Welding robot welding gun, it mainly includes robot and welding equipment two parts. The robot is composed of a robot body and a control cabinet (hardware and software). The welding equipment, taking arc welding and spot welding as an example, consists of welding power supply (including its control system), wire feeder (arc welding), welding gun (clamp) and other parts. For intelligent robot, should also be equipped with sensing system, such as laser or camera sensor and its control device.

I. Common defects of welding robots

(1) welding bias problem: it may be that the welding position is not correct or the welding gun is looking for problems. At this point, consider whether the TCP(welding torch center point position) is accurate, and adjust. If this happens frequently, it is necessary to check the zero position of each axis of the robot, and correct the zero again.

(2) Biting problem: improper selection of welding parameters, welding torch Angle or welding torch position, can be adjusted appropriately.

(3) the occurrence of porosity problem: may be poor gas protection, workpiece primer is too thick or the protective gas is not dry enough, the corresponding adjustment can be handled.

(4) excessive spatter problem: it may be due to improper selection of welding parameters, gas composition or welding wire extension length is too long, the size of the machine power can be adjusted to change the welding parameters, adjust the gas proportioning instrument to adjust the proportion of mixed gas, adjust the relative position of welding torch and workpiece.

(5) The problem of forming an arc pit after cooling at the end of the weld: when programmable, the submerged arc pit function is added in the working step to fill it up.

Two, robot system failure

(1) the occurrence of collision gun. May be due to the workpiece assembly deviation or welding torch TCP is not accurate, can check the assembly situation or correct the welding torch TCP.

(2) there is an arc fault, can not start the arc. It may be because the welding wire does not contact the workpiece or the process parameters are too small, you can manually feed the wire, adjust the distance between the welding torch and the weld, or adjust the process parameters appropriately.

(3) Protective gas monitoring alarm. If the cooling water or protective gas supply is faulty, check the cooling water or protective air pipeline.

Three, how to ensure the quality of the workpiece

As a teaching-reproducing robot, the assembly quality and precision of the workpiece must have good consistency.

The welding robot should strictly control the quality of parts and improve the assembly precision of welding parts. The surface quality of parts, groove size and assembly precision will affect the welding seam tracking effect. The following aspects can be used to improve the quality of parts preparation and the precision of welding parts assembly.

(1) Prepare the special welding process for welding robot, and strictly stipulate the size of parts, weld groove and assembly size. The tolerance of general parts and groove size is controlled within ± 0.8mm, and the error of assembly size is controlled within ± 1.5mm. The probability of welding defects such as porosity and bite edge in the weld can be greatly reduced.

(2) Adopt assembly tools with high precision to improve the assembly precision of weldments.

(3) The weld shall be cleaned without oil, rust, welding slag, cutting slag and other sundry matter, and solderable primer is allowed. Otherwise, it will affect the success rate of arcing. Positioning welding is changed from electrode welding to gas shielded welding. At the same time, the spot welding part is polished to avoid the residual slag shell or porosity of the positioning welding, so as to avoid the instability of the arc and even the splash.

IV. Requirements for welding wire of welding robot

The robot can choose the welding wire in drum or plate according to the need. In order to reduce the frequency of replacing the welding wire, the robot should choose the barreled welding wire, but because of the use of barreled welding wire, wire feeding hose is very long, large resistance, the stiffness of the welding wire and other quality requirements are higher. When the copper plating wire with poor quality is used, the copper plating on the surface of the wire will reduce the content of the pipe due to friction and fall off, and the resistance of high-speed wire feeding will increase. The wire can not be sent out smoothly, resulting in jitter, unstable arc and affecting the quality of the weld. In serious cases, the phenomenon of stuck, so that the robot shut down, it is necessary to clean the welding wire catheter in time.

V. Programming skills of welding robot

(1) Choose a reasonable welding sequence to reduce the welding deformation and the length of the welding torch walking path to establish the welding sequence.

(2) The welding torch space transition requires a short, smooth and safe moving track.

(3) Optimize welding parameters. In order to obtain the best welding parameters, make working specimens for welding test and process evaluation.

(4) the use of reasonable positioner position, welding gun attitude, welding gun relative to the joint position. After the workpiece is fixed on the positioner, if the welding seam is not the ideal position and Angle, it is required to constantly adjust the positioner during programming, so that the welding seam can reach the horizontal position successively in accordance with the welding sequence. At the same time, the position of each axis of the robot should be adjusted continuously to reasonably determine the position and Angle of the welding gun relative to the joint and the extension length of the welding wire. After the position of the workpiece is determined, the position of the welding torch relative to the joint must be observed by the programmer's eyes, which is quite difficult. This requires programmers to be good at summarizing and accumulating experience.

(5) timely insert cleaning procedures, after writing a certain length of welding procedures, should be timely inserted cleaning procedures, can prevent welding spatter blocking welding nozzle and conductive nozzle, ensure the welding torch clean, improve the life of the nozzle, ensure reliable arc, reduce welding spatter.

(6) The program is generally not in place in one step. A good program can only be formed by continuously checking and modifying the program, adjusting the welding parameters and welding torch attitude during the robot welding process.

Hebei kaiweisi welding equipment co., LTD. Is a professional manufacturer of welding accessories, a modern enterprise integrating scientific research, development, production and sales. The main products are: European type quick joint series, domestic quick joint series, connector series, carbon dioxide gas shield welding torch, robot welding torch, wire feeding device, argon arc welding gun series, plasma cutting gun series and welding auxiliary equipment. The company is equipped with professional team in operation, sales, technology, business management and other aspects, so that KAIWEISI brand is in line with international standards, professional quality comes from concentration! The company fully implements the internal management in accordance with the international advanced management system and technical standards, and has passed the CCC, CE and other certification. Product safety, reliability, maintainability have reached the international advanced level. Kaiweisi welding in good faith, quality, service, enterprising for the purpose!

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