在焊接机器人焊接过程中，当电极与焊接方向的夹角为90度时，电弧集中，熔池温度高；角度小，电弧分散，熔池温度较低。例如，做12mm平焊缝封底层时，焊条的角度应控制在50-70度，以降低熔池温度，避免背面焊接磕碰或浪涌。

In the welding process of welding robot, when the included angle between electrode and welding direction is 90 degrees, the arc is concentrated and the molten pool temperature is high; Small angle, dispersed arc and low bath temperature. For example, when making 12mm flat weld back sealing layer, the angle of welding rod shall be controlled at 50-70 degrees to reduce the temperature of molten pool and avoid back welding bump or surge.

其次，要严格控制焊接机器人系统的引弧时间。断弧频率和燃弧时间直接影响熔池温度。由于管壁薄，承受电弧热的能力有限。如果放慢断弧频率，降低熔池温度，容易产生缩孔，所以只能利用电弧燃烧时间来控制熔池温度，避免很高的内部焊缝或形成焊道在管道中。

Secondly, the arc striking time of welding robot system should be strictly controlled. The arc breaking frequency and arc burning time directly affect the bath temperature. Due to the thin pipe wall, the ability to withstand arc heat is limited. If the arc breaking frequency is slowed down and the weld pool temperature is reduced, it is easy to produce shrinkage. Therefore, the arc combustion time can only be used to control the weld pool temperature to avoid high internal welds or weld beads in the pipeline.

一般情况下，焊接机器人应根据焊接间隙的位置和焊接水平选择焊接电流和焊条直径。焊接时选择的焊接电流和电极直径较大，垂直和水平位置较小。只有这样，才能更容易地控制熔池的温度，使焊缝形成。

Generally, the welding robot should select the welding current and electrode diameter according to the position of welding gap and welding level. When welding, the welding current and electrode diameter are larger, and the vertical and horizontal positions are smaller. Only in this way can the temperature of the molten pool be controlled more easily to form the weld.

焊接机器人采用内置焊钳，焊接变压器安装在焊钳后面，所以变压器要尽量小。对于容量较小的变压器，可以采用50Hz供电频率的交流电，而对于容量较大的变压器，已经采用逆变技术将交流电从50Hz的供电频率变为交流600-700Hz，从而减小了变压器的体积。电压一经变换，可直接用600-700Hz交流电焊接，也可二次整流后用直流电焊接。焊接参数使用定时器设置，见图1b。新的计时器已经过微计算，因此机器人控制柜可以直接控制计时器，无需额外的接口。点焊机器人的焊钳通常使用气动焊钳，气动焊钳的两个电极之间的间隙一般只有两级。另外，电极压力一旦建立，就不能随意改变。近年来出现了一种新型的伺服电动点焊枪。焊枪开合由伺服电机驱动，编码器反馈，可根据实际需要任意选择和预设焊枪开度。

The welding robot adopts a built-in welding clamp, and the welding transformer is installed behind the welding clamp, so the transformer should be as small as possible. For transformers with small capacity, AC power supply frequency of 50Hz can be used, while for transformers with large capacity, inverter technology has been used to change AC power supply frequency from 50Hz to AC 600-700hz, thus reducing the volume of the transformer. Once the voltage is changed, it can be directly welded with 600-700hz AC or DC after secondary rectification. The welding parameters are set by timer, as shown in Figure 1b. The new timer has been micro calculated, so the robot control cabinet can directly control the timer without additional interface. The welding tongs of spot welding robot usually use pneumatic welding tongs, and the gap between the two electrodes of pneumatic welding tongs is generally only two levels. In addition, once the electrode pressure is established, it cannot be changed at will. In recent years, a new type of servo electric spot welding gun has emerged. The opening and closing of the welding gun is driven by the servo motor and fed back by the encoder. The opening of the welding gun can be arbitrarily selected and preset according to the actual needs.

焊接机器人

welding robot 

根据以往的经验，焊接机器人使用圆形带钢时熔池温度高于月牙形带钢的温度，而月牙形带钢的温度高于锯齿形带钢的温度跳闸。随着凹槽两侧的振荡和停顿幅度，熔池温度得到有效控制。

According to previous experience, when the welding robot uses circular strip steel, the molten pool temperature is higher than that of crescent strip steel, and the temperature of crescent strip steel is higher than that of sawtooth strip steel. With the oscillation and pause amplitude on both sides of the groove, the molten pool temperature can be effectively controlled.

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