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激光焊接機器人出現故障如何解決?

  • 發布時間: 2022-05-18

激(ji)光焊接機器人出現(xian)故障如何解決?

 

隨著電子技術(shu)、計算機(ji)(ji)技術(shu)、數控(kong)及(ji)機(ji)(ji)器人(ren)(ren)技術(shu)的發(fa)展,自動(dong)弧焊(han)(han)(han)機(ji)(ji)器人(ren)(ren)工(gong)(gong)作(zuo)站(zhan),從(cong)60年代(dai)開始(shi)用(yong)于(yu)生產(chan)以來,其(qi)技術(shu)已日益成熟(shu),具有(you)穩定(ding)和提(ti)高焊(han)(han)(han)接(jie)(jie)(jie)質量、提(ti)高勞動(dong)生產(chan)率、改(gai)善工(gong)(gong)人(ren)(ren)勞動(dong)強度,可在有(you)害環境下工(gong)(gong)作(zuo)、降低了對工(gong)(gong)人(ren)(ren)操作(zuo)技術(shu)的要求、縮(suo)短(duan)了產(chan)品改(gai)型(xing)換代(dai)的備周期,減少相應的設備投資等優點,因此,在各行各業已得到了廣泛的應用(yong)。盡管如(ru)此,機(ji)(ji)器人(ren)(ren)在焊(han)(han)(han)接(jie)(jie)(jie)過程中(zhong),也難免出現(xian)焊(han)(han)(han)偏、咬邊、氣孔等焊(han)(han)(han)接(jie)(jie)(jie)缺(que)陷,焊(han)(han)(han)接(jie)(jie)(jie)機(ji)(ji)器人(ren)(ren)在長期的工(gong)(gong)作(zuo)中(zhong)也可能(neng)會出現(xian)各種故障(zhang)。科技發(fa)達,激光設備也發(fa)展起來,例如(ru)激光焊(han)(han)(han)接(jie)(jie)(jie)機(ji)(ji)器人(ren)(ren)技術(shu),雖然現(xian)在起步晚,但是借(jie)鑒(jian)國(guo)外的成熟(shu)技術(shu),也發(fa)展得有(you)聲有(you)色。焊(han)(han)(han)接(jie)(jie)(jie)機(ji)(ji)器人(ren)(ren)控(kong)制(zhi)器斷(duan)電檢修后,對控(kong)制(zhi)器送電,機(ji)(ji)器人(ren)(ren)報(bao)伺服故障(zhang)。

 

以下是幾(ji)點關(guan)于焊(han)接機器人故障(zhang)原因分(fen)析

 

1、機器(qi)(qi)人(ren)編(bian)碼(ma)器(qi)(qi)上數據存儲的電(dian)(dian)(dian)池(chi)無(wu)電(dian)(dian)(dian)或者已經損壞拆卸編(bian)碼(ma)器(qi)(qi)脈沖數據存儲的電(dian)(dian)(dian)池(chi)安裝盒,對(dui)電(dian)(dian)(dian)池(chi)盒每節電(dian)(dian)(dian)池(chi)的電(dian)(dian)(dian)壓進(jin)行(xing)測量,均(jun)在1.4V以下,電(dian)(dian)(dian)池(chi)電(dian)(dian)(dian)壓明顯偏低(di),更換新(xin)電(dian)(dian)(dian)池(chi),再對(dui)故(gu)障進(jin)行(xing)復位。

 

2、控(kong)(kong)制(zhi)(zhi)器內伺(si)(si)服放(fang)(fang)大(da)器控(kong)(kong)制(zhi)(zhi)板(ban)出故障,檢查伺(si)(si)服放(fang)(fang)大(da)器LED上(shang)方的2個DC鏈路(lu)電(dian)壓檢測螺絲,確(que)認(ren)DC鏈路(lu)電(dian)壓。如電(dian)壓高(gao)于(yu)50V,伺(si)(si)服放(fang)(fang)大(da)器控(kong)(kong)制(zhi)(zhi)板(ban)處于(yu)異(yi)常(chang)(chang)狀(zhuang)態(tai)。電(dian)壓低于(yu)50V,可初步判斷處于(yu)正常(chang)(chang)狀(zhuang)態(tai)。進一(yi)步對(dui)伺(si)(si)服放(fang)(fang)大(da)器控(kong)(kong)制(zhi)(zhi)板(ban)的LED顏色進行(xing)觀察,確(que)認(ren)電(dian)源電(dian)壓輸出正常(chang)(chang),沒有外部緊急停止信號輸入,與機器人主板(ban)通信正常(chang)(chang)可排除伺(si)(si)服放(fang)(fang)大(da)器控(kong)(kong)制(zhi)(zhi)板(ban)損壞。

 

3、線(xian)(xian)(xian)路(lu)損(sun)壞對(dui)機(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)控制(zhi)器(qi)(qi)(qi)(qi)(qi)與(yu)機(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)本體的(de)外(wai)部(bu)電(dian)(dian)(dian)纜(lan)連線(xian)(xian)(xian)RM1、RP1進行檢(jian)查,RM1為機(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)伺服(fu)電(dian)(dian)(dian)機(ji)(ji)電(dian)(dian)(dian)源、抱閘控制(zhi)線(xian)(xian)(xian),RP1為機(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)伺服(fu)電(dian)(dian)(dian)機(ji)(ji)編碼器(qi)(qi)(qi)(qi)(qi)信號以及控制(zhi)電(dian)(dian)(dian)源線(xian)(xian)(xian)路(lu)、末端(duan)執行器(qi)(qi)(qi)(qi)(qi)線(xian)(xian)(xian)路(lu)和編碼器(qi)(qi)(qi)(qi)(qi)上(shang)數(shu)據存(cun)儲(chu)的(de)電(dian)(dian)(dian)池(chi)線(xian)(xian)(xian)路(lu)等線(xian)(xian)(xian)路(lu)。拔掉插(cha)(cha)頭,對(dui)編碼器(qi)(qi)(qi)(qi)(qi)上(shang)數(shu)據存(cun)儲(chu)的(de)電(dian)(dian)(dian)池(chi)線(xian)(xian)(xian)路(lu)進行檢(jian)查。拔掉M1電(dian)(dian)(dian)機(ji)(ji)的(de)脈(mo)沖控制(zhi)插(cha)(cha)頭M1P,同(tong)樣(yang)的(de)方法檢(jian)查M2~M7電(dian)(dian)(dian)機(ji)(ji)全(quan)部(bu)為0,可判斷(duan)編碼器(qi)(qi)(qi)(qi)(qi)上(shang)數(shu)據存(cun)儲(chu)的(de)電(dian)(dian)(dian)池(chi)線(xian)(xian)(xian)路(lu)損(sun)壞。

機器人編程技巧:

 

(1)選(xuan)擇合理的(de)焊接(jie)(jie)順序。以減小焊接(jie)(jie)變形、焊槍行走(zou)路徑長度來制定(ding)焊接(jie)(jie)順序。

 

(2)焊槍(qiang)空間(jian)過渡(du)要求移動(dong)軌跡較短、平滑、安全(quan)。

 

(3)優(you)化焊接(jie)參數。為了獲得Z佳的焊接(jie)參數,制作(zuo)工作(zuo)試件進行焊接(jie)試驗和工藝評(ping)定。數沖上下料(liao)

 

(4)合(he)理(li)的變(bian)位(wei)機(ji)位(wei)置(zhi)(zhi)、焊(han)(han)槍(qiang)姿(zi)態、焊(han)(han)槍(qiang)相(xiang)(xiang)對(dui)接頭的位(wei)置(zhi)(zhi)。工件(jian)在變(bian)位(wei)機(ji)上固定之(zhi)后(hou),若焊(han)(han)縫不是理(li)想的位(wei)置(zhi)(zhi)與(yu)角(jiao)度(du)(du),就要(yao)求編(bian)程(cheng)(cheng)時不斷調(diao)整(zheng)變(bian)位(wei)機(ji),使(shi)得焊(han)(han)接的焊(han)(han)縫按(an)照焊(han)(han)接順(shun)序(xu)逐(zhu)次達(da)到(dao)水(shui)平位(wei)置(zhi)(zhi),同時,要(yao)不斷調(diao)整(zheng)機(ji)器(qi)人(ren)各軸位(wei)置(zhi)(zhi),合(he)理(li)地確定焊(han)(han)槍(qiang)相(xiang)(xiang)對(dui)接頭的位(wei)置(zhi)(zhi)、角(jiao)度(du)(du)與(yu)焊(han)(han)絲伸出長度(du)(du)。工件(jian)的位(wei)置(zhi)(zhi)確定之(zhi)后(hou),焊(han)(han)槍(qiang)相(xiang)(xiang)對(dui)接頭的位(wei)置(zhi)(zhi)通過(guo)編(bian)程(cheng)(cheng)者的雙眼觀(guan)察,難度(du)(du)較大(da)。這就要(yao)求編(bian)程(cheng)(cheng)者善于總結(jie)積累(lei)經驗。

 

(5)及時插(cha)入清槍程(cheng)序(xu)(xu)。編寫一定長(chang)度的(de)焊(han)(han)(han)接程(cheng)序(xu)(xu)后,應及時插(cha)入清槍程(cheng)序(xu)(xu),可以防止焊(han)(han)(han)接飛濺堵(du)塞焊(han)(han)(han)接噴嘴(zui)和導電嘴(zui),保證焊(han)(han)(han)槍的(de)清潔,提高噴嘴(zui)的(de)壽命,確保可靠(kao)引弧、減少焊(han)(han)(han)接飛濺。

 

(6)編制(zhi)程(cheng)(cheng)序(xu)一(yi)般不能一(yi)步到(dao)位,要在(zai)機器人焊接過程(cheng)(cheng)中不斷檢(jian)驗(yan)和修改程(cheng)(cheng)序(xu),調整(zheng)焊接參數(shu)及焊槍姿態等(deng),才會形成一(yi)個好程(cheng)(cheng)序(xu)。

焊接機(ji)(ji)器(qi)人(ren)是機(ji)(ji)電一(yi)體化的(de)高技術產品,單靠企(qi)業的(de)自身能力是不夠的(de),需(xu)要(yao)政府為機(ji)(ji)器(qi)人(ren)生產企(qi)業及使用(yong)國(guo)產機(ji)(ji)器(qi)人(ren)系統的(de)企(qi)業提供(gong)一(yi)定的(de)政策和資金支持,加速我國(guo)國(guo)產機(ji)(ji)器(qi)人(ren)的(de)發(fa)展。

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