The coordinated action of welding robots and welding equipment mainly involves the following key aspects:
Communication connection
A stable communication link needs to be established between the welding robot and the welding equipment. Common communication methods include digital interfaces (such as Ethernet, DeviceNet, Profibus, etc.) and analog interfaces. Through these interfaces, the robot can send welding parameters (such as welding current, voltage, welding speed, etc.) to the welding equipment, and the welding equipment can also provide feedback on its own status information (such as whether the equipment is normal, fault codes, etc.) to the robot.
For example, in some modern welding workshops, robots and welding power sources are connected via Ethernet. The welding process program in the robot control system can accurately send instructions to the welding power source, such as setting the pulse frequency of pulse welding to 5Hz, peak current to 200A, and other parameters to meet the requirements of specific welding tasks.
Timing control
For the welding process, timing control is crucial. Welding robots need to be precisely coordinated with welding equipment in terms of time. In the arc initiation stage, the robot first needs to move to the starting position of the welding and then send an arc initiation signal to the welding equipment. After receiving the signal, the welding equipment will establish a welding arc in a very short time (usually a few milliseconds to tens of milliseconds).
Taking gas shielded welding as an example, after the robot is in place, it sends out an arc signal, and the welding power supply outputs high voltage to break through the gas and form an arc. At the same time, the wire feeding mechanism starts to feed the wire. During the welding process, the robot moves at a preset speed and trajectory, and the welding equipment continuously and stably provides welding energy. When welding is completed, the robot sends an arc stop signal, and the welding equipment gradually reduces the current and voltage, filling the arc pit and extinguishing the arc.
For example, in car body welding, the movement speed of the robot is coordinated with the welding parameters of the welding equipment to ensure that the welding equipment can fill the weld seam with appropriate welding heat input during the robot’s movement of a certain distance, avoiding defects such as incomplete penetration or penetration.
Parameter matching
The motion parameters of the welding robot (such as speed, acceleration, etc.) and the welding parameters of the welding equipment (such as current, voltage, wire feeding speed, etc.) need to be matched with each other. If the robot’s movement speed is too fast and the welding parameters of the welding equipment are not adjusted accordingly, it may lead to poor weld formation, such as narrow welds, undercutting and other defects.
For example, for welding thicker workpieces, a larger welding current and slower robot movement speed are required to ensure sufficient penetration and metal filling. For thin plate welding, a smaller welding current and faster robot movement speed are required to prevent burning through. The control systems of welding robots and welding equipment can achieve the matching of these parameters through pre programming or adaptive control algorithms.
Feedback regulation
To ensure welding quality, there needs to be a feedback adjustment mechanism between the welding robot and the welding equipment. Welding equipment can provide feedback on actual welding parameters (such as actual current, voltage, etc.) to the robot control system. Robots can fine tune their own motion trajectory or welding equipment parameters based on these feedback information.
For example, during the welding process, if the welding equipment detects fluctuations in the welding current for some reason (such as uneven surface of the workpiece, wear of the conductive nozzle, etc.), it can feedback this information to the robot. Robots can adjust their motion speed accordingly or send instructions to welding equipment to adjust the current, in order to ensure the stability of welding quality.
Post time: Dec-16-2024
