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 a reasonable welding sequence to reduce welding deformation and the length of the welding gun travel path to formulate the welding sequence.

2.焊槍空間過渡要求移動(dòng)軌跡較短、平滑、。

2. The space transition of the welding gun requires a short, smooth, and safe movement trajectory.

3.優(yōu)化焊接參數(shù)，為了獲得佳的焊接參數(shù)，制作工作試件進(jìn)行焊接試驗(yàn)和工藝評(píng)定。

3. Optimize welding parameters, in order to obtain optimal welding parameters, make work specimens for welding tests and process evaluation.

4.采用合理的變位機(jī)位置、焊槍姿態(tài)、焊槍相對(duì)接頭的位置。工件在變位機(jī)上固定之后，若焊縫不是理想的位置與角度，就要求編程時(shí)不斷調(diào)整變位機(jī)，使得焊接的焊縫按照焊接順序逐次達(dá)到水平位置。同時(shí)，要不斷調(diào)整機(jī)器人各軸位置，合理地確定焊槍相對(duì)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(duì)接頭的位置必須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(jié)積累經(jīng)驗(yàn)。

4. Adopt a reasonable positioning machine position, welding gun posture, and the position of the welding gun relative to the joint. After the workpiece is fixed on the positioner, if the weld seam is not in the ideal position and angle, it is required to continuously adjust the positioner during programming, so that the welded weld seam reaches the horizontal position one by one according to the welding sequence. At the same time, it is necessary to continuously adjust the position of each axis of the robot, and reasonably determine the position, angle, and wire extension length of the welding gun relative to the joint. After determining the position of the workpiece, the position of the welding gun relative to the joint must be observed by the programmer's eyes, which is difficult. This requires programmers to be good at summarizing and accumulating experience.

5.及時(shí)插入清槍程序，編寫一定長度的焊接程序后，應(yīng)及時(shí)插入清槍程序，可以防止焊接飛濺堵塞焊接噴嘴和導(dǎo)電嘴，保證焊槍的清潔，提高噴嘴的壽命，確保可靠引弧、減少焊接飛濺。

5. Insert the cleaning program in a timely manner. After writing a certain length of welding program, the cleaning program should be inserted in a timely manner to prevent welding spatter from blocking the welding nozzle and conductive nozzle, ensuring the cleanliness of the welding gun, improving the lifespan of the nozzle, ensuring reliable arc ignition, and reducing welding spatter.

6.編制程序一般不能一步到位，要在機(jī)器人焊接過程中不斷檢驗(yàn)和修改程序，調(diào)整焊接參數(shù)及焊槍姿態(tài)等，才會(huì)形成一個(gè)好程序。

6. Programming generally cannot be done in one step, and it is necessary to continuously inspect and modify the program, adjust welding parameters and gun posture during the robot welding process, in order to form a good program.