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Drive control method for electronic differential automatic tracking welding small trolley

A welding trolley and automatic tracking technology, which is applied in welding equipment, auxiliary equipment, welding equipment, etc., can solve the problems of heavy calculation workload, complex implementation, and unfixedness, and achieve stable and reliable operation, high control precision, and good tracking effect Effect

Inactive Publication Date: 2008-02-27
XIANGTAN UNIV
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  • Abstract
  • Description
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Problems solved by technology

[0004] Among the above four methods, the limit control turning method and the mathematical model method have a long and unstable adjustment period, and the tracking accuracy is not easy to guarantee; although the real-time adjustment turning radius method has a slightly smaller error, the calculation workload is relatively large, and the implementation is relatively complicated. Also not suitable for automatic seam tracking

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  • Drive control method for electronic differential automatic tracking welding small trolley

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Embodiment Construction

[0010] The invention includes a welding trolley driven by left and right wheels, the left and right driving wheels of the welding trolley are respectively driven by stepping motors, and the differential speed controller connected with the sensor representing the relative position characteristics of the welding torch and the welding seam is connected with a differential speed proportioner The PWM circuit is connected, and the stepping motors of the left and right driving wheels of the welding trolley are connected. The welding trolley can be driven by double rear wheels without guide rails. Its basic structure can be divided into three parts: differential speed controller, differential speed proportioner and PWM generation circuit. The sensor can be an arc sensor or a swing arc sensor. Now refer to Fig. 1 to describe the working principle of this device in detail:

[0011] The differential speed controller can be composed of a single-chip computer with a CPU of 89C51. It perf...

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Abstract

The present invention relates to automatic electronic differential control method for welding bogie. The technological scheme is that the control system includes one welding bogie with two wheels driven with stepped motors, differential speed controller connected to the sensor to express the relative position between welding torch and weld seam, differential speed proportioning device with PWM circuit connected to the controller and the stepped motors. By means of monochip computerized controller, differential speed proportioning device circuit and PWM control technology, the two wheels are real-time regulated to track the weld seam. The present invention has simple system structure, high control precision, good track effect, stable and reliable operation and high practicability.

Description

technical field [0001] The invention relates to an electronic differential drive device for automatic tracking of a welding trolley. Background technique [0002] During the welding process, in addition to requiring the welding torch to track the weld seam in real time, it should also ensure that the tangential speed of the welding torch along the weld seam remains constant to stabilize the welding specification. The requirements for the automatic tracking welding trolley, in addition to realizing general straight-line walking, should also be able to adjust the speed of the wheels in a timely manner according to the deflection of the weld seam, and a certain proportional relationship should be maintained. [0003] At present, for the two-wheel drive welding trolley, the methods to realize these functions include: limit control turning method, mathematical model method, real-time adjustment turning radius method and fuzzy control method. The principle of the limit control tu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K9/127B23K9/32B23K37/00
Inventor 洪波屈岳波袁灿尹懿黄俊
Owner XIANGTAN UNIV