鋁合金自動焊接機(jī)械手是在準(zhǔn)平面、空間狹窄的環(huán)境下工作，為了機(jī)器人能根據(jù)電弧傳感器的偏差信息，跟蹤焊縫自動焊接，要求所設(shè)計的機(jī)器人應(yīng)該結(jié)構(gòu)緊湊、移動靈活且工作穩(wěn)定，為了減少惡劣焊接環(huán)境下粉塵對運(yùn)動部件影響，采用全封閉式結(jié)構(gòu)。

The aluminum alloy automatic welding robot operates in a quasi flat and narrow space environment. In order for the robot to track weld seam automatic welding based on the deviation information of the arc sensor, it is required that the designed robot should have a compact structure, flexible movement, and stable operation. In order to reduce the impact of dust on moving parts in harsh welding environments, a fully enclosed structure is adopted.

鋁合金自動焊接機(jī)械手現(xiàn)在被廣泛的應(yīng)用，其中汽車生產(chǎn)企業(yè)使用鋁合金自動焊接機(jī)械手很多，使用鋁合金自動焊接機(jī)械手在很大的程度上提高了產(chǎn)品的質(zhì)量。

Aluminum alloy automatic welding robots are now widely used, among which many automobile production enterprises use aluminum alloy automatic welding robots. The use of aluminum alloy automatic welding robots greatly improves the quality of products.

人工焊接是一項非常繁重的工作，隨著焊接要求越來越高，一般的人工難以勝任，焊接時的火花和煙霧對人體有傷害，使焊接工人也越來越少，所以使用機(jī)器人焊接解決了企業(yè)用工的難題。為了減少焊接過程中出現(xiàn)殘渣，需要事先對鋁材經(jīng)進(jìn)行清理工作，工件焊口及焊絲表面的膜和油污雜質(zhì)，在焊接過程中會產(chǎn)生高溫環(huán)境，鋁材在加熱呈現(xiàn)液態(tài)狀態(tài)的時候流動性較高，這就需要采用工裝夾具對鋁材工件進(jìn)行夾緊，減少工件的變形。

Manual welding is a very heavy job. With the increasing requirements for welding, ordinary manual workers are unable to handle it. Sparks and smoke during welding can cause harm to the human body, resulting in fewer and fewer welding workers. Therefore, the use of robot welding has solved the problem of employment in enterprises. In order to reduce residue during the welding process, it is necessary to clean the aluminum material in advance. The film and oil impurities on the welding joint and wire surface of the workpiece will generate a high-temperature environment during the welding process. When the aluminum material is heated to a liquid state, its fluidity is high. Therefore, it is necessary to use fixtures to clamp the aluminum workpiece and reduce its deformation.

為了穩(wěn)定焊接工作，需要按照合理的順序進(jìn)行編程并根據(jù)待焊工件進(jìn)行調(diào)試，給弧焊機(jī)器人編程的時候，要選擇合理的焊接順序，一般都是以減小焊接變形、焊槍行走路徑長度來制定焊接順序。操作人員按照正確的流程進(jìn)行機(jī)操作，焊接機(jī)器人在焊接鋁材的過程中性能穩(wěn)定，提高焊接效率的同時穩(wěn)定焊接質(zhì)量，提高生產(chǎn)效益。

In order to stabilize welding work, it is necessary to program in a reasonable order and debug according to the workpiece to be welded. When programming the arc welding robot, a reasonable welding sequence should be selected, usually to reduce welding deformation and the length of the welding gun walking path to formulate the welding sequence. Operators operate the machine according to the correct process, and the welding robot has stable performance during the welding of aluminum materials, improving welding efficiency while stabilizing welding quality and improving production efficiency.

焊后留在焊縫及附近的殘存焊劑和焊渣等不僅會影響后續(xù)的工作，還會破壞鋁材表面的的鈍化膜，有時還會腐蝕鋁件，應(yīng)清理干凈，操作人員需要對焊接機(jī)器人進(jìn)行維護(hù)保養(yǎng)，后續(xù)工作的穩(wěn)定性。

The residual flux and slag left in the weld seam and its vicinity after welding not only affect subsequent work, but also damage the passivation film on the surface of the aluminum material, and sometimes corrode the aluminum parts. They should be cleaned thoroughly, and operators need to maintain the welding robot to ensure the stability of subsequent work.

使用鋁合金自動焊接機(jī)械手焊接要滿足的條件是：

The conditions that need to be met when using an aluminum alloy automatic welding robot for welding are:

一、機(jī)器人對整體尺寸精度要求不是特別高，鋁合金自動焊接機(jī)械手都有偏差傳感以及焊接過程中的電弧跟蹤功能，所以可以進(jìn)行糾正。

1、 Robots do not have particularly high requirements for overall dimensional accuracy. Aluminum alloy automatic welding robots all have deviation sensing and arc tracking functions during the welding process, so they can be corrected.

二、對接焊縫的根部間隙要穩(wěn)定均勻，現(xiàn)在的鋁合金自動焊接機(jī)械手一般有間隙傳感功能，在程度內(nèi)可以根據(jù)實際的焊縫根部間隙進(jìn)行參數(shù)補(bǔ)償，但是如果波動太大，間隙太不均勻的話，焊縫熔合和焊縫成型質(zhì)量也會很不穩(wěn)定。

2、 The root gap of the butt weld should be stable and uniform. Nowadays, aluminum alloy automatic welding robots generally have gap sensing function, which can compensate for parameters based on the actual root gap of the weld to a certain extent. However, if the fluctuation is too large and the gap is too uneven, the fusion and forming quality of the weld will also be very unstable.

三、角焊縫的拼裝間隙要控制，否則容易焊穿，在有間隙的地方，機(jī)器人進(jìn)行焊接前進(jìn)行預(yù)先的人工打底可以減少焊穿的發(fā)生。

3、 The assembly gap of the fillet weld should be controlled, otherwise it is easy to weld through. In areas with gaps, pre manual bottoming by robots before welding can reduce the occurrence of weld through.

四、焊縫的焊接余量需控制，比如角焊縫要求10，實際板邊焊接余量只有8，那肯定會咬邊。

4、 The welding allowance of the weld seam needs to be controlled, for example, if a fillet weld requires 10, but the actual plate edge welding allowance is only 8, it will definitely cause undercutting.

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