Iirobhothi zokuwelda ziirobhothi zeshishini ezibandakanyeka kwi-welding (kubandakanya ukusika kunye nokutshiza).Ngokutsho koMbutho waMazwe ngaMazwe wokuMiselwa koMgangatho (ISO) oomatshini boShishino uMntu uchazwa njengerobhothi yokuwelda esemgangathweni, irobhothi yeshishini inokusebenza ngeendlela ezininzi, iyalungiseka, inolawulo oluzenzekelayo (I-Manipulator) eneezembe ezintathu okanye ngaphezulu ezilungelelanisiweyo zokuzisebenzela kwimizi-mveliso.Ukujongana nosetyenziso olwahlukileyo, i-shaft yokugqibela yerobhothi ine-interface yomatshini, ngokuqhelekileyo i-flange edibanisayo, enokufakwa izixhobo ezahlukeneyo okanye i-actuator yokuphelisa.Iirobhothi ze-welding ziirobhothi zoshishino ezine-axis flanges zokugqibela ezifakwe kwi-welding pliers okanye i-welding (ukusika) imipu ukwenzela ukuba ifakwe, inqunywe okanye itshiswe ngokutshisa.

Ngophuhliso lwetekhnoloji ye-elektroniki, itekhnoloji yekhompyuter, ulawulo lwamanani kunye netekhnoloji yerobhothi, iirobhothi zokuwelda ezizenzekelayo, ukusukela ngo-1960s zaqala ukusetyenziswa kwimveliso, itekhnoloji yayo iye yakhula ngokukhula, ikakhulu inezi zinto zilandelayo.uncedo:

1) Ukuzinzisa kunye nokuphucula umgangatho we-welding, unokubonakalisa umgangatho we-welding kwifom yamanani;

2) Ukuphucula imveliso yabasebenzi;

3) Ukuphucula ukuqina kwabasebenzi, banokusebenza kwiindawo ezinobungozi;

4) Ukunciphisa iimfuno zezakhono zokusebenza zabasebenzi;

5) Nciphisa umjikelo wokulungiselela wokuguqulwa kwemveliso kunye nokutshintsha, ukunciphisa utyalo-mali oluhambelanayo lwezixhobo.

Ngoko ke, kuzo zonke iinkalo zobomi kuye kwasetyenziswa ngokubanzi.

I-robot ye-welding ibandakanya ikakhulu iinxalenye ezimbini: i-robot kunye nezixhobo ze-welding.Irobhothi iquka umzimba werobhothi kunye nekhabhinethi yokulawula (i-hardware kunye nesoftware).izixhobo Welding, ukuthatha welding arc kunye nebala ukuwelda njengomzekelo, iqulunqwe unikezelo welding amandla (kubandakanywa inkqubo yayo yolawulo), ucingo feeder (arc welding), umpu welding (clamp) njalo njalo.Kwiirobhothi ezikrelekrele, kufuneka kwakhona kubekho iinkqubo zezivamvo, ezinje ngelaser okanye izinzwa zekhamera kunye nolawulo lwazo.

Umzobo werobhothi welding

Iirobhothi zokuwelda eziveliswa kwihlabathi liphela ziirobhothi ezidibeneyo, uninzi lwazo zineezembe ezintandathu.Phakathi kwabo, i-1, 2, i-3 i-axes inokuthumela isixhobo sokugqibela kwiindawo ezahlukeneyo zendawo, ngelixa i-4, 5, i-6 axis ukusombulula iimfuno ezahlukeneyo zokuma kwesixhobo.Kukho iindlela ezimbini eziphambili zesakhiwo soomatshini bomzimba werobhothi welding: enye yiparalelogram isakhiwo kwaye enye yi-side-mounted (swing) isakhiwo.Inzuzo ephambili yesakhiwo se-side-mounted (swing) luluhlu olukhulu lwemisebenzi yeengalo eziphezulu kunye nezantsi, eyenza indawo yokusebenza yerobhothi ifikelele phantse kwi-sphere.Ngenxa yoko, i-robot inokusebenza ngokujonga phantsi kwii-racks ukugcina indawo yomgangatho kwaye iququzelele ukuhamba kwezinto emhlabeni.Nangona kunjalo, le irobhothi esecaleni, i-2 kunye ne-3 ye-axes yesakhiwo se-cantilever, ukunciphisa ukuqina kwe-robot, ngokuqhelekileyo ifanelekile kwiirobhothi zomthwalo omncinci, kwi-arc welding, ukusika okanye ukutshiza.Ingalo engaphezulu yerobhothi yeparalelogram iqhutywa sisitshixo.Ilever yenza amacala amabini epalalelogram enengalo engezantsi.Ngoko kuthiwa.Uphuhliso lwakwangoko lwendawo yokusebenza yerobhothi yeparalelogram incinci ngokwentelekiso (inqunyelwe ngaphambili kwirobhothi), kunzima ukuxhoma umsebenzi ujonge phantsi.Nangona kunjalo, i-robot entsha ye-parallelogram (i-robot parallel) ephuhliswe ukususela ekupheleni kwe-1980 iye yakwazi ukwandisa indawo yokusebenza ukuya phezulu, ngasemva nasezantsi kwi-robot, ngaphandle kokuqina kwe-robot yokulinganisa, ngoko kuye kwaqwalaselwa ngokubanzi.Esi sakhiwo asifanelekanga kuphela ekukhanyeni kodwa kunye neerobhothi ezinzima.Kwiminyaka yakutshanje, iirobhothi ze-welding (umthwalo we-100 ukuya kwi-150 kg) zikhetha ubukhulu becala iirobhothi zeparalelogram.

Ishafti nganye kwezi robots zimbini zingasentla isetyenziselwa ujingi, ngoko ke i-servo motor iqhutywa ngevili lenaliti ejingi (RV) isinciphisi (i-1 ukuya kwi-3 izembe) kunye ne-harmonic reducer (i-1 ukuya kwi-6 axes).Phambi kweminyaka yoo-1980s, iirobhothi eziqhutywa ngumbane zazinikwa amandla ziimotor ze-DC servo, kwaye ukusukela ngasekupheleni kweminyaka yoo-1980, amazwe atshintshele kwiimotor ze-AC servo.Ngenxa yokuba iimoto ze-AC azinayo iibhrashi zekhabhoni, iimpawu ezintle eziguquguqukayo, ukuze irobhothi entsha ingeyiyo kuphela inqanaba lengozi ephantsi, kodwa nexesha lokugcinwa-free linyuke kakhulu, kunye (minus) isantya sikwakhawuleza.Ezinye iirobhothi ezintsha ezinobunzima obunemithwalo engaphantsi kwe-16 kg zinesantya esiphezulu sokunyakaza okungaphezulu kwe-3m / s kwindawo yazo yesixhobo (TCP), indawo echanekileyo kunye ne-vibration ephantsi.Ngelo xesha, ikhabhinethi yokulawula i-robot iphinde isebenzise i-microcomputer ye-32-bit kunye ne-algorithm entsha, ukwenzela ukuba inomsebenzi wokuphucula indlela ngokwayo, iqhube i-trajectory kufuphi ne-trajectory yokufundisa.

okukhethekileyo

Hlela Ilizwi

I-spot welding ayifuni kakhulu kwiirobhothi zokuwelda.Ngenxa yokuba i-spot welding ifuna kuphela ulawulo lwamanqaku, njengoko i-pliers ye-welding phakathi kwendawo kunye nenqaku lokuhamba kwe-trajectory ayikho iimfuno ezingqongqo, okuyiyo irobhothi ingasetyenziselwa kuphela ukuwelda indawo ngesizathu sokuqala.I-robot ye-spot welding ayinayo kuphela umthamo owaneleyo womthwalo, kodwa nakwi-point-to-point shift speed ikhawuleza, isenzo kufuneka sihambe kakuhle, ukubeka indawo kufuneka kuchaneke, ukuze kuncitshiswe ixesha lokutshintsha, ukuphakamisa.

Imveliso ephezulu.Ungakanani umthamo womthwalo ofunwa yirobhothi yewelding kuxhomekeke kuhlobo lwesibambo sokuwelda esisetyenzisiweyo.Kwi-welding pliers ehlukaniswe kwi-transformers, umthwalo we-30 ukuya kwi-45 kg yeerobhothi zanele.Nangona kunjalo, kwelinye icala, olu hlobo lwe-welding clamp lubangelwa kumgca we-cable ende wesibini, ilahleko yamandla inkulu, ayifuni ukuba irobhothi idibanise i-welding pliers ngaphakathi kwendawo yokusebenza, kwelinye icala. , umgca wentambo ujikeleza kunye nokunyakaza kwerobhothi, umonakalo wentambo ukhawuleza.Ngoko ke, ukusetyenziswa kweepliers ze-welding ezidibeneyo zinyuka ngokuthe ngcembe.Esi sixhobo se-welding, kunye ne-transformer, inobunzima obumalunga ne-70 kg.Ukuqwalasela ukuba i-robot kufuneka ibe nomthamo owaneleyo womthwalo, iipliers ezidityanisiweyo kwindawo ye-welding kwi-acceleration enkulu, iirobhothi ezinzima ezinomthwalo we-100 ukuya kwi-150 kg zikhethwa ngokubanzi.Ukuze kuhlangatyezwane neemfuno zomgama omfutshane wokufuduka ngokukhawuleza kwe-weld clamps ngexesha le-welding eqhubekayo.I-robot entsha enomsebenzi onzima yongeza amandla okugqiba ukufuduka kwe-50mm kwi-0.3s.Oku kubeka phambili iimfuno eziphezulu zokusebenza kwemoto, isantya sekhompyuter kunye ne-algorithm ye-microcomputer.

Uyilo lwesakhiwo

Hlela Ilizwi

Ngenxa yokuba uyilo lwerobhothi ye-welding ikwi-quasi-plane, indawo engqongileyo emxinwa, ukuze kuqinisekiswe ukuba irobhothi inokulandelela ukuwelda kwe-weld ngokolwazi olutenxileyo lwe-arc sensor, irobhothi kufuneka iyilwe icwecwe, intshukumo eguquguqukayo. kunye nomsebenzi ozinzile.Ngokujonga iimpawu zesithuba esimxinwa, irobhothi encinci ye-welding iyaphuhliswa, ngokweempawu ezishukumayo zesakhiwo ngasinye serobhothi, kusetyenziswa indlela yoyilo lwemodyuli, indlela yerobhothi yahlulwe yangamacandelo amathathu: iqonga elinevili elihambayo, isilungelelanisi setotshi kunye Uluvo lwe-arc.Phakathi kwabo, iqonga elihambayo elinamavili ngenxa ye-inertia yalo, ukusabela okucothayo, ngakumbi kwi-weld tracking erhabaxa, indlela yohlengahlengiso lwetotshi inoxanduva lokulandela umkhondo we-weld, i-arc sensor ukugqiba ukutenxa kwe-weld ngexesha lokwenyani.Ukongeza, umlawuli werobhothi kunye nomqhubi wemoto badityaniswe kwiqonga eliphathwayo lerobhothi, lenza libe lincinci.Kwangaxeshanye, ukuze kuncitshiswe impembelelo yothuli kwiindawo ezishukumayo kwindawo erhabaxa yokuwelda, isakhiwo esivalwe ngokupheleleyo sisetyenziselwa ukuphucula ukuthembeka.^ofinkqubo yayo.

xhobisa

Hlela Ilizwi

Izixhobo zokudibanisa i-robot ye-welding spot, ngenxa yokusetyenziswa kwe-welding pliers ezidibeneyo, i-welding transformers efakwe emva kwee-welding pliers, ngoko ke i-transformer kufuneka ibe yincinci kangangoko kunokwenzeka.Abaguquli abancinci banokusebenzisa i-50Hz frequency AC, kunye nabaguquli abakhulu, iteknoloji ye-inverter isetyenziselwe ukutshintsha i-50Hz frequency AC ibe yi-600 ukuya kwi-700Hz AC, ukwenzela ukuba ubungakanani be-transformer buncitshiswe kwaye buncitshiswe.Emva koxinzelelo oluguquguqukayo lunokuba ngokuthe ngqo kunye ne-600 ukuya kwi-700Hz ye-AC ye-welding, inokulungiswa kwakhona, kunye ne-DIRECT welding.Iiparamitha ze-Welding zihlengahlengiswa sisibali-xesha.I-timer entsha yenziwe nge-microcomputed, ngoko ke ikhabhinethi yokulawula i-robot inokulawula ngokuthe ngqo ixesha ngaphandle kwesidingo se-interface eyongezelelweyo.I-Pneumatic welding pliers, i-pneumatic welding pliers, i-pneumatic welding pliers phakathi kwee-electrode ezimbini zedigri yokuvula idla ngokuba yimivumbo emibini kuphela.Kwaye emva kokuba uxinzelelo lwe-electrode luhlengahlengiswe, alukwazi ukutshintshwa ngokuthanda.Kwiminyaka yakutshanje, uhlobo olutsha lwe-servo spot welding clamps luye lwavela.Ukuvulwa kunye nokuvalwa kwe-welding pliers kuqhutywa yi-servo motor, kwaye ingxelo yekhowudi yepleyiti ivumela ukuvulwa kweepliers ukuba kukhethwe ngokungekho mthethweni kunye nokusetwa kwangaphambili ngokweemfuno zangempela.Kwaye amandla oxinzelelo phakathi kwee-electrodes nawo angalungiswa ngaphandle kwesiteji.Le welder entsha ye-servo spot welder inezi ncedo zilandelayo:

I-1) Umjikelo we-welding we-welding point nganye unokunciphisa kakhulu, kuba iqondo lokuvula i-welding pliers lilawulwa ngokuchanekileyo yi-robot, i-robot phakathi kwendawo kunye nenqanaba lenkqubo yokuhamba, i-welding pliers inokuqala ukuvala;

2) Iqondo lokuvula i-welding clamp inokulungelelaniswa ngokwemeko ye-workpiece, ngaphandle nje kokuba kungabikho ukungqubana okanye ukuphazamiseka ukuze kuncitshiswe iqondo lokuvula, ukwenzela ukugcina iqondo lokuvula i-welding clamp, ukuze ukugcina ixesha elithathwe ngokuvula kunye nokuvalwa kwe-welding clamp.

3) Xa i-welding clamps ivaliwe kwaye icinezelekile, kungekhona nje ubungakanani boxinzelelo olunokutshintshwa, kodwa naxa luvaliwe, i-electrodes ivalwe ngobumnene, ukunciphisa impembelelo yempembelelo kunye nengxolo.

Spot welding irobhothi FANUC R-2000iB

izicelo welding

hlela