CN107150160A - It is wide to adapt to multi-functional nearly zero splashing welding robot system - Google Patents
It is wide to adapt to multi-functional nearly zero splashing welding robot system Download PDFInfo
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- CN107150160A CN107150160A CN201710479331.1A CN201710479331A CN107150160A CN 107150160 A CN107150160 A CN 107150160A CN 201710479331 A CN201710479331 A CN 201710479331A CN 107150160 A CN107150160 A CN 107150160A
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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
- B23K9/16—Arc welding or cutting making use of shielding gas
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention discloses the wide multi-functional nearly zero splashing welding robot system of adaptation of one kind, including robot body, the source of welding current, wire-feed motor, computer, CAN network collaborative controller, robot welding torch, feeder and cooling device, computer connects CAN network collaborative controller, and robot body, the source of welding current, wire-feed motor, robot welding torch, feeder and cooling device are connected with CAN network collaborative controller；The source of welding current includes main circuit and control circuit；Main circuit includes three phase rectifier filtration module, SiC inverter circuits, UHF Power transformer and SiC hyperfrequency rectifying and wave-filtering output circuits.The present invention can be not only used for the welding of DC constant voltage characteristic, it can also be used for the welding of the random waveforms such as pulse, dipulse, intermediate value pulse, the welding of low-and high-frequency assembled pulse is can be used for, the permanent energy mode welding of arc length can also be become, can additionally coordinate wire feed system to enter the welding of horizontal pulse wire feeding mode.
Description
Technical field
The present invention relates to Technology of Welding Robot field, more particularly to the wide multi-functional nearly zero splashing welding robot system of adaptation
System.
Background technology
Counted according to Chinese welding association, China's welding robot relies primarily on import, and the price of import welding robot
It is extremely expensive, and after-sale service is not good.About 33% import welding robot has that more serious " water and soil is not in use
Clothes " situation, this provides development space for the rapid promotion and application for the welding robot that domesticizes.Wherein, gas shield welding technique exists
It is widely used in robot welding.It is general to use inert gas or argon-rich gas shielded, profit to improve welding efficiency and quality
Spray transfer is realized with larger welding current；Although hardly occurring short circuit in the droplet transfer, electric arc is longer, stably
Property reduction so that electric arc is easy to shift because of the influence of arc blow, undercut and stomata occurs, and burning loss of alloy is serious,
Heat affected area is also relatively wide.In theory, reduction voltage, shortening arc length can improve this situation, but this can cause short-circuit conditions
Appearance.The response of traditional welding robot system power supply-Arc System and governing speed are slower, it is difficult in short-circuit disconnection
The instantaneous growth rate and input energy of moment accurate control electric current before reaching normal arc voltage afterwards, it is prone to which short circuit is quick-fried
It is disconnected, cause larger splashing.With industry manufacture lightweight, Strengthening and Toughening, the trend of precise treatment, alloy in lightweight, clad steel sheet,
The robot high-speed superior welding of the materials such as high-strength steel sheet turns into the research emphasis of industry field, not only to ensure welding
The stabilization of process, also to reduce heat input as far as possible needs further to reduce spatter to improve to reduce thermal deformation, especially
Production efficiency.Traditional robot welding system is difficult to take into account low spatter, high speed, low deformation, the need of low_input_power welding procedure
Ask.
The content of the invention
In order to overcome the shortcoming and deficiency that prior art is present, a kind of wide adaptation multi-functional nearly zero of offer of the invention, which is splashed, welds
Welding robot system, the Sofe Switch source of welding current, the digital association based on bus are controlled using advanced totally digitilized time-varying characteristics
With control technology and accurate Digitized Closed Loop wire feeder, using fuzzy waveform control strategy, pass through digital integration and net
Network is cooperateed with, and is realized monofilament/multiple-wire welding, high energy efficiency conversion and is obtained nearly zero splashing, low_input_power, high-quality and efficient welding effect
Really.
In order to solve the above technical problems, the present invention provides following technical scheme：A kind of wide adaptation multi-functional nearly zero, which is splashed, welds
Welding robot system, including the weldering of robot body, the source of welding current, wire-feed motor, computer, CAN network collaborative controller, robot
Torch, feeder and cooling device, the computer connect the CAN network collaborative controller, the robot body, weldering
Power supply, wire-feed motor, robot welding torch, feeder and cooling device is connect to be connected with the CAN network collaborative controller；Its
In
The computer is used to control the whole wide multi-functional nearly zero splashing welding robot system of adaptation；
The source of welding current is used for the whole wide welding electricity for adapting to multi-functional nearly zero splashing welding robot system
Arc provides the energy；
The CAN network collaborative controller is used for each part of connecting welding robot system, realizes between each several part
Be in communication with each other and cooperate；
The robot body is used to perform weld job, controls described each axle synthetic operation of robot, it is ensured that welding torch
Realize corresponding welding pose action；
The wire-feed motor is used for forward and reverse, constant-speed wire-feeding, alternate wire-feed and the pulsed wire feeding for realizing wire feed direction
Function；
The robot welding torch is used to guide welding wire to the supply of welding position, control welding wire and protective gas, and
The transition of fusing and fusing metal for welding wire provides gas shield；
The feeder is used to provide all kinds of protective gas for welding；
The cooling device is used to provide cooling effect for robot welding torch, workpiece and the source of welding current.
Further, the source of welding current includes main circuit and control circuit.
It is super that the main circuit includes three phase rectifier filtration module, SiC inverter circuits, UHF Power transformer and SiC
Filtering high-frequency rectifier output circuit；It is smooth direct current that the three phase rectifier filtration module, which is used for three-phase alternating current rectifying and wave-filtering,
Electricity, the SiC inverter circuits are used for the high-frequency ac square wave that direct current is modulated into high voltage, low current, the hyperfrequency work(
Rate transformer is used for before and after isolating transformer circuit and modulates the high-frequency ac square wave of low-voltage, high current, the SiC superelevation
Frequency rectifying and wave-filtering output circuit is used for high-frequency ac square wave rectifying and wave-filtering into the direct current needed for welding.
The control circuit includes current feedback module, voltage feedback module, digitizing tablet, DSC controllers, SiC superelevation
Frequency drive module, switching value module, control power supply module and abnormality detection protection circuit；The current feedback module is used to adopt
The welding current of sample output simultaneously feeds back to described DSC controllers progress PID regulation completion constant current output controls；The voltage is anti-
Feedback module is used to export weldingvoltage and feed back to the DSC controllers to carry out PID regulation completion constant pressure output controls；The number
Literal plate is used to complete welding parameter setting, the real-time acquisition testing of welding current voltage and display, and the source of welding current is carried out
Information data it is shared with it is digital control；The DSC controllers are used for preset value and current feedback mould according to the digitizing tablet
The electric current and magnitude of voltage that block, voltage feedback module are provided produce suitable digital PWM signal；The SiC hyperfrequencies drive module
For driving opening and turning off for SiC power tubes in main circuit；The switching value module is used to export the DSC controllers generation
Switching signal；The control power supply module is used to provide working power to each module of the control circuit；The abnormal inspection
Surveying protection circuit is used to the working condition of the source of welding current is carried out to monitor in real time to judge and protect.
Further, the main circuit includes full-bridge circuit, capacitance Cb, pulsactor Ls, current transformer T, SiC
Rectification module, output reactance device Lf and load R0；The full-bridge circuit passes through capacitance Cb and pulsactor Ls in parallel
Connect the current transformer T, the output reactance device Lf and load R0 connect and connect the SiC rectification modules, the SiC
Rectification module connects the current transformer T.
Further, the DSC controllers include microprocessor U1, low pressure difference linearity power module of voltage regulation, external clock
Circuit and JTAG debugging circuit；The microprocessor U1 is equal for producing multichannel pulsewidth, dutycycle, dead time and phase
Can soft readjustment digital PWM signal；The low pressure difference linearity power module of voltage regulation include voltage-stablizer, input filter capacitor C14,
C15 and output filter capacitor C16, C17；The outer clock circuit includes quartz crystal Y1, electric capacity C2, C3 and resistance
R1；The JTAG debugging circuit includes interface JTAG and resistance R8, R2, R3, R4, R5.
Further, the control power supply module includes filtering surge limiting circuit, current rectifying and wave filtering circuit, inverse-excitation converting
Device, drive circuit and some Voltage stabilizing modules；The anti exciting converter be used in the case of net voltage fluctuation it is stable realize 2 tunnels+
12V, 2 tunnel -12V and 3 tunnel+5V direct current output.
Further, the digitizing tablet includes DSC minimum systems, feedback circuit, orthogonal encoder, button, LED numbers
Pipe, drive circuit and LED light；The feedback circuit, orthogonal encoder, button, LED charactrons, drive circuit and
LED light is all connected with the DSC minimum systems.
Further, the wire-feed motor includes DSC control systems, MOSFET drive circuits, current rectifying and wave filtering circuit, motor drive
Dynamic circuit, motor load, feedback circuit and abnormal detection circuit；Wherein, the abnormal detection circuit, DSC control systems,
MOSFET drive circuits, motor-drive circuit, motor load and feedback circuit are sequentially connected, the current rectifying and wave filtering circuit connection
The motor-drive circuit, the feedback circuit connects the DSC control systems.
Further, the CAN network collaborative controller includes isolated can communication interface chip；The isolated can communication
Interface chip is as CAN communication transceiver, the mutual conversion for completing differential signal and binary signal.
Further, the robot body uses general industry mechanical arm or special electroplating equipment wielding machine arm, described
Robot welding torch uses general-purpose machines people's welding torch, and the feeder uses general welding protection gas feeder, institute
State cooling device and use industrial refrigerating plant.
After adopting the above technical scheme, the present invention at least has the advantages that：
(1) welding procedure better quality：The reverse frequency of the source of welding current of the present invention, more than 200KHz, is existing IGBT inversions
More than ten times of formula Arc Welding Power, complete machine possesses more excellent dynamic characteristic, it is possible to achieve the segmentation classification of welding arc is finely set
Meter and in real time control, the cooperation with wire feed system are also more harmonious, and the dynamic regulation of welding procedure is more sensitive quick；
(2) capacity usage ratio is higher：All power devices of the present invention are using SiC device of new generation so that switching loss
It is few, the existing IGBT sources of welding current energy-conservation 10% or so of Energy Efficiency Ratio；Meanwhile, pass through the real-time of current-voltage waveform and wire feed state
Cooperate with to reduce the input of gross energy, can not only reduce splashing and deform, moreover it is possible to lifting process process energy conservation effect；
(3) reliability is higher：The power device of the present invention is the SiC device of a new generation, is had more than IGBT power device
Good heat tolerance and pressure-resistant performance, forbidden band scope is wide, and Reverse recovery effect is not present in devices switch process, and reliability is easier to
It is protected.
Brief description of the drawings
Fig. 1 is the wide structural representation for adapting to multi-functional nearly zero splashing welding robot system of the present invention；
Fig. 2 is the structural representation of the wide source of welding current for adapting to multi-functional nearly zero splashing welding robot system of the present invention；
Fig. 3 is the equivalent topologies figure of the wide main circuit for adapting to multi-functional nearly zero splashing welding robot system of the present invention；
Fig. 4 shows for the circuit structure of the wide DSC controllers for adapting to multi-functional nearly zero splashing welding robot system of the present invention
It is intended to；
Fig. 5 is the wide structural frames for controlling power supply module for adapting to multi-functional nearly zero splashing welding robot system of the present invention
Figure；
Fig. 6 is the structural representation of the wide digitizing tablet for adapting to multi-functional nearly zero splashing welding robot system of the present invention；
Fig. 7 is the electricity of the wide CAN network collaborative controller for adapting to multi-functional nearly zero splashing welding robot system of the present invention
Lu Tu；
Fig. 8 illustrates for the electrical principle of the wide wire-feed motor for adapting to multi-functional nearly zero splashing welding robot system of the present invention
Figure.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combine, the application is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
The present invention can be achieved through the following technical solutions：A kind of wide multi-functional nearly zero splashing welding robot system of adaptation,
Including robot body, the source of welding current, wire-feed motor, computer based CAN network collaborative controller, robot welding torch and confession
The slave parts such as gas, cooling device are constituted, as shown in Figure 1.The robot body can use general industry mechanical arm,
Special electroplating equipment wielding machine arm can be used；The robot welding torch can use general-purpose machines people's welding torch.The feeder
For general welding protection gas feeder, predominantly welding provides all kinds of protective gas, and protective gas includes argon gas, CO2、
Or argon gas and CO2The common welding protection gas such as gaseous mixture.The cooling device is industrial refrigerating plant, predominantly robot
Welding torch, workpiece, source of welding current etc. provide cooling effect.Multi-functional nearly zero splashing welding robot system not only can be with
For gas metal-arc welding, silk filling/non-silk filling argon arc welding can be used for.Multi-functional nearly zero splashing welding robot
System can be used for monofilament welding, can be used for double wire welding；When using monofilament welding, it is only necessary to a digital welding
Power supply and a set of digitlization wire-feed motor；When using double wire welding, it can both be welded with congruent melting pond, can also the welding of non-co- molten bath.
Multi-functional nearly zero splashing welding robot system can be used for the welding of DC constant voltage characteristic, can be used for pulse, double
The random waveforms such as pulse, intermediate value pulse are welded, and can be used for the welding of low-and high-frequency assembled pulse, can also become the permanent energy mode of arc length
Welding, can also coordinate wire feed system to enter the welding of horizontal pulse wire feeding mode.
As shown in Fig. 2 the source of welding current mainly includes main circuit and control circuit.The main circuit mainly includes three-phase
Rectification filtering module, SiC inverter circuits, UHF Power transformer, SiC hyperfrequency rectifying and wave-filterings output circuit composition；It is described
Control circuit includes current feedback circuit, voltage feedback circuit, digitizing tablet, DSC controllers, SiC hyperfrequencies drive module, opened
Pass amount module, the control composition such as power supply module and abnormality detection protection circuit.
It is illustrated in figure 3 the equivalent topologies structural representation of the source of welding current main circuit.Q1-Q4 is four SiC power
Pipe, D1-D4 is the parasitic diode of four power tubes, constitutes a full-bridge circuit；C1 and C2 is switching tube Q1 in advanced arm
With Q2 switching tube parasitic capacitance and external capacitor sum；Cb is capacitance, and Ls is pulsactor；Lf is output reactance
Device, R0 is the load of full-bridge topology circuit；R, C are snubber resistance and electric capacity；D5-D6 is SiC rectification modules.In the change of current
Journey, the power switch pipe of advanced arm and lagging leg is simultaneously open-minded；Due to capacitance Cb addition so that the circulation of commutation course
Accelerate decay, it is ensured that lagging leg realizes zero-current switching；And pulsactor Ls can suppress raising speed in primary side current of transformer
Degree so that lagging leg realizes zero current turning-on.
As shown in figure 4, DSC controllers mainly include DSC grades ARM microprocessor STM32F405RGT6 microprocessors U1,
The low pressure difference linearity power module of voltage regulation that is made up of AMS1117 (U2) and its peripheral circuit, it is made up of Y1, C1-C2 and R1
Outer clock circuit, the external reset circuit being made up of S1, C1, R7 and the JTAG debugging being made up of R2-R5, R8 and CN1
Circuit etc. is constituted.DSC microprocessors can produce multichannel pulsewidth, duty according to power switch pipe work schedule and logical relation
Than, dead time and phase can soft readjustment digital PWM signal；The DSC microprocessors embedded corresponding electric current-
Voltage double-closed-loop control algorithm, it is possible to achieve constant pressure, constant current, variable slope characteristic and multi-ladder Characteristics Control and be segmented energy more
The functions such as amount control.
As shown in figure 5, described control power supply module using the anti exciting converter of multiple-channel output as core, it is main to include filtering wave
The composition such as limiting circuit, current rectifying and wave filtering circuit, anti exciting converter, drive circuit and Voltage stabilizing module 1-6 is gushed, can be very wide
The stable direct current output for realizing 2 tunnel+12V, 2 tunnel -12V and 3 tunnel+5V in change range of input voltage, to net voltage fluctuation
Adaptability is good, further improves the reliability of control system.
The digitizing tablet can be panel or the industrial control touch screen system of charactron+digital keys pattern
System.This sentences and is introduced based on the man-machine interaction panel of charactron+digital keys pattern.As shown in fig. 6, it mainly includes
DSC minimum systems, feedback circuit, orthogonal encoder, button, LED charactrons, drive circuit, LED light etc. are constituted；Button,
LED and charactron are connected with DSC GPIO modules, and LED and Nixie tube drive circuit are extended using 74HC595 and ULN2003
The electric current of I/O port and amplification LED and charactron, it is ensured that enough display brightness；The digitizing tablet completes welding parameter setting, weldering
Connect the real-time acquisition testing of Current Voltage and display and information data is carried out by CAN BUS networks and source of welding current etc. be total to
Enjoy with it is digital control.
As shown in fig. 7, the CAN interface circuit has used a CAN2.0A communications peripheral of DSC microprocessors, use
Chip Transistor-Transistor Logic level is converted into the differential level signal needed for CAN communication by ISO1050 isolated cans communication interface chip so that be
All it is not electrically connected between the unit control circuit of system, interferes the level of being preferably minimized, system operation is more stablized.
As shown in figure 8, the wire-feed motor is digital bridge-type chopper-type closed-loop control wire-feed motor.It mainly includes DSC and controlled
System processed, MOSFET drive circuits, motor-drive circuit, current rectifying and wave filtering circuit, feedback circuit, motor equivalent load, abnormal inspection
The auxiliary member such as slowdown monitoring circuit and pinch wheels, fixed support is constituted.Motor-drive circuit is the bridge-type chopper circuit that PWM is controlled；Adopt
With cores of the DSC based on Cortex-M4 kernels as wire-feed motor control system, realize the regulating and controlling of digital PWM, various interrupt letter
Number processing, the analog-to-digital conversion of feedback signal and the digital communication based on CAN module.Electricity is delivered to after the rectified filtering of alternating current
Drive circuit, DSC output pwm signals, motor drives electricity after the isolation of MOSFET drive circuits and power amplification
The MOSFET on road, so that the output of controlled motor drive circuit.Feedback circuit detects the voltage of motor load and fed back in real time
MCU ADC sample ports, adjust PWM pulsewidths so as to controlled motor rotating speed after AD conversion and PID arithmetic.If wire-feed motor
Output abnormality protection signal is closed PWM outputs by the abnormal conditions such as generation stall, overheat, abnormal detection circuit, realizes that motor is protected
Shield.The wire-feed motor can realize a variety of work(such as rotating forward, reversion, constant-speed wire-feeding, alternate wire-feed, pulsed wire feeding by software programming
Energy.
The basic principle of innovative design of the present invention is：Using based on SOC grades of high speed DSC all-digitized demodulators technologies and high-power
The high performance digital source of welding current of SiC hyperfrequency soft-switching inversion technique constructions；Develop the digital bridge-type copped wave based on DSC
Type closed loop wire feed system；Accurate man-machine interaction is realized using digitizing tablet；Design the digital Collaborative Control based on CAN 2.0
Network；Based on industrial machine human body, the digital integrated of welding robot system is realized using high-speed CAN bus.
On the basis of this, using multiple waveforms precision control strategy, current-voltage waveform and wire feed process are organically combined, so as to accurately control
Molten drop growth processed and transient process, reach high-speed welding, nearly zero technological effect splashed.
The present invention operation principle be：Three-phase/single-phase alternating current passes through inverter bridge through full-bridge rectifier filter formation direct current
SiC power switch pipes hyperfrequency switch, be converted into more than 200KHz high-frequency ac square-wave pulse, it is high through power transformer
Smooth by fast recovery rectifiers such as SiC fast recovery rectifier diodes, reactors after frequency conversion isolation is the direct current for being suitable for welding arc
Source.Described electric current and voltage feedback circuit is mainly used in the electric current and voltage waveform of detection source of welding current output in real time, and carries
Supply DSC controllers；The digitizing tablet mainly realizes the human-computer interaction functions such as the default of technological parameter, the display of state；Institute
State the main preset value according to digitizing tablet of DSC controllers and produce suitable numeral with the Current Voltage value that feedback module is provided
Pwm signal, and by SiC high-frequency drive modules it is converted into being adapted to the PWM drive signal of SiC power switch pipes, realize hyperfrequency
Driving modulation, the precision current voltage waveform needed for obtaining；The wire-feed motor realizes accurate wire feed direction, speed and positive and negative fortune
The control of row state；In welding process, robot, the source of welding current, wire-feed motor etc. carry out high-speed figure association by CAN network
Together, it is ensured that source of welding current output waveform and the organic cooperation of wire feed state when welding process welding gun is in different station, realize
Wire feed state cooperate with the high speed of output current voltage waveform during the change of different welding post arc length, accurate control molten drop grow with
The power and heat of transient process, reduce the splashing in short arc length and long arc length welding process, improve welding production efficiency.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understand, can carry out a variety of equivalent changes to these embodiments without departing from the principles and spirit of the present invention
Change, change, replace and modification, the scope of the present invention is limited by appended claims and its equivalency range.
Claims (9)
1. a kind of wide multi-functional nearly zero splashing welding robot system of adaptation, it is characterised in that including robot body, welding electricity
Source, wire-feed motor, computer, CAN network collaborative controller, robot welding torch, feeder and cooling device, the computer
Connect the CAN network collaborative controller, the robot body, the source of welding current, wire-feed motor, robot welding torch, feeder
And cooling device is connected with the CAN network collaborative controller；Wherein
The computer is used to control the whole wide multi-functional nearly zero splashing welding robot system of adaptation；
The source of welding current is used to carry to the whole wide welding arc for adapting to multi-functional nearly zero splashing welding robot system
Energy supply source；
The CAN network collaborative controller is used for each part of connecting welding robot system, realizes the phase between each several part
Mutual communication and collaborative work；
The robot body is used to perform weld job, controls described each axle synthetic operation of robot, it is ensured that welding torch is realized
Corresponding welding pose action；
The wire-feed motor is used for forward and reverse, constant-speed wire-feeding, alternate wire-feed and the pulsed wire feeding function for realizing wire feed direction；
The robot welding torch is used to guide welding wire to the supply of welding position, control welding wire and protective gas, and is weldering
The fusing of silk and the transition of fusing metal provide gas shield；
The feeder is used to provide all kinds of protective gas for welding；
The cooling device is used to provide cooling effect for robot welding torch, workpiece and the source of welding current.
2. the wide multi-functional nearly zero splashing welding robot system of adaptation as claimed in claim 1, it is characterised in that the welding
Power supply includes main circuit and control circuit.
The main circuit includes three phase rectifier filtration module, SiC inverter circuits, UHF Power transformer and SiC hyperfrequencies
Rectifying and wave-filtering output circuit；It is smooth direct current that the three phase rectifier filtration module, which is used for three-phase alternating current rectifying and wave-filtering,
The SiC inverter circuits are used for the high-frequency ac square wave that direct current is modulated into high voltage, low current, and the UHF Power becomes
Depressor is used for before and after isolating transformer circuit and modulates the high-frequency ac square wave of low-voltage, high current, and the SiC hyperfrequencies are whole
Stream filtering output circuit is used for high-frequency ac square wave rectifying and wave-filtering into the direct current needed for welding.
The control circuit includes current feedback module, voltage feedback module, digitizing tablet, DSC controllers, SiC hyperfrequencies and driven
Dynamic model block, switching value module, control power supply module and abnormality detection protection circuit；The current feedback module is defeated for sampling
The welding current that goes out simultaneously feeds back to described DSC controllers and carries out PID regulations and complete constant current output control；The Voltage Feedback mould
Block is used to export weldingvoltage and feed back to the DSC controllers to carry out PID regulation completion constant pressure output controls；The digital face
Plate is used to complete welding parameter setting, the real-time acquisition testing of welding current voltage and display, and the source of welding current enters row information
Data sharing with it is digital control；The DSC controllers are used for preset value and current feedback module, electricity according to the digitizing tablet
Electric current and magnitude of voltage that feedback module is provided is pressed to produce suitable digital PWM signal；The SiC hyperfrequencies drive module is used to drive
SiC power tubes opening and turning off in dynamic main circuit；The switching value module is used to export the switch that the DSC controllers are produced
Signal；The control power supply module is used to provide working power to each module of the control circuit；The abnormality detection protection
Circuit is used to carry out the working condition of the source of welding current monitoring judgement in real time and protected.
3. the wide multi-functional nearly zero splashing welding robot system of adaptation as claimed in claim 2, it is characterised in that the main electricity
Road include full-bridge circuit, capacitance Cb, pulsactor Ls, current transformer T, SiC rectification module, output reactance device Lf and
Load R0；The full-bridge circuit is described defeated by the capacitance Cb in parallel and pulsactor Ls connections current transformer T
Go out reactor Lf and load R0 to connect and connect the SiC rectification modules, the SiC rectification modules connect the current transformer
T。
4. the wide multi-functional nearly zero splashing welding robot system of adaptation as claimed in claim 2, it is characterised in that the DSC
Controller includes microprocessor U1, low pressure difference linearity power module of voltage regulation, outer clock circuit and JTAG debugging circuit；It is described
Microprocessor U1 be used for produce multichannel pulsewidth, dutycycle, dead time and phase can soft readjustment digital PWM signal；
The low pressure difference linearity power module of voltage regulation include voltage-stablizer, input filter capacitor C14, C15 and output filter capacitor C16,
C17；The outer clock circuit includes quartz crystal Y1, electric capacity C2, C3 and resistance R1；The JTAG debugging circuit includes connecing
Mouth JTAG and resistance R8, R2, R3, R4, R5.
5. the wide multi-functional nearly zero splashing welding robot system of adaptation as claimed in claim 2, it is characterised in that the control
Power supply module includes filtering surge limiting circuit, current rectifying and wave filtering circuit, anti exciting converter, drive circuit and some voltage stabilizing moulds
Block；The anti exciting converter is used for the stable direct current for realizing 2 tunnel+12V, 2 tunnel -12V and 3 tunnel+5V in the case of net voltage fluctuation
Output.
6. the wide multi-functional nearly zero splashing welding robot system of adaptation as claimed in claim 2, it is characterised in that the numeral
Panel includes DSC minimum systems, feedback circuit, orthogonal encoder, button, LED charactrons, drive circuit and LED light；
It is minimum that the feedback circuit, orthogonal encoder, button, LED charactrons, drive circuit and LED light are all connected with the DSC
System.
7. the wide multi-functional nearly zero splashing welding robot system of adaptation as claimed in claim 1, it is characterised in that the wire feed
Machine includes DSC control systems, MOSFET drive circuits, current rectifying and wave filtering circuit, motor-drive circuit, motor load, feedback circuit
And abnormal detection circuit；Wherein, the abnormal detection circuit, DSC control systems, MOSFET drive circuits, motor driving electricity
Road, motor load and feedback circuit are sequentially connected, and the current rectifying and wave filtering circuit connects the motor-drive circuit, the feedback
Circuit connects the DSC control systems.
8. the wide multi-functional nearly zero splashing welding robot system of adaptation as claimed in claim 1, it is characterised in that the CAN
Network cooperating controller includes isolated can communication interface chip；The isolated can communication interface chip is received and dispatched as CAN communication
Device, the mutual conversion for completing differential signal and binary signal.
9. the wide multi-functional nearly zero splashing welding robot system of adaptation as claimed in claim 1, it is characterised in that the machine
Human body uses general industry mechanical arm or special electroplating equipment wielding machine arm, and the robot welding torch uses general-purpose machines people
Welding torch, the feeder uses general welding protection gas feeder, and the cooling device uses industrial refrigerating plant.
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| CN107150160B (en) | 2022-07-26 |
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