Welding robot is an industrial robot engaged in welding (including cutting and spraying), which mainly includes two parts: robot and welding equipment. Among them, the welding robot is composed of the robot body and the control cabinet (hardware and software); The welding equipment, taking arc welding and spot welding as an example, is composed of welding power supply (including its control system), wire feeder (arc welding), welding gun (pliers) and other parts. For intelligent robots, they should also be equipped with sensing systems, such as laser or camera sensors and their control devices.
Features of spot welding robots
Due to the use of integrated welding tongs, the welding transformer is installed behind the welding tongs, so 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, and for transformers with larger capacity, the industry has begun to use inverter technology to change 50Hz power frequency AC to 600-700Hz AC, so that the volume of the transformer is reduced and reduced. After transforming, it can be directly welded with 600-700Hz alternating current, or it can be rectified, welded with direct current, 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 the need for a separate interface. The opening and closing of the welding tong are driven by the servo motor, and the code disc feedback makes the opening of the welding tong arbitrarily selected and preset according to the actual needs, and the compression force between the electrodes 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 tong is precisely controlled by the robot, and the welding tong can start to close during the movement of the robot between the points; After welding a little, the welding tong is opened, and the robot can be displaced, and the robot does not have to wait for the robot to be in place before the welding tong is closed or the welding tong is fully opened.
(2) The opening of the welding tong can be adjusted arbitrarily according to the situation of the workpiece, as long as there is no collision or interference, the opening can be reduced as much as possible, so as to save the opening of the welding tong and the time occupied by the opening and closing of the welding tong.
(3) When the welding tong is closed and pressurized, not only the pressure can be adjusted, but also the two electrodes are gently closed when closed, which can reduce the impact deformation and noise.
Features of arc welding robots
Arc welding robots mostly use gas shielded welding methods (MAG, MIG, TIG), and the usual thyristor, inverter, waveform controlled, pulsed or non-pulse welding power supply can be installed on the robot for arc welding. Since the robot control cabinet adopts digital control, and the welding power supply is mostly analog control, it is necessary to add an interface between the welding power supply and the control cabinet.
In recent years, foreign robot manufacturers have their own specific supporting welding equipment, and the corresponding interface board has been inserted in these welding equipment, so there is no additional interface box in the arc welding robot system. It should be pointed out that in the working cycle of the arc welding robot, the arc time accounts for a large proportion, so when selecting the welding power supply, the capacity of the power supply should generally be determined by the continuous rate of 100%. The wire feeding mechanism can be installed on the upper arm of the robot, or it can be placed outside the robot, the hose between the former welding torch and the wire feeder is shorter, which is conducive to maintaining the stability of the wire feeding, and the latter hose principal, when the robot sends the welding gun to certain positions, the hose is in a state of multi-bending, which will seriously affect the quality of the wire feeding, so the installation method of the wire feeder must consider the problem of ensuring the stability of the wire feeding.
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