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　　點焊機器人的(de)焊接裝備

　　點焊(han)(han)(han)(han)機(ji)(ji)(ji)器(qi)(qi)(qi)人(ren)的(de)焊(han)(han)(han)(han)接裝備，由(you)于(yu)采用(yong)(yong)了一體化(hua)焊(han)(han)(han)(han)鉗(qian)，焊(han)(han)(han)(han)接變(bian)(bian)(bian)(bian)壓(ya)(ya)器(qi)(qi)(qi)裝在焊(han)(han)(han)(han)鉗(qian)后(hou)(hou)面，所以變(bian)(bian)(bian)(bian)壓(ya)(ya)器(qi)(qi)(qi)必須盡量小(xiao)型化(hua)。對(dui)于(yu)容(rong)(rong)量較小(xiao)的(de)變(bian)(bian)(bian)(bian)壓(ya)(ya)器(qi)(qi)(qi)可(ke)以用(yong)(yong)50Hz工頻交流(liu)(liu)，而對(dui)于(yu)容(rong)(rong)量較大的(de)變(bian)(bian)(bian)(bian)壓(ya)(ya)器(qi)(qi)(qi)，已(yi)經開(kai)始采用(yong)(yong)逆變(bian)(bian)(bian)(bian)技術把50Hz工頻交流(liu)(liu)變(bian)(bian)(bian)(bian)為600～700Hz交流(liu)(liu)，使變(bian)(bian)(bian)(bian)壓(ya)(ya)器(qi)(qi)(qi)的(de)體積(ji)減(jian)少、減(jian)輕。變(bian)(bian)(bian)(bian)壓(ya)(ya)后(hou)(hou)可(ke)以直接用(yong)(yong)600～700Hz交流(liu)(liu)電(dian)(dian)焊(han)(han)(han)(han)接，也可(ke)以再(zai)進行二(er)次(ci)整(zheng)流(liu)(liu)，用(yong)(yong)直流(liu)(liu)電(dian)(dian)焊(han)(han)(han)(han)接。焊(han)(han)(han)(han)接參數由(you)定時器(qi)(qi)(qi)調(diao)節，參見圖1b。新(xin)(xin)型定時器(qi)(qi)(qi)已(yi)經微機(ji)(ji)(ji)化(hua)，因此(ci)機(ji)(ji)(ji)器(qi)(qi)(qi)人(ren)控制柜可(ke)以直接控制定時器(qi)(qi)(qi)，無需另(ling)配接口。點焊(han)(han)(han)(han)機(ji)(ji)(ji)器(qi)(qi)(qi)人(ren)的(de)焊(han)(han)(han)(han)鉗(qian)，通常(chang)用(yong)(yong)氣動的(de)焊(han)(han)(han)(han)鉗(qian)，氣動焊(han)(han)(han)(han)鉗(qian)兩(liang)個(ge)電(dian)(dian)極(ji)之間(jian)的(de)開(kai)口度一般只有兩(liang)級沖程(cheng)。而且(qie)電(dian)(dian)極(ji)壓(ya)(ya)力一旦(dan)調(diao)定后(hou)(hou)是不能隨意變(bian)(bian)(bian)(bian)化(hua)的(de)。近(jin)年來(lai)出現一種(zhong)新(xin)(xin)的(de)電(dian)(dian)伺(si)服(fu)點焊(han)(han)(han)(han)鉗(qian)，如(ru)圖4所示。焊(han)(han)(han)(han)鉗(qian)的(de)張開(kai)和(he)閉合由(you)伺(si)服(fu)電(dian)(dian)機(ji)(ji)(ji)驅動，碼盤反(fan)饋，使這種(zhong)焊(han)(han)(han)(han)鉗(qian)的(de)張開(kai)度可(ke)以根據實際需要任意選定并預置。而且(qie)電(dian)(dian)極(ji)間(jian)的(de)壓(ya)(ya)緊力也可(ke)以無級調(diao)節。這種(zhong)新(xin)(xin)的(de)電(dian)(dian)伺(si)服(fu)點焊(han)(han)(han)(han)鉗(qian)具有如(ru)下優(you)點：

　　1）每個焊(han)(han)(han)點(dian)的焊(han)(han)(han)接周(zhou)期可(ke)大幅度降低，因為焊(han)(han)(han)鉗(qian)的張(zhang)開程度是(shi)由(you)機器(qi)人(ren)(ren)精確控制的，機器(qi)人(ren)(ren)在點(dian)與點(dian)之間的移動過程、焊(han)(han)(han)鉗(qian)就(jiu)可(ke)以(yi)開始閉(bi)合；而焊(han)(han)(han)完一(yi)點(dian)后，焊(han)(han)(han)鉗(qian)一(yi)邊(bian)張(zhang)開，機器(qi)人(ren)(ren)就(jiu)可(ke)以(yi)一(yi)邊(bian)位(wei)移，不必等機器(qi)人(ren)(ren)到位(wei)后焊(han)(han)(han)鉗(qian)才(cai)閉(bi)會或焊(han)(han)(han)鉗(qian)完全張(zhang)開后機器(qi)人(ren)(ren)再移動；

　　2）焊鉗(qian)張開度可以根(gen)據工(gong)件(jian)的情(qing)況(kuang)任意調整，只要不發(fa)生碰撞或干涉盡可能減少張開度，以節(jie)省(sheng)焊鉗(qian)開度，以節(jie)省(sheng)焊鉗(qian)開合所占的時間(jian)。

　　3）焊鉗閉(bi)合(he)加壓(ya)時(shi)，不僅壓(ya)力大(da)小(xiao)可以調節，而且在閉(bi)合(he)時(shi)兩(liang)電極是輕輕閉(bi)合(he)，減少(shao)撞擊(ji)變形和噪聲。