焊接機器人焊接缺陷及處理方法
機器人焊接采用的是氦氬混合氣體保護焊，焊接過程中出現的焊接缺陷一般有焊偏、咬邊、氣孔等幾種，具體分析如下：
(1)出現焊偏可能為焊接的位置不正確或焊槍尋找時出現問題。這時，要考慮TCP(焊槍中心點位置)是否準確，并加以調整。如果頻繁出現這種情況就要檢查一下機器人各軸的零位置，重新校零予以修正。
(2)出現咬邊可能為焊接參數選擇不當、焊槍角度或焊槍位置不對，可適當調整功率的大小來改變焊接參數，調整焊槍的姿態以及焊槍與工件的相對位置。
(3)出現氣孔可能為氣體保護差、工件的底漆太厚或者保護氣不夠干燥，進行相應的調整就可以處理。
(4)飛濺過多可能為焊接參數選擇不當、氣體組分原因或焊絲外伸長度太長，可適當調整功率的大小來改變焊接參數，調節氣體配比儀來調整混合氣體比例，調整焊槍與工件的相對位置。
(5)焊縫結尾處冷卻后形成一弧坑，編程時在工作步中添加埋弧坑功能，可以將其填滿。
鋁質車體焊接
焊接機器人常見故障及解決方法
(1)發生撞槍。可能是由于工件組裝發生偏差或焊槍的TCP不準確，可檢查裝配情況或修正焊槍TCP。
(2)出現電弧故障，不能引弧。可能是由于焊絲沒有接觸到工件或工藝參數太小，可手動送絲，調整焊槍與焊縫的距離，或者適當調節工藝參數。

(3)保護氣監控報警。冷卻水或保護氣供給存有故障，檢查冷卻水或保護氣管路。

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.