The requirement that to soldering as automobile manufacturing industry the index such as precision and speed raises is taller and taller, and beneficial strengthens the day of user individuation demand, to satisfy the market demand of much model, much batch, those who improve productivity of automobile body workshop is flexible with flexibility, industrial robot solders in automobile body in got applied extensively. Article union example introduced spot welding robot and arc welding machine implement person system solders to apply mediumly in automobile body. The structure of car automobile body and craft decided to take the safety factor of the car greatly. Automobile body noumenon is by ten big assembly and hundreds laminose stamping workpiece, the complex and laminose structural member that the craft such as solder of solder of classics spot welding, arc, laser beam welding, drill rod, riveting, mechanical join and adhesive bonding joins. The part that involves as a result of place of white automobile body much, technology is sophisticated and equipment type is various, because program of this automobile body is right,solder control of the craft, clamping apparatus that install solder, quality and care and maintenance have higher demand. Key of article union example introduced system of spot welding robot and arc welding machine implement person system solders to apply mediumly in automobile body. The quality of spot welding of automobile body of system of spot welding robot is affecting car automobile body directly intensity and use security. Spot welding equipment because easily mechanization, cost is inferior cheap, technology is mature and establishment of form a complete set is perfect, apply most extensively in the production of car automobile body. Now, spot welding solders complete automation already made the process trend, system of robot spot welding already got applied extensively, replacing manual spot welding stage by stage. 1. System of robot of spot welding of pneumatic of system of robot of pneumatic spot welding includes controller of robot noumenon, robot, spot welding controller, automatic electrode to repair the hydrosphere that grinds clamp of spot welding of machine, pneumatic and hydrosphere to supply to control unit to wait, if pursue,1 is shown. Pneumatic solder clamp regards spot welding as the actuator of the robot, used unifinication solder pincers generally at present, solder namely transformer outfit is at the back of solder clamp, reduced the loss of cable 2 times, rise solder quality. Because use unifinication solder pincers, transformer must as far as possible miniaturization, raise a robot effective load. Bigger to the capacity transformer, already began to use technology of intermediate frequency inversion: Be versed in 50Hz frequency communication turns into 600 ～ 1000Hz communicates again rectification, make transformer bulk decreases, reduce. Formally of component of electrode of pneumatic solder clamp and handiwork solder solder clamp essentially similar, finish receive effect with workpiece contact and electrify solder, safeguard to reduce transform cost, solder clamp component has modular tendency. Action of spot welding robot is stable and credible, repeat precision tall, the numerous hard physical labor of replaceable person, and rose solder quality, increased product line flexible. 2009, steam multiplies base of Nanjing of the company that use a car on build 100 thousand Rong Wei deliver a child of solder of AP11 of 350 series car produces a line. This line introduces robot of spot welding of pneumatic of 49 6 axes from Japanese FANUC company, application asks in craft taller automobile body issues bodywork assembly welder, side wall assembly and automobile body are noumenal assemble solder on. After building AP11 masterstroke successfully, steam multiplies base of Nanjing of the company that use a car on was in 2011 on AP11 foundation when product line of construction MG5 model, introduce the robot of 10 spot welding that recommends Japanese FANUC company again, use on the AP12 masterstroke of 60 thousand productivity, application asks in craft quality taller automobile body issues bodywork assembly welder, assembly of side wall component, side wall and automobile body are noumenal assemble solder on. What differ with former AP11 masterstroke is, the AP12 that builds go into operation advocate solder line and device of AP11 line implementation are all and common, satisfied adequately flexible the demand of the production that confuse a line, came true short when switch or need not of switch completely flexible manufacturing mode. To save construction cost reachs place, we are versed in product line majority an one stage robot that go up transform provide to can take clamp of two above solder or grasper work, exchange device to be able to undertake the switch between solder clamp quickly through using automatic tool. 2. System of robot of servo spot welding is implementation taller solder quality satisfies function to ask, AP12 line still is introduced used welding torch of servo of spot welding of new-style intermediate frequency to control a technology. This system can satisfy excel in / armor plate of extra high strength and multilayer of plank solder, in order to get used to a car light quantify prevent the requirement that strikes safety to rise ceaselessly with automobile body. System of robot of servo spot welding includes controller of controller of robot noumenon, robot, intermediate frequency spot welding, automatic electrode to repair grind machine and clamp of servo spot welding to wait. Traditional pneumatic welder cannot compare the advantage of servo welding torch, its biggest characteristic is with servo device replaces pneumatic unit, according to the program that weaves beforehand, issue a statement by servo controller, control servo electromotor according to feed of fixed rate, displacement, form the accurate control of pair of electrode displacement and speed, pulse amount and frequency decide electrode displacement and rate, electromotor torsion decides electrode pressure. Servo welding torch is had increase diagnose reach monitoring, simplify solder clamp design, rise flexible, reduce maintenance rate, rise run time and reduce manufacturing cost (bad news is angry / spare parts / province report) wait for a characteristic, will be the main equipment that prospective car assembles the application on product line. The quality of spot welding of its intermediate frequency and efficiency all outclass labour frequency solders, main show is in the following respects: (1) reduce manufacturing metre robot and solder clamp synchronism to coordinate motion, raised manufacturing metre greatly, make roadblock is reached between solder dot jump turn way is the smallest change; Can shorten at will electrode mouth is reduced shut solder clamp time; Solder after beginning signal to give out but faster, control pressurization better; Change quickly solder pressure, its pressure adjusts speed can amount to 200kgf/cycle (98N/ms) ; Can avoid well and restrain splatter, assure effectively and rise solder quality; Solder after the signal that finish is given out can open solder clamp more quickly; Reduce electrode to change reach long rub time; Change gun, electrode to repair grind reach after changing fast demarcate. (2) rise solder quality soft contact can realize few product impact, still can reduce noise; Of pinpoint accuracy but repeatability pressurization; In soldering, accurate constant voltage is controlled; Solder force of process middling pressure can come true adjust; Stabler electrode government and control. Relative to pneumatic welding torch, the advance gradually of servo welding torch and controlling a process beforehand is the influence solders two crucial phase of efficiency. But journey of process designing electrode and speed can shorten same work the advance gradually time that on many solder choose, also can raise yield of solder deliver a child. It is with be being pressed beforehand exemple undertake an analysis, the graph is shown 2 times soldering for pneumatic welding torch and servo welding torch the change of force of the electrode in the process, assume achieve set beforehand pressure, electrode force will keep constant. If what the watch shows, the dot of a solder that servo welding torch solders can be saved 0.
44s, with a car 5000 solder dot is about 3500 ～ exemple, the weld time that saves 26 ～ 37min, productivity gets great rise, automobile body solder installs the productivity of the line to promote greatly. Nextpage arc welding machine implement the characteristic of structure of automobile body of person system car decided automobile body is made cannot leave arc solder technology. The scintilla when solder of traditional and manual arc solders and aerosol cause a harm to human body bigger, working environment is harsh, and taller to requirement of worker technical ability, consistency of welding line quality is poor, wave motion is bigger also. Especially the important structure of the car is safe, its solder the action with critical to the move since the security of the car mass, because this is truckload,the factory has arc welding machine of phase in automation implement the trend that the person replaces manual kind. To automobile body arc welding machine implement is flexible and solder quality, and the type selecting of robot and welding torch and electronic-controlled design. Specific content includes: 1.
The freedom that robot system designs parameter to include effective load, number of axle, each axle spends limits and control system to wait. 2.
The machine makes limits and gesture artificially, form of mature automobile body and arc solder choose form of the position, clamping apparatus. Through 3D design model emulation imitate interferes what danger nods to solder, wait to position of operation of the appearance of welding torch and clamping apparatus, robot undertake iteration modification, definite plan undertakes feasibility argumentation and design are amended again. 3.
The height of affirmatory robot and control a distance with around, ensure welding torch of robot of dot of all arc solder can be amounted to. Undertaking optimizing devising the most reliable method is to pass a robot to emulate the welder with software actual imitate to make, specific means is to add the 3D model that is versed in a clamping apparatus, workpiece reachs welding torch, be assembled in what fictitious environment undertakes workstation and debug, method imitate, whether is discovery interfered, the opposite dimension that adjusts departmental cent with this is achieved optimal. 4.
Craft sequential is designed, control flow chart design. Arc welding machine implement the equipment of person workstation makes system of controller of packet of bracket solder robot, robot, welder, clear gun, carry system, fixture, smoke evacuation to remove dust equipment, safety defends shade of keep out of net, arc and water and electricity. Steam takes the arc welding machine that with base of car company Nanjing product line of model of Rong Wei 350/MG5 used firm of 4 Japan FANUC on implement person and Austrian Fronius company's advanced CMT welder system (have " cold " the metal transfers solder technology) . CMT solders the characteristic of technical system is: As complete " cold " technology, the frit drop that falls without voltaic condition approximately transfers, low heat inputs a quantity; Can undertake thin plate / exceed thin plate to solder; Ensure without splatter transfer, after reducing solder, clear the job; Bring arc reliable, the good ability that build the bridge makes solder procedure operation is apt; Solder the process sends silk stability, solder technology expert database is changed, simplify shorten craft debugs a process to wait. Epilogue regards a kind of masses as commodity, people is beautiful and comfortable not only to the requirement of the car, and even strong and durable. This should have already with respect to requirement white automobile body solder enoughly intensity, want to have eligible exterior quality again. Spot welding robot and arc welding machine implement person system serves as an agile, independence solder treatment unit gives large quantities of quantities, efficient the car that has automation line with high quality is made provided advantageous safeguard, when making what Gao Rou sex changes short, stretch production also becomes a possibility. CNC Milling