2．機(jī)器人本體
咱們選用的FANUC Arc Mate 100iB 和Arc Mate 100iC/6L系列焊接機(jī)器人是規(guī)范的六軸機(jī)器人，具有六個自由度，理論上能夠到達(dá)運動規(guī)模內(nèi)的恣意一點，其臂展規(guī)模分別為1373mm和1632mm，配以賓采的焊槍，足以滿意本體系的需要。另外，叉車油箱等工件的焊接對機(jī)器人軌道的重復(fù)定位精度有必定請求，通常應(yīng)小于0.5mm，而該機(jī)器人可到達(dá)0.08mm，能夠滿意出產(chǎn)需要。此外，對設(shè)備的主動化程度和零件出產(chǎn)節(jié)拍有近乎苛刻的請求，F(xiàn)ANUC機(jī)器人2000mm/s的直線速度能夠大大削減機(jī)器人軌道中空行程所糟蹋的時刻。
其間，F(xiàn)ANUC最新款的中空手臂機(jī)器人Arc Mate 100iC/6L ，它的功能比較老類型機(jī)器人有了很大提高，更適合高強(qiáng)度焊接工作。它和林肯電源PW i400的完美聯(lián)系，大大縮短了裝置調(diào)試時刻，便利保護(hù)。
FANUC 弧焊機(jī)器人和林肯焊接電源PW i400之間通訊選用ArcLink XT通訊，為全數(shù)字通訊。比較其他焊機(jī)，相同焊接速度的情況下，一道焊縫的焊接時刻能夠節(jié)約大概0.4秒時刻，正因為其選用了ArcLink通訊協(xié)議。

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