CN103624456B - Positioner and possess the robot system of this positioner - Google Patents
Positioner and possess the robot system of this positioner Download PDFInfo
- Publication number
- CN103624456B CN103624456B CN201210313315.2A CN201210313315A CN103624456B CN 103624456 B CN103624456 B CN 103624456B CN 201210313315 A CN201210313315 A CN 201210313315A CN 103624456 B CN103624456 B CN 103624456B
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- Prior art keywords
- pressure
- holding member
- positioner
- fixture
- workpiece
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
Abstract
The present invention relates to a kind of positioner, it has: fixture; Pressure converting member; Frame section; And base portion.Fixture comprises and accepts pressure supply and driven the maintaining body of the workpiece kept thus as processing object.Pressure converting member is arranged at fixture, and the 1st pressure from this fixture outside supply is converted to the 2nd large pressure of more above-mentioned 1st pressure and is supplied to fixture.Frame section support fixture can rotate around the 1st rotating shaft.Base portion support frame portion can rotate around the 2nd rotating shaft substantially vertical with the 1st rotating shaft.
Description
Technical field
The present invention relates to a kind of positioner and possess the robot system of this positioner.
Background technology
Conventionally, there is known make it remain on the positioner of assigned position the clampings such as the workpiece pair of workpieces fixture as processing object, and position the processing operation (such as with reference to Japanese Patent Laid-Open 07-009130 publication) for specifying.
Above-mentioned positioner can be, has the maintaining body comprising similar above-mentioned work piece holder and the fixture formed, and makes this fixture from rotating while holding workpiece, changes the direction of workpiece thus.
In addition, this kind of positioner, such as, be configured in and comprise in the robot system of robot, for the location of workpiece during the processing operation undertaken by robot that spot welding is such.
But, when as above by robot to workpiece implement spot welding, for performing high-precision welding, and need positioner stably holding workpiece.
Therefore, the fixture majority of holding workpiece is that the mode described maintaining body being operated by the oil pressure actuated mechanism of such as oil cylinder is formed, and high pressure oil pressure is supplied to oil cylinder thus holding workpiece securely.
But, positioner in the past setting and when safeguarding in required time and time on have further room for improvement.Such as when as above high pressure oil pressure is supplied to oil cylinder, need the high pressure oil pressure pipe carrying out bonding of hard with Oil-pressure joint etc., and oil pressure pipe arranged the maintaining body to fixture.
But, when fixture as above self rotates, be difficult to the high pressure oil pressure pipe of hard to arrange do not disturb fixture to rotate to maintaining body.In addition, when using Oil-pressure joint, the probability causing fault because of working oil fluid leakage will be increased.
In view of the above problems, object is that providing a kind of can reduce the positioner of required time and time when arranging and safeguard and possess the robot system of this positioner to a kind of form of the present invention.
Summary of the invention
The positioner that a kind of form of the present invention relates to, it has: fixture; Pressure converting member; Frame section; And base portion.Described fixture comprises and accepts pressure supply and driven the maintaining body of the workpiece kept thus as processing object.Described pressure converting member is arranged at described fixture, and the 1st pressure from this fixture outside supply is converted to the 2nd large pressure of more described 1st pressure and is supplied to described fixture.Described frame section supports described fixture and can rotate around the 1st rotating shaft.Described base portion supports described frame section and can rotate around the 2nd rotating shaft substantially vertical with described 1st rotating shaft.
According to a kind of form of the present invention, required time and time when arranging and safeguard can be reduced.
Accompanying drawing explanation
Following detailed description of the present invention read by contrast accompanying drawing, easily can carry out more complete understanding to the present invention, and understand relative advantage.
Figure 1A and Figure 1B is the ideograph of the structural outline representing the positioner that embodiment relates to.
Fig. 2 be the configuration structure example representing robot system overlook ideograph.
Fig. 3 is the stereo appearance figure of positioner.
Fig. 4 is the side view representing positioner detailed construction.
Fig. 5 is the three-dimensional pattern figure representing pressure converting member and surrounding detailed construction thereof.
Fig. 6 is the block diagram representing robot system architecture.
Detailed description of the invention
Referring to accompanying drawing, describe disclosed positioner in detail and possess the embodiment of robot system of this positioner.In addition, the present invention is not limited to embodiment shown below.
In addition, be described for situation when being carried out workpiece welding processing by welding robot for positioner below.
First, with Figure 1A and Figure 1B, the structural outline of the positioner that embodiment relates to is described.Figure 1A and Figure 1B is the ideograph of the structural outline representing the positioner 10 that embodiment relates to.
In addition, illustrate for ease of understanding, in Figure 1A, figure is shown with and comprises with vertical upwards for positive direction, and vertical is downwards the three-dimensional cartesian coordinate system of the Z axis of negative direction.Therefore, the direction along XY plane refers to " horizontal direction ".The above-mentioned rectangular coordinate system of display that also can be suitable in other accompanying drawings that following explanation uses.
In addition, in each figure shown below, by about the structural element etc. be made up of multiple key element, sometimes only to the element annotation symbol of among multiple key element, and for the situation that other omitting elements symbols mark.In this situation, the key element having marked symbol is identical with other key elements.
As shown in Figure 1A, the positioner 10 that embodiment relates to, possesses fixture 11, frame section 12, base portion 13.
Fixture 11 includes the maintaining body fixedly being carried out by Work-sheet pressing keeping.Maintaining body comprises the 1st holding member 11a and the 2nd holding member 11b.
1st holding member 11a, is arranged to be driven by drive source (describing afterwards) to rotate around AX1 axle (the 1st rotating shaft) (with reference to double-head arrow 101 in figure).At this, positioner 10 is when holding workpiece, and AX1 axle is the direction of substantially parallel with Z axis in figure (i.e. vertical direction), and the 1st holding member 11a is as the objective table of placing workpiece.
2nd holding member 11b, configures in opposite directions with the 1st holding member 11a, is under pressure and supplies and slide (with reference to arrow 103 in figure) along AX1 direction of principal axis, thus by piece-holder between itself and the 1st holding member 11a.
At this, as shown in Figure 1A, be the 1st holding member 11a and the 2nd holding member 11b in the present embodiment, make 2 workpiece engagings of workpiece W1 and workpiece W2 and clamp, welding processing is carried out at the engaging position of robot to two workpiece described afterwards.
In addition, the 2nd holding member 11b can the driven rotation along with the rotation of the 1st holding member 11a.
Frame section 12 support fixture 11 can rotate around AX1 axle (double-head arrow 101 with reference in figure).
Base portion 13, such as, be fixed in ground etc., and support frame portion 12 can rotate around the AX2 axle (the 2nd rotating shaft) substantially vertical with AX1 axle (double-head arrow 102 with reference in figure).
But, as shown in Figure 1A, when in order to carry out welding processing etc. and 2 workpiece W1 and workpiece W2 be engaged and clamp, for making engaging position not carry out high-precision processing with not producing dislocation, preferably clamp with higher pressure.
Now, in this case, in technology in the past, often use the gimmick applying high pressure oil pressure with the driving mechanism of oil pressure actuated system.But as shown in Figure 1A, when fixture 11 self and frame section 12 self rotate, the row of high pressure hard oil pressure pipe establishes more difficult.In addition, because the rotation of above-mentioned fixture 11 and frame section 12 also easily makes Oil-pressure joint leak accelerating of working oil.
So as shown in Figure 1A, in the present embodiment, fixture 11 is provided with pressure converting member 11c pressure being converted to high pressure (the 2nd pressure) from low pressure (the 1st pressure).In addition, what pressure used is also air pressure.
Thus, first owing to supplying the air pressure of low pressure to fixture 11, therefore the feed lines of pressure can be formed by flexible pipe.That is, establish owing to easily arranging, and the feed lines formed can not disturb the rotation of frame section 12, arrange and required time and time when safeguarding therefore, it is possible to reduce.
In addition, owing to using air pressure, therefore without the need to worrying that the working oil rotating because of fixture 11 and frame section 12 and cause leaks.That is, the fault owing to can prevent this leakage from causing, therefore, it is possible to reduce fault rate and improve reliability.
At this, in present embodiment, when robot carries out welding processing, use positioner 10, first the action of positioner 10 in this situation is specifically described.
First, as shown in Figure 1B, in positioner 10, AX1 axle (with reference to Figure 1A) is the direction substantially parallel with Z axis in figure, and workpiece W1 and workpiece W2 is kept along vertical direction arrangement.
At this, schematically show positioner 10 very simply in fig. ib, and eliminate the diagram etc. of fixture 11.In addition, for workpiece W1 and workpiece W2, also for ease of understand its towards and be drawn as representing of plane.
In addition, workpiece W1 and workpiece W2, has interval in vain mutually though be illustrated as herein, in the inner side of frame section 12, is mutually engagingly kept by fixture 11.
Continue the explanation of Figure 1B.Then, positioner 10, makes the frame section 12 be pivotally supported on by base portion 13 on AX2 axle, carries out 90 ° of rotations (with reference to arrow 104 in figure) around AX2 axle.That is, positioner 10 make as the workpiece W1 of part to be welded and workpiece W2 engaging position upward.
Then, positioner 10 makes workpiece W1 and workpiece W2 rotate (with reference to double-head arrow 105 in figure) around AX1 axle, that is, make part to be welded always upward, accept the welding processing of being undertaken by robot 20 simultaneously.At this, robot 20 possesses the end effector 21 of spot welding on the moving part of front end, with the engaging position of above-mentioned end effector 21 welding work pieces W1 and workpiece W2.
At this, positioner 10 and robot 20, when carrying out above-mentioned welding processing, being controlled and making respective action synchronous.The top level control device that above-mentioned control is possessed by robot system 1 and robot controller carry out.For the frame structure of robot system 1, will by describing after Fig. 6.
At this, although the situation of illustrated to be robot 20 be single armed type multi-axis robot in fig. ib, not with the structure of this limiting robot 20.Following also identical about this point.
Secondly, an example of the configuration structure of robot system 1 is described with Fig. 2.Fig. 2 be the configuration structure example representing robot system 1 overlook ideograph.At this, after Fig. 2, for the symbol of multiple structural element, have mark represents numbering situation with "-number ", think that their structure is all identical in this case.
As shown in Figure 2, robot system 1 possesses robot 20.Robot 20 is described above, and its action is controlled by top level control device and robot controller (all omitting diagram).
At this, the region being outer ring with closed curve 201 and being inner ring with closed curve 202, represents the region can being carried out welding action by robot 20.In the region can carrying out above-mentioned welding action, as shown in Figure 2, positioner 10-1 and positioner 10-2 is equipped.
, can carry out in the region of welding action as long as workpiece retaining zone is included in herein, multiple positioner 10 can be arranged in non-interfering scope.Such as in fig. 2, the example having arranged 2 positioners of positioner 10-1 and positioner 10-2 is represented.
The action of positioner 10-1 and positioner 10-2 is also controlled by top level control device and robot controller respectively.Will by describing after Fig. 6 for this point.
Then, with Fig. 3, the surface structure of positioner 10 is described.Fig. 3 is the stereo appearance figure of positioner 10.In addition, for the structural element illustrated in figure ia, its explanation may be simplified.
Have part in illustrating shown in Fig. 3 and with Figure 1A to repeat, positioner 10 possesses fixture 11, frame section 12, base portion 13.1st holding member 11a supported member 11d of fixture 11 supports.Support component 11d can be supported by rotating base 11e rotatably around AX1 axle (with reference to Figure 1A).
2nd holding member 11b, is supported for relative to the illustrated rotary supporting part 11g(of omission as shown in Figure 4, describes afterwards) can slide along AX1 direction of principal axis.Pressure converting member 11c connects with above-mentioned 2nd holding member 11b.For pressure converting member 11c and surrounding detailed construction thereof, will by describing after Fig. 5.
Frame section 12, when carrying out analysing and observe with YZ plane in figure 3, is the framework being formed as approximate U-shaped towards Y-axis positive direction opening.Frame section 12, in the inner side of above-mentioned approximate U-shaped, support fixture 11 can rotate around AX1 axle.
Base portion 13, when carrying out analysing and observe with YZ plane in figure 3, for forming the framework of approximate trapezoid shape.Base portion 13, possess therein AX2 axle (with reference to Figure 1A) is rotated drive source M2(as shown in Figure 4, describe afterwards), and support frame portion 12 can rotate around AX2 axle.
At this, the surface structure shown in Fig. 3 is only an example, does not limit the outward appearance of positioner 10 with this.Therefore, such as frame section 12 is not limited to approximate U-shaped.In addition, base portion 13 is also not limited to approximate trapezoid shape.
Then, premised on the surface structure of positioner 10 represented in Fig. 3, with Fig. 4, the detailed construction of above-mentioned positioner 10 is described.Fig. 4 is the side view representing positioner 10 detailed construction.
First, explanation from the maintaining body of fixture 11.Positioner 10, when holding workpiece, as shown in Figure 4, adopts and makes AX1 axle towards the posture of vertical direction.Thus, the 1st holding member 11a becomes the objective table of placing workpiece, and workpiece is placed stably based on its deadweight relative to above-mentioned 1st holding member 11a.
In addition, the 2nd holding member 11b has guide rod 11f.2nd holding member 11b, by above-mentioned guide rod 11f, can be supported along AX1 direction of principal axis slidably relative to rotary supporting part 11g.
Then, 2nd holding member 11b, the high-pressure that the pressure converting member 11c being subject to connecting with above-mentioned 2nd holding member 11b supplies, thus vertical down slide (arrow 401 with reference in figure), and clamp securely from top by the workpiece of placing in the 1st holding member 11a.Thus, workpiece is held stably between the 1st holding member 11a and the 2nd holding member 11b.
At this, as shown in Figure 4, be provided with connecting hole 11aa respectively in the 1st holding member 11a, in the 2nd holding member 11b, be provided with engagement pin 11ba, the 1st holding member 11a and the 2nd holding member 11b makes their engagings and holding workpiece (with reference to arrow 402 in figure).Thereby, it is possible to prevent the transversion malposition etc. of the workpiece of the 1st holding member 11a and the 2nd holding member 11b and clamping.
At this, because Fig. 4 is side view, therefore for connecting hole 11aa, and form that engagement pin 11ba outstanding engaged with it represents " connecting hole 11aa ".
Then, the 1st rotating mechanism that fixture 11 is rotated is described.Carried out describing with Fig. 3, as shown in Figure 4, the 1st holding member 11a supported member 11d supports.Above-mentioned support component 11d can be supported by rotating base 11e rotatably around AX1 axle.
In addition, in frame section 12, drive source M1 is provided with.Drive source M1 is connected with support component 11d by the drive disk assembly P1 be made up of pulley and gear etc., and the 1st holding member 11a is rotated (with reference to double-head arrow 403 in figure) around AX1 axle together with support component 11d.
On the other hand, rotary supporting part 11g is configured to, and self freely can rotate around AX1 axle relative to the above-mentioned rotary supporting part 11g of frame section 12.Therefore, the 2nd holding member 11b supported by above-mentioned rotary supporting part 11g, rotates corresponding to the rotation of rotary supporting part 11g (with reference to double-head arrow 404 in figure).
According to said structure, driven under the state of holding workpiece by drive source M1, the 1st holding member 11a rotates thus, also carries out driven rotation by workpiece the 2nd holding member 11b be kept.
Then, the 2nd rotating mechanism that frame section 12 is rotated is described.As shown in Figure 4, base portion 13 carries out axle support by AX2 axle to frame section 12.In addition, drive source M2 is provided with in base portion 13.
Drive source M2 is connected with AX2 axle by drive disk assembly P2, and the rotation of AX2 axle is rotated to make frame section 12 with this.
At this, as shown in Figure 4, in base portion 13, be equipped and produce and supply the source of supply S of low pressure air pressure.Derive from the feed lines of the pressure of above-mentioned source of supply S, can be formed with flexible pipe as mentioned above.
Therefore, such as, shown in Fig. 4, hollow bulb H is set in drive disk assembly P2, arranges via above-mentioned hollow bulb H and establish sleeve pipe Tb, the feed lines of the pressure converting member 11c arriving fixture 11 from base portion 13 through frame section 12 can be formed thus.That is, required time and time can be reduced when arranging and safeguard.
Below, with Fig. 5, pressure converting member 11c and detailed construction around thereof are described.Fig. 5 is the three-dimensional pattern figure representing pressure converting member and surrounding detailed construction thereof.In addition, the rotary supporting part 11g shown in Fig. 5 is a part of the rotary supporting part 11g towards the 2nd holding member 11b.
As shown in Figure 5, pressure converting member 11c, is arranged on the axis of the AX1 axle in rotary supporting part 11g.The output block of pressure converting member 11c, is connected with the 2nd holding member 11b by supply pipe 11h.
In addition, rotary supporting part 11g has multiple pilot hole 11i.Above-mentioned pilot hole 11i, such as, be provided in AX1 axle on the position of same distance (namely on concentric circles).
2nd holding member 11b, relatively above-mentioned rotary supporting part 11g make its guide rod 11f run through pilot hole 11i respectively.In addition, now guide rod 11f and pilot hole 11i is slidingly contacting of can sliding.
According to said structure, when the 2nd holding member 11b accepts the high pressure air pressure supplied from pressure converting member 11c, promoted by above-mentioned air pressure and vertically down to slide.At this, as mentioned above, being equipped with multiple pilot hole 11i with AX1 axle on the position of same distance, making guide rod 11f aim at above-mentioned pilot hole 11i, thus can not stable slip be carried out with rocking.
In addition, rotary supporting part 11g described above is supported for himself and freely can rotates around AX1 axle.Therefore, when under the state of holding workpiece, the 2nd holding member 11b rotates, rotary supporting part 11g(and pressure converting member 11c disposed therein) also correspond to above-mentioned rotation and rotate (with reference to double-head arrow 501 in figure) around AX1 axle.
At this, be arranged on the axis of AX1 axle for pressure converting member 11c in Figure 5, but be not limited to this.In addition, the configuration of pilot hole 11i is also not limited to and the position of AX1 axle at a distance of same distance.
Secondly, the robot system 1(related to embodiment with Fig. 6 is with reference to Figure 1B and Fig. 2) frame structure be described.Fig. 6 is the block diagram representing robot system 1 structure.
In addition, in figure 6, illustrate only the structural element required for description of the present embodiment, and eliminate the record to general structural element.In addition, for the structural element illustrated, its explanation may be simplified.
As shown in Figure 6, robot system 1 possesses top level control device 2, robot controller 3, positioner 10(exemplify " 10-1 " and " 10-2 " 2 herein) and robot 20.
Top level control device 2 is the control device of control machine robot system 1 entirety.At this, top level control device 2, as long as carry out structure that control, that can carry out sequence control according to prespecified order or step, to its physics or logic form and no requirement (NR).Therefore, also can be made up of multiple stage unit.
Robot controller 3 is based on the instruction from top level control device 2, the control device that the positioner 10 connect its subordinate and the action of robot 20 control.In addition, robot controller 3 can control multiple robot 20 or positioner 10 with 1.
In addition, positioner 10 is as previously described, possesses pressure converting member 11c in fixture 11.Pressure converting member 11c is controlled by top level control device 2.
Then, positioner 10 and robot 20, when carrying out welding processing, accept the instruction from top level control device 2 and robot controller 3, make synchronous being controlled of respective action.
In addition, shown in Fig. 6 is an example of the frame structure of robot system 1, is not defined in the mode of such as this dispersion treatment.Therefore, robot controller 3 such as also can direct controlled pressure converting member 11c.
As mentioned above, the positioner that embodiment relates to, possesses fixture, pressure converting member, frame section and base portion.Fixture comprises and accepts pressure supply and driven the maintaining body of the workpiece kept thus as processing object.Pressure converting member is arranged at fixture, and the 1st pressure from above-mentioned fixture outside supply is converted to the 2nd large pressure of more above-mentioned 1st pressure and is supplied to fixture.Frame section support fixture can rotate around the 1st rotating shaft.Base portion support frame portion can rotate around the 2nd rotating shaft substantially vertical with the 1st rotating shaft.
Therefore, according to the positioner that embodiment relates to, required time and time when arranging and safeguard can be reduced.
At this, in the above-described embodiment, illustrate situation about to be used for by positioner when carrying out the welding processing of workpiece by welding robot, but do not limit the form of processing with this.Therefore, the classification of robot is also not limited to welding robot.
In addition, in said embodiment, illustrate the situation that machine people is one armed robot, but do not limit the quantity of arm with this.Therefore, also can be tow-armed robot.
In addition, in said embodiment, the maintaining body illustrating positioner is the situation of Pneumatically driven system, but is not limited thereto.Such as also can be oil pressure actuated system.That is, be low pressure oil pressure due to what supply to fixture from the drive source of pressure, therefore establish the high pressure oil pressure pipe of hard without the need to row.
In addition, in said embodiment for possessing the source of supply of pressure in base portion, but be not limited thereto.Can also be such as that the pressure converting member that fixture possesses directly obtains low pressure air pressure from outside.
In addition, in said embodiment, illustrate the 1st rotating shaft substantially parallel with vertical direction, the situation that the 2nd rotating shaft is substantially parallel with horizontal direction, but be not limited thereto.Can also be such as that the 1st rotating shaft is substantially parallel with horizontal direction, the 2nd rotating shaft be substantially parallel with vertical direction.
In addition, in said embodiment, the maintenance direction illustrating the maintaining body of fixture is the situation of vertical above-below direction, but is not limited thereto, such as, can also be the left and right directions of level.
Claims (6)
1. a positioner, is characterized in that having:
Fixture, it comprises and accepts pressure supply and driven the maintaining body of the workpiece kept thus as processing object;
Pressure converting member, is arranged at described fixture, and the 1st pressure from this fixture outside supply is converted to the 2nd large pressure of more described 1st pressure and is supplied to described fixture;
Frame section, can rotate around the 1st rotating shaft for supporting described fixture; And
Base portion, can rotate around the 2nd rotating shaft substantially vertical with described 1st rotating shaft for supporting described frame section.
2. positioner according to claim 1, is characterized in that described maintaining body has:
1st holding member, is connected in the drive source that described 1st rotating shaft is rotated; And
2nd holding member, configures in opposite directions with described 1st holding member, slides along described 1st rotating shaft direction, thus by described piece-holder between itself and described 1st holding member, wherein
Described pressure converting member connects with described 2nd holding member, by making the 2nd holding member slide to described 2nd pressure of the 2nd holding member supply.
3., according to positioner according to claim 1 or claim 2, it is characterized in that:
Described base portion has the source of supply supplying described 1st pressure,
Described 1st pressure is the air pressure produced in described source of supply,
The feed lines of supplying described 1st pressure is formed as, and arrives described pressure converting member from described source of supply via described frame section.
4. positioner according to claim 2, is characterized in that:
Described maintaining body, by described 1st holding member and described 2nd holding member, clamps described workpiece from vertical above-below direction.
5. positioner according to claim 2, is characterized in that:
Described 1st holding member is formed with connecting hole,
Described 2nd holding member is formed with engagement pin,
Described 1st holding member and described 2nd holding member, make described connecting hole engage with described engagement pin and clamp described workpiece.
6. a robot system, is characterized in that having:
The positioner recorded in claim 1;
Robot; And
Control device, for the action to described robot instruction processing work, described workpiece is located by described positioner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210313315.2A CN103624456B (en) | 2012-08-30 | 2012-08-30 | Positioner and possess the robot system of this positioner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210313315.2A CN103624456B (en) | 2012-08-30 | 2012-08-30 | Positioner and possess the robot system of this positioner |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103624456A CN103624456A (en) | 2014-03-12 |
| CN103624456B true CN103624456B (en) | 2015-09-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210313315.2A Expired - Fee Related CN103624456B (en) | 2012-08-30 | 2012-08-30 | Positioner and possess the robot system of this positioner |
Country Status (1)
| Country | Link |
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| CN (1) | CN103624456B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111720216B (en) * | 2020-06-24 | 2022-02-11 | 中国航发湖南动力机械研究所 | Method for assembling engine device |
| CN116174851B (en) * | 2023-04-24 | 2024-01-30 | 成都航利航空科技有限责任公司 | TIG spot welding fixture |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5000366A (en) * | 1990-05-14 | 1991-03-19 | Beattie James C | Precision automatic converter welder system |
| CN101116914A (en) * | 2006-07-31 | 2008-02-06 | Smc株式会社 | Chuck apparatus |
| CN201192786Y (en) * | 2008-04-29 | 2009-02-11 | 上海宝钢设备检修有限公司 | Cantilever rotary support |
| CN101434006A (en) * | 2008-11-14 | 2009-05-20 | 深圳市大族激光科技股份有限公司 | Laser beam welding workstation |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4700646B2 (en) * | 2007-03-26 | 2011-06-15 | 株式会社神戸製鋼所 | Control device for work positioning device and program thereof |
| WO2010004656A1 (en) * | 2008-07-11 | 2010-01-14 | 三菱日立製鉄機械株式会社 | Mash seam welding method and equipment |
-
2012
- 2012-08-30 CN CN201210313315.2A patent/CN103624456B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5000366A (en) * | 1990-05-14 | 1991-03-19 | Beattie James C | Precision automatic converter welder system |
| CN101116914A (en) * | 2006-07-31 | 2008-02-06 | Smc株式会社 | Chuck apparatus |
| CN201192786Y (en) * | 2008-04-29 | 2009-02-11 | 上海宝钢设备检修有限公司 | Cantilever rotary support |
| CN101434006A (en) * | 2008-11-14 | 2009-05-20 | 深圳市大族激光科技股份有限公司 | Laser beam welding workstation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103624456A (en) | 2014-03-12 |
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