Underwater self-adaptive marine intelligent welding robot

Abstract

The invention relates to the technical field of welding robots, in particular to an underwater self-adaptive marine intelligent welding robot which comprises a shell, a fixing pipe is fixed to the surface of the shell, an inserting rod is arranged at the end of the fixing pipe, and a first butt joint frame is fixed to the other end of the inserting rod; a second clamping plate is arranged at the end of the first clamping plate, a jacking block is arranged on the surface of the second clamping plate, a through groove is formed in the surface of the first clamping plate, and a baffle is arranged in the through groove; the pipeline butt-joint device has the beneficial effects that a second butt-joint frame is fixed to the surface of a first butt-joint frame through a screw, a first clamping plate is moved to the exterior of a pipeline, a second clamping plate extends out of the first clamping plate, the first clamping plate and the second clamping plate surround the exterior of the pipeline, and a jacking block on the surface of the second clamping plate extends out of the interior of the second clamping plate; and the shell is clamped on the surface of the pipeline, so that the shell is stabilized on the surface of the pipeline.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, specifically to an underwater adaptive marine intelligent welding robot. Background Technology

[0002] With the development of oceans and lakes, the demand for underwater mechanical equipment is increasing, such as underwater metal pipelines (hereinafter referred to as underwater pipelines). The installation or repair of underwater pipelines cannot be separated from welding technology. At present, the welding work of underwater pipelines in engineering almost entirely relies on manual operation. The welding process is tedious, complex, time-consuming and labor-intensive.

[0003] In the prior art, patent publication number CN110170850B, entitled "An Underwater Pipe Welding Robot," includes a shell, a walking mechanism, a pipe attachment grinding mechanism, a weld cleaning mechanism, a microwave drying mechanism, a welding mechanism, a hammering mechanism, a post-weld grinding mechanism, and a spraying mechanism. The sides of the shell can be opened; when the shell is open, the robot attaches to the underwater pipe. When the shell is closed, a closed space is formed inside, allowing water to be drained from the shell using a pump. The walking mechanism is mounted on the inner wall of the shell, enabling precise movement of the robot along the axial and circumferential directions of the pipe. Simultaneously, the pipe attachment grinding mechanism, weld cleaning mechanism, microwave drying mechanism, welding mechanism, hammering mechanism, post-weld grinding mechanism, and spraying mechanism are sequentially arranged along a certain circumferential direction inside the shell, facilitating operations such as cleaning pipe attachments, cleaning welds, microwave drying, welding, stress relief by hammering, and post-weld grinding and spraying.

[0004] However, when welding robots weld pipes, the surface of the pipes needs to be washed with a high-pressure water gun first. During the washing process, the debris washed out can hit the surface of the welding head, which may damage the welding head and affect the welding progress. Summary of the Invention

[0005] The purpose of this invention is to provide an underwater adaptive marine intelligent welding robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an underwater adaptive marine intelligent welding robot, comprising:

[0007] The outer casing has a fixing tube fixed to its surface, and a plug rod is provided at one end of the fixing tube. The other end of the plug rod is fixed with a first docking frame.

[0008] A first clamping plate, a second clamping plate is provided at the end of the first clamping plate, a top holding block is provided on the surface of the second clamping plate, a through groove is opened on the surface of the first clamping plate, a baffle is provided in the through groove, an arc plate is fixed at the end of the baffle, a second docking frame is fixed on the surface of the first clamping plate, a movable plate is provided on the surface of the first clamping plate, and a force-bearing plate is provided at the end of the movable plate.

[0009] Preferably, the plug rod is inserted into the inside of the fixed tube, and the plug rod can extend and retract inside the fixed tube. The first docking frame moves with the plug rod. A connecting frame is fixed on the surface of the first clamping plate, and a second docking frame is fixed at the other end of the connecting frame. The second docking frame is fixed on the surface of the first docking frame by a screw. A through hole is opened on the surface of the first clamping plate, and an extension plate is fixed on the surface of the first clamping plate. The extension plate is located outside the through hole.

[0010] Preferably, the second clamping plate is inserted into both ends of the first clamping plate, and the second clamping plate can extend and retract inside the first clamping plate. A top holding block is inserted into the surface of the second clamping plate, and the top holding block can extend and retract on the surface of the second clamping plate. A baffle is inserted into the inner wall of the through groove, and the baffle can extend and retract inside the first clamping plate. An arc-shaped plate is fixed to the end of the baffle, and the arc-shaped plate moves with the baffle. Two sets of baffles are provided, and the two sets of baffles are symmetrically distributed in the through groove.

[0011] Preferably, the surface of the first clamping plate is provided with a sliding groove, a movable plate is inserted into the sliding groove, the movable plate can move in the sliding groove, one end of the movable plate is fixed to the surface of the baffle, the movable plate moves with the baffle, the other end of the movable plate is fixed to a force plate, the force plate moves with the movable plate, a limit frame is fixed to the surface of the movable plate, a telescopic plate is inserted into the limit frame, the telescopic plate can move inside the limit frame, a force rod is fixed to the end of the telescopic plate, the telescopic plate moves with the force rod.

[0012] Preferably, the surface of the first clamping plate is fixed with protrusions, and there are two sets of protrusions. The two sets of protrusions are symmetrically distributed on both sides of the slide groove. When the moving plate moves in the slide groove, the force rod moves with the moving plate. After the force rod moves, it presses against the surface of the protrusions, so that the force rod drives the telescopic plate to move. A spring is provided in the slide groove. One end of the spring is connected to the inner wall of the slide groove, and the other end is connected to the surface of the moving plate. The spring has a thrust, so that the moving plate is located at the top position of the slide groove.

[0013] Preferably, a snap-fit ​​plate is inserted inside the force-bearing plate. The snap-fit ​​plate is flexible and bends inside the force-bearing plate. One end of the snap-fit ​​plate is connected to one end of the telescopic plate. The snap-fit ​​plate moves with the telescopic plate. A storage groove is provided inside the outer shell. A rotating shaft is provided in the storage groove. The rotating shaft can rotate inside the storage groove. The rotating shaft is connected to a driving device. The driving device drives the rotating shaft to rotate. A partition is fixed on the surface of the rotating shaft. The partition rotates with the rotating shaft. A nozzle and a top holding plate are fixed on one side of the partition. The top holding plate is located outside the nozzle. A welding head is fixed on the other side of the partition. The nozzle, the top holding plate, and the welding head all rotate with the rotating shaft.

[0014] Preferably, a vertical plate is fixed to the surface of the outer shell, a snap-fit ​​rod is fixed to the end of the vertical plate, and a limit hole is opened on the surface of the vertical plate. A first docking plate is fixed to the surface of the outer shell, a second docking plate is fixed to the surface of the first docking frame, a cylinder is fixed to the surface of the first docking plate, a piston rod is provided at the end of the cylinder, and the piston rod is connected to the surface of the second docking plate. The cylinder can drive the piston rod to move telescopically, thereby changing the distance between the first docking plate and the second docking plate.

[0015] Preferably, after the outer shell approaches the surface of the first clamping plate, the upright plate moves with the outer shell, so that the snap-fit ​​rod is inserted into the interior of the force-bearing plate, and the snap-fit ​​plate in the force-bearing plate can be inserted into the limiting hole on the surface of the upright plate after it moves.

[0016] Preferably, a pipe is placed inside the first clamping plate, and a second clamping plate is located outside the pipe. The end of the second clamping plate is connected to a driving device, which drives the second clamping plate to extend out of the first clamping plate. The end of the top holding block is connected to the driving device, which drives the top holding block to extend out of the second clamping plate. After extending out of the second clamping plate, the top holding block presses against the surface of the pipe.

[0017] Preferably, the welding head is capable of welding the surface of the pipe, and the welding head is connected to a robotic arm that drives the welding head to move.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] The second docking frame proposed in this invention is fixed to the surface of the first docking frame by a screw. The first clamping plate is moved to the outside of the pipe, and the second clamping plate extends out from the first clamping plate, so that the first clamping plate and the second clamping plate surround the outside of the pipe. The top holding block on the surface of the second clamping plate extends out from the inside of the second clamping plate and clamps the surface of the pipe, so that the outer shell is stable on the surface of the pipe. By rotating the shaft, the partition plate swings along the shaft. The nozzle and the top holding plate on the surface of the shaft swing with the partition plate, so that the top holding plate and the nozzle face the pipe. During the rotation of the shaft, the top holding plate presses against the surface of the arc plate, so that the two sets of arc plates move away from each other. The baffle at the end of the arc plate is inserted into the inside of the first clamping plate, so that the nozzle is located between the two sets of arc plates. The nozzle can clean the surface of the pipe, and the baffle and partition can play a protective role to prevent debris from impacting the surface of the welding joint. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention.

[0021] Figure 2 This is a schematic diagram of the structure of the present invention from another perspective.

[0022] Figure 3 This is a schematic diagram of the outer shell structure of the present invention.

[0023] Figure 4 This is a schematic diagram of the first clamping plate structure of the present invention.

[0024] Figure 5 for Figure 4 Enlarged schematic diagram of the structure at point A in the middle.

[0025] Figure 6 This is a schematic diagram of the load-bearing plate structure of the present invention.

[0026] Figure 7 This is a schematic diagram of the cross-sectional structure of the outer shell of the present invention.

[0027] Figure 8 This is a schematic diagram of the outer shell of the present invention from another perspective.

[0028] Figure 9 for Figure 7 Enlarged schematic diagram of the structure at point B in the middle.

[0029] In the diagram: 1. Outer shell; 2. Pipe; 3. Fixed pipe; 4. Insert rod; 5. First docking frame; 6. Through groove; 7. Arc plate; 8. Second docking frame; 9. Baffle; 10. Connecting frame; 11. First clamping plate; 12. Second clamping plate; 13. Through hole; 14. Extension plate; 15. Top holding block; 16. Force plate; 17. Limiting frame; 18. Protrusion; 19. Spring; 20. Force rod; 21. Telescopic plate; 22. Slide groove; 23. Moving plate; 24. Snap-fit ​​plate; 25. Storage groove; 26. Top holding plate; 27. Nozzle; 28. Rotating shaft; 29. ​​Partition plate; 30. Welding head; 31. First docking plate; 32. Vertical plate; 33. Cylinder; 34. Piston rod; 35. Second docking plate; 36. Limiting hole; 37. Snap-fit ​​rod. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the present invention clear and complete, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only some, not all, embodiments of the present invention, and are merely illustrative of the embodiments of the present invention. They are not intended to limit the embodiments of the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Please see Figures 1 to 9 The present invention provides a technical solution:

[0032] Example 1: An underwater adaptive marine intelligent welding robot, comprising: a shell 1, a fixing tube 3 fixed to the surface of the shell 1, a connector rod 4 provided at one end of the fixing tube 3, and a first docking frame 5 fixed to the other end of the connector rod 4; a first clamping plate 11, a second clamping plate 12 provided at the end of the first clamping plate 11, a top holding block 15 provided on the surface of the second clamping plate 12, and a through groove 6 formed on the surface of the first clamping plate 11, a baffle 9 provided in the through groove 6, and an arc-shaped bracket fixed to the end of the baffle 9. The first clamping plate 11 has a second docking frame 8 fixed on its surface. The first clamping plate 11 has a movable plate 23 on its surface. The end of the movable plate 23 has a force-bearing plate 16. After the snap-fit ​​plate 24 moves, it is inserted into the limiting hole 36, so that the nozzle 27 is stable in the force-bearing plate 16, and the upright plate 32 is continuously held against the surface of the force-bearing plate 16. The movable plate 23 is connected to the baffle 9, so that the baffle 9 moves with the movable plate 23. The through groove 6 is opened, and the pipe 2 can be welded through the welding head 30.

[0033] Example 2: Based on Example 1, the plug rod 4 is inserted into the inside of the fixed tube 3. The plug rod 4 can extend and retract inside the fixed tube 3. The first docking frame 5 moves with the plug rod 4. A connecting frame 10 is fixed to the surface of the first clamping plate 11. A second docking frame 8 is fixed to the other end of the connecting frame 10. The second docking frame 8 is fixed to the surface of the first docking frame 5 by a screw. A through hole 13 is opened on the surface of the first clamping plate 11. An extension plate 14 is fixed to the surface of the first clamping plate 11. The extension plate 14 is located outside the through hole 13. A protrusion 18 is fixed to the surface of the first clamping plate 11. Two sets of protrusions 18 are fixed. The two sets of protrusions 18 are symmetrically distributed on both sides of the slide groove 22. When the moving plate 23 moves in the slide groove 22, the force rod 2 As the movable plate 23 moves, the force rod 20 moves and presses against the surface of the protrusion 18, causing the force rod 20 to drive the telescopic plate 21 to move. A spring 19 is provided in the slide groove 22. One end of the spring 19 is connected to the inner wall of the slide groove 22, and the other end is connected to the surface of the movable plate 23. The spring 19 has a thrust, so that the movable plate 23 is located at the top of the slide groove 22. One end of the movable plate 23 is fixed to the surface of the baffle 9, and the movable plate 23 moves with the baffle 9. The other end of the movable plate 23 is fixed to the force plate 16, and the force plate 16 moves with the movable plate 23. A limit frame 17 is fixed to the surface of the movable plate 23. The telescopic plate 21 is inserted into the inside of the limit frame 17, and the telescopic plate 21 can move inside the limit frame 17.

[0034] The second clamping plate 12 is inserted into both ends of the first clamping plate 11. The second clamping plate 12 can telescopically move inside the first clamping plate 11. A top holding block 15 is inserted into the surface of the second clamping plate 12, and the top holding block 15 can telescopically move on the surface of the second clamping plate 12. A baffle 9 is inserted into the inner wall of the through groove 6, and the baffle 9 can telescopically move inside the first clamping plate 11. An arc-shaped plate 7 is fixed to the end of the baffle 9, and the arc-shaped plate 7 moves with the baffle 9. Two sets of baffles 9 are provided, and the two sets of baffles 9 are symmetrically distributed in the through groove 6. A pipe 2 is placed inside the first clamping plate 11, and the second clamping plate 12 is located on the pipe. Outside of pipe 2, the end of the second clamping plate 12 is connected to a driving device. The driving device drives the second clamping plate 12 to extend out from the first clamping plate 11. The end of the top holding block 15 is connected to the driving device. The driving device drives the top holding block 15 to extend out from the second clamping plate 12. After the top holding block 15 extends out from the second clamping plate 12, it presses against the surface of pipe 2. The second clamping plate 12 extends out from the first clamping plate 11, so that the first clamping plate 11 and the second clamping plate 12 surround the outside of pipe 2, and the top holding block 15 on the surface of the second clamping plate 12 extends out from the inside of the second clamping plate 12 and clamps the surface of pipe 2.

[0035] A groove 22 is formed on the surface of the first clamping plate 11. A movable plate 23 is inserted into the groove 22 and can move within it. One end of the movable plate 23 is fixed to the surface of the baffle 9 and moves with the baffle 9. A force-bearing plate 16 is fixed to the other end of the movable plate 23 and moves with it. A limit frame 17 is fixed to the surface of the movable plate 23, and a telescopic plate 21 is inserted inside the limit frame 17 and can move within it. A force-bearing rod 20 is fixed to the end of the telescopic plate 21 and moves with it. The outer casing 1 has a flexible, resilient retaining plate 24 inserted inside the load-bearing plate 16. The retaining plate 24 bends inside the load-bearing plate 16, and one end of the retaining plate 24 is connected to one end of the telescopic plate 21. The retaining plate 24 moves with the telescopic plate 21. The outer casing 1 has a storage slot 25 inside, and a rotating shaft 28 is installed in the storage slot 25. The rotating shaft 28 can rotate inside the storage slot 25 and is connected to a drive device. The drive device drives the rotating shaft 28 to rotate. A partition 29 is fixed to the surface of the rotating shaft 28 and rotates with the rotating shaft 28. A nozzle 27 and a top holding plate 26 are fixed on one side, with the top holding plate 26 located outside the nozzle 27. A welding head 30 is fixed on the other side of the partition plate 29. The nozzle 27, the top holding plate 26, and the welding head 30 all rotate with the rotating shaft 28. A vertical plate 32 is fixed to the surface of the outer shell 1, and a snap-fit ​​rod 37 is fixed to the end of the vertical plate 32. A limit hole 36 is opened on the surface of the vertical plate 32. A first docking plate 31 is fixed to the surface of the outer shell 1. A second docking plate 35 is fixed to the surface of the first docking frame 5. A cylinder 33 is fixed to the surface of the first docking plate 31, and a piston rod 34 is provided at the end of the cylinder 33. 34 is connected to the surface of the second docking plate 35. The piston rod 34 can be driven by the cylinder 33 to move telescopically, so that the distance between the first docking plate 31 and the second docking plate 35 changes. After the outer shell 1 approaches the surface of the first clamping plate 11, the upright plate 32 moves with the outer shell 1, so that the snap-fit ​​rod 37 is inserted into the interior of the force plate 16. After the snap-fit ​​plate 24 in the force plate 16 moves, it can be inserted into the limiting hole 36 on the surface of the upright plate 32. The welding head 30 can weld the surface of the pipe 2. The welding head 30 is connected to the robotic arm and drives the welding head 30 to move.

[0036] The second docking frame 8 is fixed to the surface of the first docking frame 5 by a screw. The first clamping plate 11 is moved to the outside of the pipe 2, and the second clamping plate 12 extends out from the first clamping plate 11, so that the first clamping plate 11 and the second clamping plate 12 surround the outside of the pipe 2. The top holding block 15 on the surface of the second clamping plate 12 extends out from the inside of the second clamping plate 12 and clamps the surface of the pipe 2, so that the outer shell 1 is stable on the surface of the pipe 2. The rotating shaft 28 rotates, so that the partition plate 29 swings along the rotating shaft 28. The nozzle 27 and the top holding plate 26 on the surface of the rotating shaft 28 swing with the partition plate 29, so that the top holding plate 29 swings along the shaft 28. The nozzle 27 and the top plate 26 are aligned with the pipe 2. As the shaft 28 rotates, the top plate 26 presses against the surface of the arc-shaped plate 7, causing the two sets of arc-shaped plates 7 to move away from each other. The baffle 9 at the end of the arc-shaped plate 7 is inserted into the interior of the first clamping plate 11, positioning the nozzle 27 between the two sets of arc-shaped plates 7. The nozzle 27 can clean the surface of the pipe 2. The baffle 9 and the partition 29 provide protection, preventing debris from impacting the surface of the welding head 30. The surface of the first clamping plate 11 has a through hole 13, and an extension plate 14 is provided outside the through hole 13, allowing debris to be ejected from the through hole 13, maintaining the pipe's surface. The surface of pipe 2 is clean. After the rotating shaft 28 rotates, the welding head 30 approaches the surface of pipe 2. The cylinder 33 drives the piston rod 34 to rise. The second mating plate 35 rises with the piston rod 34. The insertion rod 4 is inserted into the interior of the fixed pipe 3, so that the outer shell 1 approaches the surface of pipe 2. The vertical plate 32 on the surface of the outer shell 1 moves with the outer shell 1. After the snap-fit ​​rod 37 at the end of the vertical plate 32 moves, it abuts against the surface of the force plate 16 and is locked inside the force plate 16. The force plate 16 moves under pressure. The moving plate 23 moves with the force plate 16, so that the moving plate 23 is used in the slide groove 22. The spring 19 in the slide 22 is compressed, and the force rod 20 moves after being supported by the protrusion 18. The telescopic plate 21 moves with the force rod 20. After the telescopic plate 21 moves, it drives the snap-fit ​​plate 24 to move. The snap-fit ​​plate 24 is tough and is inserted into the inside of the force plate 16. After the snap-fit ​​plate 24 moves, it is inserted into the limiting hole 36, so that the nozzle 27 is stable in the force plate 16, and the upright plate 32 is continuously supported on the surface of the force plate 16. The moving plate 23 is connected to the baffle 9, so that the baffle 9 moves with the moving plate 23. The through groove 6 is opened, and the pipe 2 can be welded through the welding head 30.

[0037] Although the illustrative specific embodiments of this application have been described above to enable those skilled in the art to understand this application, this application is not limited to the scope of the specific embodiments. For those skilled in the art, all applications utilizing the concept of this application are protected as long as various variations are within the spirit and scope of this application as defined and determined by the appended claims.

Claims

1. An underwater adaptive marine intelligent welding robot, characterized in that: include: The outer shell (1) has a fixing tube (3) fixed on its surface. The end of the fixing tube (3) is provided with a plug rod (4), and the other end of the plug rod (4) is fixed with a first docking frame (5). A first clamping plate (11) is provided at the end of the first clamping plate (11) and a second clamping plate (12) is provided at the end of the first clamping plate (11). A top holding block (15) is provided on the surface of the second clamping plate (12). A through groove (6) is opened on the surface of the first clamping plate (11). A baffle (9) is provided in the through groove (6). An arc plate (7) is fixed at the end of the baffle (9). A second docking frame (8) is fixed on the surface of the first clamping plate (11). A movable plate (23) is provided on the surface of the first clamping plate (11). A force-bearing plate (16) is provided at the end of the movable plate (23).

2. The underwater adaptive marine intelligent welding robot according to claim 1, characterized in that: The plug rod (4) is inserted into the inside of the fixed tube (3). The plug rod (4) can extend and retract inside the fixed tube (3). The first docking frame (5) moves with the plug rod (4). A connecting frame (10) is fixed on the surface of the first clamping plate (11). A second docking frame (8) is fixed at the other end of the connecting frame (10). The second docking frame (8) is fixed on the surface of the first docking frame (5) by a screw. A through hole (13) is opened on the surface of the first clamping plate (11). An extension plate (14) is fixed on the surface of the first clamping plate (11). The extension plate (14) is located outside the through hole (13).

3. The underwater adaptive marine intelligent welding robot according to claim 2, characterized in that: The second clamping plate (12) is inserted into both ends of the first clamping plate (11). The second clamping plate (12) can extend and retract inside the first clamping plate (11). A top holding block (15) is inserted into the surface of the second clamping plate (12). The top holding block (15) can extend and retract on the surface of the second clamping plate (12). A baffle (9) is inserted into the inner wall of the through groove (6). The baffle (9) can extend and retract inside the first clamping plate (11). An arc plate (7) is fixed at the end of the baffle (9). The arc plate (7) moves with the baffle (9). There are two sets of baffles (9). The two sets of baffles (9) are symmetrically distributed in the through groove (6).

4. The underwater adaptive marine intelligent welding robot according to claim 3, characterized in that: The surface of the first clamping plate (11) is provided with a sliding groove (22), and a movable plate (23) is inserted into the sliding groove (22). The movable plate (23) can move in the sliding groove (22). One end of the movable plate (23) is fixed to the surface of the baffle (9). The movable plate (23) moves with the baffle (9). The other end of the movable plate (23) is fixed with a force plate (16). The force plate (16) moves with the movable plate (23). The surface of the movable plate (23) is fixed with a limit frame (17). A telescopic plate (21) is inserted into the limit frame (17). The telescopic plate (21) can move inside the limit frame (17). The end of the telescopic plate (21) is fixed with a force rod (20). The telescopic plate (21) moves with the force rod (20).

5. The underwater adaptive marine intelligent welding robot according to claim 4, characterized in that: The surface of the first clamping plate (11) is fixed with a protrusion (18). There are two sets of protrusions (18), which are symmetrically distributed on both sides of the slide groove (22). When the moving plate (23) moves in the slide groove (22), the force rod (20) moves with the moving plate (23). After the force rod (20) moves, it presses against the surface of the protrusion (18), so that the force rod (20) drives the telescopic plate (21) to move. A spring (19) is provided in the slide groove (22). One end of the spring (19) is connected to the inner wall of the slide groove (22), and the other end is connected to the surface of the moving plate (23). The spring (19) has a thrust, so that the moving plate (23) is located at the top of the slide groove (22).

6. The underwater adaptive marine intelligent welding robot according to claim 5, characterized in that: A snap-fit ​​plate (24) is inserted inside the force-bearing plate (16). The snap-fit ​​plate (24) is flexible and bends inside the force-bearing plate (16). One end of the snap-fit ​​plate (24) is connected to one end of the telescopic plate (21). The snap-fit ​​plate (24) moves with the telescopic plate (21). A storage slot (25) is provided inside the outer shell (1). A rotating shaft (28) is provided in the storage slot (25). The rotating shaft (28) can rotate inside the storage slot (25). The drive device is connected to the rotating shaft (28) and drives the rotating shaft (28) to rotate. A partition (29) is fixed on the surface of the rotating shaft (28). The partition (29) rotates with the rotating shaft (28). A nozzle (27) and a top support plate (26) are fixed on one side of the partition (29). The top support plate (26) is located outside the nozzle (27). A welding head (30) is fixed on the other side of the partition (29). The nozzle (27), the top support plate (26) and the welding head (30) all rotate with the rotating shaft (28).

7. The underwater adaptive marine intelligent welding robot according to claim 6, characterized in that: A vertical plate (32) is fixed to the surface of the outer shell (1). A snap-fit ​​rod (37) is fixed to the end of the vertical plate (32). A limit hole (36) is opened on the surface of the vertical plate (32). A first docking plate (31) is fixed to the surface of the outer shell (1). A second docking plate (35) is fixed to the surface of the first docking frame (5). A cylinder (33) is fixed to the surface of the first docking plate (31). A piston rod (34) is provided at the end of the cylinder (33). The piston rod (34) is connected to the surface of the second docking plate (35). The cylinder (33) can drive the piston rod (34) to move in extension and retraction, so that the distance between the first docking plate (31) and the second docking plate (35) changes.

8. The underwater adaptive marine intelligent welding robot according to claim 7, characterized in that: After the outer shell (1) approaches the surface of the first clamping plate (11), the upright plate (32) moves with the outer shell (1), so that the snap-fit ​​rod (37) is inserted into the interior of the force plate (16), and the snap-fit ​​plate (24) in the force plate (16) can be inserted into the limiting hole (36) on the surface of the upright plate (32) after it moves.

9. The underwater adaptive marine intelligent welding robot according to claim 8, characterized in that: The first clamping plate (11) has a pipe (2) inside, and the second clamping plate (12) is located outside the pipe (2). The end of the second clamping plate (12) is connected to a driving device, which drives the second clamping plate (12) to extend out of the first clamping plate (11). The end of the top holding block (15) is connected to the driving device, which drives the top holding block (15) to extend out of the second clamping plate (12). After the top holding block (15) extends out of the second clamping plate (12), it presses against the surface of the pipe (2).

10. The underwater adaptive marine intelligent welding robot according to claim 9, characterized in that: The welding head (30) is capable of welding the surface of the pipe (2), and the welding head (30) is connected to a robotic arm, which drives the welding head (30) to move.

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