外文翻譯---焊接機(jī)器人應(yīng)用現(xiàn)狀

1、<p><b>　　附錄一 外文翻譯</b></p><p><b>　　英文原文</b></p><p>　　Weld robot application present condition</p><p>　　According to incomplete statistics, the world'

2、;s industrial robots in service in about nearly half of the industrial robots used in the field of all forms of welding process, welding robot applications, the most popular play, there are two main methods, spot welding

3、 and electric arc welding. We call the welding robot is actually a place in the field of welding production welder in the industrial robot welding task. Some of these welding robots designed as some kind of welding, and

4、in fact most of</p><p>　　It is well known that welding process requires skilled welders have skills, rich experience, stable welding level: it is a poor working conditions, smoke more, heat radiation large,

5、high-risk work. The emergence of industrial robots People naturally think first of people use it to replace manual welding, the welder to reduce the labor intensity, but also can ensure the welding quality and improve th

6、e welding efficiency.</p><p>　　However, welding and other industrial processes are different, such as arc welding process, welding parts by heating and melting and cooling due to local deformation, weld path

7、 will thus change. Hand experience of the welder when welding can be observed under the eyes of the actual location of timely adjustment of the weld torch position, posture and walking speed to adapt to changes in the we

8、ld path. However, the robot must adapt to this change, you must first like people to "see" the change, a</p><p>　　In fact, the industrial robot applications in the field of welding the first automo

9、bile assembly line from the resistance spot welding began. The reason is that the process of resistance spot welding is relatively simple, convenient control, and does not require seam tracking, the robot accuracy and re

10、peatability of control playing a relatively low demand. Spot welding robots in the automotive assembly line of a large number of applications greatly enhance the productivity of the automotive asse</p><p>　　

11、Robot birth from the early 80s of this century, robot technology has gone through a long slow process of development. In 90s, with computer technology, microelectronic technology, the rapid development of network technol

12、ogy, robotics technology has been rapid development. Industrial robot manufacturing level, control the speed and the accuracy, reliability was being improved all the time, while the robot manufacturing costs and prices h

13、ave been declining. In Western society, and the robot prices</p><p>　　It can be seen in Western countries, because labor costs for enterprises to bring considerable pressure, the robot has happened to reduce

14、 the price index for the further application brings opportunity. Reduce staff and increase the robot's equipment investment costs reach a certain balance between the two points when the interest is clearly using the

15、robot than the benefits brought about by a large artificial one hand, it can greatly improve the level of automation of production equipment to imp</p><p>　　As the robot control the speed and accuracy improv

16、ed, especially the development of arc sensor and has been applied in robot welding, arc weld robot trajectory tracking and control to some extent been solved, robotic welding Manufacturing in the automotive comparison fr

17、om the original spot a single vehicle assembly and auto parts will soon develop in the arc welding assembly process. robot arc welding is characterized by the greatest flexibility, you can change at any time by programmi

18、ng the tra</p><p>　　In addition, arc welding robot not only for the automotive industry, but also can be used for arc welding involved in other manufacturing industries such as shipbuilding, rolling stock, b

19、oilers, heavy machinery and so on. Therefore, the scope of application of arc welding robots becoming more widely in the number of great spot on the trend over the robot. </p><p>　　As the car lighter manufac

20、turing technologies, a number of high-strength alloys and light alloys (such as aluminum, magnesium alloy, etc.) in the automotive structural materials in the applications. Welding of these materials often can not solve

21、the traditional welding methods, must be introduction of new welding method and welding process. Including high-power laser welding and friction stir welding, and so the most development potential, therefore, robots and

22、high-power laser welding and frict</p><p>　　And robotic arc welding compared to laser welding seam tracking robot playing the sake of higher accuracy. Under the general requirements of robotic arc welding (i

23、ncluding GTAW and GMAW) weld seam tracking accuracy must be controlled at the electrode or wire diameter of 1 / 2 or less, with the filling yarn in the seam tracking accuracy under the conditions may be relaxed. However,

24、 in terms of laser welding, laser welding spot diameter at the surface is usually less than 0.6, far less than the wi</p><p>　　There is many forms of industrial robots’ structure, commonly used rectangular t

25、ype, cylindrical coordinate type, spherical coordinates, multi-joint coordinate type, telescopic, crawling, etc., depending on the use of welding robots are constantly evolving According to different applications can tak

26、e the form of a different structure, but the most used function is to mimic human multi-articulated arm robots, it is because multi-joint robot arm and maximum flexibility, you can make the gun spatia</p><p>

27、;　　In general, the robot has six joints can basically satisfy the gun position and attitude control of space requirements, of which three degrees of freedom (XYZ) used to control the spatial location of the end of the gu

28、n, the other three degrees of freedom (ABC ) used to control the torch space posture. Therefore, at present most of the welding robot 6 joint style. </p><p>　　For some welding situations, the work piece is t

29、oo large or the space where the shape of what is too complex, so that the welding robot welding gun can not reach the specified location or torch posture, then to 1-3 by adding external axis of ways to increase the robot

30、 degrees of freedom. There are two approaches: First, the robot can move the track installed in the car or gantry rack, and expand the operating space robot itself: the second is to move or rotate the workpiece, the weld

31、ing on the w</p><p>　　Welding robot programming method of teaching is still the online mode (Teach-in) based, but the programmer's interface has been improved a lot than in the past, particularly the ado

32、ption of the LCD graphics display for the new welding robot programming interface more friendly, more easily. However, when programming the robot weld path coordinate position on the key points must still be obtained thr

33、ough the teaching methods, and procedures for the movement into commands for a number of complex sh</p><p>　　First, teaching programming is a rough track to get some weld on a few key points, and then weldin

34、g robot vision sensor (usually the arc sensor or laser vision sensor) automatically track the actual weld path. Although this method still can not do without teaching programming, but to some extent, reduce the intensity

35、 of teaching programming to improve the efficiency of programming itself, but because of the characteristics of arc welding, robot vision sensor does not apply to all forms of welds.</p><p>　　Second, the app

36、roach taken completely off-line programming, the establishment of the robot welding procedures, weld trajectory coordinates of the location of access, and debugging were completed independently on a computer, without the

37、 participation of the robot itself. Robot off-line programming back in there years ago, but because the performance was limited by the computer, offline programming software, mainly in text mode, the robot programmer to

38、be familiar with all the playing and grammar </p><p>　　China's industrial robot from the 80's "Plan" science and technology research started, the current has basically mastered the robotic

39、machine design and manufacturing technology, the control system hardware and software design, kinematics and trajectory planning techniques, producing some of the machines were key components to develop a painting, weldi

40、ng, spot welding, assembly, handling and other robot: Arc welding robot has been used in automobile factory welding line. but, in general, China's</p><p>　　Current production is to be a robot playing the

41、 user's request, re-design single-family single, variety specifications, quantities of small, low degree of component commonality long lead times, cost is not low, and the quality, reliability instability. There is a

42、n urgent need to address the early industrialization of key technologies, the product of a comprehensive plan, do a good job series, universal, modular design, and actively promote the process of industrialization. </

43、p><p>　　Third, the development trend of welding robot </p><p>　　The international robotics communities are increasing research efforts, the generic technology of the robot. From the development tre

44、nd of robot technology, welding robots and other industrial robots, like to keep the intelligent and diverse direction. Specifically, performance in the following aspects: </p><p>　　1.) Structure of robot ma

45、nipulator </p><p>　　The finite element analysis, modal analysis and simulation design, the use of modern design methods to achieve optimal design of the robot operator. </p><p>　　Explore new hig

46、h-strength lightweight materials, further improve the load / weight ratio. For example, the representative of the German company KUKA Robotics, the robot has a parallelogram structure to a parallel open chain structure,

47、expanding the scope of work of the robot, together with the application of lightweight aluminum alloy materials, greatly improving the robot performance. In addition the use of advanced RV reducer and AC servo motor, the

48、 robot manipulator systems almost maintenance</p><p>　　Institution is developing to the modular and reconfigurable. For example, the joint module servo motor, reducer, Trinity detection system: the joint mod

49、ule, link module robot machine constructed with recombinant methods: modular assembly robot products abroad have asked the City. </p><p>　　The robot's structure is more agile, more and more small control

50、 systems, integration is moving in the direction of the two </p><p>　　With parallel mechanism, the use of robotics, high precision measurement and processing, which is CNC robotics technology to develop for

51、the future integration of robot and CNC technology laid the foundation. COMAU Italy, Japan FANUC and other companies have developed such products. </p><p><b>　　譯文</b></p><p><b>

52、;　　焊接機(jī)器人應(yīng)用現(xiàn)狀</b></p><p>　　據(jù)不完全統(tǒng)計(jì)，全世界在役的工業(yè)機(jī)器人中大約有將近一半的工業(yè)機(jī)器人用于各種形式的焊接加工領(lǐng)域，焊接機(jī)器人應(yīng)用中最普遍的主耍有兩種方式，即點(diǎn)焊和電弧焊.我們所說(shuō)的焊接機(jī)器人其實(shí)就是在焊接生產(chǎn)領(lǐng)域代替焊工從事焊接任務(wù)的工業(yè)機(jī)器人.這些焊接機(jī)器人中有的是為某種焊接方式專門(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。在多任務(wù)

53、環(huán)境中，一臺(tái)機(jī)器人甚至可以完成包括焊接在內(nèi)的抓物、搬運(yùn)、安裝、焊接、卸料等多種任務(wù)，機(jī)器人可以根據(jù)程序耍求和任務(wù)性質(zhì)，自動(dòng)更換機(jī)器人手腕上的工具，完成相應(yīng)的任務(wù).因此，從某種意義上來(lái)說(shuō)，工業(yè)機(jī)器人的發(fā)展歷史就是焊接機(jī)器人的發(fā)展歷史。</p><p>　　眾所周知，焊接加工要求焊工要有熟練的操作技能、豐富的實(shí)踐經(jīng)驗(yàn)、穩(wěn)定的焊接水平:它還是一種勞動(dòng)條件差、煙塵多、熱輻射大、危險(xiǎn)性高的工作.工業(yè)機(jī)器人的出現(xiàn)使人們自然而

54、然首先想到用它代替人的手工焊接，減輕焊工的勞動(dòng)強(qiáng)度，同時(shí)也可以保證焊接質(zhì)量和提高焊接效率。</p><p>　　然而，焊接又與其它工業(yè)加工過(guò)程不一樣，比如，電弧焊過(guò)程中，被焊工件由于局部加熱熔化和冷卻產(chǎn)生變形，焊縫的軌跡會(huì)因此而發(fā)生變化。手工焊時(shí)有經(jīng)驗(yàn)的焊工可以根據(jù)眼睛所觀察到的實(shí)際焊縫位置適時(shí)地調(diào)整焊槍的位置、姿態(tài)和行走的速度，以適應(yīng)焊縫軌跡的變化。然而機(jī)器人要適應(yīng)這種變化，必須首先像人一樣要“看”到這種變化，

55、然后采取相應(yīng)的措施調(diào)整焊槍的位置和狀態(tài)，實(shí)現(xiàn)對(duì)焊縫的實(shí)時(shí)跟蹤。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)器人耍檢測(cè)和識(shí)別焊縫所需耍的信號(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.</p><p>　　實(shí)際上，工業(yè)機(jī)器人在焊接領(lǐng)域的應(yīng)用最早是從汽車(chē)裝配生產(chǎn)線上的電阻點(diǎn)焊開(kāi)始的.原

56、因在于電阻點(diǎn)焊的過(guò)程相對(duì)比較簡(jiǎn)單，控制方便，且不需要焊縫軌跡跟蹤，對(duì)機(jī)器人的精度和重復(fù)精度的控制耍求比較低。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)，即只耍改變程序，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。</p><p>　　從機(jī)器人誕生到本世紀(jì)80年代初，機(jī)器人技術(shù)經(jīng)歷了一個(gè)長(zhǎng)期緩慢的發(fā)展過(guò)程.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)

57、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.工業(yè)機(jī)器人的制造水平、控制速度和控制精度、可靠性等不斷提高，而機(jī)器人的制造成本和價(jià)格卻不斷下降。在西方社會(huì)，和機(jī)器人價(jià)格相反的是，人的勞動(dòng)力成本有不斷增長(zhǎng)的趨勢(shì)。聯(lián)合國(guó)歐洲經(jīng)濟(jì)委員會(huì)(UNECE)統(tǒng)計(jì)從1990年至2000年的機(jī)器人價(jià)格指數(shù)和勞動(dòng)力成本指數(shù)的變化曲線其中把1990年的機(jī)器人價(jià)格指數(shù)和勞動(dòng)力成本指數(shù)都作為參考值100，至2000年，勞動(dòng)力成本指數(shù)為140，增長(zhǎng)了40%;而機(jī)器人

58、在考慮質(zhì)量因素的情況下價(jià)格指數(shù)低于20，降低了80%，在不考慮質(zhì)量因素的情況下，機(jī)器人的價(jià)格指數(shù)約為40，降低了60%。這里，不考慮質(zhì)量因素的機(jī)器人價(jià)格是指現(xiàn)在的機(jī)器人實(shí)際價(jià)格與過(guò)去相比較:而考慮質(zhì)量因素是指由于機(jī)器人制造工藝技術(shù)水平的提高，機(jī)器人的制造質(zhì)量和性能即使在同等價(jià)格的條件下也耍比以前高，因此，如果按過(guò)去的機(jī)器人同等質(zhì)量和性能考慮，機(jī)器人的價(jià)格指數(shù)應(yīng)該更低.</p><p>　　由此可以看出，在西方國(guó)家

59、，由于勞動(dòng)力成本的提高為企業(yè)帶來(lái)了不小的壓力，而機(jī)器人價(jià)格指數(shù)的降低又恰巧為其進(jìn)一步推廣應(yīng)用帶來(lái)了契機(jī)。減少員工與增加機(jī)器人的設(shè)備投資，在兩者費(fèi)用達(dá)到某一平衡點(diǎn)的時(shí)候，采用機(jī)器人的利顯然要比采用人工所帶來(lái)的利大，它一方面可大大提高生產(chǎn)設(shè)備的自動(dòng)化水平，從而提高勞動(dòng)生產(chǎn)率，同時(shí)又可提升企業(yè)的產(chǎn)品質(zhì)量，提高企業(yè)的整體競(jìng)爭(zhēng)力。雖然機(jī)器人一次性投資比較大，但它的日常維護(hù)和消耗相對(duì)于它的產(chǎn)出遠(yuǎn)比完成同樣任務(wù)所消耗的人工費(fèi)用小因此，從長(zhǎng)遠(yuǎn)看，產(chǎn)品的

60、生產(chǎn)成本還會(huì)大大降低。而機(jī)器人價(jià)格的降低使一些中小企業(yè)投資購(gòu)買(mǎi)機(jī)器人變得輕而易舉.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。根據(jù)UNECE的統(tǒng)計(jì)，2001年全世界有75萬(wàn)臺(tái)工業(yè)機(jī)器人用于工業(yè)制造領(lǐng)域，其中38.9萬(wàn)在日本、19.8萬(wàn)在歐盟、9萬(wàn)在北美，7. 3萬(wàn)在其余國(guó)家.至2004年底全世界在役的工業(yè)機(jī)器人至少有約100萬(wàn)。</p><p>　　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)

61、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.機(jī)器人電弧焊的最大的特點(diǎn)是柔性，即可通過(guò)編程隨時(shí)改變焊接軌跡和焊接順序，因此最適用于被焊工件品種變化大、焊縫短而多、形狀復(fù)雜的產(chǎn)品.這正好又符合汽車(chē)制造的特點(diǎn).尤其是現(xiàn)代社會(huì)汽車(chē)款式的更新速度非?？?，采用機(jī)器人裝備的汽車(chē)生產(chǎn)線能夠很好地適應(yīng)這種變化。

62、</p><p>　　另外，機(jī)器人電弧焊不僅用于汽車(chē)制造業(yè)，更可以用于涉及電弧焊的其它制造業(yè)如造船、機(jī)車(chē)車(chē)輛、鍋爐、重型機(jī)械等等.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).</p><p>　　隨著汽車(chē)輕量化制造技術(shù)的推廣，一些高強(qiáng)合金材料和輕合金材料(如鋁合金、鎂合金等)在汽車(chē)結(jié)構(gòu)材料中得到應(yīng)用.這些材料的焊接往往無(wú)法用傳統(tǒng)的焊接方法來(lái)解決，必須采用新的焊接方法

63、和焊接工藝。其中高功率激光焊和攪拌摩擦焊等最具發(fā)展?jié)摿σ虼?，機(jī)器人與高功率激光焊和攪拌摩擦焊的結(jié)合將成為必然趨勢(shì).事實(shí)上，像上海大眾等國(guó)內(nèi)最具實(shí)力的汽車(chē)制造商在他們的新車(chē)型制造過(guò)程中已經(jīng)大量使用機(jī)器人激光焊接。</p><p>　　和機(jī)器人電弧焊相比，機(jī)器人激光焊的焊縫跟蹤精度耍求更高。根據(jù)一般的要求機(jī)器人電弧焊(包括GTAW和GMAW)的焊縫跟蹤精度必須控制在電極或焊絲直徑的1/2以內(nèi)，在具有填充絲的條件下焊縫

64、跟蹤精度可適當(dāng)放寬。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0.6以內(nèi)，遠(yuǎn)小于焊絲直徑(通常大于1.0)，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，上海大眾的汽車(chē)車(chē)頂機(jī)器人激光焊除了在工裝夾具上采取措施防止焊接變形外，還在機(jī)器人激光焊槍前方安裝了德國(guó)SCOUT公司的高精度激光傳感器用于焊縫軌跡的跟蹤。</p><p>　　工業(yè)機(jī)器人的結(jié)構(gòu)形式很多，

65、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

66、.因?yàn)楹附舆^(guò)程中往往需耍把以空間直角坐標(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)器人焊接過(guò)程中運(yùn)動(dòng)的平穩(wěn)性很重耍。不同的機(jī)器人控制系統(tǒng)對(duì)這一問(wèn)題的處理方式不盡相同。</p><p>　　一般來(lái)講，具有6個(gè)關(guān)節(jié)的機(jī)器人基本上能滿足焊槍的位置和空間姿態(tài)的控制要求，其中

67、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)。因此，目前的焊接機(jī)器人多數(shù)為6關(guān)節(jié)式的.</p><p>　　對(duì)于有些焊接場(chǎng)合，工件由于過(guò)大或空間凡何形狀過(guò)于復(fù)雜，使焊接機(jī)器人的焊槍無(wú)法到達(dá)指定的焊縫位置或焊槍姿態(tài)，這時(shí)必須通過(guò)增加1-3個(gè)外部軸的辦法增加機(jī)器人的自由度。通常有兩種做法:一是把機(jī)器人裝于可以移動(dòng)的軌道小車(chē)或龍門(mén)架上，擴(kuò)大機(jī)器人本身的作業(yè)空間:二是讓工

68、件移動(dòng)或轉(zhuǎn)動(dòng)，使工件上的焊接部位進(jìn)入機(jī)器人的作業(yè)空間。也有的同采用上述兩種辦法，讓工件的焊接部位和機(jī)器人都處于最佳焊接位置。</p><p>　　焊接機(jī)器人的編程方法目前還是以在線示教方式(Teach-in)為主，但編程器的界面比過(guò)去有了不少改進(jìn)，尤其是液晶圖形顯示屏的采用使新的焊接機(jī)器人的編程界面更趨友好、操作更加易。然而機(jī)器人編程時(shí)焊縫軌跡上的關(guān)鍵點(diǎn)坐標(biāo)位置仍必須通過(guò)示教方式獲取，然后存入程序的運(yùn)動(dòng)指令中這對(duì)

69、于一些復(fù)雜形狀的焊縫軌跡來(lái)說(shuō)，必須花費(fèi)大量的時(shí)間示教，從而降低了機(jī)器人的使用效率，也增加了編程人員的勞動(dòng)強(qiáng)度。目前解決的方法有2種:</p><p>　　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。這種方式雖然仍離不開(kāi)示教編程，但在一定程度上可以減輕示教編程的強(qiáng)度，提高編程效率但由于電弧焊本身的特點(diǎn)，機(jī)器人的視覺(jué)傳

70、感器并不是對(duì)所有焊縫形式都適用</p><p>　　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。機(jī)器人離線編程早在多年以前就有，只是由于當(dāng)時(shí)受計(jì)算機(jī)性能的限制，離線編程軟件以文本方式為主，編程員需耍熟悉機(jī)器人的所有指令系統(tǒng)和語(yǔ)法，還耍知道如何確定焊縫軌跡的空間位置坐標(biāo)，因此，編程工作并不輕松省時(shí)。隨著計(jì)算機(jī)性能的提高和

71、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?？梢圆捎谩疤摂M示教”(virtual Teach-in)的辦法，用鼠標(biāo)輕松點(diǎn)擊維虛擬環(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).從而大大提高了機(jī)器人的編程效率，也減輕了編程員的勞動(dòng)強(qiáng)

72、度。目前，國(guó)際市場(chǎng)上已有基于普通PC機(jī)的商用機(jī)器人離線編程軟件.如Workspaces, RobotStudio等。圖9所示為筆者自行開(kāi)發(fā)的基于PC的三維可視化機(jī)器人離線編程系統(tǒng)。該系統(tǒng)可針對(duì)ABB公司的工</p><p>　　我國(guó)的工業(yè)機(jī)器人從80年代“七五”科技攻關(guān)開(kāi)始起步，目前己基本掌握了機(jī)器人操作機(jī)的設(shè)計(jì)制造技術(shù)、控制系統(tǒng)硬件和軟件設(shè)計(jì)技術(shù)、運(yùn)動(dòng)學(xué)和軌跡規(guī)劃技術(shù)，生產(chǎn)了部分機(jī)器人關(guān)鍵元器件，開(kāi)發(fā)出噴漆、弧

73、焊、點(diǎn)焊、裝配、搬運(yùn)等機(jī)器人:弧焊機(jī)器人已應(yīng)用在汽車(chē)制造廠的焊裝線上.但總的來(lái)看，我國(guó)的工業(yè)機(jī)器人技術(shù)及其工程應(yīng)用的水平和國(guó)外比還有一定的距離，如:可靠性低于國(guó)外產(chǎn)品:機(jī)器人應(yīng)用工程起步較晚，應(yīng)用領(lǐng)域窄，生產(chǎn)線系統(tǒng)技術(shù)與國(guó)外比有差距:應(yīng)用規(guī)模小，沒(méi)有形成機(jī)器人產(chǎn)業(yè)。</p><p>　　當(dāng)前我國(guó)的機(jī)器人生產(chǎn)都是應(yīng)用戶的耍求，單戶單次重新設(shè)計(jì)，品種規(guī)格多、批量小、零部件通用化程度低、供貨周期長(zhǎng)、成本也不低，而且質(zhì)量

74、、可靠性不穩(wěn)定。因此迫切需要解決產(chǎn)業(yè)化前期的關(guān)鍵技術(shù)，對(duì)產(chǎn)品進(jìn)行全面規(guī)劃，搞好系列化、通用化、模塊化設(shè)計(jì)，積極推進(jìn)產(chǎn)業(yè)化進(jìn)程。</p><p>　　三,焊接機(jī)器人發(fā)展趨勢(shì)</p><p>　　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.從機(jī)器人技術(shù)發(fā)展趨勢(shì)看，焊接機(jī)器人和其它工業(yè)機(jī)器人一樣，不斷向智能化和多樣化方向發(fā)展。具體而言，表現(xiàn)在如下幾個(gè)方面:</p>

75、<p>　　1).機(jī)器人操作機(jī)結(jié)構(gòu)</p><p>　　通過(guò)有限元分析、模態(tài)分析及仿真設(shè)計(jì)等現(xiàn)代設(shè)計(jì)方法的運(yùn)用，實(shí)現(xiàn)機(jī)器人操作機(jī)構(gòu)的優(yōu)化設(shè)計(jì)。</p><p>　　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。例如，以德國(guó)KUKA公司為代表的機(jī)器人公司，已將機(jī)器人并聯(lián)平行四邊形結(jié)構(gòu)改為開(kāi)鏈結(jié)構(gòu)，拓展了機(jī)器人的工作范圍，加之輕質(zhì)鋁合金材料的應(yīng)用，大大提高了機(jī)器人的性能。此外采用先

76、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)</p><p>　　機(jī)構(gòu)向著模塊化、可重構(gòu)方向發(fā)展。例如，關(guān)節(jié)模塊中的伺服電機(jī)、減速機(jī)、檢測(cè)系統(tǒng)三位一體化:由關(guān)節(jié)模塊、連桿模塊用重組方式構(gòu)造機(jī)器人整機(jī):國(guó)外已有模塊化裝配機(jī)器人產(chǎn)品問(wèn)市。</p><p>　　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</p><p>　　采用并聯(lián)