CN103624456A - Positioning device and robot system provided with same - Google Patents
Positioning device and robot system provided with same Download PDFInfo
- Publication number
- CN103624456A CN103624456A CN201210313315.2A CN201210313315A CN103624456A CN 103624456 A CN103624456 A CN 103624456A CN 201210313315 A CN201210313315 A CN 201210313315A CN 103624456 A CN103624456 A CN 103624456A
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- pressure
- holding member
- positioner
- fixture
- workpiece
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- 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
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a positioning device which comprises a clamp, a pressure converting component, a frame portion and a base portion. The clamp comprises a maintaining mechanism which receives supplied pressure, is driven by the pressure and thus maintains a workpiece serving as an object to be machined. The pressure converting component is arranged on the clamp, first pressure supplied by the outer portion of the clamp is converted into second pressure larger than the first pressure and the second pressure is supplied to the clamp. The clamp is supported by the frame portion so that the clamp can rotate around a first rotating shaft. The frame portion is supported by the base portion so that the frame portion can rotate around a second rotating shaft basically perpendicular to the first rotating shaft.
Description
Technical field
The present invention relates to a kind of positioner and possess the robot system of this positioner.
Background technology
In the past, known have the workpiece as processing object is made to its positioner that remains on assigned position with clampings such as pair of workpieces fixtures, and position the processing operation (for example, with reference to Japanese patent laid-open 07-009130 communique) for stipulating.
Above-mentioned positioner can be have the maintaining body that comprises similar above-mentioned work piece holder and the fixture forming, and oneself to be rotated in the time of holding workpiece to make this fixture, changes thus the direction of workpiece.
In addition, this kind of positioner, for example, be configured in the robot system that comprises robot, the location of workpiece during for the such processing operation of being undertaken by robot of spot welding.
But, as above, workpiece is implemented to spot welding by robot in the situation that, for carrying out high-precision welding, and need stably holding workpiece of positioner.
Therefore, the fixture majority of holding workpiece is that the oil pressure actuated mechanism by for example oil cylinder forms the mode of described maintaining body running, thereby high pressure oil pressure is supplied to oil cylinder holding workpiece securely.
Yet positioner in the past has further room for improvement on aspect required time and time when arranging and safeguarding.For example as above, high pressure oil pressure is supplied to oil cylinder in the situation that, need to engages the high pressure oil pressure pipe of hard with Oil-pressure joint etc., and oil pressure pipe is set to the maintaining body to fixture.
Yet, in the situation that fixture as above self rotates, be difficult to hard and be difficult to arrange the high pressure of establishing set and to maintaining body, do not disturb fixture rotation with oil pressure pipe.In addition, use in the situation of Oil-pressure joint, will increase the probability that causes fault because of the leakage of working oil liquid.
In view of the above problems, object is to provide a kind of robot system that can reduce the positioner of time required when arranging and safeguarding and time and possess 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 accepts pressure supply and the driven maintaining body keeping thus as the workpiece of processing object.Described pressure converting member is arranged at described fixture, will be converted to the 2nd pressure that more described the 1st pressure is large and be supplied to described fixture from the 1st pressure of the outside supply of this fixture.Described frame section supports described fixture can be around the 1st rotating shaft rotation.Described base portion supports described frame section can be around the 2nd rotating shaft rotation substantially vertical with described the 1st rotating shaft.
According to a kind of form of the present invention, can reduce time and time required when arranging and safeguarding.
Accompanying drawing explanation
Contrast accompanying drawing is read following detailed description of the present invention, can easily to the present invention, carry out more complete understanding, and understand relative advantage.
Figure 1A and Figure 1B mean the ideograph of the structural outline of the positioner that embodiment relates to.
Fig. 2 mean robot system an example of configuration structure overlook ideograph.
Fig. 3 is the stereo appearance figure of positioner.
Fig. 4 means the side view of positioner detailed structure.
Fig. 5 means pressure converting member and the three-dimensional pattern figure of detailed structure around thereof.
Fig. 6 means robot system architecture's block diagram.
The specific embodiment
Referring to accompanying drawing, describe disclosed positioner in detail and possess the embodiment of the robot system of this positioner.In addition, the present invention is not limited to embodiment shown below.
In addition the situation of the positioner of take, when carrying out workpiece welding processing by welding robot describes as example.
The structural outline of the positioner first, with Figure 1A and Figure 1B, embodiment being related to describes.Figure 1A and Figure 1B mean the ideograph of the structural outline of the positioner 10 that embodiment relates to.
In addition, for ease of understanding explanation, in Figure 1A, figure is shown with and comprises that to take vertical be upwards positive direction, and vertical is the three-dimensional cartesian coordinate system of the Z axis of negative direction downwards.Therefore, the direction along XY plane refers to " horizontal direction ".The above-mentioned rectangular coordinate system of demonstration that also can be suitable in other accompanying drawings that use in following explanation.
In addition, in each figure shown below, relevant for the structural element being formed by a plurality of key elements etc., sometimes only to an element annotation symbol among a plurality of key elements, and for the situation of other key element ellipsiss marks.In this situation, a key element that has 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.
The 1st holding member 11a, being arranged to be driven by drive source (narration afterwards) can be around AX1 axle (the 1st rotating shaft) rotation (in reference to figure, double-head arrow 101).At this, positioner 10 is when holding workpiece, and AX1 axle is the direction of substantially parallel with Z axis in figure (being vertical direction), and the 1st holding member 11a is as the objective table that puts workpiece.
The 2nd holding member 11b, configures in opposite directions with the 1st holding member 11a, be under pressure supply and slide (with reference to arrow in figure 103) along AX1 direction of principal axis, thereby 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 of workpiece W1 and workpiece W2 engage and clamp, the robot of narration carries out welding processing to the engaging position of two workpiece afterwards.
In addition, the 2nd holding member 11b can the driven rotation along with the rotation of the 1st holding member 11a.
But, as shown in Figure 1A, in the situation that engaging and clamp in order to carry out welding processing etc. and by 2 workpiece W1 and workpiece W2, for making to engage position, do not produce dislocation and carry out high-precision processing, preferably with higher pressure, clamp.
Now, in this case, in technology in the past, often use the gimmick that applies high pressure oil pressure with the driving mechanism of oil pressure actuated system.Yet as shown in Figure 1A,, in the situation that fixture 11 self self rotates with frame section 12, high pressure is established more difficult with the row of hard oil pressure pipe.In addition, the rotation due to 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 and pressure is converted to the pressure converting member 11c of high pressure (the 2nd pressure) from low pressure (the 1st pressure).What in addition, pressure was used is also air pressure.
Thus, first due to till fixture 11 is supplied the air pressure of low pressure, so the feed lines of pressure can be formed by flexible pipe.That is, because easy row establishes, and the feed lines forming can not disturb the rotation of frame section 12, therefore can reduce time and time required when arranging and safeguarding.
In addition, owing to using air pressure, therefore without worrying that the working oil because fixture 11 and frame section 12 rotations cause leaks.That is,, due to the fault that can prevent that this leakage from causing, therefore can reduce fault rate and improve reliability.
At this, present embodiment Zhong， robot carries out using positioner 10 in welding processing, 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 arrange and are held along vertical direction.
At this, in Figure 1B, schematically show very simply positioner 10, and omitted diagram of fixture 11 etc.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, have interval in vain mutually though be illustrated as herein, in the inner side of frame section 12, is mutually engagingly maintained by fixture 11.
Continue the explanation of Figure 1B.Then, positioner 10, makes by axle, to be supported on the frame section 12 on AX2 axle by base portion 13, around AX2 axle, carries out 90 ° of rotations (in reference to figure, arrow 104).That is, positioner 10 makes as the workpiece W1 of part to be welded and the engaging position of workpiece W2 towards top.
Then, positioner 10 makes workpiece W1 and workpiece W2 around AX1 axle rotation (in reference to figure, double-head arrow 105), that is, make part to be welded always towards top, accepts the welding processing of being undertaken by robot 20 simultaneously.Ci， robot 20 possesses the end effector 21 that spot welding is used on front end moving part, with the engaging position of above-mentioned end effector 21 welding work pieces W1 and workpiece W2.
At this, positioner 10He robot 20, when carrying out above-mentioned welding processing, is controlled the action making separately synchronous.Upper strata controller and robot controller that above-mentioned control is possessed by robot system 1 carry out.For the frame structure of robot system 1, will be by narration after Fig. 6.
At this, although illustrated in Figure 1B, be that robot 20 is the situation of single armed type multi-axis robot, 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 mean robot system 1 an example of configuration structure overlook ideograph.At this, after Fig. 2, for the symbol of a plurality of structural elements, have mark and with " number ", represent the situation of numbering, think that in this case their structure is all identical.
As shown in Figure 2, robot system 1 possesses robot 20.As mentioned above, its action is controlled by upper strata controller and robot controller (all omitting diagram) in robot 20.
At this, take closed curve 201 as outer ring and take the region that closed curve 202 is inner ring, expression can be welded by robot 20 region of action.Can carry out, in the region of above-mentioned welding action, as shown in Figure 2, being equipped with positioner 10.
As long as workpiece retaining zone is included in the region that can weld action, in non-interfering scope, can set a plurality of positioners 10 herein.For example, in Fig. 2, expression has set the example of 2 positioners of positioner 10-1 and positioner 10-2.
The action of positioner 10-1 and positioner 10-2 is also controlled by upper strata controller and robot controller respectively.For this, name a person for a particular job by narration after Fig. 6.
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 having illustrated, may simplify its explanation in Figure 1A.
Shown in Fig. 3 with having part in Figure 1A explanation, repeat, positioner 10 possesses fixture 11, frame section 12, base portion 13.The supported parts 11d of the 1st holding member 11a of fixture 11 supports.Support component 11d can be rotated rotatably base portion 11e around AX1 axle (with reference to Figure 1A) and support.
The 2nd holding member 11b, is supported for after omitting illustrated rotary supporting part 11g(and narrates) can slide along AX1 direction of principal axis.Pressure converting member 11c connects with above-mentioned the 2nd holding member 11b.For pressure converting member 11c and detailed structure around thereof, will be by narration after Fig. 5.
At this, the surface structure shown in Fig. 3 is only an example, with this, does not limit the outward appearance of positioner 10.Therefore, for example frame section 12 is not limited to approximate U-shaped.In addition, base portion 13 is also not limited to approximate trapezoid shape.
Then, the surface structure of represented positioner 10 in Fig. 3 of take is prerequisite, with Fig. 4, the detailed structure of above-mentioned positioner 10 is described.Fig. 4 means the side view of positioner 10 detailed structure.
First, from the maintaining body of fixture 11, start explanation.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 that puts workpiece, and workpiece is stably placed based on its deadweight with respect to above-mentioned the 1st holding member 11a.
In addition, the 2nd holding member 11b has guide rod 11f.The 2nd holding member 11b, can be supported slidably along AX1 direction of principal axis with respect to rotary supporting part 11g by above-mentioned guide rod 11f.
Then, the 2nd holding member 11b, the high-pressure that the pressure converting member 11c that is subject to connecting with above-mentioned the 2nd holding member 11b supplies, thus vertical down slip (with reference to the arrow 401 in figure) is put in the workpiece of the 1st holding member 11a and clamp securely from top.Thus, workpiece is stably held between the 1st holding member 11a and the 2nd holding member 11b.
At this, as shown in Figure 4, in the 1st holding member 11a, be provided with connecting hole 11aa respectively, in the 2nd holding member 11b, be provided with engagement pin 11ba, the 1st holding member 11a and the 2nd holding member 11b make their engaging and holding workpieces (with reference to arrow in figure 402).Thus, can prevent the transversion malposition etc. of the workpiece of the 1st holding member 11a and the 2nd holding member 11b and clamping.
Therefore at this, because Fig. 4 is side view, for connecting hole 11aa, with it, the engaged and outstanding form of engagement pin 11ba represents " connecting hole 11aa ".
Then, to the 1st rotating mechanism of fixture 11 rotations is described.With Fig. 3, carried out narration, as shown in Figure 4, the supported parts 11d of the 1st holding member 11a supports.Above-mentioned support component 11d can be rotated rotatably base portion 11e around AX1 axle and support.
In addition, in frame section 12, be provided with drive source M1.Drive source M1 connects with support component 11d by the drive disk assembly P1 being comprised of pulley and gear etc., makes the 1st holding member 11a around AX1 axle, rotate (in reference to figure, double-head arrow 403) together with support component 11d.
On the other hand, rotary supporting part 11g is configured to, and with respect to the above-mentioned rotary supporting part 11g of frame section 12, self can freely rotate around AX1 axle.Therefore, the 2nd holding member 11b being supported by above-mentioned rotary supporting part 11g, rotates corresponding to the rotation of rotary supporting part 11g (with reference to double-head arrow in figure 404).
According to said structure, under the state of holding workpiece, by drive source M1, driven, the 1st holding member 11a is rotated thus, and by maintained workpiece, the 2nd holding member 11b also carries out driven rotation.
Then, to the 2nd rotating mechanism of frame section 12 rotations is described.As shown in Figure 4, base portion 13 is carried out axle support by AX2 axle to frame section 12.In addition, in base portion 13, be provided with drive source M2.
Drive source M2 connects with AX2 axle by drive disk assembly P2, and makes the rotation of AX2 axle make frame section 12 rotations with this.
At this, as shown in Figure 4, in base portion 13, be equipped with the source of supply S that produces and supply low pressure air pressure.Derive from the feed lines of the pressure of above-mentioned source of supply S, can form by enough flexible pipes as mentioned above.
Therefore, example as shown in Figure 4, arranges hollow bulb H in drive disk assembly P2, via above-mentioned hollow bulb H, arranges and establishes sleeve pipe Tb, can form thus and from base portion 13, through frame section 12, arrive the feed lines of the pressure converting member 11c of fixture 11.That is to say, can reduce time and time required when arranging and safeguarding.
Below, with Fig. 5, pressure converting member 11c and detailed structure around thereof are described.Fig. 5 means pressure converting member and the three-dimensional pattern figure of detailed structure around thereof.In addition, the rotary supporting part 11g shown in Fig. 5, is the part towards the rotary supporting part 11g of 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, connects with the 2nd holding member 11b by supply pipe 11h.
In addition, rotary supporting part 11g has a plurality of pilot hole 11i.Above-mentioned pilot hole 11i, for example, be provided in AX1 axle on the position of same distance (being on concentric circles).
The 2nd holding member 11b, relatively above-mentioned rotary supporting part 11g makes its guide rod 11f run through respectively pilot hole 11i.In addition, now guide rod 11f and the pilot hole 11i sliding-contact for sliding.
According to said structure, in the situation that the 2nd holding member 11b accepts the high pressure air pressure from pressure converting member 11c supply, by above-mentioned air pressure, promoted and vertical down slip.At this, as mentioned above, being equipped with a plurality of pilot hole 11i with AX1 axle on the position of same distance, make guide rod 11f aim at above-mentioned pilot hole 11i, thereby can not carry out stable slip with rocking.
In addition, rotary supporting part 11g is supported for himself and can freely rotates around AX1 axle as mentioned above.Therefore, the 2nd holding member 11b when rotation under the state of holding workpiece, rotary supporting part 11g(and be arranged at pressure converting member 11c wherein) also corresponding to above-mentioned rotation around AX1 axle rotation (in reference to figure, double-head arrow 501).
At this, in Fig. 5, for pressure converting member 11c, be arranged on the axis of AX1 axle, 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, robot system 1(embodiment being related to Fig. 6 is with reference to Figure 1B and Fig. 2) frame structure describe.Fig. 6 means the block diagram of robot system 1 structure.
In addition, in Fig. 6, only represented the needed structural element of description of the present embodiment, and omitted the record to general structural element.In addition,, for the structural element having illustrated, may simplify its explanation.
As shown in Figure 6, robot system 1 possesses upper strata controller 2, robot controller 3, positioner 10(and exemplifies " 10-1 " and " 10-2 " 2 herein) ,Ji robot 20.
Upper strata controller 2 is the control device of control system 1 integral body.At this, upper strata controller 2, so long as the structure of controlling according to the order of predetermining or step, can carry out sequence control, to its physics or logic form no requirement (NR).Therefore, also can be by many cell formations.
The control device that robot controller 3 is controlled for the action of the positioner 10Ji robot 20 of the indication ，Dui Qi subordinate connection based on from upper strata controller 2.In addition, robot controller 3 can be controlled a plurality of robots 20 or positioner 10 with 1.
In addition, positioner 10 as previously described, possesses pressure converting member 11c in fixture 11.Pressure converting member 11c is controlled by upper strata controller 2.
Then, positioner 10He robot 20, when carrying out welding processing, accepts the indication from upper strata controller 2 and robot controller 3, makes synchronous being controlled of action separately.
In addition, shown in Fig. 6 is an example of the frame structure of robot system 1, is not defined in for example mode of this dispersion treatment.Therefore, robot controller 3 also direct controlled pressure converting member 11c for example.
As mentioned above, the positioner that embodiment relates to, possesses fixture, pressure converting member, frame section and base portion.Fixture comprises accepts pressure supply and the driven maintaining body keeping thus as the workpiece of processing object.Pressure converting member is arranged at fixture, will be converted to the 2nd pressure that more above-mentioned the 1st pressure is large and be supplied to fixture from the 1st pressure of the outside supply of above-mentioned fixture.Frame section support fixture can be around the 1st rotating shaft rotation.Base portion support frame portion can be around the 2nd rotating shaft rotation substantially vertical with the 1st rotating shaft.
Therefore, the positioner relating to according to embodiment, can reduce time and time required when arranging and safeguarding.
At this, in the above-described embodiment, exemplified the situation when being carried out the welding processing of workpiece by welding robot by positioner, but with this, do not limited the form of processing.Therefore, the classification of robot is also not limited to welding robot.
In addition, in said embodiment, exemplify the situation that machine people is one armed robot, but with this, do not limited the quantity of arm.Therefore, also can be tow-armed robot.
In addition, in said embodiment, the situation that the maintaining body that has exemplified positioner is Pneumatically driven system, but be not limited thereto.For example also can be oil pressure actuated system.That is to say, because the drive source from pressure starts, till fixture supplies is low pressure oil pressure, therefore to establish the high pressure oil pressure pipe of hard without row.
In addition, in base portion, possess the source of supply of pressure in said embodiment, but be not limited thereto.Can also be for example that the pressure converting member that fixture possesses directly obtains low pressure air pressure from outside.
In addition, in said embodiment, exemplified the 1st rotating shaft substantially parallel with vertical direction, the 2nd rotating shaft situation substantially parallel with horizontal direction, but be not limited thereto.Can also be for example 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 that has exemplified the maintaining body of fixture is the situation of vertical above-below direction, but is not limited thereto, for example, can also be the left and right directions of level.
Claims (6)
1. a positioner, is characterized in that having:
Fixture, it comprises accepts pressure supply and the driven maintaining body keeping thus as the workpiece of processing object;
Pressure converting member, is arranged at described fixture, will be converted to the 2nd pressure that more described the 1st pressure is large and be supplied to described fixture from the 1st pressure of the outside supply of this fixture;
Frame section, can be around the 1st rotating shaft rotation for supporting described fixture; And
Base portion, can be around the 2nd rotating shaft rotation substantially vertical with described the 1st rotating shaft for supporting described frame section.
2. positioner according to claim 1, is characterized in that described maintaining body has:
The 1st holding member, is connected in the drive source that makes described the 1st rotating shaft rotation; And
The 2nd holding member, configures in opposite directions with described the 1st holding member, along described the 1st rotating shaft direction, slide, thereby by described piece-holder between itself and described the 1st holding member, wherein
Described pressure converting member connects with described the 2nd holding member, by supply described the 2nd pressure to the 2nd holding member, the 2nd holding member is slided.
3. according to claim 1 or positioner claimed in claim 2, it is characterized in that:
Described base portion has the source of supply of described the 1st pressure of supply,
The air pressure of described the 1st pressure for producing in described source of supply,
The feed lines of supplying described the 1st pressure forms, and from described source of supply, via described frame section, arrives described pressure converting member.
4. positioner according to claim 2, is characterized in that:
Described maintaining body, by described the 1st holding member and described the 2nd holding member, clamps described workpiece from vertical above-below direction.
5. positioner according to claim 2, is characterized in that:
On described the 1st holding member, be formed with connecting hole,
On described the 2nd holding member, be formed with engagement pin,
Described the 1st holding member and described the 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 of recording in claim 1;
Robot; And
Control device, for the action to described robot indication 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 true CN103624456A (en) | 2014-03-12 |
| CN103624456B CN103624456B (en) | 2015-09-30 |
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Family Applications (1)
| 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) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111720216A (en) * | 2020-06-24 | 2020-09-29 | 中国航发湖南动力机械研究所 | Method for assembling engine device |
| CN116174851A (en) * | 2023-04-24 | 2023-05-30 | 成都航利航空科技有限责任公司 | TIG spot welding fixture |
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| 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 |
| KR20080087715A (en) * | 2007-03-26 | 2008-10-01 | 가부시키가이샤 고베 세이코쇼 | Control device of work positioning 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 |
| 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 |
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- 2012-08-30 CN CN201210313315.2A patent/CN103624456B/en not_active Expired - Fee Related
Patent Citations (6)
| 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 |
| KR20080087715A (en) * | 2007-03-26 | 2008-10-01 | 가부시키가이샤 고베 세이코쇼 | Control device of work positioning apparatus |
| CN201192786Y (en) * | 2008-04-29 | 2009-02-11 | 上海宝钢设备检修有限公司 | Cantilever rotary support |
| 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 |
| 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 |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111720216A (en) * | 2020-06-24 | 2020-09-29 | 中国航发湖南动力机械研究所 | Method for assembling engine device |
| CN116174851A (en) * | 2023-04-24 | 2023-05-30 | 成都航利航空科技有限责任公司 | TIG spot welding fixture |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103624456B (en) | 2015-09-30 |
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