CN104475955A - Servo single-side spot welding unit and single-side spot welding method - Google Patents
Servo single-side spot welding unit and single-side spot welding method Download PDFInfo
- Publication number
- CN104475955A CN104475955A CN201410720400.XA CN201410720400A CN104475955A CN 104475955 A CN104475955 A CN 104475955A CN 201410720400 A CN201410720400 A CN 201410720400A CN 104475955 A CN104475955 A CN 104475955A
- Authority
- CN
- China
- Prior art keywords
- spot welding
- electrode
- block
- servo
- workpiece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/10—Spot welding; Stitch welding
- B23K11/11—Spot welding
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/31—Electrode holders and actuating devices therefor
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/31—Electrode holders and actuating devices therefor
- B23K11/311—Electrode holders and actuating devices therefor the actuating device comprising an electric motor
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
Abstract
The invention discloses a servo single-side spot welding unit and a single-side spot welding method. The servo single-side spot welding unit comprises a mounting rack, a driving electrode and a driven electrode; a robot mounting flange is mounted on the mounting rack; the driving electrode and the driven electrode parallelly extend out of the mounting rack; a slide rail is disposed on the mounting rack; a slider is mounted on the slide rail; the driving electrode is fixedly mounted on the slider through a clamping member; a power member which drives the driving electrode to extend out or retract along the slide rail is disposed on the mounting rack. At the premise of a workpiece being immobilized, a fixture for fixing being provided and precision being guaranteed, under accurate control of a robot, a welding spot is accurately located, thereby finishing a convenient, direct, controllable and complete resistance spot welding process. The requirement on attractiveness, strength and precision of an openable member is met. Single-side spot welding replaces an existing production mode of large-size workpieces, and thus, size of a welding torch can be effectively reduced, more energy is applied to welding, energy consumption is lowered, and environment is improved.
Description
Technical field
The present invention is used for automobile production automated manufacturing field, particularly relates to the monolateral spot welding device of a kind of servo and monolateral spot welding method.
Background technology
In automobile body-in-white welding process, the application of monolateral spot welding is extremely important.Be made up of inner and outer plates a lot of parts in automobile body-in-white, inner panel needs to keep intensity, and outside plate needs to keep attractive in appearance.So just need namely to form solder joint nugget inside inner and outer plates folding gold, again ensure outside outside plate ensure smooth attractive in appearance, do not form solder joint nugget.In addition, in body in white floor passage welding production process in, because ground board size is comparatively large, thus cause resistance spot welding welding gun size very large too.It is very large that induction reactance when this situation will cause welding and impedance become, thus cause the loss of welding energy to strengthen, increases the power consumption needed for welding.The oversize weight of welding gun that also can make of welding gun increases a lot, needs the robot of more heavy load to install welding gun.Comprehensively above-mentioned 2 kinds of situations, conventional, electric-resistance spot-welding gun is not do not realize production requirement can increase energy consumption and cost consumption exactly.
At present, after the production of the opening and closing part in body in white manufacturing process mainly uses bound edge or rolling, clamped the fixing monolateral spot welding carrying out workpiece motion s by robot gripper, the monolateral spot welding system of robot servo is applied very few.Fixing monolateral spot welding, this mode of production can cause producing relative displacement between inner and outer plates in workpiece motion s process, thus cause that accuracy error and weld strength decline, degradation problem under aesthetic property.The current common welding gun of unavoidable use large scale especially on large scale weldment.
Analyze the existing mode of production of body in white opening and closing part, main Problems existing point completes convenience, direct, controlled, complete resistance spot welding process when how to make workpiece not move, when there being fixture to fix, under guarantee precise manner.Ensure attractive in appearance, the intensity of opening and closing part and the requirement of precision.If the existing mode of production of large scale part can be realized substituting by monolateral spot welding, can effectively reduce welding gun size, reduce energy consumption, reduce costs and input.
Through to the existing mode of production and existing fixing monolateral spot welding analysis, known.The application of the monolateral spot welding system of robot servo, can solve above produced problem.
Summary of the invention
For solving the problem, the invention provides a kind of holding workpiece static, avoiding workpiece accuracy to change, reduce the monolateral spot welding device of servo of energy consumption environmental protect and monolateral spot welding method simultaneously.
The technical solution adopted for the present invention to solve the technical problems is: the monolateral spot welding device of a kind of servo, comprise installing rack that robot mounting flange is housed and to be walked abreast the active electrode and Passive electrode that stretch out by described installing rack, described installing rack is provided with slide rail, slide rail is equipped with slide block, described active electrode is fixedly mounted on described slide block by holder, and described installing rack is provided with the force piece driving described active electrode to stretch out along slide rail or regain.
Be further used as the improvement of technical solution of the present invention, described Passive electrode is connected with described installing rack by elasticity Connection Block, described elasticity Connection Block comprise be fixedly connected with installing rack installing plate, be opposite to each other and separate the top that is arranged on upper back-up block on described installing plate and lower support block and fills described Passive electrode and be parallel to the axis of guide of described slide rail through described upper back-up block and lower support block, the described axis of guide is equipped with clamp above described lower support block, between described upper back-up block and clamp, compression elastic piece is housed.
Be further used as the improvement of technical solution of the present invention, the described axis of guide arranges parallel two, and described compression elastic piece is for being sleeved on the Compress Spring on the axis of guide described in two.
Be further used as the improvement of technical solution of the present invention, the spring lock block be sleeved on the axis of guide described in two is provided with between described upper back-up block and Compress Spring, described upper back-up block is equipped with the adjusting bolt that lower end props up described spring lock block, rotates the distance that described adjusting bolt can regulate described spring lock block and upper back-up block.
Be further used as the improvement of technical solution of the present invention, the electrode stem that described Passive electrode comprises electrode tip holder and stretched out by described electrode tip holder downwards, the described axis of guide is contained on described electrode tip holder, and copper wrought mat is equipped with in the bottom of described electrode stem.
Be further used as the improvement of technical solution of the present invention, described installing rack is also provided with transformer, described Passive electrode is communicated with negative pole with the positive pole of transformer respectively by flexible link with active electrode, and described force piece is servomotor.
A kind of monolateral spot welding method, comprise the following steps: monolateral for above-mentioned servo spot welding device is connected with robot by robot mounting flange plate, the monolateral spot welding device of robot controlling servo make Passive electrode first with absorption surface, under the active force of robot, the further close contact workpiece of Passive electrode, arrives assigned address; After arriving assigned address, by driven by servomotor active electrode, after contact workpiece, servomotor carries out reinforcing operation, and the workpiece of separation is compacted; After compression, transformer output current, under the effect of weld force and resistance heat effect, workpiece is forming nugget with active electrode contact position, and the workpiece be originally separated is welded to be combined; After having welded, electric current stops, and driven by servomotor active electrode is return, and servo monolateral spot welding device random device people moves to next place's solder joint of workpiece.
Beneficial effect of the present invention: the accurate control that can utilize robot, accurately find bond pad locations, and do not need travelling workpiece, thus avoiding the precision change of workpiece, robot controlling also can increase different automobile types and solder joint easily, simultaneously, welding gun is small-sized, the impedance loop of such formation and induction reactance are very little, make more energy for welding, reduce energy consumption, environmental protect.
The present invention does not move at workpiece, when having fixture to fix, ensureing precision, complete convenience, direct, controlled, complete resistance spot welding process.Ensure attractive in appearance, the intensity of opening and closing part and the requirement of precision.By adopting monolateral spot welding to replace the existing mode of production of large scale part, can effectively reduce welding gun size, reducing energy consumption, reducing costs and input.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the invention will be further described:
Fig. 1 is embodiment of the present invention axonometric drawing;
Fig. 2 is embodiment of the present invention front view;
Fig. 3 is Passive electrode structural representation of the present invention;
Fig. 4 is current direction loop diagram of the present invention.
Detailed description of the invention
Referring to figs. 1 through Fig. 4, the invention provides the monolateral spot welding device of a kind of servo, comprise installing rack 1 that robot mounting flange 11 is housed and by the parallel active electrode 2 that stretches out of described installing rack 1 and Passive electrode 3, described installing rack 1 is also provided with transformer 4, described Passive electrode 3 is communicated with negative pole respectively by the positive pole of flexible link 41 with transformer 4 with active electrode 2, described installing rack 1 is provided with slide rail 12, slide block 13 slide rail 12 is equipped with, described active electrode 2 is fixedly mounted on described slide block 13 by holder 14, described installing rack 1 is provided with the force piece 5(servomotor driving described active electrode 2 to stretch out along slide rail 12 or regain).
Wherein, described Passive electrode 3 is connected with described installing rack 1 by elasticity Connection Block 6, elasticity Connection Block 6 is adjustable pressure hold-down mechanism, tightly contact with welding work pieces for making Passive electrode 3 bottom, produce good conductive effect, prevent electric discharge and weld (only need to conduct electricity herein, electric discharge or welding can not be produced).Described elasticity Connection Block 6 comprise be fixedly connected with installing rack 1 installing plate 61, be opposite to each other and separate the top that is arranged on upper back-up block 62 on described installing plate 61 and lower support block 63 and fills described Passive electrode 3 and be parallel to the two piece axis of guides 64 of described slide rail 12 through described upper back-up block 62 and lower support block 63, the axis of guide 64 realizes guide function when forced compression, the described axis of guide 64 is equipped with clamp 65 above described lower support block 63, clamp 65 can move for fixing two axis of guides 64 simultaneously, avoids occurring stuck phenomenon because of asynchronous.Between described upper back-up block 62 and clamp 65, compression elastic piece is housed.Described compression elastic piece is for being sleeved on the Compress Spring 66 on the axis of guide described in two.The electrode stem 32 that described Passive electrode 3 comprises electrode tip holder 31 and stretched out downwards by described electrode tip holder 31, the described axis of guide 64 is contained on described electrode tip holder 31, and electrode stem 32 length can be designed to different length as requested, meets different workpieces, the requirement of different solder joint.Copper wrought mat 33 is equipped with in the bottom of described electrode stem 32, and copper wrought mat 33 fits tightly on electrode stem 32 by bolt, and in welding process, the flexibility of copper wrought mat 33 can ensure the close contact with workpiece, and reduces the elliptical gear in contact process.The spring lock block 67 be sleeved on the axis of guide 64 described in two is provided with between described upper back-up block 62 and Compress Spring 66, described upper back-up block 62 is equipped with the adjusting bolt 68 that lower end props up described spring lock block 67, rotates the distance that described adjusting bolt 68 can regulate described spring lock block 67 and upper back-up block 62.Realize Passive electrode 3 pre-pressing function, provide different pretightning forces by the degree of depth difference that is screwed into of adjusting bolt 68, meet the requirement of different welding operating mode and realize good welding quality.If when workpiece occurs site error or needs depression depths inconsistent when different solder joint, under the effect of pretightning force, this elasticity Connection Block 6 can realize at compensating action to a certain degree, greatly reduces the defect because site error causes quality of welding spot inconsistent.In addition, two axis of guides 64 double-spring structure guiding accuracy that this elasticity Connection Block 6 adopts is high, and can make in forced compression process, ensures moving equilibrium, avoids Passive electrode bar to produce rotation because of the effect of side force, causes the scratch of workpiece, defective work piece surface.
On welding post, monolateral for above-mentioned servo spot welding device is connected with robot by robot mounting flange plate 11, the monolateral spot welding device of robot controlling servo makes Passive electrode 3 first contact with workpiece 7, under the active force of robot, Passive electrode 3 is close contact workpiece 7 further, arrives assigned address; After arriving assigned address, by driven by servomotor active electrode 2, after contact workpiece 7, servomotor carries out reinforcing operation, and the workpiece 7 of separation is compacted; After compression, transformer 4 output current, electric current flows to flexible link 41, Passive electrode 3 by transformer positive pole, flows through workpiece 7, again by active electrode 2, holder 14, flexible link 41, flow back to transformer negative pole, under the effect of weld force and resistance heat effect, workpiece 7 is forming nugget with active electrode 2 contact position, and the workpiece 7 be originally separated is welded to be combined; After having welded, electric current stops, and driven by servomotor active electrode 2 is return, and servo monolateral spot welding device random device people moves to next place's solder joint of workpiece.
Certainly, the invention is not limited to above-mentioned embodiment, those of ordinary skill in the art also can make equivalent variations or replacement under the prerequisite without prejudice to spirit of the present invention, and these equivalent modification or replacement are all included in the application's claim limited range.
Claims (7)
1. the monolateral spot welding device of servo, it is characterized in that: comprise installing rack that robot mounting flange is housed and to be walked abreast the active electrode and Passive electrode that stretch out by described installing rack, described installing rack is provided with slide rail, slide rail is equipped with slide block, described active electrode is fixedly mounted on described slide block by holder, and described installing rack is provided with the force piece driving described active electrode to stretch out along slide rail or regain.
2. the monolateral spot welding device of servo according to claim 1, it is characterized in that: described Passive electrode is connected with described installing rack by elasticity Connection Block, described elasticity Connection Block comprise be fixedly connected with installing rack installing plate, be opposite to each other and separate the top that is arranged on upper back-up block on described installing plate and lower support block and fills described Passive electrode and be parallel to the axis of guide of described slide rail through described upper back-up block and lower support block, the described axis of guide is equipped with clamp above described lower support block, between described upper back-up block and clamp, compression elastic piece is housed.
3. the monolateral spot welding device of servo according to claim 2, is characterized in that: the described axis of guide arranges parallel two, and described compression elastic piece is for being sleeved on the Compress Spring on the axis of guide described in two.
4. the monolateral spot welding device of servo according to claim 3, it is characterized in that: between described upper back-up block and Compress Spring, be provided with the spring lock block be sleeved on the axis of guide described in two, described upper back-up block is equipped with the adjusting bolt that lower end props up described spring lock block, rotates the distance that described adjusting bolt can regulate described spring lock block and upper back-up block.
5. the monolateral spot welding device of the servo according to any one of claim 2 ~ 4, it is characterized in that: the electrode stem that described Passive electrode comprises electrode tip holder and stretched out downwards by described electrode tip holder, the described axis of guide is contained on described electrode tip holder, and copper wrought mat is equipped with in the bottom of described electrode stem.
6. the monolateral spot welding device of the servo according to any one of Claims 1 to 4, it is characterized in that: described installing rack is also provided with transformer, described Passive electrode is communicated with negative pole with the positive pole of transformer respectively by flexible link with active electrode, and described force piece is servomotor.
7. a monolateral spot welding method, it is characterized in that, comprise the following steps: monolateral for servo according to claim 6 spot welding device is connected with robot by robot mounting flange plate, the monolateral spot welding device of robot controlling servo make Passive electrode first with absorption surface, under the active force of robot, the further close contact workpiece of Passive electrode, arrives assigned address; After arriving assigned address, by driven by servomotor active electrode, after contact workpiece, servomotor carries out reinforcing operation, and the workpiece of separation is compacted; After compression, transformer output current, under the effect of weld force and resistance heat effect, workpiece is forming nugget with active electrode contact position, and the workpiece be originally separated is welded to be combined; After having welded, electric current stops, and driven by servomotor active electrode is return, and servo monolateral spot welding device random device people moves to next place's solder joint of workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410720400.XA CN104475955B (en) | 2014-12-01 | 2014-12-01 | A kind of unilateral spot welding device of servo and unilateral spot welding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410720400.XA CN104475955B (en) | 2014-12-01 | 2014-12-01 | A kind of unilateral spot welding device of servo and unilateral spot welding method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104475955A true CN104475955A (en) | 2015-04-01 |
| CN104475955B CN104475955B (en) | 2017-12-15 |
Family
ID=52750630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410720400.XA Active CN104475955B (en) | 2014-12-01 | 2014-12-01 | A kind of unilateral spot welding device of servo and unilateral spot welding method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104475955B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105081544A (en) * | 2015-09-10 | 2015-11-25 | 天津锦泰勤业精密电子有限公司 | Dual-spot welding machine |
| CN105108291A (en) * | 2015-08-12 | 2015-12-02 | 台州市路桥舜力车业有限公司 | Manpower and electric dual-power tricycle manufacturing device and manufacturing method |
| CN105397325A (en) * | 2015-12-31 | 2016-03-16 | 长春大正博凯汽车设备有限公司 | Vehicle body assembly as well as connection technology and connection device thereof |
| CN108465928A (en) * | 2017-02-23 | 2018-08-31 | 康茂股份公司 | Resistance soldering tip with the electrode on same side |
| CN108746969A (en) * | 2018-08-01 | 2018-11-06 | 天津七所高科技有限公司 | A kind of single-side double-point spot-welding equipment |
| CN109158746A (en) * | 2018-09-26 | 2019-01-08 | 天津七所高科技有限公司 | The unilateral welding gun structure of industrial robot |
| CN110842410A (en) * | 2019-11-26 | 2020-02-28 | 奇瑞汽车股份有限公司 | Servo control multi-point automatic welding system and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201399647Y (en) * | 2009-07-24 | 2010-02-10 | 江苏玉龙钢管股份有限公司 | Single-edge double-contact welding device |
| CN102398109A (en) * | 2010-09-16 | 2012-04-04 | 现代自动车株式会社 | One-sided spot welding device |
| CN102476246A (en) * | 2010-11-23 | 2012-05-30 | 现代自动车株式会社 | Complete floor welding system for various vehicle models |
| CN103008863A (en) * | 2012-12-14 | 2013-04-03 | 浙江天齐电气有限公司 | Precise fast welding device of distribution box grounding system |
| CN204353641U (en) * | 2014-12-01 | 2015-05-27 | 森德莱焊接技术（广州）有限公司 | The monolateral spot welding device of a kind of servo |
-
2014
- 2014-12-01 CN CN201410720400.XA patent/CN104475955B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201399647Y (en) * | 2009-07-24 | 2010-02-10 | 江苏玉龙钢管股份有限公司 | Single-edge double-contact welding device |
| CN102398109A (en) * | 2010-09-16 | 2012-04-04 | 现代自动车株式会社 | One-sided spot welding device |
| CN102476246A (en) * | 2010-11-23 | 2012-05-30 | 现代自动车株式会社 | Complete floor welding system for various vehicle models |
| CN103008863A (en) * | 2012-12-14 | 2013-04-03 | 浙江天齐电气有限公司 | Precise fast welding device of distribution box grounding system |
| CN204353641U (en) * | 2014-12-01 | 2015-05-27 | 森德莱焊接技术（广州）有限公司 | The monolateral spot welding device of a kind of servo |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108291A (en) * | 2015-08-12 | 2015-12-02 | 台州市路桥舜力车业有限公司 | Manpower and electric dual-power tricycle manufacturing device and manufacturing method |
| CN105081544A (en) * | 2015-09-10 | 2015-11-25 | 天津锦泰勤业精密电子有限公司 | Dual-spot welding machine |
| CN105081544B (en) * | 2015-09-10 | 2018-02-02 | 天津锦泰勤业精密电子有限公司 | A kind of kinds of point mode mash welder |
| CN105397325A (en) * | 2015-12-31 | 2016-03-16 | 长春大正博凯汽车设备有限公司 | Vehicle body assembly as well as connection technology and connection device thereof |
| CN108465928A (en) * | 2017-02-23 | 2018-08-31 | 康茂股份公司 | Resistance soldering tip with the electrode on same side |
| CN108746969A (en) * | 2018-08-01 | 2018-11-06 | 天津七所高科技有限公司 | A kind of single-side double-point spot-welding equipment |
| CN109158746A (en) * | 2018-09-26 | 2019-01-08 | 天津七所高科技有限公司 | The unilateral welding gun structure of industrial robot |
| CN110842410A (en) * | 2019-11-26 | 2020-02-28 | 奇瑞汽车股份有限公司 | Servo control multi-point automatic welding system and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104475955B (en) | 2017-12-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104475955A (en) | Servo single-side spot welding unit and single-side spot welding method | |
| CN102554438B (en) | Spot welding system for electrode plates of power battery pack | |
| KR101382319B1 (en) | Twin spot welding apparatus | |
| CN103990893B (en) | Mechanical type welding seam tracking device | |
| CN203712119U (en) | Thin steel plate butt welding device | |
| KR101230991B1 (en) | Pitch variable type twin spot welding apparatus | |
| CN202498303U (en) | Electrode slice spot-welding system of power battery | |
| CN205798675U (en) | A kind of seat heel row backrest automatic spot welding equipment | |
| CN201483153U (en) | Electron beam welder for automobile rear axle | |
| CN103286488B (en) | A kind of automobile window glass riser guide camber line welds special machine | |
| CN204913020U (en) | Welding experiment platform | |
| CN104191606B (en) | Ball-type laser transmission welding clamping device | |
| CN103659102A (en) | Locating clamping linkage mechanism | |
| CN206153805U (en) | Shaped steel spare welding flexible clamp and positioning adjustment clamping mechanism thereof | |
| CN204353641U (en) | The monolateral spot welding device of a kind of servo | |
| CN203830884U (en) | Mechanical welded joint tracking device | |
| CN102139400A (en) | Arc-guiding device for H-shaped steel door welding machine | |
| CN105382430A (en) | Fixture device for metal sheet laser welding | |
| CN202607129U (en) | Curve welding device | |
| CN204148721U (en) | Lining automatic welding machine | |
| CN209035673U (en) | The polycyclic weldering welder of TIG for stainless steel collecting vessel | |
| CN111590203A (en) | Automatic welding system of movable thick plate | |
| CN207615955U (en) | Double cantilever heavy type bonding machines | |
| CN109158746A (en) | The unilateral welding gun structure of industrial robot | |
| CN205464857U (en) | Floor drain automatic weld equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |