摘要机器人技术是融合了电子技术、机械技术等多种新兴技术的一种高新技术，而焊接作为工业“裁缝”，是工业生产中非常重要的加工手段，焊接质量的好坏对产品质量起着决定性的影响。仰角焊是比较复杂的焊接方式，而仰角焊中的打底焊更是其中的关键所在。MAG是熔化极活性气体保护焊的简称，熔化极活性气体保护焊是焊接工艺的一种，其通常用的保护气体有：氩气、氦气、CO2气或这些气体的混合气。87004

本课题的目的就是通过焊接机器人来完成这种焊接工艺。通过不断调整机器人的动作和改良焊接参数，从而大幅提高机器人在进行仰角焊打底焊时的焊接效率和焊接质量，这对于提高整体工业生产水平具有重大意义。具体的研究方法是用机器人以仰角焊打底焊的方式，通过调整焊接速度、送丝速度、双边停留时间等一系列焊接参数进行多次焊接实验，对实验数据进行对比分析，判断缺陷成形原因，并进行质量控制分析，最终找到比较适合机器人进行仰角焊打底焊的焊接参数。

通过一系列实验，最终证明了采用机器人进行MAG仰角焊打底焊是可行的，并且拥有很好的发展前景。

毕业论文关键字：焊接机器人；仰角焊；打底焊；MAG；

Abstract  Robotics technology is the integration of a high-tech electronic technology, mechanical technology and other emerging technologies。 The welding industry as "tailor", industrial production is a very important means of processing。Welding quality is good or bad plays a decisive impact on product quality。 Elevation welding is a complex welding, welding and elevation of backing welding is one of the key。 MAG is referred to as melting active gas welding, metal active gas welding is a welding process, which is usually protective gases: argon, helium, CO2 gas or a gas mixture of these gases。

The purpose of this task is accomplished by welding robots this welding process。 Through continuous improvement actions and adjustment of welding parameters of the robot, thereby significantly improving the efficiency and quality of welding robot welding during welding when welding backing elevation, which is of great significance to improve the overall level of industrial production。 Specific research method is to use a robot to weld backing weld elevation manner, by adjusting the welding speed, wire feed speed, dwell time and a series of bilateral multiple welding parameters welding test。 The experimental data were analyzed to determine the reasons molding defects, and quality control analysis, and ultimately find more suitable for robot welding parameters elevation welding backing welding。

Ultimately, these experiments proved that the use of robot welding backing elevation MAG welding is feasible, and has good prospects for development。

    Keywords: welding robots; elevation welding; welding backing; MAG; 

目  录

第一章  绪论 1

1。1 焊接机器人应用的重要意义 1

1。2 焊接机器人的发展历史 1

1。3 焊接机器人应用现状 2

1。4 焊接机器人技术研究现状及存在的不足 2

1。5 焊接机器人的未来发展方向 3

1。6 焊接机器人MAG仰角焊打底焊工艺研究 3

1。7 手工仰焊技术操作 4

1。8 焊接机器人在船舶行业的应用 4

1。9 课题研究内容和思路 5

第二章  实验材料、设备及方案