CN103706924B - A kind of intelligent arc welding robot diving wire-feed motor - Google Patents

Abstract

The invention provides an intelligent arc welding robot submersible wire feeder, which includes a sealing cover, and also includes a DSC controller, a wire feeding drive circuit, a wire feeding motor, a wire feeding speed detection circuit, a communication circuit, Whether there is welding wire detection circuit, water leakage detection circuit, wire feeding mechanical transmission parts and welding wire reel with welding wire; DSC controller, wire feeding drive circuit, wire feeding motor and wire feeding mechanical transmission parts are connected in sequence; DSC controller is also connected with The water leakage detection circuit, the communication circuit and the presence or absence detection circuit are connected; one end of the wire feeding speed detection circuit is connected with the DSC controller, and the other end is connected with the wire feeding motor; the welding wire of the wire reel is connected with the transmission part of the wire feeding mechanism. The invention can realize the functions of full digital control, fault diagnosis and data transmission, and can realize three modes of underwater constant speed, variable speed and pulsating wire feeding, and the welding wire feeding is stable and accurate, so that the power supply of the robot welding process-underwater arc system More stable and controllable.

Description

An intelligent arc welding robot submersible wire feeder

technical field

The invention relates to welding technology and equipment technology, more specifically, to an intelligent arc welding robot submersible wire feeder.

Background technique

With the development of a series of large-scale projects such as marine energy, ocean transportation, and large ships, my country's demand for underwater welding technology is becoming increasingly urgent. There are three main ways to realize underwater welding automation: underwater orbital welding system, remote control welding system and robot welding system. Underwater orbital welding needs to install the track underwater, which is limited by the diving depth of divers; the remote control welding accuracy error is large, and sometimes it is difficult to meet the engineering welding accuracy requirements; based on the rapid development of special application robots in today's society, underwater welding robots are the future The research direction of underwater welding automation. Among them, the overview of underwater welding robot technology has been published in the document "Development Status and Trends of Underwater Welding Robot Technology" (Zhang Hua, Li Zhigang. "Robot Technology and Application" 2008, (6)). Due to the complexity and uncertainty of the underwater environment, no welding robot is currently engaged in complete underwater welding activities.

There are many factors that affect the quality of underwater welds, but whether the arc burns stably during welding is the basic requirement. Compared with the usual welding arc, the arc in the water environment has poor combustion stability due to the influence of water pressure and other factors. From the analysis of mechanism, in order to make the underwater arc burn stably, it is necessary to have a submersible wire feeder with stable and reliable performance to ensure stable and accurate feeding of welding wire and to establish a stable power supply-arc system. The performance of the underwater wire feeding system is very important. It can realize various wire feeding modes such as constant speed, variable speed and pulsation according to the welding process requirements. In addition, it is also necessary to diagnose the welding wire allowance in real time to ensure that the welding wire is delivered from the wire feeding hose. Relatively dry, does not adversely affect the stability of the welding arc.

Contents of the invention

The purpose of the present invention is to overcome the shortcomings and deficiencies in the prior art, and provide an intelligent arc welding robot submersible wire feeder, which can ensure that the wire feeder is dry and the welding wire is fed stably and accurately during the welding process, so as to achieve uniform and variable speed And multiple wire feeding modes such as pulsation help the welding power supply - underwater arc system to automatically adapt to the characteristics of the underwater welding arc to achieve high-quality underwater robot welding.

In order to achieve the above object, the present invention is achieved through the following technical solutions: an intelligent arc welding robot submersible wire feeder, characterized in that it includes a sealing cover, and also includes a DSC controller, a wire feeding Drive circuit, wire feeding motor, wire feeding speed detection circuit, communication circuit, presence or absence of welding wire detection circuit, water leakage detection circuit, wire feeding mechanical transmission parts and welding wire reel with welding wire; the DSC controller, wire feeding driving circuit, The wire-feeding motor and the transmission parts of the wire-feeding mechanism are connected sequentially; the DSC controller is also connected to the water leakage detection circuit, the communication circuit and the presence or absence of welding wire detection circuit respectively; one end of the wire-feeding speed detection circuit is connected to the DSC controller, and the other end It is connected with the wire feeding motor; the welding wire of the wire reel is connected with the transmission part of the wire feeding mechanism.

In the above scheme, the welding wire reel adopts a general welding wire reel, the transmission parts of the wire feeding mechanism are composed of a general pressing wheel, a pressing handle, etc., and the wire feeding motor is a general DC motor.

The DSC controller is composed of a minimum system, a visual human-computer interaction system, buttons, a rotary encoder, LED status indicators, video memory and flash memory connections. Specifically, the DSC controller mainly includes the smallest system modeled as STM32F405ZGT6, a visual human-computer interaction system mainly composed of a touch screen modeled AT070TN92, a driver chip modeled RA8875, and a backlight chip modeled CAT4139. device, LED status indicators, extended 16MSRAM video memory and extended 64Mbit flash connection.

The minimum system is composed of a microprocessor, a power supply circuit, a reset circuit, a crystal oscillator circuit and a JTAG interface connected through peripheral circuits. Specifically, the minimum system of the DSC controller mainly uses the STM32F405RGT6 microprocessor internally solidified with the submersible wire feeder control software running on the FreeRTOS kernel as the main component.

The wire feeding driving circuit is composed of a half bridge circuit composed of two N-channel field effect transistors, a driving chip, an optocoupler 1, a relay 1 and a voltage stabilizing chip connected through a peripheral circuit; the driving chip is connected through a minimum system PWM The port is connected with the DSC controller. The wire feeding driving circuit is a circuit capable of realizing three wire feeding modes of constant speed wire feeding, variable speed wire feeding and pulsating wire feeding.

The presence or absence detection circuit of welding wire is connected to the DSC controller through the GPIO port of the minimum system, and is composed of an eddy current proximity switch, a relay 2, an optocoupler 2, a linear optocoupler, and a high-speed operational amplifier connected through peripheral circuits. The presence or absence detection circuit of the welding wire can not only detect the presence or absence of the welding wire, but also predict and judge the remaining amount of the welding wire in the welding wire spool.

The water leakage detection circuit is connected to the DSC controller through the GPIO port of the minimum system, and is composed of a water leakage electrode, an optocoupler 3, a resistor 1 and a capacitor 1 connected through a peripheral circuit.

The wire-feeding speed detection circuit is connected to the DSC controller through the ADC port of the minimum system; the detection method of the wire-feeding speed detection circuit for the wire-feeding speed is an encoder detection method, or a motor armature voltage detection method.

One end of the communication circuit is connected to the welding robot, and the other end is connected to the DSC controller through the CAN port of the minimum system, and is composed of a CAN transceiver model SN65HVD230, a resistor 2 and a capacitor 2 connected through peripheral circuits.

The sealing cover is a shell made of stainless steel, and its interface with the outside adopts a sealing method combining static sealing and dynamic sealing, thereby improving the sealing effect of the wire feeder working underwater.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

1. An intelligent arc welding robot submersible wire feeder of the present invention adopts a DSC controller, takes a Cortex-M4ARM microprocessor with a DSP module as the digital control core, has fast data calculation and processing speed, and has a very high control resolution, so that The real-time control of the wire feeding process by the submersible wire feeder is more precise and accurate.

2. An intelligent arc welding robot submersible wire feeder of the present invention adopts a digital PWM modulated wire feeding drive circuit, which can realize three modes of uniform speed, variable speed and pulse wire feeding, and the power supply for the welding robot underwater welding process- The arc system has better adaptability and improves the stability of the welding process.

3. An intelligent arc welding robot submersible wire feeder of the present invention adopts an eddy current-based detection method, which can not only detect the presence or absence of welding wire, but also detect the remaining amount of welding wire in real time, which is more conducive to the automation of underwater robots welding.

The working principle of the intelligent arc welding robot submersible wire feeder of the present invention is as follows: the submersible wire feeder consists of a DSC controller, a wire feed drive circuit, a wire feed motor, a wire feed speed detection circuit, a welding wire detection circuit, a water leakage Detection circuit, communication circuit, wire feeding mechanical transmission parts (including pressing wheel, pressing handle, etc.) No welding wire detection circuit, water leakage detection circuit, communication circuit, wire feeding mechanical parts and welding wire reel etc. are installed in the sealing cover. The ARM microprocessor STM32F405RG of the DSC controller can receive the working status instructions and parameter information sent from the welding robot, and can also output two parameters to the wire feeding drive circuit according to the working status instructions and parameter information set by the touch screen, keys and digital encoder. The complementary PWM signal with dead zone, through the isolation and amplification of the IR2110 driver chip, controls the switch on and off time of the field effect tube of the wire feeding drive circuit, adjusts the motor voltage in real time, and changes the speed of the wire feeding motor, thereby Change wire feed speed. At the same time, the ARM microprocessor STM32F405RG samples the armature voltage at both ends of the wire-feeding motor in real time through the wire-feeding speed detection circuit according to a certain sampling frequency. Compare with the given value of wire speed, and adjust the output PWM pulse duty cycle according to the digital PID regulation rule, so as to adjust the wire feeding speed of the wire feeding motor. By sampling the output terminal voltage of the eddy current proximity switch, the consumption of welding wire is monitored. When the output voltage value is lower than a certain set value, it means that the welding wire allowance is insufficient; when the eddy current proximity switch is closed, it means that there is no wire left. welding wire. When the water leakage electrode detection terminal is pulled down to low level, the GPIO port interrupt of the ARM microprocessor STM32F405RG is triggered, and the corresponding interrupt processing function is entered for processing. The welding robot communicates and exchanges information with the DSC controller of the wire feeder through the set control parameters through the CAN bus, and the fault diagnosis information of the submersible wire feeder is also transmitted to the welding robot through the CAN port of the DSC via the communication circuit and the CAN bus .

Description of drawings

Fig. 1 is the structural representation of intelligent arc welding robot submersible wire feeder of the present invention;

Fig. 2 is a schematic diagram of the internal structure of the DSC controller of the intelligent arc welding robot submersible wire feeder of the present invention;

Fig. 3 is the minimum system schematic diagram of the intelligent arc welding robot submersible wire feeder of the present invention;

Fig. 4 is a schematic diagram of the wire feeding drive circuit of the intelligent arc welding robot submersible wire feeder of the present invention;

Fig. 5 is a schematic diagram of the wire feeding speed detection circuit of the intelligent arc welding robot submersible wire feeder of the present invention;

Fig. 6 (a) and Fig. 6 (b) are the schematic diagrams of the presence or absence of welding wire detection circuit of the intelligent arc welding robot submersible wire feeder of the present invention;

Fig. 7 is a schematic diagram of the water leakage detection circuit of the intelligent arc welding robot submersible wire feeder of the present invention;

Fig. 8 is a schematic diagram of the communication circuit of the intelligent arc welding robot submersible wire feeder of the present invention.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Example

The intelligent arc welding robot submersible wire feeder of the present invention has three wire feeding modes such as uniform speed wire feeding, variable speed wire feeding and pulsating wire feeding. DSC controller 100, wire feeding drive circuit 200, wire feeding motor 300, wire feeding speed detection circuit 500, communication circuit 700, presence or absence of welding wire detection circuit 800, water leakage detection circuit 600, wire feeding mechanical transmission part 400 and welding wire Among them, the DSC controller 100, the wire feeding drive circuit 200, the wire feeding motor 300 and the wire feeding mechanical transmission part 400 are sequentially connected, and the DSC controller 100 is also connected with the water leakage detection circuit 600, the communication circuit 700 and the presence or absence of welding wire respectively. The detection circuit 800 is connected, one end of the wire-feeding speed detection circuit 500 is connected to the DSC controller 100 , the other end is connected to the wire-feeding motor 300 , and the welding wire of the wire reel is connected to the transmission part 400 of the wire-feeding mechanism. In order to improve the sealing effect of the wire feeder working underwater, the sealing cover of the present invention is a shell made of stainless steel, and its interface with the outside adopts a sealing method combining static sealing and dynamic sealing.

As shown in Figure 2, the DSC controller consists of the smallest system model STM32F405ZGT6, a visual human-computer interaction system composed of a touch screen model AT070TN92, a driver chip model RA8875, and a backlight chip model CAT4139. Encoder, LED status indicator light, extended 16MSRAM video memory and extended 64Mbit flash memory are connected through peripheral circuits. STM32F405ZGT6 is a CortexM4 core ARM microprocessor that integrates ARM+DSP dual-core functions. It expands and configures 16M video memory through FSMC port, and expands 64Mbit flash memory through SPI port. The rotary encoder is directly connected to the TIMER port, the button is directly connected to the GPIO port, and the LED status indicator is directly connected to the GPIO port. Among them, the button and the rotary encoder are used to set parameters. The minimum system is directly connected to the welding robot through CAN interface and communication circuit. Its parameter display adopts four-wire resistive 7-inch TFT-LCD-AT070TN92, and the LCD driver chip RA8875 is directly connected to the GPIO port of the minimum system. The wire feeding driving circuit is directly connected to the minimum system through the PWM port, the wire feeding speed detection circuit is directly connected to the minimum system through the ADC port, the welding wire detection circuit and the water leakage detection circuit are directly connected to the minimum system through the GPIO port, and one end of the communication circuit is connected to the welding The robot is connected, and the other end is connected with the minimal system through the CAN port. The minimum system uses FreeRTOS as the real-time kernel, which has the advantages of fast data processing speed, precise and flexible adjustment, and convenient system expansion.

As shown in Figure 3, the smallest system modeled as STM32F405RGT6 is composed of the Cortex-M4 core STM32F405RGT6 microprocessor of ST Company with a main frequency of up to 168MHz, and the power supply circuit composed of the chip AMS1117, capacitor C14-17, resistor R6 and diode D1 through the peripheral circuit , a reset circuit composed of a switch S1, a capacitor C1 and a resistor R7 through a peripheral circuit, a crystal oscillator circuit composed of a crystal oscillator Y1, a capacitor C2-3 and a resistor R1 through a peripheral circuit, and a JTAG interface composed of a resistor R5-8 and a JTAG chip Constructed by auxiliary circuit connections. The smallest system of STM32F405RGT6 has a built-in DSP function module. It is a SOC-level chip based on the Cortex-M4 core. It has up to 1MB on-chip FLASH, 192KbSRAM, and a 12-bit ADC with a conversion rate of 2.4MSPS. It has two 12-bit DACs and can generate 0-3.3 The analog voltage of v has reserved UART, RS485 and CAN interfaces. STM32F405RGT6 is the digital core of the submersible wire feeder, and its interior is solidified with the submersible wire feeder control software based on the FreeRTOS real-time kernel.

As shown in Figure 4, the wire feeding drive circuit is mainly composed of a half-bridge circuit composed of two N-channel FETs Q1 and FETs Q2, a driver chip IR2110, an optocoupler PC817, a relay K1, and a voltage regulator chip L7815 And other peripheral circuit connections. The model of the driver chip is IR2110, and the forward and reverse conversion of the motor is realized through the commutation circuit composed of the relay K1 and the optocoupler PC817. Wherein, both ends of the motor are connected to the connector P1, and two complementary PWM signals with dead zones are respectively input to the driver chip IR2110. The Inversion commutation end is kept at high level, and the relay is kept at the forward end. When PWMH is at high level and PWML is at low level, due to the role of the bootstrap circuit composed of capacitors C2 and C3 and diode D1, the field effect at this time The tube Q1 is reliably turned on, the field effect tube Q2 is turned off, the positive and negative ends of the motor are shorted to 24V, and it is in an emergency stop state; when PWMH is low and PWL is high, the field effect tube Q2 is turned on, and the field effect The tube Q1 is turned off, and the voltage at both ends of the motor is +24V at this time, and the motor is in the forward rotation state. When the Inversion commutation end is kept at low level, the triode of the optocoupler PC817 is turned on, and the relay is kept at the inversion end. When PWMH is at high level and PWML is at low level, FET Q1 is turned on, and FET Q2 is turned on. Turn off, the voltage at both ends of the motor is +24V, and the motor is in reverse state; when PWML is high and PWMH is low, the positive and negative ends of the motor are shorted to 24V, and it is in an emergency stop state. Therefore, by controlling the high and low levels of the Inversion reversing end, pulsating wire feeding can be realized, and by controlling the duty cycle of PWMH and PWML, the speed of wire feeding can be controlled. The combination of the two can easily realize uniform speed feeding. Three wire feeding modes: wire feeding, variable speed wire feeding and pulsating wire feeding.

Resistor R1, diode D2, resistor R3, and diode D3 form the leakage circuits of FET Q1 and FET Q2 respectively, so that the FET can be turned off quickly and prevent the upper and lower FETs from being turned on at the same time. Resistor R2 and resistor R4 are the input end protection resistors of FET Q1 and FET Q2 respectively, preventing the FET from being turned on accidentally due to static electricity or the like. Because the DC motor used is an inductive element, the motor will generate a large induced electromotive force when commutating, so a reverse electromotive force absorption circuit composed of diode D4 and diode D5 is added at the input end. In order to prevent the high-frequency noise signal of the analog circuit from being coupled to the digital circuit side, the ground terminal of the analog circuit and the ground terminal of the digital circuit are single-point connected through the magnetic bead L1.

The wire-feeding speed detection circuit of the present invention can detect the wire-feeding speed by either an encoder detection method or a motor armature voltage detection method. This embodiment is introduced by detecting the armature voltage. As shown in Figure 5, the positive and negative ends of the motor are connected to the connector P3. After the voltage is input to the control chip STM32F405RG, after A/D conversion, it is compared with the given voltage value, so as to adjust the duty cycle of the PWM signal and achieve the purpose of adjusting the motor running speed. Among them, the resistor R6, the resistor R7, the resistor R8, and the resistor R9 respectively form two voltage divider circuits of the input voltage, which reduce the voltage proportionally to the input voltage suitable for the operational amplifier LF353. Inductor L5, inductor L6, and capacitor C10 form an LC filter circuit at the input end. The operational amplifier U4 constitutes a differential amplifier circuit, amplifies the voltage across the reduced motor to twice, and then calculates the difference between the two before outputting, thereby converting the input differential signal into a unilateral voltage signal for output. Diode D6, diode D7, diode D8, and diode D9 are protection diodes for the two input terminals of the operational amplifier U4 respectively. When the absolute value of the input terminal voltage is higher than 15V, one of the diodes conducts, effectively protecting the operational amplifier. Since the linear optocoupler U6 is a current-driven optocoupler element, what is isolated is the current, so the operational amplifier U5 and the resistor R17 form a voltage-current conversion circuit, which converts the voltage at the input terminal of the operational amplifier into the LED drive current of the linear optocoupler HCNR201 , and the operational amplifier U5, resistor R16, capacitor C11, and diode D10 form a closed-loop feedback circuit of the linear optocoupler U6 to compensate for the nonlinearity and temperature drift of the LED of U6, and the capacitor C11 can also filter out high-frequency noise signals effect. The operational amplifier U7, resistor R22, and resistor R18 form a current-voltage conversion circuit, which converts the output current of the linear optocoupler U6 into a voltage, and adjusts the resistance value of the resistor R22 to an appropriate value to obtain a unilateral output voltage equal to that of the operational amplifier U4. The voltage value is further lowered by the resistor R18 to reduce the output voltage of the operational amplifier U7 to the appropriate input voltage of the control chip STM32F405RG, where the diode D11 and diode D12 form the input terminal protection circuit to prevent the voltage at the Feedback terminal from being higher than 3.3V.

As shown in Figures 6 (a) and 6 (b), the presence or absence of welding wire detection circuit of the present invention adopts an eddy current detection method, mainly consisting of an eddy current proximity switch, a relay K2, an optocoupler PC817, a linear optocoupler HCNR201, Composed of high-speed operational amplifier LF353 and peripheral auxiliary circuits, it can not only detect the presence or absence of welding wire, but also predict and judge the remaining amount of welding wire in the welding wire reel. As shown in Figure 6(a), the eddy current proximity switch is a two-wire normally closed proximity switch, and the output end is connected to the connector P6. When the welding wire is detected, both ends of the connector P6 are disconnected, the relay K2 is not pulled in, and the working indicator LED1 lights up, indicating that there is welding wire at this time; Closed, the two ends of the connector P6 are connected, the loop is turned on, the relay K2 is pulled in, the indicator LED1 is off, and the LED of the optocoupler PC817 has a driving current flowing, the triode at the output end is turned on, and the signal end WIRE is pulled down to low power. In the flat state, the WIRE port is connected to the GPIO port of the control chip STM32F45RG. When it is detected that the WIRE port is at a low level, it enters the GPIO interrupt processing function and performs corresponding processing. As shown in Figure 6(b), in order to ensure the reliability of the detection results of no welding wire fault, the output terminal voltage of the eddy current proximity switch is detected. When the voltage of the sampling terminal FBWIRE is higher than a certain value, it is considered that the welding wire has been consumed. do.

As shown in Figure 7, the water leakage detection circuit is mainly composed of water leakage electrodes, optocoupler PC817, resistors R21-22 and capacitor C14 connected through peripheral circuits. Both ends of the leakage electrode are connected with connector P5. When there is no water in the sealed box, both ends of the leakage electrode are disconnected, no current flows through the LED of the optocoupler PC817, the transistor at the output end is cut off, and the detection signal output end WATER is pulled up to 3.3V by the pull-up resistor; When there is water in the sealed box, the two ends of the leaking electrode are connected, the LED drive current of the optocoupler PC817 flows and emits light, the triode at the output end is turned on, and the detection signal output end WATER is pulled down to the ground. The detection signal output terminal WATER is connected to the GPIO of the control chip STM32F405RG, and when it is detected to be low level, it enters the corresponding interrupt processing function for processing.

As shown in Figure 8, the communication circuit is composed of CAN transceiver SN65HVD230, resistor R20 and capacitor C13 connected through peripheral circuits. Parameters such as the wire feeding speed setting value, gas feeding delay setting value, and fault diagnosis signal of the wire feeder perform data interaction with the welding robot through the communication circuit. SN65HVD230 is a 3.3VCAN transceiver produced by TI Company. This device is suitable for serial communication of CAN bus with higher communication rate, good anti-interference ability and high reliability.

The foregoing embodiments have the following characteristics:

1. Full digitalization: An intelligent arc welding robot submersible wire feeder in this embodiment constructs a fully digital submersible wire feeder based on DSC controller for the first time, which not only realizes the digitization of the control process, but also realizes the integration of wire feeder and All-digital data communication and information interaction between robots, strong data processing ability, fast response speed, and more precise process control.

2. Wide adaptability: An intelligent arc welding robot submersible wire feeder in this embodiment adopts a digital PWM modulation method to realize the forward and reverse and speed control of the wire feeding drive circuit, and can realize uniform speed, variable speed and pulse feeding. Wire and other three modes have better adaptability to the power-arc system of underwater robot welding, and can obtain a stable welding process and high-quality welds.

3. Specialization: An intelligent arc welding robot submersible wire feeder in this embodiment can not only detect the presence or absence of welding wire and the amount of welding wire, but also dynamically monitor whether there is leakage in the sealing cover of the submersible wire feeder in real time. , The sealing cover also adopts a combination of static sealing and dynamic sealing, which has better sealing performance and can meet the professional needs of underwater welding.

The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (9)

1. an intelligent arc welding robot diving wire-feed motor, it is characterized in that: comprise seal closure, also comprise the DSC controller be all arranged in seal closure, wire feed drive circuit, wire feeding motor, wire feed rate testing circuit, telecommunication circuit, with or without welding wire testing circuit, leak water detdction circuit, wire feed mechanical transmission component and the wire reel being provided with welding wire; Described DSC controller, wire feed drive circuit, wire feeding motor are connected successively with wire feed mechanical transmission component; Described DSC controller is also respectively with leak water detdction circuit, telecommunication circuit be connected with or without welding wire testing circuit; Described wire feed rate testing circuit one end is connected with DSC controller, and the other end is connected with wire feeding motor; The welding wire of described wire reel is connected with wire feed mechanical transmission component.

2. intelligent arc welding robot diving wire-feed motor according to claim 1, is characterized in that: described DSC controller is connected to form by minimum system, Visible Man-machine Interactive System, button, rotary encoder, LED state indicator lamp, video memory and flash memory.

3. intelligent arc welding robot diving wire-feed motor according to claim 2, is characterized in that: described minimum system is connected and composed by peripheral circuit by microprocessor, power circuit, reset circuit, crystal oscillating circuit and jtag interface.

4. intelligent arc welding robot diving wire-feed motor according to claim 2, is characterized in that: the half-bridge circuit that described wire feed drive circuit is made up of two N channel-type FETs, driving chip, optocoupler one, relay one and voltage stabilizing chip are connected to form by peripheral circuit; Described driving chip is connected with DSC controller by the PWM port of minimum system.

5. intelligent arc welding robot diving wire-feed motor according to claim 2, it is characterized in that: to be describedly connected with DSC controller by the GPIO port of minimum system with or without welding wire testing circuit, and connected and composed by peripheral circuit by electric vortex type proximity switch, relay two, optocoupler two, linear optical coupling, high speed operation amplifier.

6. intelligent arc welding robot diving wire-feed motor according to claim 2, it is characterized in that: described leak water detdction circuit is connected with DSC controller by the GPIO port of minimum system, and is connected and composed by peripheral circuit by the electrode that leaks, optocoupler three, resistance one and electric capacity one.

7. intelligent arc welding robot diving wire-feed motor according to claim 2, is characterized in that: described wire feed rate testing circuit is connected with DSC controller by the ADC port of minimum system; Described wire feed rate testing circuit is encoder detection mode to the detection mode of wire feed rate, or for detecting the mode of armature voltage.

8. intelligent arc welding robot diving wire-feed motor according to claim 2, it is characterized in that: described telecommunication circuit one end is connected with welding robot, the other end is connected with DSC controller by the CAN port of minimum system, and by model be the CAN transceiver of SN65HVD230, resistance two and electric capacity two connected and composed by peripheral circuit.

9. intelligent arc welding robot diving wire-feed motor according to claim 1, is characterized in that: described seal closure is the housing be made up of stainless steel material, its sealing means adopting static seal and movable sealing to combine with outside interface.