In mid-November, the debugging of the industrial robot control system and welding system designed by Muyang was completed.

The parts of the sample trial production have been processed and painted, and assembly has begun.

Generally, industrial robots have 6 axes, but there are also 7 axes, but very few.

7-axis has higher accessibility, but under normal circumstances, it is 6-axis, which can meet the usage requirements.

One axis represents the joint that can rotate, and the 6-axis is the 6 rotating joints. Usually, the 6th axis is equivalent to the human wrist.

Each axis is driven by a servo motor, and there are 6 servo motors for 6 axes. The motor power of each axis is different.

Due to mechanism interference, the rotation range of each axis is limited. Like the first axis, it is generally around 330 degrees and cannot rotate 360 ​​degrees in one turn.

Xinghai Group's first welding robot is named "xh1400". "1400" represents the arm movement range. The maximum reach distance of the 6th axis is 1400 mm, which is actually 1437 mm.

The total power of the six motors is 3400, and the weight of the industrial robot body is 155 kilograms, which is 15 kilograms lighter than the counterpart Panasonic welding robot tm1400, with a more compact structure and a larger range of activities.

The designed repetitive positioning accuracy is plus or minus 3 wires, which is higher than the TM1400's plus or minus 5 wires.

How the final assembly will work is not yet known.

During this time, Mu Yang mingled with the researchers in the industrial robot laboratory, chatting while debugging the equipment.

Before the change, Mu Yang didn't have the leisure time. There were a lot of things waiting for him to deal with in the company.

Now, he can devote himself wholeheartedly to scientific research.

Everyone is familiar with the chairman and can talk about anything.

In particular, several young employees, who were similar in age to Mu Yang and there was no communication generation gap, asked Mu Yang if he liked playing basketball and football.

Mu Yang smiled, "Basketball is okay. I play ball occasionally to get some exercise. I can't play football, but I do like watching the World Cup."

"Hey, next year is the World Cup. It's a pity that we don't have our national team."

"There's no regrets. We lost the ball but not the people." Mu Yang joked.

"Haha, the chairman is right, we went to everything except the players."

"There are two ball games in our country that are unbeatable. One is table tennis, which no one can beat;

The other is football, which no one can beat."

"Haha, the chairman is so funny."

"Tell me, do you think Meixi can win the championship next year?"

"It's too difficult, it's too difficult to rely on him alone." Mu Yang replied, Mei Xi is very good, but when all the teammates rely on him, it is difficult to win. Sometimes it is good to draw.

Counting on the offside team is unlikely.

Unless Mei Xi can cheat.

"Chairman, don't you think highly of Mei Xi?"

"It's not that I'm not optimistic, it's just that I'm not optimistic that his national team can win the championship. In football, you can't rely on one person. What if his team doesn't do well?

Miracles are easy to happen in football, it depends on whether you can seize the fleeting opportunity, and the same is true in life." Mu Yang wanted to watch the World Cup live, but he thought about the dangers of going abroad. In his life, it would be difficult to go abroad.

"Chairman, are you planning to invest in a team for fun?"

Mu Yang laughed and shook his head, "Forget it, I'm not interested."

Everyone was debugging the equipment while chatting, and Mu Yang sometimes participated in hands-on work. For someone who likes machinery, if you let him stand and watch without doing anything, his hands will feel itchy.

If you like to play with machinery, you can operate it yourself, so Mu Yang does not put himself in a superior position, which would make it difficult to get along with employees.

Mu Yang also asked the scientific researchers in the laboratory to be more hands-on. Only by doing so can more problems be discovered.

Even if you are a design engineer, you need to go to the workshop frequently to assemble and operate the things you designed. You will know if they are easy to use or not.

If Mu Yang doesn't like machinery, then he doesn't like machines either

I'm too lazy to get started and don't even want to come to the lab.

After all, he made the control system and teaching pendant himself, and it was only after he started debugging that he realized where his design had problems.

Everyone talked about the World Cup for a while, and then returned to industrial robots.

"Approximately how many industrial robot sales are there globally?"

"It was around 200,000 units last year."

"It doesn't look like much. The market size is over 30 billion, which is far less than the automobile industry."

"It is indeed not big, but its role cannot be ignored. Modern intelligent manufacturing cannot do without it. There are also some complex environment tasks, such as high-temperature forging, and manual operation is too dangerous."

"The island country next door can be regarded as the country that uses the most robots in the world, with about 300,000 robots, followed by the beautiful country and the successful country with 160,000 robots, and the stick country with 140,000 robots."

"Island countries do have interests. I have to admit that their intellectual development is faster than that of other countries."

"Our country has 130,000 units, which ranks fifth in the world. The density is very low and the development is rapid. It is estimated that in a few years we will be the first in the world, but the density is still far behind that of developed countries. "

"Chairman, can all four major brands of robots operate?" an engineer asked Mu Yang.

Mu Yang said calmly, "Well, it's okay, I'm not very skilled."

Technical manager Yin Zhi said: "Xiao Liao, in the eyes of the chairman, proficiency is compared according to the World Skills Competition. If it is said to be proficient, it must be the first in the world; if it is said to be okay, it means that it is several times better than operating.

The year-old operators are not much different.”

"Wow, that's really amazing. Chairman, how did you practice this? Is this a talent?"

"Perhaps I often made some things by hand when I was a child, so I can get used to these things relatively quickly. I don't think it's about talent. Practice makes perfect. Besides, many things are similar. If you can operate one brand of teaching pendant, you can also use it with other brands.

It's very fast, but Kuka is more troublesome and not suitable for welding." Muyang Leyouyou said. He already knew how to operate two brands of industrial robots, and with the addition of cheating, he became more familiar with it.

For him, his talent is cheating.

However, for his level, this is nothing to show off. For these scientific researchers, it is normal operation to be good at theoretical skills, but it is really good at operation. After all, they are not workers.

In the next few days, Mu Yang spent time in the laboratory.

Robot assembly is not complicated. Many parts are produced in modular formats. As long as the parts are ready, two or three people can assemble it in a few days.

If the equipment is assembled and shipped to the site, two people can install and debug the industrial robot and welding machine in one day.

A piece of equipment is not that expensive to begin with. If it takes several days to assemble a piece of equipment, the service cost will be too high.

There are a hundred people working on the industrial robot project, and there are only a dozen scientific researchers responsible for on-site testing and installation.

By the end of November, the Industrial Robot Laboratory assembled two xh1400 welding robots. The arc welding system of the robot is matched with the arc welding machine produced by our company, making it smoother to use.

On the afternoon of November 25, Mu Yang came over to inspect and accept the equipment.

"Chairman, may I ask how much our welding robot can cost?" a test engineer asked Mu Yang.

"Ten or two hundred thousand, the details will be decided by the marketing department. We will just make the prototype. If the prototype is debugged without any problems and passes the acceptance inspection, it will be up to you for mass production in the future."

Now Mu Yang is only responsible for solving the core technology. As long as there are no problems with the prototype debugging and the acceptance is passed, his task will be completed.

There are many types of industrial robots. As for arc welding robots, a load of 6kg has met the market demand for most arc welding machines. The project team members will develop another model, xh1800, based on the xh1400, with a larger working range.

In short, Mu Yang doesn’t have to worry about model expansion.

"Okay, during this period, after the chairman joined in, the research and development progress has been many times faster."

"Don't be too happy, let's start the test welding. Whether it can defeat OTC depends on this equipment." Mu Yang waved his hand and ordered the test welding to start.

"OK."

Skilled test engineers installed two firmly spot-welded T-shaped carbon steel plates with a thickness of 10 mm and a length of 200 mm each on the work platform, and then adjusted the teaching pendant to manual mode to teach programming and welding processes.

The parameters are set to current 160a, voltage 22v, welding speed 50cm per minute, no swing.

Only two fillet welds need to be welded, and the teaching programming is very fast, and it can be done in two or three minutes.

After programming, go through it again to prevent programming errors from hitting the gun.

If the gun collides, it will be an accident. It will damage the welding gun head and the 6th axis. It will cost more than 10,000 yuan to replace it. You must know that the robot will not stop automatically. It can only be done by manually pressing the "emergency stop".

The test engineer adjusted the teaching pendant to automatic mode and reminded everyone to stand far away and not look at the welding before pressing the external button "Start".

If you look at the welding arc light without a protective mask, it will hurt your eyes.

At this time, a "sizzling" sound came from the welding joint, and a large arc flashed at the nozzle of the gun head, flashing one after another.

"For boards above 3 mm, there is no need to turn on the pulse mode for welding, just use DC welding." Mu Yang stood aside and reminded. "Hey, I forgot."

The test engineer was a little embarrassed and said, "Chairman, you really understand. You can see it right away."

"What's there to guess? The flashing arc of your welding is not pulse welding."

Mu Yang replied, if it is pulse welding, the arc light is not continuous, but flickers. Even if the arc light is not seen, the workers' eyesight will be more easily fatigued if they work in this environment for a long time.

After the program is completed, the robot will automatically end the welding.

Everyone came closer to see the welding effect, and it turned out that the welding was pretty good.

"Try welding another piece. The effect is entirely produced by the welding machine. If you use an inferior welding machine, you may not be able to weld it well." Mu Yang said.

An employee took the pliers to remove the welded workpiece and assembled a T-shaped plate. The test engineer saw that the position of the installed workpiece had not changed, so there was no need to change the program. He only needed to change the pulse welding of the arc welding machine to DC welding.

Just fine.

After a while, welding started again.

This time, the welding arc does not flicker, but is a continuous arc, which can be judged from the reflected light around it.

Mu Yang took the protective mask and stood about one meter away from the welding arc to observe the changes in the welding pool.

At the same time, high-speed cameras are installed around to take pictures, and test instruments are used to measure and record the welding process. However, for experienced welders, they can judge the quality of welding fusion by directly observing the dynamics of the welding pool.

After a minute or two, the welding is completed.

The weld is a fillet weld, the size of the weld leg is about 5 mm, it is very uniform, the surface of the weld is not slippery, and importantly, there is no spatter around it, and the edges are well fused.

"What we are welding now is carbon steel, which is the easiest to weld, and it is still horizontal welding. You can try vertical welding, test it with materials that are more difficult to weld, and also test swing welding, especially when the swing frequency is fast, and see if it can be achieved.

The swing of complex trajectories is the difficulty.

OTC's welding robot cannot swing out when the frequency exceeds 5. The entire machine shakes violently and cannot achieve various complex swing trajectories. Currently, only ABB robots can achieve this.

After the results come out, report the results to me and I will come back to check and accept them.

Now, you have only completed the preliminary tasks and have not completed the task yet." Mu Yang explained that more complex tests cannot be tested in a short time.

It's estimated to take a week.

Five days later, Mu Yang received a report from Yin Zhi, the technical manager of the industrial robot project team.

Test passed!

Mu Yang spent half a day going to the laboratory for inspection and found no problems.

It can be said that Xinghai Group’s arc welding robot was successfully developed.

There are many industrial robots

In addition to arc welding (gas shielded welding) robots, there are also argon arc welding, handling, palletizing robots, etc.

But no matter what, these robots all use the same control system and the same teaching pendant. The moving and palletizing system is much easier than the welding system, and Mu Yang does not need to develop it himself.

Therefore, Mu Yang’s mission in industrial robots has been completed.

In general, the xh1400 arc welding robot has higher accuracy than similar robots in the industry, with better motor performance, strong overload capability, good stability, and the best algorithm.

In particular, the algorithm affects the motion control system and is also a difficulty for robots.

The trajectory of the welding swing is actually the same as when a car takes a curve. If the chassis is not good, the car will shake very much.

The same is true for robots. If the stability is poor, when running quickly and the swing frequency is very high, the shaking will be very large. If it is a domestic robot, it will feel like the entire frame is loose.

"Congratulations to everyone for completing the stage victory. You can celebrate tonight." Mu Yang asked the on-site personnel to gather together and praise. "The experimental data must be collected well. Regardless of failure or success, it is your valuable experience."

After Mu Yang finished speaking, he explained to Yin Zhi and left the industrial robot laboratory.

After seeing the chairman leaving, a test engineer said to technical manager Yin Zhi:

"Boss, after the chairman joined, our scientific research progress has been much faster."

"Yes, this is why the chairman has to step down from the position of president and switch to scientific research. The chairman is a top scientist and expert, not just a great entrepreneur." Yin Zhi agreed, "This also reflects

Come on, our level is really not that good and we need to work harder.”

"Well, without the chairman, our technical level would be among the best in the country. With the chairman, it has gone up two levels."

Yin Zhi solemnly said, "There is no way. If it were that easy, other domestic robot companies would have developed top-notch industrial robots long ago and would not be overwhelmed by the four major brands of robots. Our company currently only has lasers and colleagues from the materials project team

We can be more sophisticated on the basis of the original technology and develop more advanced technologies without relying on the chairman. Other project teams are also still working hard.

Our project team was established relatively late, and I don’t want to be ranked last.

In the next year, we must fully understand the technology of industrial robots and be able to develop more advanced industrial robots without relying on the chairman. Only then will we be considered successful.

Now, there is nothing to be proud of.

However, everyone is really tired in the past few months, so we have team building in the evening."

"Hello!"

…

Mu Yang returned home from the industrial robot laboratory to the 101st floor of Xinghai Building and took a hot bath in the bathtub.

Since resigning as president, he often spends time in the laboratory. He no longer wears a suit, but wears casual sportswear, which makes it easier to move around.

The company's first self-developed industrial robot has finally been released. If OTC executives knew about it, they would probably panic.

The research and development of industrial robots has been completed, and Muyang’s current research and development focus is only on industrial mother machines.

As for chip manufacturing and design, as well as aerospace engines, that is only after level 7 of the reading system.

Being able to make industrial robots does not mean that you can make intelligent robots well, it just means that another basic work has been completed.

In the next few days, Mu Yang spent most of his time on the reading system. It has been almost three years since the reading system was upgraded to level 6 on January 1, 2011. It is still short of more than 300 million experience points to reach level 7.

class.

He is particularly looking forward to what functions the reading system will have when it is upgraded to level 7.

My daily mentality is almost the same as when my wife was about to give birth to a baby. It felt like every day was like a year, and she hoped to upgrade as soon as possible.
Chapter completed!