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WeldrobotapplicationpresentconditionAccordingtoincompletelystatistics,thewholeworldabouthasintheindustrialrobotofservicenearlyhalfofindustrialrobotsisusedformultiformweldtoprocessrealm,weldrobotofapplicationinmainlyhavetwokindsofmethodsmostwidespreadly,thenorderHanandelectricityHuHan.Whatwesay'sweldingrobotisinfactweldingtoproducerealmtoreplaceaweldertobeengagedintheindustrialrobotofweldingthetask.Theseweldtohaveplentyoftodesignforbeingacertaintoweldawayexclusivelyintherobotof,butmajorityoflyweldrobotinfactisaningeneraluseindustrialrobottopackupacertainweldtoolbutconstitute.Inmanytaskenvironments,asetrobotevencancompleteincludeweldatinsideofgraspathing,porterage,install,weld,unloadtoanticipateetc.varioustasks,robotcanrequestaccordingtotheprocedurewithtaskpropertyandautomaticallyreplacethetoolontherobotwrist,thecompletioncorrespondsoftask.Therefore,comeuptosayfromacertainmeaning,thedevelopmenthistoryofindustrialrobotisthedevelopmenthistorythatweldsrobot.Knowtoall,weldtoprocesstorequestthatwelderhavetohavewell-trainedoperationtechnicalability,abundantfulfillmentexperience,stabilityofweldlevel;Itisstillakindoflaborconditionbad,manysmokeanddust,hottheradiationisbig,riskGaoofwork.Theemergenceoftheindustrialrobotmakespeoplenaturallythoughtoffirstthehandicraftthatreplaceapersonwithitweldsandeasesthewelder'slaborstrength,canalsopromisetoweldqualityandexaltationtoweldanefficiencyatthesametime.However,weldagainwithotherindustryprocessprocessdifferent,forexample,electricityHuHanprocessin,drivewelderpiecebecauseofpartheatmeltwithcooloffcreationtransform,theHansewsofthetrackwillthereforetakeplacetochange.HandicraftHantheexperiencedweldercansewpositionaccordingtotheactualHanobservedbyeyesadjustmentHaningoodtimetheposition,carriageofthegunandrunaboutofspeedtoadapttothevarietythattheHansewsatrack.Howevertherobotwanttoadapttothiskindofvariety,havetothepositionandstatusofgunthatwantto"see"thiskindoftochange,thenadopthomologousmeasuretoadjustHanlikepersonfirst,followwhilecarryingouttosewactuallytotheHan.BecausetheelectricityHuweldstohaveinprocessstrongarclight,giveorgetanelectricshockHunoise,smokeanddustandRongdroptransitionunsteadyandcausableHansilkshortcircuit,bigelectriccurrentstrongmagneticfieldetc.complicatedenvironmentfactorofexistence,therobotwantstoexamineandidentifiesawithdrawingofthesignalcharacteristicneededforsewingHananddon'tseemtobeindustrialtheotherinthemanufacturingtoprocesstheexaminationofprocesssoeasily,therefore,weldingtheapplicationofrobotistousedfortogiveorgetanelectricshocktheprocessofHuHaninthebeginning.Actually,industrialrobotatweldedtheapplicationofrealmtoproduceon-lineelectricresistancetoorderaHanbeginningfromthecarassembleattheearlieststage.ThereasonliesintheprocessthattheelectricresistanceordersHanoppositemoresimple,controlconvenient,andnotneedHantosewatrackfollow,totheaccuracyoftherobotandrepeatthecontrolofaccuracyhavelowerrequest.OrdertheHanrobotassemblestoproduceagreatdealofon-lineapplicationtoconsumedlyraisetherateofproductionthatthecarassembleweldsandweldqualityinthecar,atthesametimeagainhaveagentlecharacteristicsforwelding,thenwant～onlychangeprocedure,canproduceinthesameon-linecarryonassembletoweldtodifferentcarstype.BEborntillthebeginningofthis80'sincenturyfromtherobot,therobottechniqueexperiencedadevelopmentprocessoflongtermslowness.90's,alongwiththerapiddevelopmentofcalculatortechnique,micro-electronicstechnique,andnetworktechnique...etc.,therobottechniqueisalsoflownsoonadevelopment.Themanufacturinglevel,controlspeedandcontrolaccuracyanddependablesexetc.ofindustrialrobotcontinuouslyraises,butmanufacturingcostandpriceofrobotcontinuouslydescend.Issocialinthewest,withcontraryrobotpriceBE,theperson'slaborforcecostcontainsthetrendtocontinuouslyincrease.UnitedNationsEuropeanEconomicCommittee(UNECE)statisticsesfromthevarietycurveof1990-2000yearsoftherobotpriceindexnumberandlaborforcecostindexnumber.Amongthemtherobotpriceof1990indexnumberandlaborforcecosttheindexnumberisallreferencetobeworth100,goto2000,laborforcecostindexnumberis140,increased40%;Butrobotunderthesistuationthatconsideraqualityfactorthepriceindexnumberislowerthan20,lowered80%,underthesistuationthattakenoaccountofaqualityfactor,thepriceindexnumberofrobotisabout40,lowered60%.Here,therobotpricethattakesnoaccountofaqualityfactormeansactualpriceoftherobotofnowwithcomparedinthepast;Andconsiderthatthequalityfactormeansbecausetherobotmaketheexaltationofcrafttechniquelevel,manufacturingqualityandfunctionofrobotevenifwantalsoundertheconditionofequalpricecomparehighbefore,therefore,ifpressedthepastrobotequaledqualityandfunctiontoconsider,thepriceindexnumberofrobotshouldbemuchlower.Canseefromhere,nationalinthewest,becausetheexaltationoflaborforcecostbringsnotsmallpressureforbusinessenterprise,buttheloweringofrobotpriceindexnumbercoincidentallyexpandsapplicationtobringachancefurtherforitagain.Reducetheequipmentsinvestmentofemployeeandincrementrobot,whentheirexpensesattainssomeonebalancepoint,thebenefitofadoptionrobotobviouslywantstocomparetoadoptthebenefitthattheartificialbringsbig,itontheotherhandcanconsumedlyraisetheautomationlevelofproducingtheequipmentsandraisetolaborrateofproductionthus,atthesametimeagaincanpromotetheproductqualityofbusinessenterprise,raisethewholecompetitionabilityofbusinessenterprise.Althoughrobot1timeinvestsalittlebitgreatly,itsdailymaintenanceandconsumeismoreoppositethanitstoproducingfarissmallerthancompletingtheartificialexpensesthatthesametaskconsumes.Therefore,fromfarsightedsee,theproductioncostofproductalsoconsumedlylowers.Buttherobotpricelowertomakesomesmallandmediumenterprisesinvesttopurchaserobottobecomeeasytoaccomplish.Therefore,theapplicationofindustrialrobotissoonflownadevelopmentineverytrade.AccordingtotheUNECEstatistics,thewholeworldhas750,000in2001settheindustrialrobotisusedforindustrymanufacturingrealm,amongthem389,000inJapan,198,000inEU,90,000inNorthAmerica,73,000atrestnation.Gotoattheendof2004thewholeworldtohaveatleastintheindustrialrobotofserviceabout1,000,000.BecausetherobotcontrolstheexaltationofspeedandaccuracyandparticularlygiveorgetanelectricshockthedevelopmentthattheHuspreadsafeelingmachinetocombinetoweldintherobotingetanapplication,maketherobotgiveorgetanelectricshocktheHanofHuHantosewatracktofollowandcontrolaproblemtosomeextentandgetverysolution,therobotweldsinthecartomakethemediumapplicationordersHantosoondevelopintothecarzerofromoriginallymoresinglecarassemblepartsesandelectricityHuwithinassembleprocessHan.Robot'sgivingorgettinganelectricshockthebiggestcharacteristicsofHuHanisgentle,canimmediatelypasstoweaveadistanceatanytimeachangetoweldatrackandweldsequence,thereforemostbeapplicabletoquiltwelderpiecethespeciesvarietyisbig,theHansewshortbutmany,productwithcomplicatedshape.Thisattherightmomentagaincharacteristicsaccordingtocarmanufacturing.Beingtherenewalspeedoftheparticularlymodernsocialcarstyleisveryquick,adoptingthecarproductionlineofrobotmaterialcannicelyadapttothiskindofvariety.Moreover,robot'sgivingorgettinganelectricshockHuHannotonlyusedforacarmanufacturingindustry,butalsocanusedforothermanufacturingindustriesthatinvolvetogiveorgetanelectricshockHuHan,likeshipbuilding,motorcyclevehicle,boiler,heavytypemachineetc..Therefore,therobotgivesorgetsanelectricshocktheapplicationofHuHangraduallyextensive,ontheamountgreatlyhaveexceedtherobotorderthepowerofHan.Alongwithcarreducinginweightmanufacturingthetechnicalexpansion,somehighstrongmetalalloymaterialsandlightmetalalloymaterial(islikealuminummetalalloy,andmagnesiummetalalloy...etc.)getanapplicationinthematerialinthecarstructure.Thesematerials'weldingusuallycannotsolvewiththeweldingoftraditionmethod,havetoadopttolatelyweldamethodandweldacraft.Amongthem,GaopowerlaserHanandagitationrubHanetc.tohavetodevelopapotentialmost.Therefore,robotandGaopowerlaserHanandagitationrubcombiningofHantobecomeinevitabletrend.BelikethepublicinShanghaitowaitdomestictomosthavethecarmanufacturerofrealstrenghtinfactattheirnewcartypemanufacturingprocessinhavealreadyingreatquantitiesusedrobotlasertoweld.GiveorgetanelectricshockHuHantocomparewithrobot,robotlasertheHanoftheHansewstofollowaccuracytohavehigherrequest.Accordingtothegeneralrequest,therobotgivesorgetsanelectricshocktheHanofHuHan(includeGTAWandGMAW)tosewtofollowaccuracytocontrolin1|oftheelectrodeortheHansilkdiameter2in,athavetheconditionthatfillthesilkundertheHansewtofollowaccuracytoloosenappropriately.ButtolaserHan,thelaserprojectslightuponthelightspotintheworkpiecesurfacewhileweldingdiameterusuallyat0.6in,isfarersmallthanHansilkdiameter(beusuallybiggerthan1.0),butthelaserweldusuallyandnotaddtofillHansilk,therefore,thelaserisweldingifonlythespotpositionhasalittlebitdeviation,thenwillresultintobepartialtoHanandleakHan.Therefore,therobotlaserofthepublicinShanghai'scarcarcrestHaninadditiontopackintheworktongsupadoptmeasuretopreventfromweldingtotransform,stilljusttherobotlaserHangunfrontinstalledthehighaccuracylaserofSCOUTcompanyinGermanytospreadafeelingmachinetousedforHantosewafollowingoftrack.Thestructureformofindustrialrobotisalotof,incommonuselyhaverightangletositmarktype,flexibletype,andcrawlalongtype...etc.bymarktype,manyjointsbymarktype,surfaceofspherebymarktype,pillarnoodles,accordingtodifferentusestillatcontinuouslydevelopmentin.Itismanyrobotsofjointtypesofthemimicryperson'sarmfunctiontoweldwhatrobotcanadoptadifferentstructureformaccordingtotheappliedsituationofdissimilarity,butuseatmostcurrently,thisbecausethearmvividofmanyjointtyperobotsisthebiggest,itcanmakespacepositionandcarriageofHangunadjustintoarbitrarilythestatusweldbysatisfyingademand.Theoreticallyspeak,thejointofrobotismanymore,thefreedomdegreeisalsomanymore,thejointredundancydegreeisbigmore,andthevividisgoodmore;Butalsogoagainstthesittingofkineticscontrolofmarkingthetransformationandeachjointpositionforrobottobringcomplexityatthesametime.BecauseweldtousuallyneedintheprocesswiththespacerightanglesittomarktheHanontherepresentativeworkpiecetosewpositionconversionfortheHanguncarrythespacepositionandcarriageofdepartmentandpassrobotagaingoagainstthekineticscomputeaconversionfortothecontrolofroboteachjointangleposition,butthesolutionofthistransformationprocessusuallyisn'tunique,theredundancydegreeisbig,solvemoremanymore.Howselectbyexaminationsthesteadythatthequitethecheesesolutionweldstoexerciseintheprocesstotherobotveryimportant.Differenttreatmentofsystemtothisproblemoftherobotcontroldoesn'texertahomology.Isgeneraltocometospeak,have6controlsrequestofpositionsandspacecarriagesthattherobotsofjointsbasicallycansatisfyaHangun,3amongthosefreedomsdegree(XYZ)spacepositionusedforcontrolingaHanguntocarryadepartment,another3freedomdegrees(ABC)areusedforthespacecarriagethatcontrolsaHangun.Therefore,currentlyweldrobotmajorityas6jointtypes.Forsomeweldsituation,workpiecebecauseofleadingbigorthespaceisseveralwhattheshapeistoocomplicated,maketheHangunofweldingtherobotcannotarriveappointedHantosewpositionorHanguncarriage,havetopassthefreedomdegreeofthewayincrementrobotofincreasing1~3exteriorstalksatthistime.Usuallyhavetwokindsofwayofdoings:OneistheorbitthattherobotBepackedtotomovesmallcarorDragongateup,thehomeworkspaceofextensionrobot;Twoistolettheworkpiecemoveorturn,makeworkpieceupofweldthehomeworkspacethatthepartgetsintorobot.Alsohaveofadopttwokindsofabove-mentionedwaysatthesametime,lettheweldingofworkpiecepartandrobotsallbeplacedinthebestweldposition.Weldtheplaitdistanceofrobotmethodcurrentlystillwithon-lineshowandteachaway(Teach-in)islord,butwovetheinterfaceratioofdistancemachinetohavemanyimprovementsinthepast,particularlyistheadoptionofLCDsketchmonitorandmakeandweldtheplaitdistanceoftherobotinterfacelatelygraduallyfriendly,operationmoreeasy.HoweverrobotplaitdistanceHan'ssewingthekeypointonthetracktosittomarkpositionstillhavetopasstoshowtoteachthewayhowtoobtain,thendepositthesportinstructionofprocedure.ThissewstracktosomeHansofcomplicatedshapestosay,havetocostagreatdealoftimetoshowtoteachandloweredtheuseefficiencyofrobotthusandalsoincreasedthelaborstrengthofweavingthedistancepersonnel.Themethodthatsolvescurrentlyincludes2kinds:OneisshowtoteachaplaitdistancejustroughobtainafewHanstosewafewkeysonthetracktoorder,thenspreadafeelingmachine(usuallyisgiveorgetanelectricshockHutospreadfeelingmachineorlasersenseofvisiontospreadafeelingmachine)throughthesenseofvisionofweldingtherobotofautofollowtheactualHansewatrack.Althoughthiswaystillcansnotgetawayfromtoshowtoteachaplaitdistance,thiswaycanseasetoshowthestrengthofteachingtheplaitdistancetosomeextentandraisestoweaveadistanceefficiency.ButbecauseofthecharacteristicsofelectricityHuHan,thesenseofvisionofrobotspreadsafeelingmachinebenotsewformstoallapplytoallHans.Twoisthewaythatadoptsacompletelyoff-lineplaitdistance,maketherobotwelddrawingupofprocedureandHantosewatracktosittomarkadjustingofobtainingofposition,andproceduretotryalltocomputeinasettoindependentlycompleteonboard,don'tneedparticipationofrobot.Robotoff-lineplaitdistanceasearlyasseveralyearsagohave,justinordertobeingsubjectedtorestrictionofthecalculatorfunctionatthattime,off-lineplaitdistancesoftwarewithtextoriginallywayislord,woveadistancemembertoneedtoacquaintwiththeallinstructionsystemsandphrasingofrobot,alsoneededtoknowhowmadesurethatthespacepositionthattheHansewsatracksitsamark,therefore,woveadistanceworktonotandeasilysavetime.Alongwithexaltationandcalculatorofthecalculatorfunction3Dsketchtechnicaldevelopment,presentrobotoff-lineplaitdistancesystemmajoritycanunderthe3Dsketchenvironmentmovement,theplaitdistanceinterfaceamity,convenience,and,obtainingHantosewasittingoftracktomarkpositionusuallycanadoptthewayof"conjectureshowtoteach"(virtualTeach-in),usingamousetoeasilyclicktheweldingofworkpieceinthe3Dvirtualenvironmentthepartcanimmediatelythespaceacquiringthesitamark;Insomesystems,cansewdirectlybornHanofpositiontosewatrackthroughtheHanthatdefineinadvanceintheCADsketchdocument,thentheautomaticallybornrobotprocedurecombinestodownloadrobottocontrolsystem.Thusandconsumedlyraisedtheplaitdistanceoftherobotefficiency,alsoeasedthelaborstrengthofweavingthedistancemember.Currently,itisinternationaltotherehavebeenusinganoff-lineplaitdistanceofrobotaccordingtothecompanyofcommonPCmachineonthemarketsoftware.ItislikeWorkspace5,andRobotStudio...etc..Figure9showdevelopbyoneselfforthewriterofaccordingtoPCof3Dcanseetoturnanoff-lineplaitdistanceofrobotsystem.ThesystemcanIRB140robotsaimingatABBcompanycarryonanoff-lineplaitdistance,theHanintheproceduresewsatracktopassconjecturetoshowtoteachtoacquire,andcanlettherobotpressthetrackintheproceduretoimitatesportinthe3Dsketchenvironment,examineitsaccuracyandrationalitywiththis.Theprocedurewovencanpassanetworkdirectlythedownloadtotherobotcontroller.Theindustrialrobotofourcountry"75"scienceandtechnologiesoffendapasstostartstartingfromthe80's,currentlyalreadybasiccontrolarobotoperationofthedesignmanufacturingofthemachinetechnique,controlsystemhardwareandsoftwaretodesigntechnique,kineticsandtracktoprogramatechnique,gavebirthtopartsofrobotkeydollarsparepart,developtosprayapaint,HuHanandorderrobots,suchasHan,assembleandporterage...etc.;TherobotofHuHanhasalreadyappliedintheHanofcarmanufactorytopackon-line.Buttotalofcometosee,ourcountryofindustrialrobottechniqueanditengineeringapplicationoflevelandabroadthanstillhavecertaindistance,suchas:Credibilitylowoutsidethecountryproduct;Therobotapplicationengineeringstartsalittlebitlateandapplyrealmnarrow,productionlinesystemtechniqueandabroadthanhaveamargin;Theappliedscaleissmall,didn'tformrobotindustry.雹Th攀e副ro供bo溝t桶of殖t派he錫c梅ur炕re劑nt荷o飛ur偵c孫ou僵nt海ry溉t飛he悶p桂ro逼du丘ct棟io損n匪is升a階ll繼r扔eq曉u(píng)e歡st灑t雨ha背t香ap暢pl枯ie丑s學(xué)a先do榆or襖,雖li傻st誓d艦oo喬r瓶th里e略si健ng功le譯t擾im磚e軍re夠-淹de禍si纖gn掘,混th堅(jiān)e辭sp燦ec秒ie競(jìng)s爛sp窗ec弄if岸ic柳at另io真n量is員m應(yīng)an汗y,攏s抵ma縣ll簡(jiǎn)b屈at純ch咳q鋼ua云nt鞠it魔y,枝z耗er焦o哀pa信rt鹿se悅s最ar頸e布in勞g撞en放er灑al課u衛(wèi)se穴t怒o拆tu收rn威d送eg災(zāi)re絡(luò)e狂lo瞇w,刷p炎ro貝vi旅de固a銜g辱oo膊ds版p暗er往io耗d涼lo塞ng鐮,崖th銷e思co置st較i撤s綱no痛t廁lo芝w隔ei深th撿er鼻,躍an持d陣th甲e師qu效al酒it敘y,素c險(xiǎn)re記di突bi頃li窩ty段i詠s極un單st世ea擱dy脅.C楊on減se隱qu腎en隔tl刊y戶an宣d扶ur截ge焰nt有l(wèi)y凍n走ee委d蓋to喊s斤ol醒ve搭i務(wù)nd什us技tr病y撤to量t侄ur稠n籌an構(gòu)e隱x-耽k蛇ey約t蠟ec鵝hn熄iq蛾ue汗f秧or衫e峰xp賄ec琴ti婆ng矩,劣Be抄t所o呀th鹽e傷pr烘od嘩uc殊t乒ca憲rr梅y桿on瓦p預(yù)ro冒gr團(tuán)am傅in難g恭co徒mp該le參te驚ly霜,乖ma約ke倦g困oo營(yíng)d陽(yáng)se窯ri莖es齊t童o丹tu固rn屯,舌in貫g伍en范er艙al虜u給se蜻t足ur狐n,更t袖he即m賠ol度d申pi談ec薪e徹tu著rn畝a欲d致es鎖ig筒n孝an勉d汁ac傾ti界ve屈ly摧p至us墊h候fo尋rw家ar證d狗in梅du矩st伴ry令t喂o姐tu書(shū)rn境p啄ro攤gr橡es漲s.坊3,底w雹el這d隆ro狐bo練t杰de認(rèn)ve臺(tái)lo挖pm泰en唐t開(kāi)tr賴en塔d無(wú)Th洪e匪in兆te渡rn獲at哭io幻na炒l阻ro協(xié)bo術(shù)t飯bo為un怪da里ri愚es召a吃re砍e層nl鳥(niǎo)ar泄gi知ng削a士r索es轎ea倚rc肚h,倚c涉ar浙ry露o宰n留ro塑bo工t爸cu漂rr擦en采tl次y以to摘ta妻l暖te斃ch鞠ni羨ca達(dá)l掃re頭se幸ar蛇ch掠.T自he耐d肌ev搶el瘡op哥me墊nt框t敗re爪nd誠(chéng)s嶼ee煙s育fr石om久t否he吼r暫ob乞ot棚t趕ec焰hn剖iq投ue寫(xiě),問(wèn)we玉ld填r激ob梳ot甘s嗎im驢il切ar劈t么o俯th字e期ot狐he膝r膠in混du辮st叢ri雀al會(huì)r觸ob糠ot讓,蛛co店nt勤in魔uo陽(yáng)us春ly羊t慨ur蛇n羅to溉t說(shuō)he爆i殖nt河el助li虎ge匪nc熟e三an態(tài)d勾di汗ve碑rs棵if趁y谷a然di孔re筋ct襖io濾n鬧to衡d罰ev昨el備op讀.I鴨s熄co么nc摩re呈te稿b每ut惜t凈al亡k,答p朱er亮fo鏟rm輝an狐c(diǎn)e叼i汪n齡as吩f案ol喊l(fā)o使ws異a鏈f槽ew抱a令sp訴ec變ts喉:扮1)浩.T樸he含r雄ob姿ot由o葉pe浴ra神te照s睡ma乞ch魚(yú)in技e碑st食ru繭ct娘ur蛇e:茫Pa剃ss翻a患l宰im魂it扛ed證d酷ol謹(jǐn)la梯r叔th鈔e擔(dān)an督al慌ys射is桶a爪nd途m佩ol川d治Ta搭i械an賊al容yz給e辭an低d曬im壩it璃at撿e襖th案e熄us念ag者e絕of訪t俯ru考e窄de叢si館gn秒e下tc蔥.深mo捆de野rn士d凈es浸ig魔n訪me膀th用od戴a憐nd奉c慕ar什ry頑o雅ut號(hào)r凝ob拆ot煙o(wú)桃pe導(dǎo)ra炒ti今on扎o互rg巾an賄iz梳at雁io唇n北of歇e跑xc張el后le小nt覆t嬌ur碗n紐a音de荷si鴿gn鉛.倚Qu硬es糖t以hi閑gh診s膜tr彼en夠gt裙h乘li摧gh添t座qu橡al薄it猛y永m(xù)a脊te發(fā)ri葵al勞,漢ra非is跟e革a膜lo提ad貫f匆ur蛇th暈er欣|h障ol員d急wi罩th朗d治ig仰ni鄙ty蔬a浪r收at濤io服.F場(chǎng)or詞e翁xa磨mp貓le燙,寶ta聯(lián)ke房G碰er改ma蒙ny盒's梅K樹(shù)UK喉A取co念mp仆an低y尿as雷t辣he荷r櫻ep咸re越se文nt腥at階iv匆e'河s壇ro蚊bo吐t脅co鹽mp斑an罵y,悼h槐av驗(yàn)e斯al并re叢ad焰y地me交rg壩ed琴r吸ob寄ot啊t獻(xiàn)he燥p肚ar控al奸le淹lo壞gr沾am庫(kù)s胡tr農(nóng)uc勻tu廟re菊c緩ha歇ng通e蠶to虹o死pe瓶ni鞏ng完c邪ha倦in落s梅tr陵uc負(fù)tu苗re態(tài)a兔nd因e喉xp慎an草d馬th未e死wo吳rk倘s夜co瞧pe潮o蔽f鋪ro盟bo前t,踐t賢he誤a永pp恰li滔ca河ti替on赴o快f慘li板gh瞧t道qu喉al徹it刷y寫(xiě)al搞um肝in投um烤m蒼et殼al難a衛(wèi)ll毛oy鳳m像at減er駕ia例l矛ad捷d,待c鏡on桌su堤me貸dl大y左ra鞏is冬e男th溝e策fu伸nc燙ti挖on暗o輔f廁ro亦bo臂t.違Th忌e取RV早t蜂ha水t福in蝦a像dd覺(jué)it恒io升n回ad噸op鑰ts聽(tīng)a至f地or帶er日un伯ne駕r蔬de怠ce垂le嬌ra方te熊s爛a惹ma刪ch糊in澤e希an貌d蹦co劫mm族un廉ic撞at毛es范s險(xiǎn)er勿vo鋪e流le乖ct紐ri鴨ca邀l酒en蹄gi紙ne辱er兵in成g,評(píng)m怒ak錦e擱ro戴bo熊t程op政er翅at碼io夢(mèng)n瘡ma結(jié)ch丘in花e敞al鳥(niǎo)mo繩st徐b庭ec頑om園e加do聽(tīng)n'撥t牛ne毀ed事s搶up槐po紛rt寫(xiě)s惠ys鑰te申m.憂Th填e泄or萌ga堵ni賠za撇ti腔on音f洪ac手in也g膏mo傲ld饑p但ie素ce疊t妄ur口ns悶a夕nd沸c僵an甩w餐ei海gh邊t鹽o肅re諒ac尋h社a鼓di姨re浴ct阻io伏n驗(yàn)de足ve側(cè)lo飄pm粥en喪t.尿Fo伴r旺ex膊am恩pl贈(zèng)e,失t稀he奶s徒er裝vo謠e膽le崖ct緞ri固ca勻l弟en聯(lián)gi牧ne督er杰in這g沃in漁t晨he求j涂oi偶nt啟m膠ol尼d搖pi酷ec陷e,縮d范ec瞇el育er頃at裂e舉ma澆ch熱in此e層an典d恰ex筐am廢in室e與sy幻st虛em兵C嘴hr形is控ti戀an才T擁ri跟ni虎ty閱t好o遵tu當(dāng)rn礙;F吩ro賓m彈jo原in完t愉mo節(jié)ld樸p紡ie鉤ce餐,彼co啄nn怠ec洪t可a滴po道le歸m露ol棍d蜘pi賊ec代e訴is萌c污on幕st調(diào)ru謙ct擊ed孕r理ob打ot匆t廁he臨w雖ho滋le此m虛ac仇hi煌ne篩w散it饅h菠th脈e竟re豐or卸ga徹ni由za臘ti敲on妻m萬(wàn)et芽ho厲d;芒Th辯e煮ab創(chuàng)ro撫ad際h懼as縱a鬧lr撲ea妥dy仔h姐ad匆t價(jià)he臘m笛ol腸d敵pi表ec稈e堡th舟e貍di慨sg憶ui牧se酬t燥o殘go伙t秤og給et疊he遮r際wi叛th隆a兆r陜ob瓜ot尾p獨(dú)ro能du乖ct蓬t冠o餓as撤k策ci凈ty獅.字Th菊e與st喂ru基ct國(guó)ur加e委of落t綿he四r降ob弟ot漲i搭s大ge繩tt氏in丹g眉cl即ev詠er犯,碧co率nt穿ro偉l控sy哭st雪em緞s除ma舉ll敵er攜a濾nd款s伴ma繼ll紋er偏,怠tw盈os沫j災(zāi)us緩t買(mǎi)tu深rn濾a成d偉ir庫(kù)ec顆ti旋on娃d父ev套el插op未me垂nt誰(shuí)t滑ow貌ar松d殺th所e系in卸te炎gr袖al塵w遭ho披le薄.緒Th塵e絮ad爭(zhēng)op合ti統(tǒng)on蘋(píng)m美er宇ge訊s士or伶ga意ni逃za角ti詢on脊a賄nd貍m牙ak干es紐u然se排o縱f嶄a晉ro勻bo甜t修te沾ch鈴ni智qu宇e,福r避ea哲li給za槳ti壁on童G拐ao碰a蛇cc洞ur情ac講y侵me碧as葬ur卡e洋an浮d錦pr勤oc襪es場(chǎng)s,隸t章hi帽s神is伐t屢he計(jì)r焦ob洽ot勺t另ec億hn問(wèn)iq收ue甜t尖o沙nu摔mb墓er磨c橡on寧tr分ol餃t芝ec撫hn絨iq姥ue把o劣f儲(chǔ)ex島pa聚nd行,援ca迎rr惹ie岔d剪ou交t粥ro家bo病t噴an眼d胳nu扛mb板e(cuò)r臟t續(xù)o景co輛nt在ro莫l牢te迅ch夕ni莫qu傲e溜in藝te滾gr蟻al旬w銷ho輩le疲t際o派tu廁rn譽(yù)t央o筆la鞭y綁fo里un層da巴ti令on凳f遼or株f標(biāo)ut晨ur現(xiàn)e.艙It打al院ia點(diǎn)n努CO倒MA域U尚co明mp肌an淺y,謹(jǐn)c漆om鼓pa蛙ni捐es材l弊ik另e耐Ja召pa幸n陰FA百NU續(xù)C,泉et胳c傭de眾ve體lo異pe忍d受th司is家k夏in拒d洽of藥p艱ro刮du階ct譜.恥焊接權(quán)機(jī)器兇人應(yīng)石用現(xiàn)諒狀污街歸伯據(jù)不主完全趣統(tǒng)計(jì)檔，頂全世栗界在陣役的簡(jiǎn)工業(yè)任機(jī)器貍?cè)酥邢啻蠹s唐有將臺(tái)近一呀半的貸工業(yè)篩機(jī)器忠人用矩于各替種形僅式的父焊接抽加工約領(lǐng)域廢，西焊接豐機(jī)器攏人應(yīng)平用中群最普俯遍的沾主要比有兩筐種方撞式，歇即點(diǎn)話焊和測(cè)電弧外焊震。腿我們烈所說(shuō)嬸的焊擦接機(jī)蜓器人保其實(shí)退就是夸在焊韻接生腫產(chǎn)領(lǐng)栗域代掙替焊梢工從扮事焊狼接任廳務(wù)的夸工業(yè)疫機(jī)器螞人掩。飲這些咽焊接暫機(jī)器拳人中嚇有的駛是為影某種字焊接吼方式此專門(mén)矮設(shè)計(jì)炒的，鏈而大州多數(shù)壁的焊娘接機(jī)丙器人藥其實(shí)鴿就是跟通用筑的工社業(yè)機(jī)跌器人賴裝上陡某種搭焊接慨工具螺而構(gòu)工成的如。已在多際任務(wù)歉環(huán)境譽(yù)中，軌一臺(tái)暗機(jī)器含人甚曾至可垮以完叛成包貨括焊巖接在細(xì)內(nèi)的菠抓物吧、搬邁運(yùn)、擾安裝活、焊馳接、戀卸料劫等多剛種任禽務(wù)，宗機(jī)器格人可憐以根國(guó)據(jù)程孔序要貴求和格任務(wù)蹤性質(zhì)苗，自孩動(dòng)更推換機(jī)渴器人匠手腕穿上的女工具偷，完宇成相納應(yīng)的譯任務(wù)賄。說(shuō)因此良，從凈某種唯意義舌上來(lái)蜘說(shuō)，區(qū)工業(yè)齒機(jī)器遇人的坦發(fā)展姨歷史鋸就是緣焊接掛機(jī)器思人的裳發(fā)展藍(lán)歷史示。

塔涼芒眾所弄周知橫，物焊接毅加工暢要求容焊工梯要有端熟練逢的操么作技幣能、莖豐富欣的實(shí)擁踐經(jīng)萄驗(yàn)、展穩(wěn)定沈的焊痰接水按平另；剝它還凡是一別種勞我動(dòng)條掛件差棗、煙掠塵多煮、熱臣輻射坊大、友危險(xiǎn)術(shù)性高要的工扶作。井工業(yè)賣(mài)機(jī)器五人的詠出現(xiàn)均使人扭們自淚然而醫(yī)然首滔先想赴到用哄它代岔替人澇的手個(gè)工焊跨接，欲減輕刷焊工由的勞憤動(dòng)強(qiáng)立度，槍同時(shí)蒼也可良以保京證焊擇接質(zhì)挽量和毀提高匯焊接雜效率測(cè)。

故將喚然而友，英焊接撈又與底其它圈工業(yè)籃加工灶過(guò)程忙不一千樣，還比如襖，燭電弧塔焊過(guò)遭程中捏，跨被焊忌工件謊由于咳局部樣加熱示熔化連和冷賢卻產(chǎn)撇生變居形，石焊縫異的軌胞跡會(huì)較因此園而發(fā)邪生變螺化。老手工水焊時(shí)振有經(jīng)晉驗(yàn)的慘焊工犬可以亦根據(jù)蠶眼睛刷所觀似察到恐的實(shí)惡際焊纖縫位牌置適券時(shí)地援調(diào)整享焊槍爽的位房置、屑姿態(tài)政和行病走的效速度曬，以摔適應(yīng)押焊縫弦軌跡腰的變客化。略然而尚機(jī)器桃人要懲適應(yīng)悼這種殘變化合，必萌須首顏先像逝人一偶樣要妹“看鍛”到把這種匙變化慨，余然后蘇采取隙相應(yīng)躺的措蓋施調(diào)折整焊聰槍的普位置鎮(zhèn)和狀商態(tài)，栗實(shí)現(xiàn)級(jí)對(duì)焊作縫的誦實(shí)時(shí)招跟蹤婆。圓由于選電弧煩焊接霧過(guò)程定中有登強(qiáng)烈貫弧光朗、電購(gòu)弧噪狠音、敵煙塵烤、熔郵滴過(guò)狼渡不齊穩(wěn)定花引起謙的焊墓絲短歪路、料大電雜流強(qiáng)段磁場(chǎng)貝等復(fù)明雜的殼環(huán)境虧因素冤的存米在，再機(jī)器活人觀要檢耽測(cè)志和識(shí)顏別焊孔縫所匯需要繭的信誦號(hào)特票征的夠提取跟并不叉像工欄業(yè)制期造中都其它朵加工曾過(guò)程翁的檢嗽測(cè)那偶么容率易，厘因此芒，焊晝接機(jī)梨器人讀的應(yīng)斃用并包不是誠(chéng)一開(kāi)發(fā)始就恐用于紡電弧推焊過(guò)猴程的溝。

租清現(xiàn)實(shí)際蘭上，揪工業(yè)冶機(jī)器瓜人在散焊接女領(lǐng)域壩的應(yīng)們用最憤早是趁從汽階車(chē)裝結(jié)配生圾產(chǎn)線朝上的街電阻掘點(diǎn)焊固開(kāi)始誘的。浴原因員在于經(jīng)電阻械點(diǎn)焊麗的過(guò)獵程相閱對(duì)比臘較簡(jiǎn)梅單，塵控制喊方便臺(tái)，且神不需浪要焊愿縫軌屋跡跟輩蹤，挎對(duì)機(jī)沿器人雨的精狹度和鳴重復(fù)劈精度述的控茫制要清求比灣較低穴。點(diǎn)捕焊機(jī)裁器人隙在汽砍車(chē)裝探配生訊產(chǎn)線妥上的容大量感應(yīng)用廉大大壇提高蘿了汽奏車(chē)裝沃配焊欣接的污生產(chǎn)參率和憂焊接狹質(zhì)量止，同扇時(shí)又菊具有險(xiǎn)柔性祥焊接網(wǎng)的特兇點(diǎn)，漲即只蜻要改截變程尿序，速就可按在同建一條目生產(chǎn)司線上石對(duì)不擇同的花車(chē)型河進(jìn)行戶裝配著焊接格。

吳廁禮從機(jī)給器人服誕生全到本間世紀(jì)錦80疼年代片初，安機(jī)器秀人技州術(shù)經(jīng)理歷了強(qiáng)一個(gè)壯長(zhǎng)期蘿緩慢乎的發(fā)似展過(guò)蝶程。困到了議90勵(lì)年代擔(dān)，隨崗著計(jì)脾算機(jī)故技術(shù)宴、微去電子去技術(shù)茂、網(wǎng)盛絡(luò)技憂術(shù)等瑞的快使速發(fā)凈展，裙機(jī)器謝人技邁術(shù)也釋得到錯(cuò)了飛延速發(fā)泡展。饞工業(yè)搭機(jī)器陶人的譽(yù)制造艷水平康、控劑制速補(bǔ)度和商控制敢精度凝、可珍靠性透等不清斷提槽高，沫而機(jī)總器人糟的制偽造成幣本和公價(jià)格碎卻不踢斷下鮮降。付在西里方社獲會(huì)，捆和機(jī)霞器人道價(jià)格嗽相反熔的是授，人船的勞糖動(dòng)力岔成本燙有不虜斷增拴長(zhǎng)的猴趨勢(shì)尼。聯(lián)臺(tái)合國(guó)階歐洲浸經(jīng)濟(jì)投委員慢會(huì)(筍UN磨EC宜E)普統(tǒng)計(jì)燕從1漸99集0年謠至2在00鋤0年內(nèi)的機(jī)茂器人禿價(jià)格乞指數(shù)驕和勞勝動(dòng)力潑成本端指數(shù)怖的變奸化曲依線。杠其中假把牧19更90儉年的廊機(jī)器澡人價(jià)毀格指衣數(shù)和陷勞動(dòng)覆力成伶本指態(tài)數(shù)都崗作為此參考叮值1廢00搭，至枝20達(dá)00予年，題勞動(dòng)雀力成脊本指腿數(shù)為攝14亦0，銹增長(zhǎng)嚼了4訴0%睛；而煩機(jī)器罵人在汪考慮零質(zhì)量寺因素保的情芬況下商價(jià)格目指數(shù)題低于群20生，降脈低了陵80志%，議在不江考慮牧質(zhì)量敘因素略的情鍋況下雙，機(jī)描器人容的價(jià)包格指遍數(shù)約礙為4厘0，醫(yī)降低篩了6熄0%紫。這坐里，闖不考扇慮質(zhì)哪量因故素的項(xiàng)機(jī)器胖人價(jià)根格是討指現(xiàn)捐在的劑機(jī)器堡人實(shí)船際價(jià)憶格與語(yǔ)過(guò)去俊相比果較；付而考蹦慮質(zhì)渠量因殖素是艷指由憶于機(jī)環(huán)器人膝制造粘工藝驅(qū)技術(shù)脂水平叼的提茅高，縱機(jī)器胃人的煮制造脆質(zhì)量塵和性火能即沖使在挨同等收價(jià)格交的條奶件下補(bǔ)也要角比以禁前高依，因拳此，單如果泊按過(guò)嘗去的槽機(jī)器遇人同誘等質(zhì)宋量和蛇性能詳考慮泳，機(jī)醫(yī)器人遍的價(jià)書(shū)格指酒數(shù)應(yīng)倒該更倍低。錘爬奏摟由此厚可以場(chǎng)看出厘，在已西方胡國(guó)家肉，由座于勞悶動(dòng)力茫成本扶的提蹄高為牢企業(yè)傳帶來(lái)犬了不狗小的籮壓力吹，而毅機(jī)器甜人價(jià)淘格指吹數(shù)的束降低謊又恰峰巧為節(jié)其進(jìn)膠一步貓推廣滑應(yīng)用厘帶來(lái)泰了契須機(jī)。男減少先員工洞與增陷加機(jī)暑器人枝的設(shè)假備投遭資，獨(dú)在兩良者費(fèi)室用達(dá)騾到某色一平己衡點(diǎn)忍的時(shí)哄候，敞采用骨機(jī)器電人的污利顯朋然要拿比采栗用人妨工所列帶來(lái)愿的利景大，旋它一例方面宰可大疑大提猴高生底產(chǎn)設(shè)肺備的糠自動(dòng)黨化水胸平，御從而蜂提高乞勞動(dòng)珍生產(chǎn)具率，臥同時(shí)枝又可盈提升例企業(yè)娘的產(chǎn)炊品質(zhì)鋒量，下提高飼企業(yè)款的整沒(méi)體競(jìng)箱爭(zhēng)力腹。雖勵(lì)然機(jī)寄器人華一次科性投陵資比礦較大伏，但角它的魂日常脆維護(hù)處和消規(guī)耗相緣對(duì)于視它的孕產(chǎn)出胃遠(yuǎn)比污完成別同樣和任務(wù)因所消庫(kù)耗的賴人工棗費(fèi)用戰(zhàn)小。貍因此烈，從此長(zhǎng)遠(yuǎn)煎看，拳產(chǎn)品餃的生絨產(chǎn)成蜘本還甜會(huì)大兩大降泡低。梨而機(jī)討器人口價(jià)格協(xié)的降征低使桃一些皺中小紀(jì)企業(yè)預(yù)投資木購(gòu)買(mǎi)大機(jī)器含人變語(yǔ)得輕瞇而易燭舉。縫因此抱，工擾業(yè)機(jī)通器人芝的應(yīng)益用在殃各行含各業(yè)皇得到賠飛速假發(fā)展淋。根辟據(jù)U心NE妖CE擴(kuò)的統(tǒng)拍計(jì)，刑20躺01街年全耳世界令有7熱5萬(wàn)框臺(tái)工脾業(yè)機(jī)河器人獄用于銳工業(yè)商制造有領(lǐng)域郊，其槐中3效8.孩9萬(wàn)捏在日酬本、公19中.8昆萬(wàn)在例歐盟活、9村萬(wàn)在市北美距，7黎.3沿萬(wàn)在仁其余敏國(guó)家罰。至綿20列04袖年底油全世奔界在戲役的雖工業(yè)字機(jī)器伸人至唯少有咬約1馬00于萬(wàn)?；噬讵z掉由于則機(jī)器趟人控握制速輩度和舅精度柳的提棚高，佳尤其自是電撥弧傳都感器塔的開(kāi)遍發(fā)并派在機(jī)遙器人洪焊接智中得否到應(yīng)鹿用，靜使機(jī)祖器人悲電弧促焊的歐焊縫浸軌跡辣跟蹤香和控此制問(wèn)淹題在票一定驕程度能上得啞到很帽好解翠決，鮮機(jī)器吵人焊評(píng)接在虧汽車(chē)鄙制造撿中的震應(yīng)用灰從原盛來(lái)比然較單粥一的那汽車(chē)紅裝配艦點(diǎn)焊綠很快爽發(fā)展勸為汽床車(chē)零藏部件賤和裝用配過(guò)跪程中無(wú)的電叨弧焊傻。機(jī)蘋(píng)器人詠電弧抱焊的遲最大區(qū)的特閘點(diǎn)是積柔性見(jiàn)，即旋可通餃過(guò)編評(píng)程隨胞時(shí)改尿變焊義接軌韻跡和屯焊接舅順序僑，因乖此最清適用釋于被魯焊工鬼件品去種變蠢化大逗、焊卡縫短嘆而多割、形域狀復(fù)挑雜的竊產(chǎn)品賭。這改正好舅又符省合汽擦車(chē)制無(wú)造的軋?zhí)攸c(diǎn)迅。尤栗其是也現(xiàn)代區(qū)社會(huì)共汽車(chē)焰款式票的更遞新速具度非厲?？鞌r，采欺用機(jī)拍器人素裝備遙的汽宅車(chē)生扮產(chǎn)線曾能夠納很好拘地適匯應(yīng)這較種變戲化?；疰湵硗獾?，機(jī)僻器人明電弧盯焊不債僅用晴于汽憑車(chē)制挪造業(yè)下，更智可以呆用于執(zhí)涉及靈電弧龜焊的歌其它鐘制造勞業(yè)，槍如造粘船、贈(zèng)機(jī)車(chē)孤車(chē)輛凍、鍋荷爐、膝重型因機(jī)械淺等等保。因班此，崗機(jī)器屢人電最弧焊唐的應(yīng)伸用范蚊圍日腰趨廣數(shù)泛，套在數(shù)周量上刑大有襪超過(guò)塘機(jī)器監(jiān)人點(diǎn)宿焊之咐勢(shì)。叔捆已斯隨著所汽車(chē)償輕量菜化制嗓造技掙術(shù)的過(guò)推廣嗚，一弓些高蓄強(qiáng)合蕉金材膠料和鹿輕合樹(shù)金材杜料(兇如鋁屠合金企、鎂較合金檢等)武在汽今車(chē)結(jié)譯構(gòu)材巡料中裳得到赤應(yīng)用污。這寧些材預(yù)料的牢焊接撓往往暮無(wú)法葡用傳至統(tǒng)的蝴焊接喊方法即來(lái)解哨決，僻必須束采用影新的榜焊接歉方法那和焊跌接工紛藝。柜其中攝高功稼率激島光焊父和攪蜓拌摩徹擦焊虎等最乒具發(fā)麻展?jié)搼c力。飛因此啟，機(jī)褲器人掩與高叫功率會(huì)激光橡焊和斗攪拌情摩擦蜜焊的可結(jié)合紡將成設(shè)為必拍然趨喉勢(shì)。慰事實(shí)蒙上，倉(cāng)像上嘗海大蔥眾等畏國(guó)內(nèi)聲最具貢實(shí)力隊(duì)的汽碌車(chē)制安造商謙在他縣們的段新車(chē)請(qǐng)型制售造過(guò)擾程中腸已經(jīng)臂大量候使用沫機(jī)器瘦人激句光焊下接。肥籠誼和機(jī)無(wú)器人迷電弧夜焊相您比，肉機(jī)器刑人激沉光焊識(shí)的焊膊縫跟厲蹤精刮度要大求更兆高。疾根據(jù)爽一般惹的要董求，仗機(jī)器架人電祥弧焊悉(包煮括G背TA殃W和切GM態(tài)AW挎)的儀焊縫余跟蹤雄精度吉必須竄控制椒在電羞極或想焊絲慕直徑溉的1粉/2冷以內(nèi)鬧，在嘉具有抗填充奏絲的宇條件球下焊阿縫跟板蹤精允度可便適當(dāng)好放寬毀。但掃對(duì)激蘆光焊儉而言青，焊簡(jiǎn)接時(shí)政激光材照射制在織工件疫表面好的光亮斑直敗徑通傭常在月0.雞6以敘內(nèi)，爽遠(yuǎn)小盡于焊衡絲直讀徑(址通常棕大于全1.什0)涌，而碧激光爽焊接放時(shí)通董常又稻不加牢填充棵焊絲竹，因斧此，微激光白焊接回中若絡(luò)光斑永位置筒稍有紛偏差科，便污會(huì)造歸成偏傭焊、斥漏焊處。因欣此，常上海發(fā)大眾井的汽硬車(chē)車(chē)擦頂機(jī)化器人食激光式焊除礎(chǔ)了在牽工裝按夾具陡上采兇取措繡施防管止焊啦接變庫(kù)形外葡，還查在機(jī)呼器人降激光及焊槍候前方售安裝壁了德箭國(guó)S啦CO停UT塞公司隱的高劍精度寧激光咸傳感漁器用業(yè)于焊眼縫軌被跡的鹽跟蹤絞。

工業(yè)機(jī)器人的結(jié)構(gòu)形式很多，常用的有直角坐標(biāo)式、柱面坐標(biāo)式、球面坐標(biāo)式、多關(guān)節(jié)坐標(biāo)式、伸縮式、爬行式等等，根據(jù)不同的用途還在不斷發(fā)展之中。焊接機(jī)器人根據(jù)不同的應(yīng)用場(chǎng)合可采取不同的結(jié)構(gòu)形式，但目前用得最多的是模仿人的手臂功能的多關(guān)節(jié)式的機(jī)器人，這是因?yàn)槎嚓P(guān)節(jié)式機(jī)器人的手臂靈活性最大，可以使焊槍的空間位置和姿態(tài)調(diào)至任意狀態(tài)，以滿足焊接需要。理論上講，機(jī)器人的關(guān)節(jié)愈多，自由度也愈多，關(guān)節(jié)冗余度愈大，靈活性愈好；但同時(shí)也給機(jī)器人逆運(yùn)動(dòng)學(xué)的坐標(biāo)變換和各關(guān)節(jié)位置的控制帶來(lái)復(fù)雜性。因?yàn)楹附舆^(guò)程中往往需要把以空間直角坐標(biāo)表示的工件上的焊縫位置轉(zhuǎn)換為焊槍端部的空間位置和姿態(tài)，再通過(guò)機(jī)器人逆運(yùn)動(dòng)學(xué)計(jì)算轉(zhuǎn)換為對(duì)機(jī)器人每個(gè)關(guān)節(jié)角度位置的控制，而這一變換過(guò)程的解往往不是唯一的，冗余度愈大，解愈多。如何選取最合適的解對(duì)機(jī)器人焊接