There are many types of traditional welding defects, which can be divided into external defects and internal defects according to their position in the weld. External defects are also called appearance defects.
External defects are located on the surface of the weld and can be seen with the naked eye or a low-power magnifying glass.
Internal defects are located inside the weld and must be detected by the application of destructive inspection or specialized non-destructive inspection methods.

The common classification of welding defects is as follows:
Welding robot is an industrial robot engaged in welding, which mainly includes two parts: robot and welding equipment. Taking arc welding as an example, it is composed of welding power supply (including its control system), wire feeding machine (arc welding), welding gun and other parts. Arc welding robot mostly adopts molten electrode or non-molten electrode gas shielded welding method, and the usual welding power supply can be installed on the robot for arc welding. It should also be equipped with a sensing system, such as a laser or camera sensor and its control device.

According to the production and use of welding robots for many years, the types of defects that appear most in robot welding and the corresponding measures and methods are summarized.

1. Welding bias and welding trajectory cannot be corrected
First, in the teaching mode, the air walk program ensures that the welding position is correct. Second, consider the problem when looking for the torch. At this time, it is necessary to consider the way the welding robot finds the weld pass (arc or laser) to set, and finally, the TCP (welding gun center point position) is analyzed and adjusted. If this happens frequently, it is necessary to check the zero position of each axis of the robot and re-calibrate the zero to correct it.

2. Lots of edge biting
Consider the improper selection of welding parameters, excessive current, excessive voltage, welding gun attitude is not conducive to welding, and whether the welding position is limited, and appropriate adjustment.

3. There is a dense porosity problem
It may be that the gas protection is poor, the welding surface of the workpiece is not clean enough or the protective gas is not dry enough, and the corresponding adjustment can be treated.

4. Excessive spatter problem
The welding parameters may be improperly selected, the gas component reasons or the wire extension length is too long, the machine power can be appropriately adjusted to change the welding parameters, adjust the gas ratio instrument to adjust the proportion of mixed gas, adjust the relative position of the welding gun and the workpiece.

5. An arc pit is formed at the end of the weld after cooling. When programmable, the buried arc pit function is added in the work step, which can be filled.

6. Do not start an arc
It may be because the wire does not touch the workpiece or the process parameters are too small, you can manually feed the wire, adjust the distance between the welding gun and the weld, or adjust the process parameters appropriately.

7, poor weld molding
It may be due to the uneven welding assembly gap, the welding swing amplitude is too high or too low, the current selection is inappropriate, and the welding speed does not match the parameters.