CN103706924B - A kind of intelligent arc welding robot diving wire-feed motor - Google Patents
A kind of intelligent arc welding robot diving wire-feed motor Download PDFInfo
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- CN103706924B CN103706924B CN201310715023.6A CN201310715023A CN103706924B CN 103706924 B CN103706924 B CN 103706924B CN 201310715023 A CN201310715023 A CN 201310715023A CN 103706924 B CN103706924 B CN 103706924B
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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
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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
- B23K9/124—Circuits or methods for feeding welding wire
- B23K9/125—Feeding of electrodes
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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
- B23K9/1336—Driving means
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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
- B23K9/32—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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- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
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Abstract
The invention provides a kind of intelligent arc welding robot diving wire-feed motor, comprise seal closure, also comprise the DSC controller be all arranged in seal closure, wire feed drive circuit, wire feeding motor, wire feed rate testing circuit, telecommunication circuit, with or without welding wire testing circuit, leak water detdction circuit, wire feed mechanical transmission component and the wire reel being provided with welding wire; DSC controller, wire feed drive circuit, wire feeding motor are connected successively with wire feed mechanical transmission component; DSC controller is also respectively with leak water detdction circuit, telecommunication circuit be connected with or without welding wire testing circuit; 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 wire reel is connected with wire feed mechanical transmission component.The present invention can realize the function of all-digitized demodulator, fault diagnosis and data transmission, can realize under water at the uniform velocity, the Three models such as speed change and pulsed wire feeding, and welding wire is given accurately stable, makes the power supply of robot welding process-submerge arc system more stablize controlled.
Description
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 realizing Underwater Welding automation has three kinds: underwater rail formula welding system, remote control type welding system and robot welding system.The welding of underwater rail formula needs attachment rail under water, is subject to the restriction of diver's diving depth; Remote welding precision error is comparatively large, is sometimes difficult to meet engineering welding required precision; Based on developing rapidly of society special applications robot, Underwater Welding robot is the research direction of Underwater Welding automation from now on.Wherein, the overview of Underwater Welding Robotics " Underwater Welding robotics development recent advances and outlook " (Zhang Hua, Li Zhigang. " Robotics and application " 2008, (6)) open in document.Due to complexity and the uncertainty of underwater environment, welding robot is not also had to be engaged in Underwater Welding completely at present movable.
The factor affecting underwater weld quality is a lot, but during welding electric arc whether smooth combustion is basic demand.Compared with common welding arc, the electric arc under water environment is due to the impact of water pressure and other factors, and stability of its burning is very poor.Analyze from mechanism, submerge arc flameholding be made, just must have diving wire-feed motor stable and reliable for performance, guarantee that welding wire is stable and give accurately, stable power supply-Arc System can be set up.The performance of wire feed system is most important under water, can according to welding procedure demand, realizes at the uniform velocity, the multiple wire feed pattern such as speed change and pulsation, outside, also need real-time diagnosis welding wire surplus, drier when guaranteeing that welding wire is sent from wire convey soft pipe, 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, ensure can guarantee that wire feeding disc drying and welding wire are given accurately stable in welding process, thus realize at the uniform velocity, the multiple wire feed pattern such as speed change and pulsation, contribute to the characteristic that the source of welding current-submerge arc system adapts to Underwater Welding electric arc automatically, realize the welding of high-quality underwater robot.
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 be all arranged in seal closure, wire feed drive circuit, wire feeding motor, wire feed rate testing circuit, telecommunication circuit, with or without welding wire testing circuit, leak water detdction circuit, wire feed mechanical transmission component and the wire reel being provided with welding wire; Described DSC controller, wire feed drive circuit, wire feeding motor are connected successively with wire feed mechanical transmission component; Described DSC controller is also respectively with leak water detdction circuit, telecommunication circuit be connected with or without welding wire testing circuit; Described wire feed rate testing circuit one end is connected with DSC controller, and the other end is connected with wire feeding motor; The welding wire of described wire reel is connected with wire feed mechanical transmission component.
In such scheme, wire reel adopts general wire reel, and wire feed mechanical transmission component is made up 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 the minimum system that model is STM32F405ZGT6, by model be the touch-screen of AT070TN92, the backlight chip of model to be the driving chip of RA8875 and model be CAT4139 is the main Visible Man-machine Interactive System formed, button, rotary encoder, LED state indicator lamp, the flash memory of the 16MSRAM 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 minimum system of DSC controller mainly adopts inside solidification to have to run on the STM32F405RGT6 microprocessor of the diving wire-feed motor control software design of FreeRTOS kernel to be critical piece.
The half-bridge circuit that described wire feed drive circuit is made up of two N channel-type FETs, driving chip, optocoupler one, relay one and voltage stabilizing chip are connected to form by peripheral circuit; Described driving chip is connected with DSC controller by the PWM port of minimum system.This wire feed drive circuit is the circuit that can realize at the uniform velocity wire feed, alternate wire-feed and pulsed wire feeding three kinds of wire feed patterns.
Describedly to be connected with DSC controller by the GPIO port of minimum system with or without welding wire testing circuit, and to be connected and composed by peripheral circuit by electric vortex type proximity switch, relay two, optocoupler two, linear optical coupling, high speed operation amplifier.Should can not only detect the presence or absence of welding wire with or without welding wire testing circuit, and can predict the surplus of wire reel welding wire and judge.
Described leak water detdction circuit is connected with DSC controller by the GPIO port of minimum system, and is connected and composed by peripheral circuit by the electrode that leaks, optocoupler three, resistance one and electric capacity one.
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 by model be the CAN transceiver of SN65HVD230, resistance two and electric capacity two connected and composed by peripheral circuit.
Described seal closure is the housing be made up of stainless steel material, its sealing means adopting static seal and movable sealing to combine with outside interface, thus improves the sealing effectiveness that this wire-feed motor works 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 have employed DSC controller, be digital control core to possess the Cortex-M4ARM microprocessor of DSP module, data operation processing speed is fast, control resolution is very high, makes the real-time control of diving wire-feed motor to wire feed process more meticulous and accurate.
2, a kind of intelligent arc welding robot diving wire-feed motor of the present invention have employed the wire feed drive circuit of Digital PWM modulation, can realize at the uniform velocity, the Three models 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 have employed the detection method based on electric vortex type, can not only realize the detection with or without welding wire, can also detect the surplus of welding wire in real time, more be 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 is by DSC controller, wire feed drive circuit, wire feeding motor, wire feed rate testing circuit, connect to form with or without welding wire testing circuit, leak water detdction circuit, telecommunication circuit, wire feed mechanical transmission component (comprising contact roller, pressing handle etc.) and wire reel; Wherein, DSC controller, wire feed drive circuit, wire feeding motor, wire feed rate testing circuit, be installed in seal closure with or without welding wire testing circuit, leak water detdction circuit, telecommunication circuit, wire feed mechanical part and wire reel etc.The ARM microprocessor STM32F405RG of DSC controller can receive the operating state instruction and parameter information that send from welding robot, also can according to the operating state instruction of touch-screen, button and digital encoder setting and parameter information, the band dead band pwm signal of two-way complementation is exported to wire feed drive circuit, through isolation and the amplification of IR2110 driving 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, thus 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 that the adjustment of digital PID regulation rule exports, thus regulate the wire feed rate of wire feeding motor.By the output end voltage of sampling electric vortex type proximity switch, the Expenditure Levels of monitoring welding wire, when output voltage values is lower than a certain setting value, illustrates that welding wire surplus is not enough; And when electric vortex type proximity switch closes, illustrate there is no welding wire.When the electrode detection end that leaks is pulled down to low level, the GPIO mouth triggering ARM microprocessor STM32F405RG interrupts, and enters corresponding interrupt processing function and processes.The controling parameters of setting is undertaken communicating and information interaction by CAN and wire-feed motor DSC controller by welding robot, and the failure diagnosis information of wire-feed motor of diving under water is also by the CAN port of DSC, transfers to welding robot via telecommunication circuit and CAN.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention's intelligent arc welding robot diving wire-feed motor;
Fig. 2 is the DSC controller internal structure schematic diagram of the present invention's intelligent arc welding robot diving wire-feed motor;
Fig. 3 is the minimum system schematic diagram of the present invention's intelligent arc welding robot diving wire-feed motor;
Fig. 4 is the wire feed driving circuit principle figure of the present invention's intelligent arc welding robot diving wire-feed motor;
Fig. 5 is the wire feed rate testing circuit schematic diagram of the present invention's intelligent arc welding robot diving wire-feed motor;
Fig. 6 (a) and Fig. 6 (b) is the presence or absence welding wire testing circuit schematic diagram of the present invention's intelligent arc welding robot diving wire-feed motor;
Fig. 7 is the leak water detdction circuit theory diagrams of the present invention's intelligent arc welding robot diving wire-feed motor;
Fig. 8 is the telecommunication circuit schematic diagram of the present invention's intelligent arc welding robot diving wire-feed motor.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, 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 be all arranged in seal closure, wire feed drive circuit 200, wire feeding motor 300, wire feed rate testing circuit 500, telecommunication circuit 700, with or without welding wire testing circuit 800, leak water detdction circuit 600, wire feed mechanical transmission component 400 and the wire reel being provided with welding wire; Wherein, DSC controller 100, wire feed drive circuit 200, wire feeding motor 300 are connected successively with wire feed mechanical transmission component 400, DSC controller 100 is also respectively with leak water detdction circuit 600, telecommunication circuit 700 be connected with or without welding wire testing circuit 800, wire feed rate testing circuit 500 one end is 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.In order to improve the sealing effectiveness that this wire-feed motor works under water, seal closure of the present invention is the housing be made up of stainless steel material, its sealing means adopting static seal and movable sealing to combine with outside interface.
As shown in Figure 2, DSC controller is the minimum system of STM32F405ZGT6 by model, by model be the touch-screen of AT070TN92, the Visible Man-machine Interactive System that is interconnected to constitute of the backlight chip of model to be the driving chip of RA8875 and model be CAT4139, button, rotary encoder, LED state indicator lamp, the flash memory of the 16MSRAM video memory of expansion and the 64Mbit of expansion is connected and composed by peripheral circuit.STM32F405ZGT6 is the CortexM4 core A RM microprocessor having merged ARM+DSP twin-core function, it is configured with 16M video memory by FSMC ports-Extending, the flash memory of 64Mbit by SPI ports-Extending.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 used for parameters.Minimum system is directly connected with welding robot with telecommunication circuit by CAN interface, and its parameter display adopts four-wire resistance type 7 cun of TFT-LCD-AT070TN92, LCD driving 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, directly be connected with minimum system by GPIO port with leak water detdction circuit with or without welding wire testing circuit, telecommunication circuit one end is connected with welding robot, and the other end is connected with minimum system by CAN port.This minimum system is real-time kernel with FreeRTOS, 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 of STM32F405RGT6 is by the Cortex-M4 kernel STM32F405RGT6 microprocessor of ST company dominant frequency up to 168MHz, the power circuit be made up of by peripheral circuit chip AMS1117, electric capacity C14-17, resistance R6 and diode D1, the reset circuit be made up of by peripheral circuit switch S 1, electric capacity C1 and resistance R7, the crystal oscillating circuit be made up of by peripheral circuit crystal oscillator Y1, electric capacity C2-3 and resistance R1, and the jtag interface be made up of resistance R5-8 and JTAG chip is connected and composed by auxiliary circuit.The built-in DSP functional module of STM32F405RGT6 minimum system, for the SOC level chip based on Cortex-M4 kernel, have and reach FLASH on 1MB sheet, 192KbSRAM, 12 switching rates reach the ADC of 2.4MSPS, there are two-way 12 DAC, the analog voltage of 0-3.3v can be produced, 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 control software design based on FreeRTOS real-time kernel.
As shown in Figure 4, described wire feed drive circuit is formed primarily of 2 N channel-type FET Q1 and FET Q2 half-bridge circuit, driving chip IR2110, optocoupler PC817, relay K 1, voltage stabilizing chip L7815 and other peripheral circuits connect and compose.The model that driving chip adopts is IR2110, and realizes the rotating forward of motor, the conversion of reversion by the commutating circuit that relay K 1 and optocoupler PC817 are formed.Wherein, motor two ends are connected with connector P1, and the band dead band pwm signal of two-way complementation inputs to driving chip IR2110 respectively.Inversion commutation end remains high level, relay remains on and rotates forward end, when PWMH is high level, when PWML is low level, due to the effect of the boostrap circuit of electric capacity C2 and C3, diode D1 composition, the now reliable conducting of FET Q1, FET Q2 turns off, the positive and negative shorted on both ends of motor, in 24V, is in and suddenly stops state; When PWMH is low level, when PWL is high level, FET Q2 conducting, FET Q1 turns off, and now motor both end voltage is+24V, and motor is in rotating forward state.When Inversion commutation end remains low level, the triode ON of optocoupler PC817, relay remains on reversion end, when PWMH is high level, when PWML is low level, FET Q1 conducting, FET Q2 turns off, 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, in 24V, is in and suddenly stops state.Therefore, by the low and high level of control Inversion commutation end, pulsed wire feeding can be realized, and pass through the dutycycle of control PWMH and PWML, just can control the speed of wire feed, both combines, and just can realize at the uniform velocity three kinds of wire feed patterns such as wire feed, alternate wire-feed and pulsed wire feeding easily.
Resistance R1, diode D2 and resistance R3, diode D3 form the earial drainage loop of FET Q1 and FET Q2 respectively, and FET can be turned off fast, prevent the conducting simultaneously of upper and lower two FETs.Resistance R2, resistance R4 are respectively the input protective resistance of FET Q1, FET Q2, prevent FET because of the unexpected conducting of the reasons such as electrostatic.Because direct current generator used belongs to inductive element, so motor can produce very large induced electromotive force when commutating, therefore add at input and form inverse electromotive force absorbing circuit by diode D4, diode D5.For preventing the HF noise signal of analog circuit to be coupled to digital circuit 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 detecting armature voltage.The present embodiment is introduced in the mode detecting armature voltage, as shown in Figure 5, the positive and negative two ends of motor are connected with connector P3, motor both end voltage through electric resistance partial pressure, differential amplification, linear optical coupling isolate, control chip STM32F405RG is input to after further dividing potential drop, compared with voltage set-point after entering A/D conversion, thus the dutycycle of adjustment pwm signal, reach the object of the adjustment motor speed of service.Wherein, resistance R6, resistance R7 and resistance R8, resistance R9 form the bleeder circuit of two input voltages respectively, voltage equal proportion are reduced to the input voltage of applicable operational amplifier LF353.Inductance L 5, inductance L 6, electric capacity C10 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, thus the differential wave of input is changed into the output of monolateral voltage signal.Diode D6, diode D7 and diode D8, diode D9 are respectively the protection diode of operational amplifier U4 two input, when input terminal voltage absolute value is higher than 15V, and one of them diode current flow, available protecting operational amplifier.Because linear optical coupling U6 is current drive-type optic coupling element, what isolated is the magnitude of current, so operational amplifier U5 and resistance R17 forms current/charge-voltage convertor, by the LED drive current of linear for the voltage transitions of opamp input terminal optocoupler HCNR201, and operational amplifier U5 and resistance R16, electric capacity C11, diode D10 form the closed-loop feedback circuit of linear optical coupling U6, to compensate the non-linear of the LED of U6 and temperature drift, and electric capacity C11 also can play the effect of filter away high frequency noise signal.Operational amplifier U7 and resistance R22, resistance R18 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; the magnitude of voltage equal with the monolateral output voltage of operational amplifier U4 can be obtained; through the further step-down of resistance R18; the output voltage of operational amplifier U7 is down to the suitable input voltage of control chip STM32F405RG; wherein diode D11, diode D12 form input protection circuit, and the voltage preventing Feedback from holding is higher than 3.3V.
As shown in Fig. 6 (a) He 6 (b), of the present inventionly have employed electric vortex type detection method with or without welding wire testing circuit, form primarily of electric vortex type proximity switch, relay K 2, optocoupler PC817, linear optical coupling HCNR201, high speed operation amplifier LF353 and peripheral auxiliary circuits, the presence or absence of welding wire can not only be detected, and can predict the surplus of wire reel welding wire and judge.As shown in Fig. 6 (a), electric vortex type proximity switch is two-wire system closed type proximity switch, and output is connected with connector P6.When welding wire having been detected, connector P6 two ends have disconnected, and relay K 2 is not by adhesive, and relay indicating light LED1 lights, and shows now have welding wire; When detecting that welding wire exhausts, electric vortex type proximity switch output closes, 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 drives a current through, the triode ON 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 detecting that WIRE port is low level, enter GPIO interrupt processing function, process accordingly.As shown in Fig. 6 (b), for ensureing the reliability without welding wire failure detection result, the output end voltage of electric vortex type proximity switch being detected, when the voltage of sampling end FBWIRE is higher than certain value, then thinks that welding wire exhausts.
As shown in Figure 7, leak water detdction circuit is connected and composed by peripheral circuit primarily of the electrode that leaks, optocoupler PC817, resistance R21-22 and electric capacity C14.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 up resistance and is pulled to 3.3V; When detecting that there is ponding seal case inside, the electrode two ends that leak are connected, and the LED drive current of optocoupler PC817 flows through and luminous, and the triode ON of output, detection signal output WATER is pulled down to ground.Detection signal output WATER is connected with the GPIO of control chip STM32F405RG, when detecting that it is low level, entering corresponding interrupt processing function and processing.
As shown in Figure 8, telecommunication circuit is connected and composed by peripheral circuit by CAN transceiver SN65HVD230, resistance R20 and electric capacity C13.Wire feed rate setting value, the parameters such as delay adjustments value, fault diagnosis signal of supplying gas of wire-feed motor carry out data interaction by telecommunication circuit and welding robot.SN65HVD230 is the 3.3VCAN transceiver that TI company produces, and this device is applicable to the serial communication of higher communication speed, good antijamming capability and high reliability CAN.
Above-described embodiment has following characteristics:
1, total digitalization: a kind of intelligent arc welding robot diving wire-feed motor of the present embodiment constructs the digital diving wire-feed motor based on DSC controller first, not only achieve the digitlization of control procedure, and the digital communication achieved between wire-feed motor and robot and information interaction, data-handling capacity is strong, fast response time, process control is more accurate.
2, wide apaptability: the one intelligent arc welding robot diving wire-feed motor of the present embodiment adopts digital PWM modulation system, achieve rotating and the speed regulating control of wire feed drive circuit, can realize at the uniform velocity, the Three models such as speed change and pulsed wire feeding, better adaptability is had to the power supply-Arc System of underwater robot welding, more can obtain stable welding process, obtain quality weld.
3, specialized: the one intelligent arc welding robot diving wire-feed motor of the present embodiment can not only detect with or without welding wire and welding wire surplus, whether can also there is seepage by real-time dynamic monitoring diving wire-feed motor seal closure, in addition, seal closure additionally uses the mode that static seal and movable sealing combine, sealing property is better, can meet the demand of specialty of Underwater Welding.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (9)
1. an intelligent arc welding robot diving wire-feed motor, it is characterized in that: comprise seal closure, also comprise the DSC controller be all arranged in seal closure, wire feed drive circuit, wire feeding motor, wire feed rate testing circuit, telecommunication circuit, with or without welding wire testing circuit, leak water detdction circuit, wire feed mechanical transmission component and the wire reel being provided with welding wire; Described DSC controller, wire feed drive circuit, wire feeding motor are connected successively with wire feed mechanical transmission component; Described DSC controller is also respectively with leak water detdction circuit, telecommunication circuit be connected with or without welding wire testing circuit; Described wire feed rate testing circuit one end is connected with DSC controller, and the other end is connected with wire feeding motor; The welding wire of described wire reel is connected with wire feed mechanical transmission component.
2. intelligent arc welding robot diving wire-feed motor according to claim 1, is characterized in that: described DSC controller is connected to form by minimum system, Visible Man-machine Interactive System, button, rotary encoder, LED state indicator lamp, video memory and flash memory.
3. intelligent arc welding robot diving wire-feed motor according to claim 2, is characterized in that: described minimum system is connected and composed by peripheral circuit by microprocessor, power circuit, reset circuit, crystal oscillating circuit and jtag interface.
4. intelligent arc welding robot diving wire-feed motor according to claim 2, is characterized in that: the half-bridge circuit that described wire feed drive circuit is made up of two N channel-type FETs, driving chip, optocoupler one, relay one and voltage stabilizing chip are connected to form by peripheral circuit; Described driving chip is connected with DSC controller by the PWM port of minimum system.
5. intelligent arc welding robot diving wire-feed motor according to claim 2, it is characterized in that: to be describedly connected with DSC controller by the GPIO port of minimum system with or without welding wire testing circuit, and connected and composed by peripheral circuit by electric vortex type proximity switch, relay two, optocoupler two, linear optical coupling, high speed operation amplifier.
6. intelligent arc welding robot diving wire-feed motor according to claim 2, it is characterized in that: described leak water detdction circuit is connected with DSC controller by the GPIO port of minimum system, and is connected and composed by peripheral circuit by the electrode that leaks, optocoupler three, resistance one and electric capacity one.
7. intelligent arc welding robot diving wire-feed motor according to claim 2, is characterized in that: described wire feed rate testing circuit is connected with DSC controller by the ADC port of minimum system; Described wire feed rate testing circuit is encoder detection mode to the detection mode of wire feed rate, or for detecting the mode of armature voltage.
8. intelligent arc welding robot diving wire-feed motor according to claim 2, it is characterized in that: described telecommunication circuit one end is connected with welding robot, the other end is connected with DSC controller by the CAN port of minimum system, and by model be the CAN transceiver of SN65HVD230, resistance two and electric capacity two connected and composed by peripheral circuit.
9. intelligent arc welding robot diving wire-feed motor according to claim 1, is characterized in that: described seal closure is the housing be made up of stainless steel material, its sealing means adopting static seal and movable sealing to combine with outside interface.
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| CN201310715023.6A CN103706924B (en) | 2013-12-20 | 2013-12-20 | A kind of intelligent arc welding robot diving wire-feed motor |
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| CN201310715023.6A CN103706924B (en) | 2013-12-20 | 2013-12-20 | A kind of intelligent arc welding robot diving wire-feed motor |
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| CN103706924B true CN103706924B (en) | 2016-02-24 |
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