（1）弧焊用机器人的基本功能

(1) Basic functions of arc welding robots

弧焊过程比点焊过程要复杂得多，工具中心点（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，弧焊用机器人除了前面所述的一般功能外，还必须具备一些适合弧焊要求的功能。

The arc welding process is much more complex than the spot welding process, and precise control is required for the tool center point (TCP), which is the movement trajectory of the welding wire end, the posture of the welding gun, and the welding parameters. So, in addition to the general functions mentioned earlier, arc welding robots must also have some functions that are suitable for arc welding requirements.

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。

Although theoretically, a robot with 5 axes can be used for arc welding, it can be challenging to use a robot with 5 axes for complex shaped welds. Therefore, unless the welding seam is relatively simple, a 6-axis robot should be chosen as much as possible.

焊接

welding

弧焊机器人除在作“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，以便作摆动焊，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。

The arc welding robot should not only have a trajectory that is close to the taught trajectory when performing zigzag corner welding or small diameter circular welding, but also have software functions with different swing styles for programming to choose from for swing welding. Moreover, at the pause point of each cycle, the robot should automatically stop moving forward to meet the process requirements. In addition, it should also have functions such as contact positioning, automatic finding of the starting position of the weld seam, arc tracking, and automatic re arc ignition.

（2）弧焊机器人用的焊接设备

(2) Welding equipment for arc welding robots

弧焊机器人多采用气体保护焊方法（MAG、MIG、TIG），通常的晶闸管式、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上作电弧焊。由于机器人控制柜采用数字控制，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。

Arc welding robots often use gas shielded welding methods (MAG, MIG, TIG). Common welding power sources such as thyristor, inverter, waveform control, pulse or non pulse can be installed on the robot for arc welding. Due to the use of digital control in the robot control cabinet and the fact that the welding power supply is mostly analog control, it is necessary to add an interface between the welding power supply and the control cabinet.

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