Innovative Methodology and Database for Underwater Robot Repair Welding: A Technical Note

摘要

The current research status and main drawbacks of underwater welding are briefly summarized. A novel welding torch is proposed to overcome the problems and issues. The design details and working principle are introduced. A series of welding experiments are conducted, obtaining nearly defect-free joints. The experimental results indicate that the innovative methodology achieves a higher welding speed and better welding stability than conventional underwater welding. The feasibility and superiority of the innovative methodology are verified. An optimal database and corresponding weld bead diagrams are presented for direct employment in subsequent research.