The arc welding process is much more complex than the spot welding process, and the tool center point (TCP), that is, the motion trajectory of the welding wire end, the welding torch attitude, and the welding parameters all require precise control. Therefore, in addition to the general functions described earlier, the arc welding robot must also have some functions suitable for arc welding requirements.
Although in theory, a robot with 5 axes can be used for arc welding, for welds with complex shapes, robots with 5 axes will have difficulties. Therefore, unless the weld is relatively simple, a 6-axis robot should be used as much as possible.
In addition to the trajectory of the zigzag corner welding or small diameter circular weld welding mentioned in Figure 2 mentioned earlier, the arc welding robot should also have software functions of different swing styles for programming to be selected for swing welding, and the swing at the pause point in each cycle, the robot should also automatically stop moving forward to meet the process requirements. In addition, there should be contact positioning, automatic finding of the starting position of the weld, arc tracking and automatic re-ignition functions.
