CN103706927B - Underwater Welding robot Multifunctional welding welding system - Google Patents
Underwater Welding robot Multifunctional welding welding system Download PDFInfo
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- CN103706927B CN103706927B CN201310710984.8A CN201310710984A CN103706927B CN 103706927 B CN103706927 B CN 103706927B CN 201310710984 A CN201310710984 A CN 201310710984A CN 103706927 B CN103706927 B CN 103706927B
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Classifications
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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
Abstract
The invention provides a kind of Underwater Welding robot Multifunctional welding welding system, this system comprises arc welding robot interface, Research of Digital Arc Welding Inverter, diving wire-feed motor, the special welding torch of robot, Mini drain cap, Ignitable gas devices and protective gas device; Arc welding robot interface, Research of Digital Arc Welding Inverter, diving wire-feed motor are connected successively with robot special welding torch; The arc welding robot interface that one end is connected with robot is interconnected with diving wire-feed motor, and is connected with Ignitable gas devices and protective gas device respectively; The special welding torch of robot is installed in robot, and is connected with Mini drain cap, and its one end is connected with arc load one; Ignitable gas devices is connected with Mini drain cap, and protective gas device is connected with diving wire-feed motor.Welding system of the present invention can adapt to the characteristic of Underwater Welding electric arc automatically in welding process, sets up the stable source of welding current-submerge arc system, realizes the welding of high-quality underwater robot.
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.The laying maintenance of submerged pipeline is built into from the installation of offshore oil and gas platform, from salvage rescue operation to the emergency repair of 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.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, corresponding power supply just must be had to match, stable power supply-Arc System can be set up.From domestic and international related application and research report, Underwater Welding directly uses land universal welding system usually, or carries out structure fine setting on the basis of universal welding system.That is, the adjustment of Underwater Welding technique can only depend on the performance of existing General welding system, namely can only be that technique deacclimatizes power supply, also cannot accomplish that power supply deacclimatizes Underwater Welding technique.Therefore, existing power supply-Arc System is difficult to make the most effectively regulating and controlling to technique for the particularity of submerge arc, carries out Underwater Welding with the land source of welding current, and it is very difficult for arc burning to stablize and obtaining good welding effect.Inverter type welder has the plurality of advantages such as energy-conservation, province's material, dynamic property are good, and being very beneficial for realizing precise treatment controls, and it is combined with advanced digital control technology, fundamentally can improve the performance indications of welding system, controls more flexible, favorable expandability.When hardware resource obtains reasonable disposition, only need according to different application demand, change corresponding control strategy or revise corresponding control software design and just can obtain Expected Results.This special welding system being adapted to Underwater Welding arc characteristic for research and development 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, automatically the characteristic of Underwater Welding electric arc can be adapted in welding process, set up the stable source of welding current-submerge arc system, 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 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 welding torch of robot, Mini drain cap, Ignitable gas devices and protective gas device; Described arc welding robot interface, Research of Digital Arc Welding Inverter, diving wire-feed motor are connected successively with robot special welding torch; Described arc welding robot interface is also connected with robot, wire-feed motor of diving under water, Ignitable gas devices and protective gas device respectively; The special 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 welding torch of 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; The special welding torch of robot is the universal welding torch of welding robot, and Mini drain cap is directly installed on the end of the special 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, is discharged by the water in welding arc district; The special welding torch of robot is directly connected with diving wire-feed motor, and welding wire is fed to welding region through the special welding torch of robot; Protective gas device is rich argon or pure argon body feeding, is directly connected with diving wire-feed motor, and sends into welding arc region through the special welding torch of robot, realizes reliably protecting.
Described Research of Digital Arc Welding Inverter comprises main circuit one and control circuit one interconnective with 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 fast recovery rectifier filter circuit; Described current rectifying and wave filtering circuit is electrically connected with three-phase alternating current input power, and fast recovery rectifier filter circuit is connected with arc load two.
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 working in Sofe Switch pattern.
Described control circuit one comprises and to be electrically connected with three-phase alternating current input power and for providing the supply module of electric energy, minimum system and the motion detection module be connected with minimum system respectively, overheating 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 relay module to control circuit one; Wherein, described over-and under-voltage detection module is electrically connected with 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 fast recovery rectifier filter circuit of main circuit one; The minimum system of described control circuit one is provided with Pulse by Pulse current-limiting protection and direct turn-off protection two kinds of protected modes.
Described arc welding robot interface comprises for providing the supply module of electric energy, ARM controller and the feedback module be connected with ARM controller respectively, relay module, communication expansion module, the information interaction module being provided with digitial controller and analog output module; Wherein, described communication expansion module is connected with the CAN interface circuit of control circuit one by CAN; Described arc welding robot interface is connected with Ignitable gas devices and protective gas device respectively and refers to: described relay module is connected with Ignitable gas devices and protective gas device respectively, for controlling the startup of Ignitable gas devices and protective gas device and closing down; Described feedback module is connected with Ignitable gas devices and protective gas device respectively, for the information of collect and process gas device and protective gas device.Information interaction module in arc welding robot interface of the present invention have employed 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 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.
The control circuit two that described wire feed drive circuit comprises main circuit two and is connected with main circuit two; Described control circuit two is connected and composed by MCU controller and peripheral circuit; Described main circuit two comprises the current rectifying and wave filtering circuit, BUCK mu balanced circuit, commutation circuit and the chopper circuit that connect successively; Described chopper circuit one end is connected with wire feeding motor, wire feeding motor by being connected with the ADC port of MCU controller, by Voltage Feedback 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, controls to realize motor positive and inverse; 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.
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 by model be the microprocessor of STM32F405RGT6, power circuit, reset circuit, crystal oscillating circuit, jtag interface, miniUSB chip and peripheral circuit 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 the present invention better, described Mini drain cap is convergent contour shrink nozzle structure.Mini drain cap employing model of the present invention is the convergent contour local draining cover of 304 stainless steels, and this drainage cover can meet the demand of all positon local dry cavity welding procedure to welding area sewerage.
The present invention is Underwater Welding robot Multifunctional welding welding system, the parameter that arc welding robot interface machine human hair is sent and work order.During welding, first arc welding robot interface opens Ignitable gas devices, for Mini drain cap passes into compressed air, is drained by the water in dry extension of electrode region, special for robot welding torch front end; Then starting protection gas device; send into diving wire-feed motor; simultaneously for Research of Digital Arc Welding Inverter and diving wire-feed motor are powered; the parameters such as default welding current, voltage are sent to Research of Digital Arc Welding Inverter by CAN by arc welding robot interface, 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 diving wire-feed motor and the special welding torch of robot, and the floating voltage of Research of Digital Arc Welding Inverter is also applied on welding wire, adopts high unloaded slow wire feeding mode to ignite electric arc; The normal weld stage is entered after striking success.After arc welding robot interface to the welding END instruction that robot sends, entered by bus marco Arc Welding Power and receive the arc control stage, electric current progressively decays to blow-out, and protective gas device can delayedly be supplied gas, protection welded seam area; Underwater Welding system is closed in the instruction sent according to robot after welding terminates.In whole welding process, the instructions such as system startup, Voltage Cortrol, electric current that arc welding robot interface machine human hair is sent adjust, supply gas, wire feed, striking, shutdown system, and control the action of Ignitable gas devices and protective gas device respectively, through bus communication, instruction is sent to Research of Digital Arc Welding Inverter and diving wire-feed motor; On the other hand, the over-and under-voltage also wanting receives in real time digital arc welding inverter to send, fault message and the successful status information of striking such as overheated, wire-feed motor sends without welding wire, the fault message such as air pressure is not enough also to want real-time reception to dive under water, and also will realize the detection of the faults such as haircuts, arc extinguishing, tactile ignition tip simultaneously.In addition, arc welding robot interface also needs corresponding fault message to send to robot, also needs the virtual condition information showing various fault and system in this locality.The wire feed instruction that diving wire-feed motor receives the transmission of arc welding robot interface carries out real-time closed-loop control to wire feed rate, and the faults such as silk (without welding wire), air pressure is not enough can be lacked by detection wire reel in real time, and this information is passed to arc welding robot interface by CAN.The control signals such as Research of Digital Arc Welding Inverter receives by CAN startup that arc welding robot interface sends, closes down, Voltage Cortrol, electric current adjustment, also detect overvoltage, the fault message such as under-voltage, overheated in real time simultaneously, and this information is passed to arc welding robot interface by CAN.
Compared with prior art, tool of the present invention has the following advantages and beneficial effect:
1, Underwater Welding robot of the present invention Multifunctional welding welding system achieves the all-digitized demodulator 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 robot of the present invention Multifunctional welding welding system adopts digital arc welding robot interface, not only achieves the digital processing that various state parameter regulates, and achieves numerical diagnostic, the process of fault and show in real time.
3, Underwater Welding robot of the present invention Multifunctional welding welding system have employed 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 robot of the present invention multi-functional welding system Research of Digital Arc Welding Inverter special under water, have unique power supply-submerge arc system digits regulating power, stable Underwater Welding electric arc can be set up, obtain the welding quality of high-quality.
5, Underwater Welding robot of the present invention Multifunctional welding welding system have employed the digital diving wire-feed motor of band closed loop feedback, can not only realize stable constant-speed wire-feeding, alternate wire-feed, and according to Underwater Welding electric arc feature, can realize pulsed wire feeding.
Accompanying drawing explanation
Fig. 1 is the composition structured flowchart of Underwater Welding robot of the present invention Multifunctional welding welding system;
Fig. 2 is the Research of Digital Arc Welding Inverter structured flowchart of Underwater Welding robot of the present invention Multifunctional welding welding system;
Fig. 3 is the Research of Digital Arc Welding Inverter main circuit schematic diagram of Underwater Welding robot of the present invention Multifunctional welding welding system;
Fig. 4 (a) is the arc welding robot interface message flow diagram of Underwater Welding robot of the present invention Multifunctional welding welding system;
Fig. 4 (b) is the arc welding robot interface principle schematic diagram of Underwater Welding robot of the present invention 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 robot of the present invention Multifunctional welding welding system;
Fig. 5 is the ARM microcontroller schematic diagram of the arc welding robot interface of Underwater Welding robot of the present invention Multifunctional welding welding system;
Fig. 6 is the diving wire-feed motor system block diagram of Underwater Welding robot of the present invention Multifunctional welding welding system;
Fig. 7 is the Mini drain cap structure chart of Underwater Welding robot of the present invention Multifunctional welding welding system.
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
As shown in Figure 1, Underwater Welding robot of the present invention Multifunctional welding welding system comprises arc welding robot interface 100, Research of Digital Arc Welding Inverter 200, diving wire-feed motor 300, the special 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, diving wire-feed motor 300 are connected successively with robot special welding torch 400.The arc welding robot interface 100 that one end is connected with robot by CAN is interconnected with diving wire-feed motor 300, and is connected with Ignitable gas devices 600 and protective gas device 700 respectively; The special 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 robot of the present invention Multifunctional welding welding system comprises main circuit 1 and control circuit one 2200 interconnective with 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 fast recovery rectifier filter circuit 2106; Current rectifying and wave filtering circuit 2101 is electrically connected with three-phase alternating current input power, and fast recovery rectifier filter circuit 2104 is connected with arc load 2 2106.Control circuit 1 comprises and to be electrically connected with three-phase alternating current input power and motion detection module 2202, overheating 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 relay module 2212 for providing the supply module 2201 of electric energy, minimum system 2205 to control circuit one and be connected with minimum system 2205 respectively; Wherein, minimum system 2205 with ST company dominant frequency up to the Cortex-M4 family chip STM32F405RGT6 of 168MHz for core, its by model be the microprocessor of STM32F405RGT6, power circuit, reset circuit, crystal oscillating circuit, jtag interface, miniUSB chip and peripheral circuit connect and compose.
High and low two threshold values are provided with in minimum system 2205, when the size of this value of feedback exceedes low threshold value and does not reach high threshold value, minimum system 2205 will reduce the dutycycle of PWM drive singal within half inversion cycle, output current is reduced to safety value, realizes carrying out Pulse by Pulse current-limiting protection to the power tube of inverter bridge 2102; If now continuing current flow increases, once value of feedback exceedes high threshold value, then minimum system 2205 directly closes PWM output, ensures the work safety of inverter bridge 2102 power tube.High-frequency drive module 2206 one end is 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 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 in Sofe Switch pattern, PWM port directly produces four tunnel phase-shift PWM signals.Peak current detection module 2207 one end is 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 the primary current of intermediate-frequency transformer 2103 in real time, the ADC port inputting minimum system 2205 after fast precise rectification and compensation carries out analog-to-digital conversion.Over-and under-voltage detection module 2204 one end is directly connected with the GPIO port of minimum system 2205, the other end is electrically connected with three-phase alternating current input power, when three-phase alternating current input low voltage or too high time, the output level of over-and under-voltage detection module 2204 will change, and minimum system 2205 judges to owe overvoltage fault accordingly.Motion detection module 2202, overheating 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, for simplified design, digitizing tablet 2210 adopts identical structure with the information interaction module 1006 of arc welding robot interface 100, and as shown in Fig. 4 (c), the software just run is different.CAN interface circuit 2211 is directly connected with the CAN port of minimum system 2205.Current feedback circuit 2208 one end is connected with the fast recovery rectifier filter circuit 2104 of main circuit 1, with the output current of main circuit 2100 of sampling and magnitude of voltage; The other end is directly connected with the ADC port of minimum system 2205, the Current Voltage set-point that sampled value sends over from CAN interface circuit 2211 with digitizing tablet 2210 or arc welding robot interface 100 after analog-to-digital conversion compares by minimum system 2205, and deviation is carried out calculation process according to certain digital regulated rule, control the digital PWM signal that PWM port exports corresponding dutycycle, thus accurate closed-loop control is realized to the output of main circuit 1.
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 working in Sofe Switch pattern.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, becomes more level and smooth direct current; Then flow into inverter bridge 2102, through the inverter bridge be made up of S1-S44 power switch pipe, turned on and off by the high frequency of power switch pipe, 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 Sofe Switch pattern, R3-R6 is zero resistance; Then, square wave current inflow intermediate-frequency transformer 2103 carries out step-down; Low-voltage high-frequency ac square wave after step-down enters the fast recovery rectifier filter circuit 2104 be made up of D15-D16 and L2 etc., becomes level and smooth low-voltage DC.
As shown in Fig. 4 (b), arc welding robot interface of the present invention comprises and to be electrically connected with three-phase alternating-current supply and to provide the supply module 1005 of required electric energy, ARM controller 1001 and the feedback module 1002 be connected with ARM controller 1001 respectively, relay module 1003, communication expansion module 1004, the information interaction module 1006 being provided with digitial controller and analog output module 1007 for whole arc welding robot interface.Wherein, ARM controller 1001 with ST company dominant frequency up to the Cortex-M4 family chip STM32F405RGT6 of 168MHz for core, its by model be the microprocessor of STM32F405RGT6, power circuit, reset circuit, crystal oscillating circuit, jtag interface, miniUSB chip and peripheral circuit connect and compose, concrete composition is as shown in Figure 5.Feedback module 1002 is connected with Ignitable gas devices and protective gas device respectively; the respectively information such as the flow of the gas flow of Sampling Compression air and pressure, protective gas and pressure, and after this information is carried out signal condition, input the ADC port of ARM controller 1001.Relay module 1003 is directly connected with the GPIO port able to programme of ARM controller 1001; possess multicircuit relay node to export; its output is connected with Ignitable gas devices and protective gas device 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, form primarily of the independent control SJA1000 and peripheral circuit thereof that support CAN 2.0B agreement, and be connected with the CAN interface circuit of control circuit in Research of Digital Arc Welding Inverter one by CAN.Information interaction module 1006 is directly connected with the UART port of ARM controller 1001, realizes the functions such as parameter adjustment, status information display, fault alarm.Analog output module 1007 adopts HCNR201 linear optical coupling isolation module, isolates the analog voltage of the 0-3.3v that STM32F405RGT6 two-way 12 DAC produce and amplifies.
Described as shown in Fig. 4 (c), the information interaction module of arc welding robot interface of the present invention have employed visualization system solution.Main control chip adopts the M4 core A RM microprocessor STM32F407ZGT6 having merged ARM+DSP twin-core function, 16M video memory is configured with by FSMC ports-Extending, the flash memory of 64Mbit by SPI ports-Extending, the USB storage by USB OTG ports-Extending, 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.Be real-time kernel with RTOS, there is data processing speed fast, regulate accurately flexibly, the advantages such as system extension is convenient.Reserve UART serial ports, communicated with the UART of ARM controller 1001.Parameter display adopt four-wire resistance type 7 cun of TFT-LCD-AT070TN92, LCD driving chip RA8875 directly with, backlight chip is CAT4139, and button and rotary encoder show and parameters.
As shown in Fig. 4 (a), arc welding robot interface 100 of the present invention mainly completes various instruction, state, the process of technological parameter and fault message and transmission.Arc welding robot interface 100 is as follows with the interface message stream of robot, Research of Digital Arc Welding Inverter 200, wire-feed motor of diving under water 300, Ignitable gas devices 600 and protective gas device 700:
The instruction that arc welding robot interface 100 receives from robot has: start/close down, Current adjustment, voltage-regulation, striking; The information that arc welding robot interface 100 sends to robot has: start/close down response, 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 touching unstable without welding wire, electric arc); These information are all completed by CAN 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, Current adjustment, voltage-regulation; These information are all completed by CAN 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, arc welding robot interface 100 and robot, Research of Digital Arc Welding Inverter 200 and dive under water information interaction all between wire-feed motor 300 (comprise start/close down, technological parameter, fault message, the status information such as striking success or not) all realized by the digital communication mode based on CAN; And and startup between Ignitable gas devices 600 and protective gas device 700/close down signal realized by the control of relay module, flow, air pressure are then the ARM controller through arc welding robot interface 100 after being sampled 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 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, the wire feed drive circuit control circuit two that comprises main circuit two and be connected with main circuit two; Wherein, control circuit two is connected and composed by MCU controller and peripheral circuit.Main circuit two comprises the current rectifying and wave filtering circuit, BUCK mu balanced circuit, commutation circuit and the chopper circuit that connect successively; Wherein, chopper circuit one end is connected with wire feeding motor, wire feeding motor by being connected with the ADC port of MCU controller, by Voltage Feedback 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, controls to realize motor positive and inverse.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.Wire feeding motor of the present invention have employed brshless DC motor.Control circuit two adopts STM32F405RGT6 as main control chip, the wire feed rate setting value of arc welding robot interface transmission is received by CAN, and the real work voltage of real-time sampling motor side, the pwm signal that PWM port exports the band dead band time delay of two-way complementation is controlled after comparison operation, amplify rear drive chopper circuit through IR2110 driver, realize the rotating speed of motor and the adjustment that turns to; By the pwm signal of the TIMER port output low frequency of MCU controller, rear drive commutation circuit is amplified through IR2110 driver two, the rotating realizing motor controls, and is controlled and chop control by commutation, 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, this minimum system is the microprocessor of STM32F405RGT6 by model, by AMS1117, C14-17, R6, the power circuit that D1 etc. are formed, by S1, C1, the reset circuit that R7 etc. are formed, by Y1, C2-3, the crystal oscillating circuit that R1 is formed, by R5-8, the jtag interface that JTAG chip is formed, 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, have and reach FLASH on 1MB sheet, 192Kb SRAM, 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 arc welding robot interface, digitlization contravariant arc welding power source and diving wire-feed motor, and its inside is solidified with respectively based on the arc welding robot interface software of FreeRTOS real-time kernel, Research of Digital Arc Welding Inverter control software design and diving wire-feed motor control software design.
As shown in Figure 7, Mini drain cap of the present invention have employed convergent contour shrink nozzle structure.There are 4 diameters to be the air inlet pipe of 8mm on jet pipe top, the compressed air produced by Ignitable gas devices is 4 air inlet pipe inputs thus, caliber bottom collapsible tube is 24mm, can guarantee that the sectional area of Compressed Gas input gas passage is greater than the sectional area bottom collapsible tube like this, thus guarantee that the air-flow lower than the velocity of sound constantly accelerates in the diminishing pipeline of sectional area, the high pressure air curtain of a high-stiffness is formed around pad, the water of welding region is arranged, welding arc so just can be made to burn in gas phase zone, realize the welding of reliable local dry cavity, improve weldquality.The material of Mini drain cap to be model be 304 stainless steel, 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 all positon weld seam under water.
Above-described embodiment of Underwater Welding robot of the present invention Multifunctional welding welding system has following characteristics:
1, total digitalization: the present embodiment constructs the all-digitized demodulator platform of the Underwater Welding robot Multifunctional welding welding system based on SOC level Cortex-M4 kernel, the ARM microprocessor having merged ARM+DSP twin-core function and FreeRTOS real-time kernel first, achieve 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, can realize Digital Transmission, the visualized operation of various fault diagnosis, state display, optimum configurations etc. and monitor in real time;
3, wide apaptability: arc welding inverter of the present invention can realize multifrequency nature by Digital Control and export, regulate quick and precisely, wire-feed motor of simultaneously diving under water can realize accurate at the uniform velocity, the wire feeding mode such as speed change and pulsation, in addition, Mini drain cap compact, effectively can drain the water of welding region, miniature gas phase zone can be set up in all-position welding region under water, this three combines, and just can set up stable power supply-submerge arc system, realize high-quality Underwater Welding;
4, high efficiency: the present embodiment have employed full-bridge high-frequency inversion transformation technique, transmitted power is strong, and energy conversion efficiency is high, and 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 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 (10)
1. a 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 welding torch of robot, Mini drain cap, Ignitable gas devices and protective gas device; Described arc welding robot interface, Research of Digital Arc Welding Inverter, diving wire-feed motor are connected successively with robot special welding torch; Described arc welding robot interface is also connected with robot, wire-feed motor of diving under water, Ignitable gas devices and protective gas device respectively; The special 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 robot according to claim 1 Multifunctional welding welding system, is characterized in that: described Research of Digital Arc Welding Inverter comprises main circuit one and control circuit one interconnective with 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 fast recovery rectifier filter circuit; Described current rectifying and wave filtering circuit is electrically connected with three-phase alternating current input power, and fast recovery rectifier filter circuit is connected with arc load two.
3. Underwater Welding robot according to claim 2 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 working in Sofe Switch pattern.
4. Underwater Welding robot according to claim 2 Multifunctional welding welding system, is characterized in that: described control circuit one comprises and to be electrically connected with three-phase alternating current input power and for providing the supply module of electric energy, minimum system and the motion detection module be connected with minimum system respectively, overheating 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 relay module to control circuit one; Wherein, described over-and under-voltage detection module is electrically connected with three-phase alternating current input power.
5. Underwater Welding robot according to claim 4 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 fast recovery rectifier filter circuit of main circuit one; The minimum system of described control circuit one is provided with Pulse by Pulse current-limiting protection and direct turn-off protection two kinds of protected modes.
6. Underwater Welding robot according to claim 4 Multifunctional welding welding system, is characterized in that: described arc welding robot interface comprises for providing the supply module of electric energy, ARM controller and the feedback module be connected with ARM controller respectively, relay module, communication expansion module, the information interaction module being provided with digitial controller and analog output module; Wherein, described communication expansion module is connected with the CAN interface circuit of control circuit one by CAN; Described arc welding robot interface is connected with Ignitable gas devices and protective gas device respectively and refers to: described relay module is connected with Ignitable gas devices and protective gas device respectively, for controlling the startup of Ignitable gas devices and protective gas device and closing down; Described feedback module is connected with Ignitable gas devices and protective gas device respectively, for the information of collect and process gas device and protective gas device.
7. Underwater Welding robot according to claim 6 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 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 robot according to claim 7 Multifunctional welding welding system, is characterized in that: the control circuit two that described wire feed drive circuit comprises main circuit two and is connected with main circuit two; Described control circuit two is connected and composed by MCU controller and peripheral circuit; Described main circuit two comprises the current rectifying and wave filtering circuit, BUCK mu balanced circuit, commutation circuit and the chopper circuit that connect successively; Described chopper circuit one end is connected with wire feeding motor, wire feeding motor by being connected with the ADC port of MCU controller, by Voltage Feedback 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, controls to realize motor positive and inverse; 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.
9. Underwater Welding robot according to claim 8 Multifunctional welding welding system, is characterized in 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 by model be the microprocessor of STM32F405RGT6, power circuit, reset circuit, crystal oscillating circuit, jtag interface, miniUSB chip and peripheral circuit connect and compose.
10. Underwater Welding robot according to claim 1 Multifunctional welding welding system, is characterized in that: described Mini drain cap is convergent contour shrink nozzle structure.
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| CN104400181B (en) * | 2014-12-02 | 2016-06-29 | 哈尔滨工业大学（威海） | Mariages underwater wet welding device and method |
| CN105958880B (en) * | 2016-03-11 | 2018-06-26 | 福州金笛声电子科技有限公司 | A kind of motor of rolling shutter door inverter control device |
| CN106944718A (en) * | 2017-03-31 | 2017-07-14 | 山东省科学院海洋仪器仪表研究所 | A kind of split submersible type source of welding current |
| CN107150160B (en) * | 2017-06-22 | 2022-07-26 | 华南理工大学 | Wide-adaptation multifunctional near-zero spattering welding robot system |
| CN109283363B (en) * | 2018-08-08 | 2020-12-11 | 国网辽宁省电力有限公司葫芦岛供电公司 | Transformer detection robot non-dismantling nondestructive injection device |
| CN110587070B (en) * | 2019-08-28 | 2023-09-29 | 华南理工大学 | Amphibious in-situ arc additive manufacturing equipment and method |
| CN113452255B (en) * | 2021-06-03 | 2022-08-19 | 江苏科技大学 | Split type multifunctional underwater arc welding power supply and working method thereof |
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