​Do You Understand The Structural Composition Of Welding Robots?

With the development of electronic technology, computer technology, numerical control and robot technology, Mag Welding Robots have been increasingly mature since they were used in production in the 1960s.

We learned from Industrial Robots Manufacturers that Mag Welding Robots mainly include robots and welding equipment. The robot consists of the robot body and the control cabinet (hardware and software). The welding equipment, for example, arc welding and spot welding, is composed of welding power supply (including its control system), wire feeder (arc welding), welding gun (clamp) and other parts. There should also be a sensor system for intelligent robots, such as laser or camera sensors and their control devices. Figures 1a and b show the basic components of arc welding robots and spot welding robots.

Metal Welding Robotic Arm TKB1520

The welding robots produced in various countries in the world are basically joint robots, and most of them have 6 axes. Among them, the 1, 2, and 3 axes can send the end tool to different spatial positions, and the 4, 5, and 6 axes solve the different requirements of the tool posture. The mechanical structure of the welding robot body mainly has two forms: one is a parallelogram structure, and the other is a side-mounted (pendulum) structure, as shown in Figure 2a and b. The main advantage of the side-mounted (pendulum) structure is the large movement range of the upper and lower arms, which makes the working space of the robot almost reach a sphere. Therefore, the robot can work on the rack upside down to save floor space and facilitate the flow of ground objects. However, this type of side-mounted robot has a cantilever structure on the 2 and 3 axes, which reduces the rigidity of the robot. It is generally suitable for robots with a small load, and is used for arc welding, cutting or spraying. The upper arm of the parallelogram robot is driven by a tie rod. The tie rod and the lower arm form two sides of a parallelogram. So named. The working space of the parallelogram robot developed earlier was relatively small (limited to the front of the robot), making it difficult to work upside down. However, the new parallelogram robot (parallel robot) developed since the late 1980s has been able to expand the working space to the top, back, and bottom of the robot without the stiffness of the positioning robot, and has received widespread attention. This structure is suitable not only for light but also for heavy robots. In recent years, robots for spot welding (loads of 100 to 150 kg) have mostly used robots with a parallelogram structure.

Each axis of the above two industrial robots is used for rotary motion, so a servo motor is used to drive through a cycloidal pin wheel (RV) reducer (1 to 3 axes) and a harmonic reducer (1 to 6 axes). Before the mid-1980s, DC servo motors were used for electrically driven robots. Since the late 1980s, countries have switched to AC servo motors. Because the AC motor has no carbon brushes and good dynamic characteristics, the new robot not only has a low accident rate, but also greatly increases the maintenance-free time and the speed of addition (decrease). Some new light-weight robots with a load of less than 16kg have a tool center point (TCP) with a maximum movement speed of more than 3m/s, accurate positioning, and low vibration. At the same time, the control cabinet of the robot also uses 32-bit microcomputers and new algorithms to make it have the function of optimizing the path by itself, and the running track is closer to the teaching track.