（1）弧焊用機(jī)器人的基本功能

(1) Basic functions of arc welding robots

弧焊過(guò)程比點(diǎn)焊過(guò)程要復(fù)雜得多，工具中心點(diǎn)（TCP），也就是焊絲端頭的運(yùn)動(dòng)軌跡、焊槍姿態(tài)、焊接參數(shù)都要求精確控制。所以，弧焊用機(jī)器人除了前面所述的一般功能外，還必須具備一些適合弧焊要求的功能。

The arc welding process is much more complex than the spot welding process, and precise control is required for the tool center point (TCP), which is the movement trajectory of the welding wire end, the posture of the welding gun, and the welding parameters. So, in addition to the general functions mentioned earlier, arc welding robots must also have some functions that are suitable for arc welding requirements.

雖然從理論上講，有5個(gè)軸的機(jī)器人就可以用于電弧焊，但是對(duì)復(fù)雜形狀的焊縫，用5個(gè)軸的機(jī)器人會(huì)有困難。因此，除非焊縫比較簡(jiǎn)單，否則應(yīng)盡量選用6軸機(jī)器人。

Although theoretically, a robot with 5 axes can be used for arc welding, it can be challenging to use a robot with 5 axes for complex shaped welds. Therefore, unless the welding seam is relatively simple, a 6-axis robot should be chosen as much as possible.

焊接

welding

弧焊機(jī)器人除在作“之”字形拐角焊或小直徑圓焊縫焊接時(shí)，其軌跡應(yīng)能貼近示教的軌跡之外，還應(yīng)具備不同擺動(dòng)樣式的軟件功能，供編程時(shí)選用，以便作擺動(dòng)焊，而且擺動(dòng)在每一周期中的停頓點(diǎn)處，機(jī)器人也應(yīng)自動(dòng)停止向前運(yùn)動(dòng)，以滿(mǎn)足工藝要求。此外，還應(yīng)有接觸尋位、自動(dòng)尋找焊縫起點(diǎn)位置、電弧跟蹤及自動(dòng)再引弧功能等。

The arc welding robot should not only have a trajectory that is close to the taught trajectory when performing zigzag corner welding or small diameter circular welding, but also have software functions with different swing styles for programming to choose from for swing welding. Moreover, at the pause point of each cycle, the robot should automatically stop moving forward to meet the process requirements. In addition, it should also have functions such as contact positioning, automatic finding of the starting position of the weld seam, arc tracking, and automatic re arc ignition.

（2）弧焊機(jī)器人用的焊接設(shè)備

(2) Welding equipment for arc welding robots

弧焊機(jī)器人多采用氣體保護(hù)焊方法（MAG、MIG、TIG），通常的晶閘管式、逆變式、波形控制式、脈沖或非脈沖式等的焊接電源都可以裝到機(jī)器人上作電弧焊。由于機(jī)器人控制柜采用數(shù)字控制，而焊接電源多為模擬控制，所以需要在焊接電源與控制柜之間加一個(gè)接口。

Arc welding robots often use gas shielded welding methods (MAG, MIG, TIG). Common welding power sources such as thyristor, inverter, waveform control, pulse or non pulse can be installed on the robot for arc welding. Due to the use of digital control in the robot control cabinet and the fact that the welding power supply is mostly analog control, it is necessary to add an interface between the welding power supply and the control cabinet.

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