CN103071895B - Control system and control method of welding equipment - Google Patents
Control system and control method of welding equipment Download PDFInfo
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- CN103071895B CN103071895B CN201310009493.0A CN201310009493A CN103071895B CN 103071895 B CN103071895 B CN 103071895B CN 201310009493 A CN201310009493 A CN 201310009493A CN 103071895 B CN103071895 B CN 103071895B
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Abstract
The invention provides a control system and a control method of welding equipment. The welding equipment comprises a welding power source and a wire feeding device, wherein the communication is carried out between the welding power source and the wire feeding device by a method of loading high-frequency carriers on a power line. The control method comprises the following steps of inputting information of welding conditions at the wire feeding device side; generating a baseband signal according to the information of the welding conditions; demodulating multiple paths of high-frequency carriers with different frequency according to the generated baseband signal; sending the multiple paths of high-frequency carriers with different frequencies; at the welding power source side, receiving the multiple paths of high-frequency carriers with different frequency sent from the wire feeding device side; demodulating the received high-frequency carriers into a low-frequency modulation signal; shaping and filtering the demodulated low-frequency modulation signal, and outputting; and determining a signal for controlling the output of the welding power source, and controlling the output of the welding power source according to the determined signal. The control system and the control method have the advantages that the anti-jamming capability is realized, and the stable welding is ensured.
Description
[technical field]
The present invention relates to a kind of control system and control method of the welding equipment be made up of the source of welding current and wire feeder, especially a kind of control system and control method controlling the source of welding current from wire feeder side input weld information.
[background technology]
Develop rapidly along with manufacturing, in large-scale engineering machinery field, special larger in the industry such as shipbuilding, steel construction welding equipment use amount, welding equipment is generally made up of the source of welding current and wire feeder, and connected by control cables between the two, when welding, controlling wire feed rate from wire feeder side input weld information, weld information being sent to the source of welding current to control the output of the source of welding current simultaneously.
General wire feeder is by multi-core controlled cable connecting welding power supply, and this method can cause wire feed shakiness, voltage instability, welding instability when remote use, and more, the easy broken string of control cables or short circuit.
In order to avoid above-mentioned deficiency, wire feeder can adopt the method for carrier modulation to send to the source of welding current by after the modulates information such as voltage to high frequency carrier.Figure 11 is the overall structure figure adopting the welding equipment controlled in this way.As shown in figure 11, welding equipment comprises the source of welding current 1 and wire feeder 5, the source of welding current 1 side is provided with control device 4, control device 4 is connected with power supply unit 3, control device 4 the controls the source of welding current 1 output 12(source of welding current by controlling main loop unit 2 exports A) and 13(source of welding current output B), wire feeder 5 side is provided with control device 11, control device 11 controls air inflow by controlling air valve 10, by controlling wire feeding motor 7, control speed and feeding amount that wire feed driving mechanism 6 feeds sacrificial electrode 8.Be connected with power line 9 between control device 4 and control device 11, communicate in the mode loading high frequency carrier on power line 9 between control device 4 with control device 11.
Figure 12 shows in prior art the functional block diagram of the control system adopting high frequency carrier mode to communicate.As shown in figure 12, control device 11 comprises welding condition information input unit 51, and it is for inputting welding condition information (such as welding current, weldingvoltage, string diameter, material, gas etc.); Baseband signal generation unit 52, it generates baseband signal for the welding condition information inputted based on welding condition information input unit 51; High frequency carrier modulating unit 53, it is for the modulates baseband signals one road high frequency carrier according to raw unit 52 generation of baseband signal; Carrier wave transmitting element 54, its high frequency carrier modulated for sending high frequency carrier modulating unit 53; Control device 4 comprises: carrier wave receiving element 61, the high frequency carrier that its carrier wave transmitting element 54 for receiving control device 11 sends; Carrier wave demodulation unit 62, it is demodulated into low-frequency modulation signal for the high frequency carrier received by carrier wave receiving element 61; Shaping filter unit 63, it exports after carrying out shaping filter for the low-frequency modulation signal demodulated by carrier wave demodulation unit 62; Control unit 64, it controls the output of the source of welding current 1 for the low-frequency modulation signal exported based on shaping filter unit 63.
In addition, control device 11 is also provided with display unit 55 and control unit 56, and display unit 55 is for showing preset electric current and the information such as voltage, warning, and control unit 56 controls wire feeder for the welding condition information according to input.
Control device 4 is also provided with display unit 65, sampling unit 66 and output unit 67.Display unit 65 is for showing electric current and the information such as voltage, warning.Sampling unit 66 is for gathering the information such as output voltage, output current.Output unit 67 is for controlling the output (voltage or electric current) of main loop unit 2.
This approach reduces control cables weight, reduce control cables fault rate, improve the mobility of wire feeder 4.But because it only used single carrier wave, in inversion welding source widely used today, there is following problem: the harmonic wave that during inverter type welder work, output produces likely disturbs an only road carrier frequency, cause receiving, or (welding motor side) receives rub-out signal in receiver side, this rub-out signal controls welding process, thus causes welding arc unstable, even cannot weld, production be caused to having a strong impact on.
[summary of the invention]
[technical problem]
The present invention is intended to in prior art, and the signal sent from wire feeder side direction source of welding current side is easily disturbed, thus affects the problem of welding quality, provides a kind of control system and control method of welding equipment.
[solution]
The invention provides a kind of control system of welding equipment, described welding equipment comprises: the source of welding current and wire feeder, described control system comprises: be positioned at the first control device of wire feeder side and be positioned at the second control device of source of welding current side, communicating between described first control device with described second control device in the mode loading high frequency carrier on the power line; Described first control device comprises: welding condition information input unit, and it is for inputting welding condition information; Baseband signal generation unit, it is for generating baseband signal based on the welding condition information of described welding condition information input unit input; High frequency carrier modulating unit, it is for the Multi-channel high-frequency carrier wave of the described modulates baseband signals different frequency according to described baseband signal generation unit generation; Carrier wave transmitting element, its Multi-channel high-frequency carrier wave of described different frequency for sending described high frequency carrier modulating unit and modulating; Described second control device comprises: carrier wave receiving element, the Multi-channel high-frequency carrier wave of its different frequency sent for the carrier wave transmitting element receiving described first control device; Carrier wave demodulation unit, it is demodulated into low-frequency modulation signal for the high frequency carrier received by described carrier wave receiving element; Shaping filter unit, it exports after carrying out shaping filter for the low-frequency modulation signal demodulated by described carrier wave demodulation unit; Determining unit, it is for determining the signal of the output controlling the described source of welding current in the low-frequency modulation signal that exports from shaping filter unit; Control unit, the signal determined based on described determining unit controls the output of the described source of welding current.
The invention provides a kind of control method of welding equipment, described welding equipment comprises: described welding equipment comprises: the source of welding current and wire feeder, communicates between the described source of welding current with described wire feeder in the mode loading high frequency carrier on the power line; Described control method comprises: in described wire feeder side, welding condition information input step: input welding condition information; Baseband signal generation step: generate baseband signal based on the welding condition information inputted in described welding condition information input step; High frequency carrier modulation step: the Multi-channel high-frequency carrier wave going out different frequency according to the modulates baseband signals generated in described baseband signal generation step; Carrier wave forwarding step: the Multi-channel high-frequency carrier wave being sent in the described different frequency modulated in described high frequency carrier modulation step; In described source of welding current side, carrier wave receiving step: the Multi-channel high-frequency carrier wave being received in the different frequency sent in the carrier wave forwarding step of described wire feeder side; Carrier wave demodulation step: high frequency carrier will be received in described carrier wave receiving step and be demodulated into low-frequency modulation signal; Shaping filter step, exports after the low-frequency modulation signal shaping filter demodulated in carrier wave demodulation step; Determining step, determines the signal of the output controlling the described source of welding current from the low-frequency modulation signal exported shaping filter step; Rate-determining steps, controls the output of the described source of welding current based on the signal determined in described determining step.
[invention beneficial effect]
The present invention transmits welding condition information owing to adopting the Multi-channel high-frequency carrier wave of different frequency, when high frequency carrier is interfered, can the correct or mistake of resoluting signal, and correct signal is used for control welding output, thus make stability, the antijamming capability enhancing that welding equipment during long distance welding, can be improved, ensure high performance welding.Even the output harmonic wave interference that scene exists inverter type welder also can ensure stable welding.
[accompanying drawing explanation]
Fig. 1 is the functional block diagram of control system of the present invention;
Fig. 2 is the hardware configuration schematic diagram of the control device of the wire feeder of the first embodiment of the present invention;
Fig. 3 is the hardware configuration schematic diagram of the control device of the source of welding current of first embodiment of the invention;
Fig. 4 is the carrier wave demodulation electronic circuit of first embodiment of the invention and the circuit theory diagrams of shaping filter electronic circuit;
Fig. 5 is the workflow diagram of the control system of first embodiment of the invention;
Fig. 6 is that the baseband signal of control system when welding equipment works of the first embodiment of the present invention generates, modulates, sends and receive, the oscillogram of demodulation;
Fig. 7 is the particular flow sheet of the determining step of the first embodiment of the present invention;
Fig. 8 is the flow chart of control system when welding equipment holding state of the second embodiment of the present invention;
Fig. 9 is that the baseband signal of control system when welding equipment holding state of the second embodiment of the present invention generates, modulates, sends and receive, the oscillogram of demodulation;
Figure 10 is the particular flow sheet of the determining step of the third embodiment of the present invention;
Figure 11 is the overall structure block diagram of existing welding equipment;
Figure 12 is the functional block diagram of the control device of existing welding equipment.
[detailed description of the invention]
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
Fig. 1 is the functional block diagram of control system of the present invention.Control system of the present invention comprises: be positioned at the first control device 20 of wire feeder side and be positioned at the second control device 30 of source of welding current side, communicating between first control device 20 with second control device 30 in the mode loading high frequency carrier on power line 9; First control device 20 comprises: welding condition information input unit 21, and it is for inputting welding condition information (such as welding current, weldingvoltage, string diameter, material, gas etc.); Baseband signal generation unit 22, it generates baseband signal for the welding condition information inputted based on welding condition information input unit 21; High frequency carrier modulating unit 23, it is for the Multi-channel high-frequency carrier wave of the modulates baseband signals different frequency according to raw unit 22 generation of baseband signal; Carrier wave transmitting element 24, its Multi-channel high-frequency carrier wave of different frequency for sending high frequency carrier modulating unit 23 and modulating; Second control device 30 comprises: carrier wave receiving element 31, the Multi-channel high-frequency carrier wave of its different frequency sent for the carrier wave transmitting element 24 receiving first control device 20; Carrier wave demodulation unit 32, it is demodulated into low-frequency modulation signal for the high frequency carrier received by carrier wave receiving element 31; Shaping filter unit 33, it exports after carrying out shaping filter for the low-frequency modulation signal demodulated by carrier wave demodulation unit 32; Determining unit 34, it is for determining the signal of the output controlling the described source of welding current in the low-frequency modulation signal that exports from shaping filter unit 33; Control unit 35, the signal determined based on described determining unit controls the output (such as weldingvoltage or welding current) of the described source of welding current.
In addition, same as the prior art, first control device 20 also comprises display unit (not shown), second control device 30 also comprises display unit (not shown), sampling unit (not shown) and output unit (not shown), the function of these unit is identical with the function of prior art, and be not inventive point of the present invention, therefore repeat no more.
The difference of the control system (Figure 12) of control system of the present invention and prior art is: high frequency carrier modulating unit 23 of the present invention, carrier wave transmitting element 24, carrier wave receiving element 31, carrier wave demodulation unit 32, shaping filter unit 33 all can process for multiple signals, such as high frequency carrier modulating unit 23 modulates the Multi-channel high-frequency carrier wave of different frequency, and the high frequency carrier modulating unit 53 of the control system of prior art, carrier wave transmitting element 54, carrier wave receiving element 61, carrier wave demodulation unit 62, shaping filter unit 63 processes for a road signal.In addition, the determining unit 34 of control system of the present invention can also determine the low-frequency modulation signal controlling the source of welding current from multichannel low-frequency modulation signal, and there is no determining unit in prior art.
[the first embodiment]
Referring to Fig. 2 to Fig. 7, the first embodiment of the present invention is described.
[hardware formation]
First the hardware describing the first embodiment of the present invention is formed.
Fig. 2 is that the control device 20(of the wire feeder of the first embodiment of the present invention is hereinafter referred to as " first control device ") hardware configuration schematic diagram.As shown in the figure, first control device 20 comprise microcontroller 201(correspond to baseband signal generation unit 22 and high frequency carrier modulating unit 23), TIP 202(correspond to weld information input block 21), carrier wave transtation mission circuit 203(correspond to carrier wave transmitting element 24).Microcontroller 201 respectively with TIP 202(correspond to welding condition information input unit 21), carrier wave transtation mission circuit 203(correspond to carrier wave transmitting element 24) be electrically connected, in addition, microcontroller 201 is also electrically connected with air valve and motor respectively, by the control to air valve and motor, and then control air inlet and wire feed.
Microcontroller 201 can adopt the high-speed microprocessor of TI.Carrier wave transtation mission circuit 203 comprises resistance R99, R100, R101, R102, R103, R104, R105, R106, R107, R108, electric capacity C67, C68, C69, optocoupler PC15, transistor Q12, Q13 and diode D23.Resistance R103, optocoupler PC15 form the isolation that optical coupling isolation circuit realizes microcontroller and transtation mission circuit.Resistance R104, R105, R106, transistor Q12 and diode D23 form carrier wave amplifying circuit.Resistance R99, R100, R101, R102, R107, R108, electric capacity C67, C68, C69, transistor Q13 component carrier amplify transtation mission circuit.
The control procedure of wire feeder side is described below in conjunction with Fig. 2.Microcontroller 201 receives the welding condition information that TIP 202 inputs, then baseband signal is generated according to welding condition information, and according to the Multi-channel high-frequency carrier wave of modulates baseband signals different frequency, then the high frequency carrier modulated is sent by carrier wave transtation mission circuit 203, namely, be by optocoupler PC15 after the buffer circuit isolation of core after transistor Q12 amplifies, then be sent to power line 9 through transistor Q13.About how to generate baseband signal and be how the technology of Multi-channel high-frequency carrier wave of different frequency by modulates baseband signals, because it is existing mature technology, be not described in detail at this.In addition how microcontroller 201 controls wire feed and the air inlet of wire feeder based on welding condition information, also be prior art, and irrelevant with object of the present invention, is also not described in detail at this.
Fig. 3 is the control device 30(second control device of the source of welding current of the first embodiment of the present invention) hardware configuration schematic diagram.As shown in Figure 3, control device 30 comprises: carrier wave coupling circuit 301(correspond to carrier wave receiving element 31), carrier wave demodulation circuit 302(correspond to carrier wave demodulation unit 32), plastic filter circuit 303(correspond to shaping filter unit 33) and microcontroller 304(correspond to determining unit 34, control unit 35).Microcontroller 304 can adopt the high-speed microprocessor of TI.As shown in Figure 3, carrier wave coupling circuit 301 is formed primarily of coupling coil L7, electric capacity C90, C91, resistance R119, diode D32, D33, electric capacity C96, its coupling for high-frequency carrier signal, isolation and decay.Carrier wave demodulation circuit 302 shown in Fig. 3 comprises two carrier wave demodulation electronic circuits.Plastic filter circuit 303 shown in Fig. 3 comprises two shaping filter electronic circuits.It should be noted that, the carrier wave demodulation circuit 302 shown in Fig. 3 and plastic filter circuit 303 are arranged for two-way high frequency carrier, but the present invention is not limited thereto, can according to the quantity of the high frequency carrier of different frequency, corresponding setting.
Fig. 4 shows the circuit theory diagrams of first carrier demodulation electronic circuit (carrier wave demodulation 1) and the first shaping filter electronic circuit (shaping filter 1).As shown in Figure 4, first carrier demodulation electronic circuit is made up of electric capacity C100, C99, C92, C97, C98, C101, resistance R120, R121, potentiometer VR10, integrated decoding chip IC23.First shaping filter electronic circuit is made up of resistance R122, R123, R124, R135, R136, R137, R138, R139, R140, R141, R142, electric capacity C107, C108, C109, amplifier IC17A, IC17B, IC17C, optocoupler PC7.
Second carrier wave demodulation electronic circuit is substantially identical with the structure of first carrier demodulation electronic circuit, difference is that the carrier wave demodulation frequency that integrated decoding chip IC23 sets is different, in addition, the second shaping filter electronic circuit, identical with the structure of the first shaping filter electronic circuit, at this, no longer repeated description.
The control procedure of source of welding current side is described below in conjunction with Fig. 3.Carrier wave coupling circuit 301(corresponds to carrier wave receiving element 31) the Multi-channel high-frequency carrier wave of different frequency that sends of reception carrier transtation mission circuit 203, then the high frequency carrier received is sent to carrier wave demodulation circuit 302 and carries out demodulation, then the low-frequency modulation signal after demodulation is sent to plastic filter circuit 303 and carries out shaping filter, be sent to microcontroller 304 afterwards, microcontroller 304 determines the signal of the output of the source of welding current from the low-frequency modulation signal after shaping filter, and controls the output of the source of welding current according to this signal.
[workflow]
The following workflow describing the first embodiment of the present invention with reference to Fig. 5.
Fig. 5 is the workflow of control system of the present invention when welding equipment duty.As shown in Figure 5, in wire feeder side, in step s 11, by TIP 202(welding condition information input unit 21) input welding condition information (welding condition information input step).In step s 12, the welding condition information of input is passed through microcontroller 201(baseband signal generation unit 22) generate low-frequency analog signal (i.e. baseband signal) (baseband signal generation step).Then in step s 13, by microcontroller 201(high frequency carrier modulating unit 23) low-frequency analog signal is carried out from high frequency carrier f1 and f2 modulating (frequency of f1 and f2 is different) (high frequency carrier modulation step), then step S14 is entered, by high frequency carrier f1 and f2 by carrier wave transtation mission circuit 203(carrier wave transmitting element 24) be sent to (carrier wave forwarding step) on power line 9.
Then, in source of welding current side, in the step s 21, carrier wave coupling circuit 301(corresponds to carrier wave receiving element 31) receive high frequency carrier f1 and f2(carrier wave receiving step by power line).Then, in step S22, carrier wave demodulation unit 32 is corresponded to by carrier wave demodulation circuit 302() high frequency carrier is demodulated into low-frequency modulation signal (analog signal) B1 and B2(carrier modulation step).In step S23, B1 and B2 is corresponded to shaping filter unit 33 by plastic filter circuit 303() carry out shaping filter, and outputted to microcontroller 304(corresponding to determining unit 34) (shaping filter step).In step s 24 which, microcontroller 304(corresponds to determining unit 34) determine from the low-frequency modulation signal of shaping filter output the signal (determining step) controlling source of welding current output.Then, in step s 25, microcontroller 304(corresponds to control unit 35) output (rate-determining steps) of the source of welding current is controlled based on the signal determined in step s 24 which.
For the ease of understanding, Fig. 6 shows each waveform corresponding with each step in Fig. 5.As shown in Figure 6, baseband signal is analog signal.
Referring to Fig. 7, the flow process of the determination of the step S25 in Fig. 5 is described.As shown in Figure 7, first, in the step s 100, low-frequency modulation signal B1 and B2 is compared.In step S101, based on the result compared in S100, determine that whether B1 with B2 be consistent.If B1 with B2 consistent ("Yes" in step S101), then enter step S102.In step s 102, B1 or B2 is defined as the signal exported for controlling the source of welding current.If B1 and B2 inconsistent ("No" in step S101), then enter step S103.In step s 103, B1 and B2 is analyzed respectively, to determine the signal controlling source of welding current output.
For the determining step of step S24, can adopt with the following method.
First by com-parison and analysis f1 and f2, stable signal value V is obtained.It is correct for giving tacit consent to one-period, namely
or
wherein M represents carrier wave f2, and N represents carrier wave f1, and 1 represents the 1st cycle.Judge from second period, even if the period 1 is wrong like this, also can be corrected at once.The whole process judging to correct is described below.
If stable signal value is V,
represent the signal value of carrier wave f2 in kth (k>=2) the individual cycle, Δ V
mfor the difference of carrier wave f2 kth between cycle and stationary value T, namely
represent the signal value of carrier wave f1 in kth (k>=2) the individual cycle, carrier wave Δ V
nfor the difference of carrier wave f1 kth between cycle and stationary value T, namely
Δ v
mfor the difference in a carrier wave f2 kth cycle and-1 cycle of kth, namely
Δ v
nfor the difference in a carrier wave f1 kth cycle and-1 cycle of kth, namely
When not considering that two paths of signals is subject to same interference simultaneously,
If (Δ V
m=Δ V
n), so (f2 and f1 signal is all effective, directly the value of f1 or f2 can be assigned to stationary value V);
If (Δ V
m=0, Δ V
n≠ 0), so (f2 is effective, directly the value of f2 can be assigned to stationary value V);
If (Δ V
m≠ 0, Δ V
n=0), so (f1 is effective, directly the value of f1 can be assigned to stationary value V);
If (Δ V
m≠ 0, Δ V
n≠ 0, Δ v
m≠ Δ v
n), so (need to judge Δ v
mwith Δ v
n);
If (Δ v
m=0), so (get f2 effective, directly the value of f2 is assigned to stationary value V);
If (Δ v
n=0), so (get f1 effective, directly the value of f1 is assigned to stationary value V).
In the above description, even if assuming that the harmonic wave that when inverter type welder works, output produces has interference to f1 or f2, but carrier wave receiving element still can receive f1 and f2, and a meeting just in f1 or f2 makes a mistake.
In addition, also there is the situation that two paths of signals is disturbed simultaneously, wherein for only in the situation that a certain cycle all makes a mistake, when adopting said method, Δ V
m≠ 0, Δ V
n≠ 0, Δ v
m≠ Δ v
n≠ 0, now can maintain original stationary value V constant, like this when next cycle signal is correct, can work on.
But in fact, also there is the interference of the harmonic wave that output produces when inverter type welder works, f1 or f2 Zhong mono-tunnel is caused not receive completely, in the case, in determining step, by the signal being defined as exporting for controlling the source of welding current from the low-frequency modulation signal after an other road high-frequency signal demodulation, shaping output.
In a first embodiment, in order to increase the accuracy determined, carrier wave transmitting element 31 sends repeatedly (multiple cycle) continuously by based on each the road high frequency carrier in the Multi-channel high-frequency carrier wave of same modulates baseband signals, determining unit 34 determines the signal of the output controlling the described source of welding current for the low-frequency modulation signal that each shaping filter unit 33 exports, the final result that control unit 35 is repeatedly determined based on described determining unit, controls the output of the described source of welding current.
Such as, assuming that have sent three times based on each road high frequency carrier of same baseband signal, in second and third time (second and third cycle), two-way high frequency carrier is all interfered and occurs mistake, then in determining step, the determination result of first time (period 1) the most at last, is defined as the signal exported for controlling the source of welding current, and is abandoned by the low-frequency modulation signal of second and third output.Or assuming that in first time (period 1), two-way high frequency carrier is all interfered and occurs mistake, then in determining step, the determination result of second and third time the most at last, is defined as the signal exported for controlling the source of welding current.
[the second embodiment]
Referring to Fig. 8 and Fig. 9, the second embodiment of the present invention is described.
Second embodiment form with the hardware of the first embodiment and duty time workflow substantially identical, therefore no longer repeat its describe.Below only difference is described.The difference of the second embodiment and the first embodiment is, except welding equipment work, when welding equipment is standby, welding condition information is still sent to second control device by first control device.Here standby the referring to of welding equipment does not open arc welding gun switch.The part run of Fig. 8 and Fig. 5 is identical, therefore gives identical mark to identical step.
[workflow when welding equipment is standby]
Fig. 8 shows the workflow of control system of the present invention when welding equipment holding state.As shown in Figure 8, in wire feeder side, in step s 11, welding condition information input unit 21 is corresponded to by TIP 202() input welding condition information (welding condition information input step).In step S42, the welding condition information of input is corresponded to baseband signal generation unit 22 by microcontroller 201() generate Frame (i.e. baseband signal) (baseband signal generation step), then, in step S43, high-frequency signal modulating unit 23 is corresponded to by microcontroller 201() Frame is carried out from high frequency carrier f3 and f4 modulating (frequency of f3 and f4 is different) (corresponding to high frequency carrier modulation step).Then enter step S44, high frequency carrier f3 and f4 after modulation corresponded to carrier wave transmitting element 24 by carrier wave transtation mission circuit 203() be sent to (carrier wave forwarding step) on power line 9.
Then, in source of welding current side, in step s 51, carrier wave coupling circuit 301(carrier wave receiving element 31) receive high frequency carrier f3 and f4(carrier wave receiving step by power line 9), then, in step S52, correspond to carrier wave demodulation unit 32 by carrier wave demodulation circuit 302() high frequency carrier is demodulated into low-frequency modulation signal B3 and B4(carrier wave demodulation step).In step S53, B3 and B4 is corresponded to shaping filter unit 33 by plastic filter circuit 303() carry out shaping filter, and outputted to microcontroller 304(shaping filter step).In step S54, microcontroller 304(corresponds to determining unit 34) determine the signal (determining step) controlling source of welding current output, then, in step S55, microcontroller 304(corresponds to control unit 35) relevant reference value (such as gas, string diameter) (rate-determining steps) that adopts when the signal determined being saved as the output controlling the source of welding current.
For the ease of understanding, Fig. 9 shows each waveform corresponding with each step in Fig. 8.As shown in Figure 9, baseband signal is data signal.
In the present embodiment, due in the standby state, welding condition information is sent to second control device by data signal from first control device, like this when welding job, only need to send a small amount of welding condition information, can increase work efficiency, be conducive to the stability and the real-time that ensure welding process.
In the present embodiment, when holding state, baseband signal is data signal, and time in working order, baseband signal is analog signal.Use data signal to be conducive to adopting digit check method to signal time standby, be conducive to the accuracy improving signal.Adopt analog signal to be conducive to ensureing the real-time of signal during welding, be conducive to the real-time, the stability that ensure welding process.But the present invention is not limited thereto, can when holding state, baseband signal is analog signal, and time in working order, baseband signal is data signal.Or when standby and duty, baseband signal is all analog signal or is all data signal.
For the determining step under holding state, the flow process shown in its flow process with Fig. 7 is identical, in this no longer repeated description.
It should be noted that, in the present embodiment, because the determining step S54 under holding state determines welding the signal controlled from two ways of digital signals, therefore the method for the first embodiment can not only be adopted, also can according to the characteristic of data signal, determine which railway digital signal is correct signal, such as, by the good even-odd check of Frame predefined or CRC inspection or by methods such as the ratios of multiple consecutive identical Frame, determine correct signal.That is, different from the idiographic flow of the step S24 shown in Fig. 7, can Direct Analysis two ways of digital signals (S103), and without the need to the S100 to S102 in Fig. 7.Even if also differentiate by said method when only having a road correct signal like this and obtain correct signal.
[the 3rd embodiment]
Referring to Figure 10, the third embodiment of the present invention is described.
The third embodiment of the present invention forms substantially identical with workflow with the hardware of the first embodiment, difference is in the third embodiment, in high frequency carrier modulation step, be three road high frequency carriers by modulates baseband signals, corresponding carrier wave forwarding step, carrier wave receiving step, carrier wave demodulation step, shaping filter step and determining step are all process for three road signals.
Due to technically, generation, modulation, transmission, reception two-way high frequency carrier and three road high frequency carriers, without substantive difference, are therefore not described in detail.Below only the flow process of the determining step of the three road low-frequency modulation signals exported after shaping filter is described.
Figure 10 is the particular flow sheet of the determining step of the third embodiment of the present invention; The three road low-frequency modulation signals exported after this supposition shaping filter are C1, C2 and C3.
As shown in Figure 10, in step s 200, compared by C1 and C2, whether both judgements are consistent, if the two consistent ("Yes" in step S200), then enter step S204.C1 or C2 is defined as the signal exported for controlling the source of welding current in step S204, if the two inconsistent ("No" in step S200), then in step s 201, compared by C1 and C3, whether both judgements are consistent.If the two consistent ("Yes" in S201), then enter step S202.In step S202, C1 or C3 is defined as the signal exported for controlling the source of welding current.If C1 and C3 inconsistent ("No" in S201), then enter step S203, in step S203, C2 or C3 is defined as the signal exported for controlling the source of welding current.In the present embodiment, the harmonic wave that during work of acquiescence inverter type welder, output produces at most only disturbs a road carrier frequency, difference on the frequency between Multi-channel high-frequency carrier wave can be increased for this reason.
In the third embodiment, when receiving three road high frequency carriers, in determining step, the three road low-frequency modulation signals that the three road high frequency carriers for described different frequency in shaping filter step export are compared, on all four signal in three low-frequency modulation signals is defined as the signal being used for the output controlling the described source of welding current in described rate-determining steps.
In addition, the algorithm similar with the determining step in the first embodiment can be adopted in the determining step of the 3rd embodiment.Equally, each road high frequency carrier based on same baseband signal can be sent repeatedly, the flow process by Figure 10 is carried out repeatedly repeatedly, and according to the result repeatedly determined, controls the output of the described source of welding current.Namely, when in once sending, when each road high frequency carrier is all disturbed, according to other determination result several times, the signal of the output controlling the source of welding current can finally be determined.Such as, assuming that carried out three above-mentioned determining steps, in second time sends, three road high frequency carriers have all been interfered, i.e. C1 and C2 and C3 all inconsistent (incorrect), then can use the result that first time and third time are determined, control the output of the source of welding current.
Can be out of shape the 3rd embodiment, namely can carry out information transmission with four tunnels or more road high frequency carrier, its hardware configuration and workflow are all similar with the 3rd embodiment, are not described in detail at this.
It should be noted that, although in the embodiment above, the functional block diagram of corresponding diagram 1, have employed the hardware configuration of Fig. 2 and Fig. 3, but the present invention is not limited thereto, other hardware can be adopted, such as, can adopt special base band generative circuit, multiple high frequency carrier modulation circuit carrys out alternative microcontroller 201.Microcontroller 201 and 304 also can adopt the CPU, Programmable Logic Controller etc. of other type in addition, and technical scheme according to the present invention can be adopted to arrange special control circuit.
In addition, when baseband signal changes, described determining unit determines new welding condition information, and control unit controls the output of the source of welding current based on new welding condition information.In addition, although in the embodiment above, send Multi-channel high-frequency carrier wave by a power line 9, the present invention is not limited thereto, Multi-channel high-frequency carrier wave can be sent by many power lines
Above, with reference to detailed or specific embodiment, describe the present invention, but those skilled in the art understand: various change and correction can be carried out under the prerequisite not departing from spirit of the present invention and scope.
[industrial applicibility]
By implementing the present invention, when high frequency carrier is interfered, can the correct or mistake of resoluting signal, and correct signal is used for control welding and exports, thus make stability, the antijamming capability enhancing that welding equipment during long distance welding, can be improved, ensure high performance welding.Even the output harmonic wave interference that scene exists inverter type welder also can ensure stable welding.
[reference numerals list]
1 source of welding current
2 main loop unit
3 power supply units
4 source of welding current control device
5 wire feeders
6 wire feed driving mechanisms
7 motors
8 sacrificial electrodes
9 power lines
10 air valves
11 wire feeder control device
12 sources of welding current export A
13 sources of welding current export B
Claims (10)
1. the control system of a welding equipment, described welding equipment comprises: the source of welding current (1) and wire feeder (5), described control system comprises: be positioned at the first control device (20) of wire feeder side and be positioned at the second control device (30) of source of welding current side, to communicate in the upper mode loading high frequency carrier of power line (9) between described first control device (20) with described second control device (30);
Described first control device (20) comprising:
Welding condition information input unit (21), it is for inputting welding condition information;
Baseband signal generation unit (22), it generates baseband signal for the welding condition information inputted based on described welding condition information input unit (21);
High frequency carrier modulating unit (23), its Multi-channel high-frequency carrier wave of described modulates baseband signals different frequency for generating according to described baseband signal generation unit (22);
Carrier wave transmitting element (24), its Multi-channel high-frequency carrier wave of described different frequency for sending described high frequency carrier modulating unit (23) and modulating;
Described second control device (30) comprising:
Carrier wave receiving element (31), the Multi-channel high-frequency carrier wave of its different frequency sent for the carrier wave transmitting element (24) receiving described first control device (20);
Carrier wave demodulation unit (32), it is demodulated into low-frequency modulation signal for the high frequency carrier described carrier wave receiving element (31) received;
Shaping filter unit (33), it exports after carrying out shaping filter for the low-frequency modulation signal described carrier wave demodulation unit (32) demodulated;
Determining unit (34), it is for determining the signal of the output controlling the described source of welding current in the low-frequency modulation signal that exports from shaping filter unit (33);
Control unit (35), the signal determined based on described determining unit (34) controls the output of the described source of welding current;
Wherein, when described carrier wave receiving element (31) only receives a road high frequency carrier, the low-frequency modulation signal exported from described shaping filter unit (33) is defined as the signal of the output for controlling the described source of welding current by described determining unit (34);
When described carrier wave receiving element (31) receives the Multi-channel high-frequency carrier wave of different frequency, the multichannel low-frequency modulation signal that described shaping filter unit (33) exports compares by described determining unit,
If described multichannel low-frequency modulation signal is completely the same, then described low-frequency modulation signal is defined as the signal of the output for controlling the described source of welding current by described determining unit (34);
If described multichannel low-frequency modulation signal part is consistent, then on all four low-frequency modulation signal in described multichannel low-frequency modulation signal is defined as the signal of the output for controlling the described source of welding current by described determining unit (34);
If described multichannel low-frequency modulation signal is completely inconsistent, then described determining unit (34) judges for each in described multichannel low-frequency modulation signal, to determine the signal of the output controlling the described source of welding current.
2. the control system of welding equipment as claimed in claim 1, wherein,
When described welding equipment is in holding state, described baseband signal is data signal, and when described welding equipment is in welded condition, described baseband signal is analog signal.
3. the control system of welding equipment as claimed in claim 1 or 2, wherein,
Described carrier wave transmitting element (24) sends repeatedly continuously by based on each the road high frequency carrier in the Multi-channel high-frequency carrier wave of same modulates baseband signals, described determining unit (34) determines the signal of the output controlling the described source of welding current for the low-frequency modulation signal that each shaping filter unit (33) exports, the final result that described control unit (35) is repeatedly determined based on described determining unit, controls the output of the described source of welding current.
4. the control system of a welding equipment, described welding equipment comprises: the source of welding current (1) and wire feeder (5), described control system comprises: be positioned at the first control device (20) of wire feeder side and be positioned at the second control device (30) of source of welding current side, to communicate in the upper mode loading high frequency carrier of power line (9) between described first control device (20) with described second control device (30);
Described first control device (20) comprising:
Welding condition information input unit (21), it is for inputting welding condition information;
Baseband signal generation unit (22), it generates baseband signal for the welding condition information inputted based on described welding condition information input unit (21), and described baseband signal is data signal;
High frequency carrier modulating unit (23), its Multi-channel high-frequency carrier wave of described modulates baseband signals different frequency for generating according to described baseband signal generation unit (22);
Carrier wave transmitting element (24), its Multi-channel high-frequency carrier wave of described different frequency for sending described high frequency carrier modulating unit (23) and modulating;
Described second control device (30) comprising:
Carrier wave receiving element (31), the Multi-channel high-frequency carrier wave of its different frequency sent for the carrier wave transmitting element (24) receiving described first control device (20);
Carrier wave demodulation unit (32), it is demodulated into low-frequency modulation signal for the high frequency carrier described carrier wave receiving element (31) received;
Shaping filter unit (33), it exports after carrying out shaping filter for the low-frequency modulation signal described carrier wave demodulation unit (32) demodulated;
Determining unit (34), it is for determining the signal of the output controlling the described source of welding current in the low-frequency modulation signal that exports from shaping filter unit (33);
Control unit (35), the signal determined based on described determining unit (34) controls the output of the described source of welding current;
Wherein, when described carrier wave receiving element (31) only receives a road high frequency carrier, the low-frequency modulation signal exported from described shaping filter unit (33) is defined as the signal of the output for controlling the described source of welding current by described determining unit (34);
When described carrier wave receiving element (31) receives the Multi-channel high-frequency carrier wave of different frequency, each in the multichannel low-frequency modulation signal that described determining unit (34) exports for described shaping filter unit (33) judges, to determine the signal of the output controlling the described source of welding current.
5. the control system of welding equipment as claimed in claim 4, wherein,
Described carrier wave transmitting element (24) sends repeatedly continuously by based on each the road high frequency carrier in the Multi-channel high-frequency carrier wave of same modulates baseband signals, described determining unit (34) determines the signal of the output controlling the described source of welding current for the low-frequency modulation signal that each shaping filter unit (33) exports, the final result that described control unit (35) is repeatedly determined based on described determining unit (34), controls the output of the described source of welding current.
6. the control method of a welding equipment, described welding equipment comprises: the source of welding current (1) and wire feeder (5), to communicate in the upper mode loading high frequency carrier of power line (9) between the described source of welding current (1) with described wire feeder (5); Described control method comprises:
In described wire feeder side,
Welding condition information input step: input welding condition information;
Baseband signal generation step: generate baseband signal based on the welding condition information inputted in described welding condition information input step;
High frequency carrier modulation step: the Multi-channel high-frequency carrier wave going out different frequency according to the modulates baseband signals generated in described baseband signal generation step;
Carrier wave forwarding step: the Multi-channel high-frequency carrier wave being sent in the described different frequency modulated in described high frequency carrier modulation step;
In described source of welding current side,
Carrier wave receiving step: the Multi-channel high-frequency carrier wave being received in the different frequency sent in the carrier wave forwarding step of described wire feeder side;
Carrier wave demodulation step: high frequency carrier will be received in described carrier wave receiving step and be demodulated into low-frequency modulation signal;
Shaping filter step, exports after the low-frequency modulation signal shaping filter demodulated in carrier wave demodulation step;
Determining step, determines the signal of the output controlling the described source of welding current from the low-frequency modulation signal exported shaping filter step;
Rate-determining steps, controls the output of the described source of welding current based on the signal determined in described determining step;
Wherein, when only receiving a road high frequency carrier in described carrier wave receiving step, by the low-frequency modulation signal exported in shaping filter step, be defined as the signal of the output for controlling the described source of welding current;
When receiving the Multi-channel high-frequency carrier wave of different frequency in described carrier wave receiving step, in described determining step, the multichannel low-frequency modulation signal exported in described shaping filter step is compared,
If described multichannel low-frequency modulation signal is completely the same, then described low-frequency modulation signal is defined as the signal of the output for controlling the described source of welding current;
If described multichannel low-frequency modulation signal part is consistent, be then defined as the signal of the output for controlling the described source of welding current by all four low-frequency modulation signal in described multichannel low-frequency modulation signal;
If described multichannel low-frequency modulation signal is completely inconsistent, then in described determining step, judge for each in described multichannel low-frequency modulation signal, to determine the signal of the output controlling the described source of welding current.
7. the control method of welding equipment as claimed in claim 6, wherein,
When described welding equipment is in holding state, described baseband signal is data signal, and when described welding equipment is in welded condition, described baseband signal is analog signal.
8. the control method of the welding equipment as described in claim 6 or 7, wherein,
Send based on each the road high frequency carrier in the Multi-channel high-frequency carrier wave of same modulates baseband signals continuously repeatedly, the signal of the output controlling the described source of welding current is determined for each low-frequency modulation signal exported in shaping filter step, based on the final result repeatedly determined, control the output of the described source of welding current.
9. the control method of a welding equipment, described welding equipment comprises: the source of welding current (1) and wire feeder (5), to communicate in the upper mode loading high frequency carrier of power line (9) between the described source of welding current (1) with described wire feeder (5); Described control method comprises:
In described wire feeder side,
Welding condition information input step: input welding condition information;
Baseband signal generation step: generate baseband signal based on the welding condition information inputted in described welding condition information input step, described baseband signal is data signal;
High frequency carrier modulation step: the Multi-channel high-frequency carrier wave going out different frequency according to the modulates baseband signals generated in described baseband signal generation step;
Carrier wave forwarding step: the Multi-channel high-frequency carrier wave being sent in the described different frequency modulated in described high frequency carrier modulation step;
In described source of welding current side,
Carrier wave receiving step: the Multi-channel high-frequency carrier wave being received in the different frequency sent in the carrier wave forwarding step of described wire feeder side;
Carrier wave demodulation step: high frequency carrier will be received in described carrier wave receiving step and be demodulated into low-frequency modulation signal;
Shaping filter step, exports after the low-frequency modulation signal shaping filter demodulated in carrier wave demodulation step;
Determining step, determines the signal of the output controlling the described source of welding current from the low-frequency modulation signal exported shaping filter step;
Rate-determining steps, controls the output of the described source of welding current based on the signal determined in described determining step;
Wherein, in described carrier wave receiving step, when only receiving a road high frequency carrier, in described determining step, the low-frequency modulation signal exported is defined as the signal of the output for controlling the described source of welding current in described shaping filter step;
In described carrier wave receiving step, when receiving the Multi-channel high-frequency carrier wave of different frequency, in described determining step, judge for each in multichannel low-frequency modulation signal described in described shaping, to determine the signal of the output controlling the described source of welding current.
10. the control method of welding equipment as claimed in claim 9, wherein,
Send based on each the road high frequency carrier in the Multi-channel high-frequency carrier wave of same modulates baseband signals continuously repeatedly, the signal of the output controlling the described source of welding current is determined for each low-frequency modulation signal exported in shaping filter step, based on the final result repeatedly determined, control the output of the described source of welding current.
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| CN103480954B (en) * | 2013-09-18 | 2016-04-13 | 吉首沃华德机器人科技有限责任公司 | A kind of Autonomic Mobile Robot System for narrow space welding |
| CN103480948B (en) * | 2013-09-18 | 2016-04-06 | 吉首沃华德机器人科技有限责任公司 | A kind of autonomous mobile robot for narrow space welding |
| CN106112211B (en) * | 2016-07-05 | 2019-05-17 | 唐山松下产业机器有限公司 | More welding machine cooperative control devices, method and welding system |
| CN108127295B (en) * | 2017-12-21 | 2019-11-08 | 唐山松下产业机器有限公司 | Wire feed control method and device |
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