外文翻译---焊接机器人应用现状.docx

附录一 外文翻译英文原文Weld robot application present conditionAccording to incomplete statistics, the worlds 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 of robots 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 further application brings opportunity. Reduce staff and increase the robots 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 its 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 UNECEs 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 worlds 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 solve the 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 Volkswagens 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 companys high-precision laser sensors for seam tracking trajectory. There is many forms of industrial robots structure, 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 welding stability 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 robots 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 programmers 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 robots 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 ABBs 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.Chinas industrial robot from the 80s 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, Chinas 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, the production 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 users 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 robot The 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 manipulator The 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-free Institution 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 robots structure is more agile, more and more small control systems, integration is moving in the direction of the two With parallel mechanism, the use of robotics, high precision measurement and processing, which is CNC robotics technology to develop for the future integration of robo