CN109623094B - Welding machine matched with arc welding robot based on ARM - Google Patents
Welding machine matched with arc welding robot based on ARM Download PDFInfo
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- CN109623094B CN109623094B CN201910073025.7A CN201910073025A CN109623094B CN 109623094 B CN109623094 B CN 109623094B CN 201910073025 A CN201910073025 A CN 201910073025A CN 109623094 B CN109623094 B CN 109623094B
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- 238000003466 welding Methods 0.000 title claims abstract description 97
- 239000003990 capacitor Substances 0.000 claims description 52
- 238000004088 simulation Methods 0.000 claims description 26
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims description 10
- 229910052710 silicon Inorganic materials 0.000 claims description 10
- 239000010703 silicon Substances 0.000 claims description 10
- 238000002955 isolation Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 9
- 238000007789 sealing Methods 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 6
- 230000003321 amplification Effects 0.000 claims description 4
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims description 3
- 102100024452 DNA-directed RNA polymerase III subunit RPC1 Human genes 0.000 claims 1
- 101000689002 Homo sapiens DNA-directed RNA polymerase III subunit RPC1 Proteins 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 description 17
- 238000010586 diagram Methods 0.000 description 9
- 230000001276 controlling effect Effects 0.000 description 5
- 230000017525 heat dissipation Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 238000009423 ventilation 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
- B23K9/00—Arc welding or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0953—Monitoring or automatic control of welding parameters using computing means
-
- 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
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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
Abstract
The invention relates to the technical field of welding machine control, in particular to a welding machine matched with an ARM and arc welding robot, which can realize accurate control of the welding machine and improve welding quality.
Description
Technical Field
The invention relates to the technical field of welding machine control, in particular to a welding machine matched with an arc welding robot based on ARM.
Background
Arc welding robots have the characteristics of high-efficiency and high-quality welding, the industrial application fields are more and more extensive, but the development of the welding machine technology matched with the robot is relatively lagged, and the application range of the arc welding robot is limited. Most welding machines still adopt simulation or singlechip control technology, can't accurately control the molten drop transition process, and welding quality is general, only is applied to manual welding, and the technical level requirement on welder is high.
Disclosure of Invention
In order to solve the problems of poor welding control accuracy and general welding quality of the existing welding machine, the invention provides a welding machine matched with an ARM-based arc welding robot, which can realize the accurate control of the welding machine and improve the welding quality.
The technical scheme is as follows: the welding machine is characterized in that an ARM control chip, an MCU control chip, a wire feeding control circuit, a welding control circuit and a current and voltage feedback circuit are arranged on the main control board, a PWM generating circuit and a pulse amplifying isolation circuit are arranged on the driving board, data exchange is realized between the ARM control chip and the MCU control chip through optical coupling connection, the ARM control chip is used for controlling a molten drop process, the MCU control chip is used for controlling a welding process, the ARM control chip is electrically connected with a robot simulation interface board, and a robot simulation interface for being in butt joint with a robot is arranged on the robot simulation interface board.
The welding machine is further characterized in that a middle plate is arranged in a welding machine shell, a strong current area is arranged below the middle plate, a weak current area is arranged above the middle plate, a fan, a rectifying module, a rectifying radiator, an IGBT radiator, a transformer, a fast recovery diode and a reactor are arranged in the strong current area, and a main control board, an IGBT module, a driving board, a robot simulation interface board and a control panel are arranged in the weak current area;
the IGBT radiator is positioned below the through hole and is installed at the bottom of the middle plate through a first screw, first insulating gaskets are arranged between four corners of the IGBT radiator and the bottom of the middle plate, four sealing strips which encircle to be rectangular are arranged between the first insulating gaskets, the sealing strips, the first insulating gaskets and the IGBT radiator isolate the through hole from the strong current area, and the IGBT module is installed at the top of the IGBT radiator and penetrates through the through hole to be positioned in the weak current area;
a second insulating gasket is arranged between the first screw and the middle plate, and a housing is arranged above the IGBT module through the second screw;
the MCU control chip comprises an STM8S series single-chip microcomputer U3, the ARM control chip comprises an STM32 series chip U5, pins 10 and 11 of the STM8S series single-chip microcomputer U3 are respectively connected with pins 42 and 42 of the STM32 series chip U5 through an optocoupler U18 and an optocoupler U15, pin 26 of the STM8S series single-chip microcomputer U3 is connected with a temperature relay, and pins 62 and 62 of the STM8S series single-chip microcomputer U3 are connected with a control panel through a socket CN 7;
the wire feeding control circuit comprises a wire feeding power supply circuit and a motor control circuit, the wire feeding power supply circuit rectifies the voltage of a transformer into the working voltage of a wire feeding motor through a rectification circuit, the motor control circuit comprises a wire feeding motor, the wire feeding motor is connected with a socket CN3, a pin 2 and a pin 3 of the socket CN3 are connected and then connected with one end of a capacitor C20 and the ground, a pin 4 and a pin 5 of the socket CN3 are connected and then connected with the other end of the capacitor C20, one end of a resistor R30, one end of a capacitor E13, one end of a resistor R31, the collector of a triode Q3, the drain end of a MOS tube Q4 and the source end of a MOS tube Q5, the other end of the capacitor E13 is connected with the cathode of a diode V10, one end of a resistor R22 and the emitter of a triode Q1, the base of the triode Q1 is connected with the other end of the resistor R22 and the collector of a triode Q2, the emitter of the triode Q2 is grounded through a resistor R32, the base of the triode Q2 is connected with one end of a resistor R23, the other end of the resistor R23 is connected with one end of the resistor R24 and the pin 34 of the STM8S series singlechip U3, the other end of the resistor R24 is grounded, the collector of the triode Q1 is connected with the positive electrode of the diode V13, the other end of the resistor R31 and the base electrode of the triode Q3, the emitter of the triode Q3 is connected with one end of the resistor R33 and the gate end of the MOS tube Q5, the other end of the resistor R33 is connected with the negative electrode of the diode V13, the drain end of the MOS tube Q5 is input with the working voltage of a wire feeding motor, the other end of the resistor R30 is connected with the sliding end of the sliding rheostat W1 and the positive input end of the operational amplifier U2B, the inverting input end of the operational amplifier U2B is connected with the output end of the rear end of the resistor R37, the other end of the resistor R37 is connected with the positive electrode of the diode V15 and one end of the capacitor C62, the pin 17 of the STM8S series singlechip U3, and the other end of the capacitor C62 is grounded, the cathode of the diode V15 is connected with VCC, the fixed end of the slide rheostat W1 is grounded through a resistor R38, the source end of the MOS tube is grounded, the gate end of the MOS tube is connected with one end of a resistor R41, one end of a resistor R40 and the collector of a triode Q6, the other end of the resistor R40 is connected with VCC, the emitter of the triode Q6 and the other end of the resistor R41 are grounded, and the base of the triode Q6 is connected with the pin 53 of the STM8S series singlechip U3 through a resistor R39;
the welding control circuit comprises a welding current and voltage regulating circuit, an air valve control circuit and a welding gun control circuit, wherein the welding current and voltage regulating circuit comprises a voltage regulating potentiometer and a current regulating potentiometer, the welding current and the welding voltage are regulated by regulating the voltage regulating potentiometer and the current regulating potentiometer, the air valve control circuit comprises a socket CN3, an air valve is arranged on the socket CN3, the 1 pin of the socket CN3 is connected with one end of a fuse F2, the other end of the fuse F2 is connected with the 2 pin of a rectifier B2, the 4 pin of the rectifier B2 is grounded through the fuse F3, the 1 pin of the rectifier B2 is connected with the positive electrode of a unidirectional silicon controlled rectifier, the negative electrode of the unidirectional silicon controlled rectifier is connected with one end of a resistor R34, one end of a capacitor C61 and the 2 pin of the socket CN4, the control electrode of the unidirectional silicon controlled rectifier is connected with the other end of the resistor R34 and the 6 pins of an optical coupling IC4, the other end of the capacitor C61 is connected with the 4 pin of the optocoupler IC4 through a resistor R35, the 1 pin of the optocoupler IC4 is connected with VCC, the 2 pin is connected with the 23 pin of the STM8S series singlechip U3 through a resistor R28, the 2 pin of the socket CN4 is connected with the 3 pin of the rectifier B2, the socket CN4 is used for supplying alternating current, the welding gun control circuit comprises a welding gun switch S1 and a inching wire feeding switch S2 which are arranged in the socket CN3, the 7 pin of the socket CN3 is connected with one end of a resistor R10, the other end of the resistor R10 is connected with the positive electrode of a diode V3, one end of a resistor R9, one end of a capacitor C53 and the positive input end of an operational amplifier U2A, the other end of the capacitor C53 is grounded, the negative electrode of the diode V3 and the other end of the resistor R9 are connected with VCC, the reverse input end of the operational amplifier U2A is connected with the output end and then connected with the positive electrode of a diode V6, the negative electrode of the diode V6 is connected with one end of the resistor R3, the other end of the resistor R3 is connected with one end of the resistor R4 and 24 pins of the STM8S series singlechip U3, and the other end of the resistor R4 is grounded;
the current-voltage feedback circuit comprises a differential amplifying circuit, a low-pass filter circuit and a clamp filter circuit, the differential amplifying circuit comprises a first operational amplifier U8A, the positive input end of the first operational amplifier U8A is connected with the positive pole of a diode V21, the negative pole of a diode V23, one end of a resistor R67 and one end of a resistor R69, the negative input end of the first operational amplifier U8A is connected with the positive pole of a diode V24, the negative pole of a diode V22, one end of a resistor R70 and one end of a resistor R68, the other end of the resistor R67 is grounded, the other end of the resistor R69 is connected with one end of a resistor R73, the other end of the resistor R70 is connected with the other end of the resistor R73, the two ends of the resistor R73 are connected with the 5 pin and the 6 pin of a socket CN10, the negative pole of the diode V21 and the negative pole of the diode V24 are connected with +VCC, the positive pole of the diode V22 and the positive pole of the diode V23 are connected with VCC, the other end of the resistor R68 is connected with the output end of the first operational amplifier U8A and one end of a resistor R62 in the low-pass filter circuit, the other end of the resistor R62 is connected with one end of a resistor R84 and one end of a capacitor C96, the other end of the resistor R84 is connected with one end of a capacitor C126 and the normal phase input end of the second operational amplifier U8D, the reverse phase input end of the second operational amplifier U8D is connected with one end of a resistor R83 and one end of a resistor R81, the other end of the resistor R83 is connected, the other end of the resistor R81 and the other end of the second operational amplifier U8D are connected with one end of a capacitor C96 and then are connected with the sliding pin of a sliding changer W2 of the clamp filter circuit, one fixed pin of the sliding rheostat W2 is connected with one end of a resistor R132 and the normal phase input end of a third operational amplifier U8C, the reverse phase input end of the third operational amplifier U8C is connected with the output end and then is connected with one end of a resistor R59, the other end of the resistor R59 is connected with the positive pole of a diode V18, one end of a capacitor C98 and one end of a capacitor C59, 16 of a series of chips U5, the 2 pin of the socket CN10 is connected with the sliding pin of the sliding rheostat W3, one fixed pin of the sliding rheostat W3 is connected with the forward input end of the operational amplifier U8B and one end of a resistor R137, the other end of the resistor R137 is grounded, the reverse input end and the output end of the operational amplifier U8B are connected and then connected with one end of a resistor R61, the other end of the resistor R61 is connected with the positive electrode of a diode V10, one end of a capacitor C99 and the 15 pin of an STM32 series chip U5, the other end of the diode V10 is connected with VCC, the other end of the capacitor C99 is grounded, and an arc voltage signal and a current signal are input into the socket 10;
the driving board is electrically connected with the STM32 series chip U5 through an amplifying circuit, and the PWM generating circuit generates PWM signals according to the voltage signals of the STM32 series chip U5 through a PWM control chip and drives the IGBT after being isolated by a pulse amplifying isolation circuit;
the robot simulation interface board is provided with a robot interface circuit, the robot interface circuit comprises a robot simulation interface J6, a 2 pin of the robot simulation interface J6 is connected with one end of a resistor R91, the other end of the resistor R91 is connected with one end of a capacitor C16, one end of a resistor R92 and a normal phase input end of an operational amplifier U9A, the other end of the capacitor C16 is grounded with the other end of the resistor R92, an inverted input end of the operational amplifier U9A is connected with an output end and then connected with one end of a resistor R96, the other end of the resistor R96 is connected with one end of a resistor R97 and an inverted input end of the operational amplifier U9B, the normal direction input end of the operational amplifier U9B is grounded through a resistor R90, the other end of the resistor R97 is connected with a fixed pin of a slide rheostat VR1, a slide pin of the slide rheostat VR1 is connected with the output end of the operational amplifier U9B and one end of the resistor R98, the other end of the resistor R98 is connected with the positive electrode of a diode V31, the cathode of the diode V31 is connected with the cathode of the diode V32, one end of the capacitor C190, the anode of the diode V33 and the 2 pin of the interface J5, the interface J5 is connected with the main control board through the socket CN3, the other end of the capacitor C190 and the anode of the diode V32 are grounded, the cathode of the diode V33 is connected with one end of the resistor R21, the other end of the resistor R21 is connected with one fixed pin of the slide rheostat VR2 and the output end of the operational amplifier U9C, the other fixed pin of the slide rheostat VR2 is grounded, the slide pin is connected with the inverting input end of the operational amplifier U9C, the forward input end of the operational amplifier U9C is connected with one end of the resistor R95, the output end and the inverting input end of the operational amplifier U9D, the forward input end of the operational amplifier U9D is connected with one end of the resistor R94, one end of the capacitor C110 and one end of the resistor R93, the other end of the resistor R94 and the other end of the capacitor C110 are grounded, and the other end of the resistor R93 is connected with the 3 pin of the robot simulation interface J6.
After the invention is adopted, the ARM control chip and the MCU control chip are integrated on the main control board, the ARM control chip is transmitted to the PWM generation circuit through the current and voltage feedback circuit and the signals of the MCU control chip, the current and the voltage of the welding machine are controlled, the precise control of the molten drop transition process is realized, the welding gun and the wire feeding operation are realized by matching with the MCU control chip, and the whole welding quality is improved.
Drawings
FIG. 1 is a schematic view of the external structure of a welder according to the present invention;
FIG. 2 is a schematic view of the internal structure of the welder of the present invention;
FIG. 3 is a schematic view of the structure of the welding machine housing of the present invention;
FIG. 4 is a schematic circuit diagram of an MCU control chip;
FIG. 5 is a schematic diagram of a current-voltage regulation circuit;
FIG. 6 is a schematic diagram of a gas valve control circuit and a gun control circuit;
FIG. 7 is a schematic diagram of a wire feed control circuit;
FIG. 8 is a schematic circuit diagram of an ARM control chip;
FIG. 9 is a schematic diagram of a current-voltage feedback circuit;
FIG. 10 is an enlarged schematic circuit diagram;
FIG. 11 is a schematic diagram of a PWM generation circuit;
FIG. 12 is a pulse amplification isolation circuit;
fig. 13 is a schematic diagram of a robotic analog interface board circuit.
Detailed Description
Referring to fig. 1 to 13, an ARM-based welding machine matched with an arc welding robot comprises a welding machine shell, wherein a main control board and a driving board are installed in the welding machine shell, an ARM control chip, an MCU control chip, a wire feeding control circuit, a welding control circuit and a current-voltage feedback circuit are installed on the main control board, a PWM generating circuit and a pulse amplifying isolation circuit are installed on the driving board, data exchange is realized between the ARM control chip and the MCU control chip through optical coupling, the ARM control chip is used for controlling a molten drop process, the MCU control chip is used for controlling a welding process, the ARM control chip is electrically connected with a robot simulation interface board, and a robot simulation interface for butt joint with a robot is arranged on the robot simulation interface board.
A middle plate 2 is arranged in the welding machine shell 1, a strong current area is arranged below the middle plate 2, a weak current area is arranged above the middle plate 2, a fan, a rectifying module, a rectifying radiator 3, an IGBT radiator 4, a transformer, a fast recovery diode and a reactor are arranged in the strong current area, and a main control board, an IGBT module 5, a driving board, a robot simulation interface board and a control panel are arranged in the weak current area; the middle plate 2 is provided with a through hole, the IGBT radiator 4 is arranged below the through hole and is arranged at the bottom of the middle plate 2 through a first screw 6, a first insulating gasket 7 is arranged between four corners of the IGBT radiator 4 and the bottom surface of the middle plate 2, four sealing strips 8 which encircle into a rectangle are arranged between the first insulating gaskets 7, the sealing strips 8, the first insulating gaskets 7 and the IGBT radiator 4 isolate the through hole from a strong current area, and the IGBT module 5 is arranged at the top of the IGBT radiator 4 and penetrates through the through hole to be positioned in a weak current area. Because the middle plate 2 top is the weak current district, and power loss is very low, need not ventilation and heat dissipation, realizes the isolation with lower floor's strong current district through middle plate 2, IGBT radiator 4, sealing strip 8, first insulating pad 7, effectively prevents external dust entering, and the lower floor is realized the forced air cooling heat dissipation by fan 9.
A second insulating gasket 10 is arranged between the first screw 6 and the middle plate 2, and a housing 12 is arranged above the IGBT module 5 through a second screw 11, so that a further protection effect is achieved. The front and the side of the casing 1 are provided with heat dissipation holes 13.
The MCU control chip comprises an STM8S series single-chip microcomputer U3, the ARM control chip comprises an STM32 series chip U5, the 10 pin and the 11 pin of the STM8S series single-chip microcomputer U3 are respectively connected with the 42 pin and the 42 pin of the STM32 series chip U5 through an optocoupler U18 and an optocoupler U15, the 26 pin of the STM8S series single-chip microcomputer U3 is connected with the temperature relay, and the 62 pin of the STM8S series single-chip microcomputer U3 are connected with the control panel through a socket CN 7.
The wire feeding control circuit comprises a wire feeding power supply circuit and a motor control circuit, the wire feeding power supply circuit rectifies the voltage of a transformer into the working voltage of a wire feeding motor through a rectification circuit, the motor control circuit comprises a wire feeding motor, the wire feeding motor is connected with a socket CN3, a pin 2 and a pin 3 of the socket CN3 are connected and then connected with one end of a capacitor C20 and the ground, a pin 4 and a pin 5 of the socket CN3 are connected and then connected with the other end of the capacitor C20, one end of a resistor R30, one end of a capacitor E13, one end of a resistor R31, a collector electrode of a triode Q3, a drain electrode of a MOS transistor Q4 and a source electrode of a MOS transistor Q5, the other end of the capacitor E13 is connected with the cathode of a diode V10, one end of a resistor R22 and an emitter electrode of a triode Q1, a base electrode of the triode Q1 is connected with one end of a resistor R22, the emitter electrode of the triode Q2 is grounded through a resistor R32, one end of a base electrode of the triode Q2 is connected with one end of a resistor R23, one end of the resistor R23 is connected with one end of a resistor R24 and the other end of a resistor R8S series of a single chip microcomputer U3, the other end of the resistor R24 is grounded, the collector of the triode Q1 is connected with the positive electrode of the diode V13, the other end of the resistor R31 and the base electrode of the triode Q3, the emitter of the triode Q3 is connected with one end of the resistor R33 and the gate end of the MOS tube Q5, the other end of the resistor R33 is connected with the negative electrode of the diode V13, the drain end of the MOS tube Q5 inputs the working voltage of the wire feeding motor, the other end of the resistor R30 is connected with the sliding end of the sliding rheostat W1 and the positive input end of the operational amplifier U2B, the reverse phase input end of the operational amplifier U2B is connected with the output end and then connected with one end of the resistor R37, the other end of the resistor R37 is connected with the positive electrode of the diode V15, one end of the capacitor C62 and the 17 pin of the STM8S series singlechip U3, the other end of the capacitor C62 is grounded, the negative electrode of the diode V15 is connected with the negative electrode of the VCC, the fixed end of the sliding rheostat W1 is grounded through the resistor R38, the source end of the MOS tube is grounded, one end of the gate end is connected with the resistor R41, one end of the resistor R40, the collector of the triode Q6, the other end of the resistor R40 is connected with VCC, the emitter of the triode Q6 and the other end of the resistor R41 are grounded, and the base of the triode Q6 is connected with the pin 53 of the STM8S series singlechip U3 through the resistor R39.
The welding control circuit comprises a welding current and voltage regulating circuit, an air valve control circuit and a welding gun control circuit, wherein the welding current and voltage regulating circuit comprises a voltage regulating potentiometer and a current regulating potentiometer, the welding current and the welding voltage are regulated by regulating the voltage regulating potentiometer and the current regulating potentiometer, the air valve control circuit comprises a socket CN3, an air valve is arranged on the socket CN3, the 1 pin of the socket CN3 is connected with one end of a fuse F2, the other end of the fuse F2 is connected with the 2 pin of a rectifier B2, the 4 pin of the rectifier B2 is grounded through the fuse F3, the 1 pin of the rectifier B2 is connected with the positive electrode of a unidirectional silicon controlled rectifier, the negative electrode of the unidirectional silicon controlled rectifier is connected with one end of a resistor R34, one end of a capacitor C61 and the 2 pin of the socket CN4, the control electrode of the unidirectional silicon controlled rectifier is connected with the other end of the resistor R34 and the 6 pin of an optical coupling IC4, the other end of the capacitor C61 is connected with the 4 pin of the optical coupling IC4 through a resistor R35, the 1 foot of opto-coupler IC4 connects VCC, 2 foot passes through resistance R28 to connect STM8S series singlechip U3 ' S23 foot, the 3 foot of rectifier B2 is connected to socket CN4 ' S2 foot, socket CN4 sends in alternating current, welder control circuit is including installing in socket CN3 ' S welder switch S1 and the inching wire feed switch S2, socket CN3 ' S7 foot connects resistance R10 one end, the positive pole of diode V3 is connected to the resistance R10 other end, resistance R9 one end, electric capacity C53 one end, operational amplifier U2A ' S non-inverting input, electric capacity C53 other end ground connection, diode V3 ' S negative pole, the VCC is connected to the resistance R9 other end, operational amplifier U2A ' S inverting input links to each other with the positive pole of output back connection diode V6, diode V6 ' S negative pole connects resistance R3 one end, resistance R3 other end connecting resistance R4 one end, STM8S series singlechip U3 ' S24 feet, resistance R4 other end ground connection.
The current-voltage feedback circuit comprises a differential amplifying circuit, a low-pass filter circuit and a clamp filter circuit, the differential amplifying circuit comprises a first operational amplifier U8A, the positive input end of the first operational amplifier U8A is connected with the positive electrode of a diode V21, the negative electrode of a diode V23, one end of a resistor R67 and one end of a resistor R69, the negative electrode of a diode V24, the negative electrode of a diode V22, one end of a resistor R70 and one end of a resistor R68, the other end of the resistor R67 is grounded, the other end of the resistor R69 is connected with one end of a resistor R73, the other end of the resistor R70 is connected with the other end of the resistor R73, the two ends of the resistor R73 are connected with the 5 pin and the 6 pin of a socket CN10, the negative electrode of the diode V21 and the negative electrode of the diode V24 are connected with +VCC, the positive electrode of the diode V22 and the positive electrode of the diode V23 are connected with-VCC, the other end of the resistor R68 is connected with the output end of the first operational amplifier U8A, one end of the resistor R62 in the low-pass filter circuit, the other end of the resistor R62 is connected with one end of the resistor R84 and one end of the capacitor C96, the other end of the resistor R84 is connected with one end of the capacitor C126 and the normal phase input end of the second operational amplifier U8D, the reverse phase input end of the second operational amplifier U8D is connected with one end of the resistor R83 and one end of the resistor R81, the other end of the resistor R83 is connected with the other end of the resistor R81, the output end of the second operational amplifier U8D and the other end of the capacitor C96, the other end of the resistor R81 is connected with the sliding pin of the sliding variable device W2 of the clamping filter circuit, one fixed pin of the sliding variable device W2 is connected with the normal phase input end of the third operational amplifier U8C, the reverse phase input end of the third operational amplifier U8C is connected with the output end, one end of the resistor R59 is connected with the positive pole of the resistor R59, the other end of the resistor R59 is connected with the positive pole of the diode V18, one end of the capacitor C98 and 16 pins of the STM32 series chip U5, the pin 2 of the socket 10 is connected with the sliding pin of the sliding variable device W3, one fixed pin of the sliding variable device W3 is connected with the positive phase input end of the operational amplifier U8B, one end of a resistor R137, the other end of the resistor R137 is grounded, the inverting input end and the output end of the operational amplifier U8B are connected and then connected with one end of a resistor R61, the other end of the resistor R61 is connected with the positive electrode of a diode V10, one end of a capacitor C99 and the 15 pins of an STM32 series chip U5, the other end of the diode V10 is connected with VCC, the other end of the capacitor C99 is grounded, and an arc voltage signal and a current signal are input into the socket 10.
The driving plate is electrically connected with the STM32 series chip U5 through an amplifying circuit, and the PWM generating circuit generates PWM signals according to the voltage signals of the STM32 series chip U5 through a PWM control chip and drives the IGBT after being isolated by a pulse amplifying isolation circuit.
The robot simulation interface board is provided with a robot interface circuit, the robot interface circuit comprises a robot simulation interface J6, the 2 pin of the robot simulation interface J6 is connected with one end of a resistor R91, the other end of the resistor R91 is connected with one end of a capacitor C16, one end of a resistor R92 and the normal phase input end of an operational amplifier U9A, the other end of the capacitor C16 is grounded with the other end of the resistor R92, the reverse phase input end of the operational amplifier U9A is connected with one end of a resistor R96 after being connected with the output end, the other end of the resistor R96 is connected with one end of a resistor R97 and the reverse phase input end of the operational amplifier U9B, the normal phase input end of the operational amplifier U9B is grounded through a resistor R90, the other end of the resistor R97 is connected with the fixed pin of a slide rheostat VR1, the slide pin of the slide rheostat VR1 is connected with the output end of the operational amplifier U9B, one end of the resistor R98, and the other end of the resistor R98 is connected with the positive pole of a diode V31, the negative pole of diode V31 connects the negative pole of diode V32, electric capacity C190 one end, the positive pole of diode V33, interface J5's 2 feet, interface J5 connects the main control board through socket CN3, electric capacity C190 other end and the positive pole of diode V32 all ground, electric capacity V33's negative pole connects resistance R21 one end, one fixed pin of slide rheostat VR2 is connected to the other end of resistance R21, the output of U9C is put to the fortune, another fixed pin ground of slide rheostat VR2, the reverse phase input of U9C is put to the slide pin connection fortune, the forward input of U9C is connected resistance R95 one end, the output and the reverse phase input of U9D are put to fortune, the forward input of U9D is connected resistance R94 one end, electric capacity C110 one end, resistance R93 one end, the resistance R94 other end and the other end of electric capacity C110 all ground connection, the 3 feet of robot simulation interface J6 are put to the resistance R93 other end.
In this embodiment, the U3 uses an STM8S207 chip, and the U5 uses an STM32F103 chip. The STM8S207 chip U3 exchanges data with the STM32F103 chip U5 through high-speed optocouplers U15 and U18. The STM32F103 chip U5 is used as a droplet transition control chip and is the core of the whole system, and isolation processing is carried out in order to avoid the interference of other circuits.
The working principle of the invention is as follows: in the current-voltage regulating circuit, the inverting input end of the operational amplifier U1B receives square wave signals of the STM8S207 chip U3, the positive and negative level values of square waves at the output end of the operational amplifier U1 are changed by changing the resistance values of welding current and welding voltage potentiometers, and adjustable analog quantities adc_para_volt and adc_para_curr are obtained through the reverse or forward amplification of the operational amplifier U1C and the operational amplifier U1D and are input into the STM8S207 chip U3, and the STM8S207 chip U3 determines welding current and welding voltage values according to the two levels. The temperature relay connected with the STM8S207 chip U3 is accessed through the socket CN5, and when the STM8S207 chip U3 detects the error_flag value and is in a high level, the program is interrupted, and welding is stopped.
27V alternating current is sent into an air valve control circuit through a socket CN4, after welding starts, gas_ctl is at a low level, the unidirectional silicon controlled rectifier V14 is conducted, and the air valve is opened. The welding gun switch S1 is connected to a welding gun control circuit through the socket CN3, when the welding gun switch S1 is closed, the positive input end of the U2A is 0 level, and the STM8S207 chip U3 executes a welding program by detecting the level of the gun_sw. The inching wire feeding switch S2 is connected to a welding gun control circuit through a socket CN3, when the switch is closed, the positive input end of the U2A is 7V level, and the STM8S207 chip U3 executes inching wire feeding program by detecting the level of the gun_sw. The power supply of the wire feeding system is usually taken from a power frequency transformer, the invention is taken from a main transformer, the volume of the power frequency transformer is effectively reduced, the power consumption is reduced, and 24VDC is obtained by inputting from a socket CN2 and rectifying. And the MOS tube Q5 and the wire feeding motor form a direct current chopper circuit, and during normal welding, the STM8S207 chip U3 outputs a motor control signal silk_pwm to drive the MOS tube Q5, so that the pulse value of the silk_pwm is changed, and the rotating speed of the wire feeding motor is changed. When the welding is stopped, the silk_pwm is closed, the STM8S207 chip U3 sets stop_silk2 to 0, the MOS tube is saturated and conducted, the wire feeding motor coil is short-circuited, and the wire feeding motor is braked.
The STM32F103 chip U5 is a core device of the invention and is responsible for controlling the welding molten drop process, and appropriate level signals are output in real time by analyzing feedback signals of the STM8S207 chip U3, current and voltage and are transmitted to a PWM generating circuit, so that the current and voltage of a welding machine are controlled. The voltage feedback circuit is usually composed of a voltage Hall sensor or a linear optocoupler so as to reduce the influence of interference signals on the system, but the cost is relatively high, the voltage feedback circuit is composed of an operational amplifier U8, and the circuit is of a differential structure so as to effectively reduce the interference of common-mode signals on the system and has low cost. The pulse generating circuit is composed of a PWM control chip UC3846, and is a basic application circuit with low price, stability and reliability. In order to be matched with the PWM control chip UC3846 for use, the inside of the STM32F103 chip U5 is subjected to DA conversion, amplified by the operational amplifier U7A and then connected with a driving board through a socket CN 9.
And the driving board part CN13 is connected with a socket CN9 of the main control board through a wire, and the PWM control chip UC3846 generates PWM signals according to the level signals of the STM32F103 chip U5 and drives IGBT after being isolated by the transformers T1 and T2.
And the robot simulation interface board part is used for communicating the robot with the welding machine. The robot control cabinet typically outputs a level of 0-10V, which is used to control the welder welding current, welding voltage, as realized by the circuit of fig. 13, as will be appreciated by those skilled in the art.
Claims (6)
1. The welding machine is characterized in that an ARM control chip, an MCU control chip, a wire feeding control circuit, a welding control circuit and a current and voltage feedback circuit are arranged on the main control board, a PWM generating circuit and a pulse amplifying isolation circuit are arranged on the driving board, data exchange is realized between the ARM control chip and the MCU control chip through optical coupling connection, the ARM control chip is used for controlling a molten drop process, the MCU control chip is used for controlling a welding process, the ARM control chip is electrically connected with a robot simulation interface board, and a robot simulation interface which is in butt joint with a robot is arranged on the robot simulation interface board; a middle plate is arranged in the welding machine shell, a strong current area is arranged below the middle plate, a weak current area is arranged above the middle plate, a fan, a rectifying module, a rectifying radiator, an IGBT radiator, a transformer, a fast recovery diode and a reactor are arranged in the strong current area, and a main control board, an IGBT module, a driving board, a robot simulation interface board and a control panel are arranged in the weak current area; the IGBT radiator is positioned below the through hole and is installed at the bottom of the middle plate through a first screw, first insulating gaskets are arranged between four corners of the IGBT radiator and the bottom of the middle plate, four sealing strips which encircle to be rectangular are arranged between the first insulating gaskets, the sealing strips, the first insulating gaskets and the IGBT radiator isolate the through hole from the strong current area, and the IGBT module is installed at the top of the IGBT radiator and penetrates through the through hole to be positioned in the weak current area; the MCU control chip comprises an STM8S series single-chip microcomputer U3, the ARM control chip comprises an STM32 series chip U5, pins 10 and 11 of the STM8S series single-chip microcomputer U3 are respectively connected with pins 42 and 43 of the STM32 series chip U5 through an optocoupler U18 and an optocoupler U15, pin 26 of the STM8S series single-chip microcomputer U3 is connected with a temperature relay, and pins 62 and 63 of the STM8S series single-chip microcomputer U3 are connected with a control panel through a socket CN 7; the wire feeding control circuit comprises a wire feeding power supply circuit and a motor control circuit, the wire feeding power supply circuit rectifies the voltage of a transformer into the working voltage of a wire feeding motor through a rectification circuit, the motor control circuit comprises a wire feeding motor, the wire feeding motor is connected with a socket CN3, a pin 2 and a pin 3 of the socket CN3 are connected and then connected with one end of a capacitor C20 and the ground, a pin 4 and a pin 5 of the socket CN3 are connected and then connected with the other end of the capacitor C20, one end of a resistor R30, one end of a capacitor E13, one end of a resistor R31, the collector of a triode Q3, the drain end of a MOS tube Q4 and the source end of a MOS tube Q5, the other end of the capacitor E13 is connected with the cathode of a diode V10, one end of a resistor R22 and the emitter of a triode Q1, the base of the triode Q1 is connected with the other end of the resistor R22 and the collector of a triode Q2, the emitter of the triode Q2 is grounded through a resistor R32, the base of the triode Q2 is connected with one end of a resistor R23, the other end of the resistor R23 is connected with one end of the resistor R24 and the pin 34 of the STM8S series singlechip U3, the other end of the resistor R24 is grounded, the collector of the triode Q1 is connected with the positive electrode of the diode V13, the other end of the resistor R31 and the base electrode of the triode Q3, the emitter of the triode Q3 is connected with one end of the resistor R33 and the gate end of the MOS tube Q5, the other end of the resistor R33 is connected with the negative electrode of the diode V13, the drain end of the MOS tube Q5 is input with the working voltage of a wire feeding motor, the other end of the resistor R30 is connected with the sliding end of the sliding rheostat W1 and the positive input end of the operational amplifier U2B, the inverting input end of the operational amplifier U2B is connected with the output end of the rear end of the resistor R37, the other end of the resistor R37 is connected with the positive electrode of the diode V15 and one end of the capacitor C62, the pin 17 of the STM8S series singlechip U3, and the other end of the capacitor C62 is grounded, the negative electrode of the diode V15 is connected with VCC, the fixed end of the slide rheostat W1 is grounded through a resistor R38, the source end of the MOS tube Q4 is grounded, one end of a gate end is connected with a resistor R41, one end of a resistor R40 and the collector electrode of a triode Q6, the other end of the resistor R40 is connected with VCC, the emitter electrode of the triode Q6 and the other end of the resistor R41 are grounded, and the base electrode of the triode Q6 is connected with the pin 53 of the STM8S series singlechip U3 through a resistor R39.
2. The welding machine for cooperation based on ARM and arc welding robots according to claim 1, wherein a second insulating gasket is arranged between the first screw and the middle plate, and a housing is arranged above the IGBT module through the second screw.
3. The welding machine for the matched welding machine based on the ARM and the arc welding robot according to claim 1, wherein the welding control circuit comprises a welding current and voltage adjusting circuit, a gas valve control circuit and a welding gun control circuit, the welding current and voltage adjusting circuit comprises a voltage adjusting potentiometer and a current adjusting potentiometer, the adjustment of welding current and welding voltage is realized by adjusting the voltage adjusting potentiometer and the current adjusting potentiometer, the gas valve control circuit comprises a socket CN3, a gas valve is installed on the socket CN3, a 1 pin of the socket CN3 is connected with one end of a fuse F2, the other end of the fuse F2 is connected with a 2 pin of a rectifier B2, a 4 pin of the rectifier B2 is grounded through the fuse F3, a 1 pin of the rectifier B2 is connected with the positive electrode of a unidirectional silicon controlled rectifier, the negative electrode of the unidirectional silicon controlled rectifier is connected with one end of a resistor R34, one end of a capacitor C61 and a 2 pin of the socket CN4, the control electrode of the unidirectional silicon controlled rectifier is connected with the other end of the resistor R34 and the 6 pin of the optocoupler IC4, the other end of the capacitor C61 is connected with the 4 pin of the optocoupler IC4 through a resistor R35, the 1 pin of the optocoupler IC4 is connected with VCC, the 2 pin is connected with the 23 pin of the STM8S series singlechip U3 through a resistor R28, the 2 pin of the socket CN4 is connected with the 3 pin of the rectifier B2, the socket CN4 is used for sending alternating current, the welding gun control circuit comprises a welding gun switch S1 and a inching wire feeding switch S2 which are arranged in the socket CN3, the 7 pin of the socket CN3 is connected with one end of a resistor R10, the other end of the resistor R10 is connected with the positive electrode of a diode V3, one end of the resistor R9, one end of the capacitor C53 and the positive input end of an operational amplifier U2A, the other end of the capacitor C53 is grounded, the negative electrode of the diode V3 and the other end of the resistor R9 are connected with VCC, the inverting input end of the operational amplifier U2A is connected with the output end and then connected with the positive electrode of the diode V6, the negative electrode of the diode V6 is connected with one end of the resistor R3, the other end of the resistor R3 is connected with one end of the resistor R4, the 24 pins of the STM8S series singlechip U3 are connected, and the other end of the resistor R4 is grounded.
4. The welding machine for an ARM-based and arc welding robot as defined in claim 1, wherein the current-voltage feedback circuit comprises a differential amplification circuit, a low-pass filter circuit, and a clamp filter circuit, the differential amplification circuit comprises a first operational amplifier U8A, the positive electrode of a positive phase input terminal of the first operational amplifier U8A is connected to the positive electrode of a diode V21, the negative electrode of a diode V23, one end of a resistor R67, one end of a resistor R69, the positive electrode of a diode V24 is connected to the negative electrode of a diode V22, one end of a resistor R70, one end of a resistor R68, the other end of the resistor R67 is grounded, the other end of the resistor R69 is connected to one end of a resistor R73, the other end of the resistor R70 is connected to the other end of the resistor R73, the two ends of the resistor R73 are connected to the 5 and 6 of a socket CN10, the negative electrode of the diode V21, the negative electrode of the diode V24 is connected to +vcc, the positive electrode of the diode V22 is connected to the positive electrode of a diode V23, the other end of the resistor V23, the negative electrode of the resistor V68 is connected to the other end of the diode V24, the other end of the resistor V68, the resistor R68 is connected to the other end of the resistor R68, the other end of the resistor R82 is connected to the other end of the resistor R82, the resistor R82 is connected to the other end of the resistor R82, the other end of the resistor, the resistor is connected to the other end of the resistor, and the resistor 96, and the other end of the resistor is connected to the other end of the resistor, and the resistor is connected to the other end of the resistor, the positive pole of diode V18, electric capacity C98 one end are connected to the resistance R59 other end, 16 feet of STM32 series chip U5, 3.3V power is connected to the negative pole of diode V18, electric capacity C98 other end ground connection, slide rheostat W3's slip pin is connected to the 2 feet of socket CN10, slide rheostat W3's a fixed pin connection fortune U8B's forward input, resistance R137 one end, resistance R137 other end ground connection, fortune U8B's inverting input links to each other with the output back connection resistance R61 one end, diode V10's positive pole, electric capacity C99 one end, STM32 series chip U5's 15 feet are connected to the resistance R61 other end, VCC 10 other end connection, electric capacity C99 other end ground connection, socket 10 input arc voltage signal and current signal.
5. The welding machine for matching based on ARM and arc welding robots according to claim 1, wherein the driving board is electrically connected with the STM32 series chip U5 through an amplifying circuit, the PWM generating circuit generates PWM signals according to voltage signals of the STM32 series chip U5 through a PWM control chip, and the PWM signals are isolated through a pulse amplifying isolation circuit to drive the IGBT.
6. The welding machine for matching arc welding robots based on ARM and arc welding according to claim 1, wherein a robot interface circuit is arranged on the robot simulation interface board, the robot interface circuit comprises the robot simulation interface, a 2 pin of the robot simulation interface is connected with one end of a resistor R91, the other end of the resistor R91 is connected with one end of a capacitor C160, one end of a resistor R92 and a normal phase input end of an operational amplifier U9A, the other end of the capacitor C16 is grounded with the other end of the resistor R92, an inverted input end of the operational amplifier U9A is connected with one end of a resistor R96 after being connected with an output end, the other end of the resistor R96 is connected with one end of a resistor R97 and an inverted input end of the operational amplifier U9B, the normal phase input end of the operational amplifier U9B is grounded through a resistor R90, the other end of the resistor R97 is connected with a fixed pin of a slide rheostat VR1, a slide pin of the slide rheostat VR1 is connected with the output end of the operational amplifier U9B and one end of the resistor R98, the positive pole of diode V31 is connected to the resistance R98 other end, the negative pole of diode V31 connects the negative pole of diode V32, electric capacity C190 one end, the positive pole of diode V33, the 2 foot of interface J5, interface J5 passes through socket CN3 connects the main control board, electric capacity C190 other end with the positive pole of diode V32 is all grounded, the negative pole of diode V33 connects resistance R99 one end, one fixed pin of slide rheostat VR2, the output of U9C is put to the fortune in the other fixed pin ground of slide rheostat VR2, the slide pin is connected the inverting input of U9C is put to the fortune, the forward input of U9C connects resistance R95 one end, the output and inverting input of U9D are put to fortune, the forward input of U9D connects resistance R94 one end, electric capacity C110 one end, the output of U9D is put to fortune, one end of a resistor R93, the other end of the resistor R94 and the other end of the capacitor C110 are grounded, and the other end of the resistor R93 is connected with the 3 pin of the robot simulation interface.
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