Improve accuracy to ensure high-speed welding.

企業(yè)在生產(chǎn)中送餐機(jī)器人意味著追求率、高焊接質(zhì)量，因此在焊接速度上尋求突破，而機(jī)器人在軌跡控制上的高精度是高速焊接的可靠保證。

In production, food delivery robots mean pursuing high efficiency and welding quality, therefore seeking breakthroughs in welding speed. The high-precision trajectory control of robots is a reliable guarantee for high-speed welding.

(2)雙機(jī)協(xié)調(diào)焊接功能。

(2) Dual machine coordinated welding function.

有時(shí)我們會遇到長形工件，焊縫分布在工件的兩端，若采用1臺機(jī)器人進(jìn)行焊接，會出現(xiàn)因兩端不同時(shí)焊接而造成焊接變形不一致，從而使工件在長度方向上扭轉(zhuǎn)變形，焊接后的工件難以符合尺寸要求。針對這種類型的工件，我們常采用2臺機(jī)器人同時(shí)協(xié)調(diào)焊接的方式，這就促生了兩臺機(jī)器人雙機(jī)協(xié)調(diào)焊接技術(shù)。在汽車后橋和消聲器的焊接中，經(jīng)常會使用到該項(xiàng)技術(shù)。2臺機(jī)器人對應(yīng)1個(gè)由機(jī)器人外部軸驅(qū)動的變位機(jī)，在變位機(jī)順長擺放的工件上有兩個(gè)鏡像對稱的部件，兩條相似的環(huán)焊縫需要兩臺機(jī)器人在變位機(jī)旋轉(zhuǎn)的同時(shí)實(shí)現(xiàn)同步協(xié)調(diào)焊接，通過這種方式可以將焊接生產(chǎn)的效率提高1倍。

Sometimes we encounter elongated workpieces with welds distributed at both ends. If one robot is used for welding, inconsistent welding deformation may occur due to welding at different ends, resulting in the workpiece twisting and deforming in the length direction. The welded workpiece is difficult to meet the size requirements. For this type of workpiece, we often use the method of two robots coordinating welding at the same time, which promotes the technology of two robots coordinating welding with two machines. This technology is often used in the welding of the rear axle and muffler of automobiles. Two robots correspond to one displacement machine driven by an external axis of the robot. There are two mirror symmetrical components on the workpiece arranged in the length of the displacement machine. Two similar circumferential welds require two robots to achieve synchronous and coordinated welding while the displacement machine rotates. This way, the efficiency of welding production can be doubled.

(3)點(diǎn)焊機(jī)器人的優(yōu)勢。

(3) The advantages of spot welding robots.

如果說弧焊機(jī)器人的使用大大提高了焊接質(zhì)量的穩(wěn)定性和焊接效率，點(diǎn)焊機(jī)器人則具有更多的優(yōu)勢，帶來的經(jīng)濟(jì)效益也更加可觀，主要體現(xiàn)在：A.機(jī)器人點(diǎn)焊時(shí)，大多采用鉗體與變壓器一體化方式，變壓器的容量可以減小到1/3～1/4，節(jié)約了能源，并且極大地減輕了操作者繁重的體力勞動。B.點(diǎn)焊機(jī)器人有更多的控制方式控制焊鉗壓力和焊接條件的自動切換，針對不同打點(diǎn)位置可輕松實(shí)現(xiàn)獨(dú)特的焊接時(shí)序，大大提高了打點(diǎn)質(zhì)量，避免了焊點(diǎn)漏打、多打及位置不準(zhǔn)確等問題。C.點(diǎn)焊機(jī)器人在打點(diǎn)效率上的優(yōu)勢明顯，可提率8~10倍。

If the use of arc welding robots greatly improves the stability of welding quality and welding efficiency, spot welding robots have more advantages and bring more significant economic benefits, mainly reflected in: A. When robot spot welding, the integrated method of clamp body and transformer is mostly used, and the capacity of transformer can be reduced to 1/3 to 1/4, saving energy and greatly reducing the heavy physical labor of operators. B. Spot welding robots have more control methods to control the automatic switching of welding clamp pressure and welding conditions. They can easily achieve unique welding timing for different spot welding positions, greatly improving the quality of spot welding and avoiding problems such as missed, excessive, and inaccurate welding positions. C. Spot welding robots have obvious advantages in spot welding efficiency, which can improve efficiency by 8-10 times.

我們有一個(gè)客戶，設(shè)備臨時(shí)出現(xiàn)故障，由于當(dāng)時(shí)工期緊，他們臨時(shí)采用手工來點(diǎn)焊同樣的工件，結(jié)果4把手工焊鉗在兩個(gè)輪班只能生產(chǎn)40件，而機(jī)器人正常生產(chǎn)時(shí)，在一個(gè)輪班就能完成90件左右。D.點(diǎn)焊機(jī)器人可以使用機(jī)器人的一些獨(dú)有技術(shù)進(jìn)一步對焊接時(shí)序進(jìn)行精確控制，使焊接效率和焊接質(zhì)量進(jìn)一步提高。

We have a customer whose equipment malfunctioned temporarily. Due to the tight schedule at that time, they temporarily used manual welding to spot weld the same workpiece. As a result, four manual welding tongs could only produce 40 pieces in two shifts, while the robot could complete about 90 pieces in one shift during normal production. D. Spot welding robots can use some unique technologies of the robot to further accurately control the welding sequence, thereby further improving welding efficiency and quality.

如，電動焊鉗在機(jī)器人上的使用不僅僅是加壓方式的改變，其優(yōu)勢更體現(xiàn)在機(jī)器人對它的行程的控制方面：

For example, the use of electric welding tongs on robots is not only a change in the pressurization method, but also its advantages are reflected in the robot's control of its stroke:

①可以根據(jù)焊點(diǎn)的位置實(shí)現(xiàn)理想的行程

① Ideal travel can be achieved based on the position of the solder joint

②焊接過程中可以分段控制焊鉗壓力

② During the welding process, the welding clamp pressure can be controlled in stages

③可以控制焊接條件輸出的時(shí)間節(jié)點(diǎn)

③ Can control the time node for welding condition output

④可以運(yùn)用間隙示教功能靈活選擇上電極示教、下電極示教方式，大大縮短了示教時(shí)間。

④ The gap teaching function can be used to flexibly select the upper electrode teaching and lower electrode teaching methods, greatly shortening the teaching time.