CN103706924A - Diving wire feeder of intelligent arc welding robot - Google Patents

Diving wire feeder of intelligent arc welding robot Download PDF

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Publication number
CN103706924A
CN103706924A CN201310715023.6A CN201310715023A CN103706924A CN 103706924 A CN103706924 A CN 103706924A CN 201310715023 A CN201310715023 A CN 201310715023A CN 103706924 A CN103706924 A CN 103706924A
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Prior art keywords
wire
circuit
welding
wire feeding
feed
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CN201310715023.6A
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CN103706924B (en
Inventor
王振民
冯锐杰
冯允樑
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South China University of Technology SCUT
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South China University of Technology SCUT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/124—Circuits or methods for feeding welding wire
    • B23K9/125—Feeding of electrodes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
    • B23K9/1336—Driving means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories
    • B23K9/321—Protecting means

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a diving wire feeder of an intelligent arc welding robot. The diving wire feeder comprises a sealing cover and further comprises a DSC, a wire feeding driving circuit, a wire feeding motor, a wire feeding speed detection circuit, a communication circuit, a welding wire existence detection circuit, a water leakage detection circuit, a wire feeding mechanical transmission component and a wire welding disc with welding wires, wherein the DSC, the wire feeding driving circuit, the wire feeding motor, the wire feeding speed detection circuit, the communication circuit, the welding wire existence detection circuit, the water leakage detection circuit, the wire feeding mechanical transmission component and the wire welding disc with welding wires are all arranged in the sealing cover. The DSC, the wire feeding driving circuit, the wire feeding motor and the wire feeding mechanical transmission component are sequentially connected; the DSC is further respectively connected with the water leakage detection circuit, the communication circuit and the welding wire existence detection circuit; one end of the wire feeding speed detection circuit is connected with the DSC, and the other end of the wire feeding speed detection circuit is connected with the wire feeding motor; the welding wires of the wire welding disc are connected with the wire feeding mechanical transmission component. According to the diving wire feeder, all-digital control, fault diagnosis and data transmission functions can be achieved, the three modes including the underwater constant-speed wire feeding mode, the variable-speed wire feeding mode and the pulsation wire feeding mode can be achieved, the welded wire can be stably and accurately fed, and a power source-underwater arc system in the robot welding process is stable and controllable.

Description

A kind of intelligent arc welding robot diving wire-feed motor
Technical field
The present invention relates to Welding Technology and Equipment technology, more particularly, relate to a kind of intelligent arc welding robot diving wire-feed motor.
Background technology
Along with the exploitation of a series of heavy constructions such as marine energy, transport by sea, large ship, China is also day by day urgent to the demand of underwater welding technology.The major way of realizing Underwater Welding automation has three kinds: rail mounted welding system, remote control type welding system and robot welding system under water.Rail mounted welding under water needs attachment rail under water, is subject to the restriction of diver's diving depth; Remote welding precision error is larger, is sometimes difficult to meet the requirement of engineering welding precision; Based on developing rapidly of society special applications robot, Underwater Welding robot is the research direction of Underwater Welding automation from now on.Due to complexity and the uncertainty of underwater environment, also do not have at present welding robot to be engaged in Underwater Welding activity completely.
The factor that affects underwater weld quality is a lot, but when welding electric arc whether smooth combustion is basic demand.Compare with common welding arc, the electric arc under water environment is due to the impact of water pressure and other factors, and the stability of its burning is very poor.From mechanism, analyze, make submerge arc flameholding, just must have diving wire-feed motor stable and reliable for performance, guarantee that welding wire is stable to give accurately, can set up stable power supply-Arc System.The performance of wire feed system is most important under water, can be according to welding procedure demand, realize at the uniform velocity, the multiple wire feed pattern such as speed change and pulsation, outside, also need real-time diagnosis welding wire surplus, guarantee when welding wire is sent from wire convey soft pipe drylier, the stability of welding arc is not had a negative impact.
Summary of the invention
The object of the invention is to overcome shortcoming of the prior art with not enough, a kind of intelligent arc welding robot diving wire-feed motor is provided, guarantee can guarantee that in welding process wire feeding disc is dried and welding wire is given accurately stable, thereby realize at the uniform velocity, the multiple wire feed pattern such as speed change and pulsation, contribute to the source of welding current-submerge arc system automatically to adapt to the characteristic of Underwater Welding electric arc, realize high-quality underwater robot welding.
In order to achieve the above object, the present invention is achieved by following technical proposals: a kind of intelligent arc welding robot diving wire-feed motor, it is characterized in that: comprise seal closure, also comprise the DSC controller, wire feed drive circuit, wire feeding motor, wire feed rate testing circuit, the telecommunication circuit that are all arranged in seal closure, have or not welding wire testing circuit, the testing circuit that leaks, wire feed mechanical transmission component and be provided with the wire reel of welding wire; Described DSC controller, wire feed drive circuit, wire feeding motor and wire feed mechanical transmission component are connected successively; Described DSC controller is also respectively with the testing circuit that leaks, telecommunication circuit with have or not welding wire testing circuit to be connected; 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.
In such scheme, wire reel adopts general wire reel, and wire feed mechanical transmission component consists of general contact roller, pressing handle etc., and wire feeding motor is general direct current generator.
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.Specifically, DSC controller mainly comprises that model is the minimum system of STM32F405ZGT6, the backlight chip that the driving chip that the touch-screen that is AT070TN92 by model, model are RA8875 and model are CAT4139 is the main Visible Man-machine Interactive System forming, button, rotary encoder, LED state indicator lamp, the flash memory of the 16M SRAM video memory of expansion and the 64Mbit of expansion connects and composes.
Described minimum system is connected and composed by peripheral circuit by microprocessor, power circuit, reset circuit, crystal oscillating circuit and jtag interface.Specifically, the STM32F405RGT6 microprocessor that the minimum system of DSC controller mainly adopts inside solidification to have to run on the diving wire-feed motor of FreeRTOS kernel to control software is critical piece.
The half-bridge circuit that described wire feed drive circuit consists of two N channel-type FETs, driving chip, optocoupler one, relay one and voltage stabilizing chip connect to form by peripheral circuit; Described driving chip is connected with DSC controller by the PWM port of minimum system.This wire feed drive circuit is to realize the at the uniform velocity circuit of wire feed, alternate wire-feed and three kinds of wire feed patterns of pulsed wire feeding.
The described welding wire testing circuit that has or not is connected with DSC controller by the GPIO port of minimum system, and is connected and composed by peripheral circuit by electric vortex type approach switch, relay two, optocoupler two, linear optical coupling, high speed operation amplifier.This has or not welding wire testing circuit not only can detect having or not of welding wire, and can the surplus of wire reel welding wire be predicted and be judged.
The GPIO port of the described testing circuit that leaks by minimum system is connected with DSC controller, and connected and composed by peripheral circuit by the electrode that leaks, optocoupler three, resistance one and electric capacity one.
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.
Described telecommunication circuit one end is connected with welding robot, and the other end is connected with DSC controller by the CAN port of minimum system, and the CAN transceiver that is SN65HVD230 by model, resistance two and electric capacity two connect and compose by peripheral circuit.
Described seal closure is the housing made by stainless steel material, the sealing means that it combines with outside interface employing static seal and movable sealing, thus improve the sealing effectiveness that this wire-feed motor is worked under water.
Compared with prior art, tool of the present invention has the following advantages and beneficial effect:
1, a kind of intelligent arc welding robot diving wire-feed motor of the present invention has adopted DSC controller, the Cortex-M4ARM microprocessor that possesses DSP module of take is digital control core, data operation processing speed is fast, control resolution is very high, and the wire-feed motor that makes to dive under water is more meticulous and accurate to the real-time control of wire feed process.
2, a kind of intelligent arc welding robot diving wire-feed motor of the present invention has adopted the wire feed drive circuit of Digital PWM modulation, can realize at the uniform velocity, three kinds of patterns such as speed change and pulsed wire feeding, power supply-the Arc System of butt welding machine device people Underwater Welding process has better adaptive capacity, improves the stability of welding process.
3, a kind of intelligent arc welding robot diving wire-feed motor of the present invention has adopted the detection method based on electric vortex type, not only can realize the detection that has or not welding wire, can also detect in real time the surplus of welding wire, is more conducive to underwater robot automatic welding.
The operation principle of intelligent arc welding robot diving wire-feed motor of the present invention is such: diving wire-feed motor by DSC controller, wire feed drive circuit, wire feeding motor, wire feed rate testing circuit, have or not welding wire testing circuit, the testing circuit that leaks, telecommunication circuit, wire feed mechanical transmission component (comprising contact roller, pressing handle etc.) and wire reel connect to form; Wherein, DSC controller, wire feed drive circuit, wire feeding motor, wire feed rate testing circuit, have or not welding wire testing circuit, the testing circuit that leaks, telecommunication circuit, wire feed mechanical part and wire reel etc. be installed in seal closure.The ARM microprocessor STM32F405RG of DSC controller can receive duty instruction and the parameter information sending from welding robot, also duty instruction and the parameter information that can set according to touch-screen, button and digital encoder, band dead band pwm signal to the complementation of wire feed drive circuit output two-way, through IR2110, drive isolation and the amplification of chip, control switch conduction and the shut-in time of the FET of wire feed drive circuit, electric moter voltage is regulated in real time, change the rotating speed of wire feeding motor, thereby change wire feed rate.Meanwhile, ARM microprocessor STM32F405RG is according to certain sample frequency, by the armature voltage at wire feed rate testing circuit real-time sampling wire feeding motor two ends, sampled data is after the arithmetic filtering of software, the wire feed rate set-point predetermined with ARM microprocessor STM32F405RG compares, and according to the pwm pulse dutycycle of digital PID regulation rule adjustment output, thereby the wire feed rate of adjusting wire feeding motor.By the output end voltage of sampling electric vortex type approach switch, the Expenditure Levels of monitoring welding wire, when output voltage values is during lower than a certain setting value, illustrates welding wire surplus deficiency; And when electric vortex type approach switch is closed, illustrates and there is no welding wire.When the electrode detection end that leaks is pulled down to low level, the GPIO mouth that triggers ARM microprocessor STM32F405RG interrupts, and enters corresponding interruption processing function and processes.Welding robot communicates the control parameter of setting and information interaction by CAN bus and wire-feed motor DSC controller, and the failure diagnosis information of diving wire-feed motor is also by the CAN port of DSC, via telecommunication circuit and CAN bus transfer to welding robot.
Accompanying drawing explanation
Fig. 1 is the structural representation of the intelligent arc welding robot diving of the present invention wire-feed motor;
Fig. 2 is the DSC controller internal structure schematic diagram of the intelligent arc welding robot diving of the present invention wire-feed motor;
Fig. 3 is the minimum system schematic diagram of the intelligent arc welding robot diving of the present invention wire-feed motor;
Fig. 4 is the wire feed driving circuit principle figure of the intelligent arc welding robot diving of the present invention wire-feed motor;
Fig. 5 is the wire feed rate testing circuit schematic diagram of the intelligent arc welding robot diving of the present invention wire-feed motor;
Fig. 6 (a) and Fig. 6 (b) be the intelligent arc welding robot of the present invention diving wire-feed motor have or not welding wire testing circuit schematic diagram;
Fig. 7 is the testing circuit schematic diagram that leaks of the intelligent arc welding robot diving of the present invention wire-feed motor;
Fig. 8 is the telecommunication circuit schematic diagram of the intelligent arc welding robot diving of the present invention wire-feed motor.
The specific embodiment
Below in conjunction with accompanying drawing and the specific embodiment, the present invention is described in further detail.
Embodiment
Intelligent arc welding robot diving wire-feed motor of the present invention possesses at the uniform velocity three kinds of wire feed patterns such as wire feed, alternate wire-feed and pulsed wire feeding, it comprises seal closure, as shown in Figure 1, also comprise the DSC controller 100, wire feed drive circuit 200, wire feeding motor 300, wire feed rate testing circuit 500, the telecommunication circuit 700 that are all arranged in seal closure, have or not welding wire testing circuit 800, the testing circuit 600 that leaks, wire feed mechanical transmission component 400 and be provided with the wire reel of welding wire; Wherein, DSC controller 100, wire feed drive circuit 200, wire feeding motor 300 and wire feed mechanical transmission component 400 are connected successively, DSC controller 100 is also respectively with the testing circuit 600 that leaks, telecommunication circuit 700 with have or not welding wire testing circuit 800 to be connected, wire feed rate testing circuit 500 one end are connected with DSC controller 100, the other end is connected with wire feeding motor 300, and the welding wire of wire reel is connected with wire feed mechanical transmission component 400.The sealing effectiveness of working under water in order to improve this wire-feed motor, seal closure of the present invention is the housing made by stainless steel material, the sealing means that it combines with outside interface employing static seal and movable sealing.
As shown in Figure 2, the minimum system that DSC controller is STM32F405ZGT6 by model, the Visible Man-machine Interactive System that the backlight chip that the driving chip that the touch-screen that is AT070TN92 by model, model are RA8875 and model are CAT4139 is interconnected to constitute, button, rotary encoder, LED state indicator lamp, the flash memory of the 16M SRAM video memory of expansion and the 64Mbit of expansion connects and composes by peripheral circuit.STM32F405ZGT6 is the CortexM4 core A RM microprocessor that has merged ARM+DSP twin-core function, and it has configured 16M video memory by FSMC ports-Extending, by SPI ports-Extending the flash memory of 64Mbit.Rotary encoder is directly connected with TIMER port, and button is directly connected with GPIO port, and LED state indicator lamp is directly connected with GPIO port, and wherein, button and rotary encoder are for parameters.Minimum system is directly connected with welding robot with telecommunication circuit by CAN interface, and its parameter display adopts 7 cun of TFT-LCD-AT070TN92 of four-wire resistance type, and LCD drives chip RA8875 to be directly connected with the GPIO port of minimum system.Wire feed drive circuit is directly connected with minimum system by PWM port, wire feed rate testing circuit is directly connected with minimum system by ADC port, have or not welding wire testing circuit directly by GPIO port, to be connected with minimum system with the testing circuit that leaks, telecommunication circuit one end is connected with welding robot, and the other end is connected with minimum system by CAN port.This minimum system be take FreeRTOS as real-time kernel, have data processing speed fast, regulate accurately flexibly and the advantage such as system extension is convenient.
As shown in Figure 3, model is that the minimum system YouST company dominant frequency of STM32F405RGT6 is up to the Cortex-M4 kernel STM32F405RGT6 microprocessor of 168MHz, the power circuit being formed by peripheral circuit by chip AMS1117, capacitor C 14-17, resistance R 6 and diode D1, the reset circuit being formed by peripheral circuit by switch S 1, capacitor C 1 and resistance R 7, the crystal oscillating circuit being formed by peripheral circuit by crystal oscillator Y1, capacitor C 2-3 and resistance R 1, and the jtag interface consisting of resistance R 5-8 and JTAG chip connects and composes by auxiliary circuit.The built-in DSP functional module of STM32F405RGT6 minimum system, for the SOC level chip based on Cortex-M4 kernel, there is FLASH on the 1MB sheet of reaching, 192Kb SRAM, 12 switching rates reach the ADC of 2.4MSPS, there are 12 DAC of two-way, can produce the analog voltage of 0-3.3v, reserved UART, RS485 and CAN interface.STM32F405RGT6 is the digitlization core of diving wire-feed motor, and its inside solidification has the diving wire-feed motor based on FreeRTOS real-time kernel to control software.
As shown in Figure 4, the half-bridge circuit that described wire feed drive circuit mainly consists of 2 N channel-type FET Q1 and FET Q2, driving chip I R2110, optocoupler PC817, relay K 1, voltage stabilizing chip L7815 and other peripheral circuits connect and compose.The model that drives chip to adopt is IR2110, and realizes the forward of motor, the conversion of reversion by relay K 1 and the commutating circuit that optocoupler PC817 forms.Wherein, motor two ends are connected with connector P1, and the band dead band pwm signal of two-way complementation inputs to respectively and drives chip I R2110.Inversion commutation end remains high level, relay remains on forward end, when PWMH is high level, when PWML is low level, the effect of the boostrap circuit forming due to capacitor C 2 and C3, diode D1, the now reliable conducting of FET Q1, FET Q2 turn-offs, the positive and negative shorted on both ends of motor is in 24V, in the anxious state that stops; When PWMH is low level, when PWL is high level, FET Q2 conducting, FET Q1 turn-offs, and now motor both end voltage is+24V, and motor is in forward state.When Inversion commutation end remains low level, the triode conducting of optocoupler PC817, relay remains on reversion end, when PWMH is high level, when PWML is low level, FET Q1 conducting, FET Q2 turn-offs, and now motor both end voltage is+24V, and motor is in inverted status; When PWML is high level, when PWMH is low level, the positive and negative shorted on both ends of motor is in 24V, in the anxious state that stops.Therefore, by controlling the low and high level of Inversion commutation end, can realize pulsed wire feeding, and by controlling the dutycycle of PWMH and PWML, just can control the speed of wire feed, the two combines, and just can realize easily at the uniform velocity three kinds of wire feed patterns such as wire feed, alternate wire-feed and pulsed wire feeding.
Resistance R 1, diode D2 and resistance R 3, diode D3 form respectively the earial drainage loop of FET Q1 and FET Q2, and FET can be turn-offed fast, prevent the conducting simultaneously of upper and lower two FETs.Resistance R 2, resistance R 4 are respectively the input protective resistance of FET Q1, FET Q2, prevent that FET is because of the unexpected conducting of the reasons such as static.Because direct current generator used belongs to inductive element, so motor can produce very large induced electromotive force when commutation, therefore add by diode D4, diode D5 and form inverse electromotive force absorbing circuit at input.For preventing that the HF noise signal of analog circuit is coupled to digital circuit one side, the ground end of analog circuit is connected by magnetic bead L1 single-point with the ground end of digital circuit.
Wire feed rate testing circuit of the present invention detects wire feed rate, both can adopt encoder detection mode, also can adopt the mode that detects armature voltage.The present embodiment is introduced to detect the mode of armature voltage, as shown in Figure 5, the positive and negative two ends of motor are connected with connector P3, motor both end voltage process electric resistance partial pressure, differential amplification, linear optical coupling isolation, further after dividing potential drop, be input to control chip STM32F405RG, after entering A/D conversion, compared with voltage given value, thereby adjusted the dutycycle of pwm signal, reached the object of the adjusting motor speed of service.Wherein, resistance R 6, resistance R 7 and resistance R 8, resistance R 9 form respectively the bleeder circuit of two input voltages, voltage equal proportion are reduced to the input voltage that is applicable to operational amplifier LF353.Inductance L 5, inductance L 6, capacitor C 10 form the LC filter circuit of input.Operational amplifier U4 forms differential amplifier circuit, and the voltage at the motor two ends after step-down is first amplified to twice, exports after then asking both differences, thereby changes the differential wave of input into monolateral voltage signal output.Diode D6, diode D7 and diode D8, diode D9 are respectively the protection diode of operational amplifier U4 two inputs, and when input terminal voltage absolute value is during higher than 15V, one of them diode current flow, has effectively protected operational amplifier.Because linear optical coupling U6 is current drive-type optic coupling element, what isolate is the magnitude of current, so operational amplifier U5 and resistance R 17 form current/charge-voltage convertor, by the LED drive current of the linear optocoupler HCNR201 of the voltage transitions of operational amplifier input, and the closed-loop feedback circuit of operational amplifier U5 and resistance R 16, capacitor C 11, diode D10 composition linear optical coupling U6, to compensate the non-linear and temperature drift of the LED of U6, and capacitor C 11 also can play the effect of filter away high frequency noise signal.Operational amplifier U7 and resistance R 22, resistance R 18 form current-voltage conversion circuit; convert the output current of linear optical coupling U6 to voltage; the resistance of adjusting resistance R22 is to desired value; can obtain the magnitude of voltage equating with the monolateral output voltage of operational amplifier U4; further step-down through resistance R 18; the output voltage of operational amplifier U7 is down to the input voltage that control chip STM32F405RG is suitable; wherein diode D11, diode D12 form input holding circuit, prevent that the voltage of Feedback end is higher than 3.3V.
As Fig. 6 (a) with 6(b), the welding wire testing circuit that has or not of the present invention has adopted electric vortex type detection method, mainly by electric vortex type approach switch, relay K 2, optocoupler PC817, linear optical coupling HCNR201, high speed operation amplifier LF353 and peripheral auxiliary circuits, formed, not only can detect having or not of welding wire, and can the surplus of wire reel welding wire be predicted and be judged.As shown in Figure 6 (a), electric vortex type approach switch is two-wire system closed type approach switch, and output is connected with connector P6.When welding wire having been detected, connector P6 two ends disconnect, and relay K 2 is not by adhesive, and relay indicating light LED1 lights, and shows now to have welding wire; When welding wire being detected and exhaust, electric vortex type approach switch output is closed, and connector P6 two ends connect, loop conducting, relay K 2 is by adhesive, and indicator lamp LED1 extinguishes, and the LED of optocoupler PC817 has drive current to flow through, the triode conducting of output, signal end WIRE is pulled down to low level state, and WIRE end is connected with the GPIO mouth of control chip STM32F45RG, when WIRE port being detected and be low level, enter GPIO and interrupt processing function, process accordingly.As shown in Figure 6 (b), for guaranteeing the reliability without welding wire fault detect result, the output end voltage of electric vortex type approach switch is detected, when the voltage of sampling end FBWIRE is during higher than certain value, think that welding wire exhausts.
As shown in Figure 7, the testing circuit that leaks is is mainly connected and composed by peripheral circuit by the electrode that leaks, optocoupler PC817, resistance R 21-22 and capacitor C 14.The electrode two ends that leak are connected with connector P5.When seal case inside does not have ponding, the electrode two ends that leak disconnect, and the LED of optocoupler PC817 does not have electric current to flow through, the triode cut-off of output, and detection signal output WATER is pulled to 3.3V by pull-up resistor; When seal case inside being detected and have ponding, the electrode two ends that leak are connected, and the LED drive current of optocoupler PC817 flows through and be luminous, the triode conducting of output, and detection signal output WATER is pulled down to ground.Detection signal output WATER is connected with the GPIO of control chip STM32F405RG, when detecting it for low level, enters corresponding interruption processing function and processes.
As shown in Figure 8, telecommunication circuit is connected and composed by peripheral circuit by CAN transceiver SN65HVD230, resistance R 20 and capacitor C 13.The wire feed rate setting value of wire-feed motor, the parameters such as delay adjustments value, fault diagnosis signal of supplying gas are carried out data interaction by telecommunication circuit and welding robot.The 3.3V CAN transceiver that SN65HVD230 ShiTI company produces, this device is applicable to the serial communication of higher communication speed, good antijamming capability and high reliability CAN bus.
Above-described embodiment has following characteristics:
1, total digitalization: a kind of intelligent arc welding robot diving wire-feed motor of the present embodiment has built the digital diving wire-feed motor based on DSC controller first, not only realized the digitlization of control procedure, and realized digital communication and the information interaction between wire-feed motor and robot, data-handling capacity is strong, fast response time, process control is more accurate.
2, wide adaptability: a kind of intelligent arc welding robot diving wire-feed motor of the present embodiment adopts digital PWM modulation system, rotating and the speed regulating control of wire feed drive circuit have been realized, can realize at the uniform velocity, three kinds of patterns such as speed change and pulsed wire feeding, power supply-Arc System to underwater robot welding has better adaptability, more can access stable welding process, obtain quality weld.
3, specialization: a kind of intelligent arc welding robot diving wire-feed motor of the present embodiment not only can be to having or not welding wire and welding wire surplus to detect, can also whether there is seepage by real-time dynamic monitoring diving wire-feed motor seal closure, in addition, the mode that seal closure has also adopted static seal and movable sealing to combine, sealing property is better, can meet the demand of specialty of Underwater Welding.
Above-described embodiment is preferably embodiment of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under Spirit Essence of the present invention and principle, substitutes, combination, simplify; all should be equivalent substitute mode, within being included in 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, wire feed drive circuit, wire feeding motor, wire feed rate testing circuit, the telecommunication circuit that are all arranged in seal closure, have or not welding wire testing circuit, the testing circuit that leaks, wire feed mechanical transmission component and be provided with the wire reel of welding wire; Described DSC controller, wire feed drive circuit, wire feeding motor and wire feed mechanical transmission component are connected successively; Described DSC controller is also respectively with the testing circuit that leaks, telecommunication circuit with have or not welding wire testing circuit to be connected; 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 consists of two N channel-type FETs, driving chip, optocoupler one, relay one and voltage stabilizing chip connect 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: described in have or not welding wire testing circuit to be connected with DSC controller by the GPIO port of minimum system, and connected and composed by peripheral circuit by electric vortex type approach 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 in the GPIO port of testing circuit by minimum system that leak be connected with DSC controller, and 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 the CAN transceiver that is SN65HVD230 by model, resistance two and electric capacity two connect and compose by peripheral circuit.
9. intelligent arc welding robot diving wire-feed motor according to claim 1, is characterized in that: the housing of described seal closure for being made by stainless steel material, the sealing means that it combines with outside interface employing static seal and movable sealing.
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