外文翻译---焊接机器人应用现状

焊接机器人技术研究与应用现状摘要：进入21世纪以后，伴随着我国的经济的飞速的发展，人们的生活质量不断的提高，但是我国的人口老龄化现象却是十分严重。

根据焊接环境的恶劣以及焊接工人逐年减少的趋势，我国的经济发展迅速，从而使焊接产量在逐年的增加，这就说明了焊接的工作量在逐渐的加大。

为了解决这样的问题，焊接机器人开始在工厂中逐渐出现。

但是焊接机器人和焊工相比较，焊接机器人的工作方式比较的单一，而焊工可以凭借着自己的经验，对焊件进行预想的加工和改造，从而达到预期效果。

但是相比于焊工，焊接机器人不仅可以大大的提高工作效率，还可改善焊接技术人员的工作环境。

焊接机器人目前在我国有着非常重要的地位，对我国的经济转型发挥着非常重要的作用。

关键词：焊接机器人；研究；应用一、焊接机器人技术研究(一)焊缝的自动识别与跟踪技术对焊接机器人视觉自动识别焊接位置以及焊缝跟踪技术上的研究，是提高焊接质量的关键技术之一。

焊接机器人在焊接的过程中，由于对加工和装配上的误差，焊接时产生的强弧光辐射、飞溅和产品在焊接过程中所产生的温度分配不均匀，使焊炬和焊缝产生了偏离，导致焊接的质量有所降低。

焊缝的跟踪技术本质就是对焊接条件的变化而实时进行焊缝查验，并识别跟踪焊缝与焊缝进行精准的定位。

通过传感器达到控制电压和电流的目的，来实现焊枪对焊缝位置焊接的工作。

随着现在网络的发展和数学领域在焊接技术上的应用，焊接跟踪技术已经进入了智能化的时代。

(二)远程遥控焊接、离线编程、路径规划技术随着经济与科技的双重发展，焊接技术的工作范围正在向深海、太空、高温、极寒等领域快速的发展。

在保证焊接质量的前提上，最大程度提高了人们活动的舒适性，降低在焊接工作中的危险性。

当前，焊接领域的发展，严控焊接技术的成形，在一定程度上有效地解决了焊接在远程作业上的局限性[2]。

现在遥控焊接技术都是人机交互，也就是焊接工作者操作焊接机器人远程地完成焊接任务。

由于在技术方面的研究有所不足，目前全自动遥控机器人的研究团队几乎没有出现。

焊接机器人的关键技术及研究现状摘要：对智能机器人焊缝跟踪的国内外技术进行了总结，着重介绍了其发展状况和应用，阐述了视觉传感器跟踪、焊缝提取与识别、机器人跟踪控制技术等关键技术，展望了焊接机器人的发展前景。

关键词：焊接机器人；研究现状；焊缝识别跟踪；未来趋势KeytechnologiesandresearchstatusofweldingrobotsAbstract: The domestic and foreign technologies of intelligent robot welding seam tracking are summarized, and its development and application areemphatically introduced. The key technologies such as visual sensor tracking, welding seam extraction and recognition, and robot tracking control technologyare expounded. The development prospect of welding robot is prospected.Key words: welding robot; Research status; Weld identification and tracking; The future trend随着国家的2025智能制造发布实施，越来越多的制造业开始向智能化转型，根据不完全的数据，几乎有一半的[1]工业机器人都是用来生产焊接机器人的，而焊接机器人的历史更悠久，现在已经发展成了各种各样的机器人。

近十年来，计算机、机器视觉和网络技术的飞速发展，使现代科学研究取得了长足的进步。

随着对焊接机器人的深入研究和智能的不断完善，焊接机器人已逐渐能够更好地适应各种复杂的作业环境，并解决了许多实际生产过程中遇到的问题。

焊接机器人应用现状与发展趋势的研究焊接机器人是自动化焊接技术的重要应用之一，广泛应用于制造业的各个领域。

随着制造业的发展和自动化技术的进步，焊接机器人在生产过程中发挥着越来越重要的作用。

本文将对焊接机器人的现状和发展趋势进行研究。

焊接机器人的应用现状：目前，焊接机器人已经在各个领域得到了广泛的应用。

在汽车制造业中，焊接机器人可以用于车身焊接、底盘焊接等工序，能够提高生产效率和焊接质量。

在航空航天产业中，焊接机器人可以用于飞机零件的焊接，提高工艺精度和保证焊缝的质量。

在电子制造业中，焊接机器人可以用于印制电路板的焊接，提高生产效率和减少人工操作带来的质量问题。

焊接机器人的发展趋势：1. 焊接机器人的灵活性：未来的焊接机器人将更具灵活性，能够适应不同的焊接任务和工作环境。

可以通过传感器实时感知和分析焊接过程中的变化，及时调整焊接姿态和参数，提高焊接质量和效率。

2. 实时监控和控制技术：未来的焊接机器人将具备实时监控和控制功能，能够通过传感器和监控系统实时监测焊接过程中的各项参数和指标，如焊接温度、速度、质量等，并能够根据监测结果进行实时调整和控制。

3. 智能化和自适应技术：未来的焊接机器人将更具智能化和自适应性，能够通过学习和优化算法不断优化自身的焊接技术和策略。

可以通过机器学习算法分析大量的焊接数据和经验，优化焊接姿态和参数，提高焊接质量和效率。

4. 多机器人协作技术：未来的焊接机器人将更多地引入多机器人协作技术，实现多个焊接机器人之间的协同工作和相互配合。

可以通过网络和协作算法实现多个焊接机器人之间的实时通信和任务分配，提高焊接效率和灵活性。

5. 新材料和新工艺的应用：未来的焊接机器人将更多地应用于新材料和新工艺的焊接。

汽车工业中的铝合金焊接、航空航天工业中的复合材料焊接等，都需要具备高精度和高可靠性的焊接技术，也对焊接机器人提出了更高的要求。

焊接机器人在制造业中的应用越来越广泛，随着自动化技术的发展，其应用前景也十分广阔。

焊接机器人的发展现状与趋势焊接机器人是指一种自动化的焊接设备，它可以根据预先设定的程序完成焊接工作，具有高效、精准、稳定的特点。

目前，焊接机器人主要应用于汽车、航空航天、电子、冶金等行业的焊接生产线上，其中以汽车制造业为主要应用领域。

1. 技术水平不断提高随着科技的不断进步，焊接机器人的技术水平也在不断提高。

目前，国内外焊接机器人已经具备了高速、高精度、多功能等特点，可以完成各种不同材料、不同形状的焊接工作。

科技的发展也带动了焊接机器人控制系统、传感器、焊接工艺等相关领域的技术进步，使得焊接机器人在各个方面的性能都得到了提升。

2. 应用范围不断扩大随着技术的不断进步，焊接机器人的应用范围也在不断扩大。

除了传统的汽车、航空航天、电子、冶金等行业，焊接机器人还开始在建筑、桥梁、船舶等领域逐渐得到应用。

随着人工智能、物联网等技术的发展，焊接机器人还可以与其他设备、系统进行联网，实现智能化生产，提高生产效率。

3. 研发投入不断增加近年来，国内外焊接机器人行业的研发投入不断增加，各种新型焊接机器人不断涌现。

一方面，一些大型企业不断加大对焊接机器人的研发投入，推动了焊接机器人技术的不断进步；一些小型企业也开始涉足焊接机器人领域，推动了行业的竞争，促进了焊接机器人市场的良性发展。

二、焊接机器人的发展趋势1. 智能化发展目前，人工智能、物联网等技术的飞速发展，正推动着焊接机器人的智能化发展。

未来，焊接机器人将更加智能化，可以实现自主学习、自主决策，甚至可以与其他设备、系统进行联网，实现智能化生产。

随着传感器、控制系统等技术的不断发展，焊接机器人的精准化也将不断提升。

未来，焊接机器人将具备更高的焊接精度，可以完成更复杂、更精细的焊接工作，提高产品质量。

未来，焊接机器人将不仅具备焊接功能，还将具备更多的功能，比如搬运、装配、检测等。

焊接机器人将在生产线上承担更多的任务，实现多功能化发展。

未来，焊接机器人将更加具备柔性生产的能力，可以根据不同的生产需求，自由调整焊接路径，更快地适应新产品的生产工艺要求。

焊接机器人应用现状与发展趋势的研究焊接机器人是一种具有自主化功能的机械手臂，能够根据程序自动进行焊接作业。

它可以替代人工进行焊接工作，提高生产效率，减少生产成本，降低人工误差。

随着制造业自动化水平的不断提高，焊接机器人在各个行业中得到广泛的应用。

本文将对焊接机器人的应用现状与发展趋势进行研究，探讨其在未来的发展方向。

一、焊接机器人的应用现状1. 在汽车制造业中的应用汽车制造业是焊接机器人应用的主要领域之一，因为汽车的制造过程中需要大量的焊接作业。

焊接机器人可以取代工人完成焊接工作，提高工作效率，保证焊接质量。

目前，汽车制造业中的焊接机器人主要应用于车身焊接、底盘焊接和点焊等环节。

2. 在电子制造业中的应用电子制造业对焊接工艺要求较高，需要进行精细的焊接操作。

焊接机器人在电子制造业中得到广泛的应用。

它可以完成PCB板的焊接、导线的焊接等工作，提高工作效率，减少操作误差。

4. 在其他行业中的应用除了上述行业，焊接机器人还在冶金、建筑、管道、家电等行业中得到广泛的应用。

它可以完成各种材料的焊接工作，包括金属、塑料、陶瓷等材料，为各个行业提供高效的焊接解决方案。

二、焊接机器人的发展趋势1. 智能化随着人工智能技术的不断发展，焊接机器人将会越来越智能化。

它可以通过人工智能算法学习和优化焊接路径，实现自动调整焊接参数，提高焊接质量和效率。

智能化的焊接机器人还可以实现自主化的生产调配和协同工作，提高生产线的整体效率。

2. 精准化未来的焊接机器人将会具备更高精度和稳定性。

它可以通过高精度的感应器和控制系统，实现对焊接过程的精准控制，包括焊接速度、温度、压力等参数。

这将有助于提高焊接质量，减少焊接变形和裂纹，扩大焊接适用范围。

3. 柔性化未来的焊接机器人将会更加灵活多变，可以适应多样化的焊接需求。

它可以通过柔性的机械手臂、多轴联动和灵活的控制系统，实现多种焊接姿态和焊接路径，适应各种复杂的焊接场景。

这将为焊接工艺的优化和改进提供更多可能性。

(文档含英文原文和中文翻译)中英文资料外文翻译Weld robot application present conditionAccording to incompletely 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 Han.What we say's welding robot is in fact welding to produce realm to replace a welder to be engaged in the industrial robot of welding the task.These 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 constitute.In many task environments, a set robot even can complete 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 robotwrist, the completion corresponds of task.Therefore, come 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 well-trained operation technical ability, abundant fulfillment experience, stability of weld level;It is still a kind of labor condition bad, many smoke and dust, hot the radiation is big, risk Gao of work.The emergence of the industrial robot makes people naturally thought of first the handicraft that replace a person with it welds and eases the welder'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 change.Handicraft 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 track.However the robot want to adapt to this kind of variety, have to the position and status of gun that want to"see" this kind of to change, then adopt homologous measure to adjust Han like person first, follow while carrying out to sew actually to the Han.Because 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 magnetic field etc. complicated environment factor of existence, the robot wants to examine and identifies a withdrawing of the signal characteristic needed for sewing Han and don'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 on-line electric resistance to order a Han beginning from the car assemble at the earliest stage.The 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 request.Order the Han robot assembles to produce a great deal of on-line 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 on-line carry on assemble to weld to different cars type.BE born till the beginning of this 80's in century from the robot, the robot technique experienced a development process of long term slowness.90's, along with the rapiddevelopment of calculator technique, micro-electronics technique, and network technique...etc., the robot technique is also flown soon a development.The manufacturing level, control speed and control accuracy and dependable sex etc. of industrial robot continuously raises, but manufacturing cost and price of robot continuously descend.Is social in the west, with contrary robot price BE, the person's labor force cost contains the trend to continuously increase.United Nations European Economic Committee(UNECE) statisticses from the variety curve of 1990-2000 years of the robot price index number and labor force cost index number.Among them the robot price of 1990 index number and labor force cost the index number is all reference to be worth 100, go to 2000, labor force cost index number is 140, increased 40%;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 compared in the past;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 compare 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 again.Reduce the equipments investment of employee and increment robot, when their expenses attains some one balance point, the benefit of adoption robot obviously wants to compare 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 competition ability of business enterprise.Although robot 1 time invests a little bit greatly, its daily maintenance and consume is more opposite than its to producing far is smaller than completing the artificial expenses that the same task consumes.Therefore, from farsighted see, the production cost of product also consumedly lowers.But the robot price lower to make some small and medium enterprises invest to purchase robot to become easy to accomplish.Therefore, the application of industrial robot is soon flown a development in every trade.According to the UNECE statistics, the whole world has 750,000 in 2001 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 nation.Go to at the end of 2004 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 combine 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 assemble process Han.Robot's giving or getting an electric shock the biggest characteristics of Hu Han is gentle, can immediately pass to weave a distance at any time a change to weld a track and weld sequence, therefore most be applicable to quilt welder piece the species variety is big, the Han sew short but many, product with complicated shape.This at the right moment again characteristics according to car manufacturing.Being the renewal speed of the particularly modern social car style is very quick, adopting the car production line of robot material can nicely adapt to this kind of variety.Moreover, robot's giving or getting an electric shock Hu Han not only used for a car manufacturing industry, but also can used for other manufacturing industries that involve to give or get an electric shock Hu Han, like shipbuilding, motorcycle vehicle, boiler, heavy type machine etc..Therefore, the robot gives or gets an electric shock the application of Hu Han gradually extensive, on the amount greatly have exceed the robot order the power of Han.Along with car reducing in weight manufacturing the technical expansion, some high strong metal alloy materials and light metal alloy material(is like aluminum metal alloy, and magnesium metal alloy...etc.) get an application in the material in the car structure.These materials' welding usually can not solve with the welding of tradition method, have to adopt to lately weld a method and weld a craft.Among 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 combining of Han to become inevitable trend.Be 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 compare with robot, robot laser the Han of the Han sews to follow accuracy to have higher request.According 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 appropriately.But to laser Han, the laser projects light upon the light spot in the work piece surface while welding diameter usually at 0.6 in, is farer small than Han silk diameter(be usually bigger than 1.0), but the laser weld usually and not add to fill Han silk, therefore, the laser is welding if onlythe spot position has a little bit deviation, then will result in to be partial to Han and leak Han.Therefore, the robot laser of the public in Shanghai's car car crest Han in addition to pack in the work tongs up adopt measure to prevent from welding to transform, still just the robot laser Han gun front installed the high accuracy laser of SCOUT company in Germany to spread a feeling machine to used for Han to sew a following of track.The structure form of industrial robot is a lot of, in common usely have right angle to sit mark type, flexible type, and crawl along type...etc. by mark type, many joints by mark type, surface of sphere by mark type, pillar noodles, according to different use still at continuously development in.It is many robots of joint types of the mimicry person'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 demand.Theoretically speak, the joint of robot is many more, the freedom degree is also many more, the joint redundancy degree is big more, and the vivid is good more;But also go against the sitting of kinetics control of marking the transformation and each joint position for robot to bring complexity at the same time.Because weld to usually need in the process with the space right angle sit to mark the Han on the representative work piece to sew position conversion for the Han gun carry the space position and carriage of department and pass robot again go against the kinetics compute a conversion for to the control of robot each joint angle position, but the solution of this transformation process usually isn't unique, the redundancy degree is big, solve more many more.How select by examinations the steady that the quite the cheese solution welds to exercise in the process to the robot very important.Different treatment of system to this problem of the robot control doesn't exert a homology.Is general to come 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 gun.Therefore, 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 complicated, 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 ually 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;Two is to let the work piece move or turn, make workpiece up of weld the homework space that the part gets into robot.Also have of adopt two kinds of above-mentioned ways at the same time, let the welding of work piece part and robots all be placed in the best weld position.Weld the plait distance of robot method currently still with on-line show and teach a way(Teach-in) is lord, but wove the interface ratio of distance machine to have many improvements in the past, particularly is the adoption of LCD sketch monitor and make and weld the plait distance of the robot interface lately gradually friendly, operation more easy.However robot plait distance Han's sewing the key point on the track to sit to mark position still have to pass to show to teach the way how to obtain, then deposit the sport instruction of procedure.This sews track to some Hans of complicated shapes to say, have to cost a great deal of time to show to teach and lowered the use efficiency of robot thus and also increased the labor strength of weaving the distance personnel.The method that solves currently includes 2 kinds:One is show to teach a plait distance just rough obtain a few Hans to sew a few keys on the track to order, 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 track.Although this way 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 efficiency.But 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 completely off-line 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 compute in a set to independently complete on board, don't need participation of robot.Robot off-line plait distance as early as several years ago have, just in order to being subjected to restriction of the calculator function at that time, off-line 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 time.Along with exaltation and calculator of the calculator function 3D sketch technical development, present robot off-line plait distance system majority can under the 3D sketch environment movement, the plait distance interface amity, convenience, and, obtaining Han to sew a sitting of track to mark position usually can adopt the way of "conjecture show to teach"(virtual Teach-in), using a mouse to easily click the welding of work piece in the 3D virtual environment the part can immediately the spaceacquiring the sit a mark;In some systems, can sew directly born Han of position to sew a track through the Han that define in advance in the CAD sketch document, then the automatically born robot procedure combines to download robot to control system.Thus and consumedly raised the plait distance of the robot efficiency, also eased the labor strength of weaving the distance member.Currently, it is international to there have been using an off-line plait distance of robot according to the company of common PC machine on the market software.It is like Workspace5, and RobotStudio...etc..Figure 9 show develop by oneself for the writer of according to PC of 3D can see to turn an off-line plait distance of robot system.The system can IRB140 robots aiming at ABB company carry on an off-line plait distance, the Han in the procedure sews a track to pass conjecture to show to teach to acquire, and can let the robot press the track in the procedure to imitate sport in the 3D sketch environment, examine its accuracy and rationality with this.The procedure woven can pass a network directly the download to the robot controller.The industrial robot of our country"75" science and technologies offend a pass to start starting from the 80's, currently already basic control a robot operation of the design manufacturing of the machine technique, control system hardware and software to design technique, kinetics and track to program a technique, gave birth to parts of robot key dollar spare part, develop to spray a paint, Hu Han and order robots, such as Han, assemble and porterage...etc.;The robot of Hu Han has already applied in the Han of car manufactory to pack on-line.But total of come to see, our country of industrial robot technique and it engineering application of level and abroad than still have certain distance, such as:Credibility low outside the country product;The robot application engineering starts a little bit late and apply realm narrow, production line system technique and abroad than have a margin;The applied scale is small, didn't form robot industry.The robot of the current our country the production is all request that applies a door, list door the single time re- design, the species specification is many, small batch quantity, zero partses are in general use to turn degree low, provide a goods period long, the cost is not low either, and the quality, credibility is unsteady.Consequently and urgently need to solve industry to turn an ex- key technique for expecting, Be to the product carry on programing completely, make good series to turn, in general use turn, the mold piece turn a design and actively push forward industry to turn progress.3, weld robot development trendThe international robot boundaries are enlarging a research, carry on robot currently total technical research.The development trend sees from the robot technique, weld robot similar to the other industrial robot, continuously turn to the intelligence and diversify a direction todevelop.Is concrete but talk, performance in as follows a few aspects:1).The robot operates machine structure:Pass a limited dollar the analysis and mold Tai analyze and imitate the usage of true design etc. modern design method and carry out robot operation organization of excellent turn a design.Quest high strength light quality material, raise a load further|hold with dignity a ratio.For example, take Germany's KUKA company as the representative's robot company, 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 robot.The RV that in addition adopts a forerunner decelerates a machine and communicates servo electrical engineering, make robot operation machine almost become don't need support system.The organization facing mold piece turns and can weigh to reach a direction development.For example, the servo electrical engineering in the joint mold piece, decelerate machine and examine system Christian Trinity to turn;From joint mold piece, connect a pole mold piece is constructed robot the whole machine with the reorganization method;The abroad has already had the mold piece the disguise to go together with a robot product to ask city.The structure of the robot is getting clever, control system smaller and smaller, twos just turn a direction development toward the integral whole.The adoption merges organization and makes use of a robot technique, realization Gao accuracy measure and process, this is the robot technique to number control technique of expand, carried out robot and number to control technique integral whole to turn to lay foundation for future.Italian COMAU company, companies like Japan FANUC,etc developed this kind of product.焊接机器人应用现状据不完全统计，全世界在役的工业机器人中大约有将近一半的工业机器人用于各种形式的焊接加工领域，焊接机器人应用中最普遍的主要有两种方式，即点焊和电弧焊。

焊接机器人的发展现状与趋势1. 引言1.1 焊接机器人的定义焊接机器人是一种能够自动执行焊接任务的机器人，通常由机械臂、控制系统和焊接设备组成。

焊接机器人能够根据预设的程序和参数，精确地执行焊接动作，实现高效、精准的焊接操作。

由于焊接是制造领域中常见的工艺之一，而传统手工焊接存在工作强度大、效率低、质量难以保证等问题，因此焊接机器人的出现填补了人力不足、工时长等问题。

焊接机器人通过自动化技术，提高了生产效率和产品质量，降低了生产成本，使得焊接工艺更加精密、稳定和可靠。

焊接机器人的出现，改变了传统焊接方式，成为工业生产中重要的焊接工艺设备之一。

随着工业自动化的不断发展和进步，焊接机器人在各个行业的应用越来越广泛，成为生产制造业中不可或缺的重要装备之一。

焊接机器人的出现为工业生产带来了新的发展机遇和挑战。

1.2 焊接机器人的应用领域焊接机器人的应用领域非常广泛，几乎涵盖了所有需要焊接的工业领域。

汽车制造业是焊接机器人的主要应用领域之一。

在汽车制造过程中，焊接机器人能够实现高效、精准的焊接操作，保证焊接质量，提高生产效率。

电子设备制造、航空航天、建筑结构等领域也广泛应用焊接机器人。

在这些领域中，焊接机器人能够取代人工焊接，减少人力成本，提高生产效率，同时还能提高焊接质量和稳定性。

随着制造业的不断发展，焊接机器人的应用领域也在不断扩大，未来有望涉及更多行业和领域，为工业生产带来更多的便利和效益。

焊接机器人的应用领域将会不断拓展，为各行业带来更多的发展机遇和技术进步。

1.3 焊接机器人的发展重要性焊接机器人的发展可以提高焊接质量和效率。

传统焊接方式存在人为因素，容易受到人为操作技术水平的影响，导致焊接质量不稳定。

而焊接机器人具有高精度、高稳定性的特点，可以确保焊接质量稳定且符合要求，提高生产效率并减少人力成本。

随着科技的不断进步，焊接机器人能够适应各种复杂的焊接环境和工艺要求。

焊接机器人具有灵活性和多功能性，能够适应不同形状、尺寸和材质的焊接工件，实现自动化生产，满足不同行业的生产需求。

焊接机器人技术的应用现状和未来发展趋势在现代工业领域，焊接是常见的加工工艺。

传统的焊接方式需要人工操作，存在效率低下、精度不高、危险等问题。

随着技术的发展，焊接机器人技术被越来越多地采用。

本文将从应用现状和未来发展趋势两个方面进行探讨。

一、焊接机器人技术的应用现状
1. 工业应用广泛
焊接机器人技术在工业应用中已经被广泛采用，主要应用于汽车制造、航空航天、石油化工、钢铁制造、建筑工程、电子制造等领域。

机器人焊接具有高速度、高精度、一致性好、稳定性高等优点，能够提高生产效率，降低劳动成本和人力资源压力。

2. 技术不断创新
焊接机器人技术的应用范围不断扩大，其系统的智能化程度也不断提高。

智能化能力的加强，使其更加适用于各种复杂焊接工件的生产。

同时，更加智能化的焊接机器人能够更准确地区分焊
接质量状况，保证焊接产品的质量、一致性和一定的高质量生产能力。

3. 人机协同合作
焊接机器人技术的应用也不再是简单的机械自动化操作，在生产过程中，人机协同合作得到了广泛的应用。

人机协同合作不仅可以缩短生产周期，提供制造生产效率，而且可以满足更多的生产需求。

这种协同合作的方式，也进一步保障了制造生产的质量和效率。

二、焊接机器人技术的未来发展趋势
1. 智能化
随着大数据、人工智能走向成熟，焊接机器人的智能化程度会越来越高。

未来焊接机器人会拥有更强的自主控制能力和自学习能力，逐渐摆脱固定程序对其操作的限制。

2. 适应性
未来的焊接机器人将分布式工作，能够更好地适应工业4.0的环境。

它们将更加智能，具备适应后需求和多链接同时啸。

外文原文Weld robot application present conditionAccording to incomplete statistics, the world'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 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 in fact most of the welding robot is a common industrial robot equipped with a welding tool and composition. In a multitasking environment, a robot can even be completed, including grasping objects including welding, handling, installation, welding, unloading and other tasks, the robot can play sum nature of the tasks under the program to automatically replace the robot wrist The tool, complete the corresponding task. Therefore, in a sense, history is the development of industrial robots welding robot history.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, 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 the welding efficiency.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 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 weld path. However, the robot must adapt to this change, you must first like people to "see" the change, and then take the appropriate measures to adjust the location and status of the gun to achieve real-time tracking of the weld. Because there is a strong arc welding process, arc noise, dust, droplet instability caused by wire short-circuit, high current magnetic field of complex environmental factors such as the existence ofrobots playing detect and identify the signal characteristics of the required weld extraction is not as industrial manufacturing process of testing the other so easy, therefore, the application of welding robots is not the beginning for electric arc welding process.In fact, the industrial robot applications in the field of welding the first automobile 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 repeatability 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 assembly and welding quality welding, but also has a flexible welding characteristics, that is only playing to change procedures on the same production line can be on a different model for assembly welding.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 technology, 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 have been declining. In Western society, and the robot prices contrast, the human labor costs are a growing trend. United Nations Economic Commission for Europe (UNECE) statistics from 1990 to 2000 robots and labor cost index price index curve of the robot in which the price index in 1990 and labor cost index is used as the reference value of 100, to 2000, labor cost index is 140, an increase of 40%; the robot in the case of qualitative factors into account the price index of less than 20, decreased by 80%, without considering the quality factors of the situation, the price index of the robot is about 40, reducing 60%. Here, the robot does not take quality into account the price is the actual price of robots now, compared with the past: the quality factor to consider is the level of the robot to improve manufacturing process technology, manufacturing quality and performance of the robot even in the same price conditions also play than before, so if the robot according to the same quality and past performance into account, the price index of the robot should be lower.It can be seen in Western countries, because labor costs for enterprises to bring considerable pressure, the robot has happened to reduce the price index for the furtherapplication 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 robot than the benefits brought about by a large artificial one hand, it can greatly improve the level of automation of production equipment to improve labor productivity, while enhancing the quality of products but also to improve the overall competitiveness of enterprises. Although the robot is relatively large one-time investment, but it's routine maintenance and consumption relative to output it to accomplish the same task than the labor costs consumed a small, therefore, in the long run, the production costs will be greatly reduced. The price of robot reduces so some SMEs to invest in robotics to make a breeze. Therefore, the application of industrial robots has been rapid development in all walks of life. According to UNECE's statistics, in 2001, 75 million units worldwide of industrial robots used in industrial manufacturing sectors, including 389,000 in Japan, 19.8 million in the European Union, 90,000 in North America, 73,000 in the remaining countries. At the end of 2004 there is at least about 100 million industrial robots in service in the world's As the robot control the speed and accuracy improved, 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 from 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 programming the trajectory and welding sequence, welding pieces are suited for variety of changes, short weld more complex shape of the product. This goes to and consistent with the characteristics of vehicle manufacturers. In particular, vehicle models are updated in modern society very quickly, using robotic equipment car production line can well adapt to this change.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, boilers, 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.As the car lighter manufacturing 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 solvethe 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 high-power laser welding and friction stir welding the combination will become an inevitable trend. In fact, such as Shanghai Volkswagen, the most powerful car manufacturers Their new model has been widely used in the manufacturing process of the robot laser welding.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 (including 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, in terms of laser welding, laser welding spot diameter at the surface is usually less than 0.6, far less than the wire diameter (usually greater than 1.0), and laser welding filler wire is usually not added, therefore, the laser welding If you spot any mistakes in position, it will result in partial welding, lack of weld, therefore, Shanghai Volkswagen's vehicle roof in addition to the robot laser welding fixture to take measures to prevent the welding deformation, is also installed in front of the robot laser welding torch Germany SCOUT company's high-precision laser sensors for seam tracking trajectory.There is many forms of industrial robots’ struc ture, commonly used rectangular type, 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 take 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 spatial position and attitude adjusted to any state, to meet the welding requirements. In theory, the more the robot joints, but also more freedom, greater joint redundancy, flexibility, the better: but also to the robot inverse kinematics of the coordinate transformation and the joint position control to bring complex sex. because the welding process often takes playing at right angles to the space coordinates of the work piece into position on the weld torch end of the spatial position and posture, and through the calculation of inverse kinematics of robots into each joint angle of robot position control, and this transformation process is often not the only solution, the greater the redundancy, the more solutions. How to closes the most appropriate solutions for robot weldingstability during heavy playing sport. Different robot control system approach to this problem is different.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 gun, 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.For some welding situations, the work piece is too 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 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 welding on the workpiece into the robot's work area space. And some with the use of these two approaches, so that the welding position of the workpiece and welding robots are in the best position.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 adoption 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 through the teaching methods, and procedures for the movement into commands for a number of complex shapes in which the weld path, it must spend a lot of time teaching, thereby reducing the efficiency of the robot, also increases the labor intensity of the programmer. Currently there are two kinds of solution:First, teaching programming is a rough track to get some weld on a few key points, and then welding 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 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.Second, the approach 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 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 be familiar with all the playing and grammar instruction, but also playing to know how to determine spatial location coordinates of the weld path, so programming is not easy to save time. With the improvement of computer performance and computer three-dimensional graphics technology, today most of the robot offline programming system can be run in three-dimensional graphical environment, the programming interface is friendly, convenient, and, to obtain the coordinates of the weld path can often be used " virtual teaching "(virtual Teach-in) way to easily click with the mouse-dimensional virtual environment, the welding position of the workpiece can be obtained spatial coordinates of the point: In some systems, CAD drawing files through the predefined weld location of the weld path generation directly, and then automatically generates the robot program and downloaded to the robot control system. Thus greatly improving the efficiency of the robot's programming, but also reduces the labor intensity of the programmer. At present, the international market has been ordinary PC-based commercial off-line robot programming software. Such as Workspaces,RobotStudio and so on. Figure 9 show the author developed PC-based three-dimensional visualization of the robot offline programming system. The system can work for ABB's RB140 robot off-line programming, the program tracks the weld access through virtual teaching and in three-dimensional graphical environment allows the robot trajectory in accordance with the procedure for the simulation exercise, this test the accuracy and reasonableness. which can be programmed directly through the network to download to the robot controller.China's industrial robot from the 80's "Plan" science and technology research started, the current has basically mastered the robotic 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, welding, spot welding, assembly, handling and other robot: Arc welding robot has been used in automobile factory welding line. but, in general, China's industrial robot technology the level of engineering and abroad than there is a certain distance, such as: reliability, lower than the foreign products: the robot application engineering a late start, a narrow application field, theproduction line system technology with foreign countries, there is still: The small scale, there is no the formation of the robotics industry.Current production is to be a robot playing the 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 an 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.Third, the development trend of welding robotThe international robotics communities are increasing research efforts, the generic technology of the robot. From the development trend of robot technology, welding robots and other industrial robots, like to keep the intelligent and diverse direction. Specifically, performance in the following aspects:1.) Structure of robot manipulatorThe finite element analysis, modal analysis and simulation design, the use of modern design methods to achieve optimal design of the robot operator.Explore new high-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, 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 robot manipulator systems almost maintenance-freeInstitution is developing to the modular and reconfigurable. For example, the joint module servo motor, reducer, Trinity detection system: the joint module, link module robot machine constructed with recombinant methods: modular assembly robot products abroad have asked the City.The robot's structure is more agile, more and more small control systems, integration is moving in the direction of the twoWith parallel mechanism, the use of robotics, high precision measurement and processing, which is CNC robotics technology to develop for the future integration of robot and CNC technology laid the foundation. COMAU Italy, Japan FANUC and other companies have developed such products.中文译文焊接机器人应用现状据不完全统计，全世界在役的工业机器人中大约有将近一半的工业机器人用于各种形式的焊接加工领域，焊接机器人应用中最普遍的主耍有两种方式，即点焊和电弧焊.我们所说的焊接机器人其实就是在焊接生产领域代替焊工从事焊接任务的工业机器人.这些焊接机器人中有的是为某种焊接方式专门设计的，而大多数的焊接机器人其实就是通用的工业机器人装上某种焊接工具而构成的。