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英文原文WELDROBOTAPPLICATIONPRESENTCONDITIONACCORDINGTOINCOMPLETELYSTATISTICS,THEWHOLEWORLDABOUTHASINTHEINDUSTRIALROBOTOFSERVICENEARLYHALFOFINDUSTRIALROBOTSISUSEDFORMULTIFORMWELDTOPROCESSREALM,WELDROBOTOFAPPLICATIONINMAINLYHAVETWOKINDSOFMETHODSMOSTWIDESPREADLY,THENORDERHANANDELECTRICITYHUHANWHATWESAYSWELDINGROBOTISINFACTWELDINGTOPRODUCEREALMTOREPLACEAWELDERTOBEENGAGEDINTHEINDUSTRIALROBOTOFWELDINGTHETASKTHESEWELDTOHAVEPLENTYOFTODESIGNFORBEINGACERTAINTOWELDAWAYEXCLUSIVELYINTHEROBOTOF,BUTMAJORITYOFLYWELDROBOTINFACTISANINGENERALUSEINDUSTRIALROBOTTOPACKUPACERTAINWELDTOOLBUTCONSTITUTEINMANYTASKENVIRONMENTS,ASETROBOTEVENCANCOMPLETEINCLUDEWELDATINSIDEOFGRASPATHING,PORTERAGE,INSTALL,WELD,UNLOADTOANTICIPATEETCVARIOUSTASKS,ROBOTCANREQUESTACCORDINGTOTHEPROCEDUREWITHTASKPROPERTYANDAUTOMATICALLYREPLACETHETOOLONTHEROBOTWRIST,THECOMPLETIONCORRESPONDSOFTASKTHEREFORE,COMEUPTOSAYFROMACERTAINMEANING,THEDEVELOPMENTHISTORYOFINDUSTRIALROBOTISTHEDEVELOPMENTHISTORYTHATWELDSROBOTKNOWTOALL,WELDTOPROCESSTOREQUESTTHATWELDERHAVETOHAVEWELLTRAINEDOPERATIONTECHNICALABILITY,ABUNDANTFULFILLMENTEXPERIENCE,STABILITYOFWELDLEVEL；ITISSTILLAKINDOFLABORCONDITIONBAD,MANYSMOKEANDDUST,HOTTHERADIATIONISBIG,RISKGAOOFWORKTHEEMERGENCEOFTHEINDUSTRIALROBOTMAKESPEOPLENATURALLYTHOUGHTOFFIRSTTHEHANDICRAFTTHATREPLACEAPERSONWITHITWELDSANDEASESTHEWELDERSLABORSTRENGTH,CANALSOPROMISETOWELDQUALITYANDEXALTATIONTOWELDANEFFICIENCYATTHESAMETIMEHOWEVER,WELDAGAINWITHOTHERINDUSTRYPROCESSPROCESSDIFFERENT,FOREXAMPLE,ELECTRICITYHUHANPROCESSIN,DRIVEWELDERPIECEBECAUSEOFPARTHEATMELTWITHCOOLOFFCREATIONTRANSFORM,THEHANSEWSOFTHETRACKWILLTHEREFORETAKEPLACETOCHANGEHANDICRAFTHANTHEEXPERIENCEDWELDERCANSEWPOSITIONACCORDINGTOTHEACTUALHANOBSERVEDBYEYESADJUSTMENTHANINGOODTIMETHEPOSITION,CARRIAGEOFTHEGUNANDRUNABOUTOFSPEEDTOADAPTTOTHEVARIETYTHATTHEHANSEWSATRACKHOWEVERTHEROBOTWANTTOADAPTTOTHISKINDOFVARIETY,HAVETOTHEPOSITIONANDSTATUSOFGUNTHATWANTTOSEETHISKINDOFTOCHANGE,THENADOPTHOMOLOGOUSMEASURETOADJUSTHANLIKEPERSONFIRST,FOLLOWWHILECARRYINGOUTTOSEWACTUALLYTOTHEHANBECAUSETHEELECTRICITYHUWELDSTOHAVEINPROCESSSTRONGARCLIGHT,GIVEORGETANELECTRICSHOCKHUNOISE,SMOKEANDDUSTANDRONGDROPTRANSITIONUNSTEADYANDCAUSABLEHANSILKSHORTCIRCUIT,BIGELECTRICCURRENTSTRONGMAGNETICFIELDETCCOMPLICATEDENVIRONMENTFACTOROFEXISTENCE,THEROBOTWANTSTOEXAMINEANDIDENTIFIESAWITHDRAWINGOFTHESIGNALCHARACTERISTICNEEDEDFORSEWINGHANANDDONTSEEMTOBEINDUSTRIALTHEOTHERINTHEMANUFACTURINGTOPROCESSTHEEXAMINATIONOFPROCESSSOEASILY,THEREFORE,WELDINGTHEAPPLICATIONOFROBOTISTOUSEDFORTOGIVEORGETANELECTRICSHOCKTHEPROCESSOFHUHANINTHEBEGINNINGACTUALLY,INDUSTRIALROBOTATWELDEDTHEAPPLICATIONOFREALMTOPRODUCEONLINEELECTRICRESISTANCETOORDERAHANBEGINNINGFROMTHECARASSEMBLEATTHEEARLIESTSTAGETHEREASONLIESINTHEPROCESSTHATTHEELECTRICRESISTANCEORDERSHANOPPOSITEMORESIMPLE,CONTROLCONVENIENT,ANDNOTNEEDHANTOSEWATRACKFOLLOW,TOTHEACCURACYOFTHEROBOTANDREPEATTHECONTROLOFACCURACYHAVELOWERREQUESTORDERTHEHANROBOTASSEMBLESTOPRODUCEAGREATDEALOFONLINEAPPLICATIONTOCONSUMEDLYRAISETHERATEOFPRODUCTIONTHATTHECARASSEMBLEWELDSANDWELDQUALITYINTHECAR,ATTHESAMETIMEAGAINHAVEAGENTLECHARACTERISTICSFORWELDING,THENWANTONLYCHANGEPROCEDURE,CANPRODUCEINTHESAMEONLINECARRYONASSEMBLETOWELDTODIFFERENTCARSTYPEBEBORNTILLTHEBEGINNINGOFTHIS80SINCENTURYFROMTHEROBOT,THEROBOTTECHNIQUEEXPERIENCEDADEVELOPMENTPROCESSOFLONGTERMSLOWNESS90S,ALONGWITHTHERAPIDDEVELOPMENTOFCALCULATORTECHNIQUE,MICROELECTRONICSTECHNIQUE,ANDNETWORKTECHNIQUEETC,THEROBOTTECHNIQUEISALSOFLOWNSOONADEVELOPMENTTHEMANUFACTURINGLEVEL,CONTROLSPEEDANDCONTROLACCURACYANDDEPENDABLESEXETCOFINDUSTRIALROBOTCONTINUOUSLYRAISES,BUTMANUFACTURINGCOSTANDPRICEOFROBOTCONTINUOUSLYDESCENDISSOCIALINTHEWEST,WITHCONTRARYROBOTPRICEBE,THEPERSONSLABORFORCECOSTCONTAINSTHETRENDTOCONTINUOUSLYINCREASEUNITEDNATIONSEUROPEANECONOMICCOMMITTEEUNECESTATISTICSESFROMTHEVARIETYCURVEOF19902000YEARSOFTHEROBOTPRICEINDEXNUMBERANDLABORFORCECOSTINDEXNUMBERAMONGTHEMTHEROBOTPRICEOF1990INDEXNUMBERANDLABORFORCECOSTTHEINDEXNUMBERISALLREFERENCETOBEWORTH100,GOTO2000,LABORFORCECOSTINDEXNUMBERIS140,INCREASED40；BUTROBOTUNDERTHESISTUATIONTHATCONSIDERAQUALITYFACTORTHEPRICEINDEXNUMBERISLOWERTHAN20,LOWERED80,UNDERTHESISTUATIONTHATTAKENOACCOUNTOFAQUALITYFACTOR,THEPRICEINDEXNUMBEROFROBOTISABOUT40,LOWERED60HERE,THEROBOTPRICETHATTAKESNOACCOUNTOFAQUALITYFACTORMEANSACTUALPRICEOFTHEROBOTOFNOWWITHCOMPAREDINTHEPAST；ANDCONSIDERTHATTHEQUALITYFACTORMEANSBECAUSETHEROBOTMAKETHEEXALTATIONOFCRAFTTECHNIQUELEVEL,MANUFACTURINGQUALITYANDFUNCTIONOFROBOTEVENIFWANTALSOUNDERTHECONDITIONOFEQUALPRICECOMPAREHIGHBEFORE,THEREFORE,IFPRESSEDTHEPASTROBOTEQUALEDQUALITYANDFUNCTIONTOCONSIDER,THEPRICEINDEXNUMBEROFROBOTSHOULDBEMUCHLOWERCANSEEFROMHERE,NATIONALINTHEWEST,BECAUSETHEEXALTATIONOFLABORFORCECOSTBRINGSNOTSMALLPRESSUREFORBUSINESSENTERPRISE,BUTTHELOWERINGOFROBOTPRICEINDEXNUMBERCOINCIDENTALLYEXPANDSAPPLICATIONTOBRINGACHANCEFURTHERFORITAGAINREDUCETHEEQUIPMENTSINVESTMENTOFEMPLOYEEANDINCREMENTROBOT,WHENTHEIREXPENSESATTAINSSOMEONEBALANCEPOINT,THEBENEFITOFADOPTIONROBOTOBVIOUSLYWANTSTOCOMPARETOADOPTTHEBENEFITTHATTHEARTIFICIALBRINGSBIG,ITONTHEOTHERHANDCANCONSUMEDLYRAISETHEAUTOMATIONLEVELOFPRODUCINGTHEEQUIPMENTSANDRAISETOLABORRATEOFPRODUCTIONTHUS,ATTHESAMETIMEAGAINCANPROMOTETHEPRODUCTQUALITYOFBUSINESSENTERPRISE,RAISETHEWHOLECOMPETITIONABILITYOFBUSINESSENTERPRISEALTHOUGHROBOT1TIMEINVESTSALITTLEBITGREATLY,ITSDAILYMAINTENANCEANDCONSUMEISMOREOPPOSITETHANITSTOPRODUCINGFARISSMALLERTHANCOMPLETINGTHEARTIFICIALEXPENSESTHATTHESAMETASKCONSUMESTHEREFORE,FROMFARSIGHTEDSEE,THEPRODUCTIONCOSTOFPRODUCTALSOCONSUMEDLYLOWERSBUTTHEROBOTPRICELOWERTOMAKESOMESMALLANDMEDIUMENTERPRISESINVESTTOPURCHASEROBOTTOBECOMEEASYTOACCOMPLISHTHEREFORE,THEAPPLICATIONOFINDUSTRIALROBOTISSOONFLOWNADEVELOPMENTINEVERYTRADEACCORDINGTOTHEUNECESTATISTICS,THEWHOLEWORLDHAS750,000IN2001SETTHEINDUSTRIALROBOTISUSEDFORINDUSTRYMANUFACTURINGREALM,AMONGTHEM389,000INJAPAN,198,000INEU,90,000INNORTHAMERICA,73,000ATRESTNATIONGOTOATTHEENDOF2004THEWHOLEWORLDTOHAVEATLEASTINTHEINDUSTRIALROBOTOFSERVICEABOUT1,000,000BECAUSETHEROBOTCONTROLSTHEEXALTATIONOFSPEEDANDACCURACYANDPARTICULARLYGIVEORGETANELECTRICSHOCKTHEDEVELOPMENTTHATTHEHUSPREADSAFEELINGMACHINETOCOMBINETOWELDINTHEROBOTINGETANAPPLICATION,MAKETHEROBOTGIVEORGETANELECTRICSHOCKTHEHANOFHUHANTOSEWATRACKTOFOLLOWANDCONTROLAPROBLEMTOSOMEEXTENTANDGETVERYSOLUTION,THEROBOTWELDSINTHECARTOMAKETHEMEDIUMAPPLICATIONORDERSHANTOSOONDEVELOPINTOTHECARZEROFROMORIGINALLYMORESINGLECARASSEMBLEPARTSESANDELECTRICITYHUWITHINASSEMBLEPROCESSHANROBOTSGIVINGORGETTINGANELECTRICSHOCKTHEBIGGESTCHARACTERISTICSOFHUHANISGENTLE,CANIMMEDIATELYPASSTOWEAVEADISTANCEATANYTIMEACHANGETOWELDATRACKANDWELDSEQUENCE,THEREFOREMOSTBEAPPLICABLETOQUILTWELDERPIECETHESPECIESVARIETYISBIG,THEHANSEWSHORTBUTMANY,PRODUCTWITHCOMPLICATEDSHAPETHISATTHERIGHTMOMENTAGAINCHARACTERISTICSACCORDINGTOCARMANUFACTURINGBEINGTHERENEWALSPEEDOFTHEPARTICULARLYMODERNSOCIALCARSTYLEISVERYQUICK,ADOPTINGTHECARPRODUCTIONLINEOFROBOTMATERIALCANNICELYADAPTTOTHISKINDOFVARIETYMOREOVER,ROBOTSGIVINGORGETTINGANELECTRICSHOCKHUHANNOTONLYUSEDFORACARMANUFACTURINGINDUSTRY,BUTALSOCANUSEDFOROTHERMANUFACTURINGINDUSTRIESTHATINVOLVETOGIVEORGETANELECTRICSHOCKHUHAN,LIKESHIPBUILDING,MOTORCYCLEVEHICLE,BOILER,HEAVYTYPEMACHINEETCTHEREFORE,THEROBOTGIVESORGETSANELECTRICSHOCKTHEAPPLICATIONOFHUHANGRADUALLYEXTENSIVE,ONTHEAMOUNTGREATLYHAVEEXCEEDTHEROBOTORDERTHEPOWEROFHANALONGWITHCARREDUCINGINWEIGHTMANUFACTURINGTHETECHNICALEXPANSION,SOMEHIGHSTRONGMETALALLOYMATERIALSANDLIGHTMETALALLOYMATERIALISLIKEALUMINUMMETALALLOY,ANDMAGNESIUMMETALALLOYETCGETANAPPLICATIONINTHEMATERIALINTHECARSTRUCTURETHESEMATERIALSWELDINGUSUALLYCANNOTSOLVEWITHTHEWELDINGOFTRADITIONMETHOD,HAVETOADOPTTOLATELYWELDAMETHODANDWELDACRAFTAMONGTHEM,GAOPOWERLASERHANANDAGITATIONRUBHANETCTOHAVETODEVELOPAPOTENTIALMOSTTHEREFORE,ROBOTANDGAOPOWERLASERHANANDAGITATIONRUBCOMBININGOFHANTOBECOMEINEVITABLETRENDBELIKETHEPUBLICINSHANGHAITOWAITDOMESTICTOMOSTHAVETHECARMANUFACTUREROFREALSTRENGHTINFACTATTHEIRNEWCARTYPEMANUFACTURINGPROCESSINHAVEALREADYINGREATQUANTITIESUSEDROBOTLASERTOWELDGIVEORGETANELECTRICSHOCKHUHANTOCOMPAREWITHROBOT,ROBOTLASERTHEHANOFTHEHANSEWSTOFOLLOWACCURACYTOHAVEHIGHERREQUESTACCORDINGTOTHEGENERALREQUEST,THEROBOTGIVESORGETSANELECTRICSHOCKTHEHANOFHUHANINCLUDEGTAWANDGMAWTOSEWTOFOLLOWACCURACYTOCONTROLIN1|OFTHEELECTRODEORTHEHANSILKDIAMETER2IN,ATHAVETHECONDITIONTHATFILLTHESILKUNDERTHEHANSEWTOFOLLOWACCURACYTOLOOSENAPPROPRIATELYBUTTOLASERHAN,THELASERPROJECTSLIGHTUPONTHELIGHTSPOTINTHEWORKPIECESURFACEWHILEWELDINGDIAMETERUSUALLYAT06IN,ISFARERSMALLTHANHANSILKDIAMETERBEUSUALLYBIGGERTHAN10,BUTTHELASERWELDUSUALLYANDNOTADDTOFILLHANSILK,THEREFORE,THELASERISWELDINGIFONLYTHESPOTPOSITIONHASALITTLEBITDEVIATION,THENWILLRESULTINTOBEPARTIALTOHANANDLEAKHANTHEREFORE,THEROBOTLASEROFTHEPUBLICINSHANGHAISCARCARCRESTHANINADDITIONTOPACKINTHEWORKTONGSUPADOPTMEASURETOPREVENTFROMWELDINGTOTRANSFORM,STILLJUSTTHEROBOTLASERHANGUNFRONTINSTALLEDTHEHIGHACCURACYLASEROFSCOUTCOMPANYINGERMANYTOSPREADAFEELINGMACHINETOUSEDFORHANTOSEWAFOLLOWINGOFTRACKTHESTRUCTUREFORMOFINDUSTRIALROBOTISALOTOF,INCOMMONUSELYHAVERIGHTANGLETOSITMARKTYPE,FLEXIBLETYPE,ANDCRAWLALONGTYPEETCBYMARKTYPE,MANYJOINTSBYMARKTYPE,SURFACEOFSPHEREBYMARKTYPE,PILLARNOODLES,ACCORDINGTODIFFERENTUSESTILLATCONTINUOUSLYDEVELOPMENTINITISMANYROBOTSOFJOINTTYPESOFTHEMIMICRYPERSONSARMFUNCTIONTOWELDWHATROBOTCANADOPTADIFFERENTSTRUCTUREFORMACCORDINGTOTHEAPPLIEDSITUATIONOFDISSIMILARITY,BUTUSEATMOSTCURRENTLY,THISBECAUSETHEARMVIVIDOFMANYJOINTTYPEROBOTSISTHEBIGGEST,ITCANMAKESPACEPOSITIONANDCARRIAGEOFHANGUNADJUSTINTOARBITRARILYTHESTATUSWELDBYSATISFYINGADEMANDTHEORETICALLYSPEAK,THEJOINTOFROBOTISMANYMORE,THEFREEDOMDEGREEISALSOMANYMORE,THEJOINTREDUNDANCYDEGREEISBIGMORE,ANDTHEVIVIDISGOODMORE；BUTALSOGOAGAINSTTHESITTINGOFKINETICSCONTROLOFMARKINGTHETRANSFORMATIONANDEACHJOINTPOSITIONFORROBOTTOBRINGCOMPLEXITYATTHESAMETIMEBECAUSEWELDTOUSUALLYNEEDINTHEPROCESSWITHTHESPACERIGHTANGLESITTOMARKTHEHANONTHEREPRESENTATIVEWORKPIECETOSEWPOSITIONCONVERSIONFORTHEHANGUNCARRYTHESPACEPOSITIONANDCARRIAGEOFDEPARTMENTANDPASSROBOTAGAINGOAGAINSTTHEKINETICSCOMPUTEACONVERSIONFORTOTHECONTROLOFROBOTEACHJOINTANGLEPOSITION,BUTTHESOLUTIONOFTHISTRANSFO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