CN103706927A - Multifunctional welding system of underwater welding robot - Google Patents
Multifunctional welding system of underwater welding robot Download PDFInfo
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- CN103706927A CN103706927A CN201310710984.8A CN201310710984A CN103706927A CN 103706927 A CN103706927 A CN 103706927A CN 201310710984 A CN201310710984 A CN 201310710984A CN 103706927 A CN103706927 A CN 103706927A
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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
- B23K9/0061—Underwater arc welding
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering 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
- B23K9/095—Monitoring or automatic control of welding parameters
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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
- B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
- B23K9/1006—Power supply
- B23K9/1043—Power supply characterised by the electric circuit
- B23K9/1056—Power supply characterised by the electric circuit by using digital 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
- B23K9/12—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
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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
- B23K9/16—Arc welding or cutting making use of shielding gas
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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
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Abstract
The invention provides a multifunctional welding system of an underwater welding robot. The system comprises an arc welding robot interface, a digital arc welding inverter power supply, a diving wire feeder, a special welding torch for the robot, a miniature drainage cover, a compressed gas device and a protection gas device. The arc welding robot interface, the digital arc welding inverter power supply, the diving wire feeder and the special welding torch for the robot are sequentially connected; the arc welding robot interface with one end connected with the robot is connected with the diving wire feeder and respectively connected with the compressed gas device and the protection gas device; the special welding torch for the robot is installed on the robot and connected with the miniature drainage cover, and one end of the special welding torch for the robot is connected with an arc load; the compressed gas device is connected with the miniature drainage cover, and the protection gas device is connected with the diving wire feeder. The welding system can automatically adapt to the characteristics of an underwater welding arc in the welding process, a stable welding power supply-underwater arc system can be established, and then high-quality underwater robot welding can be achieved.
Description
Technical field
The present invention relates to Welding Technology and Equipment technology, more particularly, relate to a kind of Underwater Welding robot Multifunctional welding welding system.
Background technology
Along with the high speed development of national economy, the active demand of energy strategy, ocean engineering constantly advances to deep-sea.Underwater Welding, as the important technology in ocean engineering field, is just receiving increasing concern.From the installation of offshore oil and gas platform, be built into the laying maintenance of submerged pipeline, the emergency repair from salvage rescue operation to large-scale ships, the figure of the Underwater Welding that is seen everywhere.The research of Underwater Welding robot, has promoted the development of Underwater Welding industry, the artificial Underwater Welding before being compared to, and the welding efficiency of Underwater Welding robot is higher, and welding engineering quality is more reliable, and welding cost is cheaper, is the basis of seabed engineering development.
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 corresponding power supply to match, can set up stable power supply-Arc System.From domestic and international related application and research report, Underwater Welding is directly used land universal welding system conventionally, or on the basis of universal welding system, carries out structure fine setting.That is to say, the adjustment of Underwater Welding technique can only depend on the performance of existing General welding system, can only be that technique is deacclimatized power supply, also cannot accomplish that power supply deacclimatizes Underwater Welding technique.Therefore, existing power supply-Arc System is difficult to, for the particularity of submerge arc, technique is made to the most effectively regulation and control, with the land source of welding current, carries out Underwater Welding, and it is very difficult arc burning to stablize and obtain good welding effect.The plurality of advantages such as that inverter type welder has is energy-conservation, economize material, dynamic property is good, are very beneficial for realizing precise treatment control, and it is combined with advanced digital control technology, can fundamentally improve the performance indications of welding system, control more flexible, favorable expandability.In the situation that hardware resource obtains reasonable disposition, only need, according to different application demand, change the corresponding software of controlling of corresponding control strategy or modification and just can obtain Expected Results.This special welding system that is adapted to Underwater Welding arc characteristic for researching and developing is laid a good foundation.
Summary of the invention
The object of the invention is to overcome shortcoming of the prior art with not enough, a kind of Underwater Welding robot Multifunctional welding welding system is provided, the characteristic that can automatically adapt to Underwater Welding electric arc in welding process, set up the stable source of welding current-submerge arc system, 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 Underwater Welding robot Multifunctional welding welding system, is characterized in that: comprise arc welding robot interface, Research of Digital Arc Welding Inverter, diving wire-feed motor, the special-purpose welding torch of robot, Mini drain cap, Ignitable gas devices and protective gas device; The special-purpose welding torch of described arc welding robot interface, Research of Digital Arc Welding Inverter, diving wire-feed motor and robot is connected successively; Described arc welding robot interface is also connected with protective gas device with robot, diving wire-feed motor, Ignitable gas devices respectively; The special-purpose welding torch of described robot is installed in robot, and is also connected with Mini drain cap, arc load one; Described Ignitable gas devices is connected with Mini drain cap, and protective gas device is connected with diving wire-feed motor.
In such scheme, the special-purpose welding torch of the robot of welding system of the present invention is arranged on the body of welding robot; And arc welding robot interface is directly connected with robot by CAN bus; The universal welding torch that the special-purpose welding torch of robot is welding robot, Mini drain cap is directly installed on the end of the special-purpose welding torch of robot; Ignitable gas devices adopts air compressor system, is directly connected with Mini drain cap, for Mini drain cap provides compressed air, the water in welding arc district is discharged; The special-purpose welding torch of robot is directly connected with diving wire-feed motor, and welding wire is fed to welding region through the special-purpose welding torch of robot; Protective gas device is rich argon or pure argon body feeding, is directly connected with diving wire-feed motor, and the special-purpose welding torch of Bing Jing robot is sent into welding arc region, realizes reliably protecting.
Described Research of Digital Arc Welding Inverter comprise main circuit one and with the interconnective control circuit one of main circuit one; Described main circuit one is connected to form successively by current rectifying and wave filtering circuit, inverter bridge, intermediate-frequency transformer and quick current rectifying and wave filtering circuit; Described current rectifying and wave filtering circuit is electrically connected to three-phase alternating current input power, and current rectifying and wave filtering circuit is connected with arc load two fast.
The inverter bridge of described main circuit one adopts and works in hard switching commutating mode, or adopts the full-bridge high-frequency inversion topological structure that works in soft switching mode.
Described control circuit one comprises with the electrical connection of three-phase alternating current input power and for supply module, minimum system and the motion detection module being connected with minimum system respectively, overheated detection module, over-and under-voltage detection module, high-frequency drive module, peak current detection module, current feedback circuit, digitizing tablet, CAN interface circuit and the relay module of electric energy are provided to control circuit one; Wherein, described over-and under-voltage detection module is electrically connected to three-phase alternating current input power.
Described high-frequency drive module is connected with the inverter bridge of main circuit one, and peak current detection module is connected with the intermediate-frequency transformer of main circuit one, and current feedback circuit is connected with the quick current rectifying and wave filtering circuit of main circuit one; The minimum system of described control circuit one is provided with Pulse by Pulse current-limiting protection and direct two kinds of protected modes of turn-off protection.
Described arc welding robot interface comprises supply module, ARM controller and the feedback module being connected with ARM controller respectively, relay module, communication expansion module for electric energy is provided, is provided with information interaction module and the analog output module of digitial controller; Wherein, described communication expansion module is connected with the CAN interface circuit of control circuit one by CAN bus; Described arc welding robot interface is connected and refers to protective gas device with Ignitable gas devices respectively: described relay module is connected with protective gas device with Ignitable gas devices respectively, for controlling the startup of Ignitable gas devices and protective gas device and closing down; Described feedback module is connected with protective gas device with Ignitable gas devices respectively, for gathering the information of Ignitable gas devices and protective gas device.Information interaction module in arc welding robot interface of the present invention has adopted the compound visualization system structure of " STM32F407ZGT6+RA8875+TFT-LCD+ rotary encoder+button ".
Described diving wire-feed motor is provided with seal closure, and is connected to form by wire feed drive circuit, wire feeding motor, contact roller and wire reel; Described wire feed drive circuit, wire feeding motor, contact roller and wire reel are installed in seal closure; One end of the special-purpose welding torch of described robot is fixed on the seal closure of diving wire-feed motor; Described protective gas device is connected with the seal closure of diving wire-feed motor.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 pulse wire feed.
Described wire feed drive circuit comprises main circuit two and the control circuit two being connected with main circuit two; Described control circuit two is connected and composed by MCU controller and peripheral circuit; Described main circuit two comprises current rectifying and wave filtering circuit, BUCK mu balanced circuit, commutation circuit and the chopper circuit connecting successively; Described chopper circuit one end is connected with wire feeding motor, and wire feeding motor is connected by the ADC port with MCU controller, and Voltage Feedback is arrived to control circuit two; The PWM port of described MCU controller is connected with the chopper circuit of main circuit two by IR2110 driver one, to realize the speed governing to motor; The TIMER port of described MCU controller is connected with the commutation circuit of main circuit two by IR2110 driver two, to realize motor positive and inverse, controls; The CAN port of described MCU controller is connected with the communication expansion module of arc welding robot interface and the CAN interface circuit of Research of Digital Arc Welding Inverter respectively by CAN bus.
Microprocessor, power circuit, reset circuit, crystal oscillating circuit, jtag interface, miniUSB chip and peripheral circuit that the MCU controller of the minimum system in the ARM microcontroller in described arc welding robot interface and the digitial controller of information interaction module, Research of Digital Arc Welding Inverter control circuit and digitizing tablet and diving wire-feed motor is STM32F405RGT6 by model connect and compose.Microprocessor of the present invention all adopts ST company dominant frequency up to the Cortex-M4 kernel STM32F405RGT6 minimum system of 168MHz.
In order to realize better the present invention, described Mini drain cap is convergent contour shrink nozzle structure.It is the convergent contour local draining cover of 304 stainless steels that Mini drain cap of the present invention adopts model, and this drainage cover can meet the demand of full position local dry cavity welding procedure to welding region draining.
The present invention is Underwater Welding robot Multifunctional welding welding system, and arc welding robot interface receives parameter and the work order that machine human hair is sent.During welding, first arc welding robot interface opens Ignitable gas devices, for Mini drain cap passes into compressed air, the water in the special-purpose welding torch front end dry extension of electrode of robot region is drained; Then starting protection gas device; send into diving wire-feed motor; be Research of Digital Arc Welding Inverter and the power supply of diving wire-feed motor simultaneously; arc welding robot interface sends to Research of Digital Arc Welding Inverter by CAN bus by parameters such as default welding current, voltages, and wire feed rate parameter and wire feed mode instruction are sent to diving wire-feed motor.When arc welding robot sends welding order, protective gas is sent to welding wire front end area through the special-purpose welding torch of diving wire-feed motor and robot, and the floating voltage of Research of Digital Arc Welding Inverter is also applied on welding wire, adopts the high unloaded slow wire feeding mode electric arc that ignites; After striking success, enter the normal welding stage.After arc welding robot interface receives the welding END instruction of robot transmission, by total line traffic control Arc Welding Power, entered and received the arc control stage, electric current progressively decays to blow-out, and protective gas device can lag behind and supply gas, protection welded seam area; Underwater Welding system is closed in the instruction sending according to robot after welding finishes.In whole welding process, the instructions such as arc welding robot interface receives system startup, voltage adjustment, electric current adjustment that machine human hair send, supplies gas, wire feed, striking, shutdown system, and control respectively the action of Ignitable gas devices and protective gas device, through bus communication, instruction is sent to Research of Digital Arc Welding Inverter and diving wire-feed motor; On the other hand, also to receive in real time over-and under-voltage that Research of Digital Arc Welding Inverter sends, fault message and the successful status information of striking such as overheated, also to receive in real time that diving wire-feed motor sends without fault messages such as welding wire, air pressure deficiencies, the detection of simultaneously also will realize haircuts, arc extinguishing, touching the faults such as ignition tip.In addition, arc welding robot interface also needs corresponding fault message to send to robot, also need to show in this locality the virtual condition information of various faults and system.Diving wire-feed motor receives the wire feed instruction of arc welding robot interface transmission wire feed rate is carried out to real-time closed-loop control, and can detect in real time wire reel and lack the faults such as silk (without a welding wire), air pressure deficiency, and this information exchange is crossed to CAN bus pass to arc welding robot interface.Research of Digital Arc Welding Inverter by CAN bus receive startup that arc welding robot interface sends, close down, the control signal such as voltage adjustment, electric current adjustment, also detect in real time overvoltage, the fault message such as under-voltage, overheated simultaneously, and this information exchange is crossed to CAN bus pass to arc welding robot interface.
Compared with prior art, tool of the present invention has the following advantages and beneficial effect:
1, Underwater Welding of the present invention robot Multifunctional welding welding system has been realized the digital control of welding system under robot water, and this system architecture is more flexible, and operation is directly perceived, and maintenance is convenient, has better extensibility and portability.
2, Underwater Welding of the present invention robot Multifunctional welding welding system adopts digital arc welding robot interface, has not only realized the digital processing that various state parameters regulate, and has realized numerical diagnostic, the processing of fault and shown in real time.
3, Underwater Welding of the present invention robot Multifunctional welding welding system has adopted the Mini drain cap of convergence type, can directly be installed on welding torch end, good to the adaptability of Underwater Welding site environment, can realize the welding of local dry cavity under water of high-quality.
4, Underwater Welding of the present invention robot multi-functional welding system special-purpose Research of Digital Arc Welding Inverter under water, have unique power supply-submerge arc system digits regulating power, can set up stable Underwater Welding electric arc, obtain the welding quality of high-quality.
5, Underwater Welding of the present invention robot Multifunctional welding welding system has adopted the digital diving wire-feed motor with closed loop feedback, not only can realize stable constant-speed wire-feeding, alternate wire-feed, and can, according to Underwater Welding electric arc feature, realize pulsed wire feeding.
Accompanying drawing explanation
Fig. 1 is the composition structured flowchart of Underwater Welding of the present invention robot Multifunctional welding welding system;
Fig. 2 is the Research of Digital Arc Welding Inverter structured flowchart of Underwater Welding of the present invention robot Multifunctional welding welding system;
Fig. 3 is the Research of Digital Arc Welding Inverter main circuit schematic diagram of Underwater Welding of the present invention robot Multifunctional welding welding system;
Fig. 4 (a) is the arc welding robot interface message flow diagram of Underwater Welding of the present invention robot Multifunctional welding welding system;
Fig. 4 (b) is the arc welding robot interface principle schematic diagram of Underwater Welding of the present invention robot Multifunctional welding welding system;
Fig. 4 (c) is the structured flowchart of information interaction inside modules in the arc welding robot interface of Underwater Welding of the present invention robot Multifunctional welding welding system;
Fig. 5 is the ARM microcontroller schematic diagram of the arc welding robot interface of Underwater Welding of the present invention robot Multifunctional welding welding system;
Fig. 6 is the diving wire-feed motor system block diagram of Underwater Welding of the present invention robot Multifunctional welding welding system;
Fig. 7 is the Mini drain cap structure chart of Underwater Welding of the present invention robot Multifunctional welding welding system.
The specific embodiment
Below in conjunction with accompanying drawing and the specific embodiment, the present invention is described in further detail.
Embodiment
As shown in Figure 1, Underwater Welding of the present invention robot Multifunctional welding welding system comprises arc welding robot interface 100, Research of Digital Arc Welding Inverter 200, diving wire-feed motor 300, the special-purpose welding torch 400 of robot, Mini drain cap 500, Ignitable gas devices 600 and protective gas device 700; Wherein, arc welding robot interface 100, Research of Digital Arc Welding Inverter 200, the special-purpose welding torch 400 of diving wire-feed motor 300He robot connect successively.The arc welding robot interface 100 that one end is connected with robot by CAN bus interconnects with diving wire-feed motor 300, and is connected with protective gas device 700 with Ignitable gas devices 600 respectively; The special-purpose welding torch 400 of robot is installed in robot, and is connected with Mini drain cap 500, and its one end is connected with arc load one; Ignitable gas devices 600 is connected with Mini drain cap 500, and protective gas device 700 is connected with diving wire-feed motor 300.
As shown in Figure 2, the Research of Digital Arc Welding Inverter of Underwater Welding of the present invention robot Multifunctional welding welding system comprise main circuit 1 and with the interconnective control circuit 1 of main circuit 1; Wherein, main circuit 1 is connected to form successively by current rectifying and wave filtering circuit 2101, inverter bridge 2102, intermediate-frequency transformer 2103 and quick current rectifying and wave filtering circuit 2106; Current rectifying and wave filtering circuit 2101 is electrically connected to three-phase alternating current input power, and current rectifying and wave filtering circuit 2104 is connected with arc load 2 2106 fast.Control circuit 1 comprises with the electrical connection of three-phase alternating current input power and for supply module 2201, minimum system 2205 and the motion detection module 2202 being connected with minimum system 2205 respectively, overheated detection module 2203, over-and under-voltage detection module 2204, high-frequency drive module 2206, peak current detection module 2207, current feedback circuit 2208, digitizing tablet 2210, CAN interface circuit 2211 and the relay module 2212 of electric energy are provided to control circuit one; Wherein, minimum system 2205 YiST company dominant frequency are core up to the Cortex-M4 family chip STM32F405RGT6 of 168MHz, and its microprocessor that is STM32F405RGT6 by model, power circuit, reset circuit, crystal oscillating circuit, jtag interface, miniUSB chip and peripheral circuit connect and compose.
In minimum system 2205, be provided with high and low two threshold values, when the size of this value of feedback does not reach high threshold value over low threshold value, minimum system 2205 will dwindle the dutycycle of PWM driving signal within half inversion cycle, output current is reduced to safety value, realizes the power tube of inverter bridge 2102 is carried out to Pulse by Pulse current-limiting protection; If now electric current continues to increase, once value of feedback surpasses high threshold value, minimum system 2205 is directly closed PWM output, guarantees the work safety of inverter bridge 2102 power tubes.High-frequency drive module 2206 one end are connected with the PWM port of minimum system 2205, and the other end is connected with the inverter bridge 2102 of main circuit 1.When power work is during in hard switching pattern, the PWM port of minimum system 2205 directly produces two-way push-pull type digital PWM signal, and when power work is during in soft switching mode, PWM port directly produces four tunnel phase-shift PWM signals.Peak current detection module 2207 one end are connected with the ADC port of minimum system 2205, the other end is connected with the intermediate-frequency transformer 2103 of main circuit 1, to detect in real time the primary current of intermediate-frequency transformer 2103, through inputting the ADC port of minimum system 2205 after fast precise rectification and compensation, carry out analog-to-digital conversion.Over-and under-voltage detection module 2204 one end are directly connected with the GPIO port of minimum system 2205, the other end is electrically connected to three-phase alternating current input power, when the low voltage of three-phase alternating current input or when too high, the output level of over-and under-voltage detection module 2204 will change, and minimum system 2205 judges and owes overvoltage fault accordingly.Motion detection module 2202, overheated detection module 2203 and relay module 2212 are all connected with the GPIO port of minimum system 2205.Digitizing tablet 2210 is directly connected with the UART port of minimum system 2205, is simplified design, and digitizing tablet 2210 adopts identical structure with the information interaction module 1006 of arc welding robot interface 100, and as shown in Figure 4 (c), just the software of operation is different.CAN interface circuit 2211 is directly connected with the CAN port of minimum system 2205.Current feedback circuit 2208 one end are connected with the quick current rectifying and wave filtering circuit 2104 of main circuit 1, with output current and the magnitude of voltage of the main circuit 2100 of sampling; The other end is directly connected with the ADC port of minimum system 2205, minimum system 2205 is the current/voltage set-point comparison through sending over from CAN interface circuit 2211 with digitizing tablet 2210 or arc welding robot interface 100 after analog-to-digital conversion by sampled value, and deviation is carried out to calculation process according to certain digital regulated rule, control PWM port and export the digital PWM signal of corresponding dutycycle, thereby the output of main circuit 1 is realized to accurate closed-loop control.
The inverter bridge 2102 of main circuit 1 adopts and works in hard switching commutating mode, or adopts the full-bridge high-frequency inversion topological structure that works in soft switching mode.As shown in Figure 3, the main circuit one of digitlization contravariant arc welding power source of the present invention adopts full-bridge high-frequency inversion topological structure, and three-phase alternating current input power connects the rectifier bridge D1-D6 of current rectifying and wave filtering circuit 2101, then enters filtering link L1, C1-C2, R1-R2 and D7-D8, become more level and smooth direct current; Then flow into inverter bridge 2102, through the inverter bridge that consists of S1-S44 power switch pipe, the high frequency by power switch pipe turns on and off, and direct current is converted to high frequency square wave alternating current; Wherein, D9-D12 is respectively the anti-paralleled diode of S1-S4, and R3C3, R4C4, R5C5, R6C6 are respectively the absorbing circuit of power tube S1-S4.When adopting hard switching commutating mode, the resistance of absorbing circuit is all non-vanishing; When working in soft switching mode, R3-R6 is zero resistance; Then, square wave current inflow intermediate-frequency transformer 2103 carries out step-down; Through the low pressure high-frequency ac square wave after step-down, enter the quick current rectifying and wave filtering circuit 2104 being formed by D15-D16 and L2 etc., become level and smooth low-voltage DC.
As shown in Figure 4 (b), arc welding robot interface of the present invention comprises and is electrically connected to three-phase alternating-current supply and provides supply module 1005, ARM controller 1001 and the feedback module 1002 being connected with ARM controller 1001 respectively, relay module 1003, communication expansion module 1004, the information interaction module 1006 that is provided with digitial controller and the analog output module 1007 of required electric energy for whole arc welding robot interface.Wherein, ARM controller 1001 YiST company dominant frequency are core up to the Cortex-M4 family chip STM32F405RGT6 of 168MHz, its microprocessor that is STM32F405RGT6 by model, power circuit, reset circuit, crystal oscillating circuit, jtag interface, miniUSB chip and peripheral circuit connect and compose, concrete composition as shown in Figure 5.Feedback module 1002 is connected with protective gas device with Ignitable gas devices respectively; the information such as the flow of the gas flow of difference Sampling Compression air and pressure, protective gas and pressure, and this information is carried out to the ADC port that signal condition is inputted ARM controller 1001 afterwards.Relay module 1003 is directly connected with the GPIO port able to programme of ARM controller 1001; possesses the output of multicircuit relay node; its output is connected with protective gas device with Ignitable gas devices respectively, can control the startup of Ignitable gas devices and protective gas device/close down.Communication expansion module 1004 is directly connected with the CAN port of ARM controller 1001, mainly independent control SJA1000 and the peripheral circuit thereof by support CAN2.0B agreement forms, and is connected with the CAN interface circuit of control circuit in Research of Digital Arc Welding Inverter one by CAN bus.Information interaction module 1006 is directly connected with the UART port of ARM controller 1001, realizes the functions such as parameter adjustment, status information demonstration, fault alarm.Analog output module 1007 adopts HCNR201 linear optical coupling isolation module, and the analog voltage of the 0-3.3v that 12 DAC of STM32F405RGT6 two-way are produced is isolated and amplifies.
As shown in Figure 4 (c) described, the information interaction module of arc welding robot interface of the present invention has adopted visualization system solution.Main control chip adopts the M4 core A RM microprocessor STM32F407ZGT6 that has merged ARM+DSP twin-core function, by FSMC ports-Extending, configured 16M video memory, by SPI ports-Extending the flash memory of 64Mbit, by USB OTG ports-Extending USB storage, rotary encoder is directly connected with TIMER port, button is directly connected with GPIO port, and LED state indicator lamp is directly connected with GPIO port.Take RTOS as real-time kernel, there is data processing speed fast, regulate accurately flexibly the advantages such as system extension facility.Reserved UART serial ports, communicated by letter with the UART of ARM controller 1001.Parameter display adopts 7 cun of TFT-LCD-AT070TN92 of four-wire resistance type, LCD drive chip RA8875 directly with, backlight chip is CAT4139, button and rotary encoder show and parameters.
As shown in Figure 4 (a), arc welding robot interface 100 of the present invention mainly completes processing and the transmission of various instructions, state, technological parameter and fault message.The interface message stream of arc welding robot interface 100Yu robot, Research of Digital Arc Welding Inverter 200, diving wire-feed motor 300, Ignitable gas devices 600 and protective gas device 700 is as follows:
The instruction that arc welding robot interface 100Cong robot receives has: start/close down, electric current adjusting, voltage-regulation, striking; The information that arc welding robot interface 100Xiang robot sends has: start/close down reply, actual current value, actual voltage value, striking success, actual wire feed rate, compression gas flow and air pressure, shield gas flow rate and air pressure, fault message (overvoltage, under-voltage, overheated, haircuts, arc extinguishing,, ignition tip unstable without welding wire, electric arc are touched); These information all complete by CAN bus communication.
The signal that arc welding robot interface 100 receives from Research of Digital Arc Welding Inverter 200 has: under-voltage, overvoltage, overheated, striking success, haircuts, arc extinguishing, electric arc shakiness, ignition tip touching, actual current value, actual voltage value; Arc welding robot interface 100 sends to the signal of Research of Digital Arc Welding Inverter 200 to have: start/close down, striking, electric current regulate, voltage-regulation; These information all complete by CAN bus communication.
The signal that arc welding robot interface 100 receives from diving wire-feed motor 300 has: actual wire feed rate, without welding wire; Arc welding robot interface sends to the signal of diving wire-feed motor to have: start/close down, wire feed rate;
Arc welding robot interface 100 sends to the signal of Ignitable gas devices 600 to have: start/close down, flow, air pressure; The signal that arc welding robot interface 100 receives from Ignitable gas devices 600 has: flow, air pressure;
Arc welding robot interface 100 sends to the signal of protective gas device 700 to have: start/close down, flow, air pressure; The signal that arc welding robot interface 100 receives from protective gas device 700 has: flow, air pressure.
Therefore, all information interaction between arc welding robot interface 100Yu robot, Research of Digital Arc Welding Inverter 200 and diving wire-feed motor 300 (comprise start/close down, the status information such as technological parameter, fault message, striking success or not) all realizes by the digital communication mode based on CAN bus; And and the control of the startup between Ignitable gas devices 600 and protective gas device 700/close down signal by relay module realize, flow, air pressure are to sample by the ARM controller of arc welding robot interface 100 by feedback module.
Diving wire-feed motor of the present invention is provided with seal closure, and is connected to form by wire feed drive circuit, wire feeding motor, contact roller and wire reel; And wire feed drive circuit, wire feeding motor, contact roller and wire reel are installed in seal closure; One end of the special-purpose welding torch of robot is fixed on the seal closure of diving wire-feed motor; Protective gas device is connected with the seal closure of diving wire-feed motor.As shown in Figure 6, wire feed drive circuit comprises main circuit two and the control circuit two being connected with main circuit two; Wherein, control circuit two is connected and composed by MCU controller and peripheral circuit.Main circuit two comprises current rectifying and wave filtering circuit, BUCK mu balanced circuit, commutation circuit and the chopper circuit connecting successively; Wherein, chopper circuit one end is connected with wire feeding motor, and wire feeding motor is connected by the ADC port with MCU controller, and Voltage Feedback is arrived to control circuit two; The PWM port of MCU controller is connected with the chopper circuit of main circuit two by IR2110 driver one, to realize the speed governing to motor; The TIMER port of MCU controller is connected with the commutation circuit of main circuit two by IR2110 driver two, to realize motor positive and inverse, controls.The CAN port of MCU controller is connected with the communication expansion module of arc welding robot interface and the CAN interface circuit of Research of Digital Arc Welding Inverter respectively by CAN bus.Wire feeding motor of the present invention has adopted brshless DC motor.Control circuit two adopts STM32F405RGT6 as main control chip, the wire feed rate that receives the transmission of arc welding robot interface by CAN bus sets value, and the real work voltage of real-time sampling motor side, through controlling the pwm signal with dead band time delay of PWM port output two-way complementation after comparison operation, through IR2110 driver, amplify rear drive chopper circuit, realize the rotating speed of motor and the adjusting that turns to; The pwm signal of the TIMER port output low frequency by MCU controller, through IR2110 driver two, amplify rear drive commutation circuit, realize the rotating of motor and control, by commutation control and copped wave, control, can realize at the uniform velocity three kinds of wire feed patterns such as wire feed, alternate wire-feed and pulse wire feed.
As shown in Figure 5, for simplified design, improve system development efficiency, ARM microcontroller in arc welding robot interface of the present invention and the digitial controller of information interaction module, the MCU controller of the minimum system in Research of Digital Arc Welding Inverter control circuit and digitizing tablet and diving wire-feed motor all adopts ST company dominant frequency up to the Cortex-M4 kernel STM32F405RGT6 minimum system of 168MHz, the microprocessor that this minimum system is STM32F405RGT6 by model, by AMS1117, C14-17, R6, the power circuit that D1 etc. form, by S1, C1, the reset circuit that R7 etc. form, by Y1, C2-3, the crystal oscillating circuit that R1 forms, by R5-8, the jtag interface that JTAG chip forms, miniUSB chip and peripheral circuit connect and compose.The built-in DSP functional module of STM32F405RGT6, 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 arc welding robot interface, digitlization contravariant arc welding power source and diving wire-feed motor, and arc welding robot interface software, Research of Digital Arc Welding Inverter that its inside is solidified with respectively based on FreeRTOS real-time kernel are controlled software and diving wire-feed motor control software.
As shown in Figure 7, Mini drain cap of the present invention has adopted convergent contour shrink nozzle structure.On jet pipe top, there is the air inlet pipe that 4 diameters are 8mm, the compressed air being produced by Ignitable gas devices thus 4 air inlet pipe is inputted, the caliber of collapsible tube bottom is 24mm, can guarantee that like this sectional area of Compressed Gas input gas passage is greater than the sectional area of collapsible tube bottom, thereby guarantee constantly to accelerate in the diminishing pipeline of sectional area lower than the air-flow of the velocity of sound, at pad, form the high pressure air curtain of a high-stiffness around, the water of welding region is arranged, so just can make welding arc burn in gas phase zone, realize reliable local dry cavity welding, improve weldquality.The material of Mini drain cap is that model is 304 stainless steel, and dimensional parameters is as figure, and wherein, the curve of shrink nozzle internal face can be calculated by Vickers formula; Whole drainage cover volume is very small and exquisite, can be applicable to the welding of the seam of all position welding under water.
Above-described embodiment of Underwater Welding of the present invention robot Multifunctional welding welding system has following characteristics:
1, total digitalization: the present embodiment has built first based on SOC level Cortex-M4 kernel, merged the digital control platform of the ARM microprocessor of ARM+DSP twin-core function and the Underwater Welding robot Multifunctional welding welding system of FreeRTOS real-time kernel, realized the total digitalization of arc welding robot interface, arc welding inverter, diving wire-feed motor etc., control accurate, operation facility, expansion flexibly;
2, high flexibility: the present embodiment takes full advantage of the advantage of Digital Control System, Digital Transmission, visualized operation and the monitoring in real time that can realize that various fault diagnosises, state show, parameter arranges etc.;
3, wide adaptability: arc welding inverter of the present invention can be realized multifrequency nature by Digital Control and export, regulate quick and precisely, the wire feeding modes such as the wire-feed motor of simultaneously diving under water can realize accurately at the uniform velocity, speed change and pulsation, in addition, Mini drain cap volume is small and exquisite, can effectively drain the water of welding region, miniature gas phase zone is set up in all-position welding region under water, this three combines, and just can set up stable power supply-submerge arc system, realizes high-quality Underwater Welding;
4, high efficiency: the present embodiment has adopted full-bridge high-frequency inversion transformation technique, and transmitted power is strong, and energy conversion efficiency is high, the voltage that power tube bears is lower, and the major loop time is little, and dynamic property is good, efficient, energy-conservation, province's material.
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 (10)
1.Yi Zhong Underwater Welding robot Multifunctional welding welding system, is characterized in that: comprise arc welding robot interface, Research of Digital Arc Welding Inverter, diving wire-feed motor, the special-purpose welding torch of robot, Mini drain cap, Ignitable gas devices and protective gas device; The special-purpose welding torch of described arc welding robot interface, Research of Digital Arc Welding Inverter, diving wire-feed motor and robot is connected successively; Described arc welding robot interface is also connected with protective gas device with robot, diving wire-feed motor, Ignitable gas devices respectively; The special-purpose welding torch of described robot is installed in robot, and is also connected with Mini drain cap, arc load one; Described Ignitable gas devices is connected with Mini drain cap, and protective gas device is connected with diving wire-feed motor.
2. Underwater Welding according to claim 1 robot Multifunctional welding welding system, is characterized in that: described Research of Digital Arc Welding Inverter comprise main circuit one and with the interconnective control circuit one of main circuit one; Described main circuit one is connected to form successively by current rectifying and wave filtering circuit, inverter bridge, intermediate-frequency transformer and quick current rectifying and wave filtering circuit; Described current rectifying and wave filtering circuit is electrically connected to three-phase alternating current input power, and current rectifying and wave filtering circuit is connected with arc load two fast.
3. Underwater Welding according to claim 2 robot Multifunctional welding welding system, is characterized in that: the inverter bridge of described main circuit one adopts and works in hard switching commutating mode, or adopts the full-bridge high-frequency inversion topological structure that works in soft switching mode.
4. Underwater Welding according to claim 2 robot Multifunctional welding welding system, is characterized in that: described control circuit one comprises and being electrically connected to three-phase alternating current input power and for supply module, minimum system and the motion detection module being connected with minimum system respectively, overheated detection module, over-and under-voltage detection module, high-frequency drive module, peak current detection module, current feedback circuit, digitizing tablet, CAN interface circuit and the relay module of electric energy are provided to control circuit one; Wherein, described over-and under-voltage detection module is electrically connected to three-phase alternating current input power.
5. Underwater Welding according to claim 4 robot Multifunctional welding welding system, it is characterized in that: described high-frequency drive module is connected with the inverter bridge of main circuit one, peak current detection module is connected with the intermediate-frequency transformer of main circuit one, and current feedback circuit is connected with the quick current rectifying and wave filtering circuit of main circuit one; The minimum system of described control circuit one is provided with Pulse by Pulse current-limiting protection and direct two kinds of protected modes of turn-off protection.
6. Underwater Welding according to claim 4 robot Multifunctional welding welding system, is characterized in that: described arc welding robot interface comprises supply module, ARM controller and the feedback module being connected with ARM controller respectively, relay module, communication expansion module for electric energy is provided, is provided with information interaction module and the analog output module of digitial controller; Wherein, described communication expansion module is connected with the CAN interface circuit of control circuit one by CAN bus; Described arc welding robot interface is connected and refers to protective gas device with Ignitable gas devices respectively: described relay module is connected with protective gas device with Ignitable gas devices respectively, for controlling the startup of Ignitable gas devices and protective gas device and closing down; Described feedback module is connected with protective gas device with Ignitable gas devices respectively, for gathering the information of Ignitable gas devices and protective gas device.
7. Underwater Welding according to claim 6 robot Multifunctional welding welding system, is characterized in that: described diving wire-feed motor is provided with seal closure, and is connected to form by wire feed drive circuit, wire feeding motor, contact roller and wire reel; Described wire feed drive circuit, wire feeding motor, contact roller and wire reel are installed in seal closure; One end of the special-purpose welding torch of described robot is fixed on the seal closure of diving wire-feed motor; Described protective gas device is connected with the seal closure of diving wire-feed motor.
8. Underwater Welding according to claim 7 robot Multifunctional welding welding system, is characterized in that: described wire feed drive circuit comprises main circuit two and the control circuit two being connected with main circuit two; Described control circuit two is connected and composed by MCU controller and peripheral circuit; Described main circuit two comprises current rectifying and wave filtering circuit, BUCK mu balanced circuit, commutation circuit and the chopper circuit connecting successively; Described chopper circuit one end is connected with wire feeding motor, and wire feeding motor is connected by the ADC port with MCU controller, and Voltage Feedback is arrived to control circuit two; The PWM port of described MCU controller is connected with the chopper circuit of main circuit two by IR2110 driver one, to realize the speed governing to motor; The TIMER port of described MCU controller is connected with the commutation circuit of main circuit two by IR2110 driver two, to realize motor positive and inverse, controls; The CAN port of described MCU controller is connected with the communication expansion module of arc welding robot interface and the CAN interface circuit of Research of Digital Arc Welding Inverter respectively by CAN bus.
9. Underwater Welding according to claim 8 robot Multifunctional welding welding system, is characterized in that: microprocessor, power circuit, reset circuit, crystal oscillating circuit, jtag interface, miniUSB chip and peripheral circuit that the MCU controller of the minimum system in the ARM microcontroller in described arc welding robot interface and the digitial controller of information interaction module, Research of Digital Arc Welding Inverter control circuit and digitizing tablet and diving wire-feed motor is STM32F405RGT6 by model connect and compose.
10. Underwater Welding according to claim 1 robot Multifunctional welding welding system, is characterized in that: described Mini drain cap is convergent contour shrink nozzle structure.
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