CN104070311A - Automatic welder - Google Patents
Automatic welder Download PDFInfo
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- CN104070311A CN104070311A CN201310103169.5A CN201310103169A CN104070311A CN 104070311 A CN104070311 A CN 104070311A CN 201310103169 A CN201310103169 A CN 201310103169A CN 104070311 A CN104070311 A CN 104070311A
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- welding
- welding gun
- gun
- automatic
- tractor
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Classifications
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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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0294—Transport carriages or vehicles
Abstract
An automatic welder comprises a rack and a welding trolley arranged on the rack. The welding trolley can move in left-right, front-rear and up-down directions relatively to the rack, at least one welding gun with a downward gun outlet is arranged at the lower end of the welding trolley, each welding gun is connected with a fine tuning mechanism which comprises a first bearing and an air cylinder, and each first bearing and the corresponding welding gun are fixed on a piston rod of the corresponding air cylinder. During welding work, the welding guns are moved to welding workstations by the welding trolley, each first bearing and the corresponding welding gun are pushed outwards at the same time by the corresponding air cylinder on the corresponding fine adjusting mechanism until the first bearing clings to the side wall of a welded workpiece, and then the gun outlet of the corresponding welding gun can align at a welding seam of a gooseneck groove back beam; in the process of welding, each first bearing always travels along the side wall of the corresponding welded workpiece under action of the corresponding air cylinder to enable the corresponding welding gun to always travel along the corresponding welding seam, so that automatic tracking, on the corresponding welding seam in the horizontal direction, of each welding gun is realized, welding seam forming quality is improved, production efficiency is improved, and labor intensity is lowered.
Description
Technical field
The present invention relates to container production field, relate in particular to the automatic welding machine of container goose neck tunnel back beam.
Background technology
Container generally includes: underframe, erect at the front wall at length over end sills direction two ends and door end, two and erect respectively at the side wall of width over side sills direction both sides and be arranged on the top board at front wall, door end and side wall top respectively.The front end of 40 forty equivalent unit 40 underframe is all provided with goose neck tunnel structure conventionally.Consult Fig. 1, Fig. 2 and Fig. 3, one roof 91 and the respectively first outward extending two side 92 downwards along roof 91 both sides, the bottom surface of roof 91 is provided with multiple back beams 93 along horizontally set, each back beam 93 is parallel to each other and is intervally arranged along the longitudinal, back beam 93 is C type bending part, and its two openend is adjacent to the roof 91 of goose neck tunnel and welds together with roof 91.
Consult Fig. 4, existing goose neck tunnel back beam 93 is in the time of welding, generally first goose neck tunnel back beam 93 is roughly fixed on goose neck tunnel roof 91 by the mode of spot welding, then goose neck tunnel 9 is fixed in corresponding frock 81, open again rollover cylinder 82, goose neck tunnel 9 is forwarded to the orientation of being convenient to workman's welding, by welding personnel manual welding.But this manual welding mode need to divide multiple position of foetus to carry out welding by multiple operating personnels, and operating personnel's welding capacity is large, and production efficiency is low, and appearance of weld quality is unstable; Operating personnel need to lift for a long time welding gun and moving on a large scale in addition, and labour intensity is large, and large near the radiation of workpiece operation sweating heat and flue dust, and operating environment is severe.
For the defect of above-mentioned workman's welding, some producers have released some automatic welding machines, but existing automatic welding machine is in the time of welding, cannot follow the tracks of exactly weld seam, often need to manually adjust, so, inefficiency, and welding quality is not high.
Summary of the invention
The technical problem to be solved in the present invention is to overcome the deficiency that above-mentioned prior art exists, and proposes a kind of automatic welding machine for container goose neck tunnel back beam, and it can stitch position by automatic tracking welding, improves welding quality, and increases work efficiency.
For solving the problems of the technologies described above, the present invention also proposes a kind of automatic welding machine, comprise: frame and be arranged on the welding tractor in frame, described welding tractor can be with respect to frame in left and right, front and back and upper and lower displacement moving, the lower end of described welding tractor be provided with at least one go out muzzle welding gun down, every welding gun is connected with a micro-adjusting mechanism, described micro-adjusting mechanism comprises: a clutch shaft bearing and a cylinder, and described clutch shaft bearing and described welding gun are all fixed on the piston rod of described cylinder; When weld job, first by described welding tractor, welding gun is moved to welding post, by the cylinder on described micro-adjusting mechanism, described clutch shaft bearing and described welding gun is simultaneously extrapolated again, until described clutch shaft bearing is adjacent to the sidewall of welding work pieces, can make the weld seam that muzzle aligning goose neck tunnel back beam of welding gun, in welding process, described clutch shaft bearing is the sidewall walking along welding work pieces always under the effect of cylinder, thereby make welding gun always along weld seam walking, realize the automatic tracing of welding gun butt welded seam in level orientation.
Described automatic welding machine, wherein, the lower end of described welding tractor is provided with at least one the second bearing, and described the second bearing is pressed on the end face of goose neck tunnel back beam the end face walking along welding work pieces in welding process, to realize the automatic tracing of weld seam in vertical orientation.
Described automatic welding machine, wherein, described welding gun arranges in pairs, and every Butt welding gun is all herringbone, and each the second bearing is between two welding guns that arrange in pairs.
Described automatic welding machine, wherein, described welding tractor comprises: in order to the elevating mechanism of realizing the vertical shift mechanism moving left and right, the transverse-moving mechanism moving forward and backward in order to realization and moving up and down in order to realization.
Described automatic welding machine, wherein, the quantity of described vertical shift mechanism is one, it is fixed in described frame, the below of described vertical shift mechanism is provided with two transverse-moving mechanisms, the below of each transverse-moving mechanism is provided with two elevating mechanisms, and the paired setting of described welding gun and every Butt welding gun correspondence are arranged on the lower end of an elevating mechanism.
Described automatic welding machine, wherein, described vertical shift mechanism comprises: at least one is fixed in described frame and the slide rail longitudinally arranging, is arranged at least one slide block and at least one motor on every one slide rail, described motor drives described slide block to move along described slide rail by gear and tooth bar, and then it is moving to realize right and left displacement.
Described automatic welding machine, wherein, each transverse-moving mechanism comprises: the slide rail of at least one horizontally set, be arranged at least one slide block and at least one motor on every one slide rail, the slide rail of described transverse-moving mechanism is fixed with respect to the slide block of described vertical shift mechanism, the motor of described transverse-moving mechanism is with movable slider to move along slide rail by gear and tooth bar, and then realizes front and back position and move.
Described automatic welding machine, wherein, described elevating mechanism is cylinder, the cylinder body of described cylinder is fixed on the slide block of described transverse-moving mechanism.
Described automatic welding machine, wherein, described welding tractor is realized automatically and being controlled by PLC controller, before and after described welding tractor, the walking extreme position of left and right is equipped with an approach switch in order to sensing welding tractor position signalling, the travel switch in order to sensing welding tractor position signalling of the each installation of walking extreme position in the upper and lower orientation of described welding tractor, before and after described welding tractor runs to, when the extreme position in left and right or upper and lower orientation, described approach switch or travel switch action, give described PLC controller feedback position signal, prompting PLC controller carries out orientation switching by the program of setting.
Described automatic welding machine, wherein, the cylinder of described micro-adjusting mechanism is twin shaft cylinder.
Compared with prior art, the present invention has following beneficial effect.
One, the present invention carrys out automatic welding goose neck tunnel back beam by automatic welding machine, has reduced labor strength, has improved workman's operating environment.
Two, automatic welding machine of the present invention carrys out automatic tracing weld seam by micro-adjusting mechanism, guarantees weldquality stable molding.
Three, this automatic welding machine by being provided with two transverse-moving mechanisms below vertical shift mechanism, the below of each transverse-moving mechanism is provided with two elevating mechanisms, each elevating mechanism below is provided with two welding guns, make in the time of weld job, can weld two goose neck tunnel back beams simultaneously, and the travel distance of each goose neck tunnel back beam only needs the half of fusion length, so welding efficiency improves greatly.
Four, because automatic welding machine welding efficiency of the present invention is high, the yield in the unit interval is many, has reduced the welding position of foetus, and has saved the space, the position of foetus in workshop.
Brief description of the drawings
Fig. 1 is the front view of goose neck tunnel back beam.
Fig. 2 is the upward view of goose neck tunnel back beam.
Fig. 3 is the left view of goose neck tunnel back beam.
Fig. 4 is the structural representation that welds goose neck tunnel back beam in prior art.
Fig. 5 is the automatic welding machine of container goose neck tunnel back beam of the present invention front view in the time of welding work pieces.
Fig. 6 is the automatic welding machine of container goose neck tunnel back beam of the present invention side view in the time of welding work pieces.
Fig. 7 is the detail view of elevating mechanism, welding gun and micro-adjusting mechanism in Fig. 5.
Fig. 8 is the detail view of elevating mechanism, welding gun and micro-adjusting mechanism in Fig. 6.
Detailed description of the invention
In order to further illustrate principle of the present invention and structure, existing by reference to the accompanying drawings to a preferred embodiment of the present invention will be described in detail.
Consult Fig. 5 and Fig. 6, automatic welding machine of the present invention comprises: frame 1, hang be located at frame 1 below welding tractor 2, be arranged on the welding gun 3 of welding tractor 2 belows and in order to finely tune the micro-adjusting mechanism 4 of welding torch position.
Consult Fig. 6, frame 1 comprises a frame main body 11 and is separately positioned on two holders 12 at frame main body 11 two ends, a square tube 121 is all set on each holder 12, in order to fixing welding tractor 2.
Consult Fig. 5 and Fig. 6, welding tractor 2 can be with respect to frame in left and right, front and back and upper and lower displacement moving, it comprises: in order to realizing vertical shift mechanism 21 that welding gun moves left and right, in order to realize the transverse-moving mechanism 22 that welding gun moves forward and backward and the elevating mechanism 23 moving up and down in order to realize welding gun.
In the present embodiment, the quantity of vertical shift mechanism 21 is one, the below of vertical shift mechanism 21 is provided with two transverse-moving mechanisms 22, and the below of each transverse-moving mechanism 22 is provided with two elevating mechanisms 23, and the paired setting of welding gun 3 and every Butt welding gun 5 correspondences are arranged on the lower end of an elevating mechanism 23.
Consult Fig. 6, vertical shift mechanism 21 comprises: at least one longitudinally arrange slide rail 211, be arranged at least one slide block 212 on every one slide rail 211, at least one section of tooth bar 215 and at least one motor 213 in order to drive slide block 212 to slide arranging in the same way with slide rail 211.Motor 213 is fixing with respect to slide block 212, is provided with gear 214 on the output shaft of motor 213, and motor 213 driven gears 214 rotate, and gear 214 is walked along tooth bar 215, and then band movable slider 212 is realized and being vertically moved along slide rail 211.
Consider the stability of vertical shift mechanism 21, in the present embodiment, the quantity of slide rail 211 is two, is separately fixed in the square tube 121 of holder 12 at frame 1 two ends.On every one slide rail 211, be provided with two slide blocks 212, two slide blocks 212 that are positioned on different slide rails 211 combine in pairs, and the two ends of each transverse-moving mechanism 22 are separately fixed on two slide blocks 212 of paired setting, to move for slide rail 211 with slide block 212 locking phases.For the convenient transverse-moving mechanism 22 that connects, on each slide block 212, be also fixed with a fixed block 216, transverse-moving mechanism 22 is fixed on fixed block 216.The quantity of motor 213 is identical with the quantity of transverse-moving mechanism 22, and each motor 213 is arranged on respectively on the fixed block 216 being connected with each transverse-moving mechanism 22, drives each transverse-moving mechanism 22 to realize vertically move with correspondence.
Consult Fig. 5 and Fig. 6, each transverse-moving mechanism 22 comprises: the slide rail 221 of at least one horizontally set, be arranged at least one slide block 222 on every one slide rail 221, at least one section of tooth bar (not shown) and at least one motor 224 in order to drive slide block to slide arranging in the same way with slide rail 221.On the output shaft of motor 224, be provided with gear (not shown), motor 213 driven gears 214 rotate, and gear 214 is walked along tooth bar 215, and then band movable slider 222 is realized transverse shifting along slide rail 221.
In the present embodiment, the quantity of slide rail 221 is two, and two one slide rails 221 are all fixed in a square tube 224, and the two ends of this square tube 224 are connected with two fixed blocks 216 of vertical shift mechanism 21.On every one slide rail 221, be provided with a slide block 222, each slide block 222 is all fixed on a sliding sleeve 223.The quantity of motor 224 is one, and it is fixed on sliding sleeve 223, and motor 224 moves along slide rail 221 by gear and rack drives slide block 222, also drives sliding sleeve 223 to realize transverse shifting along square tube 224 simultaneously.
Consult Fig. 5 and Fig. 6, in the present embodiment, the quantity of elevating mechanism 23 is four, and it is divided on two groups of sliding sleeves 223 that are separately fixed at each transverse-moving mechanism 22.Be fixed on two elevating mechanisms 23 on same transverse-moving mechanism 22 along lateral alignment space certain distance.
Elevating mechanism 23 is preferably cylinder, it comprises cylinder body 231 and piston rod 232, cylinder body 231 is fixed on the sliding sleeve 223 of transverse-moving mechanism 22, and fixing with the slide block 222 of transverse-moving mechanism 22 by sliding sleeve 223, to keep mobile with slide block 222, fix a holder 24 in the lower end of piston rod 232, in order to welding gun 3 and micro-adjusting mechanism 4 to be installed.
Referring to Fig. 7 and Fig. 8, on each holder 24, be provided with a pair of go out muzzle welding gun 3 down, two welding guns 3 that arrange are in pairs herringbone, every welding gun 3 are connected with a micro-adjusting mechanism 4.Each micro-adjusting mechanism 4 comprises: a cylinder 41 and a clutch shaft bearing 42, clutch shaft bearing 42 and welding gun 3 are all fixed on the piston rod of cylinder.When weld job, first by welding tractor 2, welding gun 3 is moved to welding post, again by the cylinder 41 on micro-adjusting mechanism 4 by simultaneously extrapolated clutch shaft bearing 42 and welding gun 3, until clutch shaft bearing 42 is adjacent to the sidewall of goose neck tunnel back beam 93, can make the weld seam that muzzle aligning goose neck tunnel back beam 93 of welding gun 3, in welding process, clutch shaft bearing 42 is the sidewall walking along goose neck tunnel back beam 93 always under the effect of cylinder 41, thereby make welding gun 3 always along weld seam walking, realize the automatic tracing of welding gun 3 butt welded seams in level orientation.
For preventing that clutch shaft bearing 262 and welding gun 3 from rotating in perpendicular, above-mentioned cylinder 261 can be preferably twin shaft cylinder.
In addition,, for realizing the automatic tracing of welding gun 3 butt welded seams in vertical orientation, the present invention also arranges one second bearing 5, the second bearings 5 between two welding guns 3 that arrange in pairs in the lower end of each holder 24.When weld job, the second bearing 5 is under the effect of lift cylinder, all the time be pressed on the end face of goose neck tunnel back beam 93 the end face walking along goose neck tunnel back beam 93, thereby guarantee that the vertical range that muzzle and weld seam of welding gun 3 remains unchanged, realize the automatic tracing at vertical orientation butt welded seam.
Welding tractor 2 is realized automatically and being controlled by PLC controller, in welding tractor 2 front and back, the walking extreme position of left and right is equipped with an approach switch (not shown) in order to sensing welding tractor 2 position signallings, the travel switch (not shown) in order to sensing welding tractor position signalling of the each installation of walking extreme position in welding tractor orientation Shang Xia 2, before and after welding tractor 2 runs to, when the extreme position in left and right or upper and lower orientation, approach switch or travel switch action, give PLC controller feedback position signal, prompting PLC controller carries out orientation switching by the program of setting.
Consult Fig. 5 and Fig. 6, the weld job flow process of this automatic welding machine is as follows: first press start button, welding gun 3 under the drive of vertical shift mechanism 21, move to respective gooseneck groove back beam 93 above, welding gun 3 is followed elevating mechanism 23 and is declined afterwards, until the second bearing 5 is pressed on the end face of goose neck tunnel back beam, now, the welding gun 3 of two transverse-moving mechanism 22 belows is aimed at respectively two goose neck tunnel back beams 93, corresponding two Butt welding guns 3 of each goose neck tunnel back beam 93, the both sides that go out muzzle and all aim at these goose neck tunnel back beam 93 widths of every Butt welding gun, and wherein a Butt welding gun is positioned at one end of goose neck tunnel back beam 93 length directions, another Butt welding gun is positioned at the middle part of goose neck tunnel back beam 93 length directions, afterwards, the cylinder action of micro-adjusting mechanism 4, make clutch shaft bearing 42 clamp goose neck tunnel back beam 93 from both sides, weld job starts, and welding gun 3 is transversely walking under the drive of transverse-moving mechanism 22, in the time running to the length of goose neck tunnel back beam 93 half, a goose neck tunnel back beam 93 has been welded, weld job stops, and welding gun automatic moving to next goose neck tunnel back beam 93 places under the drive of welding tractor 2 continue operation, until all weld seams are soldered.
It should be noted that, in the specific implementation, the quantity of vertical shift mechanism, transverse-moving mechanism, elevating mechanism increases and decreases according to actual needs, and the welding gun quantity of each elevating mechanism lower end also can increase and decrease as required.
These are only better possible embodiments of the present invention, not limit the scope of the invention, the equivalent structure that all utilizations description of the present invention and accompanying drawing content have been done changes, and is all included in protection scope of the present invention.
Claims (10)
1. an automatic welding machine, it is characterized in that, comprise: frame and be arranged on the welding tractor in frame, described welding tractor can be with respect to frame in left and right, front and back and upper and lower displacement moving, the lower end of described welding tractor be provided with at least one go out muzzle welding gun down, every welding gun is connected with a micro-adjusting mechanism, described micro-adjusting mechanism comprises: a clutch shaft bearing and a cylinder, and described clutch shaft bearing and described welding gun are all fixed on the piston rod of described cylinder;
When weld job, first by described welding tractor, welding gun is moved to welding post, by the cylinder on described micro-adjusting mechanism, described clutch shaft bearing and described welding gun is simultaneously extrapolated again, until described clutch shaft bearing is adjacent to the sidewall of welding work pieces, can make the weld seam that muzzle aligning goose neck tunnel back beam of welding gun, in welding process, described clutch shaft bearing is the sidewall walking along welding work pieces always under the effect of cylinder, thereby make welding gun always along weld seam walking, realize the automatic tracing of welding gun butt welded seam in level orientation.
2. automatic welding machine as claimed in claim 1, it is characterized in that, the lower end of described welding tractor is provided with at least one the second bearing, described the second bearing is pressed on the end face of goose neck tunnel back beam the end face walking along welding work pieces in welding process, to realize the automatic tracing of weld seam in vertical orientation.
3. automatic welding machine as claimed in claim 2, is characterized in that, described welding gun arranges in pairs, and every Butt welding gun is all herringbone, and each the second bearing is between two welding guns that arrange in pairs.
4. automatic welding machine as claimed in claim 1, is characterized in that, described welding tractor comprises: in order to the elevating mechanism of realizing the vertical shift mechanism moving left and right, the transverse-moving mechanism moving forward and backward in order to realization and moving up and down in order to realization.
5. automatic welding machine as claimed in claim 4, it is characterized in that, the quantity of described vertical shift mechanism is one, it is fixed in described frame, the below of described vertical shift mechanism is provided with two transverse-moving mechanisms, the below of each transverse-moving mechanism is provided with two elevating mechanisms, and the paired setting of described welding gun and every Butt welding gun correspondence are arranged on the lower end of an elevating mechanism.
6. automatic welding machine as claimed in claim 4, it is characterized in that, described vertical shift mechanism comprises: at least one is fixed in described frame and the slide rail longitudinally arranging, is arranged at least one slide block and at least one motor on every one slide rail, described motor drives described slide block to move along described slide rail by gear and tooth bar, and then it is moving to realize right and left displacement.
7. automatic welding machine as claimed in claim 6, it is characterized in that, each transverse-moving mechanism comprises: the slide rail of at least one horizontally set, be arranged at least one slide block and at least one motor on every one slide rail, the slide rail of described transverse-moving mechanism is fixed with respect to the slide block of described vertical shift mechanism, the motor of described transverse-moving mechanism is with movable slider to move along slide rail by gear and tooth bar, and then realizes front and back position and move.
8. automatic welding machine as claimed in claim 7, is characterized in that, described elevating mechanism is cylinder, and the cylinder body of described cylinder is fixed on the slide block of described transverse-moving mechanism.
9. automatic welding machine as claimed in claim 1, it is characterized in that, described welding tractor is realized automatically and being controlled by PLC controller, before and after described welding tractor, the walking extreme position of left and right is equipped with an approach switch in order to sensing welding tractor position signalling, the travel switch in order to sensing welding tractor position signalling of the each installation of walking extreme position in the upper and lower orientation of described welding tractor, before and after described welding tractor runs to, when the extreme position in left and right or upper and lower orientation, described approach switch or travel switch action, give described PLC controller feedback position signal, prompting PLC controller carries out orientation switching by the program of setting.
10. automatic welding machine as claimed in claim 1, is characterized in that, the cylinder of described micro-adjusting mechanism is twin shaft cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310103169.5A CN104070311A (en) | 2013-03-27 | 2013-03-27 | Automatic welder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310103169.5A CN104070311A (en) | 2013-03-27 | 2013-03-27 | Automatic welder |
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| CN104070311A true CN104070311A (en) | 2014-10-01 |
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| CN201310103169.5A Pending CN104070311A (en) | 2013-03-27 | 2013-03-27 | Automatic welder |
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Cited By (7)
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| CN104493388A (en) * | 2014-12-17 | 2015-04-08 | 镇江市宏业科技有限公司 | PLC-based automatic aluminum foil welding device |
| CN105500104A (en) * | 2016-01-31 | 2016-04-20 | 苏州帝瀚环保科技股份有限公司 | Chip removing driving mechanism of chip removing groove of machine tool |
| CN107457521A (en) * | 2017-09-11 | 2017-12-12 | 河北创力机电科技有限公司 | A kind of automatic welding machine for tubular elements bracing ring |
| CN109530866A (en) * | 2019-01-16 | 2019-03-29 | 绍兴汉立工业自动化科技有限公司 | A kind of container lintel welding method of band three-dimensional weld seam recognition |
| CN112139694A (en) * | 2020-09-17 | 2020-12-29 | 潘治霖 | Welding tool for production of bottom plate of aerial work platform and using method of welding tool |
| CN113714713A (en) * | 2021-09-30 | 2021-11-30 | 武汉悉道建筑科技有限公司 | Multipoint gantry welding device |
| CN115283911A (en) * | 2022-10-09 | 2022-11-04 | 华兴智慧(北京)科技有限公司 | Multi freedom welding intelligent robot |
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| CN104493388A (en) * | 2014-12-17 | 2015-04-08 | 镇江市宏业科技有限公司 | PLC-based automatic aluminum foil welding device |
| CN105500104A (en) * | 2016-01-31 | 2016-04-20 | 苏州帝瀚环保科技股份有限公司 | Chip removing driving mechanism of chip removing groove of machine tool |
| CN107457521A (en) * | 2017-09-11 | 2017-12-12 | 河北创力机电科技有限公司 | A kind of automatic welding machine for tubular elements bracing ring |
| CN107457521B (en) * | 2017-09-11 | 2023-07-07 | 河北创力机电科技有限公司 | Automatic welding machine for cylindrical part supporting ring |
| CN109530866A (en) * | 2019-01-16 | 2019-03-29 | 绍兴汉立工业自动化科技有限公司 | A kind of container lintel welding method of band three-dimensional weld seam recognition |
| CN112139694A (en) * | 2020-09-17 | 2020-12-29 | 潘治霖 | Welding tool for production of bottom plate of aerial work platform and using method of welding tool |
| CN113714713A (en) * | 2021-09-30 | 2021-11-30 | 武汉悉道建筑科技有限公司 | Multipoint gantry welding device |
| CN115283911A (en) * | 2022-10-09 | 2022-11-04 | 华兴智慧(北京)科技有限公司 | Multi freedom welding intelligent robot |
| CN115283911B (en) * | 2022-10-09 | 2022-12-09 | 华兴智慧(北京)科技有限公司 | Multi freedom welding intelligent robot |
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Application publication date: 20141001 |