With the expansion of the application range of six-axis welding robots, one or more external axes are sometimes added to the basic configuration of six-axis welding robots. That is to say, the outer shaft is actually an external action system connected with the welding robot, which can match the movement of the robot, can meet the welding posture at the same time, and can complete the whole welding faster, and achieve satisfactory results. So how should the six-axis welding robot be maintained?
Six axis welding robot maintenance
First, daily inspection and maintenance
1. Wire feeding mechanism. Including whether the wire feeding distance is normal, whether the wire feeding catheter is damaged, whether there is an abnormal alarm.
2. Check whether the gas flow is normal.
3. The welding torch safety protection system is normal. (It is forbidden to close the welding torch for safety protection)
4. Whether the water circulation system works normally.
5. Test TCP(suggest to compile a test program, run after each shift handover)
Second, weekly inspection and maintenance
1. Scrub each axis of the robot.
2. Check the accuracy of TCP.
3. Check the oil level of the cleaning residue.
4. Check whether the zero position of each axis of the robot is accurate.
5. Clean the air filter behind the welder water tank.
6. Clean the air filter at the compressed air inlet.
7. Clean the impurities in the nozzle of the welding torch to avoid blocking the water circulation.
8. Clean the wire feeding mechanism, including wire feeding wheel, wire pressing wheel, wire guide tube.
9. Check whether the hose bundle and guide wire hose are damaged or broken. (It is recommended to remove the whole hose bundle and clean it with compressed air)
10. Check whether the welding torch safety protection system is normal, and whether the external emergency stop button is normal.
Because the six-axis welding robot is designed to work in a quasi-plane and narrow space environment, in order to ensure that the robot can track the welding seam automatically according to the deviation information of the arc sensor, the designed robot should be compact in structure, flexible in movement and stable in work. According to the characteristics of narrow space, a small mobile welding robot was developed in this paper. According to the motion characteristics of each structure of the robot, the robot mechanism was divided into three parts: wheeled mobile platform, welding torch regulating mechanism and arc sensor by modular design method.
Among them, because of its large inertia and slow response, the wheeled mobile platform mainly conducts coarse weld tracking, the welding torch regulating mechanism is responsible for weld tracking, and the arc sensor completes the real-time identification of weld deviation. In addition, the robot controller and motor driver are integrated into the mobile platform of the robot to make it smaller. At the same time, in order to reduce the influence of dust on the moving parts in the harsh welding environment, the fully enclosed structure is adopted to improve the reliability of the system.