An underwater welding robot and a continuous welding method

Abstract

The application provides an underwater welding robot and a continuous welding method, which comprises a carrying welding module, a drainage cover and a fixing part, the drainage cover is installed on the carrying welding module, the fixing part is arranged in the drainage cover, and the fixing part extends out through a drainage hole; the underwater welding robot further comprises a passive telescopic mechanism and a displacement mechanism, the passive telescopic mechanism is arranged in the drainage cover, and the displacement mechanism is arranged on the passive telescopic mechanism; and the carrying welding module is a power source for changing the passive telescopic mechanism from a reset state to a contraction state. According to the above structure, the passive telescopic mechanism does not need to be driven by a separate power mechanism, so that the overall structure of the underwater welding robot is simplified, the volume, weight and failure risk are reduced, and meanwhile, the carrying welding module can apply a pushing force to the displacement mechanism to resist the to-be-welded object, so that the stability of displacement is maintained.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ocean engineering, and in particular to an underwater welding robot and a continuous welding method. BACKGROUND

[0002] In the process of ocean engineering construction and engineering equipment maintenance, underwater welding has become an indispensable technology. Currently, many underwater welding operations are performed by manual welding on site. However, manual work cannot be performed in deep, narrow workspaces, and harsh underwater environments with strong nuclear radiation. Therefore, underwater welding robots are needed to perform automatic welding work.

[0003] The existing invention patent with the authorization announcement number CN114669933B discloses an underwater welding robot and an operation process thereof. Four telescopic wheel frames are arranged to contact the robot and the workpiece to ensure the stability of the welding work. The telescopic wheel frame includes a telescopic support, and the telescopic support includes a wheel frame ball screw mechanism. When adjusting, the wheel motor drives the screw rod at the center of the telescopic support to rotate, drives the sliding block to slide under the guidance of the four guide rails, and makes the sliding block move stably in the vertical direction, thereby realizing the extension adjustment posture.

[0004] As described above, the above technical solution is a wet operation robot and cannot perform dry operation. Meanwhile, the telescopic wheel frame is adjusted by a motor as the power mechanism and a ball screw as the actuator. Since the ball screw is a precision transmission component, it needs to ensure good sealing performance to prevent seawater from entering when used in a deep-sea high-pressure environment. This makes the application cost high, and the arrangement of the motor increases the number of power supply and control cables and corresponding fixing parts, causing the robot structure to be complex, the volume and weight to increase, and the robot to be inconvenient for throwing, recovering, and maintaining.

[0005] Another invention patent application with the application publication number CN114918515A discloses a high-adaptability multi-posture local dry underwater TIG welding device. Although the device can perform dry welding, it does not have a power component and can only rely on an underwater motion platform for transportation when displacing. Since the specific structure of the underwater motion platform is not disclosed, it is unclear how to ensure the stability of underwater displacement. SUMMARY

[0006] Therefore, the present application provides an underwater welding robot and a continuous welding method, which have the advantages of light structure and stable displacement, to solve the problems of complex structure and inconvenient application of the existing underwater welding device.

[0007] The technical solution of the present application is as follows:

[0008] In one aspect, the present application provides an underwater welding robot, comprising a carrying welding module and a drainage cover, wherein,

[0009] The carrying welding module is movable in six degrees of freedom, and has a power assembly for displacement and a welding assembly for welding;

[0010] The drainage cover is mounted on the carrying welding module, and a drainage hole is formed on the side of the drainage cover away from the carrying welding module, and the welding assembly of the carrying welding module extends into the drainage cover;

[0011] Further comprising a fixing member, a passive telescopic mechanism and a displacement mechanism, wherein,

[0012] The fixing member is arranged in the drainage cover, and the fixing member extends out through the drainage hole;

[0013] The passive telescopic mechanism is arranged in the drainage cover;

[0014] The displacement mechanism is arranged on the passive telescopic mechanism, and when the passive telescopic mechanism is in a reset state, the displacement mechanism extends out through the drainage hole, and the extension distance of the displacement mechanism is greater than the extension distance of the fixing member, and when the passive telescopic mechanism is in a contracted state, the displacement mechanism is accommodated in the drainage cover;

[0015] The carrying welding module is a power source for the passive telescopic mechanism to change from the reset state to the contracted state.

[0016] On the basis of the above technical scheme, preferably, further comprising a locking member, the locking member is used for locking the contracted state of the passive telescopic mechanism.

[0017] On the basis of the above technical scheme, preferably, the passive telescopic mechanism comprises a carrier, a slide rod, a limiting plate, a spring and a fixing plate, wherein,

[0018] The carrier is connected with the drainage cover;

[0019] The slide rod penetrates through the carrier;

[0020] The limiting plate is arranged on one end of the slide rod facing the inside of the drainage cover;

[0021] The spring is sleeved on the slide rod, and the spring is arranged on both sides of the carrier;

[0022] The fixing plate is arranged on the slide rod, and the fixing plate abuts against the spring on the side of the carrier away from the limiting plate;

[0023] The displacement mechanism is arranged on the end of the slide rod away from the limiting plate.

[0024] On the basis of the above technical scheme, preferably, the locking member is an electromagnetic chuck, the electromagnetic chuck is arranged on the carrier, and the electromagnetic chuck is used for adsorbing the fixing plate when the displacement mechanism is in the reset state.

[0025] On the basis of the above technical scheme, preferably, the fixing plate is provided with a positioning hole corresponding to the electromagnetic chuck.

[0026] On the basis of the above technical scheme, preferably, the welding chamber box is arranged in the drain cover.

[0027] The welding chamber box is in a cylindrical structure and divides the inner cavity of the drain cover into the first chamber, the second chamber and the third chamber in parallel, wherein,

[0028] The first chamber and the third chamber are located on the two sides of the second chamber in opposition, and the welding assembly carrying the welding module is located in the second chamber.

[0029] The first chamber and the third chamber are both provided with the passive telescopic mechanism, the displacement mechanism and the fixing member.

[0030] On the basis of the above technical scheme, preferably, the screw rod, the nut, the threaded cylinder and the sealing cover are further included, wherein,

[0031] The screw rod is arranged on the welding chamber box and penetrates the drain cover.

[0032] The nut is connected with one end of the screw rod located outside the drain cover.

[0033] The threaded cylinder is arranged on the outer wall of the drain cover and surrounds one end of the screw rod located outside the drain cover.

[0034] The sealing cover is screw-coupled with the threaded cylinder.

[0035] On the basis of the above technical scheme, preferably, an assembly hole is arranged on the side of the drain cover away from the drain hole, and the welding mechanism carrying the welding module extends into the drain cover through the assembly hole.

[0036] On the basis of the above technical scheme, preferably, the fixing member is a vacuum chuck and / or a magnetic chuck.

[0037] On the other hand, the present application provides a continuous welding method, which applies the above-mentioned underwater welding robot and includes the following steps:

[0038] S1, placing the underwater welding robot in water and displacing the welding module to the working area;

[0039] S2, adjusting the posture of the welding module until the displacement mechanism abuts against the to-be-welded object and the drain hole of the drain cover corresponds to the to-be-welded area.

[0040] S3, continuing to displace the drain cover with the welding module to compress the passive telescopic mechanism, so that the displacement mechanism is accommodated in the drain cover, and the fixing member abuts against the to-be-welded object, thereby relatively fixing the underwater welding robot and the to-be-welded object through the fixing member.

[0041]

[0041] S4, locking the passive telescopic mechanism in the contracted state by the locking member;

[0042] S5, supplying air pressure in the drainage cover of the pressurizing mechanism box to drain the water body through the drainage hole;

[0043] S6, stopping the power assembly carrying the welding module after recording the working condition, and the welding assembly carrying the welding module performs welding work;

[0044] S7, after the welding is completed, the welding assembly carrying the welding module is stopped, the power assembly carrying the welding module is started, and the previous working condition is restored;

[0045] S8, the fixing member releases the relative fixation of the underwater welding robot and the object to be welded, and the locking member releases the state locking of the passive telescopic mechanism;

[0046] S9, the power assembly carrying the welding module reduces the propulsion power to the object to be welded, so that the fixing member is separated from the object to be welded, and then the underwater welding robot is driven by the carrying welding module to walk on the surface of the welding object through the displacement mechanism;

[0047] S10, after the underwater welding robot is displaced to the next welding area, steps S3, S4, S6-S9 are repeated.

[0048] The underwater welding robot and the continuous welding method have the following beneficial effects compared with the prior art:

[0049] (1) The passive telescopic mechanism is used to adjust the position of the displacement mechanism, so that the fixing member can be selectively fixed to the object to be welded, and the power source of the passive telescopic mechanism is the carrying welding module. The passive telescopic mechanism does not need to be separately provided with a power mechanism for driving, which simplifies the overall structure of the underwater welding robot, reduces the volume, weight and failure risk, and at the same time, the carrying welding module can apply a thrust to the displacement mechanism when moving the underwater welding robot, which can maintain the stability of the displacement;

[0050] (2) The passive telescopic mechanism is converted to a reset state by a spring, and the underwater welding robot is provided with a locking member for locking the contracted state of the passive telescopic mechanism, which can avoid the influence of the elasticity of the spring on the fixing performance of the fixing member, and is conducive to ensuring the welding posture to improve the welding quality;

[0051] (3) The drainage cover is provided with a welding chamber box for dividing the internal area of the drainage cover, so that the welding assembly carrying the welding module and the displacement mechanism are regionally divided, which can avoid the influence of welding slag on the displacement mechanism, and is conducive to presetting the welding action area to avoid damage caused by interference between components. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to make the technical solutions of the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only need to be some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0053] Figure 1 A perspective view of the underwater welding robot of the present application;

[0054] Figure 2 A structure diagram of the carrying welding module of the underwater welding robot of the present application;

[0055] Figure 3 A bottom view of the drain cover of the underwater welding robot of the present application;

[0056] Figure 4 A perspective view of the drain cover of the underwater welding robot of the present application;

[0057] Figure 5 A front view of the drain cover of the underwater welding robot of the present application;

[0058] Figure 6 An exploded structure diagram of the drain cover, passive telescopic mechanism, displacement mechanism and welding chamber box of the underwater welding robot of the present application;

[0059] Figure 7 An internal structure diagram of the drain cover of the underwater welding robot of the present application;

[0060] Figure 8 A perspective view of the fixing part, passive telescopic mechanism and displacement mechanism of the underwater welding robot of the present application;

[0061] Figure 9 A structure diagram of the passive telescopic mechanism of the underwater welding robot of the present application in a reset state;

[0062] Figure 10 A structure diagram of the passive telescopic mechanism of the underwater welding robot of the present application in a contracted state;

[0063] Figure 11 A wet welding structure diagram of the underwater welding robot of the present application.

[0064] In the diagram: 1. Transport welding module; 111. Main body; 112. Powertrain; 113. Welding assembly; 114. Support leg; 2. Drainage cover; 201. Drainage hole; 202. First chamber; 203. Second chamber; 204. Third chamber; 205. Assembly hole; 3. Fixing component; 401. Positioning hole; 4. Passive telescopic mechanism; 41. Carrier frame; 42. Slide rod; 43. Limiting plate; 44. Spring; 45. Fixing plate; 5. Displacement mechanism; 6. Locking component; 7. Welding chamber box; 8. Screw; 9. Nut; 10. Threaded cylinder; 11. Sealing cover. Detailed Implementation

[0065] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0066] like Figures 1-11 As shown, the underwater welding robot of the present invention includes a transport welding module 1, a drainage cover 2, a fixing component 3, a passive telescopic mechanism 4, a displacement mechanism 5, a locking component 6, a welding chamber box 7, a screw 8, a nut 9, a threaded cylinder 10, and a sealing cover 11.

[0067] The transport welding module 1 is capable of six degrees of freedom of movement and has a power assembly 112 for displacement and a welding assembly 113 for welding.

[0068] like Figure 1 and Figure 2 As shown, the transport welding module 1 includes a main body 111, a power assembly 112 and a welding assembly 113. The main body 111 is the main body of the submersible. The power assembly 112 is mounted on the main body 111 and can be an underwater propulsion component such as a propeller. The welding assembly 113 is also mounted on the main body 111 and can be a combination of a robotic arm and a welding head.

[0069] like Figure 1 As shown, the drainage cover 2 is installed on the transport welding module 1, and the side of the drainage cover 2 away from the transport welding module 1 has a drainage hole 201. The welding assembly 113 of the transport welding module 1 extends into the drainage cover 2. The fixing member 3 is installed in the drainage cover 2 and extends out through the drainage hole 201.

[0070] As shown in the above structure, the drain cover 2 is provided with a gas supply pipe connected with the mother ship. After the underwater welding robot is thrown into the water by the mother ship, the welding module 1 is moved to the working area by the power assembly 112, then the fixed part 3 is fixed to the object to be welded, and the gas is supplied through the gas supply pipe, the water in the drain cover 2 is drained, and then the welding work can be started.

[0071] Specifically, the fixed part 3 is a vacuum chuck and / or a magnetic chuck, which is used to suck the object to be welded, so as to keep the posture of the underwater welding robot stable, and overcome the influence of various forces on the stability of the welding posture caused by the action of the welding assembly 113, ocean current and other factors during the welding process.

[0072] As shown in Figure 8 and Figure 9 , the drain cover 2 is provided with an assembly hole 205 on the side away from the drain hole 201, and the welding mechanism of the welding module 1 extends into the drain cover 2 through the assembly hole 205;

[0073] As shown in the above structure, the drain cover 2 is provided with a through structure, so that the welding module 1 is arranged on the side with the assembly hole 205, and the drain hole 201 is arranged oppositely, which is beneficial to ensure the stability of the displacement and work of the underwater welding robot. After the underwater welding robot moves to the working area, the object to be welded is covered by the drain hole 201.

[0074] In the underwater welding robot, the passive telescopic mechanism 4 and the displacement mechanism 5 are arranged for auxiliary action;

[0075] As shown in Figure 3 , Figure 9 and Figure 10 , the passive telescopic mechanism 4 is arranged in the drain cover 2; the displacement mechanism 5 is arranged on the passive telescopic mechanism 4. When the passive telescopic mechanism 4 is in the reset state, the displacement mechanism 5 extends out through the drain hole 201, and the extension distance of the displacement mechanism 5 is greater than the extension distance of the fixed part 3. When the passive telescopic mechanism 4 is in the retracted state, the displacement mechanism 5 is accommodated in the drain cover 2;

[0076] Referring to Figure 9 , it is a structure schematic view of the passive telescopic mechanism 4 in the reset state. It can be seen that the displacement mechanism 5 is closer to the outside of the drain cover 2 relative to the fixed part 3. When the underwater welding robot moves to the working area, the displacement mechanism 5 first abuts against the object to be welded, and then the welding module 1 continues to apply a pushing force towards the object to be welded, so as to compress the passive telescopic mechanism 4. The specific state is shown in Figure 10 , when the passive telescopic mechanism 4 is in the retracted state, the displacement mechanism 5 is accommodated in the drain cover 2, until the fixed part 3 abuts against the object to be welded, and then the fixed part 3 is fixed to the object to be welded by suction. Then the underwater welding work can be carried out.

[0077] After the welding is completed, the fixing member 3 is released, the power assembly 112 carrying the welding module 1 is lowered in power until the displacement mechanism 5 abuts against the object to be welded, and then the underwater welding robot is made to walk along the surface of the object to be welded to the next welding work area under the cooperation of the power assembly 112 and the displacement mechanism 5, and the above-mentioned action is repeated to perform the welding work.

[0078] Specifically, the displacement mechanism 5 can adopt a tracked moving mechanism.

[0079] As mentioned above, the power source for the passive telescopic mechanism 4 to change from the reset state to the retracted state is the carrying welding module 1, so the carrying welding module 1 is not only used for the movement of the underwater welding robot, but also used for the driving of the passive telescopic mechanism 4. This structure makes the underwater welding robot not need to additionally set a power mechanism such as a screw rod, a cylinder and other power components for the driving of the passive telescopic mechanism 4, which can reduce the pipeline usage, simplify the structure of the underwater welding robot, reduce the application cost, and at the same time, due to the less electrical connection, the failure risk is also reduced.

[0080] As shown in Figure 8 , the passive telescopic mechanism 4 includes a carrier 41, a slide rod 42, a limiting plate 43, a spring 44 and a fixing plate 45, wherein the carrier 41 is connected with the drain cover 2; the slide rod 42 penetrates through the carrier 41; the limiting plate 43 is arranged on one end of the slide rod 42 towards the inside of the drain cover 2; the spring 44 is sleeved on the slide rod 42, and the spring 44 is arranged on both sides of the carrier 41; the fixing plate 45 is arranged on the slide rod 42, and the fixing plate 45 abuts against the spring 44 on the side of the carrier 41 away from the limiting plate 43; the displacement mechanism 5 is arranged on one end of the slide rod 42 away from the limiting plate 43;

[0081] As mentioned above, when the passive telescopic mechanism 4 is compressed by the carrying welding module 1, the slide rod 42 and the displacement mechanism 5 will slide relative to the carrier 41, so as to realize the storage of the displacement mechanism 5 into the drain cover 2, make the passive telescopic mechanism 4 change to the retracted state, and thus the fixing member 3 can abut against the object to be welded, and the spring 44 is used for the displacement buffering of the slide rod 42 to ensure the stable action; after the carrying welding module 1 reduces the propulsion power to the object to be welded, the passive telescopic mechanism 4 will gradually change to the reset state, so that the displacement mechanism 5 extends out of the drain cover 2 to abut against the object to be welded.

[0082] As shown in Figures 7-10 , the locking member 6 is used for locking the retracted state of the passive telescopic mechanism 4;

[0083] As described above, since the passive telescopic mechanism 4 is compressed by the pushing force applied by the carrying welding module 1, after the fixing member 3 is suction-fixed to the object to be welded, the passive telescopic mechanism 4 will apply a counterforce to the drain cover 2, and after the locking member 6 is arranged to lock the contraction state of the passive telescopic mechanism 4, the counterforce of the passive telescopic mechanism 4 can be avoided to affect the stability of the welding posture, which is beneficial to ensure good welding working conditions and improve the welding quality.

[0084] Since the counterforce of the passive telescopic mechanism 4 is generated by the spring 44, the force is applied to the fixed plate 45, so when the counterforce is eliminated, the fixed plate 45 needs to be fixed;

[0085] As shown in Figures 8-10 , the locking member 6 is an electromagnetic chuck, which is arranged on the carrier 41 and is used to suction-fix the fixed plate 45 when the displacement mechanism 5 is in the reset state;

[0086] As described above, after the passive telescopic mechanism 4 is in the contraction state, the fixed plate 45 is displaced to the carrier 41, so the locking member 6 in the form of an electromagnetic chuck is arranged on the carrier 41 to suction-fix the fixed plate 45, thereby eliminating the counterforce of the spring 44 applied to the object to be welded, and avoiding affecting the suction of the fixing member 3 to the object to be welded.

[0087] Further, the fixed plate 45 is provided with a positioning hole 401 corresponding to the electromagnetic chuck;

[0088] As described above, by arranging the positioning hole 401, the displacement of the locking member 6 can be guided, especially in the case of using an electromagnetic chuck, the suction area of the electromagnetic chuck and the fixed plate 45 can be increased, thereby improving the suction and fixing effect of the fixed plate 45;

[0089] Further, to avoid the accumulated water in the positioning hole 401 affecting the entry of the locking member 6, a through hole passing through the fixed plate 45 can be further arranged in the positioning hole 401 to facilitate the locking member 6 to discharge water when entering the positioning hole 401.

[0090] As shown in Figure 3 and Figure 6 , the welding chamber 7 is arranged in the drain cover 2; the welding chamber 7 is in a cylindrical structure and divides the inner cavity of the drain cover 2 into first, second and third cavities 202, 203 and 204 in parallel, wherein the first and third cavities 202 and 204 are located on the two sides of the second cavity 203, and the welding assembly 113 of the carrying welding module 1 is located in the second cavity 203; the first and third cavities 202 and 204 are both provided with the passive telescopic mechanism 4, the displacement mechanism 5 and the fixing member 3;

[0091] As the above structure, by setting the welding chamber box 7 in the drain cover 2, the welding assembly 113 carrying the welding module 1 can be divided into areas with the displacement mechanism 5 to avoid the slag affecting the displacement mechanism 5;

[0092] Meanwhile, when the welding assembly 113 adopts the combination of the mechanical arm and the welding head, it is beneficial to preset the welding action area, and the action range of the mechanical arm can be limited in the second chamber 203, so that the interference damage between components can be avoided;

[0093] Further, the second chamber 203 is away from one end of the carrying welding module 1, and a sealable sealing door can be arranged. After the underwater welding robot enters the water, the second chamber 203 is pressurized, and then the sealing door is gradually opened. Therefore, the underwater welding robot can use a welding head without waterproof function for welding, and the adaptability is improved.

[0094] As shown in Figure 4 , Figure 5 and Figure 6 , the screw rod 8 is arranged on the welding chamber box 7, and the screw rod 8 penetrates the drain cover 2; the nut 9 is connected with one end of the screw rod 8 located outside the drain cover 2; the threaded barrel 10 is arranged on the outer wall of the drain cover 2, and the threaded barrel 10 surrounds one end of the screw rod 8 located outside the drain cover 2; the sealing cover 11 is screw-coupled with the threaded barrel 10;

[0095] As the above structure, the welding chamber box 7 is installed on the drain cover 2 through the cooperation of the screw rod 8 and the nut 9. In order to avoid water entering the connection, the threaded barrel 10 is arranged around the screw rod 8. After the nut 9 is installed on the screw rod 8, the sealing cover 11 is connected with the threaded barrel 10 for sealing, so that water can be prevented from entering the position where the screw rod 8 penetrates the drain cover 2, and the sealing performance of the drain cover 2 during welding can be ensured.

[0096] The continuous welding method of the present application applies the above-mentioned underwater welding robot, which comprises the following steps:

[0097] S1, placing the underwater welding robot in water, and displacing the carrying welding module 1 to the working area;

[0098] S2, adjusting the posture of the carrying welding module 1 until the displacement mechanism 5 abuts against the object to be welded, and the drain hole 201 of the drain cover 2 corresponds to the welding area;

[0099] S3, continuing to displace the drain cover 2 with the carrying welding module 1 to compress the passive telescopic mechanism 4, so that the displacement mechanism 5 is accommodated in the drain cover 2, and the fixing part 3 abuts against the object to be welded, and the underwater welding robot is relatively fixed with the object to be welded through the fixing part 3;

[0100] S4, locking the passive telescopic mechanism 4 in the contracted state by the locking part 6;

[0101] S5. Pressurize the water body by supplying air into the drain cover 2 of the pressurization mechanism box, and drain the water body through the drain hole 201.

[0102] S6. After the power assembly 112 of the transport welding module 1 records the working conditions, it stops, and the welding assembly 113 of the transport welding module 1 performs welding work.

[0103] S7. After welding is completed, the welding assembly 113 of the transport welding module 1 stops, the power assembly of the transport welding module 1 starts, and returns to the previous working condition.

[0104] S8. Fixing component 3 releases the underwater welding robot from relative fixation with the object to be welded, and locking component 6 releases the state lock on passive telescopic mechanism 4.

[0105] S9. The powertrain of the transport welding module 1 reduces the propulsion power toward the workpiece to be welded, causing the fixing part 3 to detach from the workpiece to be welded. Then, the transport welding module 1 drives the underwater welding robot to walk on the surface of the workpiece through the displacement mechanism 5.

[0106] S10. After the underwater welding robot moves to the next welding area, repeat steps S3, S4, S6~S9.

[0107] like Figure 11 As shown, this is a structural diagram of the underwater welding robot using wet welding. The difference from dry welding is that it does not have a drainage cover 2. Instead, it has four legs 114 with suction cups on the legs 114 for connecting to the workpiece to be welded, thus securing the underwater welding robot.

[0108] Specifically, the four outriggers 114 can be telescopic rods to facilitate adjustment of the welding posture.

[0109] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An underwater welding robot, comprising a carrying welding module (1) and a drain cover (2), wherein, the carrying welding module (1) is movable in six degrees of freedom, and has a power assembly (112) for displacement and a welding assembly (113) for welding; the drain cover (2) is mounted on the carrying welding module (1), and a drain hole (201) is formed in a side of the drain cover (2) away from the carrying welding module (1), and the welding assembly (113) of the carrying welding module (1) extends into the drain cover (2); characterized in that it further comprises a fixing member (3), a passive telescopic mechanism (4), a displacement mechanism (5) and a locking member (6), wherein, the fixing member (3) is arranged in the drain cover (2), and the fixing member (3) extends out through the drain hole (201); the passive telescopic mechanism (4) is arranged in the drain cover (2); the displacement mechanism (5) is arranged on the passive telescopic mechanism (4), when the passive telescopic mechanism (4) is in a reset state, the displacement mechanism (5) extends out through the drain hole (201), and the extension distance of the displacement mechanism (5) is greater than the extension distance of the fixing member (3), when the passive telescopic mechanism (4) is in a retracted state, the displacement mechanism (5) is accommodated in the drain cover (2); the carrying welding module (1) is a power source for the passive telescopic mechanism (4) to change from the reset state to the retracted state; the passive telescopic mechanism (4) comprises a carrier (41), a slide rod (42), a limiting plate (43), a spring (44) and a fixing plate (45), wherein the carrier (41) is connected with the drain cover (2); the slide rod (42) penetrates through the carrier (41); the limiting plate (43) is arranged on one end of the slide rod (42) facing the inside of the drain cover (2); the spring (44) is sleeved on the slide rod (42), and the spring (44) is arranged on both sides of the carrier (41); the fixing plate (45) is arranged on the slide rod (42), and the fixing plate (45) abuts against the spring (44) on the side of the carrier (41) away from the limiting plate (43); the displacement mechanism (5) is arranged on one end of the slide rod (42) away from the limiting plate (43); the locking member (6) is used for locking the retracted state of the passive telescopic mechanism (4); the locking member (6) is an electromagnetic suction disc, which is arranged on the carrier (41) and is used for adsorbing the fixing plate (45) when the displacement mechanism (5) is in the reset state the fixing plate (45) is provided with a positioning hole (401) corresponding to the electromagnetic suction disc.

2. The underwater welding robot of claim 1, wherein: further comprising a welding chamber box (7) arranged in the drain cover (2); the welding chamber box (7) is in a cylindrical structure and divides the inner cavity of the drain cover (2) into parallel first, second and third cavities (202, 203 and 204), wherein, The first chamber (202) and the third chamber (204) are opposite to the two sides of the second chamber (203), and the welding assembly (113) of the carrying welding module (1) is located in the second chamber (203); The first chamber (202) and the third chamber (204) are provided with the passive telescopic mechanism (4), the displacement mechanism (5) and the fixing part (3).

3. The underwater welding robot of claim 2, wherein: Further comprising a screw rod (8), a nut (9), a threaded cylinder (10) and a sealing cover (11), wherein, The screw rod (8) is arranged on the welding chamber box (7), and the screw rod (8) penetrates the drain cover (2); The nut (9) is connected with one end of the screw rod (8) outside the drain cover (2); The threaded cylinder (10) is arranged on the outer wall of the drain cover (2), and the threaded cylinder (10) surrounds one end of the screw rod (8) outside the drain cover (2); The sealing cover (11) is screw-connected with the threaded cylinder (10).

4. The underwater welding robot according to any one of claims 1 to 3, characterized in that: The drain cover (2) is provided with an assembly hole (205) on the side away from the drain hole (201), and the welding mechanism of the carrying welding module (1) extends into the drain cover (2) through the assembly hole (205).

5. The underwater welding robot according to any one of claims 1 to 3, characterized in that: The fixing part (3) is a vacuum suction cup and / or a magnetic suction cup.

6. A continuous welding method using the underwater welding robot as claimed in claim 1, characterized by, The method comprises the following steps: S1, placing the underwater welding robot in water, and displacing the carrying welding module (1) to the working area; S2, adjusting the posture of the carrying welding module (1) until the displacement mechanism (5) abuts against the object to be welded, and the drain hole (201) of the drain cover (2) corresponds to the welding area; S3, continuing to displace the drain cover (2) with the carrying welding module (1), compressing the passive telescopic mechanism (4), making the displacement mechanism (5) be accommodated in the drain cover (2), and making the fixing part (3) abut against the object to be welded, and relatively fixing the underwater welding robot and the object to be welded through the fixing part (3); S4, locking the passive telescopic mechanism (4) in the contracted state by the locking part (6); S5, supplying air pressure in the drain cover (2) by the pressurizing mechanism box, and emptying the water body through the drain hole (201); S6, the power assembly (112) of the carrying welding module (1) records the working condition and stops, and the welding assembly (113) of the carrying welding module (1) performs welding work; S7, after the welding is completed, the welding assembly (113) of the carrying welding module (1) stops, the power assembly (112) of the carrying welding module (1) starts, and returns to the previous working condition; S8, the fixing part (3) releases the relative fixation of the underwater welding robot and the object to be welded, and the locking part (6) releases the state locking of the passive telescopic mechanism (4). S9, the power assembly (112) of the carrying welding module (1) reduces the propelling power to the object to be welded, so that the fixing member (3) is separated from the object to be welded, and then the carrying welding module (1) drives the underwater welding robot to walk on the surface of the object to be welded through the displacement mechanism (5); S10, after the underwater welding robot is displaced to the next welding area, steps S3, S4, S6-S9 are repeated.

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