Improve accuracy to ensure high-speed welding.

企业在生产中送餐机器人意味着追求率、高焊接质量，因此在焊接速度上寻求突破，而机器人在轨迹控制上的高精度是高速焊接的可靠保证。

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)双机协调焊接功能。

(2) Dual machine coordinated welding function.

有时我们会遇到长形工件，焊缝分布在工件的两端，若采用1台机器人进行焊接，会出现因两端不同时焊接而造成焊接变形不一致，从而使工件在长度方向上扭转变形，焊接后的工件难以符合尺寸要求。针对这种类型的工件，我们常采用2台机器人同时协调焊接的方式，这就促生了两台机器人双机协调焊接技术。在汽车后桥和消声器的焊接中，经常会使用到该项技术。2台机器人对应1个由机器人外部轴驱动的变位机，在变位机顺长摆放的工件上有两个镜像对称的部件，两条相似的环焊缝需要两台机器人在变位机旋转的同时实现同步协调焊接，通过这种方式可以将焊接生产的效率提高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)点焊机器人的优势。

(3) The advantages of spot welding robots.

如果说弧焊机器人的使用大大提高了焊接质量的稳定性和焊接效率，点焊机器人则具有更多的优势，带来的经济效益也更加可观，主要体现在：A.机器人点焊时，大多采用钳体与变压器一体化方式，变压器的容量可以减小到1/3～1/4，节约了能源，并且极大地减轻了操作者繁重的体力劳动。B.点焊机器人有更多的控制方式控制焊钳压力和焊接条件的自动切换，针对不同打点位置可轻松实现独特的焊接时序，大大提高了打点质量，避免了焊点漏打、多打及位置不准确等问题。C.点焊机器人在打点效率上的优势明显，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.

我们有一个客户，设备临时出现故障，由于当时工期紧，他们临时采用手工来点焊同样的工件，结果4把手工焊钳在两个轮班只能生产40件，而机器人正常生产时，在一个轮班就能完成90件左右。D.点焊机器人可以使用机器人的一些独有技术进一步对焊接时序进行精确控制，使焊接效率和焊接质量进一步提高。

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，电动焊钳在机器人上的使用不仅仅是加压方式的改变，其优势更体现在机器人对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可以根据焊点的位置实现理想的行程

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

②焊接过程中可以分段控制焊钳压力

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

③可以控制焊接条件输出的时间节点

③ Can control the time node for welding condition output

④可以运用间隙示教功能灵活选择上电极示教、下电极示教方式，大大缩短了示教时间。

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.