【正文】 labor strength, can also promise to weld quality and exaltation to weld an efficiency at the same time. However, weld again with other industry process process different, for example, electricity Hu Han process in, drive welder piece because of part heat melt with cool off creation transform, the Han sews of the track will therefore take place to Han the experienced welder can sew position according to the actual Han observed by eyes adjustment Han in good time the position, carriage of the gun and run about of speed to adapt to the variety that the Han sews a the robot want to adapt to this kind of variety, have to the position and status of gun that want tosee this kind of to change, then adopt homologous measure to adjust Han like person first, follow while carrying out to sew actually to the the electricity Hu welds to have in process strong arc light, give or get an electric shock Hu noise, smoke and dust and Rong drop transition unsteady and causable Han silk short circuit, big electric current strong magic field etc. plicated environment factor of existence, the robot wants to examine and identifies a withdrawing of the signal characteristic needed for sewing Han and don39。 1 Weld robot application present condition According to inpletely statistics, the whole world about has in the industrial robot of service nearly half of industrial robots is used for multiform weld to process realm, weld robot of application in mainly have two kinds of methods most widespreadly, then order Han and electricity Hu we say39。t seem to be industrial the other in the manufacturing to process the examination of process so easily, therefore, welding the application of robot is to used for to give or get an electric shock the process of Hu Han in the beginning. Actually, industrial robot at welded the application of realm to produce online electric resistance to order a Han beginning from the car assemble at the earliest reason lies in the process that the electric resistance orders Han opposite more simple, control convenient, and not need Han to sew a track follow, to the accuracy of the robot and repeat the control of accuracy have lower the Han robot assembles to produce a great deal of online application to consumedly raise the rate of production that the car assemble welds and weld quality in the car, at the same time again have a gentle characteristics for welding, then want ～ only change procedure, can produce in the same online carry on assemble to weld to 2 different cars type. BE born till the beginning of this 8039。But robot under the sistuation that consider a quality factor the price index number is lower than 20, lowered 80%, under the sistuation that take no account of a quality factor, the price index number of robot is about 40, lowered 60%.Here, the robot price that takes no account of a quality factor means actual price of the robot of now with pared in the past。 welding usually can not solve with the welding of tradition method, have to adopt to lately weld a method and weld a them, Gao power laser Han and agitation rub Han etc. to have to develop a potential most .Therefore, robot and Gao power laser Han and agitation rub bining of Han to bee inevitable like the public in Shanghai to wait domestic to most have the car manufacturer of real strenght in fact at their new car type manufacturing process in have already in great quantities used robot laser to weld. Give or get an electric shock Hu Han to pare with robot, robot laser the Han of the Han sews to follow accuracy to have higher to the general request, the robot gives or gets an electric shock the Han of Hu Han(include GTAW and GMAW) to sew to follow accuracy to control in 1| of the electrode or the Han silk diameter 2 in, at have the condition that fill the silk under the Han sew to follow accuracy to loosen to laser Han, the laser projects light upon the light spot in the work piece surface while welding diameter usually at in, is farer small than Han silk diameter(be usually bigger than ), but the laser weld usually and not add to fill Han silk, therefore, the laser is welding if only the spot position has a little bit deviation, then will result in to be partial to Han and leak , the robot laser of the public in Shanghai39。t unique, the redundancy degree is big, solve more many select by examinations the steady that the quite the cheese solution welds to exercise in the process to the robot very treatment of system to this problem of the robot control doesn39。t need participation of offline plait distance as early as several years ago have, just in order to being subjected to restriction of the calculator function at that time, offline plait distance software with text originally way is lord, wove a distance member to need to acquaint with the all instruction systems and phrasing of robot, also needed to know how made sure that the space position that the Han sews a track sits a mark, therefore, wove a distance work to not and easily save with exaltation and calculator of the calculator function 3D sketch technical development, present robot offline plait distance system majority can under the 3D sketch environment movement, the pla