摘要：船舶的上层建筑由钢制薄板焊接而成，建造过程中角焊缝占了相当大的比例。传统采用药芯焊丝半自动CO2气体保护焊，焊接过程中受焊工操作影响大，焊缝质量不稳定，焊接效率不高。

本文通过采用弧焊机器人，使用药芯焊丝Ar+CO2混合气体保护焊对5mm的钢制薄板进行立角焊焊接工艺实验。钢制薄板焊接焊缝质量的影响因素很多，实验中通过改变焊接电流、焊接电压、补偿电压、轨迹移动速度、摆长和摆幅、焊丝伸出长度、双边停留时间、焊枪角度等焊接工艺参数，研究这些工艺参数对钢制薄板焊接焊缝成型的影响，得到了合理优化的立角焊焊接工艺参数。在实验中，本文还对焊接过程中易出现的焊接缺欠，如咬边、变形等产生的原因进行了分析，通过改变焊接工艺参数等措施，解决钢制薄板焊接中的咬边、变形等缺欠问题。

采用弧焊机器人对钢制薄板进行立角焊焊接，焊缝质量稳定，焊接效率高，为弧焊机器人在国内船舶制造行业的应用打下基础。

关键词：船用钢制薄板；弧焊机器人；药芯焊丝；立角焊

Abstract：The superstructure of the ship is made of steel sheet welded, and the fillet welds in the construction process account for a considerable proportion. The traditional use of flux cored wire semi-automatic CO2 gas welding, welding process by the impact of large operation, weld quality is not stable, welding efficiency is not high.

In this paper, through the use of arc welding robot, the use of flux cored wire Ar + CO2 mixed gas shielded welding of 5mm steel sheet welding technology. There are many factors influencing the welding quality of steel sheet welding. The welding process parameters such as welding current, welding voltage, compensation voltage, trajectory movement speed, pendulum length and swing, wire extension length, bilateral residence time, welding gun angle The influence of these process parameters on the forming of welded welds of steel sheet was studied, and the reasonable welding parameters of vertical welding were obtained. In the experiment, this paper also analyzes the causes of welding defects such as undercutting and deformation in the welding process. By changing the welding process parameters and so on, it is necessary to solve the problems such as undercutting and deformation in the welding of steel sheet problem.

The arc welding robot is used for the welding of steel sheet, and the welding quality is stable and the welding efficiency is high. It lay the foundation for the application of arc welding robot in the domestic shipbuilding industry.

Key words: Marine steel sheet; Arc welding robot; Flux cored wire; Vertical fillet weld

目 录

第一章绪论 1

1.1船用钢制薄板 1

1.2国内外机器人技术发展现状 1

1.2.1国外机器人发展现状 1

1.2.2国内机器人发展现状 2

1.3国内外药芯焊丝发展现状 3

1.3.1国外药芯焊丝发展现状 3

1.3.2国内药芯焊丝发展现状 3

1.4国内外立焊发展现状 4

1.5本课题研究的内容 5

第二章实验设备及材料 6

2.1弧焊机器人 6

2.1.1机器人本体 6

2.1.2控制柜 7

2.1.3KCP