Welding marobhoti marobhoti emuindasitiri anobata muwelding (kusanganisira kucheka nekupfapfaidza).Zvinoenderana neInternational Organisation for Standardization (ISO)Industrial Machines Man anotsanangurwa seyakajairwa welding robhoti, robhoti reindasitiri rinoita zvinhu zvakasiyana-siyana, rinogoneka, rinoita otomatiki kudzora otomatiki (Manipulator) rine matatu kana anopfuura akarongwa matemo eindasitiri otomatiki.Kugadzirisa kushandiswa kwakasiyana-siyana, shaft yekupedzisira yerobhoti ine mechanical interface, kazhinji inobatanidza flange, iyo inogona kuiswa nemidziyo yakasiyana-siyana kana kupera kwemagetsi.Welding marobhoti marobhoti emuindasitiri ane ekupedzisira-axis flanges akaiswa welding pliers kana welding (kucheka) pfuti kuitira kuti igone kusungirirwa, kucheka kana kupisa-spray.

Nekuvandudzwa kwehunyanzvi hwemagetsi, tekinoroji yekombuta, kudzora nhamba uye tekinoroji tekinoroji, otomatiki welding marobhoti, kubvira ma1960 akatanga kushandiswa mukugadzira, tekinoroji yayo yakawedzera kukura, kunyanya ine zvinotevera.zvakanakira:

1) Kudzikamisa uye kuvandudza iwo welding mhando, inogona kuratidza iwo welding mhando mune nhamba fomu;

2) Kuvandudza mashandiro evashandi;

3) Kuvandudza kusimba kwevashandi, vanogona kushanda munzvimbo dzinokuvadza;

4) Kuderedza zvinodiwa zvehunyanzvi hwekushanda kwevashandi;

5) Kupfupisa kutenderera kwegadziriro yekuchinja kwechigadzirwa uye shanduko, kuderedza inoenderana mari yekushandisa.

Naizvozvo, mumigariro yose youpenyu yakashandiswa zvakafara.

Welding robhoti inonyanya kusanganisira zvikamu zviviri: robhoti uye welding midziyo.Iyo robhoti ine robhoti muviri uye control kabati (hardware uye software).Welding midziyo, kutora arc welding uye gwapa welding semuenzaniso, inoumbwa welding power supply(kusanganisira yayo control system), waya feeder (arc welding), welding gun (clamp) zvichingodaro.Kune marobhoti akangwara, panofanirwawo kunge paine masisitimu ekunzwa, senge laser kana kamera sensors uye iwo ekutonga.

Welding robhoti dhizaini

Welding marobhoti anogadzirwa kutenderera pasirese ari majobhoti akabatana, mazhinji acho ane matemo matanhatu.Pakati pavo, 1, 2, 3 matemo anogona kutumira chishandiso chekupedzisira kunzvimbo dzakasiyana dzenzvimbo, nepo 4, 5, 6 axis kugadzirisa izvo zvakasiyana zvinodiwa zvechishandiso chimiro.Kune miviri mikuru mikuru yema mechanical chimiro chewelding robhoti muviri: imwe iri parallelogram dhizaini uye imwe yacho iri parutivi-yakaiswa (swing) chimiro.Kubatsira kukuru kwegadziriro yerutivi-yakaiswa (swing) ndiyo yakawanda yemabasa epamusoro nepamusoro pemaoko, izvo zvinoita kuti nzvimbo yekushanda yerobhoti isvike kunenge nzvimbo.Nekuda kweizvozvo, iro robhoti rinogona kushanda rakatsikitsira pasi pamaraki kuchengetedza nzvimbo yepasi uye kufambisa kuyerera kwezvinhu pasi.Nekudaro, irobhoti rakasimudzwa padivi, 2 uye 3 maaxes eiyo cantilever chimiro, inoderedza kuomarara kwerobhoti, kazhinji yakakodzera marobhoti madiki emutoro, wearc welding, kucheka kana kupfapfaidza.Ruoko rwepamusoro rwerobhoti parallelogram runofambiswa nechiredzo.Chirevo chinoumba mativi maviri eparalelogiramu neruoko rwezasi.Saka yakanzi.Kuvandudzwa kwekutanga kweparalelogiramu robhoti nzvimbo yekushanda idiki (inogumira kumberi kwerobhoti), zvakaoma kusungirira kumusoro pasi basa.Zvisinei, robhoti itsva yeparallelogram (parallel robot) yakagadzirwa kubvira pakupera kwema1980 yakakwanisa kuwedzera nzvimbo yekushanda kusvika kumusoro, kumashure uye pasi pebhobhoti, pasina kuoma kwerobhoti yekuyera, saka yakave yakabhadharwa zvakanyanya.Ichi chimiro hachina kukodzera kuchiedza chete asiwo kune heavy-duty robots.Mumakore achangopfuura, nzvimbo welding marobhoti (mutoro 100 kusvika 150 makirogiramu) kunyanya sarudza parallelogram chimiro chimiro marobhoti.

Imwe neimwe yemashafts emarobhoti maviri ari pamusoro anoshandiswa pakufamba, saka servo mota inotyairwa neinoswing tsono vhiri (RV) inoderedza (1 kusvika 3 maaxes) uye harmonic reducer (1 kusvika 6 axes).Pamberi pemakore ekuma1980, marobhoti aifambiswa nemagetsi aifambiswa neDC servo motors, uye kubva mukupera kwema1980, nyika dzakachinjira kuAC servo motors.Nekuti AC mota hadzina kabhoni mabhurashi, yakanaka dynamic maitiro, zvekuti iro robhoti nyowani kwete chete yakaderera tsaona mwero, asiwo yekuchengetedza-yemahara nguva yakawedzera zvakanyanya, pamwe (minus) kumhanya zvakare nekukurumidza.Mamwe marobhoti matsva akareruka ane mitoro isingasviki 16 kg ane kukurumidza kufamba kunodarika 3m/s panzvimbo yavo yekushandisa (TCP), kumira kwakaringana uye kuderera kwakadzika.Panguva imwecheteyo, iyo robhoti yekudzora kabhineti yakashandisawo 32-bit microcomputer uye algorithm nyowani, kuitira kuti ive nebasa rekugadzirisa nzira pachayo, ichimhanyisa trajectory iri pedyo negwara rekudzidzisa.

peculiarity

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Spot welding haisi kunyanya kudiwa pamarobhoti ekuwelda.Nekuti nzvimbo welding inongoda point control, seye welding pliers pakati peiyo poindi uye poindi yekufamba trajectory haina kuomarara zvinodiwa, iro robhoti rinogona kushandiswa chete kune nzvimbo welding panguva yekutanga chikonzero.Spot welding robhoti haingove neyakakwana mutoro wekuremerwa, asiwo mune point-to-point shift yekumhanya inokurumidza, chiito chinofanira kunge chakatsetseka, chinzvimbo chinofanira kuve chakarurama, kuitira kuderedza nguva yekuchinja, kusimudza.

Kubudirira kwepamusoro.Yakawanda sei mitoro yekutakura inodiwa neapo welding robhoti zvinoenderana nemhando yewelding clamp inoshandiswa.Kune welding pliers akaparadzaniswa kubva kune transformers, 30 kusvika 45 kg mutoro wemarobhoti yakakwana.Zvisinei, kune rumwe rutivi, rudzi urwu rwekusungirirwa kwekusungirirwa kunokonzerwa netambo yakareba yechipiri, kurasikirwa kwesimba kwakakura, hazvibatsiri kuti robhoti isungirire mapikisi emagetsi mukati me workpiece, kune rumwe rutivi. , tambo yetambo inozununguka nekufamba kwerobhoti, kukuvadzwa kwetambo kunokurumidza.Nokudaro, kushandiswa kwekubatanidza welding pliers kuri kuwedzera zvishoma nezvishoma.Ichi chivharo chewelding, pamwe chete netransformer, ine huremu hunosvika 70 kg.Tichifunga kuti robhoti rinofanira kunge riine hurefu hwakakwana hwekutakura, mapikisi akaiswa kune nzvimbo yekubatira pakukwirisa kukuru, marobhoti anorema ane mutoro we100 kusvika 150 kg anowanzo kusarudzwa.Kuti zvizadzise zvinodikanwa zvepfupi-chinhambwe kukurumidza kutama kwe weld clamps panguva yekuenderera kwenzvimbo welding.Iyo nyowani inorema-basa robhoti inowedzera kugona kupedzisa 50mm kutamiswa mu0.3s.Izvi zvinoisa kumberi kwepamusoro zvinodiwa pakuita kwemota, kumhanya kwekombuta uye algorithm yeiyo microcomputer.

Magadzirirwo ekugadzira

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Nekuti dhizaini yewelding robhoti iri muquasi-ndege, yakamanikana nzvimbo nharaunda, kuitira kuti ive nechokwadi chekuti robhoti inokwanisa kuteedzera welding ye weld maererano neruzivo rwekutsauka kweiyo arc sensor, iro robhoti rinofanira kugadzirwa compact, flexible kufamba. uye basa rakagadzikana.Tichitarisa hunhu hwenzvimbo yakamanikana, robhoti diki remagetsi welding inogadzirwa, zvinoenderana nekufamba kwemaitiro ega ega robhoti, uchishandisa modular dhizaini nzira, iyo robhoti nzira yakakamurwa kuita zvikamu zvitatu: mavhiri nharembozha, torch inogadzirisa uye. arc sensor.Pakati pawo, ine mavhiri nharembozha nekuda kweiyo inertia, inononoka kupindura, kunyanya pane weld rough yekutevera, iyo torch inogadzirisa meshini ine basa rekunyatso kurongeka kweweld, arc sensor kupedzisa weld deviation real-time identification.Uye zvakare, iro robhoti controller uye mota mutyairi zvakabatanidzwa pane robhoti nharembozha, ichiita diki.Panguva imwecheteyo, kuti kuderedze simba reguruva pazvikamu zvinofamba munzvimbo ine hutsinye welding, chimiro chakavharirwa chinoshandiswa kuvandudza kuvimbika.^ofhurongwa hwayo.

equip

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The welding midziyo of the spot welding robhoti, nokuda kushandiswa Integrated welding pliers, welding transfoma akaiswa kuseri welding pliers, saka transformer inofanira kuva duku sezvinobvira.Kune madiki ekushandura anogona kushandisa 50Hz frequency AC, uye kune makuru ekushandura, inverter tekinoroji yakashandiswa kushandura 50Hz frequency AC kuita 600 kusvika 700Hz AC, kuitira kuti saizi yetransformer ideredze uye ideredzwe.Mushure mekudzvinyirirwa kwekuchinja kunogona kuve kwakananga ne600 kusvika 700Hz AC welding, inogona zvakare kugadziriswa, neDIRECT welding.Welding parameters inogadziriswa ne timer.Iyo nguva nyowani yakave microcomputed, saka robhoti yekudzora kabati inogona kudzora zvakananga timer pasina kudiwa kweimwe interface.Spot welding robhoti welding pliers, kazhinji ane pneumatic welding pliers, pneumatic welding pliers pakati pemaelectrode maviri edhigirii rekuvhura anowanzo kurohwa kaviri chete.Uye kana electrode pressure ichigadziriswa, haigoni kuchinjwa pamadiro.Mumakore achangopfuura, mhando itsva yemagetsi servo spot welding clamps yakaonekwa.Kuvhura uye kuvhara kwewelding pliers kunofambiswa ne servo mota, uye iyo kodhi plateti mhinduro inobvumira kuvhurwa kwepiresi kusarudzwa zvisina tsarukano uye preset zvinoenderana nezvinodiwa chaizvo.Uye simba rekumanikidza pakati pe electrode rinogonawo kugadziriswa pasina danho.Iyi nyowani yemagetsi servo spot welder ine zvinotevera zvakanakira:

1) The welding cycle yeimwe neimwe welding point inogona kuderedzwa zvakanyanya, nekuti dhigirii rekuvhurwa kwewelding pliers inonyatso kudzorwa nerobhoti, iro robhoti pakati peiyo poindi nenzvimbo yekufamba process, welding pliers inogona kutanga kuvhara;

2) Iyo yekuvhura dhigirii yewelding clamp inogona kugadziridzwa zvichienderana nemamiriro eiyo workpiece, chero bedzi pasina kudhumhana kana kupindira kudzikisa dhigirii rekuvhura, kuitira kuchengetedza dhigirii rekuvhura resimbi yekushongedza, kuitira kuchengetedza nguva inogarwa nekuvhura nekuvhara kweiyo welding clamp.

3) Kana iyo welding clamps yakavharwa uye yakamanikidzwa, kwete chete saizi yekumanikidza inogona kugadziridzwa, asiwo kana yakavharwa, ma electrode anovharwa zvinyoro nyoro, achideredza kukanganisa deformation uye ruzha.

Spot welding robhoti FANUC R-2000iB

Welding application

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