【正文】 then spread a feeling machine(usually is give or get an electric shock Hu to spread feeling machine or laser sense of vision to spread a feeling machine) through the sense of vision of welding the robot of auto follow the actual Han sew a this way 6 still cans not get away from to show to teach a plait distance,this way cans ease to show the strength of teaching the plait distance to some extent and raises to weave a distance because of the characteristics of electricity Hu Han, the sense of vision of robot spreads a feeling machine be not sew forms to all apply to all Hans. Two is the way that adopts a pletely offline plait distance, make the robot weld drawing up of procedure and Han to sew a track to sit to mark adjusting of obtaining of position, and procedure to try all to pute in a set to independently plete on board, don39。s 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 2 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。 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 agitatio n 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。s robot pany, have already merged robot the parallelogram structure change to opening chain structure and expand the work scope of robot, the application of light quality aluminum metal alloy material add, consumedly raise the function of RV that in addition adopts a forerunner decelerates a machine and municates servo electrical engineering, make robot operation machine almost bee don39。點(diǎn)焊機(jī)器人在汽車(chē)裝配生產(chǎn)線上的大量應(yīng)用大大提高了汽車(chē)裝配焊接的生產(chǎn)率和焊接質(zhì)量，同時(shí)又具有柔性焊接的特點(diǎn)，即只要改變程序，就可在同一條生產(chǎn)線上對(duì)不同 的車(chē)型進(jìn)行裝配焊接。 由于機(jī)器人控制速度和精度的提高，尤其是電弧傳感器的開(kāi)發(fā)并在機(jī)器人焊接中得到應(yīng)用，使機(jī)器人電弧焊的焊縫軌跡跟蹤和控制問(wèn)題在一定程度上得到很好解決，機(jī)器人焊接在汽車(chē)制造中的應(yīng)用從原來(lái)比較單一的汽車(chē)裝配點(diǎn)焊很快發(fā)展為汽車(chē)零部件和裝配過(guò)程中的電弧焊。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。 二是采取完全離線編程的辦法，使機(jī)器人焊接程序的編制 、焊縫軌跡坐標(biāo)位置的獲取、以及程序的調(diào)試均在一臺(tái)計(jì)算機(jī)上獨(dú)立完成，不需要機(jī)器人本身的參與。 探索新的高強(qiáng)度輕質(zhì)材料，進(jìn)一步提高負(fù)載 /自重比。此外采用先進(jìn)的 RV減速器及交流伺服電機(jī)，使機(jī)器人操作機(jī)幾乎成為免維護(hù)系統(tǒng)。隨著計(jì)算機(jī)性能的提高和計(jì)算機(jī)三維圖形技術(shù)的發(fā)展，如今的機(jī)器人離線編程系統(tǒng)多數(shù)可在三維圖形環(huán)境下運(yùn)行，編程界面 友 好、 方便 ，而 且， 獲取 焊縫 軌跡 的坐 標(biāo)位 置通 ?？?以采 用 “ 虛擬示教 ”(virtual Teachin)的辦法，用鼠 標(biāo)輕松點(diǎn)擊三維虛擬環(huán)境中工件的焊接部位即可獲得該點(diǎn)的空間坐標(biāo)；在有些系統(tǒng)中，可通過(guò) CAD 圖形文件中事先定義的焊縫位置直接生成焊縫軌跡，然后自動(dòng)生成機(jī)器人程序并下載到機(jī)器人控制系統(tǒng)。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。這正好又符合汽車(chē)制造的特點(diǎn)。到了 90 年代，隨著計(jì)算機(jī)技術(shù)、微電子技術(shù)、網(wǎng)絡(luò)技術(shù)等的快速發(fā)展，機(jī)器人技術(shù)也得到了飛速發(fā)展。From joint mold piece, connect a pole mold piece is constructed robot the whole machine with the reanization method。s arm function to weld what robot can adopt a different structure form according to the applied situation of dissimilarity, but use at most currently, this because the arm vivid of many joint type robots is the biggest, it can make space position and carriage of Han gun adjust into arbitrarily the status weld by satisfying a speak, the joint of robot is many more, the freedom degree is also many more, the joint redundancy degree is big more, and