国产焊接机器人中什么是弧焊机器人！

弧焊过程比点焊过程要复杂得多，工具点（TCP）也就是焊丝端头的运动轨迹、焊枪姿态、焊接参数都要求精确控制。所以，弧焊用机器人除了具有一般功能，还必须具备一些适合弧焊要求的功能。

虽然从理论上讲，有5个轴的机器人就可以用于电弧焊，但是对复杂形状的焊缝，用5个轴的机器人会有困难。因此，除非焊缝比较简单，否则应尽量选用6轴机器人。

弧焊机器人在作“之”字形拐角焊或小直径圆焊缝焊接时，其轨迹应能贴近示教的轨迹之外，还应具备不同摆动样式的软件功能，供编程时选用，以便做摆动焊，而且摆动在每一周期中的停顿点处，机器人也应自动停止向前运动，以满足工艺要求。此外，还应有接触寻位、自动寻找焊缝起点位置、电弧跟踪及自动再引弧功能等。

弧焊机器人多采用气体保护焊方法（MAG、MIG、TIG），通常的品闸管式、逆变式、波形控制式、脉冲或非脉冲式等的焊接电源都可以装到机器人工作电弧焊。由于机器人控制框采用数字控制，而焊接电源多为模拟控制，所以需要在焊接电源与控制柜之间加一个接口。

近年来国外机器人生产厂都有自己特定的配套焊接设备，这些焊接设备内已经插入相应的接口板并附加接口箱。在弧焊机器人工作周期中电弧时间所占的比例较大，因此在选择焊接时，一般应按持续率99%来确定电源的容量。

送丝机可以装在机器人的上臂上，也可以放在机器人之外，前者焊枪到送丝机之间的软管较短，有利于保持送丝的稳定性，面后者软管较长，当机器人把焊枪送到某些位置，使软管处于多弯曲状态，会严重影响送丝的质量。所以送丝机的安装方式一定要考虑保证送丝稳定性的问题。

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.