In the welding process, it is necessary for the robot to use the walking mode of interpolating straight lines or arcs to weld. The difficulty coefficient of welding arc is the highest, and whether the arc welding is beautiful or not is the true level of a welder. The robot welding arc first needs to be programmed, and there must be three points in the program, because the three points can form an arc. A complete circle takes five – eight dots! When writing the program of the arc, first conceive the position of the arc, the walking track to avoid obstacles such as tooling fixtures and the position of the arc after the arc is closed, do not find that the viewpoint is not right in the middle of the program, and the fixture is obstructed, etc., which is time-consuming, labor-intensive and trouble-consuming!
Take the OTC welding robot as an example:
(1) Divide the circle on the weldment into six equal parts with a marker and mark it, and turn the arc point to the limit of the shaft joint.
(2) After recording the arc point, change the direction of the arc edge of the welding arc, and always keep the attitude at 90 ° with the workpiece!
(3) Press the "Organize" button on the keyboard in succession and a blue axis icon appears twice, turn with the sixth axis, go to the corresponding viewpoint, and then press the "Organize" key to return to the robot icon, and use the forward, backward, left, right, and up and down keys to move the welding *** to the marked point.
(4) After the program is written, repeat the march and backward view, and modify it to the ideal rear arc test welding. Special note: the linear speed of the welding arc is modified to 60% of the linear linear speed, otherwise there will be a sudden acceleration of the change of direction at a certain place, resulting in poor welding!
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