焊接機器人雖然有5-6個自由度，其焊機可到達作業(yè)范圍內(nèi)的任意點以所需的姿態(tài)對焊件施焊，但在實際操作中，對于一些結構復雜的焊件，如果不將其適時變換位置，可升降的焊接變位機，就可能會和焊機發(fā)生結構干涉，使焊機無法沿設定的路徑進行焊接。另外，為了保證焊接質(zhì)量，提高生產(chǎn)效率，往往要把焊縫調(diào)整到水平、船型等佳位置進行焊接。

Although welding robots have 5-6 degrees of freedom and their welding machines can reach any point within the operating range to weld the workpiece in the desired posture, in practical operation, for some structurally complex weldments, if their positions are not changed in a timely manner, the adjustable welding displacement machine may interfere with the welding machine's structure, making it unable to weld along the set path. In addition, in order to ensure welding quality and improve production efficiency, it is often necessary to adjust the weld seam to the optimal position such as horizontal and ship shape for welding.

因此，也需要焊件適時地變換位置。基于上述兩個原因，焊接機器人幾乎都是配備了相應的焊接變位機才實施焊接的，其中以翻轉機、變位機和回轉臺為多。   前面已經(jīng)說了，焊接變位機與焊接機器人之間的運動配合，分非同步協(xié)調(diào)和同步協(xié)調(diào)兩種。前者是機器人施焊時，河北焊接變位機，焊接變位機不運動，待機器人施焊終了時，焊接變位機械才根據(jù)指令動作，將焊件再調(diào)整到某一 佳位置，進行下一條焊縫的焊接。

Therefore, it is also necessary to change the position of the welded parts in a timely manner. Based on the above two reasons, welding robots are almost always equipped with corresponding welding displacement machines to carry out welding, with flipping machines, displacement machines, and rotary tables being the most common. As mentioned earlier, the motion coordination between welding displacement machines and welding robots can be divided into two types: asynchronous coordination and synchronous coordination. The former is when the robot is welding, the Hebei welding displacement machine does not move. When the robot welding is completed, the welding displacement machine will act according to the instructions, adjust the welded part to a certain optimal position, and proceed to the next weld seam welding.

如此周而復始，直到將焊件上的全部焊縫焊完。后者不僅具有非同步協(xié)調(diào)的功能，而且在機器人施焊時，單立柱回轉變位機，焊接變位機可根據(jù)相應指令，帶著焊件協(xié)調(diào)運動，從而將待焊的空間曲線焊縫連續(xù)不斷地置于水平或船型位置上，以利于焊接。由于在大多數(shù)焊接結構上都是空間直線焊縫和平面曲線焊縫，而且非同步協(xié)調(diào)運動的控制系統(tǒng)相對簡單，主機缸體焊接變位機，所以焊接變位機與機器人的運動配合，以非同步協(xié)調(diào)運動的居多。

Repeat this cycle until all the welds on the welded part are welded. The latter not only has the function of asynchronous coordination, but also during robot welding, the single column rotary displacement machine can coordinate the movement of the welded part according to the corresponding instructions, so as to continuously place the spatial curve weld seam to be welded on the horizontal or ship position, which is conducive to welding. Due to the fact that in most welding structures, there are spatial straight welds and planar curved welds, and the control system for asynchronous coordinated motion is relatively simple, the welding displacement machine for the main cylinder body is mainly coordinated with the robot in terms of asynchronous coordinated motion.

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