Vuam robots yog cov neeg hlau ua lag luam koom nrog vuam (xws li txiav thiab txau).Raws li lub koom haum International rau Standardization (ISO) Kev Lag Luam Machinery Man yog txhais raws li tus qauv vuam neeg hlau, cov neeg hlau muaj ntau yam, programmable, tsis siv neeg tswj tus neeg teb xov tooj (Manipulator) nrog peb lossis ntau dua programmable axes rau kev lag luam automation.Txhawm rau kom haum rau kev siv sib txawv, tus neeg hlau lub tog zaum kawg muaj cov khoom siv sib txuas, feem ntau yog flange txuas, uas tuaj yeem haum nrog cov cuab yeej sib txawv lossis qhov kawg actuators.Vuam robots yog cov neeg hlau uas muaj qhov kawg-axis flanges haum nrog vuam pliers lossis vuam (txiav) phom kom lawv tuaj yeem welded, txiav los yog kub-txhaj tshuaj.

Nrog rau kev tsim cov tshuab hluav taws xob, khoos phis tawj thev naus laus zis, kev tswj cov lej thiab cov tshuab thev naus laus zis, kev siv tshuab vuam tsis siv neeg, txij li xyoo 1960 tau pib siv hauv kev tsim khoom, nws cov thev naus laus zis tau loj hlob zuj zus, feem ntau muaj cov hauv qab no.qhov zoo:

1) Ua kom ruaj khov thiab txhim kho qhov vuam zoo, tuaj yeem cuam tshuam qhov vuam zoo hauv cov lej;

2) Txhim kho kev ua haujlwm tsim khoom;

3) Txhim kho kev siv zog ntawm cov neeg ua haujlwm, tuaj yeem ua haujlwm hauv qhov chaw tsis zoo;

4) Txo cov kev xav tau ntawm cov neeg ua haujlwm kev ua haujlwm;

5) Shorten lub voj voog kev npaj ntawm cov khoom hloov kho thiab kev hloov pauv, txo cov khoom siv peev txheej.

Yog li ntawd, nyob rau hauv txhua qhov chaw ntawm lub neej tau dav siv.

Vuam neeg hlau feem ntau suav nrog ob ntu: neeg hlau thiab cov khoom siv vuam.Cov neeg hlau muaj lub cev neeg hlau thiab tswj txee (kho vajtse thiab software).Vuam khoom, noj arc vuam thiab chaw vuam raws li piv txwv, yog tsim los ntawm vuam fais fab mov (nrog rau nws cov tswj system), hlau feeder (arc vuam), vuam phom (clamp) thiab hais txog.Rau cov neeg hlau ntse, kuj yuav tsum muaj cov tshuab ntsuas, xws li laser lossis lub koob yees duab sensors thiab lawv cov tswj.

Vuam robot daim duab

Vuam robots uas tsim nyob ib ncig ntawm lub ntiaj teb no yog ib qho kev sib koom robots, feem coob ntawm cov uas muaj rau axes.Ntawm lawv, 1, 2, 3 axes tuaj yeem xa cov cuab yeej kawg mus rau qhov sib txawv spatial txoj haujlwm, thaum 4, 5, 6 axis los daws qhov sib txawv ntawm cov cuab yeej cuab tam.Muaj ob lub ntsiab ntawm cov qauv siv tshuab ntawm vuam neeg hlau lub cev: ib qho yog cov qauv parallelogram thiab lwm qhov yog ib sab-mounted (swing) qauv.Lub ntsiab kom zoo dua ntawm sab-mounted (swing) qauv yog ntau yam kev ua ub no ntawm sab sauv thiab sab caj npab, uas ua rau cov neeg hlau qhov chaw ua hauj lwm mus txog yuav luag ib tug kheej kheej.Yog li ntawd, tus neeg hlau tuaj yeem ua haujlwm upside down ntawm racks kom txuag tau qhov chaw hauv pem teb thiab pab txhawb kev khiav ntawm cov khoom hauv av.Txawm li cas los xij, qhov no sab-mounted neeg hlau, 2 thiab 3 axes rau cov qauv cantilever, txo qhov nruj ntawm cov neeg hlau, feem ntau haum rau me me load robots, rau arc vuam, txiav los yog txau.Lub parallelogram neeg hlau lub caj npab sab sauv yog tsav los ntawm lub zog.Lub lever ua ob sab ntawm ib qho parallelogram nrog rau sab caj npab.Yog li nws muaj npe.Txoj kev loj hlob thaum ntxov ntawm parallelogram neeg hlau chaw ua haujlwm yog qhov me me (tsuas yog rau pem hauv ntej ntawm tus neeg hlau), nws yog qhov nyuaj rau hang upside down.Txawm li cas los xij, tus tshiab parallelogram robot (parallel robot) tau tsim los txij li xyoo 1980s tuaj yeem txuas ntxiv qhov chaw ua haujlwm mus rau sab saum toj, rov qab thiab hauv qab ntawm cov neeg hlau, tsis muaj qhov nruj ntawm kev ntsuas neeg hlau, yog li nws tau siv dav dav.Cov qauv no tsim nyog tsis yog rau lub teeb xwb tab sis kuj rau cov neeg hlau hnyav.Nyob rau hauv xyoo tas los no, qhov chaw vuam robots (load 100 mus rau 150 kg) feem ntau xaiv cov qauv parallelogram daim ntawv robots.

Txhua lub shafts ntawm ob tug neeg hlau saum toj no yog siv rau kev ua viav vias, yog li lub servo lub cev muaj zog yog tsav los ntawm lub viav vias koob log (RV) reducer (1 mus rau 3 axes) thiab kev sib haum xeeb reducer (1 mus rau 6 axes).Ua ntej nruab nrab-1980s, hluav taws xob-tsav neeg hlau tau siv los ntawm DC servo motors, thiab txij li thaum xyoo 1980s, lub teb chaws tau hloov mus rau AC servo motors.Vim hais tias AC motors tsis muaj cov roj carbon txhuam, cov yam ntxwv zoo dynamic, yog li cov neeg hlau tshiab tsis yog tus nqi qis qis xwb, tab sis kuj tseem muaj sijhawm txij nkawm-dawb zoo heev, ntxiv rau (ntaus) ceev kuj ceev.Qee cov neeg hlau tshiab uas muaj qhov hnyav dua 16 kg muaj qhov siab tshaj plaws ntawm kev txav siab tshaj 3m / s ntawm lawv qhov chaw nruab nrab (TCP), qhov tseeb qhov chaw thiab tsis tshua muaj kev vibration.Nyob rau tib lub sijhawm, tus neeg hlau tswj lub txee kuj tseem siv 32-ntsis microcomputer thiab cov algorithm tshiab, kom nws muaj kev ua haujlwm ntawm kev ua kom zoo rau txoj kev nws tus kheej, khiav txoj hauv kev los ze zog rau txoj kev qhia.

peculiarity

Kho kom raug suab

Spot welding tsis xav tau ntau ntawm cov vuam robots.Vim tias qhov chaw vuam tsuas yog xav tau kev tswj xyuas qhov taw tes, xws li cov vuam pliers ntawm qhov taw tes thiab qhov taw tes ntawm kev txav mus los tsis yog qhov yuav tsum tau nruj, uas yog tus neeg hlau tsuas yog siv rau qhov chaw vuam ntawm qhov ntxov tshaj plaws.Spot vuam neeg hlau tsis tsuas yog muaj peev xwm txaus, tab sis kuj nyob rau hauv qhov taw tes-rau-point hloov ceev ceev, qhov kev txiav txim yuav tsum du, qhov chaw yuav tsum raug, thiaj li yuav txo tau lub sij hawm ua haujlwm, nqa.

High productivity.Lub peev xwm thauj khoom ntau npaum li cas ib qho chaw vuam neeg hlau yuav tsum tau nyob ntawm daim ntawv ntawm vuam clamp siv.Rau vuam pliers cais los ntawm transformers, ib tug 30 mus rau 45 kg load ntawm robots yog txaus.Txawm li cas los xij, ntawm ib sab, hom vuam clamp no yog vim qhov ntev ntawm cov kab txuas txuas txuas ntxiv, lub zog poob yog loj, nws tsis haum rau cov neeg hlau rau vuam vuam pliers rau sab hauv ntawm lub workpiece, ntawm qhov tod tes. , cable kab viav vias nrog cov neeg hlau txav, cov kab hluav taws xob puas sai dua.Yog li ntawd, kev siv cov welding pliers yog maj mam nce.Qhov no vuam clamp, nrog rau lub transformer, muaj ib tug loj ntawm txog 70 kg.Xav txog tias cov neeg hlau yuav tsum muaj peev xwm thauj khoom txaus, welded pliers rau qhov chaw rau vuam ntawm qhov nrawm nrawm, cov neeg hlau hnyav hnyav nrog qhov hnyav ntawm 100 txog 150 kg feem ntau xaiv.Txhawm rau ua kom tau raws li qhov yuav tsum tau ua ntawm luv luv-txoj kev nrawm nrawm ntawm vuam clamps thaum lub sijhawm txuas txuas txuas ntxiv.Cov neeg hlau hnyav hnyav tshiab ntxiv qhov muaj peev xwm ua kom tiav 50mm hloov chaw hauv 0.3s.Qhov no tso rau pem hauv ntej cov kev xav tau siab dua rau kev ua haujlwm ntawm lub cev muaj zog, kev ua haujlwm ceev thiab cov algorithm ntawm microcomputer.

Tus qauv tsim

Kho kom raug suab

Vim hais tias tus tsim ntawm vuam neeg hlau nyob rau hauv lub quasi-plane, nqaim qhov chaw ib puag ncig, thiaj li yuav xyuas kom meej tias cov neeg hlau tuaj yeem taug qab cov vuam ntawm cov vuam raws li cov ntaub ntawv sib txawv ntawm lub arc sensor, cov neeg hlau yuav tsum tau tsim compact, hloov tau yooj yim. thiab ruaj khov ua haujlwm.Raws li kev pom ntawm cov yam ntxwv ntawm qhov chaw nqaim, lub me me vuam neeg hlau yog tsim, raws li cov yam ntxwv ntawm kev txav ntawm txhua tus qauv ntawm tus neeg hlau, siv cov qauv tsim qauv, cov neeg hlau tshuab tau muab faib ua peb ntu: lub log mobile platform, lub teeb hloov kho thiab arc sensor.Ntawm lawv, wheeled mobile platform vim nws inertia, qeeb teb, feem ntau ntawm cov weld ntxhib mus txog qhovtwg, lub teeb hloov mechanism yog lub luag hauj lwm rau qhov tseeb taug qab ntawm weld, arc sensor ua kom tiav qhov weld sib txawv ntawm lub sijhawm tiag tiag.Tsis tas li ntawd, cov neeg hlau maub los thiab lub cev muaj zog tsav tsheb tau koom ua ke ntawm cov neeg hlau mobile platform, ua rau nws me dua.Nyob rau tib lub sijhawm, txhawm rau txo qis kev cuam tshuam ntawm cov plua plav ntawm cov khoom txav mus rau hauv qhov hnyav vuam ib puag ncig, cov txheej txheem ntim tag nrho yog siv los txhim kho kev ntseeg tau.^ofnws system.

nruab

Kho kom raug suab

Cov khoom siv vuam ntawm qhov chaw vuam neeg hlau, vim yog kev siv cov vuam pliers, vuam transformers ntsia tom qab vuam pliers, yog li lub transformer yuav tsum me me li sai tau.Rau cov transformers me me tuaj yeem siv 50Hz zaus AC, thiab rau cov transformers loj, inverter tshuab tau siv los hloov 50Hz zaus AC rau 600 txog 700Hz AC, kom qhov loj ntawm transformer yog txo thiab txo.Tom qab qhov hloov pauv siab tuaj yeem ncaj qha nrog 600 txog 700Hz AC vuam, tuaj yeem rov kho dua, nrog DIRECT vuam.Welding parameters yog kho los ntawm timer.Lub timer tshiab tau microcomputed, yog li cov neeg hlau tswj txee tuaj yeem tswj tau lub timer ncaj qha yam tsis tas yuav muaj qhov cuam tshuam ntxiv.Spot welding robot welding pliers, feem ntau nrog pneumatic vuam pliers, pneumatic vuam pliers ntawm ob lub electrodes ntawm qhov qhib degree feem ntau tsuas yog ob strokes.Thiab thaum lub siab electrode hloov kho, nws tsis tuaj yeem hloov pauv ntawm qhov xav tau.Nyob rau hauv xyoo tas los no, ib hom tshiab ntawm hluav taws xob servo chaw vuam clamps tau tshwm sim.Qhov qhib thiab kaw ntawm lub vuam pliers yog tsav los ntawm lub servo lub cev muaj zog, thiab cov lus pom zoo ntawm lub phaj tso cai rau kev qhib cov pliers yuav raug xaiv thiab preset raws li qhov xav tau tiag tiag.Thiab lub zog quab yuam ntawm cov electrodes kuj tuaj yeem hloov kho yam tsis muaj theem.Qhov tshiab hluav taws xob servo chaw welder muaj cov hauv qab no zoo:

1) Lub voj voog vuam ntawm txhua qhov chaw vuam tuaj yeem txo qis heev, vim tias qhov ntsuas qhov qhib ntawm cov vuam pliers yog tswj hwm los ntawm cov neeg hlau, cov neeg hlau ntawm qhov taw tes thiab qhov taw tes ntawm cov txheej txheem txav, vuam pliers tuaj yeem pib kaw;

2) Qhov qhib ntawm lub vuam clamp tuaj yeem hloov kho raws li qhov xwm txheej ntawm lub tshuab ua haujlwm, tsuav yog tsis muaj kev sib tsoo lossis cuam tshuam kom txo qis qhov qhib, thiaj li txuag tau qhov qhib ntawm vuam clamp, nyob rau hauv kev txiav txim. kom txuag lub sij hawm nyob ntawm qhov qhib thiab kaw ntawm vuam clamp.

3) Thaum lub vuam clamps raug kaw thiab nias, tsis tsuas yog lub siab loj tuaj yeem hloov kho, tab sis kuj thaum kaw, cov electrodes maj mam kaw, txo qhov cuam tshuam deformation thiab suab nrov.

Spot vuam neeg hlau FANUC R-2000iB

Kev siv vuam

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