英文原文WeldrobotapplicationpresentconditionAccordingtoincompletelystatistics,thewholeworldabouthasintheindustrialrobotofservicenearlyhalfofindustrialrobotsisusedformultiformweldtoprocessrealm,weldrobotofapplicationinmainlyhavetwokindsofmethodsmostwidespreadly,thenorderHanandelectricityHuHan.Whatwesaysweldingrobotisinfactweldingtoproducerealmtoreplaceaweldertobeengagedintheindustrialrobotofweldingthetask.Theseweldtohaveplentyoftodesignforbeingacertaintoweldawayexclusivelyintherobotof,butmajorityoflyweldrobotinfactisaningeneraluseindustrialrobottopackupacertainweldtoolbutconstitute.Inmanytaskenvironments,asetrobotevencancompleteincludeweldatinsideofgraspathing,porterage,install,weld,unloadtoanticipateetc.varioustasks,robotcanrequestaccordingtotheprocedurewithtaskpropertyandautomaticallyreplacethetoolontherobotwrist,thecompletioncorrespondsoftask.Therefore,comeuptosayfromacertainmeaning,thedevelopmenthistoryofindustrialrobotisthedevelopmenthistorythatweldsrobot.Knowtoall,weldtoprocesstorequestthatwelderhavetohavewell-trainedoperationtechnicalability,abundantfulfillmentexperience,stabilityofweldlevel；Itisstillakindoflaborconditionbad,manysmokeanddust,hottheradiationisbig,riskGaoofwork.Theemergenceoftheindustrialrobotmakespeoplenaturallythoughtoffirstthehandicraftthatreplaceapersonwithitweldsandeasesthewelderslaborstrength,canalsopromisetoweldqualityandexaltationtoweldanefficiencyatthesametime.However,weldagainwithotherindustryprocessprocessdifferent,forexample,electricityHuHanprocessin,drivewelderpiecebecauseofpartheatmeltwithcooloffcreationtransform,theHansewsofthetrackwillthereforetakeplacetochange.HandicraftHantheexperiencedweldercansewpositionaccordingtotheactualHanobservedbyeyesadjustmentHaningoodtimetheposition,carriageofthegunandrunaboutofspeedtoadapttothevarietythattheHansewsatrack.Howevertherobotwanttoadapttothiskindofvariety,havetothepositionandstatusofgunthatwanttoseethiskindoftochange,thenadopthomologousmeasuretoadjustHanlikepersonfirst,followwhilecarryingouttosewactuallytotheHan.BecausetheelectricityHuweldstohaveinprocessstrongarclight,giveorgetanelectricshockHunoise,smokeanddustandRongdroptransitionunsteadyandcausableHansilkshortcircuit,plicatedenvironmentfactorofexistence,therobotwantstoexamineandidentifiesawithdrawingofthesignalcharacteristicneededforsewingHananddontseemtobeindustrialtheotherinthemanufacturingtoprocesstheexaminationofprocesssoeasily,therefore,weldingtheapplicationofrobotistousedfortogiveorgetanelectricshocktheprocessofHuHaninthebeginning.Actually,industrialrobotatweldedtheapplicationofrealmtoproduceon-lineelectricresistancetoorderaHanbeginningfromthecarassembleattheearlieststage.ThereasonliesintheprocessthattheelectricresistanceordersHanoppositemoresimple,controlconvenient,andnotneedHantosewatrackfollow,totheaccuracyoftherobotandrepeatthecontrolofaccuracyhavelowerrequest.OrdertheHanrobotassemblestoproduceagreatdealofon-lineapplicationtoconsumedlyraisetherateofproductionthatthecarassembleweldsandweldqualityinthecar,atthesametimeagainhaveagentlecharacteristicsforwelding,thenwantonlychangeprocedure,canproduceinthesameon-linecarryonassembletoweldtodifferentcarstype.BEborntillthebeginningofthis80sincenturyfromtherobot,therobottechniqueexperiencedadevelopmentprocessoflongtermslowness.90s,alongwiththerapiddevelopmentofcalculatortechnique,micro-electronicstechnique,andnetworktechnique.etc.,therobottechniqueisalsoflownsoonadevelopment.Themanufacturinglevel,controlspeedandcontrolaccuracyanddependablesexetc.ofindustrialrobotcontinuouslyraises,butmanufacturingcostandpriceofrobotcontinuouslydescend.Issocialinthewest,withcontraryrobotpriceBE,thepersonslaborforcecostcontainsthetrendtocontinuouslyincrease.UnitedNationsEuropeanEconomicCommittee(UNECE)statisticsesfromthevarietycurveof1990-2000yearsoftherobotpriceindexnumberandlaborforcecostindexnumber.Amongthemtherobotpriceof1990indexnumberandlaborforcecosttheindexnumberisallreferencetobeworth100,goto2000,laborforcecostindexnumberis140,increased40%；Butrobotunderthesistuationthatconsideraqualityfactorthepriceindexnumberislowerthan20,lowered80%,underthesistuationthattakenoaccountofaqualityfactor,thepriceindexnumberofrobotisabout40,lowered60%.Here,therobotpricethattakesnoaccountofaqualityfactormeansactualpriceoftherobotofnowwithcomparedinthepast；Andconsiderthatthequalityfactormeansbecausetherobotmaketheexaltationofcrafttechniquelevel,manufacturingqualityandfunctionofrobotevenifwantalsoundertheconditionofequalpricecomparehighbefore,therefore,ifpressedthepastrobotequaledqualityandfunctiontoconsider,thepriceindexnumberofrobotshouldbemuchlower.Canseefromhere,nationalinthewest,becausetheexaltationoflaborforcecostbringsnotsmallpressureforbusinessenterprise,buttheloweringofrobotpriceindexnumbercoincidentallyexpandsapplicationtobringachancefurtherforitagain.Reducetheequipmentsinvestmentofemployeeandincrementrobot,whentheirexpensesattainssomeonebalancepoint,thebenefitofadoptionrobotobviouslywantstocomparetoadoptthebenefitthattheartificialbringsbig,itontheotherhandcanconsumedlyraisetheautomationlevelofproducingtheequipmentsandraisetolaborrateofproductionthus,atthesametimeagaincanpromotetheproductqualityofbusinessenterprise,raisethewholecompetitionabilityofbusinessenterprise.Althoughrobot1timeinvestsalittlebitgreatly,itsdailymaintenanceandconsumeismoreoppositethanitstoproducingfarissmallerthancompletingtheartificialexpensesthatthesametaskconsumes.Therefore,fromfarsightedsee,theproductioncostofproductalsoconsumedlylowers.Buttherobotpricelowertomakesomesmallandmediumenterprisesinvesttopurchaserobottobecomeeasytoaccomplish.Therefore,theapplicationofindustrialrobotissoonflownadevelopmentineverytrade.AccordingtotheUNECEstatistics,thewholeworldhas750,000in2001settheindustrialrobotisusedforindustrymanufacturingrealm,amongthem389,000inJapan,198,000inEU,90,000inNorthAmerica,73,000atrestnation.Gotoattheendof2004thewholeworldtohaveatleastintheindustrialrobotofserviceabout1,000,000.BecausetherobotcontrolstheexaltationofspeedandaccuracyandparticularlygiveorgetanelectricshockthedevelopmentthattheHuspreadsafeelingmachinetocombinetoweldintherobotingetanapplication,maketherobotgiveorgetanelectricshocktheHanofHuHantosewatracktofollowandcontrolaproblemtosomeextentandgetverysolution,therobotweldsinthecartomakethemediumapplicationordersHantosoondevelopintothecarzerofromoriginallymoresinglecarassemblepartsesandelectricityHuwithinassembleprocessHan.RobotsgivingorgettinganelectricshockthebiggestcharacteristicsofHuHanisgentle,canimmediatelypasstoweaveadistanceatanytimeachangetoweldatrackandweldsequence,thereforemostbeapplicabletoquiltwelderpiecethespeciesvarietyisbig,theHansewshortbutmany,productwithcomplicatedshape.Thisattherightmomentagaincharacteristicsaccordingtocarmanufacturing.Beingtherenewalspeedoftheparticularlymodernsocialcarstyleisveryquick,adoptingthecarproductionlineofrobotmaterialcannicelyadapttothiskindofvariety.Moreover,robotsgivingorgettinganelectricshockHuHannotonlyusedforacarmanufacturingindustry,butalsocanusedforothermanufacturingindustriesthatinvolvetogiveorgetanelectricshockHuHan,likeshipbuilding,motorcyclevehicle,boiler,heavytypemachineetc.Therefore,therobotgivesorgetsanelectricshocktheapplicationofHuHangraduallyextensive,ontheamountgreatlyhaveexceedtherobotorderthepowerofHan.Alongwithcarreducinginweightmanufacturingthetechnicalexpansion,somehighstrongmetalalloymaterialsandlightmetalalloymaterial(islikealuminummetalalloy,andmagnesiummetalalloy.etc.)getanapplicationinthematerialinthecarstructure.Thesematerialsweldingusuallycannotsolvewiththeweldingoftraditionmethod,havetoadopttolatelyweldamethodandweldacraft.Amongthem,GaopowerlaserHanandagitationrubHanetc.tohavetodevelopapotentialmost.Therefore,robotandGaopowerlaserHanandagitationrubcombiningofHantobecomeinevitabletrend.BelikethepublicinShanghaitowaitdomestictomosthavethecarmanufacturerofrealstrenghtinfactattheirnewcartypemanufacturingprocessinhavealreadyingreatquantitiesusedrobotlasertoweld.GiveorgetanelectricshockHuHantocomparewithrobot,robotlasertheHanoftheHansewstofollowaccuracytohavehigherrequest.Accordingtothegeneralrequest,therobotgivesorgetsanelectricshocktheHanofHuHan(includeGTAWandGMAW)tosewtofollowaccuracytocontrolin1|oftheelectrodeortheHansilkdiameter2in,athavetheconditionthatfillthesilkundertheHansewtofollowaccuracytoloosenappropriately.ButtolaserHan,thelaserprojectslightuponthelightspotintheworkpiecesurfacewhileweldingdiameterusuallyat0.6in,isfarersmallthanHansilkdiameter(beusuallybiggerthan1.0),butthelaserweldusuallyandnotaddtofillHansilk,therefore,thelaserisweldingifonlythespotpositionhasalittlebitdeviation,thenwillresultintobepartialtoHanandleakHan.Therefore,therobotlaserofthepublicinShanghaiscarcarcrestHaninadditiontopackintheworktongsupadoptmeasuretopreventfromweldingtotransform,stilljusttherobotlaserHangunfrontinstalledthehighaccuracylaserofSCOUTcompanyinGermanytospreadafeelingmachinetousedforHantosewafollowingoftrack.Thestructureformofindustrialrobotisalotof,incommonuselyhaverightangletositmarktype,flexibletype,andcrawlalongtype.etc.bymarktype,manyjointsbymarktype,surfaceofspherebymarktype,pillarnoodles,accordingtodifferentusestillatcontinuouslydevelopmentin.Itismanyrobotsofjointtypesofthemimicrypersonsarmfunctiontoweldwhatrobotcanadoptadifferentstructureformaccordingtotheappliedsituationofdissimilarity,butuseatmostcurrently,thisbecausethearmvividofmanyjointtyperobotsisthebiggest,itcanmakespacepositionandcarriageofHangunadjustintoarbitrarilythestatusweldbysatisfyingademand.Theoreticallyspeak,thejointofrobotismanymore,thefreedomdegreeisalsomanymore,thejointredundancydegreeisbigmore,andthevividisgoodmore；Butalsogoagainstthesittingofkineticscontrolofmarkingthetransformationandeachjointpositionforrobottobringcomplexityatthesametime.BecauseweldtousuallyneedintheprocesswiththespacerightanglesittomarktheHanontherepresentativeworkpiecetosewpositionconversionfortheHanguncarrythespacepositionandcarriageofdepartmentandpassrobotagaingoagainstthekineticscomputeaconversionfortothecontrolofroboteachjointangleposition,butthesolutionofthistransformationprocessusuallyisntunique,theredundancydegreeisbig,solvemoremanymore.Howselectbyexaminationsthesteadythatthequitethecheesesolutionweldstoexerciseintheprocesstotherobotveryimportant.Differenttreatmentofsystemtothisproblemoftherobotcontroldoesntexertahomology.Isgeneraltocometospeak,have6controlsrequestofpositionsandspacecarriagesthattherobotsofjointsbasicallycansatisfyaHangun,3amongthosefreedomsdegree(XYZ)spacepositionusedforcontrolingaHanguntocarryadepartment,another3freedomdegrees(ABC)areusedforthespacecarriagethatcontrolsaHangun.Therefore,currentlyweldrobotmajorityas6jointtypes.Forsomeweldsituation,workpiecebecauseofleadingbigorthespaceisseveralwhattheshapeistoocomplicated,maketheHangunofweldingtherobotcannotarriveappointedHantosewpositionorHanguncarri