Program generation: The program of the welding robot needs to be generated through teaching, which will first generate a new program structure. The robot is taught through the teaching box. During teaching, the robot moves according to the specified coordinates or joints under the control of the axis operation keys of the teaching box. The robot moves to the required target point under the operation of the operator. When it is determined that the teaching point is valid, the manipulator Generate motion commands, and record the orientation data of each axis at that time as the relevant orientation data of the corresponding motion commands in the program. At this moment, only need to record the positions of each joint, and then the corresponding coordinate values of the robot in other azimuth coordinates can be calculated. The program generated by teaching usually needs to go through a trial run to check and debug the program. Especially for arc welding procedures, the various process parameters and action methods usually need to be debugged many times and repeatedly to obtain good results. Operation of the program: The industrial welding robot runs the program generated by teaching, which is called the reproduction of the program. When reproducing, you can choose single-step, single-cycle, continuous active and other cycle modes. Robots have production methods such as continuous production of a single type, rotation of multiple types, and random production of different types, so there are various ways to start programs. For example, a single type can use the program cycle or repeat to start the program, multiple types of rotation can be called by the program program or specified start, different types of geotextiles can be started through the specified program or automatic workpiece identification, etc., and the specified program artificial turf program can also be Divided into specified condition call and direct specified launch, the primary basis for selecting various launch methods
(1) Robot power transmission procedure: first close the air switch, then turn on the power of the robot transformer. Turn on the button, then turn on the welding power switch, and finally unscrew the power of the robot control cabinet. (2) Robot power-off procedure: first turn off the power of the robot control cabinet, then turn off the welding power switch, then cut off the power of the robot transformer, and finally pull down the air switch. (3) After the robot control cabinet is powered on, it takes a certain amount of time for the system to start (data transmission), and the operation should be performed after the display screen of the teach pendant enters the operation interface. (4) Before operating the robot, all personnel should retreat to a safe area (beyond the security line).
(1) During the teaching process, hold the teaching pendant in your hand at all times, and do not place it randomly. Put your left glove into the strap to avoid dropping it by accident. The cable should be placed in a position that is not easy to step on. Do not pull it hard during use, and leave a loose length. (2) The robot has pre-set some operating data and programs from the perspective of operator safety. Beginners should not enter these menus to make changes without permission, so as to avoid danger. operate. (3) If the robot encounters a dangerous situation during the operation, the emergency brake switch should be pressed in time to stop the robot to avoid personal injury or damage to objects. (4) After the program is compiled, use the tracking operation to run the program once, modify the track points line by line, check the walking track and various parameters are correct, unscrew the valve of the protective gas cylinder, and then press the light on the teaching pendant. Gas detection icon, adjust the flow meter without recognition result, generally at 15L/min, close the gas detection, and move the cursor to the starting point of the program. (5) Before welding, hang up the teach pendant, turn the key to the "Auto" side, turn on the smoke and dust removal equipment, and press the start button of the robot. When observing the arc, you should hold the mask to avoid being burned by the arc light due to naked eyes or exposed skin. If you find any abnormal welding, you should immediately press the stop button and make a record. (6) After finishing the operation, turn the key of the mode switch to the "Teach" side, turn off the dust collector equipment, turn off the gas valve on the protective gas cylinder, release the residual gas in the air pipe, return the robot to zero position, and exit the display. Teach the program, then turn off the power as required, arrange the control cables of the teach pendant, hang the teach pendant at the designated position, and leave after finishing the site.
The working principle of the robot is: "teach-reproduce". "Teaching" is the process of robot learning. In this process, the operator needs to teach the robot to do certain actions, and the robot's control system will memorize it in the form of a program. The robot shows the process of these actions according to the recorded program. , called "reproduction". In actual work, it is usually necessary to test-run the teaching program and modify and adjust it to obtain an effective working program.
1. What is the main function of the welding robot? Instead of humans, it is engaged in complicated and dangerous work. 2. What are the characteristics of welding robots? a. High efficiency, good quality and strong planning. b. Eliminate the uncertain factors of manual labor. c. It is easy to realize streamlined operation. 3. What is the development trend of welding robots? Develop towards high intelligence and completely change the way of life of human beings.
The robot cleverly applies the balance principle of force, so that the operator can push and pull the heavy object accordingly, and then it can move and position in space in balance. The heavy object forms a floating state when it is lifted or lowered, and the air circuit ensures zero operating force (actually due to processing technology and design cost control, the operating force is judged by less than 3kg). The operating force is affected by the weight of the workpiece. The operator pushes and pulls the heavy object by hand, and the heavy object can be placed in any position in the space correctly, without skilled jogging operation.