CN109551140B - Movable welding robot for superconducting welding - Google Patents
Movable welding robot for superconducting welding Download PDFInfo
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- CN109551140B CN109551140B CN201811563533.5A CN201811563533A CN109551140B CN 109551140 B CN109551140 B CN 109551140B CN 201811563533 A CN201811563533 A CN 201811563533A CN 109551140 B CN109551140 B CN 109551140B
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- 238000003466 welding Methods 0.000 title claims abstract description 117
- 238000001816 cooling Methods 0.000 claims abstract description 32
- 238000010438 heat treatment Methods 0.000 claims abstract description 32
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 239000000498 cooling water Substances 0.000 claims description 4
- 239000000835 fiber Substances 0.000 claims description 2
- 230000009467 reduction Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 229910000679 solder Inorganic materials 0.000 description 6
- 230000004907 flux Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000005476 soldering Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 239000004593 Epoxy Substances 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000003303 reheating Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- 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
- B25J11/005—Manipulators for mechanical processing tasks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The embodiment of the application discloses a movable welding robot for superconducting welding, which comprises the following components: the vehicle comprises a vehicle body, an upright post arranged on the vehicle body and a welding device arranged on the upright post; wherein: the lower part of the vehicle body is provided with a plurality of wheels, and a PLC controller, a stepping motor controller and a stepping motor which are connected in sequence are arranged in the vehicle body; the upright post is fixed on the vehicle body, a direct-current servo motor and a transmission device which are mutually connected are arranged in the upright post, and the direct-current servo motor is electrically connected with the PLC; the welding device is arranged on the upright post and comprises two first branched chains and two second branched chains which are connected in parallel, wherein each branched chain comprises two rotating arms and two connecting rods; the end part of the first branched chain is provided with a cooling wheel, and the end part of the second branched chain is provided with a heating wheel; one rotating amplitude in each branched chain is connected with the direct current servo motor through the transmission device. The embodiment of the application can be used for welding superconducting strips, can adapt to different welding working conditions and has good welding effect.
Description
Technical Field
The application relates to the technical field of welding, in particular to a movable welding robot for superconducting welding.
Background
Because of process limitations, the length of a single superconducting tape producible in the prior art is generally in the order of hundreds of meters, and in applications such as superconducting current limiters and superconducting cables, a plurality of superconducting tapes are often required to be welded together for use. At present, it is common to use soldering to join superconducting tapes, which inevitably results in joint resistance. The size and uniformity of the weld joint resistance directly affects the operation of the superconducting tape and thus the superconducting device. The welding temperature, the lap length, the cooling speed, the welding prestress and the like are all influencing factors of the joint resistance. The superconducting strip welding technology is one of key technologies of high-temperature superconducting application, and how to control welding temperature and welding uniformity is a key factor for improving welding quality.
In the field of welding, welding carriages are a common type of mobile welding equipment. However, the existing welding trolley can travel along a straight line, can form a translation dimension, but can not realize welding on a curved surface; meanwhile, the existing welding trolley has some defects in welding uniformity.
Disclosure of Invention
The application aims to overcome the defects of the prior art and provides a movable welding robot for superconducting welding, which can be used for welding superconducting strips, can adapt to different welding working conditions and has good welding effect.
In order to solve the above technical problems, an embodiment of the present application provides a movable welding robot for superconducting welding, which includes a vehicle body, a column provided on the vehicle body, and a welding device provided on the column; wherein:
the automobile body is of a square structure, the lower part of the automobile body is provided with a plurality of wheels, a PLC (programmable logic controller), a stepping motor controller and a stepping motor which are sequentially connected are arranged in the automobile body, wherein the stepping motor is connected with the plurality of wheels and drives the wheels to rotate;
the upright post is fixed on the vehicle body, a direct-current servo motor is arranged in the upright post, and a transmission device connected with the direct-current servo motor is electrically connected with the PLC;
the welding device is arranged on the upright post and comprises two first branched chains and second branched chains which are connected in parallel, wherein the first branched chains comprise a first connecting rod and a second connecting rod, the first end of the first connecting rod is connected with the upright post through a first rotating frame, the second end of the first connecting rod is connected with the first end of the second connecting rod through a second rotating frame, and a cooling wheel is arranged at the second end of the second connecting rod; the second branched chain comprises a third connecting rod and a fourth connecting rod, the first end of the third connecting rod is connected with the upright post through a third rotating frame, the second end of the third connecting rod is connected with the first end of the fourth connecting rod through a fourth rotating frame, and a heating wheel is arranged at the second end of the fourth connecting rod;
the first rotating frame and the third rotating frame are connected with the direct current servo motor through the transmission device.
Preferably, joint sensors are mounted on the first rotating web and the third rotating web, the joint sensors measure angles by adopting potentiometers, and angular velocity is measured by an optical fiber gyro; the joint sensor is electrically connected with the PLC.
Preferably, a spiral heating wire is arranged in the heating wheel, the heating wire is connected with a temperature control circuit arranged in the vehicle body through a cable arranged in the second branched chain, the temperature control circuit comprises an external power supply, a PWM (pulse-width modulation) rectifying circuit and a switch, and the PWM rectifying circuit outputs direct current to the heating wire;
and the heating wheel is further provided with a temperature sensor and a pressure sensor, and the temperature sensor and the pressure sensor are electrically connected with the PLC.
Preferably, a cooling water channel is arranged in the cooling wheel, the input end of the cooling channel is arranged at one side of the cooling wheel, and the output end of the cooling channel is arranged at the other side of the cooling wheel;
and the cooling wheel is further provided with a plurality of pressure sensors, and the pressure sensors are electrically connected with the PLC.
Preferably, a plurality of cameras are further arranged on the vehicle body, and the cameras are electrically connected with the PLC.
Preferably, the superconducting tape welding device further comprises a limiting part for limiting the superconducting tape to be welded, wherein the limiting part is a strip-shaped block, the lower surface of the limiting part is smooth and provided with a limiting groove, and the height and the width of the limiting groove are matched with the size of the superconducting tape to be welded.
Preferably, the direct current servo motor is a direct current servo motor with a speed reduction system, and the transmission device is a harmonic gear rotating device.
Preferably, the second revolute pair is a passive revolute web of the first branched chain; the fourth rotating amplitude is a passive rotating pair of the second branched chain.
The embodiment of the application has the following beneficial effects:
the movable welding robot for superconducting welding provided by the embodiment is provided with two mutually perpendicular connecting rods in a plane perpendicular to the translation dimension of the trolley, and the connecting rods can traverse the plane. In this way, any point of the three-dimensional plane can be reached in theory, so that a welding sample can be either plane or curved, different working conditions can be adapted, the planar welding of the superconducting tape can be met, the welding of the superconducting tape and a special-shaped (such as arc-shaped) constant-conduction connecting piece can be met, and the welding device has high flexibility and universality;
meanwhile, the joint sensor, the pressure sensor, the temperature sensor and the like are utilized to control welding temperature, pressure, speed, cooling process, welding length and the like, so that good uniformity and repeatability can be obtained, and a good welding effect can be obtained; and it has the characteristics of high sensitivity, convenient carrying, stable welding quality, etc.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of the whole structure of a movable welding robot for superconducting welding according to the present application;
FIG. 2 is a schematic longitudinal cross-sectional view of the body of FIG. 1 assembled with a pillar;
FIG. 3 is a schematic view of the heating wheel of FIG. 1;
FIG. 4 is a schematic view of the cooling wheel of FIG. 1;
FIG. 5 is a schematic diagram of a heating circuit involved in a heating wheel;
FIG. 6 is a control schematic block diagram of a mobile welding robot for superconducting welding according to the present application;
FIG. 7 is a schematic diagram of a movable welding robot for superconducting welding according to the present application during welding of planar superconducting strips;
fig. 8 is a schematic diagram of working conditions of the movable welding robot for superconducting welding when welding a profiled superconducting tape.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
As shown in fig. 1, a schematic structural diagram of a movable welding robot for superconducting welding according to the present application is shown. As shown in fig. 2 to 6, in the present embodiment, the movable welding robot for superconducting welding includes a vehicle body 1, a column 3 provided on the vehicle body 1, and a welding device provided on the column 3; wherein:
the automobile body 1 is of a square structure, the lower part of the automobile body is provided with a plurality of wheels 7, a PLC (programmable logic controller) 12, a stepping motor controller 11 and a stepping motor 10 which are sequentially connected are arranged in the automobile body 1, wherein the stepping motor 10 is connected with the plurality of wheels 7 and drives the wheels 7 to rotate; it will be appreciated that the stepper motor 10 cannot be directly connected to a power supply and that a dedicated stepper motor driver 11 is required; the PLC controller 12 achieves the purpose of positioning and adjusting the speed of the wheel 7 by controlling the number and frequency of pulses, and in this embodiment, the wheel 7 can be controlled to move forward at a constant speed.
The upright post 2 is fixed on the vehicle body 1, a direct current servo motor 20 is arranged in the upright post 2, a transmission device 21 is connected with the direct current servo motor 20, and the direct current servo motor 20 and the PLC 12 are electrically connected in the vehicle body 1; further, in some examples, the dc servo motor 20 is a dc servo motor with a speed reducing system, the transmission device 21 is a harmonic gear rotating device, and the dc servo motor 20 drives the welding device to move through the transmission device 21.
The welding device is arranged on the upright 2 and comprises a first branched chain 3 and a second branched chain 4 which are connected in parallel, wherein the first branched chain 3 comprises a first connecting rod 31 and a second connecting rod 33, the first end 31 of the first connecting rod is connected with the upright 2 through a first rotating frame 30, the second end of the first connecting rod 31 is connected with the first end of the second connecting rod 33 through a second rotating frame 32, and a cooling wheel 5 is arranged at the second end of the second connecting rod 33; the second branched chain 4 comprises a third connecting rod 41 and a fourth connecting rod 43, the first end of the third connecting rod 41 is connected with the upright post 2 through a third rotating frame 40, the second end of the third connecting rod 41 is connected with the first end of the fourth connecting rod 43 through a fourth rotating frame 42, and a heating wheel 6 is arranged at the second end of the fourth connecting rod 43;
the first rotating web 30 and the third rotating web 40 are connected to the dc servomotor 20 via the transmission 21. On both the first 30 and third 40 rotatable webs are mounted joint sensors (in one embodiment, mounted inside the rotatable webs) which measure angles with potentiometers and angular velocities with fiber optic gyroscopes; the joint sensor is electrically connected to the PLC controller 12 through a cable (not shown); the potentiometer feeds back the angle through a feedback voltage signal, and the direct current voltage output by the fiber-optic gyroscope feeds back the measured angular velocity, and the feedback signals are fed back to the input end of the PLC 12. The revolute pair of each branched chain closest to the upright post is connected with a direct-current servo motor 20 through a transmission device. The second revolute pair 32 is a passive revolute web of the first branched chain 3; the fourth rotating web 42 is a passive revolute pair of the second branched chain 4.
Preferably, a spiral heating wire 60 is disposed in the heating wheel 6, the heating wire 60 is connected with a temperature control circuit disposed inside the vehicle body 1 through a cable disposed in the second branched chain 4, the temperature control circuit includes an external power source, a PWM rectifying circuit, and a switch, the PWM rectifying circuit outputs direct current into the heating wire 60 to implement heating, as fig. 5 shows a schematic circuit diagram of a conventional temperature control circuit, it is understood that in some examples, the switch may be controlled by the PLC controller 12 to keep the heating wheel 6 at a constant temperature;
further mounted on the heating wheel 6 are a temperature sensor 61 and a plurality of first pressure sensors 62 (one shown in the figure), the temperature sensor 61 and the first pressure sensors 62 being electrically connected to the PLC controller 12. Specifically, in the heating process, when the temperature detected by the temperature sensor 61 reaches or exceeds the set temperature, a signal is fed back to the PLC controller 12, and the PLC controller 12 controls the switch to be turned off; when the detected temperature is lower than the set temperature, the PLC 12 controls the switch to be turned on for reheating, so that the constant temperature control of the heating wheel 6 is realized.
The cooling wheel 5 is provided with a cooling water channel, the input end 52 of the cooling channel is arranged on one side of the cooling wheel 5, and the output end 53 of the cooling channel is arranged on the other side of the cooling wheel; it will be appreciated that cooling water flows into the cooling wheel 5 through a water pipe, water flows in from the input end 52 of the cooling wheel 5, and then flows out from the output end 52. Thereby maintaining the temperature of the cooling wheel 5 at a low temperature to cool the heated weld strip.
The cooling wheel 5 is further provided with a plurality of second pressure sensors 51, the second pressure sensors 51 are electrically connected with the PLC controller 12, 4 second pressure sensors 51 in the figure are used for feeding back pressure signals to the input end of the PLC controller 12 in the vehicle body 1 in a sampling mode.
It will be appreciated that in this embodiment, the first pressure sensor 62 and the second pressure sensor 51 may be the same type of pressure sensor.
Preferably, a plurality of cameras 8 are further disposed on the vehicle body 1, and the cameras 8 are electrically connected to the PLC controller 12.
As shown in fig. 6, a control schematic block diagram of a movable welding robot for superconducting welding provided by the present application is shown. It will be appreciated that the PLC controller 12 in the body 1 controls the movement of the wheels 7 by driving the stepper driver 11, and simultaneously controls the positions of the second branch 4 and the first branch 3, and the temperature control circuit by receiving feedback of signals such as the temperature and pressure of the heating wheel 6, the pressure of the cooling wheel 5, the positions of the first rotating web 30 and the third rotating web 40, and the like, and simultaneously controls the positions of the second branch 4 and the first branch 3 by driving the transmission 13 by the dc servo motor 20, thereby realizing the superconducting tape welding process under balanced temperature and pressure conditions. If the temperature is too high or too low, the welding device can also be controlled to be far away from the strip by the transmission device 13, so that the strip is protected.
Fig. 7 is a schematic diagram showing the working condition of the movable welding robot for superconducting welding when welding a planar superconducting strip. In this working condition, two superconducting tapes 91 to be welded are laid on a platform, and according to specific requirements of welding resistance and superconducting tape transfer current, the two superconducting tapes 91 form a welding section in a plane, and two ends of the superconducting tapes are respectively fixed by using limiting parts 9 so as to prevent movement in the welding process. The welding section is formed by stacking two superconducting tapes 91 vertically opposite to each other, and solder and soldering flux are placed in the middle. The limiting component 91 is made of a material with a certain weight, such as a metal block, an epoxy block, and the like, the lower surface of the limiting component is smooth and provided with a limiting groove, and the height and the width of the limiting groove are matched with the size of the superconducting tape to be welded. In effecting the welding, the heating wheel 6 is first preheated to a set temperature, for example, preferably 200-220 ℃ in one embodiment. The two branches 3, 4 of the welding device are adjusted to the welding position of the superconducting tape, the movement of the trolley 1 along the tape direction is controlled, the movement between the connecting rods of the welding device is controlled, and the downward pressure is controlled. At this time, the heating wheel 6 is moved in a straight line at a given constant pressure and temperature in the ribbon welding section to melt the solder and the flux, and then cooled by the cooling wheel 5 under the other branched chain, the solder is re-solidified, and the welding is completed. Since the heating wheel 5 of the welding process travels at a given temperature, pressure, speed and cools at a given cooling speed, the resistance value of the welded joint formed by welding is controllable and has good uniformity. The weld joint resistance values of the different samples are easily reproducible.
Fig. 8 shows a schematic diagram of the working condition of the movable welding robot for superconducting welding when welding a special-shaped superconducting strip. Under the working condition, the arc-shaped superconducting tape 91 and the special-shaped normal-guide 92 (such as an arc shape) are placed on a platform, and the special-shaped normal-guide 92 and the superconducting tape 91 are overlapped on a curved surface with a given overlap length according to specific requirements of welding resistance and superconducting tape transfer current. The curved surface is a curved surface which is matched with the radian of the superconducting tape and the abnormal normal guide, so that the superconducting tape 91 and the normal guide 92 are not deformed. Solder and soldering flux are placed between the lap joint positions of the superconducting tape 91 and the special-shaped common guide 92, and two ends of the superconducting tape and the special-shaped common guide are respectively fixed by the limiting parts 9. The heating wheel 6 is preheated to a set temperature, preferably 200-220 ℃. The two branches 3, 4 of the welding device are adjusted to the welding position of the superconducting tape, the movement of the trolley 1 along the tape direction is controlled, the movement between the connecting rods of the welding device is controlled, and the downward pressure is controlled. At this time, the heating wheel 6 is moved in a straight line at a given constant pressure and temperature in the ribbon welding section to melt the solder and the flux, and then cooled by the cooling wheel 5 under the other branched chain, the solder is re-solidified, and the welding is completed.
From the above, the movable welding device adopts automatic control, and forms a stable welding system through multi-closed loop feedback. The three-dimensional movement of the trolley and the welding device can meet various welding conditions, is not limited to the conditions shown in the above figures, can set corresponding tracks, temperatures and pressures according to different welding conditions, and has high flexibility, adaptability and universality.
The embodiment of the application has the following beneficial effects:
the movable welding robot for superconducting welding provided by the embodiment is provided with two mutually perpendicular connecting rods in a plane perpendicular to the translation dimension of the trolley, and the connecting rods can traverse the plane. In this way, any point of the three-dimensional plane can be reached in theory, so that a welding sample can be either plane or curved, different working conditions can be adapted, the planar welding of the superconducting tape can be met, the welding of the superconducting tape and a special-shaped (such as arc-shaped) constant-conduction connecting piece can be met, and the welding device has high flexibility and universality;
meanwhile, the joint sensor, the pressure sensor, the temperature sensor and the like are utilized to control welding temperature, pressure, speed, cooling process, welding length and the like, so that good uniformity and repeatability can be obtained, and a good welding effect can be obtained; and it has the characteristics of high sensitivity, convenient carrying, stable welding quality, etc.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely illustrative of the embodiments of this application and it will be appreciated by those skilled in the art that variations and modifications may be made without departing from the principles of the application, and that such variations and modifications are to be regarded as being within the scope of the application.
Claims (4)
1. A mobile welding robot for superconducting welding, characterized by comprising: the vehicle comprises a vehicle body, an upright post arranged on the vehicle body and a welding device arranged on the upright post; wherein:
the automobile body is of a square structure, the lower part of the automobile body is provided with a plurality of wheels, a PLC (programmable logic controller), a stepping motor controller and a stepping motor which are sequentially connected are arranged in the automobile body, wherein the stepping motor is connected with the plurality of wheels and drives the wheels to rotate;
the upright post is fixed on the vehicle body, a direct-current servo motor is arranged in the upright post, and a transmission device connected with the direct-current servo motor is electrically connected with the PLC;
the welding device is arranged on the upright post and comprises two first branched chains and second branched chains which are connected in parallel, wherein the first branched chains comprise a first connecting rod and a second connecting rod, the first end of the first connecting rod is connected with the upright post through a first rotating frame, the second end of the first connecting rod is connected with the first end of the second connecting rod through a second rotating frame, and a cooling wheel is arranged at the second end of the second connecting rod; the second branched chain comprises a third connecting rod and a fourth connecting rod, the first end of the third connecting rod is connected with the upright post through a third rotating frame, the second end of the third connecting rod is connected with the first end of the fourth connecting rod through a fourth rotating frame, and a heating wheel is arranged at the second end of the fourth connecting rod;
the first rotating frame and the third rotating frame are connected with the direct current servo motor through the transmission device;
the heating wheel is internally provided with a spiral heating wire, the heating wire is connected with a temperature control circuit arranged in the vehicle body through a cable arranged in the second branched chain, the temperature control circuit comprises an external power supply, a PWM (pulse-width modulation) rectifying circuit and a switch, and the PWM rectifying circuit outputs direct current to the heating wire;
a temperature sensor and a pressure sensor are further arranged on the heating wheel, and the temperature sensor and the pressure sensor are electrically connected with the PLC;
the device further comprises a limiting part for limiting the superconducting tape to be welded, wherein the limiting part is a strip block, the lower surface of the limiting part is smooth and provided with a limiting groove, and the height and the width of the limiting groove are matched with the size of the superconducting tape to be welded;
the direct current servo motor is a direct current servo motor with a speed reduction system, and the transmission device is a harmonic gear rotating device;
the second revolute pair is a passive revolute web of the first branched chain; the fourth rotating amplitude is a passive rotating pair of the second branched chain.
2. The movable welding robot for superconducting welding according to claim 1, wherein joint sensors are mounted on both the first and third rotating webs, the joint sensors measuring angles using potentiometers and measuring angular velocities by fiber optic gyroscopes; the joint sensor is electrically connected with the PLC.
3. The movable welding robot for superconducting welding according to claim 2, wherein a cooling water passage is provided in the cooling wheel, an input end of the cooling passage is provided at one side of the cooling wheel, and an output end thereof is provided at the other side of the cooling wheel;
and the cooling wheel is further provided with a plurality of pressure sensors, and the pressure sensors are electrically connected with the PLC.
4. The movable welding robot for superconducting welding according to claim 3, wherein a plurality of cameras are further provided on the vehicle body, the cameras being electrically connected to the PLC controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811563533.5A CN109551140B (en) | 2018-12-20 | 2018-12-20 | Movable welding robot for superconducting welding |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811563533.5A CN109551140B (en) | 2018-12-20 | 2018-12-20 | Movable welding robot for superconducting welding |
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| CN109551140A CN109551140A (en) | 2019-04-02 |
| CN109551140B true CN109551140B (en) | 2023-10-31 |
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| CN110666316B (en) * | 2019-09-30 | 2022-02-08 | 佛山科学技术学院 | Movable welding arc force real-time measuring device |
| CN111570959B (en) * | 2020-05-27 | 2022-01-11 | 上海超导科技股份有限公司 | Superconducting strip joint welding device and welding method |
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| CN108436329A (en) * | 2018-03-10 | 2018-08-24 | 冯秉健 | Intelligent temperature control welding robot |
| CN108856947A (en) * | 2018-06-29 | 2018-11-23 | 潍坊路加精工有限公司 | Full-automatic welding machine |
| CN108941826A (en) * | 2018-09-21 | 2018-12-07 | 锐驰机器人（深圳）有限公司 | Ring type vibrator automatic solder robot and its control method |
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| CN109551140A (en) | 2019-04-02 |
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