Welding marobhoti marobhoti emumaindasitiri anobatikana muwelding (kusanganisira kucheka nekupfapfaidza).Sekureva kweInternational Organisation for Standardization (ISO)Industrial Machines Man anotsanangurwa seyakajairwa welding robhoti, robhoti reindasitiri rinoita zvinhu zvakasiyana-siyana, rinogoneka, rinoita otomatiki control operator (Manipulator) rine matatu kana anopfuura akarongwa matemo eindasitiri otomatiki.Kugadzirisa kushandiswa kwakasiyana, shaft yekupedzisira yerobhoti ine mechanical interface, kazhinji inobatanidza flange, iyo inogona kuiswa nemidziyo yakasiyana-siyana kana kuguma kwemagetsi.Welding marobhoti marobhoti emuindasitiri ane ekupedzisira-axis flanges akaiswa welding pliers kana welding (kucheka) pfuti kuitira kuti igone kusungirirwa, kucheka kana kupisa-spray.

Nekuvandudzwa kwehunyanzvi hwemagetsi, tekinoroji yekombuta, nhamba yekudzora uye tekinoroji tekinoroji, otomatiki welding marobhoti, kubvira ma1960 akatanga kushandiswa mukugadzira, tekinoroji yayo yakawedzera kukura, kunyanya ine zvinotevera.zvakanakira:

1) Kudzikamisa uye kunatsiridza welding mhando, inogona kuratidza welding mhando mune nhamba fomu;

2) Kuvandudza mashandiro evashandi;

3) Kuvandudza kusimba kwevashandi, vanogona kushanda munzvimbo dzinokuvadza;

4) Kuderedza zvinodiwa zvehunyanzvi hwekushanda kwevashandi;

5) Kupfupisa kutenderera kwegadziriro yekuchinja kwechigadzirwa uye shanduko, kuderedza inoenderana mari yekushandisa.

Naizvozvo, mumigariro yose youpenyu yakashandiswa zvakafara.

Welding robhoti inonyanya kusanganisira zvikamu zviviri: robhoti uye welding michina.Iyo robhoti ine muviri werobhoti uye control cabinet (hardware uye software).Welding midziyo, kutora arc welding uye gwapa welding semuenzaniso, inoumbwa welding simba rekupa (kusanganisira yayo control system), waya feeder (arc welding), welding pfuti (clamp) zvichingodaro.Kune marobhoti akangwara, panofanirwawo kunge paine masisitimu ekunzwa, senge laser kana kamera sensors uye iwo ekutonga.

Welding robhoti dhizaini

Welding marobhoti anogadzirwa kutenderera pasirese ari majobhoti akabatana, mazhinji acho ane matemo matanhatu.Pakati pavo, 1, 2, 3 matemo anogona kutumira chishandiso chekupedzisira kunzvimbo dzakasiyana dzenzvimbo, nepo 4, 5, 6 axis kugadzirisa izvo zvakasiyana zvinodiwa zvechishandiso chimiro.Kune miviri mikuru mikuru yema mechanical chimiro chewelding robhoti muviri: imwe iri parallelogram dhizaini uye imwe yacho iri parutivi-yakaiswa (swing) chimiro.Kubatsira kukuru kwegadziriro yerutivi-yakaiswa (swing) ndiyo yakawanda yemabasa epamusoro nepamusoro pemaoko, izvo zvinoita kuti nzvimbo yekushanda yebhobhoti isvike inenge nzvimbo.Nekuda kweizvozvo, iro robhoti rinogona kushanda rakatsikitsira pasi pamaraki kuchengetedza nzvimbo yepasi uye kufambisa kuyerera kwezvinhu pasi.Nekudaro, irobhoti rakaiswa padivi, 2 uye 3 maaxes eiyo cantilever chimiro, inoderedza kuomarara kwerobhoti, kazhinji yakakodzera marobhoti madiki emutoro, wearc welding, kucheka kana kupfapfaidza.Ruoko rwepamusoro rwerobhoti parallelogram runofambiswa nerevere.Iyo lever inoita mativi maviri eparalelogiramu neruoko rwezasi.Saka yakanzi.Kuvandudzwa kwekutanga kweparalelogiramu robhoti nzvimbo yekushanda idiki (inogumira kumberi kwerobhoti), zvakaoma kusungirira kumusoro pasi basa.Zvisinei, robhoti itsva yeparallelogram (parallel robot) yakagadzirwa kubvira pakupera kwema1980 yakakwanisa kuwedzera nzvimbo yekushanda kusvika kumusoro, kumashure uye pasi pebhobhoti, pasina kuoma kwerobhoti yekuyera, saka yakave yakabhadharwa zvakanyanya.Ichi chimiro hachina kukodzera kuchiedza chete asiwo kune zvinorema-basa marobhoti.Mumakore achangopfuura, nzvimbo welding marobhoti (mutoro 100 kusvika 150 makirogiramu) kunyanya sarudza parallelogram chimiro chimiro marobhoti.

Imwe neimwe yemashafts emarobhoti maviri ari pamusoro anoshandiswa pakufamba, saka servo mota inofambiswa neinoswing tsono vhiri (RV) inoderedza (1 kusvika 3 maaxes) uye harmonic reducer (1 kusvika 6 axes).Pamberi pemakore ekuma1980, marobhoti aifambiswa nemagetsi aifambiswa neDC servo motors, uye kubva mukupera kwema1980, nyika dzakachinjira kuAC servo motors.Nekuti AC mota hadzina kabhoni mabhurashi, yakanaka dynamic maitiro, kuitira kuti iro robhoti nyowani kwete chete yakaderera tsaona mwero, asiwo yekuchengetedza-yemahara nguva yakawedzera zvakanyanya, pamwe (minus) kumhanya zvakare nekukurumidza.Mamwe marobhoti matsva akareruka ane mitoro isingasviki 16 kg ane kukurumidza kufamba kweanodarika 3m/s panzvimbo yavo yekushandisa (TCP), kumira kwakaringana uye kuderera kwakadzika.Panguva imwecheteyo, iyo robhoti yekudzora kabhineti yakashandisawo 32-bit microcomputer uye algorithm nyowani, kuitira kuti ive nebasa rekugadzirisa nzira pachayo, ichimhanyisa trajectory pedyo negwara rekudzidzisa.

peculiarity

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Spot welding haina kunyanya kudiwa pamarobhoti ekuwelda.Nekuti nzvimbo welding inongoda kudzora poindi, seye welding pliers pakati peiyo poindi uye poindi yekufamba trajectory haisi yakasimba zvinodiwa, iro robhoti rinogona kushandiswa chete kune nzvimbo welding panguva yekutanga chikonzero.Spot welding robhoti haingove neyakakwana mutoro wekuremerwa, asiwo mune point-to-point shift yekumhanya inokurumidza, chiito chinofanira kunge chakatsetseka, chinzvimbo chinofanira kuve chakarurama, kuitira kuderedza nguva yekuchinja, kusimudza.

Kubudirira kwepamusoro.Yakawanda sei mitoro yekutakura iyo nzvimbo welding robhoti inoda zvinoenderana nemhando yewelding clamp inoshandiswa.Kune welding pliers akaparadzaniswa kubva kune transformer, 30 kusvika 45 kg mutoro wemarobhoti wakakwana.Nekudaro, kune rumwe rutivi, rudzi urwu rwekusungirira simbi imhaka yetambo refu yechipiri tambo, kurasikirwa kwesimba kwakakura, hazvikodzere kuti robhoti isungirire mapuranga mukati meiyo workpiece, kune rumwe rutivi. , tambo yetambo inozununguka nekufamba kwerobhoti, kukuvadzwa kwetambo kunokurumidza.Nokudaro, kushandiswa kwekubatanidza welding pliers kuri kuwedzera zvishoma nezvishoma.Ichi chivharo chewelding, pamwe chete ne transformer, ine huremu hunosvika 70 kg.Tichifunga kuti robhoti rinofanira kunge riine hurefu hwakakwana hwekutakura, mapikisi akaiswa kune nzvimbo yekukwirisa pakukwirisa kukuru, marobhoti anorema ane mutoro we100 kusvika 150 kg anowanzo kusarudzwa.Kuti zvizadzise zvinodiwa zvepfupi-kure nekukurumidza kusimuka kwe weld clamps panguva yekuenderera kwenzvimbo welding.Iyo nyowani inorema-basa robhoti inowedzera kugona kupedzisa 50mm kutamiswa mu0.3s.Izvi zvinoisa kumberi kwepamusoro zvinodiwa pakuita kwemota, kumhanya kwekombuta uye algorithm yeiyo microcomputer.

Magadzirirwo ekugadzira

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Nekuti dhizaini yewelding robhoti iri mune quasi-ndege, yakamanikana nzvimbo nharaunda, kuitira kuti ive nechokwadi chekuti robhoti inokwanisa kuteedzera welding ye weld maererano nekutsauka ruzivo rwe arc sensor, iro robhoti rinofanira kugadzirwa compact, flexible kufamba. uye basa rakagadzikana.Tichifunga nezve hunhu hwenzvimbo yakamanikana, robhoti diki remagetsi welding rinogadzirwa, zvinoenderana nekufamba kwemaitiro ega ega robhoti, uchishandisa modular dhizaini nzira, iyo robhoti nzira yakakamurwa kuita zvikamu zvitatu: mavhiri nharembozha, torch inogadzirisa uye. arc sensor.Pakati pawo, ine mavhiri nharembozha nekuda kweiyo inertia, inononoka kupindura, kunyanya pane weld rough yekutevera, iyo torch inogadzirisa meshini ine basa rekunyatso kurongeka kweiyo weld, arc sensor kupedzisa weld kutsauka chaiyo-nguva yekuzivikanwa.Uye zvakare, iyo robhoti controller uye mota mutyairi akabatanidzwa pane robhoti nharembozha, ichiita diki.Panguva imwecheteyo, kuti uderedze kukanganiswa kweguruva pazvikamu zvinofamba munzvimbo dzakaomarara, chimiro chakavharirwa chinoshandiswa kuvandudza kuvimbika.^ofhurongwa hwayo.

equip

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The welding midziyo of the spot welding robhoti, nokuda kushandiswa Integrated welding pliers, welding transfoma akaiswa kuseri welding pliers, saka transformer inofanira kuva duku sezvinobvira.Kune madiki anoshandura anogona kushandisa 50Hz frequency AC, uye kune makuru ekushandura, inverter tekinoroji yakashandiswa kushandura 50Hz frequency AC kuita 600 kusvika 700Hz AC, kuitira kuti saizi yeshanduko ideredze uye ideredzwe.Mushure mekudzvinyirirwa kwakasiyana kunogona kuve kwakananga ne600 kusvika 700Hz AC welding, inogona zvakare kugadziriswa, neDIRECT welding.Welding parameters inogadziriswa ne timer.Iyo nguva nyowani yave microcomputed, saka robhoti yekudzora kabati inogona kudzora zvakananga timer pasina kudiwa kweimwe interface.Spot welding robhoti welding pliers, kazhinji ane pneumatic welding pliers, pneumatic welding pliers pakati pemaelectrode maviri edhigirii rekuvhura anowanzo kurohwa kaviri chete.Uye kana electrode pressure ichigadziriswa, haigoni kuchinjwa pamadiro.Mumakore achangopfuura, mhando itsva yemagetsi servo spot welding clamps yakaonekwa.Kuvhura uye kuvhara kwewelding pliers kunofambiswa ne servo mota, uye iyo kodhi plateti mhinduro inobvumira kuvhurwa kwepiresi kusarudzwa zvisina tsarukano uye preset zvinoenderana nezvinodiwa chaizvo.Uye simba rekumanikidza pakati pe electrode rinogonawo kugadziriswa pasina danho.Iyi nyowani yemagetsi servo spot welder ine zvinotevera zvakanakira:

1) The welding cycle yewelding point yega yega inogona kuderedzwa zvakanyanya, nekuti dhigirii rekuvhurwa kwewelding pliers inonyatso kudzorwa nerobhoti, iro robhoti riri pakati penzvimbo nenzvimbo yekufamba, welding pliers inogona kutanga kuvhara;

2) Iyo yekuvhura dhigirii yewelding clamp inogona kugadziridzwa zvinoenderana nemamiriro eiyo workpiece, chero bedzi pasina kudhumhana kana kupindira kudzikisa dhigirii rekuvhura, kuitira kuchengetedza dhigirii yekuvhura yewelding clamp, kuitira kuchengetedza nguva inogarwa nekuvhura nekuvhara kweiyo welding clamp.

3) Kana iyo welding clamps yakavharwa uye yakamanikidzwa, kwete chete saizi yekumanikidza inogona kugadziridzwa, asiwo kana yakavharwa, ma electrode anovharwa zvinyoro nyoro, achidzikisa kukanganisa deformation uye ruzha.

Spot welding robhoti FANUC R-2000iB

Welding application

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