Local dry underwater welding method, control device, storage medium and welding system

Abstract

The invention discloses a local dry underwater welding method, a control device, a storage medium and a welding system. The method comprises the steps that the target working height of Nth welding operation is determined according to the single-pass welding seam thickness obtained through (N-1) th welding operation of a to-be-welded object; determining a target welding parameter and a target drainage parameter matched with the target working height according to a first corresponding relation among the working height, the welding parameter and the drainage parameter of the drainage cover relative to the welding surface; and according to the target working height, the target drainage parameter and the target welding parameter, the welding equipment is controlled to conduct Nth welding operation on the to-be-welded object. According to the method, different welding conditions and environment changes are analyzed according to the welded condition, parameters needed by subsequent welding and drainage are dynamically adjusted, closed-loop control is formed, the quality and consistency of welding joints are improved, the performance and efficiency of a whole welding system are improved, and a foundation is laid for underwater large-size crack maintenance.

Description

Technical Field

[0001] The present application relates to the technical field of underwater welding maintenance, and in particular to a local dry underwater welding method, a control device, a storage medium and a welding system. Background Art

[0002] Underwater local dry laser welding technology is an underwater laser welding maintenance technology that can be applied to complex environments, narrow spaces and complex welding positions. It has broad application prospects in the field of nuclear power maintenance.

[0003] How to efficiently drain the water in the drain hood so that the high-pressure gas can ensure that the internal environment of the drain hood meets the welding requirements while not affecting the weld formation is a technical problem that needs to be solved urgently in the local dry underwater laser welding process. Summary of the invention

[0004] In view of this, the present application provides a local dry underwater welding method, a control device, a storage medium and a welding system, which regulates the height of the drainage hood, the drainage gas flow rate and the welding parameters according to the situation of a single-pass weld at the surface to be welded, so that the surface to be welded is in a good coupling state, thereby ensuring the welding quality.

[0005] According to one aspect of the present application, a local dry underwater welding method is provided, which is applicable to a local dry underwater welding system, wherein the local dry underwater welding system comprises welding equipment and a drainage hood, and the method comprises:

[0006] Determine the target working height of the Nth welding operation according to the single-pass weld thickness obtained in the N-1th welding operation of the object to be welded, where N is a positive integer;

[0007] Determining target welding parameters and target drainage parameters matching the target working height according to a first corresponding relationship among the working height of the drainage hood relative to the welding surface, welding parameters, and drainage parameters;

[0008] According to the target working height, the target drainage parameter and the target welding parameter, the welding equipment is controlled to perform an Nth welding operation on the object to be welded.

[0009] Optionally, the welding equipment includes an air pump, a camera and a sensor, and the method further includes:

[0010] Controlling the air pump to deliver high-pressure gas to the drainage hood with different drainage parameters;

[0011] Recognize the drainage cover image captured by the camera under different drainage parameters, and determine the working height of the drainage cover relative to the welding surface under different drainage parameters;

[0012] Determine, according to the environmental information inside the drainage cover collected by the sensor under different drainage parameters, an available height of the drainage cover relative to the welding surface that meets the preset welding requirements;

[0013] The available height and the drainage parameter corresponding to the available height are associated to obtain a second corresponding relationship between the available height and the drainage parameter.

[0014] Optionally, the welding device includes a welding assembly, and the method further includes:

[0015] Controlling the welding assembly to perform welding operations on the test sample with different welding parameters according to the available height;

[0016] Acquire welding features of the test sample in the welding image captured by the camera at the available height;

[0017] Matching the welding characteristics with the preset welding requirements, and determining available welding parameters matching the preset welding requirements;

[0018] Associating the available welding parameters with the available heights corresponding to the available welding parameters to obtain a third corresponding relationship between the available heights and the available welding parameters;

[0019] The second corresponding relationship and the third corresponding relationship are combined to form the first corresponding relationship.

[0020] Optionally, the method further comprises:

[0021] The first corresponding relationship is determined according to the material type of the object to be welded.

[0022] Optionally, the method further comprises:

[0023] If the thickness of the cladding layer of the object to be welded is greater than or equal to a thickness threshold, controlling the welding device to stop the welding operation;

[0024] Wherein, the thickness threshold is less than or equal to 10 mm.

[0025] Optionally, the drainage parameters include at least one of the following: drainage gas pressure, drainage gas flow, drainage cover movement speed, drainage cover internal temperature, drainage cover internal humidity;

[0026] The welding parameters include at least one of the following: laser power, welding speed, wire feeding speed, and laser defocusing amount.

[0027] According to another aspect of the present application, a control device is provided, which is applicable to a local dry underwater welding system, wherein the local dry underwater welding system comprises a drainage hood and a welding device, wherein the device comprises:

[0028] a processing module, for determining a target working height of an Nth welding operation according to a single-pass weld thickness obtained in an N-1th welding operation of the object to be welded, wherein N is a positive integer; and

[0029] Determining target welding parameters and target drainage parameters matching the target working height according to a first corresponding relationship among the working height of the drainage hood relative to the welding surface, welding parameters, and drainage parameters;

[0030] A control module is used to control the welding equipment to perform an Nth welding operation on the object to be welded according to the target working height, the target drainage parameter and the target welding parameter.

[0031] Optionally, the welding equipment includes an air pump, a camera and a sensor; the control module is further used to control the air pump to deliver high-pressure gas to the drainage hood with different drainage parameters;

[0032] The processing module is also used to identify the drainage cover image captured by the camera under different drainage parameters, and determine the working height of the drainage cover relative to the welding surface under different drainage parameters; and determine the available height of the drainage cover relative to the welding surface that meets the preset welding requirements based on the environmental information inside the drainage cover collected by the sensor under different drainage parameters; and associate the available height with the drainage parameter corresponding to the available height to obtain a second corresponding relationship between the available height and the drainage parameter.

[0033] Optionally, the welding equipment includes a welding assembly, and the control module is further used to control the welding assembly to perform welding operations on the test sample with different welding parameters according to the available height;

[0034] The processing module is also used to obtain the welding characteristics of the test sample in the welding image taken by the camera at the available height; and, match the welding characteristics with the preset welding requirements to determine the available welding parameters that match the preset welding requirements; and, associate the available welding parameters and then the available height corresponding to the available welding parameters to obtain a third corresponding relationship between the available height and the available welding parameters; and, combine the second corresponding relationship and the third corresponding relationship to form the first corresponding relationship.

[0035] Optionally, the processing module is further used to determine the first corresponding relationship according to the material type of the object to be welded.

[0036] Optionally, the control module is further used to control the welding assembly to stop the welding operation if the thickness of the cladding layer of the object to be welded is greater than or equal to a thickness threshold;

[0037] Wherein, the thickness threshold is less than or equal to 10 mm.

[0038] According to another aspect of the present application, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the above-mentioned local dry underwater welding method are implemented.

[0039] According to another aspect of the present application, a local dry underwater welding system is provided, comprising:

[0040] Welding equipment, the welding equipment comprising:

[0041] A drainage cover, wherein the drainage cover is provided with a receiving cavity with an opening located above the object to be welded;

[0042] an air pump, connected to the accommodating chamber, and used for delivering high-pressure gas to the accommodating chamber;

[0043] A welding assembly connected to the drainage cover, the welding assembly being used to perform welding operations on the object to be welded;

[0044] The control device is electrically connected to the welding equipment.

[0045] Optionally, the welding equipment further comprises:

[0046] A camera, wherein the accommodating cavity is located within the viewing angle of the camera, and the camera is used to capture images;

[0047] A sensor, at least part of which is disposed in the drain cover, and the sensor is used to collect environmental information in the drain cover, wherein the sensor includes a temperature sensor and / or a humidity sensor.

[0048] By means of the above technical scheme, during underwater welding, the target working height between the drainage cover required for this welding operation and the surface of the object to be welded is determined according to the single-pass weld thickness obtained from the last welding operation on the object to be welded. The target welding parameters and target drainage parameters that can take into account both welding quality and cost at the target working height are found by using the first corresponding relationship between the pre-associated working height, welding parameters, and drainage parameters. Finally, the components in the local dry underwater welding system are controlled to perform this welding operation on the object to be welded by the target working height, target drainage parameters, and target welding parameters. Thus, different welding conditions and environmental changes are analyzed through the welding situation, and the parameters required for subsequent welding and drainage are dynamically adjusted to form a closed-loop control, which helps to improve the quality and consistency of the welded joints. At the same time, it reduces material waste and welding time, so that the local dry underwater laser welding system can complete high-quality multi-layer and multi-pass welding operations at a lower cost, improve the performance and efficiency of the entire welding system, and lay the foundation for underwater large-size crack repair.

[0049] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0051] Figure 1 The structural block diagram of the local dry underwater welding system provided by the embodiment of the present application is shown;

[0052] Figure 2 A schematic flow chart of a local dry underwater welding method provided in an embodiment of the present application is shown;

[0053] Figure 3 A schematic diagram of the position of the drainage cover during welding of the first layer of weld provided in an embodiment of the present application is shown;

[0054] Figure 4 A schematic diagram of the position of the drainage cover during welding of the second layer of weld provided in an embodiment of the present application is shown;

[0055] Figure 5 This is a physical picture of underwater local dry laser surfacing welding of stainless steel provided according to an embodiment of the present application.

[0056] Reference numerals:

[0057] 110 welding equipment, 111 sensor, 112 housing, 113 exhaust port, 120 drainage cover, 500 object to be welded. DETAILED DESCRIPTION

[0058] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0059] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be interpreted as limiting the present application.

[0060] Those skilled in the art will appreciate that, unless expressly stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, or there may be intermediate elements. In addition, the "connection" or "connection" used herein may include wireless connection or wireless fusion. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0061] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in a variety of different forms and should not be interpreted as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0062] In this embodiment, a local dry underwater welding method is provided, which is suitable for Figure 1 The local dry underwater welding system shown in the figure includes a welding device 110, a drainage cover 120 and a control device (not shown in the figure), and the welding device includes a welding assembly (not shown in the figure). The drainage cover 120 is provided with a receiving cavity with an opening located above the object to be welded 500. The drainage cover 120 is connected to the welding device 110, and the welding assembly is used to perform welding operations on the object to be welded.

[0063] like Figure 2 As shown, the local dry underwater welding method includes:

[0064] Step 201, determining a target working height for the Nth welding operation according to a single-pass weld thickness obtained in the N-1th welding operation of the object to be welded.

[0065] Where N is a positive integer, which is used to represent the number of welding times. The value of N can be reasonably set according to the thickness threshold of the weld overlay layer of the object to be welded. For example, if the thickness of a single weld is about 1 mm and the thickness threshold is set to 8 mm, the maximum value of N is 8; if the thickness of a single weld is about 2 mm and the thickness threshold is set to 10 mm, the maximum value of N is 5.

[0066] It can be understood that if N-1=0, that is, the current welding operation is the first welding operation, the target working height of this welding operation can be determined according to the weld thickness required for welding.

[0067] Step 202, according to a first correspondence between the working height of the drainage hood relative to the welding surface, welding parameters, and drainage parameters, determine target welding parameters and target drainage parameters that match the target working height.

[0068] The drainage parameters include at least one of the following: drainage gas pressure, drainage gas flow, drainage hood speed, drainage hood internal temperature, and drainage hood internal humidity. The welding parameters include at least one of the following: laser power, welding speed, wire feeding speed, and laser defocusing amount.

[0069] Step 203, controlling the welding equipment to perform the Nth welding operation on the object to be welded according to the target working height, the target drainage parameter and the target welding parameter.

[0070] The local dry underwater welding method provided by the embodiment of the present application determines the target working height between the drainage cover required for this welding operation and the surface of the object to be welded according to the single-pass weld thickness obtained from the last welding operation on the object to be welded. The target welding parameters and target drainage parameters that can take into account both welding quality and cost at the target working height are found by using the first corresponding relationship between the pre-associated working height, welding parameters, and drainage parameters. Finally, the components in the local dry underwater welding system are controlled by the target working height, target drainage parameters, and target welding parameters to perform the welding operation on the object to be welded. Thus, different welding conditions and environmental changes are analyzed through the welding situation, and the parameters required for subsequent welding and drainage are dynamically adjusted to form a closed-loop control, which is helpful to improve the quality and consistency of the welded joint. At the same time, material waste and welding time are reduced, so that the local dry underwater welding system can complete high-quality multi-layer and multi-pass welding operations at a lower cost, improve the performance and efficiency of the entire welding system, and lay the foundation for underwater large-size crack repair.

[0071] In an actual application scenario, before step 102, the local dry underwater welding method also includes: controlling the air pump to deliver high-pressure gas to the drainage hood with different drainage parameters; identifying the drainage hood image captured by the camera under different drainage parameters, and determining the working height of the drainage hood relative to the welding surface under different drainage parameters; determining the available height of the drainage hood relative to the welding surface that meets the preset welding requirements based on the environmental information inside the drainage hood collected by the sensor under different drainage parameters; associating the available height with the drainage parameter corresponding to the available height, and obtaining a second corresponding relationship between the available height and the drainage parameter.

[0072] In this embodiment, the air pump is controlled to deliver high-pressure gas to the drain cover with different drainage parameters to simulate the possible drainage effects under different drainage parameters. After each drainage is completed, the inside of the drain cover is photographed by a camera to obtain images of the drain cover under different drainage parameters. The working height of the drain cover relative to the welding surface under each drainage parameter in the drain cover image is identified by distance recognition technology. At the same time, the environmental information inside the drain cover is collected by the sensor set in the drain cover, and the available height that meets the preset welding requirements is screened from the working height corresponding to each drainage parameter of the environmental information. By associating the available height and the drainage parameter corresponding to the available height, a second corresponding relationship between the available height and the drainage parameter of the good internal environment of the drain cover can be obtained. Therefore, by establishing the second corresponding relationship between the available height and the drainage parameter, data support is provided for the subsequent adjustment and optimization of the working height and drainage parameters, which helps to reduce the risk of gas leakage or other environmental problems, improve the safety of underwater welding operations, and reduce the incidence of welding defects. In addition, with the help of image recognition and automatic collection and analysis of sensor data, the complexity and risk of manual operation are reduced, and the automation and intelligence level of the system are improved.

[0073] Based on the same principle, before step 102, the local dry underwater welding method also includes: controlling the welding assembly to perform welding operations on the test sample with different welding parameters according to the available height; obtaining the welding characteristics of the test sample in the welding image taken by the camera at the available height; matching the welding characteristics with the preset welding requirements, and determining the available welding parameters that match the preset welding requirements; associating the available welding parameters and then the available height corresponding to the available welding parameters to obtain a third corresponding relationship between the available height and the available welding parameters; and combining the second corresponding relationship and the third corresponding relationship to form a first corresponding relationship.

[0074] In this embodiment, welding experiments are performed with different welding parameters for each available height. After the welding operation of the test sample is completed, the welding result of the test sample is photographed by a camera to obtain a welding image. The welding features of the test sample in the welding image are identified. The welding features and the preset welding requirements are compared to determine the available welding parameters that meet the preset welding requirements at each available height. Finally, the available welding parameters are associated with the available heights corresponding to the available welding parameters, and the third corresponding relationship between the available heights and the available welding parameters that can obtain better welding quality is obtained. The second corresponding relationship and the third corresponding relationship are combined with the available height as a benchmark to form a first corresponding relationship. Thus, by establishing the third corresponding relationship between the available height and the welding parameters, data support is provided for the subsequent adjustment and optimization of the working height and welding parameters, ensuring the quality stability and consistency of the welding process, improving the welding effect, and reducing the incidence of welding defects. In addition, with the help of image recognition and automatic acquisition and analysis of sensor data, the complexity and risk of manual operation are reduced, and the automation and intelligence level of the system are improved.

[0075] In one embodiment, before step 102, the local dry underwater welding method further includes: determining a first corresponding relationship according to a material type of the object to be welded.

[0076] In this embodiment, different materials have different physical and chemical properties (such as thermal conductivity, melting point, strength, etc.) to determine the working height-drainage parameter-welding parameter combination suitable for the material properties. The quality of the weld can be better controlled, welding defects such as cracks, pores, etc., as well as damage to material properties during welding can be reduced, the strength and durability of the welded joint can be improved, and better welding results can be obtained. Furthermore, establishing the first corresponding relationship based on the material type can help meet relevant industry standards and specifications, reduce the operational difficulty of welding control, and have a higher fault tolerance rate. Even inexperienced staff can complete high-quality welding maintenance, effectively reducing welding maintenance costs.

[0077] In one embodiment, the local dry underwater welding method further includes: if the thickness of the weld overlay of the object to be welded is greater than or equal to a thickness threshold, controlling the welding assembly to stop the welding operation.

[0078] The thickness threshold is less than or equal to 10 mm, for example, 5 mm, 7 mm, etc., which are not listed one by one in the embodiments of the present application.

[0079] In this embodiment, when the thickness of the cladding layer of the object to be welded, that is, the sum of the thickness of the single-pass weld of multiple welding operations is greater than or equal to the thickness threshold, it means that the underwater welding has reached the required welding thickness or the safe welding thickness. At this time, the welding assembly is controlled to stop the welding operation. On the one hand, the thickness of the cladding layer can be accurately controlled to save material costs and better meet the needs of subsequent processing. On the other hand, problems such as excessive welding, degradation of weld joint performance, equipment overload or damage caused by excessive thickness of the cladding layer can be avoided, and the risk of welding defects such as cracks and excessive heat-affected zones can be effectively reduced, extending the service life of the equipment. This will improve the safety and quality of welding, and achieve efficient use of materials and convenience of subsequent processing.

[0080] For example, 304 stainless steel is used as the object to be welded. According to the different distances between the surface of the object to be welded and the bottom of the drain cover (working height), the high-pressure gas outlet flow rate is adjusted in advance, and the humidity inside the drain cover is read in real time using a humidity sensor, and the internal state of the drain cover is photographed using a camera. Combined with the internal humidity and internal state of the drain cover, several groups of working height-drain gas flow combinations that can obtain a good internal environment of the drain cover are initially screened out;

[0081] For each working height-drainage gas flow combination, welding process tests were carried out by adjusting welding parameters. The optimal welding quality under different combinations was compared by visual inspection or camera image recognition and liquid penetration, and the working height-drainage gas flow-welding parameter combination corresponding to the weld with the best welding effect inspection and liquid penetration effect was selected. Thus, the underwater local dry laser welding process package for 304 stainless steel was obtained, which can be used to guide the subsequent underwater local dry laser welding of austenitic stainless steel materials.

[0082] When welding is required, a local dry underwater laser welding drain cover is placed above the surface to be welded. The relative position relationship between the bottom surface of the drain cover and the surface of the object to be welded is as follows: Figure 3 As shown, at this time, the target working height between the surface of the object to be welded and the drainage cover is L1;

[0083] From the working height-drainage gas flow rate-welding parameter combination, the target drainage gas flow rate and target welding parameters suitable for the working height L1 are selected, and the first layer of welds is welded one by one based on this, and the following is obtained: Figure 4 Status shown.

[0084] like Figure 4As shown in the figure, after the first layer of weld is completed, the single-pass weld thickness is measured and used as a reference to quickly set the target working height (L2) for the second layer of the welded object. The above steps are repeated to obtain the second layer target working height-target drainage gas flow-target welding parameter combination. Based on this, the second layer of local dry underwater laser welding is completed.

[0085] The above steps are repeated to complete the multi-layer and multi-pass local dry underwater laser welding operation, and finally the following is obtained: Figure 5 The surfacing effect is shown.

[0086] It should be noted that this method can be used for welding a cladding layer with a thickness of up to 10 mm. The length and width of the cladding layer with a thickness of up to 10 mm are controlled by the size of the drain cover and the movable range of the drain cover.

[0087] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0088] Furthermore, as a specific implementation of the above-mentioned local dry underwater welding method, an embodiment of the present application provides a control device, which includes: a processing module and a control module.

[0089] Wherein, the processing module is used to determine the target working height of the Nth welding operation according to the single-pass weld thickness obtained by the N-1th welding operation of the object to be welded, wherein N is a positive integer; and

[0090] Determining target welding parameters and target drainage parameters matching the target working height according to a first corresponding relationship among a working height of the drainage hood relative to the welding surface, welding parameters, and drainage parameters;

[0091] The control module is used to control the welding equipment to perform the Nth welding operation on the welding object according to the target working height, the target drainage parameter and the target welding parameter.

[0092] Further, the local dry underwater welding system includes an air pump, a camera and a sensor; a control module is also used to control the air pump to deliver high-pressure gas to the drainage hood with different drainage parameters;

[0093] The processing module is also used to identify the drainage hood images taken by the camera under different drainage parameters, determine the working height of the drainage hood relative to the welding surface under different drainage parameters; and, based on the environmental information inside the drainage hood collected by the sensor under different drainage parameters, determine the available height of the drainage hood relative to the welding surface that meets the preset welding requirements; and, associate the available height with the drainage parameters corresponding to the available height to obtain a second corresponding relationship between the available height and the drainage parameters.

[0094] Furthermore, the control module is also used to control the welding assembly to perform welding operations on the test sample with different welding parameters according to the available height;

[0095] The processing module is also used to obtain the welding features of the test sample in the welding image taken by the camera at the available height; and, match the welding features with the preset welding requirements to determine the available welding parameters that match the preset welding requirements; and, associate the available welding parameters and then the available height corresponding to the available welding parameters to obtain a third corresponding relationship between the available height and the available welding parameters; and, combine the second corresponding relationship and the third corresponding relationship to form a first corresponding relationship.

[0096] Furthermore, the processing module is also used to determine the first corresponding relationship according to the material type of the object to be welded.

[0097] Furthermore, the control module is also used to control the welding assembly to stop the welding operation if the thickness of the weld overlay of the object to be welded is greater than or equal to a thickness threshold.

[0098] Among them, the thickness threshold is less than or equal to 10mm.

[0099] For the specific definition of the control device, please refer to the definition of the local dry underwater welding method above, which will not be repeated here. Each module in the above control device can be implemented in whole or in part by software, hardware and a combination thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0100] Based on the above Figure 2 The method shown in the embodiment of the present application accordingly provides a readable storage medium on which a computer program is stored, and when the program is executed by a processor, the above-mentioned Figure 2 The local dry underwater welding method shown.

[0101] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0102] Based on the above Figure 1 The method shown in the figure and the virtual device embodiment, in order to achieve the above-mentioned purpose, the embodiment of the present application also provides a local dry underwater welding system, such as Figure 1 As shown, the system includes: welding equipment 110, a drainage hood 120 and a control device (not shown in the figure).

[0103] Specifically, the welding device 110 includes: an air pump (not shown in the figure) and a welding assembly (not shown in the figure). The drainage cover 120 is provided with a receiving chamber whose opening is located above the object to be welded. The air pump is communicated with the receiving chamber, and the air pump is used to deliver high-pressure gas to the receiving chamber. The welding device 110 is connected to the drainage cover 120. The welding assembly is used to perform welding operations on the object to be welded. The welding device 110 is provided with an exhaust port 113, which is opened on the housing 112 of the welding device 110, and the exhaust port 113 is used to discharge excess high-pressure gas. The control device is electrically connected to the welding device 110 to perform the steps of the above-mentioned local dry underwater welding method.

[0104] In this way, the laser welding head, wire feeder and other welding modules of the welding assembly are placed inside the drainage hood, and high-pressure inert gas is introduced into the drainage hood through the sealing valve and air pump to discharge the water in the drainage hood, so that a water-free laser welding environment is formed inside the drainage hood, and subsequent laser operations can be carried out. After welding is completed, the system will clean the gas and residual water in the welding hood through the drainage system and gas release system to ensure the integrity and stability of the welding structure.

[0105] In one embodiment, if Figure 1 As shown, the welding device 110 further includes: a camera (not shown in the figure) and a sensor 113 .

[0106] Specifically, the camera is disposed in the housing 112, the receiving cavity of the drain cover 120 is located within the viewing angle of the camera, and the camera is used to capture images. At least part of the sensor 113 is disposed in the drain cover 120, and the sensor is used to collect environmental information in the drain cover.

[0107] The sensor includes a temperature sensor and / or a humidity sensor.

[0108] In this way, during the welding process, the temperature and humidity in the hood are monitored in real time by sensors, and the gas flow is adjusted to maintain a stable welding temperature or humidity. In addition, the camera can be used to collect images inside the drainage hood, and the welding and drainage conditions in the hood can be monitored in real time, which facilitates the smooth implementation of welding operations.

[0109] Those skilled in the art will appreciate that the local dry underwater welding system structure provided in this embodiment does not constitute a limitation on the computer device, and may include more or fewer components, or a combination of certain components, or different component arrangements.

[0110] Those skilled in the art will appreciate that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily necessary for implementing the present application. Those skilled in the art will appreciate that the modules in the devices in the implementation scenario can be distributed in the devices of the implementation scenario according to the description of the implementation scenario, or can be changed accordingly and located in one or more devices different from the present implementation scenario. The modules of the above-mentioned implementation scenario can be combined into one module, or can be further split into multiple submodules.

[0111] The above serial numbers of this application are only for description and do not represent the advantages and disadvantages of the implementation scenarios. The above disclosure is only a few specific implementation scenarios of this application, but this application is not limited to them, and any changes that can be thought of by technicians in this field should fall within the scope of protection of this application.

Claims

1. A local dry underwater welding method, characterized in that: Applicable to a local dry underwater welding system, the local dry underwater welding system comprising welding equipment and a drainage hood, the method comprising: Determine the target working height of the Nth welding operation according to the single-pass weld thickness obtained in the N-1th welding operation of the object to be welded, where N is a positive integer; Determining target welding parameters and target drainage parameters matching the target working height according to a first corresponding relationship among the working height of the drainage hood relative to the welding surface, welding parameters, and drainage parameters; According to the target working height, the target drainage parameter and the target welding parameter, the welding equipment is controlled to perform an Nth welding operation on the object to be welded.

2. The local dry underwater welding method according to claim 1, characterized in that: The welding device includes an air pump, a camera and a sensor, and the method further includes: Controlling the air pump to deliver high-pressure gas to the drainage hood with different drainage parameters; Recognize the drainage cover image captured by the camera under different drainage parameters, and determine the working height of the drainage cover relative to the welding surface under different drainage parameters; Determine, according to the environmental information inside the drainage cover collected by the sensor under different drainage parameters, an available height of the drainage cover relative to the welding surface that meets the preset welding requirements; The available height and the drainage parameter corresponding to the available height are associated to obtain a second corresponding relationship between the available height and the drainage parameter.

3. The local dry underwater welding method according to claim 2, characterized in that: The welding device includes a welding assembly, and the method further includes: Controlling the welding assembly to perform welding operations on the test sample with different welding parameters according to the available height; Acquire welding features of the test sample in the welding image captured by the camera at the available height; Matching the welding characteristics with the preset welding requirements, and determining available welding parameters matching the preset welding requirements; Associating the available welding parameters with the available heights corresponding to the available welding parameters to obtain a third corresponding relationship between the available heights and the available welding parameters; The second corresponding relationship and the third corresponding relationship are combined to form the first corresponding relationship.

4. The local dry underwater welding method according to claim 1, characterized in that: The method further comprises: The first corresponding relationship is determined according to the material type of the object to be welded.

5. The local dry underwater welding method according to claim 1, characterized in that: The method further comprises: If the thickness of the cladding layer of the object to be welded is greater than or equal to a thickness threshold, controlling the welding device to stop the welding operation; Wherein, the thickness threshold is less than or equal to 10 mm.

6. The local dry underwater welding method according to any one of claims 1 to 5, characterized in that: The drainage parameters include at least one of the following: drainage gas pressure, drainage gas flow, drainage cover movement speed, drainage cover internal temperature, drainage cover internal humidity; The welding parameters include at least one of the following: laser power, welding speed, wire feeding speed, and laser defocusing amount.

7. A control device, suitable for a local dry underwater welding system, the local dry underwater welding system comprising a drainage hood and a welding device, characterized in that: The device comprises: a processing module, for determining a target working height of an Nth welding operation according to a single-pass weld thickness obtained in an N-1th welding operation of the object to be welded, wherein N is a positive integer; and Determining target welding parameters and target drainage parameters matching the target working height according to a first corresponding relationship among the working height of the drainage hood relative to the welding surface, welding parameters, and drainage parameters; A control module is used to control the welding equipment to perform an Nth welding operation on the object to be welded according to the target working height, the target drainage parameter and the target welding parameter.

8. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps of the local dry underwater welding method according to any one of claims 1 to 6 are implemented.

9. A local dry underwater welding system, characterized in that: include: A drainage cover, wherein the drainage cover is provided with a receiving cavity with an opening located above the object to be welded; Welding equipment, the welding equipment comprising: an air pump, connected to the accommodating chamber, and used for delivering high-pressure gas to the accommodating chamber; A welding assembly connected to the drainage cover, the welding assembly being used to perform welding operations on the object to be welded; The control device according to claim 7, electrically connected to the welding equipment.

10. The local dry underwater welding system according to claim 9, characterized in that: The welding equipment also includes: A camera, wherein the accommodating cavity is located within the viewing angle of the camera, and the camera is used to capture images; A sensor, at least part of which is disposed in the drain cover, and the sensor is used to collect environmental information in the drain cover, wherein the sensor includes a temperature sensor and / or a humidity sensor.

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