点焊对焊接机器人的要求不是很高。因为点焊只需点位控制，于焊钳在点与点之间的移动轨迹没有严格要求，这也是机器人早只能用于点焊的原因。点焊用机器人不仅要有足够的负载能力，而且在点与点之间移位时速度要快捷，动作要平稳，定位要准确，以减少移位的时间，提  高工作效率。点焊机器人需要有多大的负载能力，取决于所用的焊钳形式。对于用与变压器分离的焊钳，30～45kg负载的机器人就足够了。

Spot welding does not have high requirements for welding robots. Because spot welding only requires point control, there are no strict requirements for the movement trajectory of the welding tongs between points, which is also the reason why robots have long been only used for spot welding. Robots for spot welding not only need to have sufficient load capacity, but also need to move quickly between points, with smooth movements and accurate positioning to reduce displacement time and improve work efficiency. The amount of load capacity required for spot welding robots depends on the type of welding tongs used. For welding tongs separated from transformers, a robot with a load of 30-45kg is sufficient.

但是，这种焊钳一方面由于二次电缆线长，电能损耗大，也不利于机器人将焊钳伸入工件内部焊接；另一方面电缆线随机器人运动而不停摆动，电缆的损坏较快。因此，目前逐渐增多采用一体式焊钳。这种焊钳连同变压器质量在70kg左右。考虑到机器人要有足够的负载能力，能以较大的加速度将焊钳送到空间位置进行焊接，一般都选用100～150kg负载的重型机器人。为了适应连续点焊时焊钳短距离快速移位的要求。新的重型机器人增加了可在0.3s内完成50mm位移的功能。这对电机的性能，微机的运算速度和算法都提出更高的要求。

However, on the one hand, this type of welding clamp is not conducive to the robot extending the welding clamp into the workpiece for welding due to the long secondary cable line and high electrical energy loss; On the other hand, the cables sway continuously with the movement of the robot, causing faster damage to the cables. Therefore, the use of integrated welding tongs is gradually increasing. This type of welding clamp, together with the transformer, weighs around 70kg. Considering that robots need sufficient load capacity to move welding tongs to spatial positions for welding at high acceleration, heavy-duty robots with a load of 100-150kg are generally selected. In order to meet the requirements of rapid short distance displacement of welding tongs during continuous spot welding. The new heavy-duty robot has added the function of completing 50mm displacement within 0.3 seconds. This puts higher demands on the performance of the motor, the computational speed of the microcomputer, and the algorithm.

点焊机器人的焊接装备，由于采用了一体化焊钳，焊接变压器装在焊钳后面，所以变压器必须尽量小型化。对于容量较小的变压器可以用50Hz工频交流，而对于容量较大的变压器，已经开始采用逆变技术把50Hz工频交流变为600～700Hz交流，使变压器的体积减少、减轻。变压后可以直接用600～700Hz交流电焊接，也可以再进行二次整流，用直流电焊接。焊接参数由定时器调节。新型定时器已经微机化，因此机器人控制柜可以直接控制定时器，无需另配接口。点焊机器人的焊钳，通常用气动的焊钳，气动焊钳两个电极之间的开口度一般只有两级冲程。而且电极压力一旦调定后是不能随意变化的。近年来出现一种新的电伺服点焊钳。焊钳的张开和闭合由伺服电机驱动，码盘反馈，使这种焊钳的张开度可以根据实际需要任意选定并预置。而且电极间的压紧力也可以无级调节。这种新的电伺服点焊钳具有如下优点：

The welding equipment of spot welding robots adopts integrated welding tongs, and the welding transformer is installed behind the welding tongs, so the transformer must be minimized as much as possible. For transformers with smaller capacity, 50Hz power frequency AC can be used, while for transformers with larger capacity, inverter technology has been adopted to convert 50Hz power frequency AC to 600-700Hz AC, reducing and reducing the volume of the transformer. After voltage transformation, it can be directly welded with 600-700Hz AC power, or it can be further rectified and welded with DC power. The welding parameters are adjusted by a timer. The new type of timer has been computerized, so the robot control cabinet can directly control the timer without the need for additional interfaces. The welding tongs of spot welding robots usually use pneumatic welding tongs, and the opening between the two electrodes of the pneumatic welding tongs is generally only two strokes. Moreover, once the electrode pressure is set, it cannot be changed arbitrarily. In recent years, a new type of electric servo spot welding pliers has emerged. The opening and closing of the welding tongs are driven by a servo motor, and the encoder feedback allows for the opening degree of this welding tongs to be arbitrarily selected and preset according to actual needs. And the clamping force between the electrodes can also be infinitely adjusted. This new electric servo spot welding clamp has the following advantages:

1）每个焊点的焊接周期可大幅度降低，因为焊钳的张开程度是由机器人精确控制的，机器人在点与点之间的移动过程、焊钳就可以开始闭合；而焊完一点后，焊钳一边张开，机器人就可以一边位移，不必等机器人到位后焊钳才闭会或焊钳完全张开后机器人再移动；

1) The welding cycle of each welding point can be significantly reduced, because the opening degree of the welding tongs is precisely controlled by the robot, and the robot's movement between points can start to close the welding tongs; After welding a little bit, the welding tongs can be opened on one side, and the robot can move on the other side. There is no need to wait for the robot to be in place before the welding tongs close or the robot can move again after the welding tongs are fully opened;

2）焊钳张开度可以根据工件的情况任意调整，只要不发生碰撞或干涉尽可能减少张开度，以节省焊钳开度，以节省焊钳开合所占的时间。

2) The opening degree of the welding tongs can be adjusted according to the situation of the workpiece. As long as there is no collision or interference, the opening degree should be reduced as much as possible to save the opening degree of the welding tongs and the time required for opening and closing.

3）焊钳闭合加压时，不仅压力大小可以调节，而且在闭合时两电极是轻轻闭合，减少撞击变形和噪声。

3) When the welding pliers are closed and pressurized, not only can the pressure be adjusted, but also the two electrodes are gently closed during closure, reducing impact deformation and noise.

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