1. welding robot
is in the welding robot welding (including cutting and spraying) of an industrial robot. Defined in International Organization for Standardization (ISO) standard term industrial robot welding robot, industrial robot is a versatile, reprogrammable automatic control operation of machine (the Manipulator), having three or more programmable shaft for industrial automation. To accommodate different uses, mechanical interface last axis of the robot, usually a connecting flange, or different tools may be tipping said end effector. At the end of the welding robot is an industrial robot shaft flange attached or welded welding tongs (cutting) of the gun, so that it can carry out welding, cutting or thermal spraying.
With the development of electronic technology, computer technology, CNC and robot technology, automatic arc welding robot workstation, from the beginning of the 1960s for the production since its technology has become more sophisticated, has the following advantages:
1) stability and improve the welding quality;
2) improving labor productivity;
3) improving the labor intensity, can work in hazardous environments;
4 ) reducing the requirements for worker manipulation techniques;
5) shortens the preparation period updating modified product, a corresponding reduction in equipment investment.
Thus, in the industries it has been widely used.
Composition
two of the robot and the welding equipment includes a welding robot. Robot body and the robot control cabinet (hardware and software) components. And welding equipment for welding and spot welding, for example, by welding power source (including its control system), the wire feeder (welding), welding torch (jaw) and other components. For intelligent robot should have a sensing system, an image sensor such as a laser or the like and a control device.
structure and properties of
world production welding robots are of substantially the articulated robot with six axes majority. Wherein the ends of the tool shaft 1,2,3 to different spatial locations, and different requirements to solve 4,5,6 tool axis attitude. Welding robot mechanical structure of the body there are two forms: one for the parallelogram structure, one for the (tilting) side-mounted configuration. The main advantages of the (tilting) of the side structure is mounted on a wide range of activities under the arm, the working space of the robot can reach almost a sphere. Thus, the robot can work on the frame upside down, in order to save area, facilitate flow of the ground object. However, this side-mounted robot, 2,3 axis cantilever structure, lowering of the rigidity of the robot, generally suitable for smaller loads a robot for arc welding, cutting or spraying. Parallelogram robot arm which is driven by a lever. Rod and the lower arm composed of two sides of a parallelogram. Hence the name. Parallelogram early development of the robot working space is relatively small (limited to the front portion of the robot), it is difficult to work upside down. But since the late 1980s to develop new parallelogram robot (parallel robot), we have been able to expand the work space to the top, back and bottom of the robot, and no stiffness measurement problems mounted robot, resulting in widespread attention. This structure is not only suitable for light also suitable for heavy-duty robots. In recent years, the spot welding robot (load 100 ~ 150kg) most use of the robot in the form of a parallelogram structure.
axis of each of the two robots are rotary movement, so the use of cycloid servomotor (RV) gear unit (1 – 3 axis) and harmonic reducer (1-6 a shaft) . In the mid-1980s, for all electrically driven robot with DC servo motor, and since the late 1980s, countries have switched AC servo motor. Since no carbon brush AC motor, good dynamic characteristics, the new robot is not only low accident rate, and maintenance-free time greatly increase, plus (minus) fast. Some 16kg load following its new lightweight robot tool center point (TCP) of the maximum velocity of up to 3m / s or more, positioning accuracy, small vibration. At the same time, the robot control cabinet 32 may also use the computer and new algorithms, so that it has the function of self-optimal path, trajectory track closer teachings.
Characteristics of the spot welding robot spot welding robotThe basic function
requirements for spot welding robot is not very high. Just because the spot position control, as welding tongs movement locus between the point and the point is not critical, for which reason only the first robot is spot welding. Spot welding robot not only have sufficient capacity, and the shift from point to point speed is fast, action should be smooth, positioning accuracy, in order to reduce the shift time, improve work efficiency. Spot welding robot requires much load capacity, depending on the form used for the welding tongs. For separating the transformer welding tongs, 30 ~ 45kg load robot is sufficient. However, this aspect of the welding tongs since the secondary cable length, large power loss, is not conducive to the robot welding tongs into the interior welding work; on the other hand with the cable stop swing motion of the robot, rapid damage to the cable . Therefore, it is gradually increased with integrated welding tongs. This, together with transformer welding tongs mass of about 70kg. Considering the robot must have sufficient capacity, to large acceleration can be supplied to the spatial position of the welding tongs for welding, generally use 100 ~ 150kg heavy load robot. To accommodate the continuous spot welding tongs displaceable rapid short distance requirements. The new heavy-duty robot can be done to increase the displacement of 50mm within 0.3s function. This performance of the motor, and the operation speed of the computer algorithms are more demanding.
spot welding robot welding equipment
spot welding robot welding equipment, the use of an integrated welding tongs, welding transformer mounted on the back of the welding tongs, so that the transformer must be as compact as possible. For smaller capacity of the transformer can be 50Hz frequency alternating current, while for the larger capacity of the transformer, the inverter technology has begun to use 50Hz frequency alternating current AC becomes 600 ~ 700Hz, to reduce the volume of the transformer, reduced. Transformer can be used directly after 600 ~ 700Hz AC welding, may be rectified and then a second, a direct current welding. Welding parameters adjusted by the timer. The new timer has been computerized, so the robot controller can directly control the timer, without reprovision interface. Between the opening degree of the spot welding robot welding tongs, welding tongs usually pneumatic, pneumatic welding tongs two electrodes are generally only two strokes. And once the electrode pressure settings can not be changed arbitrarily. The emergence of a new electric servo spot welding tongs in recent years. Welding tongs to open and close a feedback driven by a servo motor, encoder, such that the weldOpening of the clamp can be arbitrarily selected and preset according to actual needs. And the pressing force between the electrodes can be adjusted steplessly. This new electric servo spot welding tongs has the following advantages:
1) of each cycle welding joints can be significantly reduced, because the degree of opening of the welding gun is accurately controlled by the robot, the robot at the point and movement between points, the welding tongs can begin to close; End point and after welding, the welding tongs open side, while the robot can be displaced without having to wait until the robot welding tongs in place after the closing or after the robot welding gun is fully open then move;
2) welding clamp opening degree can be adjusted according to the workpiece, as long as no collision or interference to reduce the opening degree as possible, to save clamp opening degree of welding, in order to save the welding gun opening and closing times occupied .
3) When the jaws are closed pressure welding, not only can adjust the size of the pressure, and two electrodes are lightly closed when closed, and reduce the noise impact deformation.