CN107214450A - The mobile welding robot wireless control system of fuel cell hybrid driving - Google Patents
The mobile welding robot wireless control system of fuel cell hybrid driving Download PDFInfo
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- CN107214450A CN107214450A CN201710437750.9A CN201710437750A CN107214450A CN 107214450 A CN107214450 A CN 107214450A CN 201710437750 A CN201710437750 A CN 201710437750A CN 107214450 A CN107214450 A CN 107214450A
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- fuel cell
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40174—Robot teleoperation through internet
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Fuel Cell (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to a kind of mobile welding robot wireless control system of fuel cell hybrid driving, the robot includes robot body module, welding torch position adjustment block, sensing scanning module, fuel cell hybrid power supply module and wireless digital control module, wireless digital control module includes STM32F104 chips and external circuit, described STM32F104 chips connect welding torch position adjustment block by external circuit respectively, sensing scanning module and robot body module, fuel cell hybrid power supply module is installed on below vehicle frame, welding torch position adjustment block is installed on directly over vehicle frame, the crosshead shoe of welding torch position adjustment block connects described sensing scanning module by aluminium sheet.Compared with prior art, the present invention has the advantages that remote-controlled regulation welding robot state, full-digital control, hybrid power driving improve welding flexibility and real time scan and tack weld position.
Description
Technical field
The present invention relates to mobile welding robot control system, driven more particularly, to a kind of fuel cell hybrid
Mobile welding robot wireless control system.
Background technology
Mobile welding robot is more and more extensive in the application of the fields such as Modern Shipbuilding, oil, machinery, chemical industry and space flight,
Such as carry out the field pair of large ship nacelle, deck, the welding of hull, the welding of large-size spherical tank and large-scale petroleum conveyance conduit
Operation, underwater operation etc. are connect, but mobile welding robot is generally carried out using battery as its power or cable power supply
Driving, and battery has the shortcomings that low power density, single charge time length, service life is short, volume weight is big, cable is supplied
Electricity is by cable length and ambient influnence, and these two aspects all significantly limit application of the mobile welding robot in above field.
In addition, common welding robot must be adjusted robot body and welding torch by artificial mode before weldering
Suitable pose is saved, this welding method needs to strengthen exchanging between equipment and operator, wasted to a certain extent
Financial resources and manpower and it can not meet the demand welded under complicated, severe welding surroundings.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of mixing of fuel cell
Power-actuated mobile welding robot wireless control system.In order to preferably solve the above problems, enable welding robot
More quick effective, stable and high automaticity weld task for going to perform under complex environment compares energy, it is necessary to study one kind
Height, the removable energy source and power of cruising time length, service life length, power needed for quick response mobile welding robot, and should
Mobile robot can find weld seam by wireless remote control, and carry out welding torch position and compared with position while welding, be sent out by controller
Position drive signal control welding torch is sent to reach state to be welded, it is to avoid substantial amounts of man-machine interaction.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of mobile welding robot wireless control system of fuel cell hybrid driving, the robot includes machine
Human body's module, welding torch position adjustment block, sensing scanning module and fuel cell hybrid power supply module, its feature exist
In described system also includes wireless digital control module, and described wireless digital control module connects welding torch position tune respectively
Module, sensing scanning module and robot body module are saved, described fuel cell hybrid power supply module connects nothing respectively
Line digital control module, robot body module, sensing scanning module and welding torch position adjustment block；
Sensing scanning module obtains the two-dimentional deviation information of weld seam, transmits to wireless digital control module, wireless digital control
Module controls welding torch position adjustment block and robot body module, and regulation robot body module reaches accurate welding position
Put.
Described wireless digital control module includes STM32F104 chips and external circuit, described STM32F104 chips
Connect welding torch position adjustment block, sensing scanning module and robot body module respectively by external circuit.
Described external circuit includes sensor signal filter unit, electric-motor drive unit and wireless transmit/receive units, described
Sensor signal filter unit connection sensing scanning module, described electric-motor drive unit connects welding torch position adjustments mould respectively
Block, sensing scanning module and robot body module.
Described electric-motor drive unit includes steering engine driver, stepper motor driver and DC servo motor driver.
Described sensing scanning module includes the steering wheel and laser displacement sensor being connected with each other, described steering engine driver
Connect steering wheel.
Described robot body module includes vehicle frame, driving wheel and preposition universal wheel, and described driving wheel is provided with straight
Flow brushless servo motor, described DC servo motor driver connection direct current brushless servo motor.
Described welding torch position adjustment block is included on crosshead shoe and the leading screw being connected with crosshead shoe, described leading screw
Provided with leading screw stepper motor, the described leading screw stepper motor of described stepper motor driver connection.
Described system also includes hand-held remote control device, described hand-held remote control device connection wireless transmit/receive units.
Described fuel cell hybrid power supply module includes fuel cell, lithium battery, DC/DC converters, described
Fuel cell and lithium battery connect DC/DC converters respectively, and described DC/DC converters connect wireless digital control mould respectively
Block, robot body module, sensing scanning module and welding torch position adjustment block, described STM32F104 chips connection DC/DC
Converter.
Described fuel cell hybrid power supply module is installed on below vehicle frame, described welding torch position adjustment block peace
Loaded on directly over vehicle frame, described crosshead shoe connects described sensing scanning module by aluminium sheet.
Compared with prior art, the present invention has advantages below：
1st, remote-controlled regulation welding robot state to be welded：The present invention passes through hand-held remote control device butt welding machine device before weldering
People carries out multifreedom controlling and adjusts the pose of oneself and reach state to be welded, so as to be greatly improved under complicated welding surroundings
The independence of welding；
2nd, full-digital control：Mobile welding robot of the present invention uses the control based on STM32F104 embeded processors
System processed realizes the full-digital control to robot multi-freedom, and realizes the high weld joint tracking control of complicated, real-time
Process processed；
3rd, hybrid power driving improves welding flexibility：The welding robot that the present invention solves traditional storage battery driving is deposited
Battery durable ability is poor, charging interval length and the problem of small energy density, using than can high, cruising time be long, use
The removable energy source and power of long lifespan, mobile welding robot uses the hybrid electric drive system generation of fuel cell and battery
For traditional cable, mutual supplement with each other's advantages between the two is realized, the power demand of welding robot is preferably met, gives full play to mixing
The efficiency of dynamical system, so as to substantially increase the flexibility of welding；
4th, real time scan and tack weld position：Mobile welding robot of the present invention uses the additional rudder of laser displacement sensor
The sensing scanning system that machine sweep mechanism is constituted realizes the real time scan to the positional information of weld seam, so that fast and effectively butt welding
Seam is detected and positioned.
Brief description of the drawings
Fig. 1 is present system structure chart；
Fig. 2 is welding robot Control system architecture block diagram；
Fig. 3 is weld joint tracking signal transacting and control schematic diagram；
Fig. 4 is fuel cell hybrid system architecture diagram；
Fig. 5 is the curent change curve of hybrid power system when SOC is 50%；
Fig. 6 is the curent change curve of hybrid power system when SOC is 70%；
Fig. 7 is the mobile welding robot structural representation that differential drives；
In figure：1st, fuel cell hybrid electric power system；2nd, crosshead shoe 3, stepper motor；4th, numerical control system；
5th, welding torch；6th, steering wheel；7th, laser displacement sensor；8th, universal wheel；9th, driving wheel；10th, robot main body system；11st, weld seam.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is a part of embodiment of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, the every other reality that those of ordinary skill in the art are obtained on the premise of creative work is not made
Example is applied, should all belong to the scope of protection of the invention.
Embodiment
The present invention relates to a kind of mobile welding robot wireless control system of fuel cell hybrid driving, including supply
Electric power subsystem, welding gun driving equipment, laser displacement sensor, master controller, crosshead shoe and robot body.It is described to supply
The hybrid power that electric power subsystem is made up of fuel cell, battery and energy management unit is constituted.The robot body
In two trailing wheels driven by two DC brushless motor differentials, preceding two-wheeled be auxiliary wheel.The crosshead shoe and welding gun driving equipment
It is connected with laser displacement sensor, fine tuning is carried out to the lateral deviation to welding torch.The laser displacement sensor utilizes steering wheel
The two-dimentional deviation information of weld seam is scanned, and position signalling is fed back into master controller.The master controller and welding gun driving equipment
Connection, described position while welding is reached based on the position signalling control welding gun driving equipment that laser displacement sensor feeds back.
As shown in figure 1, robot body is a set of wide 45cm of long 80cm stainless steel vehicle frame, two-wheeled is respectively by two after vehicle frame
Individual driven by Brush-Less DC motor is as driving wheel 9, and preceding two-wheeled is auxiliary wheel.Welding is realized using the differential operating of the driving wheel
The track motion of robot.The present invention is mainly included fuel cell based on fuel cell hybrid mobile welding robot and mixed
Power supply system 1, robot main body system 10, welding torch position regulating system, sensing scanning system and numerical control system 4.
The fuel cell hybrid system includes fuel cell, lithium battery, DC/DC converters and system controller.The machine
Human body's system includes the trailing wheel and two preposition universal wheels and vehicle frame by two driven by Brush-Less DC motor.The welding torch position
Put the crosshead shoe 2 that regulating system mainly drives comprising stepper motor 3.Described sensing scanning system includes steering wheel and laser position
Displacement sensor 7.The numerical control system includes STM32F104 main control chips, external circuit and wireless communication module.It is described
Fuel cell hybrid electric power system is located at the lower section of robot vehicle frame, is powered to each driver of robot and controller.Institute
Welding torch position regulating system is stated directly over robot automobile body, two leading screws connected by crosshead shoe enter to welding torch 5
Line position puts fine tuning.The sensing scanning system is connected by aluminium sheet and crosshead shoe 2, laser displacement sensor 7 and driving steering wheel
It is fixed on aluminium sheet, drives laser sensor to carry out the scanning of weld seam 11 using steering wheel 6 and obtain two-dimentional deviation information.Robot body
Rear under body two symmetrical universal wheels 8 are installed, universal wheel is arranged on rear under body, front of the car bottom by buckle
Two DC brushless motors are installed simultaneously, wheel is connected with DC brushless motor, while DC brushless motor drives with respective
Dynamic device connection.The numerical control system calculates motor by the use of STM32F104 as the information of main control chip processing welding lines
Adjustment frequency and dutycycle are so as to complete Weld Seam Tracking Control.Control system uses STM32F104 embeded processors, outside
Enclosing circuit mainly includes logic control circuit, sensor signal filter circuit, motor-drive circuit and the wireless receiving and dispatching of bottom
Module.The multi-faceted full-digital control of described numerical control system.
Welding torch position regulating system crosshead shoe driven by stepper motors is constituted.The crosshead shoe is fixed on bonding machine
On device human body's vehicle body cover, welding torch is connected with sensor with the crosshead shoe by aluminium sheet.The crosshead shoe is by two steps
Stepper motor drives leading screw to realize the fine setting of welding torch position.
Sensing scanning system is made up of laser displacement sensor and steering wheel.The laser displacement sensor is carried out using steering wheel
Scan control, so in welding process obtain weld seam two-dimentional deviation information.
Fig. 4 is fuel cell hybrid internal structure block diagram.Powersupply system passes through drive control device connecting welding
Robot body, described power supply unit includes main power source, accessory power supply and energy management unit, and described main power source is
Proton Exchange Membrane Fuel Cells, the accessory power supply is battery, and described fuel cell output end is become by Buck types DC/DC
Parallel operation is connected to drive control device, and described battery is parallel to Buck type DC/DC converter output terminals.In this dynamical system
In, by the use of fuel cell and lithium battery as power supply device, EMS is by controlling the power outputs of DC/DC converters
Energy is provided for motor, motor converts electrical energy into mechanical energy.It is wherein real using current-control type Buck converters
The control of existing fuel cell output current, its circuit parameter is that L=0.012H, C=0.0025F, switching frequency are 10kHz；Store
The capacity of battery is 10Ah, and the setting value of the state-of-charge of battery is 60%, and fuel cell rated power is 500W, specified
Voltage is 24V.Fuel cell and battery design parameter are shown in Table 1.Fuel cell is mixed when changing for proof load power demand
The energy distribution effects of dynamical system, increases the power demand of load end in T=2s, and keeps power invariability to T=6s,
T>Reduce power demand after 6s.
Fig. 5 is fuel cell hybrid system power change curve when the initial state-of-charge of battery is 50%.Work as storage
When the SOC dump energies of battery are less than its setting value 60%, in the startup stage of system, the power demand of system is supplied by battery
Give；After fuel cell enters steady-working state, the power demand of load is less than the peak power and battery of fuel cell
SOC be less than its setting value, pattern is operated alone in hybrid power system incoming fuel battery, and now battery is in charging shape
State；When load power demand increase, in load power demand increased moment, the power increasing part of load is supplied by battery
Give, because the power demand of load is more than the peak power of fuel cell, when fuel cell reaches the stable work of new power output
Make after state, hybrid drive system incoming fuel battery+battery joint drive pattern；When load power demand is decreased to less than
In the course of work of the maximum power output of fuel cell, system initially enters energy regenerating mould when load power demand changes
Formula, pattern is operated alone subsequently into fuel cell, and now battery is in charged state.
Fig. 6 is fuel cell hybrid system power change curve when battery original state is 70%.Work as battery
SOC be more than its setting value 60% when, pattern is operated alone into battery in hybrid power system；When load power demand increase
And more than the nominal discharge ability of battery, in load power demand increased moment, the power increasing part of load is by electric power storage
Pond is supplied, after fuel cell reaches new power output steady-working state, and hybrid drive system incoming fuel battery+
Battery combines drive pattern；When load power demand reduces, the SOC of battery is more than its setting value, hybrid power system
Energy recuperation mode is initially entered, the power of subsequent system is supplied separately to by battery, fuel cell is in holding state.
The fuel cell of table 1 and battery design parameter
Transducing signal processing and control in sensing scanning system is as shown in Figure 3.In welding process, laser displacement sensor
The real time scan groove section under the drive of rotation steering wheel, wherein laser displacement sensor use the ZX- that Omron Corp produces
LD40 laser displacement sensors, the sensor uses high-speed sampling, and sampling rate is 0.15ms, and resolution ratio is up to 2 μm.Laser position
Displacement sensor detects to scan the steering wheel displacement k corresponding in each scanning angle θ, at by coordinate transform, data
The two-dimentional deviation information of weld groove is can obtain after reason.By this deviation information feeding robot master controller, master controller according to
Weld Seam Tracking Control policy-driven crosshead shoe is to the bias adjustment on welding torch progress height, left and right directions.If now laterally
Deviation is larger, at this moment also needs to that the pose of mobile welding robot body is adjusted simultaneously so that deviation is controlled certain
Within the scope of.
The mobile welding robot structural representation of differential driving is illustrated in figure 7, two trailing wheels are respectively by two motor differences
Speed driving, preceding two-wheeled is auxiliary wheel；Two stepper motors drive transverse direction and the regulation of height direction of welding torch respectively；Welding torch is installed on
Robot body side.AXY, BX1Y1 are respectively such as Fig. 3 global coordinate systems set up and moving coordinate system.Mobile welding
The barycenter of device human body is C points, welding torch in W points, positioned at mobile welding robot body S points for crosshead shoe.
The accurate reality of weld seam is realized in the joint regulation of mobile welding robot body and crosshead shoe, both coordination control
When track, Sliding mode variable structure control is applied in the coordination control of robot body and crosshead shoe, sets up and is based on dynamics
The Sliding Mode Controller of robot body and crosshead shoe the joint regulation weld seam deviation of model.Two drivings being operated alone
Wheel carries out the coarse adjustment of lateral deviation, and crosshead shoe carries out fine tuning, and the lateral deviation control slide block of welding torch is moved left and right, and eliminates inclined
Difference.When the deviation of transverse slider is less than setting value, transverse slider individually carries out bias adjustment, the linear speed that two driving wheels have been set
Degree remains a constant speed straight trip, when transverse slider deviation is more than setting value and mobile welding robot body azimuth reaches certain value
When, two driving wheels and transverse slider joint participate in bias adjustment.Crosshead shoe uses the proportion adjustment strategy with dead band threshold values.Keep away
Exempt to oscillate about in little deviation, the lateral deviation of welding torch is less than certain value, and sliding block is failure to actuate, and deviation is more than certain value, sliding block
It is adjusted by the bound deviation of default.
The present invention Control system architecture block diagram as shown in Fig. 2 STM32F104 chips as whole control system core
The heart, is responsible for the processing and computing of all information during weld joint tracking, while according to the output control crosshead shoe of processing, moving
Mobile robot body and the motion for scanning steering wheel.The present invention is entered using encoder to the rotating speed of two direct current brushless servo motors
Row measurement, and measured value and actual value are carried out by real time correction using correcting algorithm, so as to meet the requirement of the stability of a system.Institute
The fuel cell hybrid power-supply system stated is respectively that control system and drive system provide different grades of voltage.In order to full
The foot present invention is under complicated, severe welding surroundings, and the present invention carries out machine using wireless communication module using hand-held remote control device
The pose adjustment of device people simultaneously makes up to state to be welded, greatly reduces the danger of operating personnel.In order to improve whole control
The reliability and response speed of system, drive system part employs special driver.
The embodiment of the mobile welding robot system of fuel cell hybrid driving can not only be realized pair
Real-time, the high precision tracking of weld seam, meet the requirement of tracking error, and can pass through fuel battery power outgoing management strategy
The rational energy distribution of hybrid power system is realized with accumulator cell charging and discharging management strategy, both advantages are had concurrently while making up each
From deficiency, improve capacity usage ratio, fast-start performance, stability, increase the service life.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, various equivalent modifications can be readily occurred in or replaced
Change, these modifications or substitutions should be all included within the scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection domain be defined.
Claims (10)
1. a kind of mobile welding robot wireless control system of fuel cell hybrid driving, the robot includes robot
Body module, welding torch position adjustment block, sensing scanning module and fuel cell hybrid power supply module, it is characterised in that
Described system also includes wireless digital control module, and described wireless digital control module connects welding torch position adjustments mould respectively
Block, sensing scanning module and robot body module, described fuel cell hybrid power supply module connect no line number respectively
Word control module, robot body module, sensing scanning module and welding torch position adjustment block；
Sensing scanning module obtains the two-dimentional deviation information of weld seam (11), transmits to wireless digital control module, wireless digital control
Module controls welding torch position adjustment block and robot body module, and regulation robot body module reaches accurate welding position
Put.
2. a kind of mobile welding robot controlled in wireless system of fuel cell hybrid driving according to claim 1
System, it is characterised in that described wireless digital control module includes STM32F104 chips and external circuit, described
STM32F104 chips connect welding torch position adjustment block, sensing scanning module and robot body mould by external circuit respectively
Block.
3. a kind of mobile welding robot controlled in wireless system of fuel cell hybrid driving according to claim 2
System, it is characterised in that described external circuit includes sensor signal filter unit, electric-motor drive unit and wireless receiving and dispatching list
Member, described sensor signal filter unit connection sensing scanning module, described electric-motor drive unit connects welding torch position respectively
Put adjustment module, sensing scanning module and robot body module.
4. a kind of mobile welding robot controlled in wireless system of fuel cell hybrid driving according to claim 3
System, it is characterised in that described electric-motor drive unit includes steering engine driver, stepper motor driver and DC servo motor and driven
Dynamic device.
5. a kind of mobile welding robot controlled in wireless system of fuel cell hybrid driving according to claim 4
System, it is characterised in that described sensing scanning module includes the steering wheel and laser displacement sensor (7) being connected with each other, described
Steering engine driver connects steering wheel.
6. a kind of mobile welding robot controlled in wireless system of fuel cell hybrid driving according to claim 4
System, it is characterised in that described robot body module includes vehicle frame, driving wheel (9) and preposition universal wheel, described driving wheel
(9) direct current brushless servo motor, described DC servo motor driver connection direct current brushless servo motor are provided with.
7. a kind of mobile welding robot controlled in wireless system of fuel cell hybrid driving according to claim 4
System, it is characterised in that described welding torch position adjustment block includes crosshead shoe (2) and the leading screw being connected with crosshead shoe, institute
The leading screw stated is provided with leading screw stepper motor, the described leading screw stepper motor of described stepper motor driver connection.
8. a kind of mobile welding robot controlled in wireless system of fuel cell hybrid driving according to claim 3
System, it is characterised in that described system also includes hand-held remote control device, described hand-held remote control device connection wireless receiving and dispatching list
Member.
9. a kind of mobile welding robot controlled in wireless system of fuel cell hybrid driving according to claim 2
System, it is characterised in that described fuel cell hybrid power supply module includes fuel cell, lithium battery, DC/DC converters,
Described fuel cell and lithium battery connect DC/DC converters respectively, and described DC/DC converters connect wireless digital control respectively
Molding block, robot body module, sensing scanning module and welding torch position adjustment block, described STM32F104 chips connection
DC/DC converters.
10. a kind of mobile welding robot controlled in wireless system of fuel cell hybrid driving according to claim 7
System, it is characterised in that described fuel cell hybrid power supply module is installed on below vehicle frame, described welding torch position adjustments
Module is installed on directly over vehicle frame, and described crosshead shoe (2) connects described sensing scanning module by aluminium sheet.
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| CN201710437750.9A CN107214450A (en) | 2017-06-12 | 2017-06-12 | The mobile welding robot wireless control system of fuel cell hybrid driving |
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| CN201710437750.9A CN107214450A (en) | 2017-06-12 | 2017-06-12 | The mobile welding robot wireless control system of fuel cell hybrid driving |
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| CN113714587A (en) * | 2021-08-12 | 2021-11-30 | 中国核电工程有限公司 | Welding gun, welding device and system |
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