Concept: welding robot welding robot is engaged in the welding (
Including cutting and spraying)
Industrial robots, it mainly includes two parts of the robot and welding equipment.
Among them, the robot ontology by robots, and control cabinet (
The hardware and software)
For arc welding and spot welding and welding equipment, for example, by welding power source,
Including its control system)
, wire feeding machine (
, welding torch (
For intelligent robot, should also be equipped with a sensor system, such as laser or camera sensors and its control device, etc.
Integration of spot welding robot features: the adoption of electrode holder, welding transformer is installed behind the electrode holder, so must try to miniaturization of spot welding robot transformer.
Can be used for small capacity transformer 50 hz ac power frequency, and for large capacity of transformer, the industry has begun to adopt inverter technology to 50 hz to 600 ~ 700 hz ac power frequency communication, reduce the volume of transformer, reducing.
After the transformer can be directly with 600 ~ 700 hz ac welding, can also be secondary rectifier, direct current welding, the welding parameters by the timer control.
At present, the new timer has been realized, thus the robot controller can directly control timer, without the other interfaces.
Spot welding electrode holder of the robot, electric servo point electrode holder, electrode holder of opening and closing driven by servo motor, encoder feedback, make the electrode holder opening can be arbitrarily selected and prepared according to the actual need, and compaction force between the electrodes can also be adjusted.
Electric servo point electrode holder has the following advantages: each solder joint can greatly decrease the welding cycle, because the open degree of electrode holder is precisely controlled by robots, robot movement between point and point, electrode holder can start closing;
And after welding point, electrode holder side open, the robot can side displacement, don't have to wait for the robot in place after the electrode holder only closed or electrode holder completely opened after the robot moving again.
Tongs opening can adjust according to the workpiece condition, as long as the collision or interference, as much as possible to reduce the opening, to save the opening of the electrode holder to save tongs opening and closing of the time.
Electrode holder closure pressure, pressure not only size can adjust, and two electrodes is gently closed when closed, can reduce the impact deformation and noise.
The characteristics of arc welding robot: arc welding robot with gas shielded welding method (
, usually the thyristor type, inverter, waveform control, such as the pulse or pulse welding power source can be loaded on the robot arc welding.
Due to the robot control cabinet adopts digital control, welding power source is analog control more, so need to add an interface between welding power source and control cabinet.
Abroad in recent years, the robot manufacturer has its own specific form a complete set of welding equipment, the welding equipment has been inserted in the corresponding interface board, so the arc welding robot system and there is no additional interface box.
It should be noted that in the arc welding robot work cycle, arc time proportion is bigger, so when choosing welding power source, the general should be according to the continuous rate 100% to determine the capacity of power supply.
Wire feeding mechanism can be installed in the upper arm of the robot, can also be placed on the robot, the former between welding torch and wire feeding machine hose is shorter, conducive to maintain the stability of wire feeding, while the latter hose principal, some position when the robot welding torch to make hose is in bending state, will seriously affect the quality of the wire feed, so the wire feeding machine installation should be considered to ensure the stability of wire feeding problems.
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