The welding robots produced in countries around the world are basically joint robots, and most of them have 6 axes. Among them, the 1, 2, and 3 axes can send the end things to different spatial positions, while the 4, 5, and 6 axes can solve the different requirements of the east and west postures. There are two main ways to have the mechanical structure of the welding robot body: one is a parallelogram structure, and the other is a side-mounted (pendulum) structure.
The primary advantage of the side-mounted (pendulum) structure is that the upper and lower arms have a large range of motion, so that the space of the robot's industrial welding robot schematic diagram can reach a sphere. As a result, the robot can be hung upside down on a rack to save floor space and facilitate the movement of objects on the ground. However, this side-mounted robot, with 2 and 3 axes as a cantilever structure, reduces the rigidity of the robot, and is generally suitable for robots with small loads, and is used for arc welding, cutting or spraying.
The upper arm of the parallelogram robot is driven by a lever. The tie rod and the lower arm form two sides of a parallelogram. Hence the name. The working space of the parallelogram robot developed in the early stage is relatively small (limited to the front part of the robot), and it is difficult to operate upside down. However, the new parallelogram robot (parallel robot) developed since the late 80s has been able to expand the working space to the top, back and bottom of the robot, and there is no problem of the rigidity of the measuring robot, so it has been widely valued. This structure is not only suitable for lightweight, but also for heavy-duty robots. In recent years, most of the robots for spot welding (load 100-150kg) are parallelogram robots.
Each axis of the above two kinds of robots is reversed, so the servo motor is driven by cycloidal pin wheel (RV) reducer (1-3 axes) and harmonic reducer (1-6 axes). Before the middle of the 80s, the robots with electric drive were all DC servo motors, and since the late 80s, various countries have switched to communication servo motors. Because the communication motor does not have carbon brushes and has good dynamic characteristics, the new robot not only has a low incident rate, but also greatly increases the maintenance-free time, and the speed of adding (subtracting) is also fast. Some new light robots with a payload of less than 16 kg can move at a speed of more than 3 m/s at the east-west center point (TCP), with precise positioning and low oscillation. At the same time, the control cabinet of the robot is also changed to a 32-bit microcomputer and a new algorithm, so that it has the function of optimizing the path by itself, and the running trajectory is closer to the trajectory of teaching.
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