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　　點焊機器人的焊接裝(zhuang)備

　　點(dian)焊(han)(han)(han)(han)(han)機器(qi)(qi)人(ren)的(de)(de)(de)焊(han)(han)(han)(han)(han)接(jie)(jie)裝(zhuang)備，由于采(cai)用(yong)了一體化焊(han)(han)(han)(han)(han)鉗(qian)(qian)(qian)，焊(han)(han)(han)(han)(han)接(jie)(jie)變(bian)(bian)壓(ya)(ya)器(qi)(qi)裝(zhuang)在焊(han)(han)(han)(han)(han)鉗(qian)(qian)(qian)后面(mian)，所(suo)以(yi)(yi)變(bian)(bian)壓(ya)(ya)器(qi)(qi)必須盡(jin)量小型(xing)化。對于容(rong)量較小的(de)(de)(de)變(bian)(bian)壓(ya)(ya)器(qi)(qi)可(ke)(ke)以(yi)(yi)用(yong)50Hz工頻交(jiao)(jiao)流(liu)(liu)(liu)(liu)，而(er)對于容(rong)量較大的(de)(de)(de)變(bian)(bian)壓(ya)(ya)器(qi)(qi)，已(yi)經開(kai)始采(cai)用(yong)逆變(bian)(bian)技術把(ba)50Hz工頻交(jiao)(jiao)流(liu)(liu)(liu)(liu)變(bian)(bian)為600～700Hz交(jiao)(jiao)流(liu)(liu)(liu)(liu)，使變(bian)(bian)壓(ya)(ya)器(qi)(qi)的(de)(de)(de)體積減少、減輕。變(bian)(bian)壓(ya)(ya)后可(ke)(ke)以(yi)(yi)直(zhi)接(jie)(jie)用(yong)600～700Hz交(jiao)(jiao)流(liu)(liu)(liu)(liu)電(dian)(dian)(dian)(dian)焊(han)(han)(han)(han)(han)接(jie)(jie)，也(ye)(ye)可(ke)(ke)以(yi)(yi)再進行二(er)次(ci)整(zheng)流(liu)(liu)(liu)(liu)，用(yong)直(zhi)流(liu)(liu)(liu)(liu)電(dian)(dian)(dian)(dian)焊(han)(han)(han)(han)(han)接(jie)(jie)。焊(han)(han)(han)(han)(han)接(jie)(jie)參(can)數(shu)由定時(shi)器(qi)(qi)調(diao)節，參(can)見圖1b。新型(xing)定時(shi)器(qi)(qi)已(yi)經微(wei)機化，因此機器(qi)(qi)人(ren)控制(zhi)柜可(ke)(ke)以(yi)(yi)直(zhi)接(jie)(jie)控制(zhi)定時(shi)器(qi)(qi)，無(wu)需另配接(jie)(jie)口。點(dian)焊(han)(han)(han)(han)(han)機器(qi)(qi)人(ren)的(de)(de)(de)焊(han)(han)(han)(han)(han)鉗(qian)(qian)(qian)，通常(chang)用(yong)氣(qi)(qi)動(dong)(dong)的(de)(de)(de)焊(han)(han)(han)(han)(han)鉗(qian)(qian)(qian)，氣(qi)(qi)動(dong)(dong)焊(han)(han)(han)(han)(han)鉗(qian)(qian)(qian)兩(liang)個(ge)電(dian)(dian)(dian)(dian)極(ji)之間的(de)(de)(de)開(kai)口度(du)一般(ban)只(zhi)有兩(liang)級(ji)沖程。而(er)且電(dian)(dian)(dian)(dian)極(ji)壓(ya)(ya)力一旦調(diao)定后是不能隨(sui)意變(bian)(bian)化的(de)(de)(de)。近年(nian)來出(chu)現一種(zhong)新的(de)(de)(de)電(dian)(dian)(dian)(dian)伺(si)服點(dian)焊(han)(han)(han)(han)(han)鉗(qian)(qian)(qian)，如(ru)(ru)圖4所(suo)示。焊(han)(han)(han)(han)(han)鉗(qian)(qian)(qian)的(de)(de)(de)張(zhang)開(kai)和閉(bi)合由伺(si)服電(dian)(dian)(dian)(dian)機驅動(dong)(dong)，碼盤反(fan)饋，使這種(zhong)焊(han)(han)(han)(han)(han)鉗(qian)(qian)(qian)的(de)(de)(de)張(zhang)開(kai)度(du)可(ke)(ke)以(yi)(yi)根據實際需要任意選定并預置。而(er)且電(dian)(dian)(dian)(dian)極(ji)間的(de)(de)(de)壓(ya)(ya)緊力也(ye)(ye)可(ke)(ke)以(yi)(yi)無(wu)級(ji)調(diao)節。這種(zhong)新的(de)(de)(de)電(dian)(dian)(dian)(dian)伺(si)服點(dian)焊(han)(han)(han)(han)(han)鉗(qian)(qian)(qian)具有如(ru)(ru)下優點(dian)：

　　1）每個(ge)焊(han)點(dian)的焊(han)接周期可(ke)大(da)幅度降低，因(yin)為焊(han)鉗的張(zhang)(zhang)開程度是由機(ji)器人(ren)精確控制的，機(ji)器人(ren)在點(dian)與(yu)點(dian)之間的移(yi)動過程、焊(han)鉗就可(ke)以開始閉合；而焊(han)完一(yi)點(dian)后(hou)，焊(han)鉗一(yi)邊張(zhang)(zhang)開，機(ji)器人(ren)就可(ke)以一(yi)邊位移(yi)，不必等(deng)機(ji)器人(ren)到位后(hou)焊(han)鉗才閉會或焊(han)鉗完全張(zhang)(zhang)開后(hou)機(ji)器人(ren)再移(yi)動；

　　2）焊鉗(qian)(qian)張(zhang)開(kai)度可(ke)以(yi)根據工件的情況(kuang)任意(yi)調整，只要不發(fa)生碰(peng)撞或干涉盡可(ke)能減少(shao)張(zhang)開(kai)度，以(yi)節(jie)省焊鉗(qian)(qian)開(kai)度，以(yi)節(jie)省焊鉗(qian)(qian)開(kai)合(he)所占的時間。

　　3）焊(han)鉗閉(bi)(bi)合加壓時，不僅壓力大小可以調節，而且在閉(bi)(bi)合時兩電(dian)極是輕輕閉(bi)(bi)合，減(jian)少撞擊變形和噪聲。