【正文】 機(jī)器人的結(jié)構(gòu)更加靈巧，控制系統(tǒng)愈來(lái)愈小，二者正朝著一體化方向發(fā)展。 焊接機(jī)器人發(fā)展趨勢(shì) 目前國(guó)際機(jī)器人界都在加大科研力度，進(jìn)行機(jī)器人共性技術(shù)的研究。如 Workspace RobotStudio 等。目前解決的方法有 2 種： 一是示教編程時(shí)只是粗略獲取幾個(gè)焊縫軌跡上的幾個(gè)關(guān)鍵點(diǎn)，然后通過(guò)焊接機(jī)器人的視覺(jué)傳感器 (通常是電弧傳感器或激光視覺(jué)傳感器 )自動(dòng)跟蹤實(shí)際的焊縫軌跡。 9 一般來(lái)講，具有 6 個(gè)關(guān)節(jié)的機(jī)器人基本上能滿(mǎn)足焊槍的位置和空間姿態(tài)的控制要求，其中 3 個(gè)自由度 (XYZ)用于控制焊槍端部的空間位置，另外 3 個(gè)自由度 (ABC)用于控制焊槍的空間姿態(tài)。但對(duì)激光焊而言，焊接時(shí)激光照射在 工件表面的光斑直徑通常在 以?xún)?nèi)，遠(yuǎn)小于焊絲直徑 (通常大于 )，而激光焊接時(shí)通常又不加填充焊絲，因此，激光焊接中若光斑位置稍有偏差，便會(huì)造成偏焊、漏焊。因此，機(jī)器人電弧焊的應(yīng)用范圍日趨廣泛，在數(shù)量上大有超過(guò)機(jī)器人點(diǎn)焊之勢(shì)。因此，工業(yè)機(jī)器人的應(yīng)用在各行各業(yè)得到飛速發(fā)展。聯(lián)合國(guó)歐洲經(jīng)濟(jì)委員會(huì) (UNECE)統(tǒng)計(jì)從 1990 年至 2020年的機(jī)器人價(jià)格指數(shù)和勞動(dòng)力成本指數(shù)的變化曲線(xiàn)。由于電弧焊接過(guò)程中有強(qiáng)烈弧光、電弧噪音、煙塵、熔滴過(guò)渡不穩(wěn)定引起的焊絲短路、大電流強(qiáng)磁場(chǎng)等復(fù)雜的環(huán)境因素的存在，機(jī)器人要檢測(cè)和識(shí)別焊縫所需要的信號(hào)特征的提取并不像工業(yè)制造 中其它加工過(guò)程的檢測(cè)那么容易，因此，焊接機(jī)器人的應(yīng)用并不是一開(kāi)始就用于電弧焊過(guò)程的。這些焊接機(jī)器人中有的是為某種焊接方式專(zhuān)門(mén)設(shè)計(jì)的，而大多數(shù)的焊接機(jī)器人其實(shí)就是通用的工業(yè)機(jī)器人裝上某種焊接工具而構(gòu)成的。The applied scale is small, didn39。t exert a homology. Is general to e to speak, have 6 controls request of positions and space carriages that the robots of joints basically can satisfy a Han gun, 3 among those freedoms degree(XYZ) space position used for controling a Han gun to carry a department, another 3 freedom degrees(ABC) are used for the space carriage that controls a Han , currently weld robot majority as 6 joint types. For some weld situation, work piece because of leading big or the space is several what the shape is too plicated, make the Han gun of welding the robot can not arrive appointed Han to sew position or Han gun carriage, have to pass the freedom degree of the way increment robot of increasing 1~3 exterior stalks at this have two kinds of way of doings:One is the orbit that the robot Be packed to to move small car or Dragon gate up, the homework space of extension robot。And consider that the quality factor means because the robot make the exaltation of craft technique level, manufacturing quality and function of robot even if want also under the condition of equal price pare high before, therefore, if pressed the past robot equaled quality and function to consider, the price index number of robot should be much lower. Can see from here, national in the west, because the exaltation of labor force cost brings not small pressure for business enterprise, but the lowering of robot price index number coincidentally expands application to bring a chance further for it the equipments investment of employee and increment robot, when their expenses attains some one balance point, the benefit of adoption robot obviously wants to pare to adopt the benefit that the artificial brings big, it on the other hand can consumedly raise the automation level of producing the equipments and raise to labor rate of production thus, at the same time again can promote the product quality of business enterprise, raise the whole petition ability of business robot 1 time invests a little bit greatly, its daily maintenance and consume is more opposite than its to producing far is smaller than pleting the artificial expenses that the same task , from farsighted see, the production cost of product also consumedly the robot price lower to make some small and medium enterprises invest to purchase robot to bee easy to , the application of industrial robot is soon flown a development in every to the UNECE statistics, the whole world has 750,000 in 2020 set the industrial robot is used for industry manufacturing realm, among them 389,000 in Japan, 198,000 in EU, 90,000 in North America, 73,000 at rest to at the end of 2020 the whole world to have at least in the industrial robot of service about 1,000,000. Because the robot controls the exaltation of speed and accuracy and particularly give or get an electric shock the development that the Hu spreads a feeling machine to bine to weld in the robot in get an application, make the robot give or get an electric shock the Han of Hu Han to sew a track to follow and control a problem to some extent and get very solution, the robot welds in the car to make the medium application orders Han to soon develop into the car zero from originally more single car assemble partses and electricity Hu within 3 assemble process 39。s welding robot is in fact welding to produce realm to replace a welder to be engaged in the industrial robot of welding the weld to have plenty of to design for being a certain to weld a way exclusively in the robot of, but majority ofly weld robot in fact is an in general use industrial robot to pack up a certain weld tool but many task environments, a set robot even can plete include weld at inside of grasp a thing, porterage, install, weld, unload to anticipate etc. various tasks, robot can request according to the procedure with task property and automatically replace the tool on the robot wrist, the pletion corresponds of , e up to say from a certain meaning, the development history of industrial robot is the development history that welds robot. Know to all, weld to process to request that welder have to have welltrained operation technical ability, abundant fulfillment experience, stability of weld level。s, along with the rapid development of calculator technique, microelectronics technique, and work technique...etc., the robot technique is also flown soon a manufacturing level, control speed and control accuracy and dependable sex etc.