Welding robots several trends and techniques
1, robot performance price ratio: robot performance continues to improve (high speed, high precision, high reliability, easy to operate and repair), and the price of stand-alone is decreasing. Due to the rapid development of microelectronics technology and the application of large-scale integrated circuits, the reliability of robot systems has been greatly improved.
2, multi-intelligent body regulation technology: This is a new field of robot research. This paper mainly studies the group architecture of multi-intelligence body, the mechanism of communication and consultation between each other, the method of perception and learning, modeling and planning, group behavior control and so on.
3, virtual robot technology: virtual reality technology in the role of robots has been developed from simulation, rehearsal to use for process control, such as remote control machine human operators to create a feeling of being in a remote operating environment to operate the robot. Based on multi-sensor, multimedia and virtual reality, as well as on-site sensor technology, the virtual remote operation and human-computer interaction of robots are realized.
High efficiency, automation, flexibility and intelligence are the trends in welding robot system integration. They are experiencing the development of single-robot teaching regenerative multi-sensing, intelligent flexible robot workstations or multi-robot working groups and even entire factory production lines. In the robot welding process, it is necessary to control the process to ensure the stability of the welding process and the quality of the welding process. Robot welding process manipulation touches a few quantities, physical quantities and other parameters.
In order to measure these parameters, the sensors are not only large in number, but also numerous in variety. From the point of view of intent, sensors can be divided into two categories: internal sensors used to measure the state of the welding robot itself and external sensors mounted on the robot for certain operations such as active stalking of welds. The inner sensor includes: orientation, viewpoint sensor, speed, angular velocity sensor, acceleration sensor, etc. External sensors include: vision sensors, force sensors, haptic sensors, near-sense sensors, etc.
In order to ensure the quality of welding using weld stalk stalking sensors, fused control sensors, etc. are also external sensors, where welding robot weld tracker we focus on.
The composition and working principle of the weld tracker
Weld tracker alias welding tracker, weld tracking system, weld tracking equipment, etc. Its function is to automatically detect and automatically adjust the position of the welding gun during welding, so that welding is always carried out with the welding position, the distance between the welding gun and the workpiece is always constant, thus ensuring welding quality, improving welding efficiency and reducing labor intensity. In welding if there is no weld tracker, welder will continue to observe the position of the welding gun, see if the welding gun has not deviated from the weld position, the distance between the two has not changed, if found to deviate from the weld or the distance between the welding gun and the workpiece changes, then the welder needs to manually adjust the welding gun back, so that the welder labor intensity is very large, especially in the summer weather hot, but also can not blow the fan, these harsh conditions increase the strength of the welder's labor, in addition to the need for welder's sense of responsibility. Otherwise, welding quality problems can occur.
The composition of weld tracker: Weld tracker is mainly composed of mechanical adjustment mechanism (skateboard), weld position detection sensor and electrical control (controller). The sensor is used to detect the weld position in real time, the controller is used to receive the signal of the sensor, and then after analysis and processing drive skateboard to adjust the position of the welding gun, the skateboard is the electro-adjusting mechanical actuator.
How the weld tracker works: The sensor detects whether the weld position is biased, and then sends the deviation signal to the controller, which analyzes and processes the drive skateboard to adjust the position of the welding gun. To put it another way, sensors are the equivalent of a welder's eye, a controller is the brain of a welder, and a skateboard is the equivalent of a welder's hand.
Welding robot welding gun programming
In order to weld robots to get good welding effect, in addition to hardware facilities, such as supporting robot welding guns, gun cleaning devices and other equipment, good programming is also essential, good programming needs to pay attention to the following steps.
1. Choose a reasonable welding order. To reduce welding deformation, welding gun walking path length to develop the welding sequence.
2. The transition of welding gun space requires shorter, smoother and safer movement trajectory.
In order to weld robots to get good welding effect, in addition to hardware facilities, such as supporting robot welding guns, gun cleaning devices and other equipment, good programming is also essential, good programming needs to pay attention to the following steps.
1. Choose a reasonable welding order. To reduce welding deformation, welding gun walking path length to develop the welding sequence.
2. The transition of welding gun space requires shorter, smoother and safer movement trajectory.
3. Optimize welding parameters. In order to obtain the best welding parameters, the production of working specimens for welding experiments and process evaluation.
4. Reasonable converter position, welding gun posture, welding gun relative joint position. After the workpiece is fixed on the converter, if the weld is not the ideal position and angle, it is required to constantly adjust the changer when programming, so that the welded welds in accordance with the welding order to reach the horizontal position one by one, at the same time to constantly adjust the position of the robot shafts, reasonably determine the position of the relative joint of the welding gun, angle and wire extension length. After the position of the workpiece is determined, the position of the welding gun relative to the connector is observed by the programmer's eyes, which is difficult. This requires programmers to be good at summing up accumulated experience.
4. Reasonable converter position, welding gun posture, welding gun relative joint position. After the workpiece is fixed on the converter, if the weld is not the ideal position and angle, it is required to constantly adjust the changer when programming, so that the welded welds in accordance with the welding order to reach the horizontal position one by one, at the same time to constantly adjust the position of the robot shafts, reasonably determine the position of the relative joint of the welding gun, angle and wire extension length. After the position of the workpiece is determined, the position of the welding gun relative to the connector is observed by the programmer's eyes, which is difficult. This requires programmers to be good at summing up accumulated experience.
5. Insert the gun clearance procedure in a timely manner. After writing a certain length of welding procedures, should be inserted in time to clear the gun procedure. Can prevent welding splashes clog welding fire and conductive nozzles, to ensure the cleaning of welding guns, improve the service life of the crest.
6. The preparation procedure generally can not be in one step, in the robot welding process to constantly test and modify, adjust welding parameters and welding gun posture, etc. , will form a good program.
With the progress of technology, people's welding quality requirements are getting higher and higher. Automated production needs to reduce manpower, improve product consistency, improve product quality, more suitable for large-scale production, reduce production costs, improve production efficiency. Of course, the advantages of welding robots go far beyond that. With the continuous development of welding automation technology, welding robot replacement manual operation will become more and more obvious, which is also the future trend. The use of welding robot to complete welding work, can greatly improve product quality and corporate image, to a certain extent, reduce labor costs, for enterprises, choose welding robot instead of labor, is undoubtedly the right choice!
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