Welding robot is an automatic equipment integrating machinery, computer, electronics, sensors, artificial intelligence and other knowledge. Welding robot is mainly composed of robot body and automatic welding equipment.

1、焊接机器人的主要优点体现在：

1. The main advantages of welding robot are as follows:

①稳定和提高焊接质量，保证其均一性;

① Stabilize and improve welding quality and ensure its uniformity;

②提高生产率，机器人可做到24小时焊接;

② Improve productivity, and the robot can weld for 24 hours;

③改善劳动条件，可在有害环境下持续工作;

③ Improve working conditions and be able to work continuously in harmful environment;

④可实现中、小批量的焊接自动化。

④ It can realize medium and small batch welding automation.

基于上述优点，焊接机器人在汽车制造及零部件领域得到了日益广泛的应用。目前广泛使用的焊接机器人都属于一代工业机器人，它的基本工作原理是示教再现。示教也称导引，既有用户导引机器人，一步步按实际任务操作一遍，机器人在导引过程中自动记忆示教的每个动作的位置、姿态、运动参数、工艺参数等，并自动生成一个连续执行全部操作的程序。完成示教后，只需给机器人一个启动命令，机器人将准确地按示教动作，一步步完成操作。

Based on the above advantages, welding robot has been widely used in the field of automobile manufacturing and parts. At present, the widely used welding robots belong to a generation of industrial robots, and its basic working principle is teaching and reproduction. Teaching is also called guidance. The user guides the robot and operates it step by step according to the actual task. During the guidance process, the robot automatically remembers the position, attitude, motion parameters and process parameters of each action taught, and automatically generates a program that continuously performs all operations. After completing the teaching, just give the robot a start command, and the robot will accurately complete the operation step by step according to the teaching action.

2、焊接机器人、焊接变位机及焊接夹具对焊接生产的影响

2. Influence of welding robot, welding positioner and welding fixture on welding production

①焊接机器人对零部件的定位精度要求较高，同时焊缝相对位置精度更高。

① Welding robot requires higher positioning accuracy of parts and higher relative position accuracy of weld.

②焊接机器人对焊接夹具前后工序的定位须一致。

② The positioning of the welding robot before and after the welding fixture must be consistent.

③由于工件都由多个简单零件组焊而成，而这些零件的装配和定位焊，在焊接夹具上是按顺序进行的，因此它们的定位和夹紧是一个个单独进行的。

③ Since the workpieces are assembled and welded by multiple simple parts, and the assembly and positioning welding of these parts are carried out in sequence on the welding fixture, their positioning and clamping are carried out separately.

④由于焊接变位机翻转的变位角度较大，焊接夹具应尽量避免使用活动手动插销。

④ Due to the large deflection angle of the welding positioner, the movable manual bolt shall be avoided in the welding fixture as far as possible.

⑤焊接夹具应尽量采用快速压紧件，且需配置带孔平台。

⑤ The welding fixture shall adopt fast compression parts as far as possible, and shall be equipped with a perforated platform.

3、焊丝对焊接机器人焊接过程的影响

3. Influence of welding wire on welding process of welding robot

开始焊接前，焊接机器人根据需求选用桶装或盘装焊丝。为了降低更换焊丝的频率，建议直接选用桶装焊丝。但由于桶装焊丝所需的送丝软管很长，且阻力大，所以对焊丝的挺度等质量要求较高。同时尽量避免选择镀铜质量稍差的焊丝，不然会使焊丝表面的镀铜因摩擦脱落，从而造成导管内容积减小，高速送丝时阻力加大，焊丝不能平滑送出，产生抖动，使电弧不稳，影响焊缝质量。

Before welding, the welding robot selects barreled or coiled welding wires according to needs. In order to reduce the frequency of welding wire replacement, it is recommended to directly select barreled welding wire. However, because the wire feeding hose required for barreled welding wire is very long and has large resistance, the requirements for the stiffness and other quality of welding wire are high. At the same time, try to avoid selecting the welding wire with slightly poor copper plating quality, otherwise the copper plating on the surface of the welding wire will fall off due to friction, resulting in the reduction of the volume in the conduit, the increase of resistance during high-speed wire feeding, the welding wire can not be sent out smoothly, resulting in jitter, making the arc unstable and affecting the weld quality.