摘要目前，国内外焊接技术正逐渐向自动化方向发展，机器人焊接在各个领域已经体 现出其优势，并逐步取代传统的手工焊接方式。而机器人焊接要求零件结构简单、装配 精度高，生产规模为批量化生产，平位置焊接等，导致机器人焊接在仰焊方面应用较少。 针对大型结构件底部的对接仰位置焊接，本课题提出机器人 MAG 焊接方式来代替手工焊 接。

本课题选用开 60°V 型坡口的 12mm 厚 AH32 船用钢板，使用德国 KUKA KR5 ARC HW 型焊接机器人进行对接仰焊的实验研究。在实验过程中，运用控制变量法，逐一对焊接 速度，送丝速度，双边停留时间，摆长，摆幅这五项参数进行调节，最终得到合适的焊 接工艺参数。经研究发现，每项参数对焊缝成形分别产生不同的影响，分析这些参数对 焊缝成形的具体影响形式，最终确定机器人 MAG 对接仰焊的焊接工艺，并对实验中出现 的焊接缺陷进行质量控制分析。80641

研究证明了机器人焊接在对接仰位置焊接中应用的合理性，从而推动机器人 MAG 对 接仰焊在在船舶等大型机构领域的实际应用，对焊接自动化生产的进一步发展提供帮助。

毕业论文关键词：弧焊机器人；MAG 焊；对接仰焊盖面焊

Abstract Welding technology at home and abroad at present, is gradually to develop in the direction of automation and robot welding in various fields has showed its advantages, and gradually replace the traditional manual welding way。The robot welding parts of simple structure, high assembly precision, scale of production for mass production, flat position welding, etc。, lead to less use in overhead welding robot welding。Up on large structure at the bottom of the docking position welding, this topic proposed to replace the manual welding robot MAG welding method。

This topic choose open 60 ° V groove 12 mm thick AH32 ship plate, using the German KUKA KR5 ARC HW type welding robot docking of overhead welding experiments。 In the process of experiment, using the method of control variables, each of the welding speed and wire feed speed, bilateral residence time, put long, swing the five parameters adjustment, finally get the right welding technology parameter。 The study found that each different impact parameters on the weld respectively, analyze the specific influence of these parameters on the weld form, eventually determine the MAG butt overhead welding robot welding process, and the experiment study on quality control of weld defects。

Research proves that the robot welding up in docking position, the rationality of the application of welding, so as to promote MAG butt overhead welding robot in the practical application in the field of ships and other large institutions, to help the further development of welding automation。

Keywords: Arc welding robot； MAG welding；Butt welding covering welding

目 录

第一章 绪 论 1

1。1 课题研究的背景及意义 1

1。2 焊接机器人的发展历程 1

1。3 焊接机器人国内外应用现状 2

1。4 弧焊机器人的特点 2

1。5 气体保护焊在机器人焊接中的应用 3

1。6 仰焊的工艺技巧与应用意义 4

1。7 焊接机器人在造船工业中的发展及应用 4

1。8 课题主要内容 5

第二章 实验方案及材料、设备