Liroboto tsa welding ke liroboto tsa indasteri tse sebetsanang le welding (ho kenyeletsoa ho seha le ho fafatsa).Ho ea ka Mokhatlo oa Machaba oa Boemo (ISO)Industrial Machines Man o hlalosoa e le roboto e tloaelehileng ea ho tjheseletsa, roboto ea indasteri e sebetsa ka mefuta-futa, e ka hlophisehang, e laolang othomathike (Manipulator) e nang le lilepe tse tharo kapa ho feta tse lokisehang bakeng sa boiketsetso ba indasteri.Ho amohela litšebeliso tse fapaneng, shaft ea ho qetela ea roboto e na le sebopeho sa mochini, hangata e le flange e hokelang, e ka kengoang lisebelisoa tse fapaneng kapa li-actuator tsa ho qetela.Liroboto tsa li-welding ke liroboto tsa indasteri tseo li-axis tsa tsona tsa ho qetela li kenngoeng lithapo tsa ho cheselletsa kapa lithunya tse cheselletsang (ho itšeha) e le hore li ka chesetsoa, ​​tsa khaoloa kapa tsa fafatsoa ka ho chesa.

Ka nts'etsopele ea theknoloji ea elektroniki, thekenoloji ea khomphutha, taolo ea lipalo le theknoloji ea liroboto, liroboto tsa othomathike tsa welding, ho tloha lilemong tsa bo-1960 li qala ho sebelisoa tlhahisong, theknoloji ea eona e se e hōlile ka ho eketsehileng, haholo-holo e na le tse latelang.melemo:

1) Ho tsitsisa le ho ntlafatsa boleng ba tjheseletsa, e ka bonahatsa boleng ba ho tjheseletsa ka mokhoa oa lipalo;

2) Ntlafatsa tlhahiso ea basebetsi;

3) Ntlafatsa matla a basebetsi, a ka sebetsa libakeng tse kotsi;

4) Fokotsa litlhoko tsa litsebo tsa ho sebetsa tsa basebetsi;

5) Fokotsa potoloho ea litokisetso tsa phetoho le phetoho ea sehlahisoa, fokotsa matsete a lisebelisoa tse tsamaellanang.

Ka hona, mefuteng eohle ea bophelo e 'nile ea sebelisoa haholo.

Roboto ea welding haholo-holo e kenyelletsa likarolo tse peli: roboto le lisebelisoa tsa welding.Roboto e na le 'mele oa liroboto le khabinete ea taolo (hardware le software).Thepa ea tjheseletsa, ho nka arc tjheseletsa le letheba tjheseletsa e le mohlala, e entsoe ka phepelo tjheseletsa (ho akarelletsa le tsamaiso ea eona ea taolo), terata phepelo (arc tjheseletsa), tjheseletsa sethunya (clamp) joalo-joalo.Bakeng sa liroboto tse bohlale, ho boetse ho lokela ho ba le lisebelisoa tsa ho utloa, tse kang lisebelisoa tsa laser kapa khamera le li-control tsa tsona.

Setšoantšo sa liroboto tsa welding

Liroboto tsa welding tse hlahisoang lefatšeng ka bophara ke liroboto tse kopaneng, tseo bongata ba tsona li nang le lilepe tse tšeletseng.Har'a tsona, lilepe tse 1, 2, 3 li ka romela sesebelisoa sa ho qetela libakeng tse fapaneng tsa sebaka, ha 4, 5, 6 axis e rarolla litlhoko tse fapaneng tsa boemo ba sesebelisoa.Ho na le mefuta e 'meli e meholo ea sebopeho sa mochini oa' mele oa liroboto oa tjheseletsa: e 'ngoe ke sebopeho sa parallelogram' me e 'ngoe ke sebopeho se kentsoeng ka lehlakore.Monyetla o ka sehloohong oa sebopeho se nang le lehlakore (swing) ke mefuta e mengata ea mesebetsi ea matsoho a ka holimo le a tlaase, e leng se nolofalletsang sebaka sa ho sebetsa sa roboto ho fihla hoo e batlang e le sekhahla.Ka lebaka leo, roboto e ka sebetsa ka holimo ho li-racks ho boloka sebaka sa fatše le ho nolofatsa ho phalla ha lintho fatše.Leha ho le joalo, roboto ena e ka lehlakoreng, 2 le 3 lilepe bakeng sa sebopeho sa cantilever, e fokotsa ho satalla ha roboto, ka kakaretso e loketse liroboto tse nyane tsa mojaro, bakeng sa welding ea arc, ho itšeha kapa ho fafatsa.Letsoho le ka holimo la roboto ea parallelogram le tsamaisoa ke lere.Lere le etsa mahlakore a mabeli a parallelogram ka letsoho le ka tlase.Kahoo e bitsoa.Tsoelo-pele ea pele ea sebaka sa ho sebetsa sa liroboto tsa parallelogram e batla e le nyane (e lekanyelitsoe ka pele ho roboto), ho thata ho fanyeha mosebetsi.Leha ho le joalo, roboto e ncha ea parallelogram (roboto e tšoanang) e hlahisitsoeng ho tloha bofelong ba lilemo tsa bo-1980 e khonne ho atolosa sebaka sa mosebetsi ho ea holimo, ka morao le ka tlaase ho roboto, ntle le ho satalla ha roboto ea ho lekanya, kahoo e 'nile ea lebisoa tlhokomelo e pharaletseng ho eona.Sebopeho sena ha se loketse feela bakeng sa leseli empa le bakeng sa liroboto tse boima.Lilemong tsa morao tjena, liroboto tse cheselletsang letheba (moroalo oa 100 ho isa ho 150 kg) hangata li khetha liroboto tsa sebopeho sa parallelogram.

E 'ngoe le e' ngoe ea liroboto tse peli tse ka holimo e sebelisetsoa ho sisinyeha, kahoo servo motor e khannoa ke lebili la nale (RV) reducer (1 ho 3 lilepe) le "haronic reducer" (1 ho ea ho 6 axs).Pele ho lilemo tsa bo-1980, liroboto tse tsamaisoang ka motlakase li ne li tsamaisoa ke li-motors tsa DC servo, 'me ho tloha bofelong ba lilemo tsa bo-1980, linaha li fetohetse ho li-motors tsa AC servo.Hobane li-motors tsa AC ha li na li-brush tsa carbon, litšoaneleho tse ntle tse matla, e le hore roboto e ncha e se ke ea fokotsa lebelo la kotsi feela, empa hape le nako ea mahala ea tlhokomelo e eketsehile haholo, hammoho le (minus) lebelo le lona le potlakile.Liroboto tse ling tse ncha tse bobebe tse nang le meroalo e ka tlase ho 16 kg li na le lebelo le phahameng la ho sisinyeha ho feta 3m / s sebakeng sa bona sa setsi sa lisebelisoa (TCP), boemo bo nepahetseng le ho sisinyeha ho tlase.Ka nako e ts'oanang, k'habote ea taolo ea roboto e boetse e sebelisa microcomputer ea 32-bit le algorithm e ncha, e le hore e be le mosebetsi oa ho ntlafatsa tsela ka boeona, e tsamaisang tsela e haufi le tsela ea ho ruta.

peculiarity

Edita Lentsoe

Spot welding ha e batloe haholo ho liroboto tse cheselletsang.Hobane letheba tjheseletsa hloka taolo ntlha feela, ha e le bakeng sa tjheseletsa pliers pakeng tsa ntlha le ntlha ea motsamao trajectory hase ditlhoko tse thata, e leng roboto e ka sebelisoa feela bakeng sa tjheseletsa letheba ka lebaka la pele-pele.Spot welding roboto ha e na matla a lekaneng a mojaro feela, empa hape le lebelo la ho fetoha ha ntlha-to-point le potlakile, ketso e lokela ho ba e boreleli, boemo bo lokela ho ba bo nepahetseng, e le ho fokotsa nako ea ho fetoha, ho phahamisa.

Tlhahiso e phahameng.Hore na roboto ea ho tjheseletsa e hloka matla a makae ho ipapisitse le sebopeho sa setlapa sa welding se sebelisitsoeng.Bakeng sa li-welding pliers tse arohaneng le li-transformer, liroboto tse boima ba lik'hilograma tse 30 ho isa ho tse 45 li lekane.Leha ho le joalo, ka lehlakoreng le leng, mofuta ona oa ho tjheseletsa clamp o bakoa ke mohala o molelele oa bobeli oa mohala, tahlehelo ea matla e kholo, ha e lumelle roboto hore e chese lisebelisoa tsa welding ka hare ho workpiece, ka lehlakoreng le leng. , mohala oa mohala o sisinyeha ka motsamao oa roboto, tšenyo ea mohala e potlakile.Ka hona, ts'ebeliso ea lisebelisoa tse kopantsoeng tsa welding e ntse e eketseha butle-butle.Sesebelisoa sena sa welding, hammoho le transformer, se na le boima ba lik'hilograma tse 70.Ha ho nahanoa hore roboto e lokela ho ba le matla a lekaneng a mojaro, lisebelisoa tse cheselitsoeng sebakeng sa ho cheselletsa ka lebelo le leholo, hangata ho khethoa liroboto tse boima ba 100 ho isa ho 150 kg.E le hore ho ka kopana le ditlhoko tsa sebaka se khutsoanyane ka potlako displacement ea tjheseletsa clamps nakong e tsoelang pele letheba tjheseletsa.Roboto e ncha ea mosebetsi o boima e eketsa bokhoni ba ho qeta ho falla ha 50mm ka 0.3s.Sena se fana ka litlhoko tse phahameng tsa ts'ebetso ea enjene, lebelo la komporo le algorithm ea microcomputer.

Moralo oa sebopeho

Edita Lentsoe

Hobane moralo oa roboto ea tjheseletsa o sebakeng sa quasi-plane, sebaka se moqotetsane, e le ho etsa bonnete ba hore roboto e khona ho latela welding ea weld ho latela tlhaiso-leseling e khelohileng ea sensor ea arc, roboto e lokela ho etsoa e kopane, e feto-fetoha le maemo. le mosebetsi o tsitsitseng.Ka lebaka la litšoaneleho tsa sebaka se moqotetsane, roboto e nyane ea tjheseletsa ea selefouno e nts'etsopele, ho latela litšobotsi tsa motsamao oa sebopeho se seng le se seng sa roboto, e sebelisa mokhoa oa moralo oa modular, mochini oa liroboto o arotsoe ka likarolo tse tharo: sethala sa mabili se tsamaeang ka maoto, torch adjuster le sensor ea arc.Har'a bona, sethala sa mabili se nang le mabili ka lebaka la inertia ea eona, karabelo e liehang, haholo-holo ho lateleng ha cheseha ka thata, mochini oa torch torch o ikarabella bakeng sa ho latedisa hantle ha weld, arc sensor ho phethela boitsebahatso ba nako ea nnete ea weld.Ho phaella moo, molaoli oa liroboto le mokhanni oa likoloi o kopantsoe sethaleng sa selefouno sa roboto, ho etsa hore e be nyenyane.Ka nako e ts'oanang, e le ho fokotsa tšusumetso ea lerōle likarolong tse tsamaeang sebakeng se thata sa welding, mohaho o koetsoeng ka ho feletseng o sebelisetsoa ho ntlafatsa ho tšepahala.^oftsamaiso ea eona.

hlomella

Edita Lentsoe

Thepa ea tjheseletsa ea roboto ea letheba, ka lebaka la ts'ebeliso ea lisebelisoa tse kopantsoeng tsa ho tjheseletsa, li-welding transformers tse kentsoeng ka mor'a lisebelisoa tsa ho tjheseletsa, kahoo transformer e tlameha ho ba e nyenyane ka hohle kamoo ho ka khonehang.Bakeng sa li-transformer tse nyane li ka sebelisa 50Hz frequency AC, 'me bakeng sa li-transformer tse kholoanyane, theknoloji ea inverter e sebelisitsoe ho fetola 50Hz frequency AC ho 600 ho 700Hz AC, e le hore boholo ba transformer bo fokotsehe le ho fokotseha.Kamora khatello e fapaneng e ka ba ka kotloloho le 600 ho isa ho 700Hz AC welding, e ka boela ea lokisoa, ka tjheseletsa ea DIRECT.Mekhahlelo ea welding e lokisoa ke sebali sa nako.Nako e ncha e entsoe ka microcomputed, kahoo khabinete ea taolo ea roboto e ka laola nako ka ho toba ntle le tlhokahalo ea sebopeho se eketsehileng.Spot welding robot pliers, hangata e nang le pneumatic welding pliers, pneumatic welding pliers lipakeng tsa li-electrode tse peli tsa degree ea ho bula hangata ke lichapo tse peli feela.'Me hang ha khatello ea electrode e fetotsoe, e ke ke ea fetoloa ka thato.Lilemong tsa morao tjena, ho hlahile mofuta o mocha oa li-clamps tsa servo spot welding tsa motlakase.Ho bula le ho koaloa ha lisebelisoa tsa welding ho tsamaisoa ke motlakase oa servo, 'me karabo ea poleiti ea khoutu e lumella ho buloa ha lisebelisoa ho khethoa ka mokhoa o ikemetseng le ho hlophisoa esale pele ho latela litlhoko tsa sebele.'Me matla a khatello pakeng tsa li-electrode a ka boela a fetoloa ntle le sethala.Welder ena e ncha ea servo spot welder e na le melemo e latelang:

1) Potoloho ea tjheseletsa ea ntlha e 'ngoe le e' ngoe ea tjheseletsa e ka fokotseha haholo, hobane tekanyo ea ho buloa ha lisebelisoa tsa ho tjheseletsa e laoloa hantle ke roboto, roboto pakeng tsa ntlha le ntlha ea ts'ebetso ea ho sisinyeha, lisebelisoa tsa welding li ka qala ho koala;

2) Tekanyo ea ho bula ea clamp ea welding e ka fetoloa ho ea ka boemo ba workpiece, hafeela ho se na ho thulana kapa ho kena-kenana le ho fokotsa tekanyo ea ho bula, e le ho boloka tekanyo ea ho bula ea clamp ea welding, ka tatellano. ho boloka nako e ts'oaroang ke ho bula le ho koala ha thipa ea welding.

3) Ha li-clamps tsa welding li koetsoe 'me li hatelloa, eseng feela boholo ba khatello bo ka fetoloang, empa hape ha bo koetsoe, li-electrode li koetsoe ka bonolo, ho fokotsa ts'oaetso le lerata.

Spot welding roboto FANUC R-2000iB

Lisebelisoa tsa welding

edita