焊接机器人焊接缺陷及处理方法
机器人焊接采用的是氦氩混合气体保护焊，焊接过程中出现的焊接缺陷一般有焊偏、咬边、气孔等几种，具体分析如下：
(1)出现焊偏可能为焊接的位置不正确或焊枪寻找时出现问题。这时，要考虑TCP(焊枪中心点位置)是否准确，并加以调整。如果频繁出现这种情况就要检查一下机器人各轴的零位置，重新校零予以修正。
(2)出现咬边可能为焊接参数选择不当、焊枪角度或焊枪位置不对，可适当调整功率的大小来改变焊接参数，调整焊枪的姿态以及焊枪与工件的相对位置。
(3)出现气孔可能为气体保护差、工件的底漆太厚或者保护气不够干燥，进行相应的调整就可以处理。
(4)飞溅过多可能为焊接参数选择不当、气体组分原因或焊丝外伸长度太长，可适当调整功率的大小来改变焊接参数，调节气体配比仪来调整混合气体比例，调整焊枪与工件的相对位置。
(5)焊缝结尾处冷却后形成一弧坑，编程时在工作步中添加埋弧坑功能，可以将其填满。
铝质车体焊接
焊接机器人常见故障及解决方法
(1)发生撞枪。可能是由于工件组装发生偏差或焊枪的TCP不准确，可检查装配情况或修正焊枪TCP。
(2)出现电弧故障，不能引弧。可能是由于焊丝没有接触到工件或工艺参数太小，可手动送丝，调整焊枪与焊缝的距离，或者适当调节工艺参数。

(3)保护气监控报警。冷却水或保护气供给存有故障，检查冷却水或保护气管路。

英文版：

Welding robot welding defects and treatment methods
The robot welding uses the helium-argon 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) The occurrence of welding offset may be caused by an incorrect position of the weld or a problem with the welding gun. 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.
(3) The occurrence of air holes 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.
Aluminum body welding
Common faults and solutions for welding robots
(1) A rifle occurred. The assembly may be checked or the torch TCP may be corrected due to deviations in the assembly of the workpiece or inaccurate TCP of the torch.
(2) An arc fault occurs and the arc cannot be induced. It may be because the welding wire is not in contact with the workpiece or the process parameters are too small, the wire can be manually fed, the distance between the welding torch and the weld be adjusted, or the process parameters can be adjusted appropriately.
(3) Protective gas monitoring alarm. If there is a problem with the cooling water or the shielding gas supply, check the cooling water or the protective gas line.