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弧焊過程比點焊過程要復(fù)雜得多，工具點（TCP）也就是焊絲端頭的運動軌跡、焊槍姿態(tài)、焊接參數(shù)都要求精確控制。所以，弧焊用機器人除了具有一般功能，還必須具備一些適合弧焊要求的功能。

雖然從理論上講，有5個軸的機器人就可以用于電弧焊，但是對復(fù)雜形狀的焊縫，用5個軸的機器人會有困難。因此，除非焊縫比較簡單，否則應(yīng)盡量選用6軸機器人。

弧焊機器人在作“之”字形拐角焊或小直徑圓焊縫焊接時，其軌跡應(yīng)能貼近示教的軌跡之外，還應(yīng)具備不同擺動樣式的軟件功能，供編程時選用，以便做擺動焊，而且擺動在每一周期中的停頓點處，機器人也應(yīng)自動停止向前運動，以滿足工藝要求。此外，還應(yīng)有接觸尋位、自動尋找焊縫起點位置、電弧跟蹤及自動再引弧功能等。

弧焊機器人多采用氣體保護焊方法（MAG、MIG、TIG），通常的品閘管式、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器人工作電弧焊。由于機器人控制框采用數(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接口。

近年來國外機器人生產(chǎn)廠都有自己特定的配套焊接設(shè)備，這些焊接設(shè)備內(nèi)已經(jīng)插入相應(yīng)的接口板并附加接口箱。在弧焊機器人工作周期中電弧時間所占的比例較大，因此在選擇焊接時，一般應(yīng)按持續(xù)率99%來確定電源的容量。

送絲機可以裝在機器人的上臂上，也可以放在機器人之外，前者焊槍到送絲機之間的軟管較短，有利于保持送絲的穩(wěn)定性，面后者軟管較長，當(dāng)機器人把焊槍送到某些位置，使軟管處于多彎曲狀態(tài)，會嚴重影響送絲的質(zhì)量。所以送絲機的安裝方式一定要考慮保證送絲穩(wěn)定性的問題。

英文版：

The arc welding process is much more complicated than the spot welding process. The tool point (TCP), that is, the trajectory of the wire tip, the torch attitude, and the welding parameters all require precise control. Therefore, in addition to the generalfunction, the arc welding robot must also have some functions suitable for arc welding.

Although in theory, a robot with five axes can be used for arc welding, it is difficult to use a five-axis robot for a complex-shaped weld. Therefore, unlessthe weld is relatively simple, you should try to use a 6-axis robot.

When the arc welding robot is used for "Zigzag" or small diameter round weld welding, its trajectory should be close to the teaching trajectory. It should also have differentswinging style software functions for programming. Welding, and swinging at the pause point in each cycle, the robot should also automatically stop moving forward to meet the process requirements. In addition, there should be contact locating, automaticsearch for the starting position of the weld, arc tracking and automatic re-arcing.

Arc welding robots mostly use gas shielded welding methods (MAG, MIG, TIG), and the usual welding power supplies such as thyristor, inverter, waveform control,pulse or non-pulse can be installed in the robot working arc welding. Since the robot control frame is digitally controlled, and the welding power source is mostly analog control, an interface needs to be added between the welding power source and thecontrol cabinet.

In recent years, foreign robot manufacturers have their own specific matching welding equipment. These welding equipments have been inserted into the corresponding interface boards and attached to the interface box. In thearc welding robot working cycle, the arc time accounts for a large proportion. Therefore, when selecting the welding, the capacity of the power source should generally be determined according to the continuous rate of 99%.

The wire feedercan be mounted on the upper arm of the robot or outside the robot. The hose between the former and the wire feeder is shorter, which is beneficial to maintain the stability of the wire feeding. When the robot sends the torch to a certain position, thehose is in a multi-bend state, which seriously affects the quality of the wire feed. Therefore, the installation method of the wire feeder must consider the problem of ensuring the stability of the wire feed.