摘要焊接技术在工业生产中扮演着重要的角色，随着科技的发展，仅仅依靠手工 电弧焊已经无法满足生产的需求，焊接机器人的出现却很好的解决了这一问题。 传统手工电弧焊由于受焊工的影响比较大，面对大批量以及高精度的生产要求时 有些无法胜任，而焊接机器人凭借其客观优势很明显的适合这类工作。基于此， 本文进行了机器人 MAG 仰角焊盖面焊工艺的研究。

试验采用 KUKA 机器人，通过改变试验参数对焊缝进行盖面，来获得平整 饱满的表面焊缝。盖面焊应力求美观，而仰角焊由于受重力的影响，焊缝中间容 易凸起，此次试验就是主要克服这一问题。利用控制变量法，研究每一个参数对 于焊缝的影响，最终获得理想的参数。经研究，焊接速度、送丝速度、焊枪角度、 双边停留时间与摆幅摆长等参数对于盖面焊缝的影响是明显的。本次试验最终得 出了比较完美的参数，使用该组参数所得盖面焊缝成形美观，缺陷较少，实现了 利用参数来对焊缝进行质量的控制。80927

毕业论文关键词：焊接机器人；机器人 MAG 焊；仰角焊；盖面焊

Abstract Welding technology plays an important role in the industrial production, with the development of science and technology, only rely on manual arc welding has been unable to meet the needs of production, the emergence of the welding  robot  has solved this problem very well。 Traditional manual arc welding can not meet the requirement of large quantities and high precision because of the influence of welders, however, the welding robot obviously fits for this job with its objective advantage。 Based on this, this article has carried on a studying on cosmetic welding of robot MAG elevation welding。

The experiment using KUKA robot, by changing the parameters of test to cover the surface of weld, to get the smooth full weld。 Covering welding shall seek beauty, however, elevation welding due to the influence of gravity, the middle of the weld is easy to protrude, the test is mainly to overcome this problem。 Using the method of control variables, study the effects of each parameter on weld, ultimately achieve the desired parameters。 Through research, welding speed, wire feed speed, angle of the welding torch, bilateral residence time, swing and pendulum length affects the cap weld obviously。 The experiment finally gets the more perfect parameters which makes the covering welding forming beautiful and produce fewer defects, that realizes using parameters to control the quality of the weld。

Keywords: Welding Robot;Robot MAG Welding;Elevation Welding;Cosmetic Welding

目 录

第一章 绪论 1

1。1  课题的研究背景及意义 1

1。2  焊接机器人的现状与发展 1

1。3  船舶焊接技术的现状与发展 3

1。4  焊接机器人存在的问题及挑战 3

1。5  手工 MAG 焊仰焊工艺 4

1。6  课题研究内容及思路 5

第二章 试验方案、设备及材料 6

2。1  试验方案设计 6

2。1。1  焊前准备 6

2。1。2  机器人操作 6

2。1。3  焊后处理 7

2。2  试验材料与设备