Design Of Mobile Welding Platform Based On Multi-Sensor

Automatic welding can reduce the technical requirements of operating personnel, improving either the quality of welding or the production rate, reducing the damage for operators in maximum limit, so there has a lot of research and development space in automatic welding execution system.Based on the analyzing predecessors’ welding platform mechanism, a design of wheeled welding mobile platform was presented based on CCD sensor. Using the slick pole with the ball screw can improve the conventional cross-slider mechanism, which can also improve the welding mobile platform balance, reduce the difficulty of welding seam track for balance control. Two brushless DC motors (BLDCM) were applied in the design to drive cross-slide movement, and a stepper motor is employed to adjust the position of CCD sensor filter device. The combination structure with industrial profile is served in the support device of MIG and TIG guns to adjust the angle of the MIG and TIG welding torch in accordance with the experiment conditions. The welding mobile platform is compact, flexible, easy to implement its own balance adjustment, and it also can complete different welding experiment, including space welding seam, with the range of lmmof operative accuracy of the mechanism under verification.Aiming at the requirements in controlling the mobile welding platform, this text provide a method to build the welding platform of control system, the system controlled by STM32F103VET6which based on ARM cortex M3, and a kind of brushless DC motor driver with the key of MCU STM32F103CBT6.The brushless motor drive used the IR2101and IRF540N which produced by the International Rectifier company to designed the drive circuit.The corresponding hardware circuit and software flow chart of the controller and the actuator are given. Then we discuss the setting process about the PID algorithm on the actuator. The specific methods aimed at the curve seam welding are also giving; in the meanwhile we use the mobile welding platform to do the Experimental detections. The test results shows that the brushless dc motor running smoothly,small vibration With closed-loop control; the communication between STM32controller and industrial computer is good; The mobile welding platform can make the error of the curve within the permitted scope, satisfying the control requirements of the automatic welding, achieved conditional automatic welding with a stable welding speed.