Journal of South China University of Technology (Natural Science Edition) ›› 2014, Vol. 42 ›› Issue (11): 1-6.doi: 10.3969/j.issn.1000-565X.2014.11.001

• Mechanical Engineering •     Next Articles

Research of intelligent wire feeding machine for underwater welding robot

Wang Zhen-min Feng Rui-jie Feng Yun-liang Huang Shi-sheng   

  1. School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China
  • Received:2014-04-18 Revised:2014-08-05 Online:2014-11-25 Published:2014-11-17
  • Contact: 王振民(1974-)，男，博士，副教授，主要从事焊接机器人及自动化焊接等的研究． E-mail:wangzhm@scut.edu.cn
  • About author:王振民(1974-)，男，博士，副教授，主要从事焊接机器人及自动化焊接等的研究．
  • Supported by:

    国家自然科学基金资助项目(51375173);广东省科技计划项目(2012B091000009， 2012A032300007);广州市产学 研结合专项资金资助项目(2013Y2-00095)

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Abstract:

Aiming at the characteristics of underwater robotic welding process,a digital and intelligent underwater wire feeder is developed for the underwater gas metal arc welding.First,a digital control system is constructed with the DSC microcontroller STM32F405RGT6 based on the ARM CortexTM - M4 architecture as the control core.Then,a PWM- controlled half- bridge reversible chopper circuit based on the negative feedback of armature voltage is de- signed as the drive circuit,so as to compensate the fluctuation of the wire feeding speed caused by the variation of load torque.Finally,a welding wire detection module based on an eddy current proximity switch is developed,and thus the non- contact and real- time monitoring on the welding wire state is realized. Experimental results indicate that (1) the developed underwater wire feeder can monitor the welding wire state reliably,and feed wire uniformly and stably even when the state of wire feeding tube changes; and (2) the changing rate of wire feeding speed is within ±3.5%,which meets the national standard well.

Key words: underwater welding, underwater wire feeder, welding wire state detection, digital control