In order to complete high-quality and high-efficiency welding, it is necessary to promote advanced welding technology and welding automation technology in the manufacture of nuclear power equipment. The head of the nuclear power pressure vessel is composed of a hemispherical head intersected with a plurality of round pipes, and its weld groove is a J-shaped groove. Due to the limitation of space location, the welds of this structure are now welded by manual welding, and in order to complete the high-quality and high-efficiency welding of J-grooves, it is difficult for general-purpose robots to meet the requirements.
After establishing the mathematical model of tube intersection, the J-groove welding robot motion track can be generated by using the B-spline curve to approach the intersecting line, and the intersecting line track can be made to fit the surface shape of the workpiece in combination with some correction algorithms. However, due to the processing error and the influence of multi-layer and multi-pass welding on the track, there is a certain error between the theoretical track and the actual welding track, and the track teaching process is time-consuming.
Taking the self-developed J-bevel welding robot as the research object, the optimization of the track teaching method of the J-bevel welding robot was discussed. After calculating the spatial equidistant line of the welding track at that time, the next welding track is generated, and the spatial equidistant line can retain the corrected characteristics of the previous welding track, and then the equidistant track is more suitable for the appearance and morphology of the workpiece, and the radial direction of the robot teaching track is optimized, so as to reduce the track teaching time;
The spatial curve projection method is used to deal with the divergence of the main normal vector of the spatial curve, and the discrete spatial equidistant points are fitted by the interpolation and imminent methods, and the algorithm can remove most of the control vertices under the condition of retaining the track correction features, and the use of spatial equidistant lines in the track teaching of J-shaped groove welding robot is completed. The AVC system is used to complete the real-time adjustment of the welding height during the welding process, and then reduce the requirements for the directional accuracy of the track height in the track teaching process. The AVC system of J-type bevel welding robot was planned and completed, and the system selected ADLINK MP-C152 motion control card, which was composed of an adjustment module, a motion module and an arc voltage collection module.
The AVC system can reduce the requirements for the accuracy of the track height direction in the track teaching stage, and can effectively reduce the track teaching time. The remote teaching system of the J-groove welding robot was optimized, and the remote communication data frame pattern of the robot was planned from scratch, which included bit check and cyclic redundancy check. EB8000 configuration software was used to write the manual operation box program from scratch, and the program is more in line with the requirements of the welding process. Optimize the main program teaching module of the industrial computer, add functions such as window verification, and avoid problems such as program crash caused by operator misoperation.
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Characteristics and applications of parallel robots - KUKA robots
First, the characteristics of parallel robots
1. No accumulated error, high accuracy;
2. The driving equipment can be placed on or close to the direction of the fixed channel, so that the moving part is light in weight, high in speed and has good dynamic response;
3. Compact structure, high stiffness and large bearing capacity;
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Inspection and repair of KUKA robots in hazardous environments
The vast majority of robots in operation now consist of six joints with a simple "output" for interacting with the workpiece. Applications range from pick-and-place operations, to moving cameras and other viewing devices, to performing precision assembly tasks that touch collaborative parts. This is certainly far ...
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Failure of the servo motor of the KUKA welding robot
1. Base check of the servo motor of the KUKA robot
Since the robot servo motor is included in the library card high-resolution detector, in the event of a collision, the impact can cause a problem with the servo motor that the robot library card should provide for a repair check:
(1) Have you ...
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Manual booting with KUKA ready2_pilot
Automation brings many advantages to businesses, especially when it comes to risk, strenuousness, or a single operation. However, there is often a programming challenge that needs to be solved. How can we easily teach the KUKA robot helper what it needs to do? Manually guided: KUKA ready2_pi ...
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Installation of industrial robots – KUKA robots
In the field of industrial production, the device of industrial robots is very important, if the device presents a problem, it will not only affect the performance of robot equipment, but also lead to the reduction of the service life of industrial robots, and will have an impact on the safety of industrial production, and damage the economic benefits of enterprises.
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KUKA robot backup and restore method
When a backup is required:
1. System failure;
2. Hardware collapse.
Significance of backup:
1. Save the procedures made at that time;
2. The user can prevent misoperation and deletion of the program;
3. Let the system work from scratch to prevent secondary commissioning or equipment. ...
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Robot motor control principle – KUKA robots
Motion control is closely related to robots. Robots in industrial applications need to move themselves through actuators composed of multiple motors to perform their mission or to grasp tools through a robot arm.
The motion control system of the robot is usually composed of a motor controller, a motor drive, ...
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Steps to replace a KVGA graphics card with a KUKA robot
1. Before replacing the KVGA, the following preparations must be made:
1. The robot control system must be permanently shut down and protected against unauthorized accidental restarts.
2. The buffer is closed.
3. Put the feeder cable in a powerless condition.
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KUKA Robot Alternative Packages are added
How to use alternative software packages for KUKA robots
Teach Pendant Device Method Login Administrator
Click to get it up and running> auxiliary software
Click New Software
Click Equipment
Click Path Picking
Select the corresponding folder in the USB flash drive and click Save
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When does the KUKA robot need to be corrected?
When calibrating the KUKA robot, the axes are moved to a defined mechanical orientation, i.e. the mechanical zero orientation. This mechanical zero point requires the shaft to move to a bearing that detects the notch or scribing symbol. If the KUKA robot is in the zero position of the machine, it will store the positive detection of each axis ...
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Programming tips for welding robots – KUKA robots
(1) Select a reasonable welding sequence to reduce the welding deformation and the length of the walking path of the welding torch to draw up the welding sequence.
(2) The spatial transition of the welding torch requires a short, smooth and safe moving track.
(3) Optimize the welding parameters, in order to ...
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Key components of industrial robots - KUKA robots
1. High-precision reducer
Fine reducer, in the field of mechanical transmission is the central equipment between the power source and the executive organization, usually it puts the power of high-speed operation such as electric motor and internal combustion engine through the pinion on the input shaft and meshes the large gear on the output shaft, so as to reduce the ...
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Reducer on the KUKA robot
The most important thing in the human arm is the joints and ligaments, and the most important thing in the robot is in each joint: the reducer. This is a fine power transmission organization, which uses the speed converter of the gear to reduce the number of revolutions of the motor to the desired number of revolutions, and obtains a large torque setting.
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The KUKA robot configures the workspace monitoring step
A robot can be equipped with a working space. The working space provides security for the equipment. There are two types of workspaces:
1. The working space is a forbidden area
Only robots are allowed to operate outside of the workspace.
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Key components of industrial robots - KUKA robots
To carry out industrial robots, we should focus on creating six iconic products, five key components, and four basic capabilities. In this issue, Zhongfa Intelligent Manufacturing introduces five key components - high-precision reducer, high-performance robot special servo motor and drive, high-speed and high-performance controller, and transmission.
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The control method of industrial robots - KUKA robots
At present, the most widely used robot on the market is industrial robots, which are also the most mature and complete robots. Industrial robots have a variety of control methods, what are the control methods of industrial robots?
1. Point Control (PTP)
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KUKA KRC4 Robot Safety Node Error Fault Repair Analysis
After the KUKA robot is turned on, the teach pendant displays KSS15101 fault code, which means that the five safety nodes of the safety device from 0 to 4 channels are wrong, and the robot cannot be put into normal operation.
First of all, the KUKA robot is repaired ...
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The KUKA robot initiates a timing step
1. In the T1 form, the user program is pierced into cell.src according to the control requirements, the Cell.src program is selected, and the robot operation mode is switched to ExT_ AUTO.
2. Under the condition that there is no error in the robot system, PLC-. Powering on, you have to announce Smove_ enable to the robot (to- ...
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How the KUKA bot program works
1. By clicking on the "Program Operation Method" icon, you can view and select different methods.
2. The operation methods of the program are [Go], [Action], and [Single Process].
1. Go: refers to the uninterrupted connection of the program.
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An introduction to KUKA six-axis robots
KUKA six-axis robot is a joint machine with 6 movable joint axes, similar to a human arm, known as a 6-axis joint robot, 6-axis industrial manipulator or 6-axis industrial robot, which is one of the most common forms of industrial robots in the industrial field today. Suitable for many industrial ...
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