Improve accuracy to ensure high-speed welding.

企業在生產中送餐機器人意味著追求率、高焊接質量，因此在焊接速度上尋求突破，而機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)雙機協調焊接功能。

(2) Dual machine coordinated welding function.

有時我們會遇到長形工件，焊縫分布在工件的兩端，若采用1臺機器人進行焊接，會出現因兩端不同時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臺機器人同時協調焊接的方式，這就促生了兩臺機器人雙機協調焊接技術。在汽車后橋和消聲器的焊接中，經常會使用到該項技術。2臺機器人對應1個由機器人外部軸驅動的變位機，在變位機順長擺放的工件上有兩個鏡像對稱的部件，兩條相似的環焊縫需要兩臺機器人在變位機旋轉的同時實現同步協調焊接，通過這種方式可以將焊接生產的效率提高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)點焊機器人的優勢。

(3) The advantages of spot welding robots.

如果說弧焊機器人的使用大大提高了焊接質量的穩定性和焊接效率，點焊機器人則具有更多的優勢，帶來的經濟效益也更加可觀，主要體現在：A.機器人點焊時，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，節約了能源，并且極大地減輕了操作者繁重的體力勞動。B.點焊機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，針對不同打點位置可輕松實現獨特的焊接時序，大大提高了打點質量，避免了焊點漏打、多打及位置不準確等問題。C.點焊機器人在打點效率上的優勢明顯，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.

我們有一個客戶，設備臨時出現故障，由于當時工期緊，他們臨時采用手工來點焊同樣的工件，結果4把手工焊鉗在兩個輪班只能生產40件，而機器人正常生產時，在一個輪班就能完成90件左右。D.點焊機器人可以使用機器人的一些獨有技術進一步對焊接時序進行精確控制，使焊接效率和焊接質量進一步提高。

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，電動焊鉗在機器人上的使用不僅僅是加壓方式的改變，其優勢更體現在機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可以根據焊點的位置實現理想的行程

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間節點

③ Can control the time node for welding condition output

④可以運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.