【正文】 s many scholars see such a direction, has begun to make a robot research But this time, are basically confined to the theory of phase .Then the real robot research, in 7500 August 5, 1995, 15 nearly 20 years of development, The most rapid development, in 1986 we established a national plan of 863 hightechnology development plan, As robot technology will be an important theme of the development of The state has invested nearly Jiganyi funds begun to make a robot, We made the robot in the field quickly and rapid development. At present, units like the CAS ShenYng Institute of Automation, the original machinery, automation of the Ministry, as of Harbin Industrial University, Beijing University of Aeronautics and Astronautics, Qinghua University, Chinese Academy of Sciences, also includes automation of some units, and so on have done a very important study, also made a lot of achievements Meanwhile, in recent years, we end up in college, a lot of flats in robot research, Many graduate students and doctoral candidates are engaged in robotics research, we are more representative national study Industrial robots, underwater robots, space robots, robots in the nuclear industry areon the international level should be taking the lead .On the whole of our country Compared with developed countries, there is still a big gap, primarily manifested in the We in the robot industry, at present there is no fixed maturity product, but in these underwater, space, the nuclear industry, a number of special robots, we have made a lot of achievements characteristics. Now, I would like to briefly outline some of the industrial robot situation. So far, the industri。 Robots are three stages of development, in other words, we are accustomed to regarding robots are divided into three categories. is a firstgeneration robots, also known as teachtype robot, it is through a puter, to control over one of a mechanical degrees of freedom Through teaching and information stored procedures, working hours to read out information, and then issued a directive so the robot can repeat according to the people at that time said the results show this kind of movement again, For example, the car spot welding robots, only to put this spot welding process, after teaching, and it is always a repeat of a work It has the external environment is no perception that the force manipulation of the size of the work piece there does not exist, welding 0S It does not know, then this fact from the first generation robot, it will exist this shorting, it in the 20th century, the late 1970s, people started to study the secondgeneration robot, called Robot with the feeling that This feeling with the robot is similar in function of a certain feeling, for instance, force and touch, slipping, visual, hearing and who is analogous to that with all kinds of feelings, say in a robot grasping objects, In fact, it can be the size of feeling out, it can through visual, to be able to feel and identify its shape, size, color Grasping an egg, it adopted a acumen, aware of its power and the size of the slide. Thirdgeneration robots, we were a robotics ideal pursued by the most advanced stage, called intelligent robots, So long as tell it what to do, not how to tell it to do, it will be able to plete the campaign, thinking and perception of this manmachine munication function and function Well, this current development or relative is in a smart part of the concept and meaning But the real significance of the integrity of this intelligent robot did not actually exist, but as we continued the development of science and technology, the concept of intelligent increasingly rich, it grows ever wider connotations. Now I have a brief account of China39。s economic development. But they also demand the development of the productive forces the inevitable result of human development itself is the inevitable result then with the development of humanity, people constantly discuss the natural process, in understanding and reconstructing the natural process, people need to be able to liberate a slave. So this is the slave people to be able to replace the plex and engaged in heavy manual labor, People do not realize right up to the world39。 最后，向我的父親母親致謝，感謝他們對我的養(yǎng)育之恩。同時我還要感謝在我學(xué)習(xí)期間給我極大關(guān)心和支持的各位老師以及關(guān)心我的同學(xué)和朋友。在大學(xué)階段，我在學(xué)習(xí)上和思想上都受益非淺，這除了自身的努力外，與各位老師、同學(xué)和朋友的關(guān)心、支持和鼓勵是分不開的。另外在晶界還析出鉻碳化物，合金添加元素有時也生成相應(yīng)的碳化物。鋼中的碳有活性隨鎳含量的增加而增加，隨鉻含量的增加而減少。在通常作為固溶熱處理溫度1000℃附近，碳的固溶量可達(dá)到最高，但當(dāng)溫度低于800℃時固溶量急劇下降而產(chǎn)生碳化物。這種不銹鋼具有良好的低溫和高溫性能，焊接性比較好，但是這種鋼的晶界腐蝕比較嚴(yán)重，所以解決晶界腐蝕已經(jīng)成為現(xiàn)在研究的一個方向。這種不銹鋼以及同類的奧氏體不銹鋼將是以后研究開發(fā)的重點(diǎn)方向。對于焊接接頭，“高溫過熱”這一條件是由焊接熱作用過程自然形成的，因此只需要進(jìn)行一次“中溫敏化”處理，就可根據(jù)GB122375標(biāo)準(zhǔn)進(jìn)行晶間腐蝕試驗(yàn)。 ②在工藝上，盡量減小近縫區(qū)過熱，特別要避免在焊接過程中就產(chǎn)生“中溫敏化”的加熱效果。這樣，由于“高溫過熱”和“中溫敏化”這兩個依次進(jìn)行的熱作用過程，造成了含穩(wěn)定化元素的188鋼特殊的晶間腐蝕，這種腐蝕只發(fā)生在緊靠焊縫的過熱區(qū)3—5個晶粒范圍，在工件表面上較寬，向接頭內(nèi)部逐漸變窄，呈刀形，故又稱“刀蝕”。此時，奧 氏體晶粒內(nèi)和晶界碳化物由于含 鉻量高而帶正電位，而貧鉻層由于含鉻量低于12%而帶我，負(fù)電位。溫度愈高，TiC分解后合金元素碳和鉻的固溶量愈多，碳化物析出量愈大。 當(dāng)上述過熱區(qū)再次受到600—800中溫敏化加熱或長期 工作在上述溫度范圍時，碳原子優(yōu)先以很快的速度向晶界擴(kuò)散。在隨 后的冷卻過程中，由于碳原子的體積很小，擴(kuò)散能力比鈦原子強(qiáng)，碳原子趨于向奧氏體晶界擴(kuò)散遷移，而鈦原子則來不及擴(kuò)散仍保留在奧氏體點(diǎn)陣節(jié)點(diǎn)上。產(chǎn)生貧鉻層，有晶問腐蝕傾向。 敏化區(qū) 加熱 峰值溫度在600—1000的區(qū)域，組織無明顯變化。奧氏體不銹鋼的焊接接頭，通常可分為以下幾個區(qū)域： 焊縫金屬 主要為柱狀樹枝晶，是單相奧氏體組織還是雙相組織，將取決于母材和填充金屬的化學(xué)成分。同時產(chǎn)生脆性組織傾向增大容易造成脆斷，且偏析區(qū)成分不均勻更易腐蝕。同時，由于大線能量時在450℃850℃敏化區(qū)停留時間延長，敏化傾向增加，更易形成貧鉻層。 可以看到此處焊縫組織由于熱輸入量大，焊縫柱狀樹枝晶組織粗大，使柱狀晶各向異性明顯，同時結(jié)晶時的成分偏析使柱狀樹枝晶晶界區(qū)成分不均勻，這將導(dǎo)致焊縫中心產(chǎn)生熱裂紋的危險提高，規(guī)范焊接電流時的焊縫柱狀晶相比，后者柱狀晶粒相對較細(xì)小，并且各向異性不太明顯，使最后結(jié)晶時偏析區(qū)域有所改善，降低了產(chǎn)生熱裂紋的傾向。隨著焊接線能量的增加,熱量輸入增加,溫度升高,散熱速度慢,柱狀晶和枝晶變粗。焊縫晶粒始于母材晶粒,止于焊縫中心。3. 實(shí)驗(yàn)結(jié)果分析最后拍制的金相照片 下面的圖像焊接接頭的微觀形貌。待試樣表面被浸蝕得略顯灰暗時即刻取出，用流動水沖洗后在浸蝕面上滴些酒精，再用濾紙吸去過多的水和酒精，迅速用吹風(fēng)機(jī)吹干，完成整個制備試樣的過程[8]。也可以用沾有浸蝕劑的棉花輕輕擦拭拋光面，觀察表面顏色的變化。經(jīng)檢查后合格的試樣可以放在浸蝕劑中，拋光面朝上，不斷觀察表面顏色的變化。將拋光后的試樣用水沖洗同時用脫脂棉擦凈磨面，然后用濾紙吸去磨面上過多的水，吹干后用顯微鏡檢查磨面上是否有道痕、水跡等。但多相合金的組成相比較復(fù)雜，用一種浸蝕劑來顯示多種相是難以作到的，只有采用選擇浸蝕法及薄膜浸蝕法等專門方法才行。結(jié)果產(chǎn)生了兩相之間的高度差。這是因?yàn)槊總€晶粒原子排列的位向不同，浸蝕后，以最密排面為主的外露面與原拋光面之間傾斜程度不同的緣故。如圖119b所示。晶粒內(nèi)部被浸蝕程度較輕，大體上仍保持原拋光平面。純金屬(或單相均勻固溶體)的浸蝕基本上為化學(xué)溶解過程。5． 浸蝕拋光后的試樣在金相顯微鏡下觀察，只能看到光亮的磨面，如果有劃痕、水跡或材料中的非金屬夾雜物、石墨以及裂紋等也可以看出來，但是要分析金相, 組織還必須進(jìn)行浸蝕。目前，人造金剛石研磨膏( W15 W25