CN104057222A - Four-axis linkage intelligent tracking welding machine - Google Patents
Four-axis linkage intelligent tracking welding machine Download PDFInfo
- Publication number
- CN104057222A CN104057222A CN201410245737.XA CN201410245737A CN104057222A CN 104057222 A CN104057222 A CN 104057222A CN 201410245737 A CN201410245737 A CN 201410245737A CN 104057222 A CN104057222 A CN 104057222A
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- Prior art keywords
- plate
- fixed
- displacement
- welding
- screw mandrel
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- 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
-
- 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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
- B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Arc Welding In General (AREA)
Abstract
The invention discloses a four-axis linkage intelligent tracking welding machine which comprises a base, a tracking follow-up mechanism, and an automatic welding device. According to the four-axis linkage intelligent tracking welding machine provided by the invention, the welding seams of welding can be found out through the tracking follow-up mechanism, and the welding of the welding seams can be automatically completed, so that the labor cost is effectively saved, the manpower restriction is overcome, and the welding automation and mechanization are realized.
Description
Technical field
The present invention relates to a kind of electroplating equipment wielding machine, belong to machining technique field.
Background technology
The four-axle linked Intelligent tracking bonding machine application of the present invention is very extensive, is mainly used in container welding industry.
At present, be all manual welding for the welding of container, existing electroplating equipment wielding machine, can only, by workman's manual operations, complete welding, and welding job efficiency has been subject to the restriction of workers processing.
Summary of the invention
Goal of the invention: the invention provides a kind of bonding machine of realizing automatic tracking, Intelligent welding.
Technical scheme: the invention discloses a kind of four-axle linked Intelligent tracking bonding machine, pedestal, tracking follow-up mechanism, automatic soldering device;
Described tracking follow-up mechanism comprises: line slideway, straight walking mechanism, base, laser sensor and laser displacement sensor support; Described line slideway and straight walking mechanism bottom are fixed on pedestal top; The both sides, bottom surface of base are installed on line slideway, and the center of bottom surface is fixedly connected with straight walking mechanism; Described laser displacement sensor support is fixed on base; Described laser sensor is fixed on described laser displacement sensor support;
Described automatic soldering device comprises: supporting plate, arc-shaped slide rail, displacement bearing, arc are to drive motors, oscillator of welding gun and welding gun fixture; Described welding gun fixture is installed on oscillator of welding gun; Oscillator of welding gun is installed on displacement bearing top, and described arc is installed on displacement bearing bottom to drive motors; Described displacement bearing is installed on arc-shaped slide rail; Described arc-shaped slide rail is fixed on supporting plate; Described supporting plate is installed on base;
Described oscillator of welding gun comprises: wig-wag flap and wig-wag fixed head; Described wig-wag flap is fixed on displacement bearing; Described wig-wag fixed head is fixedly connected with welding gun fixture; Described wig-wag flap is flexibly connected with wig-wag fixed head; Described wig-wag fixed head rotates on wig-wag flap.
Four-axle linked Intelligent tracking bonding machine of the present invention is found the weld seam of welding by tracking follow-up mechanism, automatically complete the welding of weld seam, has effectively saved human cost, has broken the restriction of manpower, realizes Automation of Welding and mechanization.
In the present invention, described displacement bearing comprises: base-plate, backing plate, center pillar, Y-direction adjusting nut, Z-direction movable plate, Z-direction adjusting nut, mobile screw mandrel, horizontal jack, X are to displacement plate, X to fixture, X to adjusting nut, clamp fixing plate and X to chute;
Described backing plate is fixed on base-plate; Described backing plate is provided with Y-direction draw-in groove; Described center pillar is fixed in Y-direction draw-in groove; Y-direction adjusting nut moves in Y-direction draw-in groove by mobile screw mandrel control center pillar, realizes the displacement of Y-direction;
Described center pillar top is provided with Z-direction adjusting nut; Z-direction adjusting nut is connected with the mobile screw mandrel of Z-direction; The mobile screw mandrel two ends of described Z-direction are fixed on center pillar by fixture; Described Z-direction movable plate is sleeved on the mobile screw mandrel of center pillar and Z-direction; Z-direction adjusting nut drives Z-direction movable plate to move in Z-direction by the mobile screw mandrel of Z-direction, realizes the displacement of Z-direction;
Described X is L shaped to displacement plate, the horizontal jack arranging through Z-direction adjusting nut side, and X is fixedly connected with Z-direction movable plate to the front surface rear end of displacement plate; Described X to mobile screw mandrel be fixed on X to displacement plate upper surface by X to fixture; Described X to mobile screw mandrel through X to fixture and horizontal jack; Described X to mobile screw mandrel one end be fixedly connected with to adjusting nut with X, the other end is fixedly connected with clamp fixing plate; Described X is provided with X to chute to displacement plate upper face, and described clamp fixing plate is installed on X in chute, X to the promotion of mobile screw mandrel moving to chute along X.In the present invention by X to adjusting nut, Y-direction adjusting nut and Z-direction adjusting nut, scolder end is adjusted to arc-shaped guide rail circle centre position by 3 position adjusting nuts, slide on arc-shaped guide rail by drive motors welding gun fixture again and realize torch swinging but scolder end position is motionless, 3 position adjusting nuts can be adjusted arbitrarily welding gun rifle point X, Y, Z three-dimensional space position, conveniently, simply, efficiently, can adapt to the welding procedure of arbitrary diameter scolder.
Described in the present invention, automatic soldering device comprises: arc protective plate, described arc protective plate is installed on supporting plate front edge.The use of arc protective plate in the present invention, has effectively prevented that broken the cutting of welding from flying in arc-shaped slide rail, affects slippage precision, has effectively improved precision and the quality of welding.
The follow-up mechanism of tracking described in the present invention comprises: the line slideway protective plate that is installed on line slideway top.Arranging of cathetus guide rail protection plate of the present invention effectively prevented that broken the cutting of welding from flying into line slideway, affects the precision of straight line slippage, effectively improved precision and the quality of welding.
Four-axle linked Intelligent tracking bonding machine of the present invention also comprises: wire feeder fixed mount, this wire feeder fixed mount is fixed on base top, is positioned at automatic soldering device one side.
Four-axle linked Intelligent tracking bonding machine of the present invention also comprises PLC controller, and the input of described PLC controller is connected with the laser sensor in tracking follow-up mechanism, and output device is connected to drive motors with straight walking mechanism, arc; The welding seam position information of detection is sent to PLC controller by described laser sensor, and PLC controller moves to welding position according to position while welding control straight walking mechanism, arc to drive motors control welding gun, starts welding gun and realize welding action.In the present invention, realize full mechanical part Based Intelligent Control by PLC controller.
Laser sensor described in the present invention is at least two, forms solid space data by arranging of multiple laser sensors.
Beneficial effect
:four-axle linked Intelligent tracking bonding machine of the present invention compared with prior art, has the following advantages:
1, four-axle linked Intelligent tracking bonding machine of the present invention, completes tracking by laser sensor, completes welding action by automatic soldering device, has realized Automation of Welding, has reduced cost of labor.
2, the present invention forms solid space data by arranging of multiple laser sensors, has improved welding precision.
3, the present invention realized to adjusting nut, Y-direction adjusting nut, Z-direction adjusting nut and arc-shaped slide rail by X four-axle linked, the accurate location of having realized tracking.
Brief description of the drawings
Fig. 1 is four-axle linked Intelligent tracking bonding machine stereogram of the present invention.
Fig. 2 is four-axle linked Intelligent tracking bonding machine side view of the present invention.
Fig. 3 is the schematic diagram of tracking follow-up mechanism in the present invention.
Fig. 4 is the structural representation of automatic soldering device in the present invention.
Fig. 5 is the structural representation of automatic soldering device in the present invention.
Fig. 6 is the structural representation of automatic soldering device in the present invention.
Fig. 7 is the structural representation of displacement bearing in the present invention.
Fig. 8 is the structural representation of oscillator of welding gun and welding gun fixture in the present invention.
In figure: pedestal 1,
Tracking follow-up mechanism 2: line slideway 21, straight walking mechanism 22, base 23, laser sensor 24, laser displacement sensor support 25, line slideway protective plate 26;
Automatic soldering device 3: supporting plate 31, arc-shaped slide rail 32, displacement bearing 33, arc are to drive motors 34, oscillator of welding gun 35, welding gun fixture 36, arc protective plate 37;
Displacement bearing 33: base-plate 3301, backing plate 3302, center pillar 3303, Y-direction adjusting nut 3304, Z-direction movable plate 3305, Z-direction adjusting nut 3306, mobile screw mandrel 3307, horizontal jack 3308, X are to displacement plate 3309, X to fixture 3310, X to adjusting nut 3311, clamp fixing plate 3312, X to chute 3313;
Wire feeder fixed mount 4.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, further illustrate the present invention, should understand following detailed description of the invention is only not used in and limits the scope of the invention for the present invention is described, after having read the present invention, those skilled in the art all fall within the application's claim limited range to the amendment of various equivalents of the present invention.
Embodiment:
The four-axle linked Intelligent tracking bonding machine of one as shown in the figure, comprising: pedestal 1, tracking follow-up mechanism 2, automatic soldering device 3;
Described tracking follow-up mechanism 2 comprises: line slideway 21, straight walking mechanism 22, base 23, laser sensor 24, laser displacement sensor support 25 and line slideway protective plate 26; Described line slideway 21 and straight walking mechanism 22 bottoms are fixed on pedestal 1 top; The both sides, bottom surface of base 23 are installed on line slideway 21, and the center of bottom surface is fixedly connected with straight walking mechanism 22; Described laser displacement sensor support 25 is fixed on base 23; Described laser sensor 24 is fixed on described laser displacement sensor support 25; Described line slideway protective plate 26 is installed on line slideway top.
Described automatic soldering device 3 comprises: supporting plate 31, arc-shaped slide rail 32, displacement bearing 33, arc are to drive motors 34, oscillator of welding gun 35 and welding gun fixture 36; Described welding gun fixture 36 is installed on oscillator of welding gun 35; Oscillator of welding gun 35 is installed on displacement bearing 33 tops, and described arc is installed on displacement bearing 33 bottoms to drive motors 34; Described displacement bearing 33 is installed on arc-shaped slide rail 32; Described arc-shaped slide rail 32 is fixed on supporting plate 31; Described supporting plate 31 is installed on base 23;
Described oscillator of welding gun 35 comprises: wig-wag flap 3501 and wig-wag fixed head 3502; Described wig-wag flap 3501 is fixed on displacement bearing 33; Described wig-wag fixed head 3502 is fixedly connected with welding gun fixture 36; Described wig-wag flap 3501 is flexibly connected with wig-wag fixed head 3502; Described wig-wag fixed head 3502 rotates on wig-wag flap 3501.
Described displacement bearing 33 comprises: base-plate 3301, backing plate 3302, center pillar 3303, Y-direction adjusting nut 3304, Z-direction movable plate 3305, Z-direction adjusting nut 3306, mobile screw mandrel 3307, horizontal jack 3308, X are to displacement plate 3309, X to fixture 3310, X to adjusting nut 3311, clamp fixing plate 3312 and X to chute 3313;
Described backing plate 3302 is fixed on base-plate 3301; Described backing plate 3302 is provided with Y-direction draw-in groove; Described center pillar 3303 is fixed in Y-direction draw-in groove; Y-direction adjusting nut 3304 moves in Y-direction draw-in groove by mobile screw mandrel control center pillar 3303;
Described center pillar 3303 tops are provided with Z-direction adjusting nut 3306; Z-direction adjusting nut 3306 is connected with the mobile screw mandrel 3307 of Z-direction; Mobile screw mandrel 3307 two ends of described Z-direction are fixed on center pillar 3303 by fixture; Described Z-direction movable plate 3305 is sleeved on the mobile screw mandrel 3307 of center pillar 3303 and Z-direction; Z-direction adjusting nut 3306 drives Z-direction movable plate 3305 to move in Z-direction by the mobile screw mandrel 3307 of Z-direction;
Described X is L shaped to displacement plate 3309, the horizontal jack 3308 arranging through Z-direction adjusting nut 3306 sides, and X is fixedly connected with Z-direction movable plate 3305 to the front surface rear end of displacement plate 3309; Described X to mobile screw mandrel 3307 be fixed on X to displacement plate 3309 upper surfaces by X to fixture 3310; Described X to mobile screw mandrel 3307 through X to fixture 3310 and horizontal jack 3308; Described X to mobile screw mandrel 3307 one end be fixedly connected with to adjusting nut 3311 with X, the other end is fixedly connected with clamp fixing plate 3312; Described X is provided with X to chute 3313 to displacement plate 3309 upper faces, and described clamp fixing plate 3312 is installed on X in chute 3313, X to the promotion of mobile screw mandrel 3307 moving to chute 3313 along X.
The operation principle of the present embodiment is as follows:
When work, laser sensor on laser displacement sensor support detects position while welding, position while welding three-dimensional information is sent to PLC controller, PLC controller sends instruction to straight walking mechanism, arc to drive motors according to position while welding, and straight walking mechanism takes automatic soldering device to welding position and welds.
Claims (7)
1. a four-axle linked Intelligent tracking bonding machine, is characterized in that, comprising: pedestal (1), tracking follow-up mechanism (2), automatic soldering device (3);
Described tracking follow-up mechanism (2) comprising: line slideway (21), straight walking mechanism (22), base (23), laser sensor (24) and laser displacement sensor support (25); Described line slideway (21) and straight walking mechanism (22) bottom are fixed on pedestal (1) top; It is upper that the both sides, bottom surface of base (23) are installed on line slideway (21), and the center of bottom surface is fixedly connected with straight walking mechanism (22); Described laser displacement sensor support (25) is fixed on base (23); Described laser sensor (24) is fixed on described laser displacement sensor support (25);
Described automatic soldering device (3) comprising: supporting plate (31), arc-shaped slide rail (32), displacement bearing (33), arc are to drive motors (34), oscillator of welding gun (35) and welding gun fixture (36); Described welding gun fixture (36) is installed on oscillator of welding gun (35); Oscillator of welding gun (35) is installed on displacement bearing (33) top, and described arc is installed on displacement bearing (33) bottom to drive motors (34); Described displacement bearing (33) is installed on arc-shaped slide rail (32); Described arc-shaped slide rail (32) is fixed on supporting plate (31); Described supporting plate (31) is installed on base (23);
Described oscillator of welding gun (35) comprising: wig-wag flap (3501) and wig-wag fixed head (3502); Described wig-wag flap (3501) is fixed on displacement bearing (33); Described wig-wag fixed head (3502) is fixedly connected with welding gun fixture (36); Described wig-wag flap (3501) is flexibly connected with wig-wag fixed head (3502); Described wig-wag fixed head (3502) is in the upper rotation of wig-wag flap (3501).
2. four-axle linked Intelligent tracking bonding machine according to claim 1, it is characterized in that, described displacement bearing (33) comprising: base-plate (3301), backing plate (3302), center pillar (3303), Y-direction adjusting nut (3304), Z-direction movable plate (3305), Z-direction adjusting nut (3306), mobile screw mandrel (3307), horizontal jack (3308), X are to displacement plate (3309), X to fixture (3310), X to adjusting nut (3311), clamp fixing plate (3312) and X to chute (3313);
Described backing plate (3302) is fixed on base-plate (3301); Described backing plate (3302) is provided with Y-direction draw-in groove; Described center pillar (3303) is fixed in Y-direction draw-in groove; Y-direction adjusting nut (3304) moves in Y-direction draw-in groove by mobile screw mandrel control center pillar (3303);
Described center pillar (3303) top is provided with Z-direction adjusting nut (3306); Z-direction adjusting nut (3306) is connected with the mobile screw mandrel (3307) of Z-direction; Mobile screw mandrel (3307) two ends of described Z-direction are fixed on center pillar (3303) by fixture; Described Z-direction movable plate (3305) is sleeved on the mobile screw mandrel (3307) of center pillar (3303) and Z-direction; Z-direction adjusting nut (3306) drives Z-direction movable plate (3305) to move in Z-direction by the mobile screw mandrel (3307) of Z-direction;
Described X is L shaped to displacement plate (3309), the horizontal jack (3308) arranging through Z-direction adjusting nut (3306) side, and X is fixedly connected with Z-direction movable plate (3305) to the front surface rear end of displacement plate (3309); Described X to mobile screw mandrel (3307) be fixed on X to displacement plate (3309) upper surface by X to fixture (3310); Described X to mobile screw mandrel (3307) through X to fixture (3310) and horizontal jack (3308); Described X to mobile screw mandrel (3307) one end be fixedly connected with to adjusting nut (3311) with X, the other end is fixedly connected with clamp fixing plate (3312); Described X is provided with X to chute (3313) to displacement plate (3309) upper face, and described clamp fixing plate (3312) is installed on X in chute (3313), X to mobile screw mandrel (3307) promotion along X to chute (3313) mobile.
3. four-axle linked Intelligent tracking bonding machine according to claim 1, is characterized in that, described automatic soldering device comprises: arc protective plate (37), described arc protective plate (37) is installed on supporting plate (31) front edge.
4. four-axle linked Intelligent tracking bonding machine according to claim 1, is characterized in that, described tracking follow-up mechanism comprises: the line slideway protective plate (26) that is installed on line slideway top.
5. four-axle linked Intelligent tracking bonding machine according to claim 1, is characterized in that, comprising: wire feeder fixed mount (4), this wire feeder fixed mount (4) is fixed on base (23) top, is positioned at automatic soldering device one side.
6. four-axle linked Intelligent tracking bonding machine according to claim 1, it is characterized in that, comprise PLC controller, the input of described PLC controller is connected with the laser sensor in tracking follow-up mechanism, and output device is connected to drive motors with straight walking mechanism, arc; The welding seam position information of detection is sent to PLC controller by described laser sensor, and PLC controller moves to welding position according to position while welding control straight walking mechanism, arc to drive motors control welding gun, starts welding gun and realize welding action.
7. four-axle linked Intelligent tracking bonding machine according to claim 1, is characterized in that, described laser sensor is at least two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410245737.XA CN104057222B (en) | 2014-06-05 | 2014-06-05 | Four-axle linked Intelligent tracking bonding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410245737.XA CN104057222B (en) | 2014-06-05 | 2014-06-05 | Four-axle linked Intelligent tracking bonding machine |
Publications (2)
| Publication Number | Publication Date |
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| CN104057222A true CN104057222A (en) | 2014-09-24 |
| CN104057222B CN104057222B (en) | 2015-10-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410245737.XA Expired - Fee Related CN104057222B (en) | 2014-06-05 | 2014-06-05 | Four-axle linked Intelligent tracking bonding machine |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104191140A (en) * | 2014-09-12 | 2014-12-10 | 苏州石丸英合精密机械有限公司 | Two-station clamping unit for automatic welder of bushings |
| CN104308326A (en) * | 2014-09-30 | 2015-01-28 | 芜湖炬胜机电设备厂 | Automatic welding device and welding process thereof |
| CN104493380A (en) * | 2014-11-28 | 2015-04-08 | 柳州振业焊接机电设备制造有限公司 | Symmetric automatic welding device |
| CN104526215A (en) * | 2014-11-28 | 2015-04-22 | 柳州振业焊接机电设备制造有限公司 | Sliding type automatic welding device |
| CN107748203A (en) * | 2017-11-16 | 2018-03-02 | 西安石油大学 | It is a kind of intelligent from tracking seam inspection robot |
| CN112139720A (en) * | 2020-10-19 | 2020-12-29 | 青岛智研自动化设备有限公司 | Robot jig capable of accurately welding small circular weld |
| CN117984046A (en) * | 2024-04-04 | 2024-05-07 | 湖南泰成钢结构有限公司 | Support tool for welding steel structure |
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| CN201769018U (en) * | 2010-08-18 | 2011-03-23 | 维佳工程有限公司 | Automatic tracking device of seam welding machine |
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| CN88202571U (en) * | 1988-03-29 | 1988-11-23 | 吉林市化工机械厂 | Automatic welding vehicle for seam of container |
| JP2000117431A (en) * | 1998-10-20 | 2000-04-25 | Tokyo Gas Co Ltd | Automatic welding device for circumference of tube |
| CN1907624A (en) * | 2006-08-08 | 2007-02-07 | 成都鑫兴众力科技发展有限公司 | Corrugated-type board automatic welding machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104191140A (en) * | 2014-09-12 | 2014-12-10 | 苏州石丸英合精密机械有限公司 | Two-station clamping unit for automatic welder of bushings |
| CN104308326A (en) * | 2014-09-30 | 2015-01-28 | 芜湖炬胜机电设备厂 | Automatic welding device and welding process thereof |
| CN104493380A (en) * | 2014-11-28 | 2015-04-08 | 柳州振业焊接机电设备制造有限公司 | Symmetric automatic welding device |
| CN104526215A (en) * | 2014-11-28 | 2015-04-22 | 柳州振业焊接机电设备制造有限公司 | Sliding type automatic welding device |
| CN104493380B (en) * | 2014-11-28 | 2016-08-10 | 柳州振业焊接机电设备制造有限公司 | A kind of automatic welding device of symmetry |
| CN107748203A (en) * | 2017-11-16 | 2018-03-02 | 西安石油大学 | It is a kind of intelligent from tracking seam inspection robot |
| CN107748203B (en) * | 2017-11-16 | 2024-01-26 | 西安石油大学 | Intelligent self-tracking weld joint flaw detection robot |
| CN112139720A (en) * | 2020-10-19 | 2020-12-29 | 青岛智研自动化设备有限公司 | Robot jig capable of accurately welding small circular weld |
| CN117984046A (en) * | 2024-04-04 | 2024-05-07 | 湖南泰成钢结构有限公司 | Support tool for welding steel structure |
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|---|---|
| CN104057222B (en) | 2015-10-14 |
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