In many welding methods, spot welding only needs point position control, and there are no strict requirements for the moving track of welding tongs between points. Therefore, the requirements for spot welding robots are not very high, which is one of the reasons why spot welding robots are applied earlier.

但为了确保焊接质量，基本的要求还是要满足的，比如说点焊机器人不仅要有足够的负载能力，而且在点与点之间移位时速度要快捷，动作要平稳，定位要准确，以减少移位的时间，提高工作效率。

However, in order to ensure the welding quality, the basic requirements should be met. For example, the spot welding robot should not only have sufficient load capacity, but also have fast speed, stable action and accurate positioning when shifting between points, so as to reduce the shift time and improve the work efficiency.

在实际焊接过程中点焊机器人需要有多大的负载能力，主要取决于所用的焊钳形式，对于用与变压器分离的焊钳，30～45kg负载的机器人就足够了。但是这种焊钳一方面由于二次电缆线长，电能损耗大，也不利于机器人将焊钳伸入工件内部焊接；另一方面电缆线随机器人运动而不停摆动，电缆的损坏较快。因此一体式焊钳逐渐将其代替。

In the actual welding process, the load capacity of the spot welding robot mainly depends on the form of welding tongs used. For the welding tongs separated from the transformer, a robot with a load of 30 ~ 45kg is enough. However, on the one hand, due to the long secondary cable and large power loss, this welding clamp is not conducive to the robot extending the welding clamp into the workpiece for welding; On the other hand, the cable keeps swinging with the movement of the robot, and the cable is damaged faster. Therefore, the integrated welding tongs will gradually replace them.

考虑到点焊机器人要有足够的负载能力，才能以较大的加速度将焊钳送到空间位置进行焊接，一般都选用100～150kg负载的重型机器人。为了适应连续点焊时焊钳短距离快速移位的要求，有些重型机器人增加了可在0.3s内完成50mm位移的功能，而这也对电机的性能，微机的运算速度和算法都提出更高的要求。

Considering that the spot welding robot must have enough load capacity to send the welding tongs to the spatial position for welding with a large acceleration, the heavy robot with a load of 100 ~ 150kg is generally selected. In order to meet the requirements of short-distance and rapid displacement of welding tongs during continuous spot welding, some heavy-duty robots have added the function of completing 50mm displacement in 0.3s, which also puts forward higher requirements for the performance of the motor, the operation speed and algorithm of the microcomputer.

由于点焊机器人采用了一体焊钳，焊接变压器装在焊钳后面，所以变压器必须尽量小型化。对于容量较小的变压器可以用50Hz工频交流，而对于容量较大的变压器，已经开始采用逆变技术把50Hz工频交流变为600～700Hz交流，使变压器的体积减少、减轻。

Since the spot welding robot adopts an integrated welding clamp and the welding transformer is installed behind the welding clamp, the transformer must be miniaturized as much as possible. For transformers with small capacity, 50Hz power frequency AC can be used, while for transformers with large capacity, inverter technology has been used to change 50Hz power frequency AC into 600 ~ 700Hz AC, so as to reduce and reduce the volume of transformers.

另外点焊机器人的焊钳通常用气动的焊钳，气动焊钳两个电极之间的开口度一般只有两级冲程；而且电极压力一旦调定后是不能随意变化的，有助于提高点焊质量。

In addition, the welding tongs of spot welding robot usually use pneumatic welding tongs, and the opening between the two electrodes of pneumatic welding tongs is generally only two-stage stroke; Moreover, once the electrode pressure is set, it can not be changed at will, which is helpful to improve the quality of spot welding.

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