advantages

1) the stability and improve the quality of welding;

2) the increase in labor productivity;

3) improve the worker labor intensity, can work under the bad environment;

4) reduce the demand for workers operating technology;

5) to shorten the product modification and upgrading preparation cycle, reduce equipment investment

The welding robot mainly includes two parts of the robot and welding equipment. Robot ontology by robots and control cabinet (hardware and software). And welding equipment, arc welding and spot welding, for example, by welding power source, (including) the control system, wire feeding machine (welding), welding torch (clamp), and other parts. For intelligent robot shall also have the sensor system, such as laser or camera sensors and control devices, etc.

On spot welding robot used in the request is not high. Because spot welding position control, as for the electrode holder between point and point of mobile trajectory is not strictly required. This is also the earliest robots can only be used for spot welding. Spot welding robot is not only to have enough ability to load, but also between point and point shift speed is faster, and action to smooth, positioning accuracy, in order to reduce the time of the shift, high work efficiency. Spot welding robots need how much load capacity, depending on the form of electrode holder. With the electrode holder of the separation of the transformer, 30 ~ 45 kg load of robot is enough. But, this kind of electrode holder on the one hand due to secondary cable length, power loss is big, also go against robots will internal welding electrode holder into the workpiece; Cable constantly swinging with the robot motion on the other hand, the damage to the cable quickly. Therefore, at present the increase gradually adopting one-piece electrode holder. This kind of electrode holder together with the transformer quality in 70 kg. Considering the robot should have sufficient load capacity, to a larger acceleration will be welding electrode holder to the spatial location, generally use 100 ~ 150 kg load heavy robot. In order to adapt to the requirement of continuous spot welding electrode holder when short rapid shift. New heavy-duty robots increased can be finished within 0.3 s of 50 mm displacement function

The basic function of arc welding robot

Arc welding process is more complicated than the spot welding process, tool center point (TCP), also is the end of the wire trajectory, welding gun pose, welding parameters require precise control. So, arc welding with robot in addition to the general function described earlier, also must have some function suitable for arc welding requirements. Although in theory, there are five axis can be used for arc welding robot, but for complex shapes of weld seam, use five axis robot may have difficulty. Unless it is weld is simple, therefore, should as far as possible choose 6 axis robot. In front of the arc welding robot in addition to the figure 2 mentioned in "the" glyph corner weld or small diameter circle welding seam, the tracks should be able to close to the teaching, should also have different swinging styles of software function, for use when programming, in order to make swing welding, swing and pause point in each cycle, the robot should also automatically stop moving forward, in order to meet the technological requirements. In addition, you should contact with to find a starting point, automatically looking for weld location, electric arc tracking and automatically restarting function, etc.

Arc welding robot welding equipment

Arc welding robot with gas protection welding method (MAG, MIG, TIG), usually the thyristor type, inverter type and waveform control type, such as the pulse or pulse welding power source can be loaded on the robot arc welding. Due to the robot control cabinet adopts digital control, and welding power supply for analog control, so need to add an interface between welding power source and control cabinet. Robot in recent years, the foreign manufacturer has its own specific form a complete set of welding equipment, the welding equipment has been broadcast in the corresponding interface board, so in arc welding robot system in figure 1 a and no additional interface box. It should be noted that in the arc welding robot working cycle time the proportion of larger, so in choosing welding power source, generally should be according to the last 100% to determine the capacity of the power supply. Wire feeding mechanism can be installed in the upper arm of the robot, robot can also be placed outside, the former between welding torch and the wire feeding machine hose is shorter, conducive to maintain the stability of wire feeding, while the latter hose principal, some position when the robot welding torch to make hose is in bending state, will seriously affect the quality of the wire feed. So the wire feeding machine installation should be considered to ensure the stability of wire feeding problems.

Application of welding robot

The welding robot workstation (unit)

If the artifacts in the whole welding process without displacement, can use the fixture positioning the workpiece on the workbench, this system is the most simple. But in actual production, the need to shift more artifacts in the welding, the weld is in good location (gesture) welding. In this case, the displacement machine and robot movement can be respectively, namely deformation variant of a robot after welding; Can also exercise at the same time, the deflection displacement machine, welding robot, which is often said that the deflection of machine and robot coordinate movement. When displacement machine movement and the robot's movement compound, make the welding torch relative to the workpiece movement can not only meet the welding trajectory can meet the requirements of welding speed and welding gun pose. Actually at this moment axis deflection machine has become a part of the robot, the welding robot system can be as many as seven - 20 shaft, or more. The latest robot control cabinet can be two robot 12 axis coordinate movement of group cooperation. One of them is welding robot, the other is handling machine for displacement machine. Available for welding robot workstation further subdivided, the following four kinds: 1.1 housing welding robot workstation is designed for box cabinets in the industry, large quantity, high welding quality and the size of box body of the development of welding robot workstation dedicated equipment. Body welding robot workstation by the arc welding robot, welding power, welding torch, wire feeding mechanism, rotating double location displacement machine, jig and the control system. The workstation is suitable for all kinds of box workpiece welding, on the same workstation by using the fixture can realize many varieties of the cabinet of automatic welding, the welding of high relative position. Due to adopting double location displacement machine, welding at the same time, other station can tear open outfit artifacts, greatly improve the welding efficiency. With MIG pulsed transition or CMT cold metal transfer welding technology welding way, make the welding heat input into the process is greatly reduced, guarantee the products after welding deformation, by adjusting the welding specification and robot welding posture, to ensure good weld quality, weld appearance, especially for stainless steel chamber sealing requirement is high, after welding to ensure air chamber gas does not leak. By setting the selection of parameters of the control system and replace the work clamp, which can realize multiple varieties of box automatic welding. With different work scope of arc welding robot and the corresponding size of the displacement machine, the workstation can meet at around 2000 mm length of body welding requirements. Welding speed 3 to 10 mm/s, according to the basic material box, different type of gas shielded welding welding technology. The workstation is also widely used in electric power, electrical, mechanical, automotive and other industries. 1.2 air chamber robot flexible laser welding stainless steel processing equipment for stainless steel welding deformation is large, high sealing box workpiece welding flexible robot developed by laser welding processing equipment. The processing equipment consists of robot, laser generator sets, water cooling units, laser scanning tracking system, the flexible displacement machine, tooling and fixture, safety fence, dust collection device and other components of the control system, by setting the selection of parameters of the control system and replace the jig, can achieve a number of varieties of stainless steel chamber type automatic welding of the workpiece. 1.3 axial welding robot workstation is designed aiming at the universal circuit breaker in low voltage electrical industry of the shaft welding developed by special equipment, launched a dedicated rotor welding robot workstation. Axial welding robot workstation by the arc welding robot, welding power, welding torch, wire feeding mechanism, slewing double location displacement machine, tooling and fixture control system composition. The workstation is used for shaft as substrate (number of cantilever) placed on welding, all kinds of artifacts in the same station by using the different automatic welding fixture can realize many varieties of rotation. Welding current on the position accuracy is very high. Due to adopting double location displacement machine, welding at the same time, other station can tear open outfit artifacts, greatly improve the efficiency. Technical indicators: shaft diameter: Ф 10-50 mm and a length of 300-900 - mm, welding speed for 3 to 5 mm/s, the MAG mix gas shielded welding welding technology, machine rotary deflection, displacement accuracy of 0.05 mm. Are widely used in all kinds of high quality, high precision in shaft workpiece welding, suitable for electric power, electrical, mechanical, automotive and other industries. If weld using manual arc welding to the rotation, the worker labor intensity is great, the consistency of the product, production efficiency is low, only for 2-3 pieces/hour. Adopts automatic welding workstation, the yield can reach 15-20 pieces/hour, welding quality and consistency of product also improved significantly. Axial welding robot workstation low-voltage electrical axis 1.4 robot robot welding stud welding stud workstation workstation for complex parts with different specification stud with robot will stud welding to the workpiece. The workstation is mainly by robot, stud welding power supply, automatic nailing machine, robot automatic stud welding gun, displacement machine, fixture, automatic gun change device, automatic detection software, control system and safety guardrail, etc, by automatically send nail machine will stud to robot automatic welding gun, by programming the robot teaching path on the workpiece, will different specifications of the stud welding to the workpiece. Can use stored energy welding or pull arc welding stud welding firmly to the workpiece, ensure accuracy of welding and welding strength. Welding efficiency is about 3-10 per minute, stud specification: 3 -- 8 mm in diameter, length: 5 to 40 mm.