any of the above-described methods, comprising the following steps:

[0021] When an optical fiber bends and generates an abnormal signal, determine whether the optical fiber needs to be corrected or replaced.

[0022] If the optical fiber needs to be corrected, the underwater laser welding optical fiber replacement robot will move to the abnormal position and adjust the optical fiber by using the propeller device of the traveling device to restore the optical fiber to working condition.

[0023] If the optical fiber needs to be replaced, the underwater laser welding optical fiber replacement robot carries the spare optical fiber to the designated location to complete the replacement.

[0024] This invention provides an underwater laser welding fiber replacement device. When the fiber needs calibration, the traveling device moves the underwater laser welding fiber replacement device to the abnormal position and adjusts the fiber within a certain range to restore its operation. When the fiber needs replacement, the traveling device moves the underwater laser welding fiber replacement device carrying the spare fiber to the designated position. A drainage device drains the water from the casing, creating a local air chamber inside the casing to simulate an air environment. The damaged detection fiber is then removed from the laser head via a plug-in device. The positions of the detection fiber and the spare fiber are swapped via a switching mechanism, and then the spare fiber is plugged into the laser head via the plug-in device, completing the underwater fiber replacement. Using this invention, underwater laser welding fiber replacement can be quickly and efficiently performed in a simulated air environment, saving time and effort. This underwater laser welding fiber replacement robot uses sensor signals to detect the fault type and then controls the robot's movements via a control device, conveniently and quickly completing the calibration and replacement of underwater laser welding fibers without requiring divers to enter the water. The underwater laser welding fiber replacement method of this invention solves the problems of complex, time-consuming and labor-intensive fiber replacement in existing underwater laser welding technologies. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a three-dimensional structural diagram of an underwater laser welding fiber replacement robot from a first-view perspective, provided by a specific embodiment of the present invention.

[0027] Figure 2 This is a three-dimensional structural diagram of an underwater laser welding fiber replacement robot from a second perspective, provided in a specific embodiment of the present invention.

[0028] Figure 3 This is a three-dimensional structural diagram of an underwater laser welding fiber replacement robot after the casing has been removed, provided by a specific embodiment of the present invention.

[0029] Figure 4 This is a three-dimensional structural diagram of the connection relationship between the underwater laser welding fiber replacement robot insertion and removal device, inner flange, and fiber, provided by a specific embodiment of the present invention.

[0030] Figure 5 This is a first-view three-dimensional structural diagram of the connection relationship between the tracked clamping and guiding device, the outer flange and the optical fiber of an underwater laser welding optical fiber replacement robot provided in a specific embodiment of the present invention.

[0031] Figure 6 This is a second-view three-dimensional structural diagram of the connection relationship between the tracked clamping and guiding device, the outer flange and the optical fiber of an underwater laser welding optical fiber replacement robot provided in a specific embodiment of the present invention.

[0032] Figure 7 This is a schematic diagram of the structure of a tracked traveling component provided in a specific embodiment of the present invention.

[0033] In the diagram: 1. Drainage cover; 2. Sealing groove; 3. Housing; 4. Vision positioning device; 5. Disposable gas cylinder; 6. Quick-connect coupling; 7. Tracked clamping guide device; 7-1. Hydraulic cylinder; 7-2. Hydraulic screw; 7-3. Transmission rod; 7-4. Moving track; 7-5. Infrared sensor; 8. Detection fiber optic cable; 9. Spare fiber optic cable; 10. Propeller assembly; 11. Outer flange; 11-1. Ball bearing; 11-2. Flange inner plate; 1-3. Inner ball bearing; 12. Flange connecting rod; 13. Inner flange; 13-1. Ball bearing; 14. Drive motor; 15. Circuit board; 16. Translation platform; 16-1. Stepper motor; 16-2. Translation base; 16-3. Lead screw; 17. Robotic arm; 17-1. Servo motor; 17-2. Gripper; 17-3. Gear transmission mechanism; 18. Fiber optic connector; 19. Vibration sensor; 20. Water pressure sensor. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0035] On one hand, the present invention provides an underwater laser welding fiber replacement device, comprising:

[0036] Casing 3;

[0037] A drainage device, installed in the housing 3, is used to drain water from the inner cavity of the housing 3, forming a local air chamber inside the housing 3;

[0038] The propulsion device can move the underwater laser welding fiber replacement device to the designated position;

[0039] The insertion and removal device, which is installed in the housing 3, can remove the damaged detection fiber 8 from the laser head or insert the spare fiber 9 into the laser head.

[0040] The switching mechanism, installed in the housing 3, is used to switch the positions of the detection fiber 8 and the spare fiber 9.

[0041] When the optical fiber needs calibration, the traveling device moves the underwater laser welding optical fiber replacement device to the abnormal position and adjusts the optical fiber to a certain range of offset, restoring its operation. When the optical fiber needs replacement, the traveling device moves the underwater laser welding optical fiber replacement device carrying the spare optical fiber 9 to the designated position. A drainage device drains the water from the housing 3, creating a localized air chamber within the housing 3 to simulate an air environment. The damaged detection optical fiber 8 is then removed from the laser head via a plug-in device. The positions of the detection optical fiber 8 and the spare optical fiber 9 are swapped via a switching mechanism, and the spare optical fiber 9 is then plugged into the laser head via the plug-in device, completing the underwater optical fiber replacement. Using this invention, rapid replacement of underwater laser welding optical fibers can be achieved in a simulated air environment, saving time and effort.

[0042] As an optional implementation, the drainage device includes an air supply assembly, the gas outlet of which is connected to the housing 3. The drainage device continuously compresses the water inside the housing 3, forming a localized air chamber within the housing 3, thereby simulating an air environment.

[0043] Specifically, the gas supply component is a disposable gas cylinder 5, which is connected to the inner cavity of the housing 3 via a quick-connect fitting 6. Water is expelled using gas pressure, which is convenient and quick; moreover, the quick-connect fitting 6 allows for rapid replacement of the disposable gas cylinder 5 after it is used up, saving time and effort.

[0044] As an optional implementation, the traveling device includes a propeller assembly 10 and a tracked clamping guide device 7. The propeller assembly 10 is mounted on the bottom side of the housing 3. The tracked clamping guide device 7 is mounted on the switching mechanism and includes three sets of tracked traveling components, which can form a triangular clamping structure around the optical fiber. The three sets of tracked traveling components form a triangular clamping structure around the optical fiber, creating a stable pressing surface with high reliability. The tracked clamping guide device 7 allows the entire device to move along the optical fiber, providing guidance and facilitating the detection of the optical fiber by sensors. The propeller assembly 10 provides the device with traveling power, and the entire replacement device can achieve a certain range of offset, thereby correcting the optical fiber.

[0045] As an optional implementation, each tracked travel assembly includes a hydraulic mechanism, a drive rod 7-3, and a track wheel. The hydraulic mechanism is connected to the track wheel via the drive rod 7-3 to press or release the optical fiber.

[0046] Utilizing a hydraulic mechanism, it can react quickly, achieving rapid tightening or loosening, resulting in high work efficiency.

[0047] The hydraulic mechanism includes a hydraulic cylinder 7-1 and a hydraulic lead screw 7-2; the transmission rod 7-3 is a connecting lead screw, and the hydraulic lead screw 7-2 transmits kinetic energy to the moving track 7-4 of the track wheel through the connecting lead screw. Under the action of the hydraulic mechanism, the track wheel can press or release the optical fiber. When the track wheel approaches the optical fiber, the track on the track wheel abuts against the outer surface of the optical fiber, forming a triangular clamping structure that guides the entire device to move along the optical fiber; when the track wheel releases and moves away from the optical fiber, the triangular clamping structure opens.

[0048] As an optional implementation, the propeller device 10 includes an offset mechanism that enables it to rotate in both horizontal and vertical planes, thereby allowing the underwater laser welding fiber replacement device to offset within a certain range to correct the bent fiber. The offset mechanism enables the propeller device 10 to rotate up and down and left and right, thereby causing the housing 3 to move the entire replacement device in a positional offset, adjusting the bent fiber back into place, and resuming operation.

[0049] As an optional implementation, the insertion / removal device includes a translation platform 16 disposed on the housing 3 and a robotic arm 17 mounted on the translation platform 16. The robotic arm 17 can grip the optical fiber, and the movement of the translation platform 16 drives the robotic arm 17 to move, thereby enabling the optical fiber connector 18 of the detection optical fiber 8 to be removed from the laser head or the connector of the spare optical fiber 9 to be inserted into the laser head.

[0050] The translation platform 16 includes a translation base 16-2, a lead screw 16-3 and a stepper motor 16-1 mounted on the translation base 16-2. The stepper motor 16-1 is connected to the lead screw 16-3 for transmission. The robotic arm 17 is mounted on the lead screw 16-3. The robotic arm 17 includes a bracket, a servo motor 17-1, a gear transmission mechanism 17-3, and grippers 17-2. The bracket is threaded to the lead screw 16-3. The servo motor 17-1 is fixed to the bracket. The output shaft of the servo motor 17-1 is connected to the gear transmission mechanism 17-3. The gear transmission mechanism 17-3 drives the grippers 17-2 to open or close. The inner side of the grippers 17-2 is provided with a textured surface to increase the friction between the grippers and the optical fiber.

[0051] As an optional implementation, the switching mechanism includes a drive motor 14, an inner flange 13, and an outer flange 11;

[0052] The outer flange 11 includes an inner flange plate 11-2 and an outer flange plate, with the inner flange plate 11-2 rotatably mounted on the outer flange plate. The inner flange plate 11-2 has two centrally symmetrical external optical fiber holes, and the inner flange 13 has two centrally symmetrical internal optical fiber holes at corresponding positions. The inner flange 13 and the inner flange plate 11-2 are fixedly connected by multiple flange connecting rods 12, enabling synchronous rotation. A first tracked traveling assembly and a second tracked traveling assembly are spaced apart on the outer flange plate, and a third tracked traveling assembly is mounted at the center of the inner flange plate 11-2, forming the three vertices of a triangle on the projected plane.

[0053] The drive motor 14 is located on the inner flange 13 on the side opposite to the outer flange 11 and is connected to the inner flange 13 for transmission. An inner ball bearing 11-3 is located at the center of the inner flange 11-2, and the third tracked traveling assembly is installed at the center of the inner ball bearing 11-3 to ensure that the third tracked traveling assembly does not rotate with the inner flange 11-2.

[0054] It should be noted that when the detection fiber 8 needs to be replaced, the fiber optic connector of the spare fiber 9 passes through the first fiber outer hole and the first fiber inner hole and is located in the inner cavity of the housing 3; this allows the spare fiber 9 to be carried during movement. The end of the detection fiber 8 located on the laser side is inserted through the through groove on the drainage cover 1 on one side of the housing 3, then passes through the second fiber inner hole and the second fiber outer hole in sequence, and then exits from the other side of the housing 3. This facilitates movement along the detection fiber 8 and detection of abnormalities.

[0055] The underwater laser welding fiber replacement device of the present invention can perform simple repair and adjustment when the underwater fiber optic cable is abnormal. When the detection fiber optic cable 8 is not working, it can be quickly replaced underwater by the spare fiber optic cable 9 carried on board, thereby realizing timely inspection and replacement of underwater laser welding fiber optic cables and improving work efficiency.

[0056] On the other hand, the present invention also provides an underwater laser welding fiber replacement robot, including a control device, a sensor, and any one of the above underwater laser welding fiber replacement devices; the sensor is connected to the control device and transmits the collected signals to the control device; the control device is connected to the traveling device to control the movement of the traveling device.

[0057] This invention relates to an underwater laser welding fiber replacement robot. It uses sensors to detect signals and determine the fault type, and then controls the robot's movements through a control device to conveniently and quickly complete the correction and replacement of underwater laser welding fibers without the need for divers to enter the water.

[0058] like Figures 1-7 As shown in the figure, a specific embodiment of the present invention provides an underwater laser welding fiber replacement robot. Functionally, it can be divided into two parts:

[0059] The first part is the underwater laser fiber replacement section, which includes a housing 3, a drainage device, a plug-in / plug-out device, and a repositioning mechanism. A drainage cover 1 is installed on the front side of the housing 3, and the inner cavity of the drainage cover 1 is connected to the inner cavity of the housing 3. A visual positioning device 4 is installed on the housing 3 above the drainage cover 1. An air inlet mounting hole is opened on the top side of the housing 3, and a disposable gas cylinder 5 is installed at the air inlet mounting hole via a quick-connect connector 6. The plug-in / plug-out device and the repositioning mechanism are installed on the housing 3. The plug-in / plug-out device includes a translation platform 16, a servo motor 17-1, and a robotic arm 17; the repositioning mechanism includes an inner flange 13, an outer flange 11, a flange connecting rod 12, and a drive motor 14. When the fiber optic cable fails to function, the robot travels along the fiber optic cable. When it reaches the side where the fiber optic cable connects to the laser head, the drainage cover 1 is pressed against the laser head. A sealing groove 2 is opened around the opening of the drainage cover 1, and the outside of the sealing groove 2 is covered with foamed silicone. After the drainage cover 1 is pressed against the laser head, the luminescent silicone acts as a seal. At this time, the disposable gas cylinder 5 begins to drain water. A humidity sensor is located on the circuit board 15 inside the housing 3. When the set humidity value is reached, the robotic arm 17, driven by the servo motor 17-1, clamps the optical fiber. Then, under the control of the translation platform 16, it can perform single-degree-of-freedom movement, allowing the robotic arm 17 to grip the optical fiber and move away from the laser head to pull out the damaged optical fiber connector. After pulling it out, the robotic arm 17 releases the damaged optical fiber, and the drive motor 14 at the center of the inner flange 13 rotates. The inner and outer flanges 11 have symmetrically shaped holes through which two optical fibers pass. The inner flange 13 and outer flange 11 are connected by a flange connecting rod 12. Both the inner flange 13 and outer flange 11 have ball bearings (13-1, 11-1) on their outer sides, ensuring that the optical fibers remain aligned after swapping and do not become entangled. Simultaneously, the outer flange 11 has another set of inner ball bearings 11-3 at its center, connected to a third tracked traveling assembly, ensuring that the swapping of the optical fibers does not affect the robot's movement. After the optical fibers are swapped, the robotic arm 17 re-clamps the spare optical fiber 9. With the help of the head vision positioning device 4, the connector of the spare optical fiber 9 is reinserted into the laser head. The optical fibers of the water laser are replaced manually. After the replacement is complete, the robot can return along the original route.

[0060] The second part is the robot's motion component, including a propeller assembly 10 and a tracked gripping and guiding device 7. The tracked gripping and guiding device comprises three sets of tracked traveling components, arranged in a circular array around the optical fiber. Each set carries an infrared sensor 7-5, a vibration sensor 19, and a water pressure sensor 20. Each tracked traveling component includes a hydraulic mechanism, a transmission rod 7-3, and track wheels. Adjustment by the hydraulic mechanism allows the track wheels to press and release the optical fiber, ensuring smooth movement. The propeller assembly 10 primarily provides power for the underwater robot's movement and can rotate up, down, left, and right, allowing the robot to deflect the optical fiber within a small range. When the optical fiber connection is faulty or broken, a high-frequency vibration signal is generated. Under normal circumstances, the vibration signal is relatively small. The vibration sensor 19 on the traveling device can receive this signal and, based on test data and experience, classify and judge the signal to confirm the type and degree of optical fiber abnormality. When an optical fiber bends and generates an abnormal signal, the robot moves along the fiber. When the fiber breaks or has a poor connection, the laser energy in the fiber is scattered due to the inability to transmit the light signal normally, resulting in a significant change in the infrared radiation signal. The robot is equipped with an infrared sensor 7-5 to detect the fiber's status. When it enters an abnormal position, the propeller device 10 deflects the fiber to restore its function. If the detected fiber 8 cannot be repaired, the robot carries a spare fiber 9 forward and replaces the fiber at the designated point. The water pressure sensor 20 on the robot's traveling device monitors the water pressure in real time. All sensors, as well as the control devices connected to the traveling device and the vision positioning device 4, are integrated into the circuit board 15, allowing for remote monitoring and control.

[0061] Thirdly, the present invention also provides a fiber replacement method for an underwater laser welding fiber replacement robot based on any of the above, characterized by comprising the following steps:

[0062] When an optical fiber bends and generates an abnormal signal, determine whether the optical fiber needs to be corrected or replaced.

[0063] If the optical fiber needs to be corrected, the underwater laser welding optical fiber replacement robot will move to the abnormal position and adjust the optical fiber by using the propeller device of the traveling device to restore the optical fiber to working condition.

[0064] If the optical fiber needs to be replaced, the underwater laser welding optical fiber replacement robot carries the spare optical fiber to the designated location to complete the replacement.

[0065] The underwater laser welding fiber replacement method of this invention solves the problems of complex, time-consuming and labor-intensive fiber replacement in existing underwater laser welding technologies.

[0066] In the description of the invention, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0067] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0068] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An underwater laser welding fiber changer, characterized by, The underwater laser welding optical fiber replacement device comprises a casing, a drainage device installed in the casing for draining water in the casing to form a local air chamber in the casing, a traveling device capable of driving the underwater laser welding optical fiber replacement device to travel to a designated position, a plug-pull device installed in the casing and capable of pulling off a damaged detection optical fiber from a laser head or plugging a spare optical fiber to the laser head, and a transposition mechanism installed in the casing for transposing the detection optical fiber and the spare optical fiber. The traveling device comprises a propeller device installed in the casing and a track-type clamping guide device installed in the transposition mechanism and comprising three track-type traveling assemblies capable of forming a triangular clamping structure around the optical fiber. The drainage device comprises a gas supply assembly, and a gas outlet of the gas supply assembly is communicated with the casing. Each track-type traveling assembly comprises a hydraulic mechanism, a transmission rod and a track wheel, and the hydraulic mechanism is in transmission connection with the track wheel through the transmission rod to press or release the optical fiber. The propeller device comprises a deviation mechanism capable of rotating in a horizontal plane and a vertical plane, so that the underwater laser welding optical fiber replacement device can deviate in a certain range to correct the bent optical fiber. The plug-pull device comprises a translation platform arranged in the casing and a mechanical arm installed on the translation platform. The transposition mechanism comprises a driving motor, an inner flange and an outer flange.

2. The underwater laser welding fiber changer according to claim 1, characterized in that, The outer flange comprises an inner flange disc and an outer flange disc, the inner flange disc is rotatably arranged in the outer flange disc, two optical fiber outer holes are symmetrically arranged on the inner flange disc, two optical fiber inner holes are symmetrically arranged on the inner flange at corresponding positions, and the inner flange and the inner flange disc are fixedly connected through a plurality of flange connecting rods to be synchronously rotated.

3. The underwater laser welding fiber changer of claim 1, wherein, The underwater laser welding optical fiber replacement device comprises a control device, a sensor and any one of the underwater laser welding optical fiber replacement devices in claims 1-6, the sensor is connected with the control device and transmits collected signals to the control device, the control device is connected with the traveling device to control the action of the traveling device.

4. The underwater laser welding fiber changer of claim 1, wherein, The sensor comprises a vibration sensor, an infrared sensor and a water pressure sensor.

5. The underwater laser welding fiber changer of claim 1, wherein, The underwater laser welding optical fiber replacement device comprises the following steps:

6. The underwater laser welding fiber changer of claim 1, wherein, When the optical fiber is bent to generate an abnormal signal, it is determined whether the optical fiber needs to be corrected or replaced; If the optical fiber needs to be corrected, the underwater laser welding optical fiber replacement robot travels to an abnormal position, adjusts the optical fiber through the propeller device of the traveling device to deviate, and restores the optical fiber to work; 7. An underwater laser welding fiber optic replacement robot, characterized by, If the optical fiber needs to be replaced, the underwater laser welding optical fiber replacement robot carries a spare optical fiber to travel to a designated position to complete the replacement of the optical fiber. ​ 8. The underwater laser welding fiber changer robot according to claim 7, characterized in that, ​ 9. A fiber replacement method for an underwater laser welding fiber replacement robot according to claim 7 or 8, characterized by, ​ ​ ​ ​

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