The welding robot is an industrial robot engaged in welding (including cutting and spraying). It mainly consists of two parts: robot and welding equipment. Among them, the robot is composed of the robot body and the control cabinet (hardware and software); and the welding equipment, such as arc welding and spot welding, is composed of welding power source (including its control system), wire feeder (arc welding), welding torch ( Pliers and other parts. For intelligent robots , there should also be a sensing system such as a laser or camera sensor and its controls.
1. Features of spot welding robot
Since the integrated welding tongs are used and the welding transformer is mounted behind the welding tongs, the transformer of the spot welding robot must be miniaturized as much as possible. For transformers with smaller capacity, 50Hz power frequency AC can be used. For transformers with larger capacity, the industry has begun to use inverter technology to change the 50Hz power frequency AC to 600~700Hz AC, which reduces and reduces the volume of the transformer. After the pressure change, it can be directly welded with 600-700 Hz AC, or it can be re-rectified twice, with DC welding, and the welding parameters are adjusted by the timer. At present, the new timer has been computerized, so the robot control cabinet can directly control the timer without an additional interface. The welding tongs of the spot welding robot, the electric servo spot welding tongs, the opening and closing of the welding tongs are driven by the servo motor , the code disc feedback, so that the opening degree of the welding tongs can be arbitrarily selected and preset according to actual needs, and between the electrodes The pressing force can also be adjusted steplessly.
Electric servo spot welding tongs have the following advantages:
(1) The welding cycle of each solder joint can be greatly reduced, because the opening degree of the welding tongs is precisely controlled by the robot. When the robot moves between points, the welding tongs can start to close; After one point, the welding tongs are opened and the robot can be displaced at one side. After the robot is in place, the welding tongs are closed or the welding tongs are fully opened and the robot moves.
(2) The opening degree of the welding tongs can be arbitrarily adjusted according to the condition of the workpiece. As long as no collision or interference occurs, the opening degree can be reduced as much as possible to save the opening degree of the welding tongs and save the time taken for the welding tongs to open and close.
(3) When the welding tongs are closed and pressurized, not only the pressure can be adjusted, but also the two electrodes are gently closed when closed, which can reduce impact deformation and noise.
2, the characteristics of arc welding robot
Arc welding robots mostly use gas shielded welding methods (MAG, MIG, TIG). Normal thyristor, inverter, waveform control, pulse or non-pulse welding power supplies can be mounted on the robot for arc welding. Since the robot control cabinet is digitally controlled, and the welding power source is mostly analog control, an interface needs to be added between the welding power source and the control cabinet.
In recent years, foreign robot manufacturers have their own specific matching welding equipment. The corresponding interface boards have been inserted into these welding equipments, so there is no additional interface box in the arc welding robot system. It should be noted that in the arc welding robot working cycle, the arc time accounts for a large proportion. Therefore, when selecting the welding power source, the power supply capacity should generally be determined according to the continuous rate of 100%. The wire feeding mechanism can be mounted on the upper arm of the robot or outside the robot. The former hose between the welding torch and the wire feeder is shorter, which is beneficial to maintain the stability of the wire feeding, while the latter hose headmaster, when the robot Sending the welding torch to some positions, so that the hose is in a multi-bend state, will seriously affect the quality of the wire feeding, so the wire feeder should be installed in a way that ensures the stability of the wire feeding.
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