Welding robot is a modern and automated equipment that integrates knowledge of machinery, computers, electronics, sensors, artificial intelligence and other aspects. Welding robots are mainly composed of two parts: robots and welding equipment. The robot consists of the robot itself and the control system. The welding equipment takes spot welding as an example, which is mainly composed of welding power supply, special welding gun, sensor, grinder and other parts. In addition, there should be system maintenance devices.
Welding robot, which is easy to complete the stability and progress of welding products, to ensure its uniformity. It can achieve continuous production for 24 hours, and greatly improve the production efficiency. It can replace manual labor and work in harmful environments for a long time. Relatively reduce the requirements for the difficulty of workers' operational skills. It can shorten the preparation period for product modification and reduce the corresponding equipment investment. It can implement the welding automation of small batch products. Provide the technical foundation for the welding flexible production line.
The welding robots that are widely used today are attributed to the first generation of industrial robots, and its fundamental working principle is to teach and reproduce. Teaching is also known as support, there are users to guide the robot, step by step according to the practical mission of the operation, the robot in the process of support actively memorize the orientation, posture, motion parameters, process parameters, etc. of each action of teaching, and actively generate a program that executes all operations one after another. After the teach-in is completed, you only need to give the robot a start command, and the robot will accurately follow the teach-in action to complete the operation step by step. This is teaching and reproduction.
A general-purpose industrial robot, according to its function, is generally composed of three interrelated parts: manipulator assembly, controller and teaching system. The manipulator assembly is the actuator of the robot, which is composed of a drive, a transmission mechanism, a robot arm, a joint, an end operator and an internal sensor. His mission is to ensure precisely the orientation, posture and completion of the receptacle manipulator. The manipulator is the nerve center of the robot, which is composed of computer hardware, software and some special circuits, and its software includes manipulator system software, robot-specific speech, robot kinematics, dynamics software, robot control software, robot self-diagnosis, active maintenance function software, etc., which processes all the information in the working process of the robot and all the actions of the manipulator. The teaching system is the interaction interface between the robot and the human, how to teach the process it will control all the actions of the robot, and send all the information into the memory of the controller, it is essentially a dedicated intelligent terminal.
At present, most industrial robots are electric motor-driven industrial robots and hydraulically driven industrial robots, and welding robots fundamentally belong to these two types of industrial robots. Most of the arc welding robots use electric motors to drive the robots, because the quality of the welding torch is generally within 10kg. Due to the quality of the welding tongs exceeding 35kg, the spot welding robot also chooses the hydraulic drive method, which can be large because the hydraulic drive robot can grasp the weight. However, most spot welding robots are still driven by high-power servo motors, which is due to its low cost and compact structure. Gongye robot is composed of four fundamental parts: manipulator, manipulator, drive, and teaching box. For electric motor-driven robots, the controller and drive are generally housed in a control box; In the case of hydraulically driven robots, the hydraulic drive source is a separate component.
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