焊接机器人虽然有5-6个自由度，其焊机可到达作业范围内的任意点以所需的姿态对焊件施焊，但在实际操作中，对于一些结构复杂的焊件，如果不将其适时变换位置，可升降的焊接变位机，就可能会和焊机发生结构干涉，使焊机无法沿设定的路径进行焊接。另外，为了保证焊接质量，提高生产效率，往往要把焊缝调整到水平、船型等佳位置进行焊接。

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，也需要焊件适时地变换位置。基于上述两个原因，焊接机器人几乎都是配备了相应的焊接变位机才实施焊接的，其中以翻转机、变位机和回转台为多。   前面已经说了，焊接变位机与焊接机器人之间的运动配合，分非同步协调和同步协调两种。前者是机器人施焊时，河北焊接变位机，焊接变位机不运动，待机器人施焊终了时，焊接变位机械才根据指令动作，将焊件再调整到某一 佳位置，进行下一条焊缝的焊接。

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.

如此周而复始，直到将焊件上的全部焊缝焊完。后者不仅具有非同步协调的功能，而且在机器人施焊时，单立柱回转变位机，焊接变位机可根据相应指令，带着焊件协调运动，从而将待焊的空间曲线焊缝连续不断地置于水平或船型位置上，以利于焊接。由于在大多数焊接结构上都是空间直线焊缝和平面曲线焊缝，而且非同步协调运动的控制系统相对简单，主机缸体焊接变位机，所以焊接变位机与机器人的运动配合，以非同步协调运动的居多。

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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