Underwater dry type welding device and underwater robot

Abstract

The invention discloses an underwater dry type welding device and an underwater robot, and relates to the technical field of underwater welding. The underwater dry type welding device comprises a housing, a welding assembly and a water draining and gas supplying assembly. A containing cavity is formed in the housing, and one end of the housing is provided with a butt joint opening communicated with the containing cavity and used for being in butt joint with a to-be-welded workpiece. The welding assembly comprises a welding piece and a driving piece, and the driving piece is installed on the housing, is in transmission connection with the welding piece and can drive the welding piece to move in the containing cavity to conduct welding. The water drainage and gas supply assembly comprises a water drainage part and a gas supply part which are both communicated with the containing cavity and control introduction and discharge of water in the cavity and introduction and discharge of protective gas respectively. A closed space for isolating an external water body is defined by the housing and the workpiece, a stable and water-free dry type welding environment is constructed through the water drainage and gas supply assembly, welding automation is achieved through the driving part, the water body is prevented from making contact with a welding arc and a welding pool, the defects of water quenching, hydrogen-induced cracks and the like are reduced, and the operation stability and the welding seam quality of underwater welding are improved.

Description

Technical Field

[0001] This invention relates to the field of underwater welding, specifically to an underwater dry welding device and an underwater robot. Background Technology

[0002] Underwater welding is a key operational technology in fields such as marine engineering, ship repair, and water conservancy facility maintenance.

[0003] Traditional underwater welding is mostly carried out directly in an aquatic environment. The welding arc and molten pool are easily affected by water disturbance, cooling, and conductivity, resulting in poor arc stability and difficulty in controlling the formation of the molten pool. At the same time, water decomposes at high temperatures to produce a large number of hydrogen atoms, which can easily form defects such as porosity and hydrogen-induced cracks in the weld. Furthermore, the rapid quenching effect of water can lead to embrittlement of the weld structure and a decrease in mechanical properties, making it difficult to meet the safety requirements for long-term service of underwater structures.

[0004] Therefore, how to eliminate the interference of water on the welding process and improve the quality of weld formation is an urgent technical problem to be solved. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose an underwater dry welding device and an underwater robot to solve the technical problem that water interferes with the welding process and affects the weld formation quality in the prior art.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides an underwater dry welding apparatus, comprising: The cover has an internal cavity and a connection interface at one end that communicates with the cavity. The connection interface is used to connect with the workpiece to be welded. A welding assembly includes a welding component and a driving component. The welding component is disposed within the receiving cavity for welding a workpiece. The driving component is mounted on the housing and is drively connected to the welding component for driving the welding component to move within the receiving cavity. A drainage and gas supply assembly includes a drainage component and a gas supply component. The drainage component is connected to the accommodating cavity and is used to control the introduction and discharge of water in the accommodating cavity. The gas supply component is connected to the accommodating cavity and is used to control the introduction and discharge of protective gas in the accommodating cavity.

[0007] In some embodiments, the gas supply component includes a gas storage tank and a gas pump. The gas storage tank is installed on the housing and is used to store protective gas. The two ends of the gas pump are respectively connected to the gas storage tank and the accommodating cavity, and are used to control the flow of protective gas between the gas storage tank and the accommodating cavity.

[0008] In some embodiments, the drainage component includes a water pump, the two ends of which are respectively connected to the accommodating cavity and the external environment, for controlling the introduction and discharge of water in the accommodating cavity.

[0009] In some embodiments, the driving component includes an X-axis driving part, a Y-axis driving part, and a mounting base. The X-axis driving part is driven to the mounting base and is used to drive the mounting base to translate relative to the cover. The Y-axis driving part is driven to the mounting base and is used to drive the mounting base to translate relative to the cover. The driving directions of the X-axis driving part and the Y-axis driving part are perpendicular to each other. The welded part is mounted on the mounting base.

[0010] In some embodiments, the mounting base has an X-axis guide hole, and the X-axis drive unit includes an X-axis slide, an X-axis guide rod, and an X-axis lead screw mechanism. The X-axis slide is slidably disposed on the cover, and the X-axis lead screw mechanism is drivenly connected to the X-axis slide to drive the X-axis slide relative to the cover. The X-axis guide rod is mounted on the X-axis slide and passes through the X-axis guide hole.

[0011] In some embodiments, the mounting base has a Y-guide hole, and the Y-drive unit includes a Y-slide, a Y-guide rod, and a Y-screw mechanism. The Y-slide is slidably disposed on the cover, and the Y-screw mechanism is drivenly connected to the Y-slide to drive the Y-slide to slide relative to the cover. The Y-guide rod is mounted on the Y-slide and passes through the Y-guide hole.

[0012] In some embodiments, the weldment includes a welding torch and a wire feeder, the wire feeder being used to feed welding wire, the welding torch being mounted on the mounting base, and the welding torch performing welding operations by melting the welding wire.

[0013] In some embodiments, the mounting base has a wire guide hole, the wire feeding part includes a welding wire wheel and a drive motor, the welding wire wheel is rotatably mounted on the cover, one end of the welding wire is wound around the welding wire wheel, and the other end passes through the wire guide hole, the drive motor is connected to the welding wire wheel for driving the welding wire wheel to rotate to realize the welding wire feeding.

[0014] In some embodiments, a sealing gasket is also included, the sealing gasket being disposed at the mating interface.

[0015] Secondly, the present invention also provides an underwater robot equipped with the aforementioned underwater dry welding device.

[0016] Compared with existing technologies, the underwater dry welding device provided by this invention forms a closed accommodating cavity through a casing, and uses a mating interface to fit and enclose the workpiece to be welded, thus physically isolating the welding area from the external water. The drainage and gas supply assembly can first drain the water in the accommodating cavity, and then continuously introduce protective gas into the accommodating cavity, thereby creating a stable, waterless dry welding environment underwater. The driving component can drive the workpiece to move within the accommodating cavity according to a preset trajectory, enabling the workpiece to be welded at a designated position. This process avoids direct contact between water and the welding arc and molten pool, eliminating the conditions for defects such as water quenching, hydrogen-induced cracking, and porosity. At the same time, it realizes the automated execution of underwater welding operations, improving the operational stability, weld formation quality, and construction safety of underwater welding. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the underwater dry welding device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the driving component provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the welding torch installation provided in an embodiment of the present invention; Explanation of reference numerals in the attached drawings: 1. Cover 1, Receiving cavity 11, Interface 12, Welding assembly 2, Welding component 21, Welding torch 211, Wire feeder 212, Wire wheel 2121, Driving component 22, X-axis driving unit 221, X-axis slide 2211, X-axis guide rod 2212, X-axis lead screw mechanism 2213, Y-axis driving unit 222, Y-axis slide 2221, Y-axis guide rod 2222, Y-axis lead screw mechanism 2223, Mounting seat 223, Wire guide hole 2233, Z-axis lead screw mechanism 224, Drainage and air supply assembly 3, Drainage component 31, Water pump 311, Air supply component 32, Air pump 322, Sealing gasket 4. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] To address the technical problems of underwater welding being susceptible to water interference and weld defects, this invention provides an underwater dry welding device and an underwater robot, which can realize a waterless dry welding environment and improve the quality of underwater welding.

[0020] It should be noted that the underwater dry welding device of the present invention has applications including but not limited to underwater robots and other equipment. For ease of explanation, the present invention will only be described using the application of the above-mentioned underwater dry welding device to an underwater robot as an example; its working principle when applied to other types of equipment is basically the same as that when applied to underwater robots, and will not be described in detail here.

[0021] Please see Figure 1 , Figure 1 This is a schematic diagram of the underwater dry welding device according to an embodiment of the present invention. The underwater dry welding device includes a housing 1, a welding assembly 2, and a drainage and air supply assembly 3. The housing 1 has a cavity 11 inside, and one end of the housing 1 has a mating interface 12 communicating with the cavity 11. The mating interface 12 is used to connect with the workpiece to be welded. The welding assembly 2 includes a welding component 21 and a driving component 22. The welding component 21 is disposed in the cavity 11 and is used to weld the workpiece. The driving component 22 is installed in the housing 1 and is connected to the welding component 21 for driving the welding component 21 to move within the cavity 11. The drainage and air supply assembly 3 includes a drainage component 31 and an air supply component 32. The drainage component 31 is connected to the cavity 11 and is used to control the introduction and discharge of water within the cavity 11. The air supply component 32 is connected to the cavity 11 and is used to control the introduction and discharge of protective gas within the cavity 11.

[0022] In the above embodiments, the underwater dry welding device forms a closed accommodating cavity 11 through the casing 1, and uses the mating interface 12 to fit and surround the workpiece to be welded, thus physically isolating the welding area from the external water. The drainage and gas supply assembly 3 can first drain the water in the accommodating cavity 11, and then continuously introduce protective gas into the accommodating cavity 11, thereby creating a stable, waterless dry welding environment underwater. The driving component 22 can drive the welding component 21 to move within the accommodating cavity 11 according to a preset trajectory, enabling the welding component 21 to perform welding on the designated position of the workpiece. This process avoids direct contact between water and the welding arc and the molten pool, eliminating the conditions for the generation of defects such as water quenching, hydrogen-induced cracking, and porosity, while realizing the automated execution of underwater welding operations, improving the operational stability, weld formation quality, and construction safety of underwater welding.

[0023] In some embodiments, the gas supply component 32 includes a gas storage tank and a gas delivery pump 322. The gas storage tank is installed on the housing 1 and is used to store protective gas. The two ends of the gas delivery pump 322 are respectively connected to the gas storage tank and the receiving cavity 11, and are used to control the flow of protective gas between the gas storage tank and the receiving cavity 11. The protective gas is pre-stored in the gas storage tank. When the gas delivery pump 322 is working, it can directionally deliver the protective gas in the gas storage tank to the receiving cavity 11, and can adjust the delivery flow rate and on / off state according to the pressure and gas purity in the cavity. During the welding process, the protective gas continuously covers the welding area, which can ensure that the protective gas pressure in the receiving cavity 11 is stable and the concentration is uniform, providing continuous and reliable gas curtain protection for the welding arc, and improving the density and mechanical properties of the weld. At the same time, the protective gas filling the receiving cavity 11 can balance the pressure in the cavity, thereby preventing water from the external environment from overflowing back into the receiving cavity 11.

[0024] It is important to emphasize that the protective gas is pre-stored in a gas storage tank, and can be argon, helium, a mixture of argon and carbon dioxide, or a mixture of argon and oxygen. Argon, as an inert protective gas, is chemically stable and does not react chemically with the molten pool metal, welding wire, or workpiece base material under high-temperature welding conditions. The gas pump 322, as a power component, can directionally deliver the protective gas from the storage tank to the receiving cavity 11 of the casing 1 at a controllable flow rate and stable pressure. After entering the receiving cavity 11 from the outlet of the gas pump 322 along a pre-set flow channel, the protective gas gradually diffuses and fills the welding area from top to bottom or from the circumference to the center, expelling residual air and moisture from the cavity while forming a continuous, uniform, and stable gas curtain protective layer in the welding torch 211 and the molten pool area. The air pump 322 can achieve closed-loop control of the protective gas flow and pressure by adjusting the speed or opening, so that the gas pressure in the accommodating cavity 11 is slightly higher than the external water environment pressure. This can prevent external water from seeping into the cavity through the gap of the interface 12, and also avoid the separation of the cover 1 from the workpiece due to excessive pressure. Thus, a stable welding atmosphere of dry, oxygen-free, and water vapor-free is maintained throughout the welding process, which significantly improves arc stability, reduces welding defect rate, and improves the weld quality and mechanical properties of underwater dry welding.

[0025] In some embodiments, the drainage component 31 includes a water pump 311; the two ends of the water pump 311 are respectively connected to the accommodating cavity 11 and the external environment, used to control the introduction and discharge of water in the accommodating cavity 11. When the cover 1 is attached to the interface 12 and the workpiece, the water pump 311 first uses suction to quickly discharge the seawater or fresh water in the accommodating cavity 11 to the outside, so that the inside of the cavity changes from a water environment to a waterless environment; when the operation is completed or when reset is required, the water pump 311 can reverse or stop working, so that external water can smoothly enter the accommodating cavity 11. This structure can quickly establish a dry working space, shorten the underwater preparation time, improve the operating efficiency of the device, and at the same time ensure that the entire welding process is carried out in a controllable waterless environment.

[0026] In some embodiments, the driving member 22 includes an X-axis driving part 221, a Y-axis driving part 222, and a mounting base 223. The X-axis driving part 221 is driven to the mounting base 223 and is used to drive the mounting base 223 to translate relative to the cover 1. The Y-axis driving part 222 is also driven to the mounting base 223 and is used to drive the mounting base 223 to translate relative to the cover 1. The driving directions of the X-axis driving part 221 and the Y-axis driving part 222 are perpendicular to each other. The welded part 21 is mounted on the mounting base 223. The driving member 22 has a mutually perpendicular X-axis driving part 221 and a Y-axis driving part 222. The X-axis driving part 221 drives the mounting base 223 to translate along a first horizontal direction, and the Y-axis driving part 222 drives the mounting base 223 to translate along a second horizontal direction. The coordinated action of the two drives the mounting base 223 to move at any point in the plane within the accommodating cavity 11. The welded component 21 moves synchronously with the mounting base 223, thereby enabling tracking welding of different weld trajectories such as straight lines, curves, and corners. This two-dimensional driving method improves the positioning accuracy and path flexibility of the welding position, and can adapt to the underwater welding requirements of complex workpieces.

[0027] Specifically, both the X-axis drive unit 221 and the Y-axis drive unit 222 adopt servo drive mode. The welding trajectory can be preset via the PLC controller to achieve automated and precise positioning and movement, replacing manual underwater operation. This improves welding efficiency and avoids positioning deviations caused by manual operation. All drive components adopt a sealed structure design, adapting to the waterproof and corrosion-resistant requirements of complex underwater operating environments, preventing water intrusion from affecting transmission performance. The specific operation process is as follows: the PLC controller sends a control signal, the X-axis drive unit 221 drives the mounting base 223 to translate along the X-axis to the preset welding starting position, and the Y-axis drive unit 222 works in conjunction, driving the mounting base 223 to make minor adjustments along the Y-axis, achieving precise alignment between the weldment 21 and the weld seam to be welded. During the welding process, the X-axis drive unit 221 and the Y-axis drive unit 222 work together to output power according to the preset weld seam trajectory, driving the mounting base 223 to move at a constant speed, so that the welded part 21 can continuously and smoothly carry out welding on the designated area of ​​the workpiece, meeting the underwater dry welding requirements of weld seams of different lengths and shapes, and is especially suitable for welding operations of complex curved weld seams and irregular joints.

[0028] In some embodiments, the mounting base 223 has an X-axis guide hole; the X-axis drive unit 221 includes an X-axis slide 2211, an X-axis guide rod 2212, and an X-axis lead screw mechanism 2213; the X-axis slide 2211 is slidably disposed on the housing 1, and the X-axis lead screw mechanism 2213 is drivenly connected to the X-axis slide 2211 to drive the X-axis slide 2211 to slide relative to the housing 1; the X-axis guide rod 2212 is mounted on the X-axis slide 2211 and passes through the X-axis guide hole. The X-axis drive unit 221 drives the X-axis slide 2211 to slide relative to the housing 1 through the X-axis lead screw mechanism 2213, and the X-axis guide rod 2212 is fixed on the X-axis slide 2211 and passes through the X-axis guide hole of the mounting base 223 to provide guiding constraint for the mounting base 223. The lead screw drive features smooth transmission and accurate positioning. Combined with the sliding fit between the X-guide rod 2212 and the X-guide hole, it can effectively counteract the shaking, swaying and deflection of the mounting base 223 during movement, significantly improving the straightness and stability of the mounting base 223 in the X-direction, thereby ensuring the movement accuracy of the welded part 21 in the welding direction and improving the consistency of the weld trajectory.

[0029] In some embodiments, the mounting base 223 has a Y-direction guide hole; the Y-direction drive unit 222 includes a Y-direction slide 2221, a Y-direction guide rod 2222, and a Y-direction lead screw mechanism 2223; the Y-direction slide 2221 is slidably disposed on the cover 1, and the Y-direction lead screw mechanism 2223 is drivenly connected to the Y-direction slide 2221 to drive the Y-direction slide 2221 to slide relative to the cover 1; the Y-direction guide rod 2222 is mounted on the Y-direction slide 2221 and passes through the Y-direction guide hole. The Y-direction drive unit 222 drives the Y-direction slide 2221 to move through the Y-direction lead screw mechanism 2223, and the Y-direction guide rod 2222 passes through the Y-direction guide hole of the mounting base 223, forming a bidirectional guide in the plane with the X-direction drive unit 221. During the linkage between the X and Y directions, the Y guide rod 2222 and the Y guide hole can limit the deflection and tilt of the mounting base 223, reduce the trajectory deviation caused by the movement gap, make the welded part 21 stable in posture and with little vibration during two-dimensional movement, ensure uniform weld width and depth, and improve the forming accuracy and appearance quality of underwater welding.

[0030] In some embodiments, the weldment 21 includes a welding torch 211 and a wire feeder 212. The wire feeder 212 is used to feed welding wire, and the welding torch 211 is mounted on a mounting base 223. The welding torch 211 performs welding operations by melting the welding wire. The wire feeder 212 continuously feeds welding wire to the welding torch 211, which ignites an electric arc in a protective gas atmosphere. The heat generated by the arc melts the welding wire and the surface of the workpiece to be welded simultaneously to form a molten pool. After the molten pool cools, a weld joint is formed. Through continuous wire feeding and continuous discharge, long-distance, uninterrupted underwater welding operations can be achieved, ensuring full weld filling and reliable connection strength, meeting the strength requirements for underwater structural component repair and installation.

[0031] See also Figure 3 In some other embodiments, the welding torch 211 is slidably disposed on the mounting base 223, and the driving component 22 also includes a Z-axis lead screw mechanism 224, which is connected to the welding torch 211 and drives the welding torch 211 to move relative to the mounting base 223. In conjunction with the X-axis driving part 221 and the Y-axis driving part 222, the welding torch 211 moves in three-dimensional space.

[0032] In some embodiments, the mounting base 223 has a wire guide hole 2233; the wire feeding part 212 includes a wire feeding wheel 2121 and a drive motor; the wire feeding wheel 2121 is rotatably mounted on the housing 1, one end of the welding wire is wound around the wire feeding wheel 2121, and the other end passes through the wire guide hole 2233; the drive motor is connected to the wire feeding wheel 2121 for driving the wire feeding wheel 2121 to rotate to realize the feeding of the welding wire. The drive motor drives the wire feeding wheel 2121 to rotate, and the welding wire wound on the wire feeding wheel 2121 is smoothly released and fed forward. After passing through the wire guide hole 2233 on the mounting base 223, the welding wire is oriented and guided to the welding area of ​​the welding torch 211. The wire guide hole 2233 forms a radial constraint on the welding wire, avoiding the welding wire from shaking, winding or deviating during the feeding process, improving the continuity and stability of the welding wire feeding, ensuring that the welding wire is accurately fed into the molten pool, and improving the reliability of the welding process and the uniformity of the weld formation.

[0033] In some embodiments, the underwater dry welding apparatus further includes a sealing gasket 4 disposed at the interface 12. When the housing 1 is in contact with the workpiece to be welded, the sealing gasket 4 is compressed and undergoes elastic deformation, filling the microscopic gap between the housing 1 and the workpiece surface to form a continuous sealing surface. During drainage and gas supply, the sealing gasket 4 can prevent external water from seeping into the accommodating cavity 11 along the joint gap, while reducing the leakage of protective gas, improving the sealing reliability of the accommodating cavity 11, maintaining the stability of the dry environment, and enabling the apparatus to maintain a good underwater sealing effect even on rough and uneven workpiece surfaces.

[0034] In addition, the present invention also provides an underwater robot equipped with the above-mentioned underwater dry welding device.

[0035] The underwater robot, equipped with the aforementioned underwater dry welding device, can autonomously navigate underwater to the work position under its own power and press the welding device's interface 12 against the workpiece surface. The robot, in conjunction with the welding device, automatically completes the entire process of drainage, air supply, positioning, movement, and welding, eliminating the need for close-range human intervention. This integrated approach achieves automation and intelligence in underwater welding, improving the operational range, efficiency, and safety of underwater engineering operations. It is suitable for emergency repairs and routine maintenance of underwater pipelines, platforms, piles, and other facilities.

[0036] To better understand this invention, the following is combined with... Figures 1 to 3The technical solution of the present invention will be described in detail below: The underwater dry welding device comprises a housing 1, a welding assembly 2, and a drainage and gas supply assembly 3. The housing 1 has a cavity 11 with an interface 12 for docking and enclosing the workpiece to be welded, thus physically isolating the welding area from the water. The welding assembly 2 includes a welding component 21 and a drive component 22. The drive component 22 is installed in the housing 1 and is connected to the welding component 21, enabling it to move within the cavity 11. The drainage and gas supply assembly 3 consists of a drainage component 31 and a gas supply component 32, both connected to the cavity 11 to control the introduction and discharge of water within the cavity and the on / off and flow rate of the protective gas. First, the drainage component 31 rapidly drains the water from the cavity, and then the gas supply component 32 continuously introduces protective gas, creating a waterless and stable dry welding environment. This avoids direct contact between water and the arc and molten pool, reducing welding defects such as water quenching, hydrogen-induced cracking, and porosity at the source. Simultaneously, it achieves automated operation, improving welding stability, weld quality, and construction safety.

[0037] The gas supply component 32 employs a gas storage tank in conjunction with a gas pump 322. It can pre-store protective gases such as argon, helium, or mixtures thereof. The gas pump 322 can adjust the gas delivery speed, pressure, and on / off state, allowing the gas to diffuse evenly along a pre-defined flow path, filling the cavity and forming a stable gas curtain protective layer. It also maintains the cavity pressure slightly higher than the external water pressure, preventing water infiltration and avoiding separation between the casing 1 and the workpiece. This continuously ensures an oxygen-free and water-vapor-free welding atmosphere, improving weld density and mechanical properties. The drainage component 31 typically uses a water pump 311, which can quickly pump out water from the cavity and smoothly return water after operation, shortening preparation time and improving operational efficiency.

[0038] The drive unit 22 is equipped with mutually perpendicular X-axis and Y-axis drive sections 222. Working in conjunction with the mounting base 223, it employs a lead screw and guide rod guide hole structure, ensuring smooth transmission and precise positioning. It can move along any trajectory within a plane, adapting to complex welds such as straight lines, curves, and corners. Furthermore, it utilizes servo drive and PLC control for automated and precise welding. The drive components are sealed, meeting underwater waterproof and corrosion-resistant requirements. The welding component 21 consists of a welding torch 211 and a wire feeder 212. The wire feeder 212, driven by a motor, drives the wire feeder wheel 2121 to deliver the welding wire. Guided by the guide holes in the mounting base 223, it ensures stable feeding of the welding wire into the molten pool, achieving continuous and reliable welding. In addition, a sealing gasket 4 is provided at the interface 12. Under pressure deformation, it fills microscopic gaps, improving the sealing effect. It effectively prevents water infiltration and reduces gas leakage even on rough workpiece surfaces. The overall device has a compact structure and a high degree of automation, suitable for dry welding operations on various underwater structural components.

[0039] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An underwater dry welding device, characterized in that, include: The cover has an internal cavity and a connection interface at one end that communicates with the cavity. The connection interface is used to connect with the workpiece to be welded. A welding assembly includes a welding component and a driving component. The welding component is disposed within the receiving cavity for welding a workpiece. The driving component is mounted on the housing and is drively connected to the welding component for driving the welding component to move within the receiving cavity. A drainage and gas supply assembly includes a drainage component and a gas supply component. The drainage component is connected to the accommodating cavity and is used to control the introduction and discharge of water in the accommodating cavity. The gas supply component is connected to the accommodating cavity and is used to control the introduction and discharge of protective gas in the accommodating cavity.

2. The underwater dry welding apparatus according to claim 1, characterized in that, The gas supply component includes a gas storage tank and a gas pump. The gas storage tank is installed on the cover and is used to store protective gas. The two ends of the gas pump are respectively connected to the gas storage tank and the accommodating cavity, and are used to control the flow of protective gas between the gas storage tank and the accommodating cavity.

3. The underwater dry welding apparatus according to claim 1, characterized in that, The drainage component includes a water pump, with its two ends connected to the accommodating cavity and the external environment, respectively, for controlling the introduction and discharge of water into and out of the accommodating cavity.

4. The underwater dry welding apparatus according to claim 1, characterized in that, The driving component includes an X-axis driving part, a Y-axis driving part, and a mounting base. The X-axis driving part is driven to the mounting base and is used to drive the mounting base to translate relative to the cover. The Y-axis driving part is driven to the mounting base and is used to drive the mounting base to translate relative to the cover. The driving directions of the X-axis driving part and the Y-axis driving part are perpendicular to each other. The welded part is mounted on the mounting base.

5. The underwater dry welding apparatus according to claim 4, characterized in that, The mounting base has an X-axis guide hole. The X-axis drive unit includes an X-axis slide, an X-axis guide rod, and an X-axis lead screw mechanism. The X-axis slide is slidably disposed on the cover. The X-axis lead screw mechanism is drivenly connected to the X-axis slide and is used to drive the X-axis slide relative to the cover. The X-axis guide rod is installed on the X-axis slide and passes through the X-axis guide hole.

6. The underwater dry welding apparatus according to claim 4, characterized in that, The mounting base has a Y-guide hole. The Y-drive unit includes a Y-slide, a Y-guide rod, and a Y-screw mechanism. The Y-slide is slidably disposed on the cover. The Y-screw mechanism is drivenly connected to the Y-slide and is used to drive the Y-slide to slide relative to the cover. The Y-guide rod is installed on the Y-slide and passes through the Y-guide hole.

7. The underwater dry welding apparatus according to claim 4, characterized in that, The welding component includes a welding torch and a wire feeder. The wire feeder is used to feed welding wire. The welding torch is mounted on the mounting base. The welding torch performs welding operations by melting the welding wire.

8. The underwater dry welding apparatus according to claim 7, characterized in that, The mounting base has a wire guide hole, and the wire feeding part includes a wire feeding wheel and a drive motor. The wire feeding wheel is rotatably mounted on the cover. One end of the welding wire is wound around the wire feeding wheel, and the other end passes through the wire guide hole. The drive motor is connected to the wire feeding wheel for driving the wire feeding wheel to rotate and realize the wire feeding.

9. The underwater dry welding apparatus according to claim 1, characterized in that, It also includes a sealing gasket, which is disposed at the mating interface.

10. An underwater robot, characterized in that, The underwater dry welding apparatus according to any one of claims 1-9 is installed.

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