CN101954531A - Saddle type welding gun lifting and luffing gear of welding device - Google Patents

Saddle type welding gun lifting and luffing gear of welding device Download PDF

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Publication number
CN101954531A
CN101954531A CN2010101076245A CN201010107624A CN101954531A CN 101954531 A CN101954531 A CN 101954531A CN 2010101076245 A CN2010101076245 A CN 2010101076245A CN 201010107624 A CN201010107624 A CN 201010107624A CN 101954531 A CN101954531 A CN 101954531A
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CN
China
Prior art keywords
gear
fixed
welding gun
block
leading screw
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN2010101076245A
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Chinese (zh)
Other versions
CN101954531B (en
Inventor
薛瑞雷
孔德宏
闫春航
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
XINJIANG VICTALL TECHNOLOGY Co Ltd
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XINJIANG VICTALL TECHNOLOGY Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by XINJIANG VICTALL TECHNOLOGY Co Ltd filed Critical XINJIANG VICTALL TECHNOLOGY Co Ltd
Priority to CN 201010107624 priority Critical patent/CN101954531B/en
Publication of CN101954531A publication Critical patent/CN101954531A/en
Application granted granted Critical
Publication of CN101954531B publication Critical patent/CN101954531B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The invention discloses a saddle type welding gun lifting and luffing gear of a welding device, relating to the technical field of welding gun operating devices. The saddle type welding gun lifting and luffing gear of a welding device comprises a fixing vertical arm, a connection cross arm, a connection fixing block, an upper fixed seat, a lower fixed seat, a lead screw and an arc luffing gear. The upper fixed seat and the lower fixed seat are respectively fixed at the upper end and the lower end of the fixing vertical arm, the upper fixed seat is provided with a gearing, a linear guide rail is fixedly arranged between the upper fixed seat and the lower fixed seat, the linear guide rail is provided with a sliding block capable of moving up and down along the linear guide rail, and the upper end of the lead screw is connected with the gearing. The invention has reasonable and compact structure and is convenient to use; because the saddle type welding gun lifting and luffing gear can regulate the angle of the welding gun on line in the welding process so as to make the angle and the trace of the welding gun follow a saddle-shaped intersection line control curve to realize the welding function, and an incline drag-welding operation can be further realized in the welding process of the welding gun, thereby greatly improving the work efficiency and also realizing the application of the gas protective welding technique in the saddle-shaped intersection line curve.

Description

Saddle type welding equipment welding gun lifting and swinging device
One, technical field
The present invention relates to welding gun operating means technical field, is a kind of saddle type welding equipment welding gun lifting and swinging device.
Two, background technology
Domestic shape of a saddle special welding machine, great majority are to use submerged-arc welding, for realizing shape of a saddle welding, control mode takes electronic type, mechanical type, electric mechanical to mix control model, the structure of its motion arm is generally comparatively simple, the CW-11 shape of a saddle bonding machine of U.S. CYPRESS welding company, the frame for movement of taking is comparatively simple, directly constitute on its X, Y, three directions of Z by three transverse arms, welding gun can only be before welding manual adjustments, welding process can't online adjustment welding gun angle, and operating efficiency is low; Because frame for movement is simple, can't realize the gas shield welding technology in addition.
Three, summary of the invention
The invention provides a kind of saddle type welding equipment welding gun lifting and swinging device, overcome the deficiency of above-mentioned prior art, its can effectively solve existing shape of a saddle bonding machine welding process can't online adjustment welding gun angle problem.
Technical scheme of the present invention realizes by following measure: a kind of saddle type welding equipment welding gun lifting and swinging device, comprise fixing perpendicular arm, connect transverse arm, be connected and fixed piece, upper fixed seat, lower fixed seat, leading screw and arc pendulous device, top and bottom at fixing perpendicular arm are fixed with upper fixed seat and lower fixed seat respectively, transmission device is arranged on upper fixed seat, between upper fixed seat and lower fixed seat, be installed with line slideway, the slide block that can move up and down along line slideway is arranged on line slideway, the upper end and the transmission device of leading screw link together, the lower end of leading screw is sleeved on the lower bottom base, a cap is installed on leading screw, transmission device can drive leading screw and rotate, the right-hand member that is connected and fixed piece be connected transverse arm and be fixed together, the middle part that is connected and fixed piece is fixed together with the silk cap, and the left end and the slide block that are connected and fixed piece are fixed together; Lower end at fixing perpendicular arm is equipped with contiguous block, and the arc pendulous device is installed on contiguous block, is installed with first fixed block on the arc pendulous device, and welding gun grip block and rotary handle are installed on first fixed block.
Be further optimization and/or improvements below to the foregoing invention technical scheme:
Above-mentioned transmission device can comprise first motor, first reducing gear, driving gear and driven gear, first motor, first reducing gear, driving gear and driven gear are installed on upper bed-plate, the power output shaft of first reducing gear is fixedly mounted on the driving gear, the upper end of leading screw is fixedly mounted on the driven gear, between driving gear and the driven gear cog belt is installed, first motor drives driving gear by first reducing gear and rotates, driving gear drives driven gear by cog belt and rotates, and driven gear drives leading screw and rotates.
Above-mentioned arc pendulous device comprises second motor, link, gear, tooth bar and second fixed block; Second motor, the link and second fixed block are fixed together in regular turn from right-to-left, gear is installed in link, there is contiguous block in the place ahead at link, on contiguous block, be installed with curved tooth bar, the gear teeth of gear and the teeth of tooth bar mesh together, arc chute is arranged on tooth bar, on second fixed block, positioner is installed, this positioner can be stuck in the chute and can move along chute, the power output shaft of second motor and gear are fixedly installed togather and driven gear rotates and link is moved as arc along tooth bar with gear, on second fixed block, be installed with first fixed block, welding gun grip block and rotary handle are installed on first fixed block.
Above-mentioned positioner can comprise locating shaft and movable pulley, has the movable pulley that is no less than two to be stuck in the chute on the tooth bar and can move as arc along chute, and movable pulley is installed on second fixed block by locating shaft; Perhaps, positioner comprises positioning sliding block, has the positioning sliding block that is no less than two to be stuck in the chute on the tooth bar and can move as arc along chute, and positioning sliding block is fixedly mounted on the fixed block.
Above-mentioned positioner can comprise three movable pulleies and triangular in shape being stuck in the chute, and perhaps, positioner comprises three positioning sliding blocks and triangular in shape being stuck in the chute.
Can be installed with second reducing gear between above-mentioned second motor and the link, the power intake of the outer end of the power output shaft of second motor and second reducing gear is fixed together, the power output shaft and the gear of second reducing gear are fixedly installed togather, and second motor rotates by the second reducing gear driven gear.
Above-mentioned first reducing gear and second reducing gear all can adopt belt reducing gear or gear reduction or chain reducing gear.
Can be installed with the leading screw support on above-mentioned second fixed block, on the leading screw support, screwed hole is arranged, the middle part of short leading screw is installed in the screwed hole and can moves along the axis of screwed hole, end at short leading screw is installed with first fixed block, and welding gun grip block and rotary handle are installed on first fixed block.
The lower end of the perpendicular arm of said fixing can be hinged with the rotation projection of energy left-right rotation, on the rotation projection, be installed with contiguous block, on fixing perpendicular arm, be installed with and the corresponding jackscrew installing rack in upper end that rotates projection, on the jackscrew installing rack, screwed hole is arranged, the middle part of jackscrew is installed in the screwed hole, one end of jackscrew is fixedly mounted on the rotation projection, and the other end of jackscrew is equipped with handwheel.
Reasonable and compact in structure of the present invention; easy to use; owing to it can online adjustment welding gun angle make the angle of welding gun and track realize the welding function according to shape of a saddle intersection control curve in welding process; that can also realize the welding gun welding process tiltedly draws weldering action; therefore not only improved and greatly improved operating efficiency, can also realize of the application of gas shield welding technology at shape of a saddle intersection curve.
Four, description of drawings
Accompanying drawing 1 is the main TV structure schematic diagram of most preferred embodiment of the present invention.
Accompanying drawing 2 is the structural representation of bowing of accompanying drawing 1.
Accompanying drawing 3 is the right TV structure schematic diagram of accompanying drawing 1.
Accompanying drawing 4 is the main TV structure schematic diagram of amplification of arc pendulous device of I position in the accompanying drawing 1 etc.
Accompanying drawing 5 is the structural representation of looking up of accompanying drawing 4.
Accompanying drawing 6 is that the A-A of accompanying drawing 5 is to the sectional structure schematic diagram.
Coding in the accompanying drawing is respectively: 1 is fixing perpendicular arm, and 2 for connecting transverse arm, and 3 for being connected and fixed piece, 4 is upper fixed seat, and 5 is lower fixed seat, and 6 is leading screw, 7 is line slideway, and 8 is slide block, and 9 is contiguous block, 10 is first fixed block, and 11 is the welding gun grip block, and 12 is rotary handle, 13 is first motor, and 14 is first reducing gear, and 15 is driving gear, 16 is driven gear, and 17 is cog belt, and 18 is second motor, 19 is second reducing gear, and 20 is link, and 21 is gear, 22 is tooth bar, and 23 is second fixed block, and 24 is chute, 25 is movable pulley, 26 is the leading screw support, and 27 are short leading screw, and 28 are the rotation projection.
Five, the specific embodiment
The present invention is not subjected to the restriction of following embodiment, can determine concrete embodiment according to technical scheme of the present invention and actual conditions.
Below in conjunction with embodiment and accompanying drawing the present invention is further described:
As accompanying drawing 1,2, shown in 3, this saddle type welding equipment welding gun lifting and swinging device comprises fixing perpendicular arm 1, connect transverse arm 2, be connected and fixed piece 3, upper fixed seat 4, lower fixed seat 5, leading screw 6 and arc pendulous device, top and bottom at fixing perpendicular arm 1 are fixed with upper fixed seat 4 and lower fixed seat 5 respectively, on upper fixed seat 4, transmission device is arranged, between upper fixed seat 4 and lower fixed seat 5, be installed with line slideway 7, the slide block 8 that can move up and down along line slideway 7 is arranged on line slideway 7, the upper end and the transmission device of leading screw 6 link together, the lower end of leading screw 6 is sleeved on the lower bottom base 5, a cap is installed on leading screw 6, transmission device can drive leading screw 6 and rotate, the right-hand member that is connected and fixed piece 3 be connected transverse arm 2 and be fixed together, the middle part that is connected and fixed piece 3 is fixed together with the silk cap, and the left end and the slide block 8 that are connected and fixed piece 3 are fixed together; Lower end at fixing perpendicular arm 1 is equipped with contiguous block 9, the arc pendulous device is installed on contiguous block 9, on the arc pendulous device, be installed with first fixed block 10, welding gun grip block 11 and rotary handle 12 are installed on first fixed block 10, like this, can drive swing and the adjustable angle that welding gun grip block 11 is realized welding gun by the arc pendulous device, drive the welding gun move left and right by the move left and right that connects transverse arm 2, move up and down thereby make fixedly transverse arm 1 move up and down the drive welding gun by leading screw 6.
Can according to actual needs above-mentioned saddle type welding equipment welding gun lifting and swinging device be made further optimization and/or improvements:
As accompanying drawing 1,2, shown in 3, transmission device comprises first motor 13, first reducing gear 14, driving gear 15 and driven gear 16, first motor 13 is installed on upper bed-plate 4, first reducing gear 14, driving gear 15 and driven gear 16, the power output shaft of first reducing gear 14 is fixedly mounted on the driving gear 15, the upper end of leading screw 6 is fixedly mounted on the driven gear 16, between driving gear 15 and the driven gear 16 cog belt 17 is installed, first motor 13 drives driving gear 15 by first reducing gear 14 and rotates, driving gear 15 drives driven gear 16 by cog belt 17 and rotates, and driven gear 16 drives leading screw 6 and rotates.
Shown in accompanying drawing 4 to 6, the arc pendulous device comprises second motor 18, link 20, gear 21, tooth bar 22 and second fixed block 23; Second motor 18, the link 20 and second fixed block 23 are fixed together in regular turn from right-to-left, gear 21 is installed in link 20, in the place ahead of link 20 contiguous block 9 is arranged, on contiguous block 9, be installed with curved tooth bar 22, the teeth of the gear teeth of gear 21 and tooth bar 22 mesh together, arc chute 24 is arranged on tooth bar 22, on second fixed block 23, positioner is installed, this positioner can be stuck in the chute 24 and can move along chute 24, the power output shaft of second motor 18 and gear 21 are fixedly installed togather and driven gear 21 rotates and link 20 is moved as arc along tooth bar 22 with gear 21, on second fixed block 23, be installed with first fixed block 10, welding gun grip block 11 and rotary handle 12 are installed on first fixed block 10, so just make second motor 18 drive second fixed block 23 and slide, thereby finally drive the function that welding gun grip block 11 is realized swing and adjustable angle at the chute 24 on the tooth bar 22 under the guiding of movable pulley 25.
Shown in accompanying drawing 4 to 6, according to actual needs, positioner comprises locating shaft and movable pulley 25, has the movable pulley 25 that is no less than two to be stuck in the chute 24 on the tooth bar 22 and can move as arc along chute 24, and movable pulley 25 is installed on second fixed block 23 by locating shaft; Perhaps, positioner comprises positioning sliding block, there is the positioning sliding block that is no less than two to be stuck in the chute on the tooth bar and can moves as arc along chute, positioning sliding block is fixedly mounted on the fixed block, like this, movable pulley 25 or positioning sliding block can prevent that gear 21 breaks away from and the generation security incident with tooth bar 22 when rotating.
Shown in accompanying drawing 4 to 6, according to actual needs, positioner comprises three movable pulleies 25 and triangular in shape being stuck in the chute 24, and perhaps, positioner comprises three positioning sliding blocks and triangular in shape being stuck in the chute.
Shown in accompanying drawing 4 to 6, be installed with second reducing gear 19 between second motor 18 and the link 20, the power intake of the outer end of the power output shaft of second motor 18 and second reducing gear 19 is fixed together, the power output shaft of second reducing gear 19 and gear 21 are fixedly installed togather, and second motor 18 rotates by second reducing gear, 19 driven gears 21.
Shown in accompanying drawing 1 to 6, according to actual needs, first reducing gear 14 and second reducing gear 19 all adopt belt reducing gear or gear reduction or chain reducing gear.
Shown in accompanying drawing 4 to 6, be installed with leading screw support 26 on second fixed block 23, on leading screw support 26, screwed hole is arranged, the middle part of short leading screw 27 is installed in the screwed hole and can moves along the axis of screwed hole, end at short leading screw 27 is installed with first fixed block 10, welding gun grip block 11 and rotary handle 12 are installed on first fixed block 10, like this, can realize that by adjusting short leading screw 27 welding gun grip block 11 drives the fine tuning up and down of the spacing of welding gun and weld seam.
Shown in accompanying drawing 1 to 3, the lower end of fixing perpendicular arm 1 is hinged with the rotation projection 28 of energy left-right rotation, on rotation projection 28, be installed with contiguous block 9, on fixing perpendicular arm 1, be installed with and the corresponding jackscrew installing rack in upper end that rotates projection 28, on the jackscrew installing rack, screwed hole is arranged, the middle part of jackscrew is installed in the screwed hole, one end of jackscrew is fixedly mounted on the rotation projection 28, the other end of jackscrew is equipped with handwheel, like this, can realize the angle adjustment of the angle between contiguous block 9 and the connection transverse arm 1, thereby adjust the angle of welding gun and weld seam, can realize the oblique welding of welding gun.
Above technical characterictic has constituted most preferred embodiment of the present invention, and it has stronger adaptability and best implementation result, can increase and decrease non-essential technical characterictic according to actual needs, satisfies the demand of different situations.
The use of most preferred embodiment of the present invention: at first welding gun is had good positioning, when needs are adjusted the position of welding gun in the horizontal direction, drive welding gun move left and right in the horizontal direction by the move left and right that connects transverse arm 2 by welding gun grip block 11 and rotary handle 12; When needing in the vertical direction to adjust the position of welding gun, start first motor 13, leading screw 6 is rotated, fix, move up and down thereby therefore fixing perpendicular arm 1 drive contiguous block 9 in the vertical directions move up and down drive welding gun in the vertical direction owing to be connected and fixed piece 3 and be connected transverse arm 2; Do arc when swing when needs make welding gun, the swing by the arc pendulous device makes welding gun do swing and adjustable angle, when the oblique welding of needs, by jackscrew rotation projection 28 is rotated, thus the oblique welding of realization welding gun.

Claims (10)

1. saddle type welding equipment welding gun lifting and swinging device, it is characterized in that comprising fixing perpendicular arm, connect transverse arm, be connected and fixed piece, upper fixed seat, lower fixed seat, leading screw and arc pendulous device, top and bottom at fixing perpendicular arm are fixed with upper fixed seat and lower fixed seat respectively, transmission device is arranged on upper fixed seat, between upper fixed seat and lower fixed seat, be installed with line slideway, the slide block that can move up and down along line slideway is arranged on line slideway, the upper end and the transmission device of leading screw link together, the lower end of leading screw is sleeved on the lower bottom base, a cap is installed on leading screw, transmission device can drive leading screw and rotate, the right-hand member that is connected and fixed piece be connected transverse arm and be fixed together, the middle part that is connected and fixed piece is fixed together with the silk cap, and the left end and the slide block that are connected and fixed piece are fixed together; Lower end at fixing perpendicular arm is equipped with contiguous block, and the arc pendulous device is installed on contiguous block, is installed with first fixed block on the arc pendulous device, and welding gun grip block and rotary handle are installed on first fixed block.
2. saddle type welding equipment welding gun lifting and swinging device according to claim 1, it is characterized in that transmission device comprises first motor, first reducing gear, driving gear and driven gear, first motor is installed on upper bed-plate, first reducing gear, driving gear and driven gear, the power output shaft of first reducing gear is fixedly mounted on the driving gear, the upper end of leading screw is fixedly mounted on the driven gear, between driving gear and the driven gear cog belt is installed, first motor drives driving gear by first reducing gear and rotates, driving gear drives driven gear by cog belt and rotates, and driven gear drives leading screw and rotates.
3. saddle type welding equipment welding gun lifting and swinging device according to claim 2 is characterized in that the arc pendulous device comprises second motor, link, gear, tooth bar and second fixed block; Second motor, the link and second fixed block are fixed together in regular turn from right-to-left, gear is installed in link, there is contiguous block in the place ahead at link, on contiguous block, be installed with curved tooth bar, the gear teeth of gear and the teeth of tooth bar mesh together, arc chute is arranged on tooth bar, on second fixed block, positioner is installed, this positioner can be stuck in the chute and can move along chute, the power output shaft of second motor and gear are fixedly installed togather and driven gear rotates and link is moved as arc along tooth bar with gear, on second fixed block, be installed with first fixed block, welding gun grip block and rotary handle are installed on first fixed block.
4. saddle type welding equipment welding gun lifting and swinging device according to claim 3, it is characterized in that positioner comprises locating shaft and movable pulley, have the movable pulley that is no less than two to be stuck in the chute on the tooth bar and can move as arc along chute, movable pulley is installed on second fixed block by locating shaft; Perhaps, positioner comprises positioning sliding block, has the positioning sliding block that is no less than two to be stuck in the chute on the tooth bar and can move as arc along chute, and positioning sliding block is fixedly mounted on the fixed block.
5. saddle type welding equipment welding gun lifting and swinging device according to claim 4 is characterized in that positioner comprises three movable pulleies and triangular in shape being stuck in the chute, and perhaps, positioner comprises three positioning sliding blocks and triangular in shape being stuck in the chute.
6. according to claim 3 or 4 or 5 described saddle type welding equipment welding gun lifting and swinging devices, it is characterized in that being installed with between second motor and the link second reducing gear, the power intake of the outer end of the power output shaft of second motor and second reducing gear is fixed together, the power output shaft and the gear of second reducing gear are fixedly installed togather, and second motor rotates by the second reducing gear driven gear.
7. saddle type welding equipment welding gun lifting and swinging device according to claim 6 is characterized in that first reducing gear and second reducing gear all adopt belt reducing gear or gear reduction or chain reducing gear.
8. according to claim 3 or 4 or 5 described saddle type welding equipment welding gun lifting and swinging devices, it is characterized in that being installed with on second fixed block leading screw support, on the leading screw support, screwed hole is arranged, the middle part of short leading screw is installed in the screwed hole and can moves along the axis of screwed hole, end at short leading screw is installed with first fixed block, and welding gun grip block and rotary handle are installed on first fixed block.
9. saddle type welding equipment welding gun lifting and swinging device according to claim 7, it is characterized in that being installed with on second fixed block leading screw support, on the leading screw support, screwed hole is arranged, the middle part of short leading screw is installed in the screwed hole and can moves along the axis of screwed hole, end at short leading screw is installed with first fixed block, and welding gun grip block and rotary handle are installed on first fixed block.
10. saddle type welding equipment welding gun lifting and swinging device according to claim 9, it is characterized in that the lower end of fixing perpendicular arm is hinged with the rotation projection of energy left-right rotation, on the rotation projection, be installed with contiguous block, on fixing perpendicular arm, be installed with and the corresponding jackscrew installing rack in upper end that rotates projection, on the jackscrew installing rack, screwed hole is arranged, the middle part of jackscrew is installed in the screwed hole, and an end of jackscrew is fixedly mounted on the rotation projection, and the other end of jackscrew is equipped with handwheel.
CN 201010107624 2010-02-09 2010-02-09 Saddle type welding gun lifting and luffing gear of welding device Expired - Fee Related CN101954531B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201010107624 CN101954531B (en) 2010-02-09 2010-02-09 Saddle type welding gun lifting and luffing gear of welding device

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Application Number Priority Date Filing Date Title
CN 201010107624 CN101954531B (en) 2010-02-09 2010-02-09 Saddle type welding gun lifting and luffing gear of welding device

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CN101954531A true CN101954531A (en) 2011-01-26
CN101954531B CN101954531B (en) 2013-03-13

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102407396A (en) * 2011-12-08 2012-04-11 周海燕 Manipulator for welding gun
CN103537833A (en) * 2013-10-23 2014-01-29 台州吉宇工业机器人科技有限公司 Gun head swing mechanism applicable to rectangular coordinate system welding robot
CN103722325A (en) * 2013-11-28 2014-04-16 无锡华联科技集团有限公司 Lifting mechanism for electroslag welding with wire electrodes
CN104905486A (en) * 2015-06-12 2015-09-16 吴江市松陵镇铭益自动化机械设备厂 Automatic welding device for shoemaking
CN107020468A (en) * 2017-05-31 2017-08-08 石河子大学 A kind of welding control system of shape of a saddle space curve

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CN101214616A (en) * 2008-01-21 2008-07-09 大连齐大机电设备制造有限公司 Continuously coating welding welding-gun clamping device for bimetallic wire blank

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SU564936A1 (en) * 1975-03-03 1977-07-15 Yurkyavichyus Stanislavas Yu Device for arc welding
CN2053125U (en) * 1989-09-07 1990-02-21 冶金工业部建筑研究总院 Automatic cutter for saddle groove
CN2621871Y (en) * 2003-05-28 2004-06-30 梅塞尔切割焊接有限公司(昆山) Automatic groove cutting appts. of double plasma welding torch
CN101637847A (en) * 2009-05-27 2010-02-03 无锡华联精工机械有限公司 Cutting torch lifting mechanism of plasma cutting machine
CN201720588U (en) * 2010-02-09 2011-01-26 新疆威奥科技股份有限公司 Welding torch lifting and swinging device of saddle-type welding equipment

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Publication number Priority date Publication date Assignee Title
CN101214616A (en) * 2008-01-21 2008-07-09 大连齐大机电设备制造有限公司 Continuously coating welding welding-gun clamping device for bimetallic wire blank

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102407396A (en) * 2011-12-08 2012-04-11 周海燕 Manipulator for welding gun
CN103537833A (en) * 2013-10-23 2014-01-29 台州吉宇工业机器人科技有限公司 Gun head swing mechanism applicable to rectangular coordinate system welding robot
CN103537833B (en) * 2013-10-23 2015-11-18 台州吉宇工业机器人科技有限公司 A kind of rifle head swing mechanism being applied to rectangular coordinate system welding robot
CN103722325A (en) * 2013-11-28 2014-04-16 无锡华联科技集团有限公司 Lifting mechanism for electroslag welding with wire electrodes
CN103722325B (en) * 2013-11-28 2015-07-22 无锡华联科技集团有限公司 Lifting mechanism for electroslag welding with wire electrodes
CN104905486A (en) * 2015-06-12 2015-09-16 吴江市松陵镇铭益自动化机械设备厂 Automatic welding device for shoemaking
CN104905486B (en) * 2015-06-12 2018-01-19 吴江市松陵镇铭益自动化机械设备厂 A kind of shoemaking automatic soldering device
CN107020468A (en) * 2017-05-31 2017-08-08 石河子大学 A kind of welding control system of shape of a saddle space curve

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