Amarobhothi okushisela amarobhothi ezimboni asebenza ngokushisela (okuhlanganisa ukusika nokufutha).Ngokusho kwe-International Organisation for Standardization (ISO)Industrial Machines Machines Indoda ichazwa njengerobhothi elijwayelekile elishiselayo, irobhothi lemboni liyi-opharetha esebenza ngezindlela eziningi, ehlelekayo, e-othomathikhi (Manipulator) enezimbazo ezintathu noma ngaphezulu ezihlelekayo zokuzishintsha kwezimboni.Ukuze kuhlangatshezwane nokusetshenziswa okuhlukile, ishafu yokugcina yerobhothi inesixhumi esibonakalayo esisebenza ngomshini, ngokuvamile i-flange exhumayo, engafakwa amathuluzi ahlukene noma ama-actuator ahlukene.Amarobhothi ashiselayo amarobhothi ezimbonini ama-axis awo okugcina afakwe amapulangwe okushisela noma izibhamu zokushisela (zokusika) ukuze zishiselwe, zisikwe noma zifuthwe ngokushisa.

Ngokuthuthuka kobuchwepheshe be-elekthronikhi, ubuchwepheshe bekhompiyutha, ukulawulwa kwezinombolo kanye nobuchwepheshe berobhothi, amarobhothi okushisela okuzenzakalelayo, kusukela ngeminyaka yawo-1960s aqala ukusetshenziswa ekukhiqizeni, ubuchwepheshe bawo buye bukhula ngokukhula, ikakhulukazi bunalokhu okulandelayo.izinzuzo:

1) Zinzisa futhi uthuthukise ikhwalithi yokushisela, ingabonisa ikhwalithi yokushisela ngenombolo yezinombolo;

2) Ukuthuthukisa ukukhiqiza kwezabasebenzi;

3) Ukuthuthukisa umfutho abasebenzi, bangasebenza ezindaweni eziyingozi;

4) Yehlisa izidingo zamakhono okusebenza abasebenzi;

5) Nciphisa umjikelezo wokulungiselela wokuguqulwa nokuguqulwa komkhiqizo, unciphise ukutshalwa kwezimali okuhambisanayo kwemishini.

Ngakho-ke, kuyo yonke imikhakha yokuphila iye yasetshenziswa kabanzi.

Irobhothi lokushisela ikakhulukazi lihlanganisa izingxenye ezimbili: irobhothi nemishini yokushisela.Irobhothi liqukethe umzimba werobhothi kanye nekhabhinethi yokulawula (i-hardware nesofthiwe).Imishini yokushisela, ukuthatha i-arc welding kanye ne-spot welding njengesibonelo, yakhiwe amandla okushisela (okuhlanganisa uhlelo lwayo lokulawula), i-wire feeder (i-arc welding), isibhamu sokushisela (i-clamp) njalonjalo.Kumarobhothi ahlakaniphile, kufanele futhi kube nezinhlelo zokuzwa, njengezinzwa ze-laser noma zekhamera kanye nezilawuli zazo.

Umdwebo werobhothi wokushisela

Amarobhothi ashiselayo akhiqizwa emhlabeni wonke angamarobhothi ahlangene, iningi lawo anezimbazo eziyisithupha.Phakathi kwazo, izimbazo ezingu-1, 2, 3 zingathumela ithuluzi lokugcina ezindaweni ezihlukene zendawo, kuyilapho 4, 5, 6 eksisi ukuxazulula izidingo ezahlukene zokuma kwethuluzi.Kunezinhlobo ezimbili eziyinhloko zesakhiwo somshini womzimba werobhothi wokushisela: enye iyisakhiwo sepharalelogram kanti enye iyisakhiwo esibekwe eceleni (i-swing).Inzuzo eyinhloko yesakhiwo esibekwe eceleni (i-swing) ububanzi obukhulu bemisebenzi yezingalo ezingenhla neziphansi, okwenza indawo yokusebenza yerobhothi ifinyelele cishe indawo.Ngenxa yalokho, irobhothi lingakwazi ukusebenza libheke phansi kuma-racks ukuze konge indawo yaphansi futhi kube lula ukugeleza kwezinto phansi.Kodwa-ke, leli robhothi elibekwe eceleni, ama-ax angu-2 no-3 esakhiwo se-cantilever, anciphisa ukuqina kwerobhothi, ngokuvamile afanele amarobhothi amancane okulayisha, ukushisela i-arc, ukusika noma ukufafaza.Ingalo engenhla yerobhothi eliwuphawu lwepharalelogramu ishayelwa isigaxa.I-lever yenza izinhlangothi ezimbili zepharalelogram enengalo engezansi.Ngakho ibizwa.Ukuthuthukiswa kokuqala kwendawo yokusebenza yamarobhothi epharalelogramu kuncane kakhulu (kulinganiselwe ngaphambili kwerobhothi), kunzima ukulenga umsebenzi ubheke phansi.Kodwa-ke, irobhothi elisha le-parallelogram (i-robot parallel) elakhiwe kusukela ngasekupheleni kwawo-1980 liye lakwazi ukunweba indawo yokusebenza phezulu, emuva nangaphansi kwerobhothi, ngaphandle kokuqina kwerobhothi yokulinganisa, ngakho-ke kuye kwanakwa kabanzi.Lesi sakhiwo asifanele ukukhanya kuphela kodwa futhi namarobhothi anesisindo esinzima.Eminyakeni yamuva nje, amarobhothi okushisela amabala (umthwalo we-100 kuya ku-150 kg) ikakhulukazi akhetha amarobhothi esakhiwo sepharalelogramu.

I-shaft ngayinye yamarobhothi amabili angenhla isetshenziselwa ukunyakaza kokuswayipha, ngakho-ke i-servo motor ishayelwa isinciphisi senaliti esijikayo (i-RV) (izimbazo ezi-1 kuye kwezingu-3) kanye nesinciphisi se-harmonic (izimbazo ezi-1 kuye kweziyi-6).Ngaphambi kweminyaka yawo-1980s, amarobhothi ashayelwa ugesi ayenikwa amandla ama-DC servo motors, futhi kusukela ngasekupheleni kwawo-1980s, amazwe ashintshele kuma-AC servo motors.Ngenxa yokuthi ama-AC motors awanawo amabhulashi ekhabhoni, izici ezinhle eziguqukayo, ukuze irobhothi elisha lingagcini nje ngokuba nezinga eliphansi lezingozi, kodwa futhi nesikhathi samahhala sokulungisa sikhuphuke kakhulu, kanye (nokususa) isivinini futhi siyashesha.Amanye amarobhothi amasha angasindi anemithwalo engaphansi kuka-16 kg anesivinini sokunyakaza esiphezulu esingaphezu kuka-3m/s endaweni yawo yesikhungo samathuluzi (TCP), ukuma okunembile nokudlidliza okuphansi.Ngesikhathi esifanayo, iKhabhinethi yokulawula irobhothi nayo yasebenzisa i-microcomputer engu-32-bit kanye ne-algorithm entsha, ukuze ibe nomsebenzi wokuthuthukisa indlela ngokwayo, iqhuba umzila oseduze nomzila wokufundisa.

okukhethekile

Hlela Izwi

I-Spot welding ayifuni kakhulu kumarobhothi wokushisela.Ngenxa yokuthi ukushisela amabala kudinga kuphela ukulawulwa kwamaphuzu, njengoba ngodladla lokushisela phakathi kwephuzu nendawo yokunyakaza akuzona izidingo eziqinile, okuyirobhothi lingasetshenziswa kuphela ukushisela indawo ekuqaleni kwesizathu.Irobhothi le-spot welding aligcini nje ngokuba nomthamo owanele wokulayisha, kodwa futhi ku-point-to-point shift speed liyashesha, isenzo kufanele sibe bushelelezi, ukumisa kufanele kube okunembile, ukuze kuncishiswe isikhathi sokushintsha, phakamisa.

Ukukhiqiza okuphezulu.Ukuthi irobhothi lendawo yokushisela lidinga umthamo ongakanani wokulayisha kuncike ohlotsheni lwe-clamp yokushisela esetshenzisiwe.Kumapulangwe okushisela ahlukaniswe nama-transformers, umthwalo wamarobhothi angama-30 kuya ku-45 kg wanele.Kodwa-ke, ngakolunye uhlangothi, lolu hlobo lwe-welding clamp lungenxa yomugqa omude wekhebula lesibili, ukulahlekelwa kwamandla kukhulu, akusizi ukuthi irobhothi lishise izinsimbi zokushisela ngaphakathi kwendawo yokusebenza, ngakolunye uhlangothi. , ulayini wekhebula ushintshashintsha ngokuhamba kwerobhothi, ukulimala kwekhebula kuyashesha.Ngakho-ke, ukusetshenziswa kwamapulangwe e-welding ahlanganisiwe kukhula kancane kancane.Lesi sici sokushisela, kanye ne-transformer, sinesisindo esingaba ngu-70 kg.Uma kucatshangelwa ukuthi irobhothi kufanele libe nomthamo owanele wokulayisha, amapulangwe ashiselwe endaweni yokushisela ngesivinini esikhulu, ngokuvamile akhethwa amarobhothi anesisindo esingu-100 kuya ku-150 kg.Ukuze kuhlangatshezwane nezidingo zokufuduka ngokushesha kwebanga elifushane kwama-weld clamps ngesikhathi sokushisela indawo eqhubekayo.Irobhothi elisha eline-heavy duty lengeza ikhono lokuqedela ukufuduka okungu-50mm ngo-0.3s.Lokhu kubeka phambili izidingo eziphakeme zokusebenza kwenjini, isivinini sekhompiyutha kanye ne-algorithm ye-microcomputer.

Ukuklama kwesakhiwo

Hlela Izwi

Ngenxa yokuthi umklamo werobhothi wokushisela usendizeni eyi-quasi, indawo encane yesikhala, ukuze kuqinisekiswe ukuthi irobhothi lingakwazi ukulandelela ukushiselwa kwe-weld ngokusho kolwazi lokuphambuka kwenzwa ye-arc, irobhothi kufanele lenziwe lihlangene, liguquguquke. nomsebenzi ozinzile.Uma kubhekwa izici zesikhala esiwumngcingo, kwakhiwa irobhothi elincane lokushisela iselula, ngokuya ngezimpawu zokunyakaza zesakhiwo ngasinye serobhothi, kusetshenziswa indlela yokuklama ye-modular, indlela yamarobhothi ihlukaniswe yaba izingxenye ezintathu: iplatifomu enamasondo, i-torch adjuster kanye inzwa ye-arc.Phakathi kwazo, inkundla yeselula enamasondo ngenxa ye-inertia yayo, ukusabela okunensayo, ikakhulukazi ekulandeleleni okuqinile kwe-weld, umshini wokulungisa ithoshi unesibopho sokulandelela okunembile kwe-weld, inzwa ye-arc ukuqedela ukuhlonza ukuphambuka kwesikhathi sangempela.Ngaphezu kwalokho, isilawuli serobhothi kanye nomshayeli wemoto kuhlanganiswe epulatifomu yeselula yerobhothi, okwenza kube kuncane.Ngasikhathi sinye, ukuze kuncishiswe ithonya lothuli ezingxenyeni ezihambayo endaweni yokushisela enokhahlo, isakhiwo esivalekile ngokugcwele sisetshenziselwa ukuthuthukisa ukwethembeka.^ofuhlelo lwayo.

hlomisa

Hlela Izwi

Imishini yokushisela ye-robot ye-welding, ngenxa yokusetshenziswa kwe-pliers ye-welding edidiyelwe, ama-welding transformers afakwe ngemuva kwe-pliers welding, ngakho-ke i-transformer kufanele ibe mncane ngangokunokwenzeka.Kuma-transformer amancane angasebenzisa i-50Hz frequency AC, futhi kuma-transformer amakhulu, ubuchwepheshe be-inverter busetshenzisiwe ukushintsha i-50Hz frequency AC ibe ngu-600 kuya ku-700Hz AC, ukuze usayizi we-transformer wehliswe futhi uncishiswe.Ngemuva kokuthi ingcindezi eguquguqukayo ingaba ngqo ne-600 kuya ku-700Hz AC welding, ingabuye ilungiswe kabusha, nge-DIRECT welding.Imingcele yokushisela ilungiswa ngesibali sikhathi.Isibali sikhathi esisha senziwe ngekhompyutha encane, ngakho ikhabhinethi yokulawula irobhothi ingakwazi ukulawula isibali sikhathi ngokuqondile ngaphandle kwesidingo sesixhumi esibonakalayo esengeziwe.Iphinifa lokushisela irobhothi lendawo, imvamisa enamapulangwe okushisela womoya, iziphasela zokushisela umoya phakathi kwama-electrode amabili edigri yokuvula ngokuvamile kuba imivimbo emibili kuphela.Futhi uma ingcindezi ye-electrode isilungisiwe, ayikwazi ukushintshwa ngokuthanda kwakho.Eminyakeni yamuva nje, sekuvele uhlobo olusha lwezinsimbi zokushisela i-servo spot kagesi.Ukuvulwa nokuvalwa kwamapulangwe okushisela kuqhutshwa i-servo motor, futhi impendulo ye-code plate ivumela ukuvulwa kwamapulangwe ukuthi kukhethwe ngokungafanele futhi kusethwe ngokwezidingo zangempela.Futhi amandla okucindezela phakathi kwama-electrode nawo angalungiswa ngaphandle kwesiteji.Lesi sishiseli esisha se-servo spot kagesi sinezinzuzo ezilandelayo:

I-1) Umjikelezo we-welding wephoyinti ngalinye le-welding lingancishiswa kakhulu, ngoba izinga lokuvula i-welding pliers lilawulwa ngokunembile irobhothi, irobhothi phakathi kwephuzu nephuzu lenqubo yokunyakaza, amapulangwe okushisela angaqala ukuvala;

2) I-degree yokuvula ye-welding clamp ingashintshwa ngokuya ngesimo se-workpiece, inqobo nje uma kungekho ukungqubuzana noma ukuphazamiseka ukuze kuncishiswe izinga lokuvula, ukuze kugcinwe izinga lokuvula le-welding clamp, ukuze ukusindisa isikhathi esithathwe ukuvulwa nokuvalwa kwe-welding clamp.

I-3) Uma izinsimbi ze-welding zivaliwe futhi zicindezelwa, hhayi kuphela usayizi wokucindezela ongashintshwa, kodwa futhi uma uvaliwe, ama-electrode avaliwe ngobumnene, ukunciphisa ukuguqulwa komthelela nomsindo.

Spot welding irobhothi FANUC R-2000iB

Izicelo zokushisela

hlela