Composition structure of intelligent welding robot

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　　Intelligent welding robot mainly includes two parts: robot and welding equipment. The robot is composed of the robot body and the control cabinet (hardware and software). The welding equipment, for example, arc welding and spot welding, is powered by welding power source (including its control system) , Wire feeder (arc welding), welding torch (pliers) and other parts, for intelligent robots should also have sensor systems, such as laser or camera sensors and their control devices. Intelligent welding robot

　　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 tool to different spatial positions, while the 4, 5, and 6 axes solve the different requirements of the tool posture. The mechanical structure of the welding robot body mainly has two forms: one is a parallelogram structure and the other is a side-mounted (pendulum) structure. The main advantage of the side-mounted (pendulum) structure is that the upper and lower arms have a large range of motion. The working space of the robot can almost reach a sphere.

　　Therefore, the robot can be hung upside down to work on the rack to save floor space and facilitate the movement of objects on the ground. However, this type of side-mounted robot has a cantilever structure for the 2nd and 3rd axis, which reduces the rigidity of the robot. It is generally suitable for robots with smaller loads for arc welding, cutting or spraying. The upper arm of the parallelogram robot is driven by a pull rod. The pull rod and the lower arm form two sides of a parallelogram. Hence the name. The parallelogram robot developed early has a relatively small working space (limited to the front of the robot) and it is difficult to work upside down. However, the new type of parallelogram robot (parallel robot) developed since the late 1980s has been able to expand the working space to the top, back and bottom of the robot without the stiffness problem of the measuring robot, which has gained widespread attention. This structure is not only suitable for light but also suitable for heavy robots. In recent years, robots for spot welding (loads of 100 to 150 kg) mostly use parallelogram-shaped robots.

　　Each axis of the above two kinds of robots is rotating, so it is driven by a servo motor through a cycloid pinwheel (RV) reducer (1～3 axis) and a harmonic reducer (1～6 axis). Before the mid-1980s, DC servo motors were used for electrically driven robots, but since the late 1980s, countries have switched to AC servo motors. Because the AC motor has no carbon brush and good dynamic characteristics, the new robot not only has a low accident rate, but also has a greatly increased maintenance-free time and a fast increase (decrease) speed. Some new lightweight robots with a load of 16kg or less have a high tool center point (TCP) movement speed of more than 3m/s, accurate positioning and low vibration.

　　At the same time, the control cabinet of the robot also uses a 32-bit microcomputer and a new algorithm to make it have the function of self-optimizing the path, and the running trajectory is closer to the teaching trajectory.

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