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

Abstract

The application discloses a local dry underwater welding method, a control device, a storage medium and a welding system. The method comprises the following steps: determining a target working height of an Nth welding operation according to a single-pass weld thickness obtained by an (N-1)th welding operation of a to-be-welded object; determining target welding parameters and target drainage parameters matched with the target working height according to a first correspondence relationship among a working height of a drainage cover relative to a welding surface, welding parameters and drainage parameters; and controlling a welding device to perform the Nth welding operation on the to-be-welded object according to the target working height, the target drainage parameters and the target welding parameters. The method disclosed by the application analyzes different welding conditions and environmental changes through the welded condition, and dynamically adjusts the required parameters of subsequent welding and drainage, forms a closed-loop control, helps to improve the quality and consistency of the welded joint, improves the performance and efficiency of the entire welding system, and lays a foundation for underwater large-size crack repair.

Description

TECHNICAL FIELD

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

[0002] The local dry underwater laser welding technology is a kind of underwater laser welding repair technology that can be applied to complex environment, narrow space and complex welding position, and has a wide application prospect in the field of nuclear power repair.

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

[0004] Therefore, the present application provides a local dry underwater welding method, a control device, a storage medium and a welding system, which adjusts and controls the height of the drain cover, the flow of the drainage gas and the welding parameters according to the single-pass weld of the surface position to be welded, so that the surface to be welded is in a good coupling state, and the welding quality is ensured.

[0005] According to one aspect of the present application, a local dry underwater welding method is provided, which is suitable for a local dry underwater welding system including a welding device and a drain cover, and the method comprises:

[0006] determining a target working height of the Nth welding operation according to the single-pass weld thickness obtained by the (N-1)th welding operation of the object to be welded, wherein N is a positive integer;

[0007] determining target welding parameters and target drainage parameters matched with the target working height according to a first correspondence relationship between the working height of the drain cover relative to the welding surface, the welding parameters and the drainage parameters;

[0008] controlling the welding device to perform the Nth welding operation on the object to be welded according to the target working height, the target drainage parameters and the target welding parameters.

[0009] Optionally, the welding device includes a gas pump, a camera and a sensor, and the method further comprises:

[0010] controlling the gas pump to deliver high-pressure gas to the drain cover at different drainage parameters;

[0011] identifying the drain cover images taken by the camera under different drainage parameters to determine the working height of the drain cover relative to the welding surface under different drainage parameters;

[0012] determining, according to the environment information of the drainage cover collected by the sensor under different drainage parameters, an available height of the working height of the drainage cover relative to the welding surface that meets the preset welding requirement;

[0013] associating the available height with the drainage parameter corresponding to the available height to obtain a second correspondence between the available height and the drainage parameter.

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

[0015] controlling the welding assembly to perform welding operation on a test sample according to the available height and different welding parameters respectively;

[0016] obtaining a welding feature of the test sample in a welding image captured by the camera under the available height;

[0017] matching the welding feature with the preset welding requirement to determine an available welding parameter that matches the preset welding requirement;

[0018] associating the available welding parameter and the available height corresponding to the available welding parameter to obtain a third correspondence between the available height and the available welding parameter;

[0019] combining the second correspondence and the third correspondence to form the first correspondence.

[0020] Optionally, the method further comprises:

[0021] determining the first correspondence according to the material type of the object to be welded.

[0022] Optionally, the method further comprises:

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

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

[0025] Optionally, the drainage parameter comprises 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 parameter comprises at least one of the following: laser power, welding speed, wire feeding speed, laser defocusing amount.

[0027] According to another aspect of the present application, a control device is provided, which is suitable for a local dry underwater welding system comprising a drainage cover and a welding device, and characterized in that the device comprises:

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

[0029] determine target welding parameters and target drainage parameters matched with the target working height according to a first correspondence relationship among the working height of the drainage cover relative to the welding surface, the welding parameters, and the drainage parameters;

[0030] a control module configured to control the welding equipment to perform the Nth welding operation on the object to be welded according to the target working height, the target drainage parameters, and the target welding parameters.

[0031] Optionally, the welding equipment comprises a gas pump, a camera, and a sensor; and the control module is further configured to control the gas pump to deliver high-pressure gas to the drainage cover at different drainage parameters.

[0032] The processing module is further configured to identify drainage cover images captured by the camera under different drainage parameters, to determine the working height of the drainage cover relative to the welding surface under different drainage parameters; and to determine available heights of the working height of the drainage cover relative to the welding surface that meet preset welding requirements according to environmental information of the drainage cover collected by the sensor under different drainage parameters; and to obtain a second correspondence relationship between the available heights and drainage parameters by associating the available heights with the drainage parameters corresponding to the available heights.

[0033] Optionally, the welding equipment comprises a welding assembly, and the control module is further configured to control the welding assembly to perform welding operations on test samples at different welding parameters respectively according to the available heights.

[0034] The processing module is further configured to obtain welding features of the test samples in welding images captured by the camera under the available heights; to match the welding features with the preset welding requirements to determine available welding parameters that match the preset welding requirements; to obtain a third correspondence relationship between the available heights and available welding parameters by associating the available welding parameters and the available heights corresponding to the available welding parameters; and to form the first correspondence relationship by combining the second correspondence relationship and the third correspondence relationship.

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

[0036] Optionally, the control module is further configured to control the welding assembly to stop welding operations if a cladding layer thickness 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 still another aspect of the present application, there is provided a readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the steps of the above local dry underwater welding method.

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

[0040] a welding device, the welding device comprising:

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

[0042] a gas pump, in communication with the receiving cavity, the gas pump being configured to deliver high-pressure gas to the receiving cavity;

[0043] a welding assembly, connected to the drainage cover, the welding assembly being configured to perform welding operation on the object to be welded;

[0044] the above control device, electrically connected to the welding device.

[0045] Optionally, the welding device further comprises:

[0046] a camera, the receiving cavity being located within a visual angle range of the camera, the camera being configured to capture images;

[0047] a sensor, at least part of the sensor being arranged in the drainage cover, the sensor being configured to collect environmental information in the drainage cover, wherein the sensor comprises a temperature sensor and / or a humidity sensor.

[0048] By the above technical scheme, in the underwater welding process, the target working height between the drain cover and the surface of the object to be welded required for the current welding operation is determined according to the single-pass weld thickness obtained by the last welding operation on the object to be welded. The target welding parameters and the target drainage parameters that can take into account the welding quality and the cost at the target working height are found by using the first correspondence relationship among the pre-associated working height, welding parameters and drainage parameters. Finally, the object to be welded is subjected to the current welding operation by the target working height, the target drainage parameters and the target welding parameters controlling the components in the local dry underwater welding system. Thus, the welded condition is analyzed under different welding conditions and environmental changes, and the required parameters 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 joint, reduces material waste and welding time, and enables the local dry underwater laser welding system to complete the multi-layer and multi-pass welding operation with high quality at a lower cost, improves the performance and efficiency of the entire welding system, and lays a foundation for underwater large-size crack repair.

[0049] The above description is only a summary of the technical scheme of the present application. In order to more clearly understand the technical means of the present application, the specific embodiments of the present application can be implemented in accordance with the content of the specification, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0050] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The schematic 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 structure block diagram of the local dry underwater welding system provided by the embodiments of the present application is shown;

[0052] Figure 2 The flowchart of the local dry underwater welding method provided by the embodiments of the present application is shown;

[0053] Figure 3 The drain cover position diagram during welding of the first layer of weld is shown;

[0054] Figure 4 The drain cover position diagram during welding of the second layer of weld is shown;

[0055] Figure 5 The stainless steel underwater local dry laser cladding provided by the embodiments of the present application is shown.

[0056] Reference signs:

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

[0058] Hereinafter, the present application will be described in detail with reference to the accompanying drawings and examples. It should be noted that the examples in the present application and the features in the examples can be combined with each other without conflict.

[0059] The examples of the present application will be described in detail below, examples of which are shown in the accompanying drawings, in which the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The examples described below by reference to the accompanying drawings are exemplary and are for the purpose of explaining the present application, and cannot be interpreted as limiting the present application.

[0060] Those skilled in the art can understand that the singular forms "a", "an" and "the" used herein include plural forms unless specifically stated otherwise. It should be further understood that the use of the term "include" in the specification of the present application means that the stated features, integers, steps, operations, elements, and / or components are present, 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 say an element is "connected" or "joined" to another element, it can be directly connected or joined to the other element, or there can be an intermediate element. In addition, "connected" or "joined" used herein can include wireless connection or wireless connection. The phrase "and / or" used herein includes all or any single unit and all combinations of the 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 various different forms, and should not be interpreted as being limited only to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the present application is thorough and complete, and the concepts of these exemplary embodiments are fully conveyed to those of ordinary skill in the art.

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

[0063] As shown in Figure 2 The local dry underwater welding method includes:

[0064] In step 201, the target working height of the Nth welding operation is determined according to the single-pass weld thickness obtained from the (N-1)th welding operation of the object to be welded.

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

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

[0067] In step 202, the target welding parameters and the target drainage parameters matched with the target working height are determined according to the first correspondence relationship between the working height of the drainage cover relative to the welding surface, the welding parameters and the drainage parameters.

[0068] wherein 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, laser defocusing amount.

[0069] In step 203, the welding equipment is controlled to perform the Nth welding operation on the object to be welded according to the target working height, the target drainage parameters and the target welding parameters.

[0070] The local dry underwater welding method provided by the embodiments of the present application determines the target working height between the drainage cover and the surface of the object to be welded required for the current welding operation according to the single-pass weld thickness obtained from the last welding operation on the object to be welded in the underwater welding process. The target welding parameters and the target drainage parameters that can take into account the welding quality and cost at the target working height are found by using the first correspondence relationship between the pre-associated working height, welding parameters and drainage parameters. Finally, the target working height, the target drainage parameters and the target welding parameters are used to control the components of the local dry underwater welding system to perform the current welding operation on the object to be welded. Thus, the different welding conditions and environmental changes are analyzed through the welded condition, and the required parameters of the subsequent welding and drainage are dynamically adjusted to form a closed-loop control, which helps to improve the quality and consistency of the welded joint, reduces material waste and welding time, and enables the local dry underwater welding system to complete the multi-layer and multi-pass welding operation with high quality at a lower cost, thereby improving the performance and efficiency of the entire welding system and laying a foundation for underwater large-size crack repair.

[0071] In an actual application scenario, before step 202, the local dry underwater welding method further comprises: controlling the air pump to deliver high-pressure gas to the drainage cover at different drainage parameters; identifying the drainage cover images obtained by the camera under different drainage parameters to determine the working height of the drainage cover relative to the welding surface under different drainage parameters; determining the available height of the working height of the drainage cover relative to the welding surface that meets the preset welding requirement according to the environmental information of the drainage cover collected by the sensor under different drainage parameters; and associating the available height with the drainage parameter corresponding to the available height to obtain a second correspondence 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 drainage cover at different drainage parameters to simulate the possible drainage effect under different drainage parameters. After each drainage is completed, the inside of the drainage cover is photographed by the camera to obtain drainage cover images under different drainage parameters. The working height of the drainage cover relative to the welding surface under each drainage parameter in the drainage cover image is identified by distance recognition technology. At the same time, the environmental information of the inside of the drainage cover collected by the sensor arranged inside the drainage cover is used to filter the available height that meets the preset welding requirement from the working height corresponding to each drainage parameter. Associating the available height with the drainage parameter corresponding to the available height can obtain a second correspondence relationship between the available height of the good inside environment of the drainage cover and the drainage parameter. Thus, by establishing the second correspondence relationship between the available height and the drainage parameter, data support is provided for subsequent adjustment and optimization of the working height and the drainage parameter, which helps to reduce the risk of gas leakage or other environmental problems, improve the safety of underwater welding operation, and reduce the incidence of welding defects. Moreover, with the aid of automatic collection and analysis of image recognition and sensor data, the complexity and risk of manual operation are reduced, and the automation and intelligent level of the system is improved.

[0073] Based on the same principle, before step 102, the local dry underwater welding method further comprises: controlling the welding assembly to perform welding operation on the test sample at different welding parameters according to the available height; obtaining the welding features of the test sample in the welding image photographed by the camera under the available height; matching the welding features with the preset welding requirement to determine the available welding parameter that matches the preset welding requirement; associating the available welding parameter and the available height corresponding to the available welding parameter to obtain a third correspondence relationship between the available height and the available welding parameter; and combining the second correspondence relationship and the third correspondence relationship to form the first correspondence relationship.

[0074] In this embodiment, welding experiments are performed with different welding parameters for each available height respectively. After the welding operation on the test sample is completed, the welding image is obtained by shooting the test sample welding result through the camera. The welding features of the test sample in the welding image are identified. The welding features are compared with the preset welding requirements 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 to obtain a third correspondence relationship between the available heights and the available welding parameters that can obtain better welding quality. The first correspondence relationship is formed by combining the second correspondence relationship and the third correspondence relationship with the available heights as the reference. Thus, by establishing the third correspondence relationship between the available heights and the welding parameters, data support is provided for subsequent work height, welding parameter adjustment and optimization, ensuring the quality stability and consistency of the welding process, improving the welding effect and reducing the occurrence rate of welding defects. Moreover, with the aid of image recognition and automatic acquisition and analysis of sensor data, the complexity and risk of manual operation are reduced, and the automation and intelligent level of the system are improved.

[0075] In an embodiment, before step 202, the local dry underwater welding method further comprises: determining the first correspondence relationship according to the material type of the object to be welded.

[0076] In this embodiment, the work height-drainage parameter-welding parameter combination suitable for the material characteristics is determined by fully considering that different materials have different physical and chemical properties (such as thermal conductivity, melting point, strength, etc.). The weld quality can be better controlled, the welding defects such as cracks, pores, etc. and the damage to the material performance during the welding process are reduced, the strength and durability of the welded joint are improved, and better welding effect is obtained. Further, establishing the first correspondence relationship based on the material type can help meet the relevant industry standards and specifications, reduce the operation difficulty of welding control, have higher fault tolerance, and even inexperienced workers can complete high-quality welding maintenance, effectively reducing the welding maintenance cost.

[0077] In an embodiment, the local dry underwater welding method further comprises: if the overlay thickness of the object to be welded is greater than or equal to the 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. The embodiments of the present application are not listed one by one.

[0079] In this embodiment, when the overlay thickness of the object to be welded, that is, the sum of the single-pass weld thickness of multiple welding operations, is greater than or equal to the thickness threshold, it indicates that the current underwater welding is to achieve the welding required thickness or welding safety thickness, at this time, the control welding assembly stops the welding operation. On the one hand, the thickness of the overlay can be precisely controlled, the material cost is saved, and the subsequent processing requirements are better met. On the other hand, it avoids problems such as excessive welding, degradation of welded joint performance, equipment overload or damage caused by excessive thickness of the overlay, effectively reduces the risk of welding defects such as cracks and excessive heat-affected zone, and prolongs the service life of the equipment. Further, the safety and quality of welding are improved, and efficient use of materials and subsequent processing convenience are achieved.

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

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

[0082] When welding operation is needed, the local dry underwater laser welding drain cover is placed above the surface to be welded, and the relative position relationship between the bottom surface of the drain cover and the surface of the object to be welded is as shown in Figure 3 At this time, the target working height between the surface of the object to be welded and the drain cover is L1;

[0083] The target drain gas flow and target welding parameters suitable for the working height L1 are selected from the working height-drain gas flow-welding parameter combination, and the first layer of weld is welded one pass at a time based on this, and the state as shown in Figure 4 is obtained.

[0084] As shown in Figure 4As shown, after the first layer of weld is welded, the thickness of the single-pass weld is measured, and the target working height (L2) for the second layer of weld is quickly set based on the thickness. The above steps are repeated to obtain the target working height-target exhaust gas flow-target welding parameter combination for the second layer. 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, and finally obtain the overlaying effect as shown. Figure 5

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

[0087] It should be noted that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of the processes should be determined according to their functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0088] Further, as a specific implementation of the above local dry underwater welding method, the embodiments of the present application provide a control device, which comprises a processing module and a control module.

[0089] The processing module is configured to determine a target working height for an Nth welding operation according to a single-pass weld thickness obtained from an (N-1)th welding operation of the object to be welded, wherein N is a positive integer; and

[0090] determine target welding parameters and target exhaust parameters matched with the target working height according to a first correspondence relationship among the working height of the exhaust cover relative to the welding surface, the welding parameters, and the exhaust parameters;

[0091] The control module is configured to control the welding equipment to perform the Nth welding operation on the object to be welded according to the target working height, the target exhaust parameters, and the target welding parameters.

[0092] Further, the local dry underwater welding system comprises a gas pump, a camera, and a sensor; and the control module is further configured to control the gas pump to deliver high-pressure gas to the exhaust cover at different exhaust parameters.

[0093] ​The processing module is further configured to identify the images of the drain cover captured by the camera under different drainage parameters, to determine the working heights of the drain cover relative to the welding surface under different drainage parameters; to determine the available heights of the drain cover relative to the welding surface that meet the preset welding requirements according to the environmental information of the drain cover collected by the sensor under different drainage parameters; and to obtain a second correspondence between the available heights and the drainage parameters by associating the available heights with the drainage parameters corresponding to the available heights.

[0094] Further, the control module is further configured to control the welding assembly to perform the welding operation on the test sample under different welding parameters according to the available heights.

[0095] The processing module is further configured to obtain the welding features of the test sample in the welding image captured by the camera under the available heights, to match the welding features with the preset welding requirements, to determine the available welding parameters that match the preset welding requirements, to obtain a third correspondence between the available heights and the available welding parameters by associating the available welding parameters with the available heights corresponding to the available welding parameters, and to form the first correspondence by combining the second correspondence and the third correspondence.

[0096] Further, the processing module is further configured to determine the first correspondence according to the material type of the object to be welded.

[0097] Further, the control module is further configured to control the welding assembly to stop the welding operation if the overlay thickness of the object to be welded is greater than or equal to the thickness threshold.

[0098] The thickness threshold is less than or equal to 10 mm.

[0099] The specific limitations of the control device can be referred to the limitations of the local dry underwater welding method described above, which will not be repeated here. Each module in the control device described above can be realized by software, hardware and their combination in whole or in part. Each module described above can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to each module.

[0100] Based on the method as shown in Figure 2 , correspondingly, the embodiment of the present application further provides a readable storage medium, which stores a computer program, and the program is executed by a processor to realize the local dry underwater welding method as shown in Figure 2 .

[0101] Based on such understanding, the technical scheme 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 U disk, a mobile hard disk, etc.), and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the method described in various implementation scenarios of the present application.

[0102] Based on the above method as shown in Figure 1 , and the virtual device embodiment, in order to achieve the above-mentioned purpose, the embodiments of the present application also provide a local dry underwater welding system, as shown in Figure 1 , the system comprises a welding device 110, a drainage cover 120 and a control device (not shown in the figure).

[0103] Specifically, the welding device 110 comprises a gas pump (not shown in the figure) and a welding assembly (not shown in the figure). The drainage cover 120 is provided with a containing cavity with an opening located above the object to be welded. The gas pump is in communication with the containing cavity, and the gas pump is used to deliver high-pressure gas to the containing cavity. The welding device 110 is connected with the drainage cover 120. The welding assembly is used to perform welding operation on the object to be welded. The welding device 110 is provided with an exhaust port 113, which is formed on the shell 112 of the welding device 110, and is used to exhaust excess high-pressure gas. The control device is electrically connected with the welding device 110 to execute the steps of the above-mentioned local dry underwater welding method.

[0104] In this way, the welding modules such as the laser welding head and the wire feeding nozzle of the welding assembly are placed inside the drainage cover, high-pressure inert gas is introduced into the drainage cover through the sealing valve and the gas pump, and the moisture in the drainage cover is exhausted, so that a water-free laser-weldable environment is formed inside the drainage cover, and subsequent laser operation can be performed. After welding is completed, the system will clean the gas and residual moisture in the welding cover through the drainage system and the gas release system, to ensure the integrity and stability of the welded structure.

[0105] In an embodiment, as shown in Figure 1 , the welding device 110 further comprises a camera (not shown in the figure) and a sensor 111.

[0106] Specifically, the camera is arranged in the shell 112, and the containing cavity of the drainage cover 120 is located within the visual angle range of the camera, and the camera is used to shoot images. At least part of the sensor 111 is arranged in the drainage cover 120, and the sensor is used to collect environmental information in the drainage cover.

[0107] Among them, the sensor comprises a temperature sensor and / or a humidity sensor.

[0108] Thus, in the welding process, the temperature and humidity in the cover are monitored in real time by the sensor, the stable welding temperature or humidity is maintained by adjusting the gas flow. And the camera can be used to collect the image in the drainage cover, to monitor the welding condition and drainage condition in the cover in real time, to facilitate the smooth development of the welding operation.

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

[0110] Those skilled in the art can understand that the modules in the device in the embodiment scenario do not necessarily have to be implemented in the device in the embodiment scenario, and can be distributed in one or more devices different from the embodiment scenario. The modules in the above embodiment scenario can be combined into one module, or can be further split into multiple sub-modules.

[0111] The above application number is only for description, and does not represent the advantages and disadvantages of the embodiment scenario. The above disclosure is only a few specific embodiment scenarios of the application, but the application is not limited thereto, and any changes that can be thought of by those skilled in the art should fall within the protection scope of the application.

Claims

1. A localized dry underwater welding method, characterized in that, A method applicable to a localized dry underwater welding system, the localized dry underwater welding system comprising welding equipment and a drainage cover, the welding equipment comprising welding components, an air pump, a camera, and sensors, the method comprising: The air pump is controlled to deliver high-pressure gas to the drainage cover by different drainage parameters; The images of the drainage cover captured by the camera under different drainage parameters are identified to determine the working height of the drainage cover relative to the welding surface under different drainage parameters. Based on the environmental information inside the drainage hood collected by the sensor under different drainage parameters, the usable height of the drainage hood relative to the welding surface that meets the preset welding requirements is determined; By associating the available height with the drainage parameters corresponding to the available height, a second correspondence between the available height and the drainage parameters is obtained; The welding assembly is controlled to perform welding operations on the test sample according to different welding parameters based on the available height; Obtain the welding features of the test specimen from the welding image captured by the camera at the available height; The welding features are matched with the preset welding requirements to determine the available welding parameters that match the preset welding requirements; By associating the available welding parameters with the available height corresponding to the available welding parameters, a third correspondence between the available height and the available welding parameters is obtained; By combining the second and third correspondences, a first correspondence is formed between the working height of the drainage cover relative to the welding surface, the welding parameters, and the drainage parameters. Based on the single-pass weld thickness obtained from the (N-1)th welding operation of the object to be welded, determine the target working height of the Nth welding operation, where N is a positive integer; Based on the first correspondence, target welding parameters and target drainage parameters that are highly matched with the target working height are determined; Based on the target working height, the target drainage parameters, and the target welding parameters, the welding equipment is controlled to perform the Nth welding operation on the object to be welded.

2. The local dry underwater welding method according to claim 1, characterized in that, The method further includes: The first correspondence is determined based on the material type of the object to be welded.

3. The local dry underwater welding method according to claim 1, characterized in that, The method further includes: If the thickness of the weld overlay on the object to be welded is greater than or equal to the thickness threshold, the welding equipment is controlled to stop the welding operation. Wherein, the thickness threshold is less than or equal to 10 mm.

4. The partial dry underwater welding method according to any one of claims 1 to 3, characterized in that, The drainage parameters include at least one of the following: drainage gas pressure, drainage gas flow rate, drainage hood movement speed, drainage hood internal temperature, and drainage hood internal humidity; Welding parameters include at least one of the following: laser power, welding speed, wire feed speed, and laser defocusing amount.

5. A control device suitable for a localized dry underwater welding system, the localized dry underwater welding system comprising a drainage cover and welding equipment, characterized in that, The welding equipment includes welding components, an air pump, a camera, and sensors; the device includes: The control module is used to control the air pump to deliver high-pressure gas to the drainage cover with different drainage parameters; The processing module is used to identify images of the drainage cover captured by the camera under different drainage parameters, determine the working height of the drainage cover relative to the welding surface under different drainage parameters; and, based on the environmental information inside the drainage cover collected by the sensor under different drainage parameters, determine the usable height of the working height of the drainage cover relative to the welding surface that meets the preset welding requirements; and, associate the usable height with the drainage parameters corresponding to the usable height to obtain a second correspondence between the usable height and the drainage parameters. The control module is also used to control the welding assembly to perform welding operations on the test sample according to different welding parameters based on the available height; The processing module is further configured to: acquire the welding features of the test sample in the welding image captured by the camera at the available height; match the welding features with the preset welding requirements to determine the available welding parameters that match the preset welding requirements; associate the available welding parameters with the available height corresponding to the available welding parameters to obtain a third correspondence between the available height and the available welding parameters; and combine the second correspondence with the third correspondence to form a first correspondence between the working height of the drainage cover relative to the welding surface, the welding parameters, and the drainage parameters. The processing module is further configured to determine the target working height of the Nth welding operation based on the single-pass weld thickness obtained from the (N-1)th welding operation of the object to be welded, where N is a positive integer; and to determine the target welding parameters and target drainage parameters that match the target working height based on the first correspondence between the working height of the drainage cover relative to the welding surface, the welding parameters, and the drainage parameters. The control module is also used to control the welding equipment to perform the Nth welding operation on the object to be welded based on the target working height, the target drainage parameters, and the target welding parameters.

6. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps of the local dry underwater welding method as described in any one of claims 1 to 4.

7. A localized dry underwater welding system, characterized in that, include: A drainage cover, wherein the drainage cover has 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 receiving cavity, is used to deliver high-pressure gas into the receiving cavity; A welding assembly, connected to the drainage cover, is used to perform welding operations on the object to be welded; A camera, wherein the receiving cavity is located within the field of view of the camera, and the camera is used to capture images; The sensor, at least a portion of which is disposed within the drainage cover, is used to collect environmental information within the drainage cover. The control device as described in claim 5 is electrically connected to the welding equipment.

8. The local dry underwater welding system according to claim 7, characterized in that, The sensors include temperature sensors and / or humidity sensors.

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