水下机器人局部干法焊接系统的分析

针对核电站优质水下焊接修复需求，研制了一套局部干法水下机器人焊接系统.以DSC微处理器为核心，结合二次逆变主电路，设计了全数字多波形柔性输出的大功率水下焊接电源；采用电枢电压反馈控制、高频斩波脉宽调制及动静密封技术，开发了紧凑型潜水送丝装置；针对焊接局部保护和排渣难题，开发了基于收缩喷管原理的双气帘结构微型排水罩.集成专用水下焊枪、机器人、视觉系统等，搭建水下机器人局部干法焊接试验平台，开展水下焊接试验.结果表明，研制的局部干法焊接系统样机性能可靠，引弧成功率高，焊接过程稳定，焊缝成形美观.

Underwater robot local dry welding system

Aimed at the demand of good quality underwater welding and maintenance for nuclear power station, a set of local dry automatic welding system has been developed,It is based on an underwater robot which is made up from a special high-power underwater welding source, a diving wire feeder, a mini drain cap, a welding robot and a special underwater welding torch. With DSC-level ARM microprocessor as its core and combined with the dual inverter topological, the welding source is of full-digital construction and multi-wave flexible output. Based on the armature voltage negative feedback and high-frequency chopping pulse width modulation, a compact diving wire feeding device has been designed and it has achieved the high-efficiency seal of the driving motor with the help of the dynamic and static sealing technology. Considering that the difficulty of local protection and deslagging in the welding area, a mini drain cap of duplex gas structure based on the principle of the convergent nozzle has been designed. Both the practical tests and the underwater welding experiments have showed that the underwater robotic local dry welding system is a perfect design. It can not only strike the arc stably and reliably in the shallow water environment but also form beautiful welding seam.