在諸多焊接方式中，由于點焊只需點位控制，于焊鉗在點與點之間的移動軌跡沒有嚴(yán)格要求，因此點焊對所用的機器人的要求是不很高的，這也點焊機器人較早被應(yīng)用的原因之一。

In many welding methods, spot welding only needs point position control, and there are no strict requirements for the moving track of welding tongs between points. Therefore, the requirements for spot welding robots are not very high, which is one of the reasons why spot welding robots are applied earlier.

但為了確保焊接質(zhì)量，基本的要求還是要滿足的，比如說點焊機器人不僅要有足夠的負(fù)載能力，而且在點與點之間移位時速度要快捷，動作要平穩(wěn)，定位要準(zhǔn)確，以減少移位的時間，提高工作效率。

However, in order to ensure the welding quality, the basic requirements should be met. For example, the spot welding robot should not only have sufficient load capacity, but also have fast speed, stable action and accurate positioning when shifting between points, so as to reduce the shift time and improve the work efficiency.

在實際焊接過程中點焊機器人需要有多大的負(fù)載能力，主要取決于所用的焊鉗形式，對于用與變壓器分離的焊鉗，30～45kg負(fù)載的機器人就足夠了。但是這種焊鉗一方面由于二次電纜線長，電能損耗大，也不利于機器人將焊鉗伸入工件內(nèi)部焊接；另一方面電纜線隨機器人運動而不停擺動，電纜的損壞較快。因此一體式焊鉗逐漸將其代替。

In the actual welding process, the load capacity of the spot welding robot mainly depends on the form of welding tongs used. For the welding tongs separated from the transformer, a robot with a load of 30 ~ 45kg is enough. However, on the one hand, due to the long secondary cable and large power loss, this welding clamp is not conducive to the robot extending the welding clamp into the workpiece for welding; On the other hand, the cable keeps swinging with the movement of the robot, and the cable is damaged faster. Therefore, the integrated welding tongs will gradually replace them.

考慮到點焊機器人要有足夠的負(fù)載能力，才能以較大的加速度將焊鉗送到空間位置進(jìn)行焊接，一般都選用100～150kg負(fù)載的重型機器人。為了適應(yīng)連續(xù)點焊時焊鉗短距離快速移位的要求，有些重型機器人增加了可在0.3s內(nèi)完成50mm位移的功能，而這也對電機的性能，微機的運算速度和算法都提出更高的要求。

Considering that the spot welding robot must have enough load capacity to send the welding tongs to the spatial position for welding with a large acceleration, the heavy robot with a load of 100 ~ 150kg is generally selected. In order to meet the requirements of short-distance and rapid displacement of welding tongs during continuous spot welding, some heavy-duty robots have added the function of completing 50mm displacement in 0.3s, which also puts forward higher requirements for the performance of the motor, the operation speed and algorithm of the microcomputer.

由于點焊機器人采用了一體焊鉗，焊接變壓器裝在焊鉗后面，所以變壓器必須盡量小型化。對于容量較小的變壓器可以用50Hz工頻交流，而對于容量較大的變壓器，已經(jīng)開始采用逆變技術(shù)把50Hz工頻交流變?yōu)?00～700Hz交流，使變壓器的體積減少、減輕。

Since the spot welding robot adopts an integrated welding clamp and the welding transformer is installed behind the welding clamp, the transformer must be miniaturized as much as possible. For transformers with small capacity, 50Hz power frequency AC can be used, while for transformers with large capacity, inverter technology has been used to change 50Hz power frequency AC into 600 ~ 700Hz AC, so as to reduce and reduce the volume of transformers.

另外點焊機器人的焊鉗通常用氣動的焊鉗，氣動焊鉗兩個電極之間的開口度一般只有兩級沖程；而且電極壓力一旦調(diào)定后是不能隨意變化的，有助于提高點焊質(zhì)量。

In addition, the welding tongs of spot welding robot usually use pneumatic welding tongs, and the opening between the two electrodes of pneumatic welding tongs is generally only two-stage stroke; Moreover, once the electrode pressure is set, it can not be changed at will, which is helpful to improve the quality of spot welding.

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