As the range of applications for six-axis welding robots expands, six-axis welding robots sometimes add one or more external axes in addition to basic configurations. That is to say, the outer shaft is actually an external motion system connected with the welding robot, which can match the movement of the robot, can meet the welding position at the same time, can complete the whole welding more quickly, and achieve satisfactory results. So how should the six-axis welding robot be maintained?
Six-axis welding robot maintenance
First, day inspection and maintenance
1. Silk delivery mechanism. Including whether the wire feed force distance is normal, whether the wire feeder is damaged, whether there is an abnormal alarm.
2. Whether the gas flow is normal or not.
3. Whether the welding gun safety protection system is correct. (No closure of welding gun safety protection work is prohibited)
4. Whether the water circulation system is working properly.
5. Test TCP (recommended to develop a test program to run after each shift)
Second, weekly inspection and maintenance
1. Scrub the robot shafts.
2. Check the accuracy of TCP.
3. Check the oil level of the slag oil.
4. Check that the zeros of each axis of the robot are accurate.
5. Clean the filter behind the welder water tank.
6. Clean the filter at the compressed air infleter.
7. Clean up impurities at the nozzle of the welding gun so as not to clog the water circulation.
8. Clean up the sending mechanism, including the wire feed wheel, the wire roller, the wire guide tube.
9. Check the hose bundle and wire guide hose for breakage and breakage. (It is recommended to remove the entire hose bundle and clean it with compressed air)
10. Check that the welding gun safety system is working and that the external emergency stop button is correct.
Since the six-axis welding robot is designed to work in a quasi-flat, space-narrow environment, in order to ensure that the robot can track the weld automatic welding according to the deviation information of the arc sensor, it is required that the robot designed should be compact, flexible movement and stable operation. In this paper, a small mobile welding robot is developed for the characteristics of narrow space, and according to the motion characteristics of each structure of the robot, the robot mechanism is divided into wheeled mobile platform, torch adjustment mechanism and arc sensor.
Among them, the wheel mobile platform because of its inertia is large, slow response, mainly for rough tracking of welds, weld adjustment mechanism is responsible for weld tracking, arc sensors to complete the weld deviation real-time identification. In addition, the robot controller and motor driver are integrated and installed on the robot mobile platform to make it smaller. At the same time, in order to reduce the impact of dust on moving parts in harsh welding environment, a fully enclosed structure is adopted to improve the reliability of its system.