CN103230972B - Plate wrapping machine of automatic boom production line - Google Patents

Plate wrapping machine of automatic boom production line Download PDF

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Publication number
CN103230972B
CN103230972B CN201310138278.0A CN201310138278A CN103230972B CN 103230972 B CN103230972 B CN 103230972B CN 201310138278 A CN201310138278 A CN 201310138278A CN 103230972 B CN103230972 B CN 103230972B
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China
Prior art keywords
heater
swing
wrapper sheet
portal frame
arm
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CN103230972A (en
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侯润石
王胜华
魏秀权
张克俊
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Hangzhou Kelda Welding Robot Co ltd
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Hangzhou Science And Technology Ltd Of Kai Erda Robot
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Abstract

The invention relates to a plate wrapping machine of an automatic boom production line. The plate wrapping machine can accurately and automatically finish plate wrapping work and has the advantages of being good in plate wrapping quality, high in control accuracy, convenient and simple in operation, stable and reliable in work, advanced in process, time-saving and labor-saving. The technical scheme is that the plate wrapping machine of the automatic boom production line is characterized by comprising a horizontally-sliding gantry device, a cross arm device installed on the gantry device and capable of sliding vertically, a press plate device installed on the cross arm device and capable of swinging vertically and a control main machine.

Description

Jib automatic assembly line wrapper sheet machine
Technical field
The present invention relates to numerical controlled machinery technical field, specifically a kind of wrapper sheet machine of jib automatic assembly line.
Background technology
In the heavy-duty machineries such as arm derrick crane, concrete pump truck, the effect of jib is for mass transport provides enough height to meet construction requirement, is the important component part of equipment.Aforementioned heavy-duty machinery has at least one joint jib conventionally, and other parts or the jib of the two ends of jib and equipment are hinged.As shown in Fig. 9,10, the two ends of jib are round end, at round end position, need wrapper sheet to process to increase mechanical strength.
The conventional large small end wrapper sheet of jib mode is to heat through burning torch with oxygen, acetylene, and steel plate is reached after uniform temperature, knocks steel plate make its bending realize wrapper sheet with iron hammer; The defect of this wrapper sheet mode is: the wrapper sheet time is long, and efficiency is low, and operating personnel's labour intensity is high, and is difficult to guarantee that steel plate and jib fit completely, wrapper sheet there is certain error, wait to improve.
Summary of the invention
The object of the invention is to overcome the deficiency in above-mentioned background technology, a kind of jib automatic assembly line wrapper sheet machine is provided, this wrapper sheet machine should be able to accurately complete wrapper sheet work automatically, and have that wrapper sheet quality is good, control accuracy is high, easy to operate simple, working stability is reliable, technique is advanced, time saving and energy saving feature.
The technical solution used in the present invention is:
Jib automatic assembly line wrapper sheet machine, is characterized in that: described wrapper sheet machine comprise can horizontal sliding gantry device, be arranged on this gantry device and the cross arm device of vertically slippage, be arranged on cross arm device and the presser device that can swing up and down and main control system;
Described gantry device, the portal frame and the walking mechanism thereof that comprise vertical, described walking mechanism comprises two guide rails that along continuous straight runs is arranged in parallel, portal frame is across above two guide rails, the bottom of two columns of portal frame is arranged on respectively on two guide rails, is respectively equipped with the first driving mechanism and drives portal frame along guide rail horizontal sliding in each column;
Described cross arm device, comprise horizontally disposed transverse arm and an elevating mechanism thereof between portal frame two columns, described elevating mechanism comprises two worm screws of arranging along portal frame two column inboard, upright, the two ends of transverse arm are arranged on two worm screws by a worm gear mating with worm screw respectively, and the top of portal frame is provided with the second driving mechanism that drives described worm screw;
Described presser device, comprises high frequency plane heating system and is arranged on the press plate mechanism on transverse arm; Described press plate mechanism comprises and is arranged on the swing span at described transverse arm middle part and at least one pressure roller that level is arranged on swing span front end; Described high frequency plane heating system comprises high frequency electric source cabinet, high frequency transformer and the heater that is arranged on described swing span front end, heater and pressure roller are arranged in parallel, and described high frequency electric source cabinet and first, second driving mechanism are all connected with described main control system.
Described swing span comprises two swing arms that are arranged in parallel, two swing arms are arranged in the opening at described transverse arm middle part by rotating shaft, the front end of two swing arms is provided with a support by slide bar, aforementioned pressure roller and heater are installed on described support, on two slide bars between support and swing arm, are arranged with respectively crashproof spring.
Described presser device is also provided with follower, this follower comprises that one is arranged on transverse arm and disposes the servomotor of decelerator, the servo-driver of servomotor is connected with aforementioned main control system, in the rotating shaft of aforementioned swing arm, gear wheel is installed, the output gear of speed reducer of follower and this gear wheel mesh to drive swing span up and down reciprocatingly to swing in perpendicular.
Described wrapper sheet machine is also provided with calibrating installation, comprises a cross line laser that is arranged on backstay front end, and cross line laser is connected with main control system, and the rear end of described backstay is fixed on the end of aforementioned rotating shaft; This backstay is horizontally disposed to be stretched out and vertical with the center line of heater towards workpiece, and the axis of cross line laser is parallel with the center line of heater.
Described first, second driving mechanism includes the servomotor that disposes decelerator, and the servo-driver of servomotor is all connected with aforementioned main control system; Wherein the first driving mechanism also comprises a rack-and-pinion, and tooth bar is fixed on described guide rail also in parallel, and the output gear of speed reducer of the first driving mechanism and this tooth bar mesh to drive portal frame along the slippage of guide rail horizontal reciprocating.
Described high frequency transformer is fixed between aforementioned two swing arms, and described high frequency electric source cabinet is fixed on the crossbeam at portal frame top.
The axis of the rotating shaft of described swing arm, pressure roller, heater and cross line laser is all arranged in parallel with transverse arm.
The both sides of described heater are respectively equipped with anti-collision locating wheel.
Operation principle of the present invention is:
1., after having been joined to horizontal dolly by longitudinal dolly when workpiece (the large end of the jib of take from the top down wrapper sheet is example), main control system is controlled portal frame, transverse arm and presser device and is all got back to initial initial point;
2. after time initial initial point, main control system is controlled the top that portal frame, transverse arm and heater are gone to the large end circle of workpiece, and allows the center of circle of the large end circle of reticle alignment of cross line laser, as shown in figure 13;
3. main control system is measured the distance (D value in Figure 13) between pressure roller and steel plate, the distance of the X of transverse arm decline afterwards value, make pinch roller contact and calibrate this point with measurement point, main control system enters running parameter diameter is reduced to measured X value from original value, and adjust the speed of travel and walking manner, preserve this value;
4. main control system is opened water pump, high frequency electric source cabinet, heater, slowly strengthen heater power, after reaching certain value, (slab is 360A electric current, book plate is 160A electric current), heater is heated steel plate, when being heated steel plate, reach (surface temperature that is heated face is 1000 ℃ of left and right) after uniform temperature, main control system control heater and pinch roller are walked by the track of workpiece circular arc by the parameter setting, after going to the wrapper sheet angle of setting, main control system is closed heater, main control system, transverse arm and presser device are got back to origin position automatically, wrapper sheet completes (small end wrapper sheet is identical therewith to be completed by another wrapper sheet equipment).
The invention has the beneficial effects as follows: the present invention integrates numerical control, precision optical machinery, high frequency plane heating system, be mainly used in the large and small end metallic plate of jib makes pinch roller carry out automatic board wrapping by the large and small end arc track of jib under main control system is controlled after the heating of high frequency plane induction heater, have that wrapper sheet quality is good, control accuracy is high, easy to operate simple, working stability is reliable, technique is advanced, save time, labour-saving advantage.
Accompanying drawing explanation
Fig. 1 is one of perspective view of the present invention.
Fig. 2 is two of perspective view of the present invention.
Fig. 3 is the assembling schematic diagram of gantry pillar and guide rail in the present invention.
Fig. 4 is the assembling schematic diagram of the first driving mechanism and guide rail in the present invention.
Fig. 5 is the perspective view of transverse arm and presser device in the present invention.
Fig. 6 is the plan structure schematic diagram of transverse arm and presser device in the present invention.
Fig. 7 is the left TV structure schematic diagram of transverse arm and presser device in the present invention.
Fig. 8 is the right TV structure schematic diagram of transverse arm and presser device in the present invention.
Fig. 9 is the not perspective view of wrapper sheet state of jib.
Figure 10 is the not main TV structure schematic diagram of wrapper sheet state of jib.
Figure 11 is the perspective view after jib wrapper sheet.
Figure 12 is the main TV structure schematic diagram after jib wrapper sheet.
Figure 13 is wrapper sheet principle schematic of the present invention.
Figure 14 is theory diagram of the present invention.
Figure 15 is the structural representation of swing mechanism in Fig. 6.
Figure 16 is the left TV structure schematic diagram of Figure 15.
The specific embodiment
Below in conjunction with Figure of description, the invention will be further described, but the present invention is not limited to following examples.
As shown in Figure 1 and Figure 2, jib automatic assembly line wrapper sheet machine of the present invention, comprise can horizontal sliding gantry device, be arranged on this gantry device and the cross arm device of vertically slippage, be arranged on cross arm device and the presser device that can swing up and down and main control system 9.
As shown in Figure 3,4, described gantry device, the portal frame 1 and the walking mechanism thereof that comprise vertical, described walking mechanism comprises two guide rails 6 that along continuous straight runs is arranged in parallel, portal frame is across above two guide rails, the bottom of two columns of portal frame is arranged on respectively (chute with guide rail is arranged at portal frame bottom) on two guide rails, is respectively equipped with the first driving mechanism and drives portal frame along guide rail horizontal sliding in each column.Described the first driving mechanism comprises the servomotor 10 that disposes decelerator, and the servo-driver of servomotor is all connected to be subject to it to control with aforementioned main control system.The first driving mechanism also comprises a rack-and-pinion, tooth bar 11-1 is fixed on described guide rail also in parallel, and the output gear of speed reducer 11-2 of this tooth bar and the first driving mechanism meshes to drive portal frame along the slippage of guide rail horizontal reciprocating (X1+, X1-direction and X2+, X2-direction in figure).And, the controlled host computer control that is synchronized with the movement of the first driving mechanism of portal frame both sides.
Described cross arm device, comprise horizontally disposed transverse arm 7 and an elevating mechanism thereof between portal frame two columns, described elevating mechanism comprises two worm screws 2 of arranging along portal frame two column inboard, upright, and the two ends of transverse arm are arranged on (transverse arm is horizontally disposed and vertical with the column of portal frame) on two worm screws by a worm gear mating with worm screw respectively.The top of portal frame is provided with the second driving mechanism that drives described worm screw, the second driving mechanism comprises the servomotor 10 that disposes decelerator, and the servo-driver of servomotor is all connected with aforementioned main control system and is subject to it to control (the controlled host computer control that is synchronized with the movement of the second driving mechanism of portal frame both sides).After servomotor starts, worm screw drives worm gear to rotate, thereby makes transverse arm move up and down (Y1+, Y1-direction and Y2+, Y2-direction in figure).Worm screw is run through transverse arm from top to down, has both driven transverse arm motion, and line slideway and slide block play guide effect to moving up and down of transverse arm.Worm and gear is conventional mechanism, and clean and tidy for drawing, in figure, worm gear is omitted and do not draw.
As shown in Fig. 5,6,7, described presser device, comprises high frequency plane heating system and is arranged on the press plate mechanism on transverse arm.Described press plate mechanism comprises and is arranged on the swing span at described transverse arm middle part and at least one pressure roller 8 (two of recommend adoptions, the both sides of heater are respectively equipped with anti-collision locating wheel 16) that level is arranged on swing span front end.Described high frequency plane heating system comprises high frequency electric source cabinet 3, high frequency transformer 12 and the heater 17 that is arranged on described swing span front end, heater is arranged in parallel between two pressure rollers and with pressure roller, described high frequency electric source cabinet is connected with described main control system, makes main frame can control its work.
Described presser device is also provided with follower, this follower comprises that one is arranged on transverse arm and disposes the servomotor of decelerator, the servo-driver of servomotor is connected with aforementioned main control system, gear wheel 15 is installed in the rotating shaft of aforementioned swing arm, and the output gear of speed reducer of follower and this gear wheel mesh to drive swing span in perpendicular, up and down reciprocatingly to swing (within the scope of ± 180 degree).
Above-mentioned swing span comprises the two swing arm 23-1 that are arranged in parallel (vertical with transverse arm), two swing arms are arranged on by rotating shaft 14 that in the opening at described transverse arm middle part, (this rotating shaft is controlled by follower, along with swing span rotates together, as Fig. 1, Fig. 2, Fig. 5, shown in Fig. 7), the front end of two swing arms is provided with a support 23-2 (support two ends are arranged on two swing arm front ends by a slide bar respectively) by slide bar 13, aforementioned pressure roller and heater are installed on described support, on two slide bars between support and swing arm, be arranged with respectively crashproof spring 18, make support there is certain buffer distance, avoid heater to be damaged.Described high frequency transformer is fixed between aforementioned two swing arms, and described high frequency electric source cabinet is fixed on the crossbeam at portal frame top.
As shown in Figure 6, the heater back side is provided with a swing mechanism 25, as shown in Figure 15, Figure 16, this swing mechanism comprises two connecting axle 25-3 that are arranged in parallel with aforementioned slide bar 13, on two connecting axles, be arranged with spring 25-2, one end of each connecting axle is fixed on aforementioned brackets 23-2, the other end is provided with the rotating shaft 25-5 vertical with connecting axle, this rotating shaft coordinates with the installing hole 25-4 on holder 25-1, holder is fixed on heater 17, makes can swing ± 30 degree (direction is as shown in arrow in Figure 15) of heater.
Described wrapper sheet machine is also provided with calibrating installation, comprise a cross line laser 24-2 who is arranged on backstay 24-1 front end, cross line laser is connected with main control system, the rear end of described backstay is fixed on the end (being positioned at the one end that there is no gear wheel) of aforementioned swing arm rotating shaft, and backstay is along with aforementioned follower swings (with swing arm rotating shaft synchronous rotary).This backstay is horizontally disposed to be stretched out towards workpiece 20, and when heater is during at origin position, require backstay vertical with the center line of heater place plane (intersecting also vertical with the center line of heater length direction), the axis of cross line laser is parallel with the center line of heater, this cross laser device arranges with calibrating position (as shown in cross hairs in Figure 13 21) towards the large end of workpiece or the circular hole of small end 22, and the axis of the rotating shaft of described swing arm, pressure roller, heater and cross line laser is all arranged in parallel with transverse arm.
Below suppose that guide rail direction of extension is X-axis, worm screw direction of extension is Y-axis, and the swaying direction of swing span is Z direction.
The present invention requires the motion of X-axis, Y-axis, Z direction to do interpolation operation in strict accordance with the circular arc of workpiece, and antijamming capability is strong, and working stability is reliable.Main control system is controlled X, can Y-axis be normally moved in strict accordance with the cylindrical of workpiece, and can Z direction keep on heater and the circular arc tangential line of pinch roller perpendicular to workpiece, most critical be the accuracy of seeing this point of trying school; Strictly say, require main control system to walk by the track of a circular arc, 3 of examination school circle is best; But due to the particularity of workpiece, (workpiece has steel plate 19 always to block, see Fig. 9, Figure 10, Figure 13), can not try school 3 points, and can only try school a bit, and circle track be by examination school this point and to diameter determine, diameter is constant, so this point in trial school is with regard to particular importance.In order to try exactly the good this point in school, in the rotating shaft of servomechanism, welded a backstay 24-1, when Z direction is during at origin position, require backstay vertical with the center line of heater place plane (intersecting also vertical), in the termination of bar, cross line laser 24-2 is housed, and imitate the track of accurate heater, and so just can try easily the good this point in school, see Figure 13.
High frequency plane heating system is partly comprised of high frequency electric source cabinet, high frequency transformer, heater, guidance panel etc.; Interchange 380V is become to direct current after rectifying and wave-filtering, after IGBT and control circuit, HVDC is become to high-frequency and high-voltage and exchange, through high frequency transformer transformation, make high-frequency and high-voltage become low-voltage, high-current, after heater via, convert electric energy to heat energy.
In the present invention, the heating effect of heater is extremely important, if heating effect is bad, the temperature of steel plate just do not reach can be crooked temperature (because the thickness of steel plate is 15mm, the heater speed of travel is 300mm/ minute), the pinch roller that main control system is controlled just cannot be pressed onto steel plate needed position, cause the crashproof spring of plant equipment to compress backward, make pinch roller heater farther apart from steel plate, cause serious vicious circle, wrapper sheet cannot normally be carried out.
Because the efficiency of heating surface of plane eddy-current heating is lower, in order to improve the efficiency of heating, can take two schemes, the one, the power of increase heater (same workpiece ring type heating only needs 160KW, is increased to 230kW during plane eddy-current heating), the 2nd, on heater copper pipe, increase ferrite magnetic conduction magnetic core, increase its permeability, in this state, the required distance between steel plate and heater is remained between 5-10mm, otherwise heating effect is also very poor.In addition, in heating process, if heater is encountered workpiece (steel plate), be easy to damage heater, for addressing this problem, on heater both sides, respectively increased anti-collision locating wheel, heater had both touched less than workpiece like this, had guaranteed again the distance between steel plate and heater.
When heater is in heating, pinch roller is in laminated steel, heater there will be the close together apart from steel plate along the direction heater advancing, distant from steel plate after heater, therefore heating effect or not ideal, for addressing this problem, reverse side at heater has increased oscillation system, make heater swing 25 in the direction of ± 30 °, in the process of heater operation, heater swings an angle, make the anti-collision locating wheel of heater follow the tracks of all the time upper steel plate, guaranteed the distance between heater and steel plate, make heater bring into play best heating effect.
Still need and be pointed out that, in order to prevent from producing between the walking mechanism middle gear tooth bar pair of portal frame slippage phenomenon (because tooth bar can minute more piece machine-shaping when longer, joint has certain error, be difficult to fit like a glove, gear easily produces jumping phenomena when walking), gear and drive motors thereof can be arranged on a movable block, this movable block is pressed on tooth bar by spring mechanism, make between rack and pinion, to possess certain elastic space, this is the conventional match mechanism of rack-and-pinion, and no further details to be given herein.
In the present invention, all electronic equipments all can outsourcing obtain (as main control system, cross line laser etc.), and the control software of main control system is write by ordinary procedure personnel.In figure, also have maintenance guardrail 4, maintenance cat ladder 5.

Claims (8)

1. jib automatic assembly line wrapper sheet machine, is characterized in that: described wrapper sheet machine comprise can horizontal sliding gantry device, be arranged on this gantry device and the cross arm device of vertically slippage, be arranged on cross arm device and the presser device that can swing up and down and main control system (9);
Described gantry device, the portal frame (1) and the walking mechanism thereof that comprise vertical, described walking mechanism comprises two guide rails (6) that along continuous straight runs is arranged in parallel, portal frame is across above two guide rails, the bottom of two columns of portal frame is arranged on respectively on two guide rails, is respectively equipped with the first driving mechanism and drives portal frame along guide rail horizontal sliding in each column;
Described cross arm device, comprise horizontally disposed transverse arm (7) and an elevating mechanism thereof between portal frame two columns, described elevating mechanism comprises two worm screws (2) of arranging along portal frame two column inboard, upright, the two ends of transverse arm are arranged on two worm screws by a worm gear mating with worm screw respectively, and the top of portal frame is provided with the second driving mechanism that drives described worm screw;
Described presser device, comprises high frequency plane heating system and is arranged on the press plate mechanism on transverse arm; Described press plate mechanism comprises and is arranged on the swing span at described transverse arm middle part and at least one pressure roller (8) that level is arranged on swing span front end; Described high frequency plane heating system comprises high frequency electric source cabinet (3), high frequency transformer (12) and the heater (17) that is arranged on described swing span front end, heater and pressure roller are arranged in parallel, and described high frequency electric source cabinet and first, second driving mechanism are all connected with described main control system.
2. jib automatic assembly line wrapper sheet machine according to claim 1, it is characterized in that: described swing span comprises two swing arms that are arranged in parallel (23-1), two swing arms are arranged in the opening at described transverse arm middle part by rotating shaft (14), the front end of two swing arms is provided with a support (23-2) by slide bar (13), aforementioned pressure roller and heater are installed on described support, on two slide bars between support and swing arm, are arranged with respectively crashproof spring (18).
3. jib automatic assembly line wrapper sheet machine according to claim 2, it is characterized in that: described presser device is also provided with follower, this follower comprises that one is arranged on transverse arm and disposes the servomotor (10) of decelerator, the servo-driver of servomotor is connected with aforementioned main control system, gear wheel (15) is installed in the rotating shaft of aforementioned swing arm, and the output gear of speed reducer of follower and this gear wheel (15) engagement are to drive swing span up and down reciprocatingly to swing in perpendicular.
4. according to the jib automatic assembly line wrapper sheet machine described in claim 2 or 3, it is characterized in that: described wrapper sheet machine is also provided with calibrating installation, comprise a cross line laser (24-2) that is arranged on backstay (24-1) front end, cross line laser is connected with main control system, and the rear end of described backstay is fixed on the end of aforementioned rotating shaft; This backstay is horizontally disposed to be stretched out and vertical with the center line of heater towards workpiece, and the axis of cross line laser is parallel with the center line of heater.
5. jib automatic assembly line wrapper sheet machine according to claim 4, is characterized in that: described first, second driving mechanism includes the servomotor that disposes decelerator, and the servo-driver of servomotor is all connected with aforementioned main control system; Wherein the first driving mechanism also comprises a rack-and-pinion, tooth bar (11-1) is fixed on described guide rail also in parallel, and the output gear of speed reducer of the first driving mechanism (11-2) meshes to drive portal frame along the slippage of guide rail horizontal reciprocating with this tooth bar.
6. jib automatic assembly line wrapper sheet machine according to claim 5, is characterized in that: described high frequency transformer is fixed between aforementioned two swing arms, and described high frequency electric source cabinet is fixed on the crossbeam at portal frame top.
7. jib automatic assembly line wrapper sheet machine according to claim 6, is characterized in that: the axis of the rotating shaft of described swing arm, pressure roller, heater and cross line laser is all arranged in parallel with transverse arm.
8. jib automatic assembly line wrapper sheet machine according to claim 7, is characterized in that: the both sides of described heater are respectively equipped with anti-collision locating wheel (16).
CN201310138278.0A 2013-04-19 2013-04-19 Plate wrapping machine of automatic boom production line Active CN103230972B (en)

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CN106181669B (en) * 2016-08-04 2018-09-21 岑溪市藤超机械有限公司 Edge polisher edging hunting gear
CN106238518A (en) * 2016-09-29 2016-12-21 华中科技大学 A kind of multipurpose sensing Heating Experiment platform and using method thereof
CN110666943A (en) * 2019-09-19 2020-01-10 中建材创新科技研究院有限公司 Zero point correction device and method for pushing wrapping edges
CN111229867B (en) * 2020-01-08 2021-02-26 合肥工业大学 Local top bend straightening mechanism for inner wall of movable vacuum chamber sub-sector

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WO2021024106A1 (en) * 2019-08-06 2021-02-11 Efort Europe S.R.L. Machine for precision machining of a three-dimensional body by laser cutting or welding

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Address after: Five 311232 Hangzhou Road, Zhejiang province Xiaoshan economic and Technological Development Zone No. 6 Hui Ken

Applicant after: Hangzhou Science and Technology Ltd. of Kai Erda robot

Address before: Five 311232 Hangzhou Road, Zhejiang province Xiaoshan economic and Technological Development Zone No. 6 Hui Ken

Applicant before: Hangzhou Kaierda Robot Technology Company Limited

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Address after: Five 311232 Hangzhou Road, Zhejiang province Xiaoshan economic and Technological Development Zone No. 6 Hui Ken

Patentee after: Hangzhou Kaierda Robot Technology Company Limited

Address before: Five 311232 Hangzhou Road, Zhejiang province Xiaoshan economic and Technological Development Zone No. 6 Hui Ken

Patentee before: Hangzhou Science and Technology Ltd. of Kai Erda robot

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Address after: No. 778, Changming Road, hongken farm, Xiaoshan Economic and Technological Development Zone, Hangzhou, Zhejiang 311215

Patentee after: Hangzhou kelda welding robot Co.,Ltd.

Address before: No. 6, kenhui fifth road, Xiaoshan Economic and Technological Development Zone, Hangzhou, Zhejiang 311232

Patentee before: HANGZHOU KAIERDA ROBOT TECHNOLOGY Co.,Ltd.