CN103659137A - Automatic welding device and automatic welding method for thin-shell car body - Google Patents

Automatic welding device and automatic welding method for thin-shell car body Download PDF

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Publication number
CN103659137A
CN103659137A CN201410005374.2A CN201410005374A CN103659137A CN 103659137 A CN103659137 A CN 103659137A CN 201410005374 A CN201410005374 A CN 201410005374A CN 103659137 A CN103659137 A CN 103659137A
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China
Prior art keywords
welding
car body
weld seam
welded
deflection machine
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Pending
Application number
CN201410005374.2A
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Chinese (zh)
Inventor
冯和永
张宝东
高金良
陈泳
郑晓萌
李国强
刘兴成
耿景刚
侯建
李巍
祝国荣
刘长华
李凤军
李红文
候锦毅
郭殿军
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Beijing North Vehicle Group Corp
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Beijing North Vehicle Group Corp
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Publication date
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Priority to CN201410005374.2A priority Critical patent/CN103659137A/en
Publication of CN103659137A publication Critical patent/CN103659137A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/16Arc welding or cutting making use of shielding gas
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047Auxiliary 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00Articles made by soldering, welding or cutting
    • B23K2101/006Vehicles

Abstract

The invention discloses an automatic welding device and an automatic welding method for a thin-shell car body. The device comprises a portal-frame welding robot, elevation-type head-tail frame positioners which is arranged on the side of the welding robot, a reversing frame which is installed between the positioners and a control mechanism which is used for controlling the welding robot and the positioners to work. The method comprises the following steps of back welding a weld seam which is more than 1mm, then filling the weld seam, placing the top/left side/bottom/head/right side/tail part of a car body on a horizontal position by rotating the elevation-type head-tail frame positioner, and welding the corresponding weld seam. The automatic welding device has the beneficial effects that automatic welding of different weld seams in different forms of different car types can be satisfied, the continuous welding of a majority of weld seams outside the car body can be realized, and the production efficiency is greatly improved; by adopting the welding method, not only can the quality of the weld seam be improved, but also the welding speed is high, the heat input is small, the weld deformation is small, and the subsequent assembling can be guaranteed.

Description

Shell car body automatic soldering device and method
Technical field
The present invention relates to a kind of welder and method, be specifically related to a kind of shell car body automatic soldering device and method, belong to welding technology field.
Background technology
Some large complicated shell car bodies adopt high-strength steel to make conventionally, high-strength steel shell structure generally adopts assemble welding, so the performance of weld seam provides initial boundary condition with regard to the direct postwelding service life problem for Large Shell Structure parts, its weld seam integrity problem is the subject matter that the large complicated shell car body of puzzlement is manufactured always.
The outside main weld of car body refers in vehicle manufacturing process, need to carry out full weld to the outside weld seam of car body, has realized the automatic welding to car foreign minister straight weld at present.And some weld seam is comparatively complicated, realize automation difficulty relatively, so using welding wire to carry out semi-automatic gas shielded arc welding connects, part position still adopts stainless steel electrode manual welding, the drawback that above two kinds of welding methods exist is higher to welder's degree of dependence, qualification to operator is had relatively high expectations, otherwise the car body weldquality of welding is uneven, and outward appearance uniformity is poor; Use welding rod to weld the waste that easily causes welding rod, can not fully apply.Therefore must consider to improve car body automatic welding coverage rate.
Robot automation welding have charging efficiency high, can realize weld seam high, low to operator's dependence from motion tracking and control, Automation of Welding degree, alleviate pollution to environment, avoid pernicious gas to unrivaled advantages of artificial welding such as the harm of human body, for the welded car body of complexity, welding robot not only can be continuously and is stably carried out complicated welding, but also possesses the miscellaneous functions such as automatic original point position, soldering joint automatic tracking, multilayer welding compensation, automatic swinging and fluctuation action and the control of external shaft coordination linkage.Compare with people, robot translational speed between weld seam and weld seam is high, welding quality is more stable and speed of welding is fast, and output will be greatly improved, and robot welding can also be by strengthening electric current, improving voltage and accelerate speed of welding and further improve welding productivity in addition.If therefore automatic welding coverage rate is improved, can have larger raising to car body quality, outward appearance.
Summary of the invention
For solving the deficiencies in the prior art, the object of the present invention is to provide a kind of shell car body automatic soldering device and method that can effectively improve welding quality and speed of welding and can at utmost realize continuous welding.
In order to realize above-mentioned target, the present invention adopts following technical scheme:
A kind of shell car body automatic soldering device, it is characterized in that, comprise: gantry frame type welding robot, the lift that is arranged on aforementioned gantry frame type welding robot side is posture deflection machine end to end, be installed on the aforementioned lift rollover stand between posture deflection machine end to end, and the controlling organization of controlling aforementioned welding robot, deflection machine work; Aforementioned lift end to end posture deflection machine adopts hydraulicefficiency elevation structure to carry out lifting, and rotating range is ± 185 °; Aforementioned rollover stand adopts tower structure, bottom hollow out.
Aforesaid shell car body automatic soldering device, is characterized in that, also comprises: the wire-feed motor coordinating with aforementioned gantry frame type welding robot.
Aforesaid shell car body automatic soldering device, is characterized in that, the aforementioned lift end to end hydraulicefficiency elevation structure of the tailstock of posture deflection machine can move and make workpiece tilt forward and back 15 ° by along continuous straight runs.
A shell car body automatic soldering method, is characterized in that, comprises the following steps:
(1) greasy dirt, the iron rust at cleaning car body position to be welded and affect the foreign material of welding quality;
(2) car body to be welded is hung at lift and end to end on the rollover stand between posture deflection machine, behind location, clamp car body;
(3) open welding rich argon mixture gas source of the gas, aforementioned mist is containing 90%Ar, 10%CO 2, adjusting gas flow is stand-by;
(4) welding wire is installed in wire-feed motor, and sends in the welding gun of gantry frame type welding robot stand-by;
(5) press weld seam shown in technological document and position, the weld seam that first butt welded seam gap is greater than 1mm carries out back welding, then fills weldering;
(6) rotary lifting-type posture deflection machine end to end, is placed in horizontal level by car body top, and car body top weld seam is welded;
(7) rotary lifting-type posture deflection machine end to end, is placed in horizontal level by car body left side, and vertical deck, lower-left and underdeck weld seam are welded;
(8) rotary lifting-type posture deflection machine end to end, is placed in horizontal level by vehicle bottom, and vehicle bottom weld seam is welded;
(9) rotary lifting-type posture deflection machine end to end, lifts 30 ° by car head, and front declivity deck is welded with front lower arc deck weld seam, deck vertical with both sides, front declivity deck weld seam;
(10) rotary lifting-type posture deflection machine end to end, is placed in horizontal level by car body right side, and vertical deck, bottom right and underdeck weld seam are welded;
(11) rotary lifting-type posture deflection machine end to end, is placed in horizontal level by hull back, and hull back weld seam is welded;
(12) the gantry frame type welding robot position of making zero, butt welded seam self check and reconditioning, unload car body after trimming from rollover stand.
Aforesaid shell car body automatic soldering method, is characterized in that, the gas flow of aforementioned rich argon mixture gas source of the gas is 15-25L/min.
Aforesaid shell car body automatic soldering method, is characterized in that, the length that aforementioned welding wire stretches out welding gun is 10-20mm.
Aforesaid shell car body automatic soldering method, is characterized in that, in step (5), back welding welding condition is: electric current 90-180A, and voltage 19-30V, filling weldering welding condition is: electric current 220-280A, voltage 26-36V.
Aforesaid shell car body automatic soldering method, is characterized in that, in step (5), the welding wire that back welding and filling weldering are used is H08Mn2SiA.
Aforesaid shell car body automatic soldering method, is characterized in that, in step (6), to step (11), welding condition is: electric current 200-280A, voltage 23-36V.
Aforesaid shell car body automatic soldering method, is characterized in that, in step (6), to step (11), the welding wire that welding is used is ER307Si.
Usefulness of the present invention is: automatic soldering device of the present invention can meet the automatic welding of the various ways weld seam of various, and can realize the continuous welding of the outside most weld seams of car body, and production efficiency improves greatly; The weldquality that welding method of the present invention is not only welded is higher, and weld seam is continuous and attractive in appearance, and substantially without splashing, and speed of welding is fast, and heat input is little, and welding deformation is little, for follow-up assembly process, provides smoothly assurance.
Accompanying drawing explanation
Fig. 1 is the structural representation of a specific embodiment of shell car body automatic soldering device of the present invention;
Fig. 2 is the structural scheme of mechanism of rollover stand in Fig. 1;
Fig. 3 is the welding schematic diagram of the end face of the car body to be welded in Fig. 1;
Fig. 4 is the welding schematic diagram of the bottom surface of the car body to be welded in Fig. 1;
Fig. 5 is the welding schematic diagram of the side of the car body to be welded in Fig. 1;
Fig. 6 is the welding schematic diagram below of the car body to be welded in Fig. 1.
The implication of Reference numeral in figure: 1-gantry frame type welding robot, 2-lift is posture deflection machine end to end, 3-rollover stand, 4-car body to be welded, the weld seam that is the welding of gantry frame type welding robot with vertical short-term weld seam in Fig. 3 to Fig. 6.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is done to concrete introduction.
Paper shell car body of the present invention automatic soldering device.
See figures.1.and.2, shell car body automatic soldering device of the present invention comprises: gantry frame type welding robot 1, the lift that is arranged on gantry frame type welding robot 1 side is posture deflection machine 2 end to end, be installed on the lift rollover stand between posture deflection machine 23 end to end, and the controlling organization (not shown) of controlling welding robot, deflection machine work.Wherein, lift end to end posture deflection machine 2 adopts hydraulicefficiency elevation structure to carry out lifting, and the car body to be welded 4 that can realize Multiple Type is installed and overturns, and rotating range is ± 185 °, adopts AC Servo Technology, freely programmable; Rollover stand 3 adopts tower structures, and bottom hollow out, all exposes car body to be welded 4 bottoms, has realized underdeck all-position welding, and except gear chamber and inducer support, the outside weld seam of other car body is all in the working range in robot; Controlling organization is a micro computer process chip, by it, realizes digital welding process control, and its principal character is for having robot interface.
Welding robot preferably adopts German KUKA robot, and it is 6 axle rotary joint formulas designs, and each armshaft adopts firm cast aluminium structure.Tilting spindle design, the high-freedom degree in each joint and short and small armshaft be flexibly the main feature of robot for this reason, even for inaccessible position, still can guarantee working range that it is very large and best soldering angle.Load-bearing 15kg, repetitive positioning accuracy ± 0.01mm.Full-digital control is realized in control and the location of manipulator, switch board and slide type rail system, by bus, carries out exchanges data.
As a kind of preferred scheme, shell car body automatic soldering device also comprises wire-feed motor (not shown), and wire-feed motor coordinates with gantry frame type welding robot 1.The wire feed rate of wire-feed motor is 0.5-24m/min, and wire feed rolls adapts to diameter 1.0mm, 1.2mm and 1.6mm welding wire.
As a kind of preferred scheme, the lift end to end hydraulicefficiency elevation structure of the tailstock of posture deflection machine 2 can move and make workpiece tilt forward and back 15 ° by along continuous straight runs, guaranteed that headstock and the tailstock and fillet in parallel shear are in better welding position, avoid climbing weldering and vertical position welding as far as possible, guaranteed welding quality.
Next, introduce shell car body automatic soldering method of the present invention.
Shell car body automatic soldering method of the present invention comprises the following steps:
1, greasy dirt, the iron rust at cleaning car body position to be welded and affect the foreign material of welding quality.
2, car body to be welded is hung at lift and end to end on the rollover stand between posture deflection machine, behind location, clamp car body.
3, open welding rich argon mixture gas source of the gas, mist is containing 90%Ar, 10%CO 2, the purity of Ar is not less than 99.99%, CO 2purity be not less than 99.5%.Adjusting gas flow is to 15-25L/min, stand-by.
4, open welding machine electric power, the H08Mn2SiA welding wire of diameter 1.2mm is installed in wire-feed motor, and send in the welding gun of gantry frame type welding robot, the length that welding wire stretches out welding gun is 10-20mm, stand-by.
5, open the power supply of robot and deflection machine, by weld seam shown in technological document and position, the weld seam that first butt welded seam gap is greater than 1mm carries out back welding, and back welding welding condition is: electric current 90-180A, voltage 19-30V; Then fill weldering, the object of filling weldering is to make back welding even weld, attractive in appearance to guarantee robot welding appearance of weld, fills weldering welding condition to be: electric current 220-280A, voltage 26-36V.
6, open the welding machine electric power of robot, the ER307Si welding wire of diameter 1.2mm is installed in wire-feed motor, and send in the welding gun of gantry frame type welding robot, the length that welding wire stretches out welding gun is 10-20mm.Rotary lifting-type is posture deflection machine end to end, and car body top is placed in to horizontal level, and car body top weld seam is welded, and welding condition is: electric current 200-280A, voltage 23-36V.
7, rotary lifting-type posture deflection machine end to end, is placed in horizontal level by car body left side, and vertical deck, lower-left and underdeck weld seam are welded, and welding condition is: electric current 200-280A, voltage 23-36V.
8, rotary lifting-type posture deflection machine end to end, is placed in horizontal level by vehicle bottom, and vehicle bottom weld seam is welded, and welding condition is: electric current 200-280A, voltage 23-36V.
9, rotary lifting-type posture deflection machine end to end, lifts 30 ° by car head, and front declivity deck is welded with front lower arc deck weld seam, deck vertical with both sides, front declivity deck weld seam, and welding condition is: electric current 200-280A, voltage 23-36V.
10, rotary lifting-type posture deflection machine end to end, is placed in horizontal level by car body right side, and vertical deck, bottom right and underdeck weld seam are welded, and welding condition is: electric current 200-280A, voltage 23-36V.
11, rotary lifting-type posture deflection machine end to end, is placed in horizontal level by hull back, and hull back weld seam is welded, and welding condition is: electric current 200-280A, voltage 23-36V.
12, the gantry frame type welding robot position of making zero, butt welded seam self check and reconditioning, unload car body after trimming from rollover stand.
Fig. 3, Fig. 4, Fig. 5 and Fig. 6 are respectively end face, bottom surface, side and the welding schematic diagrames below of the car body to be welded in Fig. 1, and the weld seam with vertical short-term in figure is the weld seam of gantry frame type welding robot welding, as can be seen here,
(1), while adopting automatic soldering device of the present invention and welding method welding shell car body, the outside main weld robot welding of car body coverage rate can be up to 96%, and weld appearance moulding is good;
(2) automatic soldering device of the present invention not only can weld the lap weld of quarter deck and deckhead, and can weld butt weld and the underdeck bottom weld seam of U-shaped underdeck and large parts, can meet the automatic welding of the various ways weld seam of various;
(3) while adopting automatic soldering device of the present invention and welding method welding shell car body, can realize the continuous welding of the outside most weld seams of car body, production efficiency improves greatly;
(4) welding process is substantially without splashing, and speed of welding is fast, and heat input is little, and welding deformation is little, for follow-up assembly process, provides smoothly assurance.
It should be noted that, above-described embodiment does not limit the present invention in any form, and all employings are equal to replaces or technical scheme that the mode of equivalent transformation obtains, all drops in protection scope of the present invention.

Claims (10)

1. shell car body automatic soldering device, it is characterized in that, comprise: gantry frame type welding robot, the lift that is arranged on described gantry frame type welding robot side is posture deflection machine end to end, be installed on the described lift rollover stand between posture deflection machine end to end, and the controlling organization of controlling described welding robot, deflection machine work; Described lift end to end posture deflection machine adopts hydraulicefficiency elevation structure to carry out lifting, and rotating range is ± 185 °; Described rollover stand adopts tower structure, bottom hollow out.
2. shell car body automatic soldering device according to claim 1, is characterized in that, also comprises: the wire-feed motor coordinating with described gantry frame type welding robot.
3. shell car body automatic soldering device according to claim 1, is characterized in that, the described lift end to end hydraulicefficiency elevation structure of the tailstock of posture deflection machine can move and make workpiece tilt forward and back 15 ° by along continuous straight runs.
4. shell car body automatic soldering method, is characterized in that, comprises the following steps:
(1) greasy dirt, the iron rust at cleaning car body position to be welded and affect the foreign material of welding quality;
(2) car body to be welded is hung at lift and end to end on the rollover stand between posture deflection machine, behind location, clamp car body;
(3) open welding rich argon mixture gas source of the gas, described mist is containing 90%Ar, 10%CO 2, adjusting gas flow is stand-by;
(4) welding wire is installed in wire-feed motor, and sends in the welding gun of gantry frame type welding robot stand-by;
(5) press weld seam shown in technological document and position, the weld seam that first butt welded seam gap is greater than 1mm carries out back welding, then fills weldering;
(6) rotary lifting-type posture deflection machine end to end, is placed in horizontal level by car body top, and car body top weld seam is welded;
(7) rotary lifting-type posture deflection machine end to end, is placed in horizontal level by car body left side, and vertical deck, lower-left and underdeck weld seam are welded;
(8) rotary lifting-type posture deflection machine end to end, is placed in horizontal level by vehicle bottom, and vehicle bottom weld seam is welded;
(9) rotary lifting-type posture deflection machine end to end, lifts 30 ° by car head, and front declivity deck is welded with front lower arc deck weld seam, deck vertical with both sides, front declivity deck weld seam;
(10) rotary lifting-type posture deflection machine end to end, is placed in horizontal level by car body right side, and vertical deck, bottom right and underdeck weld seam are welded;
(11) rotary lifting-type posture deflection machine end to end, is placed in horizontal level by hull back, and hull back weld seam is welded;
(12) the gantry frame type welding robot position of making zero, butt welded seam self check and reconditioning, unload car body after trimming from rollover stand.
5. shell car body automatic soldering method according to claim 4, is characterized in that, the gas flow of described rich argon mixture gas source of the gas is 15-25L/min.
6. shell car body automatic soldering method according to claim 4, is characterized in that, the length that described welding wire stretches out welding gun is 10-20mm.
7. shell car body automatic soldering method according to claim 4, is characterized in that, in step (5), back welding welding condition is: electric current 90-180A, and voltage 19-30V, filling weldering welding condition is: electric current 220-280A, voltage 26-36V.
8. shell car body automatic soldering method according to claim 7, is characterized in that, in step (5), the welding wire that back welding and filling weldering are used is H08Mn2SiA.
9. shell car body automatic soldering method according to claim 4, is characterized in that, in step (6), to step (11), welding condition is: electric current 200-280A, voltage 23-36V.
10. shell car body automatic soldering method according to claim 9, is characterized in that, in step (6), to step (11), the welding wire that welding is used is ER307Si.
CN201410005374.2A 2014-01-06 2014-01-06 Automatic welding device and automatic welding method for thin-shell car body Pending CN103659137A (en)

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Cited By (7)

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Publication number Priority date Publication date Assignee Title
CN105382467A (en) * 2015-12-11 2016-03-09 湖南金松汽车有限公司 Workpiece clamp for splicing car frame
CN105397382A (en) * 2014-09-09 2016-03-16 株式会社神户制钢所 Double end supported positioner and method of monitoring the driving thereof
CN106513951A (en) * 2016-12-14 2017-03-22 北京北方车辆集团有限公司 Welding process for shock absorber
CN106736216A (en) * 2017-01-06 2017-05-31 南南铝业股份有限公司 A kind of welding tooling of liftable upset
RU2724750C1 (en) * 2019-05-24 2020-06-25 Общество С Ограниченной Ответственностью Производственная Фирма "Ливам" (Ооо Пф "Ливам") Device for automatic welding by butt or angular seam of cylindrical shell with bottom
CN112059477A (en) * 2020-08-28 2020-12-11 安徽双骏智能科技有限公司 Robot welding equipment with accurate positioning function and use method thereof
CN113400021A (en) * 2021-05-28 2021-09-17 浙江宏艺磁电科技有限公司 Welding device and welding process

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CN102896454A (en) * 2012-09-28 2013-01-30 重庆盈丰升机械设备有限公司 Full-automatic standard section overturning tooling
CN103252614A (en) * 2013-04-19 2013-08-21 杭州凯尔达机器人科技股份有限公司 Double-gantry lifting type turnover machine
CN203649771U (en) * 2014-01-06 2014-06-18 北京北方车辆集团有限公司 Automatic thin-housing vehicle body welding device

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JPS58177805A (en) * 1982-04-12 1983-10-18 Masayuki Nishi Disc turning-over apparatus
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105397382A (en) * 2014-09-09 2016-03-16 株式会社神户制钢所 Double end supported positioner and method of monitoring the driving thereof
CN105397382B (en) * 2014-09-09 2018-01-19 株式会社神户制钢所 Double base locator and its driving monitoring method
CN105382467A (en) * 2015-12-11 2016-03-09 湖南金松汽车有限公司 Workpiece clamp for splicing car frame
CN106513951A (en) * 2016-12-14 2017-03-22 北京北方车辆集团有限公司 Welding process for shock absorber
CN106736216A (en) * 2017-01-06 2017-05-31 南南铝业股份有限公司 A kind of welding tooling of liftable upset
RU2724750C1 (en) * 2019-05-24 2020-06-25 Общество С Ограниченной Ответственностью Производственная Фирма "Ливам" (Ооо Пф "Ливам") Device for automatic welding by butt or angular seam of cylindrical shell with bottom
CN112059477A (en) * 2020-08-28 2020-12-11 安徽双骏智能科技有限公司 Robot welding equipment with accurate positioning function and use method thereof
CN112059477B (en) * 2020-08-28 2022-01-28 安徽双骏智能科技有限公司 Robot welding equipment with accurate positioning function and use method thereof
CN113400021A (en) * 2021-05-28 2021-09-17 浙江宏艺磁电科技有限公司 Welding device and welding process

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