Automated welding robot is engaged in welding ( Including cutting and spraying) industrial robots, according to the International Organization for Standardization (ISO) definition of industrial robots as standard welding robots, industrial robots are a multi-purpose, reprogrammable automatic control operating machine, with three or more The programmed axis is used in the field of industrial automation. In order to adapt to different purposes, the mechanical interface of the last axis of the robot is usually a connecting flange, which can be connected to different tools or end effectors, Automated welding robot is to attach welding tongs or welding (cutting) guns to the final shaft flange of the industrial robot to enable it to weld , Cutting or thermal spraying.
With the development of electronic technology, computer technology, numerical control and robotics, automatic welding robots have been used since the 1960s Since its production, its technology has become increasingly mature, and its main advantages are as follows:
1) Stabilize and improve welding quality. The form of the value is reflected;
2) Improve labor productivity;
3) Improve the labor intensity of workers so that they can work in hazardous environments;
4) Reduce the Requirements for workers’ operating skills;
5) Shorten the preparation period for product modification and replacement, and reduce the corresponding equipment investment.
Therefore, it has been widely used in all walks of life.
Spot welding does not require very high welding robots. Because spot welding only needs point position control, there is no strict requirement for the trajectory of the welding clamp between points, which is why the robot can only be used for spot welding early on. Spot welding robots must not only have sufficient load capacity, but also need to be fast when shifting from point to point, move smoothly, and position accurately to reduce the shifting time and improve work efficiency. The load capacity of the spot welding robot depends on the type of welding gun used. For welding guns separated from the transformer, a robot with a load of 30 to 45 kg is sufficient.
However, this kind of welding tongs, on the one hand, due to the long secondary cable and large power loss, it is also not conducive to the robot extending the welding tongs. Welding into the workpiece; on the other hand, the cable keeps swinging with the movement of the robot, and the cable is damaged quickly. Therefore, the use of integrated welding guns is gradually increasing. The weight of this welding tongs together with the transformer is about 70kg.
Considering that the robot must have sufficient load capacity, it can send the welding tongs to the space position for welding with a large acceleration, generally All use heavy-duty robots with a load of 100-150kg. In order to meet the requirement of short distance and rapid displacement of the welding gun during continuous spot welding. The new heavy-duty robot has the function of completing a 50mm displacement in 0.3s. This puts forward higher requirements on the performance of the motor, the calculation speed of the microcomputer and the algorithm.
