Welding robots are modern and automated equipment that integrates knowledge of machinery, computers, electronics, sensors, and artificial intelligence. Welding robots are mainly composed of robots and welding equipment. The robot consists of the robot itself and the control system. Welding equipment takes spot welding as an example, which is mainly composed of welding power source, special welding gun, sensor, dresser and other parts. In addition, there should be system protection devices.
Welding robots are easy to realize the stability and improvement of welding products and ensure their uniformity. It can achieve 24h continuous production, greatly improving production efficiency. It can replace labor for long-term work in hazardous environments. Relatively reduce the requirements on the technical difficulty of workers' operation. It can shorten the preparation period for product remodeling and reduce the corresponding equipment investment. The welding of small batch products can be automated. Provide technical foundation for welding flexible production line.
The widely used welding robots now belong to the first generation of industrial robots, and their basic working principle is teaching reproduction. Teaching is also called guidance. Existing users guide the robot and operate it step by step according to the actual task. The robot automatically remembers the position, posture, motion parameters, process parameters, etc. of each action taught during the guidance process, and automatically Generate a program that executes all operations continuously. After completing the teaching, just give the robot a start command, and the robot will accurately follow the teaching action to complete the operation step by step. This is teaching and reproduction.
A general industrial robot, divided according to its functions, is generally composed of three interrelated parts: the manipulator assembly, the controller, and the teaching system. The manipulator assembly is the actuator of the robot, which is composed of a driver, a transmission mechanism, a robot arm, a joint, an end manipulator, and an internal sensor. His task is to accurately ensure the required position, posture and movement of the female end manipulator. The controller is the nerve center of the robot. It is composed of computer hardware, software and some special circuits. Its software includes the controller system software, the robot special language, the robot kinematics, the dynamics software, the robot control software, the robot self-diagnosis, and the automatic protection. Functional software, etc., which process all the information and all actions of the controller during the working process of the robot. The teaching system is the interactive interface between the robot and the human. During the teaching process, it will control all the actions of the robot and send all its information into the memory of the controller. It is essentially a dedicated intelligent terminal.
At present, most industrial robots are motor-driven industrial robots and hydraulic-driven industrial robots. Welding robots basically belong to these two types of industrial robots. Most arc welding robots use electric motors to drive the robots, because the welding torch mass is generally within 10kg. Spot welding robots have a weight of more than 35kg in welding tongs, and some are driven by hydraulic pressure, because hydraulic driven robots have a large grasping capacity. But most spot welding robots are still driven by high-power servo motors because of its low cost and compact structure. Gongye robot is composed of four basic parts: manipulator, controller, driver, and teaching box. For motor-driven robots, the controller and driver are generally installed in a control box; while for hydraulic-driven robots, the hydraulic drive source is a separate component.