摘要：钢制薄板焊接结构常常应用在船体的上层建筑，薄板焊接时，以往的药芯焊丝CO2半自动气体保护焊因为人为因素大、焊接质量不稳定、效率不高等问题，很难满足现代造船的要求。而焊接机器人具有稳定焊接质量、提高劳动生产率、可在有害环境下工作、降低了工人操作技术的要求等优点。因此本课题使用焊接机器人，采用药芯焊丝对钢制薄板进行平对接焊、平角焊工艺实验。

本文对5mm的钢制薄板进行平角焊实验，研究了送丝速度、焊接速度、摆长、摆幅、停留时间和焊丝伸出长度等参数对焊缝成型的影响，优化了焊接工艺参数，获得了焊缝质量较好的焊缝。本文还进行了平对接焊实验，研究焊接速度、停留时间、送丝速度和间隙宽度对焊缝正反面成型的影响，发现送丝速度和间隙宽度是影响背面成型的两个关键因素，间隙太小，易出现未焊透缺陷，间隙太大，焊接时会形成焊瘤或者焊穿现象，在间隙为2.5mm和送丝速度为7m/min时得到质量良好的焊缝，实现了单面焊双面成型。

可见，对船用钢制薄板使用焊接机器人进行焊接，相比于药芯焊丝CO2半自动气体保护焊，提高了焊接效率和焊接质量，同时也减轻了工人的劳动强度，改善了劳动条件，具有良好的应用前景。

关键词：药芯焊丝；平角焊；单面焊双面成型；弧焊机器人

Abstract：Steel sheet welding structure is often used in the hull of the superstructure, sheet welding, the previous flux-cored wire CO2 semi-automatic gas shielded welding because of human factors, welding quality is not stable, the efficiency is not high and so on, it is difficult to meet the requirements of modern shipbuilding. The welding robot has a stable welding quality, improve labor productivity, can work in a harmful environment, reducing the requirements of workers operating technology and so on. Therefore, the use of welding robot,  the  use  of flux-cored wire on the steel sheet of flat butt welding,    flat

welding technology experiments.

In this paper, the effects of wire feed speed, welding speed, pendulum length, swing length, residence time and wire length on weld forming were studied. The welding process parameters were optimized and obtained. The weld quality of the better weld. In this paper, the effect of welding speed, dwell time, wire feed speed and gap width on the front and back forming of welds is studied. It is found that the wire feed speed and the gap width are two key factors influencing the back forming. Small, easy  to  appear without penetration defects, the gap is too large, welding will form a welding or welding phenomenon, in the gap of 2.5mm and wire feed speed of 7m / min to get better quality weld, to achieve a single Welding double-sided molding.

It can be seen that the welding of marine steel sheet with welding robot is better than that of flux-cored wire CO2 semi-automatic gas shielded welding, which improves the welding efficiency and welding quality, and also reduces the labor intensity of the workers, improves the working conditions and has good Application prospects.

Keywords: Flux-cored wire; Flat-angle welding; Single-sided welding Double-sided forming; Robot welding

目录

第一章绪论 1

1.1研究的背景及意义 1

1.2钢制薄板单面焊双面成型技术的应用 1

1.3药芯焊丝现状与发展 2

1.4造船工业中焊接机器人的发展 3

1.5本课题研究的内容 4

第二章设备、方法与材料 5