外文翻譯--焊接機(jī)器人應(yīng)用現(xiàn)狀

1、<p><b>　　附錄I</b></p><p>　　Weld robot application present condition</p><p>　　According to incompletely statistics, the whole world about has in the industrial robot of service ne

2、arly 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

3、 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 </p><p>　　Know to all, w

4、eld 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 th

5、e 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 pr

6、omise to weld quality and exaltation to weld an ef</p><p>　　However, weld again with other industry process process different, for example, electricity Hu Han process in, drive welder piece because of part h

7、eat 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

8、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 r</p><p>　　Actually, industrial robot at welded the application of realm to

9、 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, a

10、nd 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 rai<

11、/p><p>　　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 rapid development of calculat

12、or 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 industr

13、ial robot continuously raises, but manufacturing cost and price of robot continuously d</p><p>　　Can see from here, national in the west, because the exaltation of labor force cost brings not small pressure

14、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

15、 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 ha</p><p>　　Because the robot controls

16、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

17、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 z

18、ero from originally more single c</p><p>　　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 industrie

19、s 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 exte

20、nsive, on the amount greatly have exceed the robot order the power of Han.</p><p>　　Along with car reducing in weight manufacturing the technical expansion, some high strong metal alloy materials and light m

21、etal 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

22、 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 .T</p><p>　　Give or get an electric shock Hu Han

23、 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) t

24、o 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

25、projects light upon the </p><p>　　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 b

26、y 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 ca

27、n adopt a different structure form according to the applied situation of dissimilarity, but use at most current</p><p>　　Is general to come to speak, have 6 controls request of positions and space carriages

28、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 carr

29、iage that controls a Han gun.Therefore, currently weld robot majority as 6 joint types.</p><p>　　For some weld situation, work piece because of leading big or the space is several what the shape is too compl

30、icated, 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 time.U

31、sually 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 l</p><p>　　Weld the plait distance of

32、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

33、 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 p

34、ass to show to teach the way how to o</p><p>　　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

35、 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 can

36、s not get away from to show to teach a plait distance,this way cans ease to show the strength of teaching the plait dist</p><p>　　Two is the way that adopts a completely off-line plait distance, make the rob

37、ot 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 r

38、obot.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 orig</p>&

39、lt;p>　　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

40、 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 robo

41、ts, such as Han, assemble and porterage...etc.;The robot of Hu Han has already appli</p><p>　　The robot of the current our country the production is all request that applies a door, list door the single time

42、 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.

43、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</p><p>　　3, weld robot development tren

44、d</p><p>　　The 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

45、industrial robot, continuously turn to the intelligence and diversify a direction to develop.Is concrete but talk, performance in as follows a few aspects:</p><p>　　1).The robot operates machine structure:&l

46、t;/p><p>　　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.</p>

47、<p>　　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 th

48、e 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 ad

49、dition adopts a forerunner decelerates a machine and communicates servo electrica</p><p>　　The organization facing mold piece turns and can weigh to reach a direction development.For example, the servo elect

50、rical 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 m

51、ethod;The abroad has already had the mold piece the disguise to go together with a robot product to ask city.</p><p>　　The structure of the robot is getting clever, control system smaller and smaller, twos j

52、ust turn a direction development toward the integral whole.</p><p>　　The adoption merges organization and makes use of a robot technique, realization Gao accuracy measure and process, this is the robot techn

53、ique 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

54、of product.</p><p><b>　　附錄Ⅱ</b></p><p><b>　　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)用中最普遍的主要有兩種方式，即點(diǎn)焊和電弧焊。我們所說的焊接機(jī)器人其實(shí)就是在焊

55、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)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)程序要求和任務(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，從某種意義上來說，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>&

56、lt;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。     然而，焊接又與其它工業(yè)加工過程不一樣，比如，電弧焊過程中，被焊工件由于局部加熱熔化和冷卻產(chǎn)生變形，焊縫的軌

57、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，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。由于電弧焊接過程中有強(qiáng)烈弧光、電弧噪音、煙塵、熔滴過渡不穩(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

58、過程的檢測(cè)那么容易，因此，焊接機(jī)器人的應(yīng)用并不是一開始就用于電弧焊過程的。 </p><p>　　實(shí)際上，工業(yè)機(jī)器人在焊接領(lǐng)域的應(yīng)用最早是從汽車裝配生產(chǎn)線上的電阻點(diǎn)焊開始的。原因在于電阻點(diǎn)焊的過程相對(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)精度的控制要求比較低。點(diǎn)焊機(jī)器人在汽車裝配生產(chǎn)線上的大量應(yīng)用大大提高了汽車裝配焊接的生產(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，

59、就可在同一條生產(chǎn)線上對(duì)不同的車型進(jìn)行裝配焊接。     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)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)

60、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</p><p>　　另外，機(jī)器人電弧焊不僅用于汽車制造業(yè)，更可以用于涉及電弧焊的其它制造業(yè)，如造船、機(jī)車車輛、鍋

61、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)量上大有超過機(jī)器人點(diǎn)焊之勢(shì)。     隨著汽車輕量化制造技術(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)在汽車結(jié)構(gòu)材料中得到應(yīng)用。這些材料的焊接往往無法用傳統(tǒng)的焊接方法來解決，必須采用新的焊接方法和焊接工藝。其中高功率激光焊和攪拌摩擦焊等最具發(fā)展?jié)摿?。因此，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

62、實(shí)上，像上海大眾等國(guó)內(nèi)最具實(shí)力的汽車制造商在他們的新車型制造過程中已經(jīng)大量使用機(jī)器人激光焊接。    和機(jī)器人電弧焊相比，機(jī)器人激光焊的焊縫跟蹤精度要求更高。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

63、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</p><p>　　工業(yè)機(jī)器人的結(jié)構(gòu)形式很多，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

64、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)位置的控制帶來復(fù)雜性。因?yàn)楹附舆^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)器人焊接過程中運(yùn)

65、動(dòng)的平穩(wěn)性很重要。不同的機(jī)器人控制系統(tǒng)對(duì)這一問題的處理方式不盡相同。     一般來講，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</p><p>　　通過有限元分析、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)

66、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)。     機(jī)構(gòu)向著模塊化、可重構(gòu)

67、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)品問市。     機(jī)器人的結(jié)構(gòu)更加靈巧，控制系統(tǒng)愈來愈小，二者正朝著一體化方向發(fā)展。 </p><p>　　采用并聯(lián)機(jī)構(gòu)，利用機(jī)器人技術(shù)，實(shí)現(xiàn)高精度測(cè)量及加工，這是機(jī)器人技術(shù)向數(shù)控技術(shù)的拓展，為將來實(shí)現(xiàn)機(jī)器人和數(shù)控技術(shù)一體化奠