With the development of electronic technology, computer technology, numerical control and robotics , the automatic arc welding robot workstation has been increasingly mature since its introduction in the 1960s, with stable and improved welding quality, improved labor productivity and improved worker labor. The strength can work in a harmful environment, reduce the requirements for workers' operating technology, shorten the preparation period for product modification, and reduce the corresponding equipment investment. Therefore, it has been widely used in various industries. Despite this, in the welding process, the welding defects such as welding offset, undercut and air hole are inevitable. The welding robot may also have various failures in the long-term work. This paper focuses on the analysis of welding defects and common faults.
The robot welding uses argon-rich mixed gas protective welding. The welding defects that occur during the welding process generally include welding offset, undercut, and venting. The specific analysis is as follows:
(1) A weld offset may occur if the position of the weld is incorrect or the weld gun is looking for problems. At this time, consider whether TCP (the position of the torch center point) is accurate and adjust it. If this happens frequently, check the zero position of each axis of the robot and recalibrate it to correct it.
(2) The undercut may be improperly selected for welding parameters, the angle of the welding torch or the position of the welding torch is incorrect. The power can be appropriately adjusted to change the welding parameters, adjust the posture of the welding torch and the relative position of the welding torch and the workpiece.
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(3) The occurrence of pores may be poor gas protection, the primer of the workpiece is too thick or the shielding gas is not dry enough, and the corresponding adjustment can be processed.
(4) Excessive splashing may result in improper selection of welding parameters, gas component reasons or excessive elongation of the welding wire. The power can be appropriately adjusted to change the welding parameters, adjust the gas proportioning instrument to adjust the proportion of the mixed gas, adjust the welding torch and The relative position of the workpiece.
(5) An crater is formed after the end of the weld is cooled, and the buried crater function is added to the work step during programming to fill it.
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