The robot can choose barreled or coiled welding wire according to the needs. In order to reduce the frequency of changing welding wire, the robot should choose barreled welding wire, but because of the use of barreled welding wire, the wire feeding hose is very long, the resistance is large, and the quality requirements of welding wire stiffness are high. When the welding wire with slightly poor copper plating quality is used, the copper plating on the surface of the welding wire will reduce the volume of the pipe due to friction, increase the resistance when the wire is fed at high speed, and the welding wire can not be sent out smoothly, resulting in jitter, which is caused by unstable arc and limited weld quality. In severe cases. In case of jamming, the robot stops, so it is necessary to clean the welding wire conduit in time.

（1）選擇合理的焊接順序。以減小焊接變形、焊槍行走路徑長度來制定焊接順序。

(1) Choose reasonable welding sequence. In order to reduce the welding deformation and the length of the welding gun path, the welding sequence is established.

（2）焊槍空間過渡要求移動軌跡較短、平滑、。

(2) The space transition of welding torch requires short, smooth and safe moving track.

（3）優化焊接參數。為了獲取較佳的額焊接參數，制作工作試件進行焊接試驗和工藝評定。

(3) Optimize welding parameters. In order to obtain better welding parameters, working specimens were made for welding test and procedure qualification.

（4）合理的變位機位置，焊槍姿態，焊槍相對接頭的位置。工件在變位機上固定之后，若焊縫不是理想的位置與角度，就要求編程時不斷調整變位機，使得焊接的焊縫按照焊接順序逐次達到水平位置，同時，要不斷調整機器人各軸位置，合理地確定焊槍相對接頭的位置、角度與焊絲伸出長度。工件的位置確定之后，焊槍相對接頭的位置通過編程者的雙眼觀察，難度較大。這就要求編程者善于總結積累經驗。

(4) Reasonable positioner position, torch attitude, torch position relative to the joint. After the workpiece is fixed on the positioner, if the welding seam is not the ideal position and angle, it is required to continuously adjust the positioner during programming to make the welding seam reach the horizontal position according to the welding sequence. At the same time, it is necessary to continuously adjust the position of each axis of the robot to reasonably determine the position, angle and wire extension length of the welding torch relative to the joint. After the position of the workpiece is determined, the position of the welding gun relative to the joint is observed by the programmer's eyes, which is difficult. This requires programmers to be good at summing up experience.

（5）及時插入清槍程序。編寫一定長度的焊接程序后，應及時插入清槍程序，可以防止焊接飛濺堵塞焊接賠罪和導電嘴，保證焊槍的清潔，提高噴嘴的壽命，確?？煽恳　p少焊接飛濺。

(5) Insert the gun cleaning procedure in time. After writing a certain length of welding procedure, the gun cleaning procedure should be inserted in time to prevent the welding spatter from blocking the welding torch and the conductive nozzle, ensure the cleaning of the welding torch, improve the service life of the nozzle, ensure reliable arc striking and reduce the welding spatter.

（6）編制程序一般不能一步到位，要在機器人焊接過程中不斷檢驗和修改程序，調整焊接參數及焊槍姿態等，才會形成一個好程序。

(6) Generally, the programming can not be completed in one step. A good program can only be formed by constantly checking and modifying the program, adjusting the welding parameters and welding torch posture in the process of robot welding.