工業(yè)機(jī)器人是面向工業(yè)領(lǐng)域的多關(guān)節(jié)機(jī)械手或多自由度的機(jī)器裝置，具有柔性好、自動(dòng)化程度高、可編程性好、通用性強(qiáng)等特點(diǎn)。在工業(yè)領(lǐng)域中，工業(yè)機(jī)器人的應(yīng)用能夠代替人進(jìn)行單調(diào)重復(fù)的生產(chǎn)作業(yè)，或是在危險(xiǎn)惡劣環(huán)境中的加工操作。國際上，工業(yè)機(jī)器人的定義主要有如下兩種：

Industrial robots are multi joint robotic arms or multi degree of freedom machine devices designed for the industrial field, characterized by good flexibility, high automation, good programmability, and strong versatility. In the industrial field, the application of industrial robots can replace humans in monotonous and repetitive production operations or processing operations in dangerous and harsh environments. Internationally, there are two main definitions of industrial robots:

標(biāo)準(zhǔn)化組織（ISO）的定義：工業(yè)機(jī)器人是一種具有自動(dòng)控制的操作和移動(dòng)功能，能完成各種作業(yè)的可編程操作機(jī)。

The definition of the Organization for Standardization (ISO) is that industrial robots are programmable operating machines with automatic control and movement functions, capable of completing various tasks.

機(jī)器人協(xié)會(huì)（RIA）的定義：一種可以反復(fù)編程和多功能的，用來搬運(yùn)材料、零件、工具的操作機(jī)；或者為了執(zhí)行不同的任務(wù)而具有可改變的和可編程的動(dòng)作的專門系統(tǒng)。

The definition of the Robotics Association (RIA) is a machine that can be repeatedly programmed and multifunctional for handling materials, parts, and tools; Or a specialized system with adjustable and programmable actions to perform different tasks.

在智能制造領(lǐng)域，工業(yè)機(jī)器人作為一種集多種技術(shù)于一體的自動(dòng)化裝備，體現(xiàn)了現(xiàn)代工業(yè)技術(shù)的益、軟硬件結(jié)合等特點(diǎn)，成為柔性制造系統(tǒng)、自動(dòng)化工廠、智能工廠等現(xiàn)代化制造系統(tǒng)的重要組成部分。機(jī)器人技術(shù)的應(yīng)用轉(zhuǎn)變了傳統(tǒng)的機(jī)械制造模式，提高了制造生產(chǎn)效率，為機(jī)械制造業(yè)的智能化發(fā)展提供了技術(shù)保障；優(yōu)化了制造工藝流程，能夠構(gòu)建全自動(dòng)智能生產(chǎn)線，為制造模塊化作業(yè)生產(chǎn)提供了良好的環(huán)境條件，滿足現(xiàn)代制造業(yè)的生產(chǎn)需要和發(fā)展需求。

In the field of intelligent manufacturing, industrial robots, as an automation equipment that integrates multiple advanced technologies, reflect the high efficiency and combination of software and hardware of modern industrial technology, and have become an important component of modern manufacturing systems such as flexible manufacturing systems, automated factories, and intelligent factories. The application of robot technology has transformed the traditional mechanical manufacturing mode, improved manufacturing production efficiency, and provided technical support for the intelligent development of the mechanical manufacturing industry; The manufacturing process has been optimized, enabling the construction of fully automated intelligent production lines, providing favorable environmental conditions for modular production and meeting the production and development needs of modern manufacturing.

在智能制造領(lǐng)域，多關(guān)節(jié)工業(yè)機(jī)器人、并聯(lián)機(jī)器人、移動(dòng)機(jī)器人的本體開發(fā)及批量生產(chǎn)，使得機(jī)器人技術(shù)在焊接、搬運(yùn)、噴涂、加工、裝配、檢測、清潔生產(chǎn)等領(lǐng)域得到規(guī)?；蓱?yīng)用，極大地提高了生產(chǎn)效率和產(chǎn)品質(zhì)量，降低了生產(chǎn)和勞動(dòng)力成本。

In the field of intelligent manufacturing, the development and mass production of multi joint industrial robots, parallel robots, and mobile robots have enabled the large-scale integrated application of robot technology in welding, handling, spraying, processing, assembly, testing, clean production, and other fields, greatly improving production efficiency and product quality, and reducing production and labor costs.

1）焊接機(jī)器人

1) Welding robot

在汽車、工程機(jī)械、船舶、農(nóng)機(jī)等行業(yè)，焊接機(jī)器人的應(yīng)用十分普遍。作為精細(xì)度需求較高、工作環(huán)境質(zhì)量較差的生產(chǎn)步驟，焊接的勞動(dòng)強(qiáng)度極大，對焊接工作人員的素養(yǎng)要求較高。由于機(jī)器人具備抗疲勞、高精準(zhǔn)、抗干擾等特點(diǎn)，應(yīng)用焊接機(jī)器人技術(shù)取代人工焊接，可保證焊接質(zhì)量一致性，提高焊接作業(yè)效率，同時(shí)也能直觀地反饋焊接作業(yè)的質(zhì)量。

Welding robots are widely used in industries such as automobiles, construction machinery, ships, and agricultural machinery. As a production step with high precision requirements and poor working environment quality, welding has a high labor intensity and requires high professional competence from welding workers. Due to the characteristics of fatigue resistance, high precision, and anti-interference of robots, the application of welding robot technology to replace manual welding can ensure consistency in welding quality, improve welding efficiency, and also provide intuitive feedback on the quality of welding operations.

目前，投放于焊接崗位的機(jī)器人的種類較多，根據(jù)使用場合的差異，選用的焊接機(jī)器人種類各有不同，其中多關(guān)節(jié)機(jī)器人的應(yīng)用較為普遍，如圖7所示。結(jié)合多關(guān)節(jié)機(jī)器人的運(yùn)動(dòng)靈活、空間自由度較高的特點(diǎn)，能夠調(diào)整任意的焊接位置和姿態(tài)，有效地提升了制造中的生產(chǎn)效率與生產(chǎn)質(zhì)量。

At present, there are many types of robots used in welding positions, and the types of welding robots selected vary depending on the usage situation. Among them, multi joint robots are more commonly used, as shown in Figure 7. Combining the flexible movement and high spatial freedom of multi joint robots, they can adjust any welding position and posture, effectively improving production efficiency and quality in manufacturing.

2）搬運(yùn)機(jī)器人

2) Transport robot

機(jī)器人技術(shù)同樣能夠應(yīng)用到制造業(yè)的搬運(yùn)作業(yè)中。借助人工程序的構(gòu)架與編排，將搬運(yùn)機(jī)器人投放入當(dāng)今制造業(yè)生產(chǎn)之中，從而實(shí)現(xiàn)運(yùn)輸、存儲、包裝等一系列工作的自動(dòng)化進(jìn)行，不僅有效地解放了勞動(dòng)力，而且提高了搬運(yùn)工作的實(shí)際效率。通過安裝不同功能的執(zhí)行器，搬運(yùn)機(jī)器人能夠適應(yīng)各類自動(dòng)生產(chǎn)線的搬運(yùn)任務(wù)，實(shí)現(xiàn)多形狀或不規(guī)則的物料搬運(yùn)作業(yè)。同時(shí)考慮到化工原料及成品的危險(xiǎn)性，利用搬運(yùn)機(jī)器人進(jìn)行運(yùn)輸能降低隱患，減小危險(xiǎn)品及輻射品對搬運(yùn)人員的人體傷害。

Robot technology can also be applied to handling operations in the manufacturing industry. By utilizing the architecture and arrangement of manual programs, the handling robots are integrated into today's manufacturing production, achieving automation in a series of tasks such as transportation, storage, and packaging. This not only effectively liberates labor, but also improves the actual efficiency of handling work. By installing actuators with different functions, the handling robot can adapt to various automatic production line handling tasks and achieve multi shaped or irregular material handling operations. At the same time, considering the danger of chemical raw materials and finished products, using handling robots for transportation can reduce safety hazards and minimize the harm of hazardous and radiation materials to the human body of handling personnel.

目前，固定式串聯(lián)搬運(yùn)機(jī)器人在制造業(yè)中應(yīng)用廣泛，其優(yōu)點(diǎn)是工作空間大、結(jié)構(gòu)簡單，但其負(fù)載較低、剛性較差，只能在固定工位上完成簡單的搬運(yùn)工作，具有一定的局限性。通過結(jié)合移動(dòng)機(jī)器人技術(shù)和并聯(lián)機(jī)器人技術(shù)，能有效地提高搬運(yùn)機(jī)器人的承載能力和作業(yè)范圍，在汽車、物流、食品、醫(yī)藥等行業(yè)具有廣闊的應(yīng)用前景。

At present, fixed series handling robots are widely used in the manufacturing industry. Their advantages are large workspace and simple structure, but their load is low and rigidity is poor. They can only complete simple handling work on fixed workstations, which has certain limitations. By combining mobile robot technology and parallel robot technology, the carrying capacity and operating range of the handling robot can be effectively improved, and it has broad application prospects in industries such as automobiles, logistics, food, and medicine.

3）加工機(jī)器人

3) Processing robots

隨著生產(chǎn)制造向著智能化和信息化發(fā)展，機(jī)器人技術(shù)越來越多地應(yīng)用到制造加工的打磨、拋光、鉆削、銑削、鉆孔等工序當(dāng)中。與進(jìn)行加工作業(yè)的工人相比，加工機(jī)器人對工作環(huán)境的要求相對較低，具備持續(xù)加工的能力，同時(shí)加工產(chǎn)品質(zhì)量穩(wěn)定、生產(chǎn)效率高，能夠加工多種材料類型的工件，如鋁、不銹鋼、銅、復(fù)合材料、樹脂、木材和玻璃等，有能力完成各類高精度、大批量、高難度的復(fù)雜加工任務(wù)。

With the development of intelligent and information-based production and manufacturing, robot technology is increasingly being applied to processes such as polishing, drilling, milling, and drilling in manufacturing. Compared with workers performing processing tasks, processing robots have relatively lower requirements for the working environment, possess the ability to continuously process, and have stable product quality and high production efficiency. They can process various types of workpieces, such as aluminum, stainless steel, copper, composite materials, resin, wood, and glass, and have the ability to complete various high-precision, large-scale, and difficult complex processing tasks.

相比機(jī)床加工,工業(yè)機(jī)器人的缺點(diǎn)在于其自身的弱剛性。但是加工機(jī)器人具有較大的工作空間、較高的靈活性和較低的制造成本,對于小批量多品種工件的定制化加工，機(jī)器人在靈活性和成本方面顯示出較大優(yōu)勢；同時(shí)，機(jī)器人更加適合與傳感器技術(shù)、人工智能技術(shù)相結(jié)合，在航空、汽車、木制品、塑料制品、食品等領(lǐng)域具有廣闊的應(yīng)用前景，

Compared to machine tool processing, the disadvantage of industrial robots is their weak rigidity. However, processing robots have a larger workspace, higher flexibility, and lower manufacturing costs. For customized processing of small batch and multi variety workpieces, robots show significant advantages in flexibility and cost; Meanwhile, robots are more suitable for combining with sensor technology and artificial intelligence technology, and have broad application prospects in fields such as aviation, automobiles, wood products, plastic products, and food,