Underwater welding device and underwater welding method

Abstract

Disclosed in the present application are an underwater welding device (100) and an underwater welding method. The underwater welding device (100) comprises a connecting portion (110), a first driving structure (120a), a second driving structure (120b), a suction assembly (130) and a laser welding mechanism (140), wherein the suction assembly (130) is provided with a surface (130a) to be subjected to suction, and said surface (130a) is configured to be suctioned to a member to be welded (200); the laser welding mechanism (140) is configured to weld a welding seam between said member (200) and a surface to be welded; the first driving structure (120a) is configured to drive the suction assembly (130) and the laser welding mechanism (140) to move in a first direction (Z), and to drive the suction assembly (130) and the laser welding mechanism (140) to rotate by respectively using an extension line of a second direction (X) as an axis, and an extension line of a third direction (Y) as an axis; and the second driving structure (120b) is configured to drive the suction assembly (130) and the laser welding mechanism (140) to rotate by using an extension line of a fourth direction (N) as an axis, and to drive the suction assembly (130) and the laser welding mechanism (140) to move in a fifth direction (P).

Description

Underwater welding device and underwater welding method

[0001] Related applications

[0002] This application claims priority to Chinese patent application number 202311518727.4, filed on November 15, 2023, entitled “Underwater Welding Device and Underwater Welding Method,” the full text of which is hereby incorporated by reference. Technical Field

[0003] The present application relates to the technical field of nuclear power plants, and in particular to an underwater welding device and an underwater welding method. Background Art

[0004] Due to long-term service, some of the stainless steel walls of the various water pools in the nuclear power plant have cracked and damaged, requiring a lot of manpower and material resources to repair.

[0005] In the prior art, cracked pool walls are repaired by draining the pool and then manually welding and repairing them. However, this method requires significant time to drain the pool. In certain high-altitude areas, scaffolding must be erected. After the repair is complete, the scaffolding must be dismantled and the original water level restored. This requires extensive preparatory work, resulting in lower efficiency. Furthermore, this extensive preparatory work leads to higher repair costs. Furthermore, personnel are exposed to radiation for extended periods, which compromises safety.

[0006] Summary of the Invention

[0007] The purpose of this application is to provide an underwater welding device and an underwater welding method to improve at least one of the above technical problems. This application achieves the above purpose through the following technical solutions.

[0008] An embodiment of the present application provides an underwater welding device for welding the surface to be welded of a water pool in a nuclear power plant. The underwater welding device includes: a connecting portion; a first driving structure connected to the connecting portion; a second driving structure connected to the output end of the first driving structure; an adsorption assembly and a laser welding mechanism connected to the output end of the second driving structure, the adsorption assembly having a surface to be adsorbed, the surface to be adsorbed being configured to adsorb the workpiece to be welded, and the laser welding mechanism being configured to weld the weld between the workpiece to be welded and the surface to be welded. The first driving structure is configured to drive the adsorption assembly and the laser welding mechanism to move in a first direction, and is configured to drive the adsorption assembly and the laser welding mechanism to rotate about the extension line of the second direction and about the extension line of the third direction, respectively. The first direction is a direction parallel to the axis of the connecting portion, and the second direction and the third direction are perpendicular to the first direction. The second driving structure is configured to drive the adsorption component and the laser welding mechanism to rotate around the extension line of the fourth direction, and is configured to drive the adsorption component and the laser welding mechanism to move along the fifth direction. The fourth direction is the vertical line direction parallel to the surface to be adsorbed, and the fifth direction is perpendicular to the fourth direction.

[0009] In one embodiment, the first driving structure includes a first sub-driving structure connected to the connecting part, a second sub-driving structure connected to the output end of the first sub-driving structure, and a third sub-driving structure connected to the output end of the second sub-driving structure; the first sub-driving structure is configured to drive the adsorption component and the laser welding mechanism to move along the first direction; the second sub-driving structure is configured to drive the adsorption component and the laser welding mechanism to rotate with the extension line of the second direction as the axis; the third sub-driving structure is configured to drive the adsorption component and the laser welding mechanism to rotate with the extension line of the third direction as the axis.

[0010] In one embodiment, the first sub-drive structure includes a first motor, a first screw rod connected to the output shaft of the first motor, and a first drive block sleeved on the first screw rod, the first motor is connected to the connecting part, the first screw rod extends along the first direction, and the first drive block is configured to move along the first direction under the rotation of the first screw rod.

[0011] In one embodiment, the first sub-drive structure further includes a first flange, a second flange, a support assembly, and a connecting plate, the first motor is connected to the first flange, and the first flange is connected to the connecting portion;

[0012] The support assembly includes a support base and a support body connected to the support base, the support base is connected to a side of the first flange away from the connecting portion, and the first screw rod is movably disposed inside the support base and the support body;

[0013] The second flange is connected to the first driving block through the connecting plate.

[0014] In one embodiment, the second sub-drive structure includes a second motor, a first rotating shaft, and a rotating assembly rotatably connected to the first rotating shaft, the first rotating shaft is connected to the output end of the first sub-drive structure, and the rotating assembly is connected to the third sub-drive structure;

[0015] The second motor is located inside the first rotating shaft, the axis of the first rotating shaft extends along the second direction, the output end of the second motor is connected to the rotating component, and the rotating component is configured to rotate relative to the first rotating shaft with the extension line of the fourth direction as the axis under the drive of the second motor.

[0016] In one embodiment, the second driving structure includes a fourth sub-driving structure connected to the output end of the first driving structure and a fifth sub-driving structure connected to the output end of the fourth sub-driving structure, and the output end of the fifth sub-driving structure is connected to the adsorption component and the laser welding mechanism; the fourth sub-driving structure is configured to drive the adsorption component and the laser welding mechanism to rotate around the extension line of the fourth direction; the fifth sub-driving structure is configured to drive the adsorption component and the laser welding mechanism to move along the fifth direction.

[0017] In one embodiment, the fourth sub-drive structure includes a third motor, a housing connected to the output end of the first drive structure, and a turntable rotatably connected to the housing. The third motor is located in the housing, and the output shaft of the third motor is connected to the turntable. The turntable is configured to rotate relative to the housing with the extension line of the fourth direction as the axis under the drive of the third motor.

[0018] In one embodiment, the fifth sub-drive structure includes a fourth motor, a second screw rod connected to the output shaft of the fourth motor, and a second drive block sleeved on the second screw rod, the fourth motor is connected to the fourth sub-drive structure, the second screw rod extends along the fourth direction, the second drive block is connected to the adsorption assembly and the laser welding mechanism, and the second drive block is configured to move along the fourth direction under the rotation of the second screw rod.

[0019] In one embodiment, the laser welding mechanism includes a third driving structure and a laser welding unit connected to the output end of the third driving structure, and the laser welding unit is configured to weld the weld; the third driving structure is connected to the output end of the second driving structure, and the third driving structure is configured to drive the laser welding unit to move along the fourth direction, and drive the laser welding unit to move along the sixth direction; wherein the sixth direction is perpendicular to the fourth direction and different from the fifth direction.

[0020] In one embodiment, the laser welding mechanism further includes an adjustment plate, the laser welding unit is connected to the output end of the second driving structure through the adjustment plate, and the adjustment plate is configured to rotate relative to the output end of the second driving structure with the extension line of the sixth direction as the axis.

[0021] In one embodiment, the laser welding mechanism further includes a drainage cover provided at the end of the laser welding unit and a first air blowing unit located in the drainage cover, wherein the first air blowing unit is configured to discharge the liquid in the drainage cover.

[0022] In one embodiment, the laser welding mechanism further includes a drainage hood provided at the end of the laser welding unit and a second air blowing unit located in the drainage hood, wherein the second air blowing unit is configured to provide protective gas to the laser welding unit.

[0023] In one embodiment, the adsorption assembly includes a support frame and a vacuum suction rod, one end of the support frame is connected to the output end of the fifth sub-drive structure, and the other end is connected to the vacuum suction rod, and the vacuum suction rod has an adsorption head, which is used to adsorb the workpiece to be welded.

[0024] The present application also provides an underwater welding method using the underwater welding device according to the first aspect, comprising:

[0025] Using the adsorption component to adsorb the parts to be welded;

[0026] Adjusting the laser welding mechanism so that the laser spot of the laser welding mechanism covers the weld seam of the workpiece to be welded;

[0027] Driving the adsorption assembly and the laser welding mechanism to rotate about the extension line of the second direction and the extension line of the third direction respectively, so that the workpiece to be welded and the surface to be welded are parallel;

[0028] Driving the adsorption assembly and the laser welding mechanism to move along a first direction so that the workpiece to be welded contacts the surface to be welded;

[0029] Driving the adsorption assembly and the laser welding mechanism to rotate about an extension line of the first direction as an axis and to move along a fourth direction so that the workpiece to be welded covers the crack on the surface to be welded;

[0030] The laser welding mechanism is driven to weld the weld seams of the parts to be welded.

[0031] The underwater welding device of this application utilizes a first drive structure and a second drive structure to drive the suction assembly and laser welding mechanism to complete weld repairs on cracks in the workpiece and the surface of the pool to be welded. Compared to manual welding methods involving draining the pool, this method is simpler and requires less preparation, thereby improving repair efficiency and reducing repair costs. Furthermore, the entire welding process requires no human intervention, further enhancing repair safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the disclosed drawings without any creative work.

[0033] FIG1 is a schematic structural diagram of an underwater welding device according to an embodiment of the present application;

[0034] FIG2 is a schematic structural diagram of a connecting portion according to an embodiment of the present application;

[0035] FIG3 is a schematic structural diagram of a first sub-driving structure according to an embodiment of the present application;

[0036] FIG4 is a schematic structural diagram of a second sub-driving structure according to an embodiment of the present application;

[0037] FIG5 is a schematic structural diagram of a fourth sub-driving structure according to an embodiment of the present application;

[0038] FIG6 is a schematic structural diagram of a fifth sub-driving structure and a sixth sub-driving structure according to an embodiment of the present application;

[0039] FIG7 is a schematic structural diagram of a laser welding unit and a seventh sub-driving structure according to an embodiment of the present application;

[0040] FIG8 is a schematic structural diagram of an adsorption assembly according to an embodiment of the present application;

[0041] FIG9 is a flow chart of the underwater welding method according to an embodiment of the present application. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0043] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0045] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0046] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0047] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0048] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0049] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0050] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0051] The embodiment of the first aspect of the present application provides an underwater welding device 100 for welding a surface to be welded in a water pool of a nuclear power plant. As shown in FIG1 , the underwater welding device 100 includes a connecting portion 110, a first drive structure 120a connected to the connecting portion 110, a second drive structure 120b connected to the output end of the first drive structure 120a, and an adsorption assembly 130 and a laser welding mechanism 140 connected to the output end of the second drive structure 120b. The adsorption assembly 130 has a surface to be adsorbed 130a, which is configured to adsorb a workpiece 200 to be welded. The laser welding mechanism 140 is configured to weld the weld between the workpiece 200 to be welded and the surface to be welded. It should be noted that FIG1 exemplarily illustrates the adsorption assembly 130 of the underwater welding device 100 with the workpiece 200 adsorbed thereon, but the workpiece 200 to be welded is not part of the underwater welding device 100. The first driving structure 120a is configured to drive the adsorption assembly 130 and the laser welding mechanism 140 to move along a first direction Z, and to drive the adsorption assembly 130 and the laser welding mechanism 140 to rotate about an extension of the second direction X and an extension of the third direction Y, respectively. The first direction Z is parallel to the axis of the connecting portion 110, and the second direction X and the third direction Y are perpendicular to the first direction Z. The second driving structure 120b is configured to drive the adsorption assembly 130 and the laser welding mechanism 140 to rotate about an extension of a fourth direction N, and to drive the adsorption assembly 130 and the laser welding mechanism 140 to move along a fifth direction P. The fourth direction N is parallel to a perpendicular line to the surface to be adsorbed 130a, and the fifth direction P is perpendicular to the fourth direction N.

[0052] The underwater welding device 100 of the present application can weld cracks on the surface to be welded in a nuclear power plant's water pool, rather than manually draining the water before welding. Specifically, the underwater welding device 100 includes a connecting portion 110, a first drive structure 120a, a second drive structure 120b, an adsorption assembly 130 connected to the output end of the second drive structure 120b, and a laser welding mechanism 140.

[0053] The connecting portion 110 can be connected to an external component, allowing the underwater welding device 100, driven by the external component, to penetrate deep into the nuclear power plant's water tank and weld cracks on the surface of the water tank to be welded. The external component may be, for example, a multi-axis robotic arm. As shown in Figure 2, the connecting portion 110 may be, for example, a cylindrical connecting flange, one end of which is used to connect to the external component and the other end is connected to the first drive structure 120a. Alternatively, the connecting portion 110 may be a plate-like connecting plate. The specific structure of the connecting portion 110 is not limited in this application, as long as it can achieve connection with the external component.

[0054] The adsorption component 130 has a surface to be adsorbed 130a, and the surface to be adsorbed 130a can adsorb the workpiece to be welded 200. The workpiece to be welded 200 can be, for example, an iron plate, a steel plate or other adhesive plate. The method for repairing cracks on the surface to be welded of the water pool of a nuclear power plant is to use the above-mentioned adhesive plate to weld with the surface to be welded of the water pool so that the adhesive plate covers the cracks on the surface to be welded. That is to say, in the present application, as shown in FIG1 , before the underwater welding device 100 enters the water pool, the surface to be adsorbed 130a of its adsorption component 130 can adsorb the workpiece to be welded 200 in advance, and then the underwater welding device 100 and the workpiece to be welded 200 are immersed in the water pool together, so that the cracks on the surface to be welded of the water pool are repaired by welding with the workpiece to be welded 200.

[0055] The laser welding mechanism 140 is used to weld the seam between the workpiece 200 and the surface to be welded. Specifically, when the workpiece 200 is in close contact with the surface to be welded, each edge of the workpiece 200 must be welded to the surface to be welded. Each edge of the workpiece 200 represents a weld seam between the workpiece 200 and the surface to be welded. For example, if the workpiece 200 is a square steel plate, each edge represents a weld seam, and the laser welding mechanism 140 must laser weld each weld seam.

[0056] The first drive structure 120a and the second drive structure 120b are the drive structures of the underwater welding device 100. As shown in Figure 1, the output end of the second drive structure 120b is connected to the adsorption assembly 130 and the laser welding mechanism 140. This means that the output end of the second drive structure 120b is connected to both the adsorption assembly 130 and the laser welding mechanism 140, thereby enabling the adsorption assembly 130 and the laser welding mechanism 140 to undergo various movements under the drive of the first drive structure 120a and the second drive structure 120b. Specifically, the first drive structure 120a is configured to drive the adsorption assembly 130 and the laser welding mechanism 140 to move along a first direction Z, which is parallel to the axis of the connecting portion 110. Thus, when the underwater welding device 100 is located in a nuclear power plant pool, the adsorption assembly 130 and the laser welding mechanism 140 can move closer to or further away from the pool's surface to be welded, thereby allowing the workpiece 200 to be welded on the adsorption assembly 130 to move closer to or further away from the pool's surface to be welded.

[0057] Exemplarily, the first driving structure 120a is further configured to drive the adsorption assembly 130 and the laser welding mechanism 140 to rotate about the extension line of the second direction X and the extension line of the third direction Y, respectively. The second direction X and the third direction Y are perpendicular to the first direction Z. In this way, the adsorption assembly 130 and the laser welding mechanism 140 can be adjusted to rotate in the above two rotation directions through the first driving structure 120a, thereby making the workpiece 200 to be welded on the adsorption assembly 130 parallel to the surface to be welded. Exemplarily, the second driving structure 120b is configured to drive the adsorption assembly 130 and the laser welding mechanism 140 to rotate about the extension line of the fourth direction N, and at the same time, it is also configured to drive the adsorption assembly 130 and the laser welding mechanism 140 to move along the fifth direction P. The fourth direction N is a vertical line direction parallel to the surface to be adsorbed 130a of the adsorption assembly 130, and the fifth direction P is perpendicular to the fourth direction N. Thus, once the workpiece 200 to be welded on the suction assembly 130 is parallel to the surface to be welded, the second drive structure 120b can be used to adjust the relative position of the workpiece 200 to be welded and the crack on the surface to be welded so that the orthographic projection of the workpiece 200 on the surface to be welded overlaps the crack on the surface to be welded. The principle of adjusting the relative position of the workpiece 200 to be welded and the crack on the surface to be welded is that the suction assembly 130 can rotate about the extension of the fourth direction N as its axis, while also being able to move linearly in a fifth direction P perpendicular to the fourth direction N. This allows the workpiece 200 to be welded on the suction assembly 130 to move in any direction perpendicular to the fourth direction N. In this way, the relative position of the two can be adjusted.

[0058] It should be noted that the fourth direction N can be the same as or different from the first direction Z. Specifically, when the surface to be welded is perpendicular to the first direction Z, the fourth direction N is the same as the first direction Z. When the surface to be welded is not perpendicular to the first direction Z, for example, when the surface to be welded forms a slight angle with the first direction Z, the fourth direction N is different from the first direction Z. This is because the workpiece 200 to be welded on the adsorption assembly 130 needs to be adjusted to be parallel to the surface to be welded, and the length direction of the workpiece 200 to be welded is also perpendicular to the adsorption assembly 130. Therefore, when the surface to be welded is perpendicular to the first direction Z, the fourth direction N is the same as the first direction Z; when the surface to be welded is not perpendicular to the first direction Z, the fourth direction N is different from the first direction Z.

[0059] The following describes the specific process of welding the surface to be welded using the underwater welding device 100 of the present application. First, the adsorption assembly 130 is used to adsorb the workpiece 200 to be welded, such as a stainless steel plate. At the same time, the relative position relationship between the laser welding mechanism 140 and the first edge of the workpiece 200 to be welded is adjusted so that the laser spot of the laser welding mechanism 140 covers the weld seam. Then, the underwater welding device 100 is immersed in the water pool, and the first driving structure 120a drives the adsorption assembly 130 and the laser welding mechanism 140 to rotate about the extension line of the second direction X and the extension line of the third direction Y, respectively, so that the workpiece 200 to be welded on the adsorption assembly 130 is parallel to the surface to be welded. Next, the first driving structure 120a drives the adsorption assembly 130 and the laser welding mechanism 140 to move along the first direction Z, so that the workpiece 200 to be welded on the adsorption assembly 130 contacts the surface to be welded. Next, the second drive structure 120b drives the suction assembly 130 and the laser welding mechanism 140 to rotate about the extension of the fourth direction N, while simultaneously moving in the fifth direction P, so that the workpiece 200 to be welded on the suction assembly 130 covers the crack on the surface to be welded. Next, the first drive structure 120a drives the suction assembly 130 and the laser welding mechanism 140 to move in the first direction Z, so that the workpiece 200 to be welded on the suction assembly 130 is in close contact with the surface to be welded. At this point, the laser welding mechanism 140 can be used to weld the first edge of the workpiece 200 to be welded to the surface to be welded. Finally, the above process is repeated to complete the welding of multiple edges of the workpiece 200 to be welded. In this process, since the workpiece 200 to be welded has multiple edges, each edge needs to be welded. Therefore, after completing the welding of one edge of the workpiece 200 to be welded, the relative position of the laser welding mechanism 140 and each of the other edges of the workpiece 200 to be welded must be readjusted, and each of the above steps must be repeated. It should be noted that when the relative position relationship between each edge of the workpiece 200 to be welded and the laser welding mechanism 140 is the same, for example, the workpiece 200 to be welded is a square, it is not necessary to repeat each of the above steps. Instead, it is only necessary to separate the surface 130a to be adsorbed of the adsorption component 130 from the workpiece 200 to be welded, and then drive the adsorption component 130 and the laser welding mechanism 140 to rotate about the extension line of the fourth direction N, so that the other edges of the workpiece 200 to be welded are respectively opposite to the laser welding mechanism 140, and finally use the laser welding mechanism 140 to weld each other edge of the weldment 200 in turn, thereby completing the entire welding process.

[0060] The underwater welding device 100 of the present application utilizes a first drive structure 120a and a second drive structure 120b to drive an adsorption assembly 130 and a laser welding mechanism 140 to complete a weld repair between a workpiece 200 and the surface of a water pool. Compared to manually draining the pool for welding, this method is simpler and requires less preparation, thereby improving repair efficiency and reducing repair costs. Furthermore, no human intervention is required throughout the welding process, further enhancing repair safety.

[0061] In one embodiment, as shown in FIG1 , the first drive structure 120a includes a first sub-drive structure 121 connected to the connecting portion 110, a second sub-drive structure 122 connected to the output end of the first sub-drive structure 121, and a third sub-drive structure 123 connected to the output end of the second sub-drive structure 122. The first sub-drive structure 121 is configured to drive the adsorption assembly 130 and the laser welding mechanism 140 to move along the first direction Z. The second sub-drive structure 122 is configured to drive the adsorption assembly 130 and the laser welding mechanism 140 to rotate about an extension line of the second direction X. The third sub-drive structure 123 is configured to drive the adsorption assembly 130 and the laser welding mechanism 140 to rotate about an extension line of the third direction Y.

[0062] This embodiment provides a specific structure for the first drive structure 120a. The first drive structure 120a includes a first sub-drive structure 121, a second sub-drive structure 122, and a third sub-drive structure 123. By connecting these three sub-drive structures in series, the first drive structure 120a can drive the adsorption assembly 130 and the laser welding mechanism 140 in various motion modes.

[0063] In one embodiment, the first sub-drive structure 121 is a ball screw drive structure, a synchronous belt drive structure, an electric cylinder drive structure, a pneumatic cylinder drive mechanism, or a hydraulic cylinder drive structure. These various common drive structures can all achieve linear motion in a specific direction, thereby improving the reliability of the first sub-drive structure 121 and reducing its manufacturing cost.

[0064] In a specific embodiment, as shown in Figures 1 and 3, the first sub-drive structure 121 includes a first motor 1211, a first screw rod 1212 connected to the output shaft of the first motor 1211, and a first drive block 1213 sleeved on the first screw rod 1212. The first motor 1211 is connected to the connecting portion 110, the first screw rod 1212 extends along a first direction Z, and the first drive block 1213 is configured to move along the first direction Z under the rotation of the first screw rod 1212. In this embodiment, the first sub-drive structure 121 is a ball screw drive structure. Specifically, under the drive of the first motor 1211, the first screw rod 1212 rotates, thereby driving the first drive block 1213 sleeved on the first screw rod 1212 to move along the first direction Z. The ball screw drive structure has a simple structure and high reliability, which is conducive to reducing costs. Exemplarily, the first motor 1211 can be a servo motor, which is also conducive to improving the accuracy of the movement.

[0065] Exemplarily, as shown in FIG3 , the first sub-drive structure 121 further includes a first flange 1214, a second flange 1215, a support assembly 1216, and a connecting plate 1217. The first motor 1211 is connected to the first flange 1214, which is in turn connected to the connecting portion 110. The support assembly 1216 includes a support base 1216a and a support body 1216b connected to the support base 1216a. The support base 1216a is connected to the side of the first flange 1214 facing away from the connecting portion 110. The first screw rod 1212 is movably disposed within the support base 1216a and the support body 1216b. The second flange 1215 is connected to the first drive block 1213 via a connecting plate 1217.

[0066] In this embodiment, the first sub-drive structure 121 further includes a first flange 1214, a second flange 1215, a support assembly 1216, and a connecting plate 1217. The first flange 1214 is connected to the connecting portion 110, and the first motor 1211 is connected to the first flange 1214. In this way, the connection between the connecting portion 110 and the first sub-drive structure 121 and the fixed installation of the first motor 1211 are achieved. For example, as shown in Figures 2 and 3, one end of the first motor 1211 is connected to the first flange 1214, and a portion of the first motor 1211 can be located inside the connecting portion 110, thereby facilitating the arrangement of the first motor 1211.

[0067] The support assembly 1216 includes a support seat 1216a and a support body 1216b. By providing the support assembly 1216, an installation space for the first screw rod 1212 can be provided, which is conducive to improving the reliability and stability of the first screw rod 1212. Exemplarily, one end of the first screw rod 1212 is connected to the output end of the first motor 1211 through a coupling 1218, and the other end extends along the first direction Z after passing through the support body 1216b. In this way, it is conducive to further improving the stability of the first screw rod 1212. Optionally, a first guide rod 1219 is also provided on the support body 1216b, and the first drive block 1213 is also slidably connected to the first guide rod 1219, which is conducive to improving the movement stability of the first drive block 1213.

[0068] The second flange 1215 is connected to the first drive block 1213 via a connecting plate 1217. The second flange 1215 is also connected to the second sub-drive structure 122. This connects the second sub-drive structure 122 to the output end of the first sub-drive structure 121. This allows the second sub-drive structure 122 to move in the first direction Z driven by the first drive block 1213. As shown in Figure 3, two connecting plates 1217 may be symmetrically arranged.

[0069] In one embodiment, as shown in FIG4 , the second sub-drive structure 122 includes a second motor (not shown), a first rotating shaft 1222, and a rotating assembly 1223 rotatably connected to the first rotating shaft 1222. The first rotating shaft 1222 is connected to the output end of the first sub-drive structure 121, and the rotating assembly 1223 is connected to the third sub-drive structure 123. The second motor is located within the first rotating shaft 1222, the axis of the first rotating shaft 1222 extending along the second direction X, the output end of the second motor is connected to the rotating assembly 1223, and the rotating assembly 1223 is configured to rotate relative to the first rotating shaft 1222 about an extension of the second direction X under the drive of the second motor.

[0070] This embodiment proposes a specific structure of the second sub-drive structure 122. The second sub-drive structure 122 includes a second motor, a first rotating shaft 1222, and a rotating assembly 1223 rotatably connected to the first rotating shaft 1222. The rotating assembly 1223 refers to a component that can rotate relative to the first rotating shaft 1222. As shown in Figure 4, the rotating assembly 1223 includes a rotating connecting frame 1223a and a rotating ring 1223b connected to the rotating connecting frame 1223a. The rotating connecting frame 1223a and the rotating ring 1223b are respectively arranged at both ends of the extension direction of the first rotating shaft 1222, which is conducive to improving the reliability of the rotatable connection between the rotating assembly 1223 and the first rotating shaft 1222. Exemplarily, the second motor is arranged inside the first rotating shaft 1222, and the output end of the second motor is connected to one of the rotating connecting frame 1223a and the rotating ring 1223b of the rotating assembly 1223. Thus, driven by the second motor, the rotating assembly 1223 can rotate relative to the first rotating shaft 1222 about the extension line of the second direction X. For example, the second motor can be a servo motor, which is beneficial to improve the accuracy of rotation.

[0071] For example, in this embodiment, the first rotating shaft 1222 is connected to the output end of the first sub-drive structure 121, and the rotating assembly 1223 is connected to the third sub-drive structure 123. As shown in FIG4 , the second sub-drive structure 122 further includes an upper mounting flange 1224 disposed on the first rotating shaft 1222 and a lower mounting flange 1225 disposed on the rotating assembly 1223. Thus, the first rotating shaft 1222 can be connected to the output end of the first sub-drive structure 121, i.e., the second flange 1215, via the upper mounting flange 1224, and the rotating assembly 1223 can be connected to the third sub-drive structure 123 via the lower mounting flange 1225, thereby facilitating improved connection reliability among the first sub-drive structure 121, the second sub-drive structure 122, and the third sub-drive structure 123.

[0072] In one embodiment, the structure of the third sub-drive structure 123 can be identical to that of the second sub-drive structure 122. Specifically, the third sub-drive structure 123 includes a motor, a rotating shaft, and a rotating assembly rotatably connected to the rotating shaft. The third sub-drive structure 123 differs from the second sub-drive structure 122 in that, as shown in FIG1 , the rotating shaft of the third sub-drive structure 123 extends along a third direction Y. Thus, the rotating assembly, driven by the motor, can rotate relative to the rotating shaft about an extension of the third direction Y.

[0073] In one embodiment, as shown in FIG1 , the second drive structure 120 b is connected to the output end of the third sub-drive structure 123, and the fourth sub-drive structure 124 is connected to the output end of the fourth sub-drive structure 124. The output end of the fifth sub-drive structure 125 is connected to the adsorption assembly 130 and the laser welding mechanism 140. The fourth sub-drive structure 124 is configured to drive the adsorption assembly 130 and the laser welding mechanism 140 to rotate about an extension line of the fourth direction N. The fifth sub-drive structure 125 is configured to drive the adsorption assembly 130 and the laser welding mechanism 140 to move along the fifth direction P.

[0074] This embodiment provides a specific structure for the second drive structure 120b. The second drive structure 120b includes a fourth sub-drive structure 124 and a fifth sub-drive structure 125. By connecting the two sub-drive structures in series, the second drive structure 120b can drive the adsorption assembly 130 and the laser welding mechanism 140 in various motion modes.

[0075] In one embodiment, as shown in Figure 5, the fourth sub-drive structure 124 includes a third motor (not shown), a shell 1242 connected to the output end of the third sub-drive structure 123, that is, the output end of the third sub-drive structure 123, and a turntable 1243 rotatably connected to the shell 1242. The third motor is located in the shell 1242, and the output shaft of the third motor is connected to the turntable 1243. The turntable 1243 is configured to rotate relative to the axis of the shell 124 with the extension line of the fourth direction N as the axis under the drive of the third motor.

[0076] This embodiment provides a specific structure for the fourth sub-drive structure 124. The fourth sub-drive structure 124 includes a third motor, a housing 1242, and a turntable 1243. Driven by the third motor, the turntable 1243 rotates relative to the axis of the housing 124, about an extension of the fourth direction N. For example, to improve the reliability of the connection between the housing 1242 and the output end of the third sub-drive structure 123, a third flange 1244 is provided on the housing 1242, and a plurality of flange mounting holes (not shown) are provided on the surface of the turntable 1243 facing away from the housing 1242.

[0077] In one embodiment, as shown in Figure 6, the fifth sub-drive structure 125 includes a fourth motor 1251, a second screw rod 1252 connected to the output shaft of the fourth motor 1251, and a second drive block 1253 sleeved on the second screw rod 1252. The fourth motor 1251 is connected to the output end of the fourth sub-drive structure 124, the second screw rod 1252 extends along the fifth direction P, the second drive block 1253 is connected to the adsorption assembly 130 and the laser welding mechanism 140, and the second drive block 1253 is configured to move along the fifth direction P under the rotation of the second screw rod 1252.

[0078] In this embodiment, the fifth sub-drive structure 125 is a ball screw drive structure. Specifically, driven by the fourth motor 1251, the second screw rod 1252 rotates, thereby driving the second drive block 1253 mounted on the second screw rod 1252 to move in the fifth direction P. The ball screw drive structure has a simple structure and high reliability, which helps reduce costs. For example, the fourth motor 1251 can be a servo motor, which also helps improve the accuracy of the movement.

[0079] In one embodiment, as shown in Figure 6, the fifth sub-drive structure 125 further includes a fourth flange 1254 and a first transmission assembly 1255. In this embodiment, the fourth motor 1251 is connected to the fourth flange 1254, and the fourth flange 1254 is connected to the output end of the fourth sub-drive structure 124. In this way, the flange connection is conducive to improving the reliability of the connection between the fifth sub-drive structure 125 and the fourth sub-drive structure 124. Exemplarily, the first transmission assembly 1255 includes a first gear 1255a and a second gear 1255b meshing with the first gear 1255a, the first gear 1255a is connected to the output end of the fourth motor 1251, and the second screw rod 1252 is connected to the second gear 1255b, so that the power transmission is achieved through the first transmission assembly 1255, which is conducive to improving the smoothness of the movement of the second screw rod 1252.

[0080] In one embodiment, as shown in Figures 1, 6, and 7, the laser welding mechanism 140 includes a third drive structure 141 and a laser welding unit 142 connected to the output end of the third drive structure 141. The laser welding unit 142 is configured to weld the seam between the workpiece 200 and the surface to be welded. The third drive structure 141 is connected to the output end of the second drive structure 120b and is configured to drive the laser welding unit 142 to move along a fourth direction N and a sixth direction M. The sixth direction M is perpendicular to the fourth direction N and different from the fifth direction P.

[0081] This embodiment provides a specific structure of a laser welding mechanism 140. Laser welding mechanism 140 includes a third drive structure 141 and a laser welding unit 142. Laser welding unit 142 can be, for example, a laser emitter. Third drive structure 141 is used to drive laser welding unit 142 to perform welding. The following describes the specific process by which third drive structure 141 drives laser welding unit 142 to perform welding.

[0082] After the first and second drive structures 120a and 120b drive the workpiece 200 to be welded on the adsorption assembly 130 to press against the surface to be welded, the laser spot of the laser welding unit 142 is pre-adjusted to cover one edge (weld seam) of the workpiece 200 to be welded. Therefore, the third drive structure 141 can drive the laser welding unit 142 to move along the sixth direction M, thereby causing the laser spot of the laser welding unit 142 to move along the sixth direction M. In other words, the linear movement of the laser spot of the laser welding unit 142 in the sixth direction M represents the welding process for that weld seam. In other words, after the laser spot of the laser welding unit 142 covers one edge (weld seam) of the workpiece 200 to be welded, the direction in which the weld seam extends is the aforementioned sixth direction M. In this way, welding of the weld seam can be achieved. Exemplarily, the third driving structure 141 can also drive the laser welding unit 142 to move along the fourth direction N, that is, the vertical line direction of the surface to be adsorbed 130a of the adsorption component 130, so that the distance between the end of the laser welding unit 142 and the weld can be adjusted, and then the intensity of the laser can be adjusted to improve the welding effect.

[0083] In one embodiment, as shown in Figures 1, 6, and 7, the third drive structure 141 includes a sixth drive structure 141a connected to the output end of the fifth drive structure 125, and a seventh drive structure 141b connected to the output end of the sixth drive structure 141a. Exemplarily, the sixth drive structure 141a and the seventh drive structure 141b can be one of a ball screw drive structure, a synchronous belt drive structure, an electric cylinder drive structure, a pneumatic cylinder drive mechanism, and a hydraulic cylinder drive structure. This helps improve the reliability of the sixth drive structure 141a and the seventh drive structure 141b and reduces their manufacturing costs.

[0084] In one embodiment, as shown in FIG6 , the sixth sub-drive structure 141a includes a fifth motor 1411, a second transmission assembly 1412 connected to the output end of the fifth motor 1411, a third screw rod 1413 connected to the output end of the second transmission assembly 1412, and a third drive block 1414 sleeved on the third screw rod 1413. The third screw rod 1413 extends along a fourth direction N, and the third drive block 1414 is connected to the seventh sub-drive structure 141b. The third drive block 1414 is configured to move along the fourth direction N under the rotation of the third screw rod 1413. In this way, the laser unit 142 can be moved in the fourth direction N. The ball screw drive structure has a simple structure and high reliability, which is conducive to reducing costs. For example, the fifth motor 1411 can be a servo motor, which is also conducive to improving the accuracy of the movement.

[0085] 6 , the sixth sub-drive structure 141a further includes a mounting plate 1415 connected to the output end of the fifth sub-drive structure 125 , namely the second drive block 1253 . The mounting plate 1415 can provide installation space for the fifth motor 1411 and the third screw rod 1413 .

[0086] 6 , the second transmission assembly 1412 includes a third gear 1412a and a fourth gear 1412b that mesh with each other. Gear transmission is beneficial for improving transmission efficiency and transmission stability.

[0087] In one embodiment, as shown in Figure 7 , the seventh sub-drive structure 14b is a linear drive structure. For example, it can be a synchronous belt drive structure, a ball screw drive structure, an electric cylinder drive structure, a pneumatic cylinder drive mechanism, or a hydraulic cylinder drive structure. Preferably, it is an electric cylinder drive structure. Using an electric cylinder drive structure gives the seventh sub-drive structure 14b multiple advantages, including high precision, high response speed, high stability, and high sensitivity, thereby improving welding performance.

[0088] In one embodiment, as shown in FIG7 , the laser welding mechanism 140 further includes an adjustment plate 143. The laser welding unit 142 is connected to the output end of the third drive structure 141 via the adjustment plate 143. Specifically, the adjustment plate 143 is connected to the output end of the seventh sub-drive structure 141b. The adjustment plate 143 is configured to rotate relative to the output end of the third drive structure 141 about an extension of the sixth direction M.

[0089] In this embodiment, the laser welding mechanism 140 further includes an adjustment plate 143. The adjustment plate 143 can rotate relative to the output end of the third driving structure 141 about the extension line of the sixth direction M. In this way, the relative position between the laser spot of the laser welding unit 142 and the weld can be pre-adjusted by the adjustment plate 143, so that the laser spot of the laser welding unit 142 covers the weld.

[0090] In one embodiment, as shown in FIG7 , the laser welding mechanism 140 further includes a drain cover 144 disposed at the end of the laser welding unit 142 and a first air blowing unit (not shown) located within the drain cover 145. The first air blowing unit is configured to discharge liquid within the drain cover 144. In this embodiment, the provision of the drain cover 144 forms a local space to improve the welding efficiency and effect of the laser welding unit 142. For example, the provision of the first air blowing unit facilitates the formation of a local dry state, thereby further improving welding efficiency and effect.

[0091] In one embodiment, as shown in FIG7 , the laser welding mechanism 140 further includes a drain cover 144 disposed at the end of the laser welding unit 142 and a second air blowing unit (not shown) located within the drain cover. The second air blowing unit is configured to provide shielding gas to the laser welding unit 142. In this embodiment, the drain cover 144 is provided to form a local space to improve the welding efficiency and effect of the laser welding unit 142. For example, the second air blowing unit is provided to provide welding shielding gas into the drain cover 144, thereby further improving welding efficiency and welding effect.

[0092] In one embodiment, the laser welding mechanism 140 further includes a drainage cover 144 disposed at the end of the laser welding unit 142, and a first air blowing unit and a second air blowing unit located within the drainage cover 144. The first air blowing unit is configured to drain the liquid within the drainage cover 144, and the second air blowing unit is configured to provide shielding gas to the laser welding unit 142. This helps further improve welding efficiency and welding results.

[0093] In one embodiment, as shown in FIG8 , the adsorption assembly 130 includes a support frame 131 and a vacuum suction rod 132. One end of the support frame 131 is connected to the output end of the fifth sub-drive structure 125, and the other end is connected to the vacuum suction rod 132. The vacuum suction rod 132 has a suction head 1321 for adsorbing the workpiece 200 to be welded.

[0094] This embodiment provides a specific structure of the adsorption assembly 130. The adsorption assembly 130 includes a support frame 131 and a vacuum suction rod 132. The support frame 131 can increase the strength of the adsorption assembly 130. As shown in Figure 8, the support frame 131 includes an upper top plate 1311, a lower top plate 1312, a left side plate 1313, and a right side plate 1314. This, on the one hand, can provide protection for the fifth sub-drive structure 125 and the sixth sub-drive structure 141a, and on the other hand, it also helps to improve the convenience of arranging the vacuum adsorption pipeline. Among them, the upper top plate 1311 is connected to the output end of the fifth sub-drive structure 125. Specifically, the upper top plate 1311 is connected to the second drive block 1253, and the lower top plate 1312 is connected to the vacuum suction rod 132. The vacuum suction rod 132 refers to a rod that can be used for vacuum adsorption. The vacuum suction rod 132 has an adsorption head 1321, and the surface to be adsorbed 130a is the surface of the adsorption head 1321 that is used to contact the object to be adsorbed 200. The adsorption of the workpiece 200 to be welded can be completed through the adsorption head 1321 .

[0095] The embodiment of the second aspect of the present application provides a method for underwater welding, using the underwater welding device 100 described in the first aspect. As shown in FIG9 , the method for underwater welding includes:

[0096] Adsorb the workpiece 200 to be welded using the adsorption assembly 130;

[0097] Adjusting the laser welding mechanism 140 so that the laser spot of the laser welding mechanism covers the weld seam of the workpiece 200 to be welded;

[0098] Drive the adsorption assembly 130 and the laser welding mechanism 140 to rotate about the extension line of the second direction X and the extension line of the third direction Y, respectively, so that the workpiece 200 to be welded is parallel to the surface to be welded;

[0099] Drive the adsorption assembly 130 and the laser welding mechanism 140 to move along the first direction Z so that the workpiece 200 to be welded contacts the surface to be welded;

[0100] Drive the adsorption assembly 130 and the laser welding mechanism 140 to rotate about the extension line of the first direction Z as the axis, and move along the fifth direction P, so that the workpiece 200 to be welded covers the cracks on the surface to be welded;

[0101] The laser welding mechanism 140 is driven to weld the weld formed between the workpiece 200 and the underwater surface to be welded.

[0102] The underwater welding method of the present application is applied to the underwater welding apparatus 100 described in the first aspect. The contact of the workpiece 200 with the surface to be welded means that the workpiece 200 is merely in contact with the surface to be welded, rather than being in a state of compression. For example, when the workpiece 200 is in contact with the surface to be welded, the pressure between the workpiece 200 and the surface to be welded is less than or equal to a predetermined pressure threshold, such as 10N or 20N. This ensures that the workpiece 200 can rotate or linearly move on the surface to be welded, thereby ensuring that the workpiece 200 covers the surface to be welded, thereby improving the welding effect.

[0103] The underwater welding method of this application enables underwater welding apparatus 100 to repair cracks on surfaces to be welded in nuclear power plant water tanks, rather than manually draining the water before welding. Compared to manually draining the water tank for welding, this method is simpler and requires less preparation, thereby improving repair efficiency and reducing repair costs. Furthermore, no human intervention is required throughout the welding process, further enhancing repair safety.

[0104] Exemplarily, after the step of driving the adsorption assembly 130 and the laser welding mechanism 140 to rotate about the extension line of the first direction Z and to move along the fifth direction P so that the workpiece 200 to be welded covers the crack on the surface to be welded, the underwater welding method further includes:

[0105] The adsorption assembly 130 and the laser welding mechanism 140 are driven to move along the first direction Z so that the workpiece 200 to be welded is pressed against the surface to be welded.

[0106] In this embodiment, after the workpiece 200 covers the cracks on the surface to be welded, the suction assembly 130 and the laser welding mechanism 140 are driven to move in the first direction Z to press the workpiece 200 against the surface to be welded. This helps further improve welding quality and efficiency. It should be noted that pressing the workpiece 200 against the surface to be welded means that when the workpiece 200 contacts the surface to be welded, the pressure between the workpiece 200 and the surface to be welded exceeds a preset pressure threshold, such as 50N or 100N. This can be flexibly set according to actual circumstances.

[0107] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0108] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. An underwater welding device for welding the surface to be welded in a nuclear power plant pool, characterized in that: include: Connecting part; a first driving structure connected to the connecting portion; a second driving structure connected to an output end of the first driving structure; An adsorption component and a laser welding mechanism connected to the output end of the second driving structure, wherein the adsorption component has a surface to be adsorbed, the surface to be adsorbed is configured to adsorb a workpiece to be welded, and the laser welding mechanism is configured to weld a weld between the workpiece to be welded and the surface to be welded; The first driving structure is configured to drive the adsorption component and the laser welding mechanism to move along a first direction, and is configured to drive the adsorption component and the laser welding mechanism to rotate respectively around an extension line of the second direction and around an extension line of the third direction, wherein the first direction is a direction parallel to the axis of the connecting portion, and the second direction and the third direction are perpendicular to the first direction in pairs; The second driving structure is configured to drive the adsorption component and the laser welding mechanism to rotate around the extension line of the fourth direction, and is configured to drive the adsorption component and the laser welding mechanism to move along the fifth direction. The fourth direction is a vertical line direction parallel to the surface to be adsorbed, and the fifth direction is perpendicular to the fourth direction.

2. The underwater welding device according to claim 1, characterized in that: The first driving structure comprises a first sub-driving structure connected to the connecting portion, a second sub-driving structure connected to an output end of the first sub-driving structure, and a third sub-driving structure connected to an output end of the second sub-driving structure; The first sub-driving structure is configured to drive the adsorption assembly and the laser welding mechanism to move along the first direction; The second sub-driving structure is configured to drive the adsorption assembly and the laser welding mechanism to rotate with the extension line of the second direction as an axis; The third sub-driving structure is configured to drive the adsorption assembly and the laser welding mechanism to rotate around an extension line of the third direction.

3. The underwater welding device according to claim 2, characterized in that: The first sub-drive structure includes a first motor, a first screw rod connected to the output shaft of the first motor, and a first drive block sleeved on the first screw rod, the first motor is connected to the connecting part, the first screw rod extends along the first direction, and the first drive block is configured to move along the first direction under the rotation of the first screw rod.

4. The underwater welding device according to claim 3, characterized in that: The first sub-driving structure further includes a first flange, a second flange, a support assembly and a connecting plate, the first motor is connected to the first flange, and the first flange is connected to the connecting portion; The support assembly includes a support seat and a support body connected to the support seat, the support seat is connected to a side of the first flange away from the connecting portion, and the first screw rod is movably arranged inside the support seat and the support body; The second flange is connected to the first driving block through the connecting plate.

5. The underwater welding device according to claim 2, characterized in that: The second sub-drive structure comprises a second motor, a first rotating shaft and a rotating assembly rotatably connected to the first rotating shaft, the first rotating shaft is connected to the output end of the first sub-drive structure, and the rotating assembly is connected to the third sub-drive structure; The second motor is located inside the first rotating shaft, the axis of the first rotating shaft extends along the second direction, the output end of the second motor is connected to the rotating component, and the rotating component is configured to rotate relative to the first rotating shaft with the extension line of the fourth direction as the axis under the drive of the second motor.

6. The underwater welding device according to claim 1, characterized in that: The second driving structure comprises a fourth sub-driving structure connected to the output end of the first driving structure and a fifth sub-driving structure connected to the output end of the fourth sub-driving structure, and the output end of the fifth sub-driving structure is connected to the adsorption component and the laser welding mechanism; The fourth sub-driving structure is configured to drive the adsorption component and the laser welding mechanism in the fourth direction The extension line is the axis of rotation; The fifth sub-driving structure is configured to drive the adsorption assembly and the laser welding mechanism to move along the fifth direction.

7. The underwater welding device according to claim 6, characterized in that: The fourth sub-drive structure includes a third motor, a shell connected to the output end of the first drive structure, and a turntable rotatably connected to the shell. The third motor is located in the shell, and the output shaft of the third motor is connected to the turntable. The turntable is configured to rotate relative to the shell with the extension line of the fourth direction as the axis under the drive of the third motor.

8. The underwater welding device according to claim 7, characterized in that: The fifth sub-drive structure includes a fourth motor, a second screw rod connected to the output shaft of the fourth motor, and a second drive block sleeved on the second screw rod, the fourth motor is connected to the fourth sub-drive structure, the second screw rod extends along the fourth direction, the second drive block is connected to the adsorption assembly and the laser welding mechanism, and the second drive block is configured to move along the fourth direction under the rotation of the second screw rod.

9. The underwater welding device according to claim 1, characterized in that: The laser welding mechanism comprises a third driving structure and a laser welding unit connected to an output end of the third driving structure, wherein the laser welding unit is configured to weld the weld; The third driving structure is connected to the output end of the second driving structure, and the third driving structure is configured to drive the laser welding unit to move along the fourth direction and drive the laser welding unit to move along the sixth direction; The sixth direction is perpendicular to the fourth direction and different from the fifth direction.

10. The underwater welding device according to claim 9, characterized in that: The second driving structure comprises a fourth sub-driving structure connected to the output end of the first driving structure and a fifth sub-driving structure connected to the output end of the fourth sub-driving structure, and the output end of the fifth sub-driving structure is connected to the adsorption component and the laser welding mechanism; The third driving structure includes a sixth sub-driving structure connected to the output end of the fifth sub-driving structure and a seventh sub-driving structure connected to the output end of the sixth sub-driving structure.

11. The underwater welding device according to claim 10, characterized in that: The sixth sub-driving structure comprises a fifth motor, a second transmission assembly connected to the output end of the fifth motor, a third screw rod connected to the output end of the second transmission assembly, and a third driving block sleeved on the third screw rod; The third screw rod extends along the fourth direction, the third driving block is connected to the seventh sub-driving structure, and the third driving block is configured to move along the fourth direction under the rotation of the third screw rod.

12. The underwater welding device according to claim 9, characterized in that: The laser welding mechanism further includes an adjustment plate, the laser welding unit is connected to the output end of the second driving structure through the adjustment plate, and the adjustment plate is configured to rotate relative to the output end of the second driving structure with the extension line of the sixth direction as an axis; And / or, the laser welding mechanism further comprises a drainage cover disposed at an end of the laser welding unit and a first air blowing unit located in the drainage cover, wherein the first air blowing unit is configured to discharge liquid in the drainage cover; And / or, the laser welding mechanism further includes a drainage hood disposed at the end of the laser welding unit and a second air blowing unit located in the drainage hood, wherein the second air blowing unit is configured to provide a protective gas to the laser welding unit.

13. The underwater welding device according to claim 6, characterized in that: The adsorption assembly includes a support frame and a vacuum suction rod, one end of the support frame is connected to the output end of the fifth sub-driving structure, and the other end is connected to the vacuum suction rod; The vacuum suction rod has a suction head, and the suction head is used to suction the workpiece to be welded.

14. An underwater welding method, using the underwater welding device according to any one of claims 1 to 13, characterized in that: include: Using the adsorption component to adsorb the parts to be welded; Adjusting the laser welding mechanism so that the laser spot of the laser welding mechanism covers the weld of the workpiece to be welded; Driving the adsorption assembly and the laser welding mechanism to rotate respectively about the extension line of the second direction and the extension line of the third direction, so that the workpiece to be welded and the surface to be welded are parallel; Driving the adsorption assembly and the laser welding mechanism to move along a first direction so that the workpiece to be welded contacts the surface to be welded; Driving the adsorption assembly and the laser welding mechanism to rotate around the extension line of the first direction as an axis and to move along a fourth direction, so that the workpiece to be welded covers the crack on the surface to be welded; The laser welding mechanism is driven to weld the weld seam of the workpiece to be welded.

15. The underwater welding method according to claim 14, characterized in that: After the step of driving the adsorption assembly and the laser welding mechanism to rotate about the extension line of the first direction as an axis and move along the fourth direction so that the workpiece to be welded covers the crack on the surface to be welded, and before the step of driving the laser welding mechanism to weld the weld seam of the workpiece to be welded, the underwater welding method further includes: The adsorption assembly and the laser welding mechanism are driven to move along the first direction so that the workpiece to be welded is pressed against the surface to be welded.

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