Robot welding
Date：2019-06-13
Robot welding has become the norm in many industries. It saves manpower and material resources by using robot welding, but the previous investment is a little bit. So we should consider it. Now let Xiaobian join hands with Tyco intelligent robot welding related information to us, hoping to be useful to us. Welding robots are industrial robots engaged in welding (including cutting and spraying). According to the definition of ISO industrial robots as standard welding robots, industrial robots are a multi-purpose, repeatable, and programmable Manipulator with three or more programmable axes for industrial automation. To adapt to different uses, the mechanical interface of the last axis of the robot, usually a connecting flange, can be fitted with different things or end actuators. Welding robots are equipped with welding pliers or welding (cutting) guns on the flange of the end axle of industrial robots to enable welding, cutting, or thermal spraying.
With the development of electronic skills, computer skills, numerical control, and robotic skills, active welding robots have become more and more mature since they were used in production in the 1960s. First, they have the following advantages: 1) stable and progressive welding quality, which can reflect the welding quality numerically; 2) improved labor productivity; 3) Improve the labor intensity of workers, can work in the harmful environment; 4) reduce the requirements of workers'operation skills; 5) shorten the preparation cycle of product transformation and replacement, reduce the corresponding equipment investment. Therefore, it has been widely used in all walks of life. Welding robot mainly includes two parts: robot and welding equipment. The robot is composed of the robot body and the control cabinet (hardware and software). Welding equipment, for example, arc welding and spot welding, consists of welding power source (including its control system), wire feeder (arc welding), welding torch (clamp), etc. There should also be a sensing system for intelligent robots, such as laser or camera sensors and their control devices. Figs 1a and b show the basic composition of arc welding robot and spot welding robot. The welding robots produced all over the world are joint robots, most of which have six axes. In the meantime, axes 1, 2, and 3 can send the ending things to different spatial positions, while axes 4, 5, and 6 can solve different requirements of the posture of the East and the west. There are two main mechanical structures of the welding robot body: one is a parallelogram structure, the other is lateral (pendulum) structure, as shown in figs. 2a and B. The main advantage of the lateral (pendulum) structure is that the upper arm and the lower arm have a wide range of motion so that the working space of the robot can almost reach a sphere. Therefore, the robot can be hung upside down on the rack to work to save the land and facilitate the activities of objects on the ground. However, the lateral robot has a cantilever structure with 2 or 3 axes, which reduces the rigidity of the robot. It is generally suitable for robots with less load, such as arc welding, cutting, or spraying. The upper arm of the parallelogram robot is driven by a tie rod. The tie rod and the lower arm form two sides of a parallelogram. So it got its name. The early developed parallelogram robot has a relatively small working space (limited to the front part of the robot), and it is difficult to work upside down. However, the new parallelogram robot (parallel robot) developed since the late 1980s has been able to expand the working space to the top, back, and bottom of the robot, and there is no stiffness problem of the positioned robot, and then it has received widespread attention. This structure is not only suitable for light-duty robots, but also suitable for heavy-duty robots. In recent years, most of the spot welding robots (loaded from 100 to 150 kg) use a parallelogram structure.
All axes of the two robots are in reverse motion, so servo motors are driven by cycloidal needle wheel (RV) reducer (1-3 axes) and harmonic reducer (1-6 axes). In the mid-1980s, DC servo motors were used for electric-driven robots. Since the late 1980s, communication servo motors have been used in many countries. Because the communication motor has no carbon brush and good dynamic characteristics, the new type of robot not only has a low end-to-end rate but also greatly increases the repair-free time and increases (decreases) speed. Some new light-duty robots with a load of less than 16 kg can move at the East-West Center Point (TCP) with a maximum speed of more than 3 m/s, accurate positioning, and low vibration.
With the development of electronic skills, computer skills, numerical control, and robotic skills, active welding robots have become more and more mature since they were used in production in the 1960s. First, they have the following advantages: 1) stable and progressive welding quality, which can reflect the welding quality numerically; 2) improved labor productivity; 3) Improve the labor intensity of workers, can work in the harmful environment; 4) reduce the requirements of workers'operation skills; 5) shorten the preparation cycle of product transformation and replacement, reduce the corresponding equipment investment. Therefore, it has been widely used in all walks of life. Welding robot mainly includes two parts: robot and welding equipment. The robot is composed of the robot body and the control cabinet (hardware and software). Welding equipment, for example, arc welding and spot welding, consists of welding power source (including its control system), wire feeder (arc welding), welding torch (clamp), etc. There should also be a sensing system for intelligent robots, such as laser or camera sensors and their control devices. Figs 1a and b show the basic composition of arc welding robot and spot welding robot. The welding robots produced all over the world are joint robots, most of which have six axes. In the meantime, axes 1, 2, and 3 can send the ending things to different spatial positions, while axes 4, 5, and 6 can solve different requirements of the posture of the East and the west. There are two main mechanical structures of the welding robot body: one is a parallelogram structure, the other is lateral (pendulum) structure, as shown in figs. 2a and B. The main advantage of the lateral (pendulum) structure is that the upper arm and the lower arm have a wide range of motion so that the working space of the robot can almost reach a sphere. Therefore, the robot can be hung upside down on the rack to work to save the land and facilitate the activities of objects on the ground. However, the lateral robot has a cantilever structure with 2 or 3 axes, which reduces the rigidity of the robot. It is generally suitable for robots with less load, such as arc welding, cutting, or spraying. The upper arm of the parallelogram robot is driven by a tie rod. The tie rod and the lower arm form two sides of a parallelogram. So it got its name. The early developed parallelogram robot has a relatively small working space (limited to the front part of the robot), and it is difficult to work upside down. However, the new parallelogram robot (parallel robot) developed since the late 1980s has been able to expand the working space to the top, back, and bottom of the robot, and there is no stiffness problem of the positioned robot, and then it has received widespread attention. This structure is not only suitable for light-duty robots, but also suitable for heavy-duty robots. In recent years, most of the spot welding robots (loaded from 100 to 150 kg) use a parallelogram structure.
All axes of the two robots are in reverse motion, so servo motors are driven by cycloidal needle wheel (RV) reducer (1-3 axes) and harmonic reducer (1-6 axes). In the mid-1980s, DC servo motors were used for electric-driven robots. Since the late 1980s, communication servo motors have been used in many countries. Because the communication motor has no carbon brush and good dynamic characteristics, the new type of robot not only has a low end-to-end rate but also greatly increases the repair-free time and increases (decreases) speed. Some new light-duty robots with a load of less than 16 kg can move at the East-West Center Point (TCP) with a maximum speed of more than 3 m/s, accurate positioning, and low vibration.