CN104959708B - Coordinate welding manipulator - Google Patents
Coordinate welding manipulator Download PDFInfo
- Publication number
- CN104959708B CN104959708B CN201510472966.XA CN201510472966A CN104959708B CN 104959708 B CN104959708 B CN 104959708B CN 201510472966 A CN201510472966 A CN 201510472966A CN 104959708 B CN104959708 B CN 104959708B
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- Prior art keywords
- welding
- wire
- wire tube
- coordinate
- support
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- 238000003466 welding Methods 0.000 title claims abstract description 230
- 238000009966 trimming Methods 0.000 claims description 9
- 238000005516 engineering process Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000009713 electroplating Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000017105 transposition Effects 0.000 description 1
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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
Abstract
The invention relates to a coordinate welding manipulator, and belongs to the field of welding equipment. The coordinate welding manipulator comprises a weld gun three-dimensional coordinate moving support, a weld wire feeding device and a welding end connected with the weld gun three-dimensional coordinate moving support and the weld wire feeding device. The weld wire feeding device comprises a weld wire feeding part and a weld wire pipe fine adjustment part. The weld wire pipe fine adjustment part comprises a weld wire pipe, a fine adjustment motor and a weld wire pipe installing groove formed in the end of an output shaft of the fine adjustment motor. The weld wire pipe is installed in the weld wire pipe installing groove through circumferential movement and is connected with the welding end. When the welding end works, the fine adjustment motor is matched with the welding end to control the feed number of welding pipes. By means of the scheme, the problems that when all weld wires are subjected to pulling force or pushing force, the weld wires are liable to be damaged or blocked, and due to the fact that the length of the weld wire pipe cannot be controlled, the part between the weld wire pipe and the welding end is frequently pulled, and the weld wire pipe is likely to disengage are solved.
Description
Technical field
The invention belongs to field of welding devices, and in particular to a kind of coordinate welding manipulator.
Background technology
Welding is one of most important technology in process industry, and with the development of science and technology, welding is from simple
Component method of attachment and blank manufacture means make with developing in manufacturing a fundamental technology and production accurate size
Finished product makes means.
Traditional manual welding can not meet the qualitative requirement of the product that modern technologies are produced, electroplating equipment wielding machine
Hand arises at the historic moment, and welding manipulator has stable and efficient advantage, can continuously run under hostile environment, and can shorten product
The preparatory period that remodeling is regenerated, is the revolutionary technology of welding technology field.
But the cost that existing welding manipulator has is too high, is not suitable for medium-sized and small enterprises and uses, and the weldering of this welding rifle
Adapter is walked from internal stent, is unfavorable for changing and is keeped in repair；And be at by pulling force or thrust in whole internal stent welding wire
In the presence of so that welding wire is easily damaged or blocks.The length of wire tube can not be controlled so that between wire tube and welding ends
It is often subject to pull so that wire tube easily comes off.
The content of the invention
The goal of the invention of the present invention, is to provide a kind of novel mechanical for overcoming the problems referred to above for existing coordinate welding manipulator
Hand, to substitute above-mentioned prior art of problems.
Technical proposal that the invention solves the above-mentioned problems is as follows：
A kind of coordinate welding manipulator, including welding gun three-dimensional coordinate movement support, welding wire apparatus for feeding and with the welding gun
The welding ends that three-dimensional coordinate movement support is connected with the welding wire apparatus for feeding, the welding wire apparatus for feeding is fed including welding wire
Portion and wire tube trimming part；The wire tube trimming part includes wire tube, finely tunes motor and is arranged on the fine setting motor output
The wire tube resettlement groove of shaft end, the wire tube Jing circular motion is placed in the wire tube resettlement groove and connects with welding ends
Connect；The welding ends is described when work to finely tune the quantity delivered that motor coordinates the welding ends to control the welded pipe.Welding wire
Pipe the setting of trimming part is exactly the wire tube resettlement groove for arranging a receiving wire tube by servomotor output end causes welding wire
Pipe fixed and wound section in wire tube resettlement groove is going to connect with plumb joint.When plumb joint is welded, welded pipe
Quantity delivered is controlled by control system to servomotor instruction.
Preferably, the welding ends include with welding gun three-dimensional coordinate move the runing rest that is connected of support and with the weldering
The welding gun head of fiber tube connection, the material texture of the wire tube axial cross section before welding after with the welding gun head central shaft
It is parallel；And the wire tube rotates when welding between 0 ° to 360 °.Welded pipe work or it is static when, welded pipe will not be around
The central shaft for welding gun head is rotated by 360 °, and is exactly that side projection wire tube and welding gun head will not intersect.
Preferably, the welding ends also includes the big armed lever fixed with the runing rest and is flexibly connected the large arm
The little armed lever of boom end and the flexible connection welding gun head, the little armed lever is rotated on the length direction of the big armed lever.
The rotation of little armed lever provides power by wire tube trimming part.
Preferably, the welding wire feed portion includes welding wire, welding wire pusher and the welding ends is positioned close to
Welding wire pulling device, wire tube described in the welding wire Jing reaches the welding ends.Welding wire is on wire tube resettlement groove through one
Then circular motion reaches welding gun head.To guarantee welding wire normally sliding in wire tube, not by wire tube resettlement groove
Resistance, so being provided with welding wire pusher in a side of wire tube resettlement groove, another side is provided with welding wire and pulls dress
Put.
Preferably, the wire tube comprising the welding wire do in the wire tube resettlement groove circular motion with it is described
Welding ends connects, and the welding wire covers the wire tube and disposes rooved face, the welding wire tube portion to cover the wire tube placement
Rooved face.Although being provided with welding wire pusher and welding wire pulling device, welding wire and wire tube are contacted in wire tube resettlement groove
Still larger resistance can be produced if excessive, so wire tube contact portion in wire tube resettlement groove can cause welding wire more
Plus smoothly slide.
Preferably, the three-dimensional coordinate movement support includes the X-axis support being connected with base, can prop up in the X-axis
The Z axis support of frame movement and the Y-axis support that can be moved on the Z axis support, the welding wire apparatus for feeding is arranged on the Y
On bracing strut.The movement in X-axis of Z axis support realizes space welding.
Preferably, the welding ends near vertical is down-set.Wire tube is three-dimensional with welding gun to be sat to coordinate wire tube to cause
Seldom there is contact between the mobile support of mark.
Preferably, the angle that the little armed lever is rotated is between 0 ° to 90 °.Because walking around dynamic for little armed lever is also to pass through
What wire tube drove, so in order to the wire tube not made has contact with welding gun three-dimensional coordinate movement support, so welding gun head is not
The homonymy of welding wire apparatus for feeding can be arranged on.
Preferably, offer through hole on the runing rest, the wire tube in the through hole with the welding
End connection.Through hole is straight when facilitating welding wire into welding gun head, is also convenient for the motion of runing rest.Through hole is also welding wire
Pipe provides space, causes wire tube with welding ends on same axis of rotation as far as possible so that the rotary motion institute band of wire tube
The displacement for coming is as far as possible little, and wire tube is in the through hole, middle thing without hindrance again, and so, the wire tube just will not be twined
The carrying out of rotary motion is hindered on object.
Preferably, being provided with the stopping means for keeping the wire tube stable, the stopping means on the Y-axis support
It is inside by the spacing collar that has the wire tube, the spacing collar inner surface setting has soft cushion.The stopping means is protected
When rotated a relative limit device relatively rotates to have demonstrate,proved wire tube, and without there is relative displacement, what interference was welded enters
OK.
Beneficial effect
In sum, the invention has the advantages that：The adjustable setting of wire tube causes the wire tube will not be because of
Wire tube and the contact of other objects cause welding gun head to turn to corresponding welding position, and wire tube is adjustable
Fine setting also for welding gun head is set corresponding power is provided, and cause to be buffered with one at wire tube and welding gun head,
Will not should be and quickly pull and cause coming off for wire tube.Wire tube is after welding job starts before welding job starts and not
Can be rotated relative to the central shaft of welding gun head or wire tube also will not be rotated relative to the central shaft of itself.Because
The through hole for accommodating wire tube is preferably offered in swinging mounting, so wire tube is carried out with respect to the central shaft of welding gun head
Rotation is excluded and is because when wire tube passes through through hole, the central shaft of itself and the central shaft weight of welding gun head
Close.Because an angle of the wire tube only when welding job between relative 0 ° -360 ° of the central axis of itself,
And reset at once, so wire tube will not move support and welding ends with welding gun three-dimensional coordinate contact so that welding can be smoothly
Carry out.The rotating upwardly and downwardly of little armed lever allows welding gun head in the side wall of certain altitude and the material with curved corner is enterprising
Row welding, and cause to be in welding ends during welding gun three-dimensional coordinate moves support and runing rest is moved for welded pipe
The material of interior welded pipe itself has stability, and the stability that will not be subject to the miscellaneous power such as to pull and cause to weld declines.
Welding wire normally sliding in wire tube is guaranteed, not by the resistance of wire tube resettlement groove, so in wire tube peace
The side for putting groove is provided with welding wire pusher, and another side is provided with welding wire pulling device.The pusher of welding wire is given
Welding wire amount less times greater than welding wire pulling device required for amount so that although welded pipe welding ends and wire tube resettlement groove it
Between be in straight condition, but pushed excessive welding wire out is to only receive a pulling force in whole wire tube, so
Reduce the forced contact area of welding wire and wire tube resettlement groove so that welding wire pulls the change for becoming very easy and elastic
Change can also cause welding wire not block.If there is no welding wire pusher, welding wire when being pulled with wire tube resettlement groove
Lifting surface area can become big；If the welding wire amount that welding wire pusher is pushed does not have surplus, welding wire is when being pulled and welds
The lifting surface area of fiber tube resettlement groove can also become big, and both the above situation is caused in the application, no matter the welding wire of which kind of model is run into,
Welding wire pusher is all requisite.
Description of the drawings
Fig. 1 is the schematic side view of the present invention；
Fig. 2 is the overall schematic of the present invention；
In Fig. 1 and Fig. 2,1- welding guns three-dimensional coordinate movement support, 11-X bracing struts, 12-Z bracing struts, 13-Y bracing struts, 2-
Welding wire apparatus for feeding, 21- welding wire feeds portion, 22- wire tube trimming parts, 3- welding ends, 31- runing rests, 32- welding gun heads,
The big armed levers of 33-, 4- through holes.
Specific embodiment
The technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement
Example is only a part of embodiment of the invention, rather than the embodiment of whole.Embodiment in the present invention, ordinary skill
All other embodiment that personnel are obtained under the premise of creative work is not done, belongs to the scope of protection of the invention.
Below in conjunction with the accompanying drawings with embodiment, the present invention is described in detail.
A kind of coordinate welding manipulator as depicted in figs. 1 and 2, including movement support 1, the welding wire feed of welding gun three-dimensional coordinate
Device 2 and the welding ends 3 being connected with welding gun three-dimensional coordinate movement support 1 and welding wire apparatus for feeding 2.Welding gun three-dimensional coordinate is moved
Support 1 include the X-axis support 11 being connected with base, can X-axis support 11 movement Z axis support 12 and can be in Z axis support
The Y-axis support 13 moved on 12, welding wire apparatus for feeding 2 is arranged on Y-axis support 13.
Welding wire apparatus for feeding 2 includes welding wire feed portion 21 and wire tube trimming part 22.Welding wire feed portion 21 includes welding wire, weldering
Silk pusher and the welding wire pulling device for being positioned close to welding ends 3.Wire tube trimming part 22 includes wire tube, fine setting motor
With the wire tube resettlement groove for being arranged on fine setting motor output shaft end, it is interior simultaneously that wire tube Jing circular motion is placed in wire tube resettlement groove
It is connected with welding ends 3；Motor is finely tuned when welding ends 3 works coordinates welding ends 3 to control the quantity delivered of welded pipe.Wire tube bag
A circular motion is done in wire tube resettlement groove containing welding wire to be connected with welding ends 3, welding wire covers wire tube placement rooved face, welding wire
Tube portion covers wire tube placement rooved face.The stopping means for keeping wire tube stable, stopping means are provided with Y-axis support 13
It is inside by the spacing collar that has wire tube, spacing collar inner surface setting has soft cushion.
The weldering that welding ends 3 includes the runing rest 31 being connected with welding gun three-dimensional coordinate movement support 1 and is connected with wire tube
Pipette tips 32 are connect, the material texture of wire tube axial cross section is rear parallel with the central shaft of welding gun head 32 before welding；And wire tube is welded
Rotate between 0 ° to 360 ° when connecing.Welding ends 3 also includes the big armed lever 33 fixed with runing rest 31 and is flexibly connected large arm
The end of bar 33 and the little armed lever of flexible connection welding gun head 32, little armed lever rotates one at 0 ° on the length direction of big armed lever 33
Angle between 90 °.Through hole 4 is offered on runing rest 31, wire tube is connected in through hole 4 with welding ends 3.
The near vertical of welding ends 3 is down-set.Because wire tube is fixedly placed in the top of Y-axis support 13, in order to prevent
Wire tube intersects with Y-axis support 13, so the setting direction of welding ends 3 must be straight down.And welding ends 3 it is vertical to
Under also for coordinate welding swinging mounting.
The structure of welding swinging mounting includes bracket base, and bracket base includes active bracket, driven carriage and is arranged on
Rotating shaft between active bracket and driven carriage.Whole bracket base is used to coordinate the welding rifle of welding, whole control circuit
Control bracket base 1 and control welding rifle so that bracket base 1 coordinates the motion of welding rifle and moves.
The rotating shaft bottom seat stand with rotating shaft as symmetry axis is provided with rotating shaft, rotating shaft bottom seat stand is in all the time parallel to horizontal plane
Plane in, rotating shaft bottom seat stand is a cuboid and cross section is the rectangle of circle of the centre with placement rotating shaft.Rotating shaft
Two sides of base stage rotating shaft are provided with the first fixture connecting welding support unit, middle part line pair centered on the axis of rotating shaft
Title is provided with two the second fixture connection baffle plates.First fixture is that one group four bolts hole through rotating shaft bottom seat stand are supported
Unit is bolted on the first fixture.One row is welded into welding thing all welding on support unit in order to meet welding rifle
Time required for after complete is removed and again in opposite side more than or equal to operating personnel to the welding thing that completes of welding
The time of filling, so welding support unit arranges six, six welding support units are that operator can keep up with the shifting for welding rifle
It is dynamic, and the maximally effective time taken away He lay again to welding thing can be met, frequency and the operator of rifle walking are welded very little
The frequency that member repeats to pick and place is more frequent, then the beginning of multioperation personnel does not significantly catch up with the speed of the movement of welding rifle.The
Two fixtures are the screws for being opened on rotating shaft and rotating shaft bottom seat stand and connecting together.
Five-pointed star chair leg includes center blowout patche, the chair leg pipe of centrally disposed blowout patche surrounding and the roller being connected with chair leg pipe,
Chair leg pipe includes that the nose circle connect with the central shaft lap welding and roller pressure side for coordinating and the roller that is arranged between roller and pressure side are consolidated
Fixed structure, nose circle is intended to the chair leg pipe end of circle for cross section, and the end connects and its cross section and center with central shaft lap welding
The diameter parallel of blowout patche, pressure side is intended to the chair leg pipe end of line segment for cross section, and the cross section line segment of pressure side has one downwards
Arc and end cross section vertically with the axis of center blowout patche, roller fixing structure be by pressure side wrap up hollow fixation
Base, in order to weld above-mentioned chair leg pipe and the above-mentioned shape of roller fixing structure welding support meanss body fits and structure, so
Support unit includes the chair leg pipe support base on vertical support nose circle surface and coordinates the chair leg pipe locating part of chair leg pipe support base, goes back
Including the roller supporting seat of back-up roller wheel fixed structure.
Chair leg pipe support base includes limiting the first support chip of nose circle movement, and the first support chip is offered in perpendicular
Draw-in groove upwards coordinates nose circle.Chair leg pipe locating part includes lift supporting rod, arranges the rotatable fix bar on lift supporting rod
The control device that fixed and lift supporting rod is opened and closed is rotated with rotatable fix bar is controlled.Rotatable fix bar is supported by lifting
Bar is relative and parallel to the force direction of the chair leg pipe with the first support chip to the force direction of chair leg pipe.It is rotatable solid
Fixed pole end is provided with rubber blanket, and the angle that rotatable fix bar is rotated is 90 °, parallel to the chair being placed when its rise
Foot tube, it is ensured that picking and placeing for chair leg pipe will not carry out some collisions unnecessary with chair leg pipe locating part.
Roller supporting seat includes pedestal, the fixed rib of fixture and fixed pressure side for fixed idler whell fixed structure.
Roller supporting seat and chair leg pipe support base are an entirety, and pedestal is in approximately the same plane with chair leg pipe support base, flat at this
The first support chip is provided with face.Hollow firm banking is in close contact with pedestal, and fixture causes hollow firm banking solid
Determine the axially-movable of part.Fixed rib is that the two panels in the plane being located in pedestal extends catch, extends catch and is symmetricly set on
Fixture both sides.
Baffle plate is fastened by bolts in screw so that baffle plate is fixed, and while fixed rotating shaft and rotating shaft bottom seat stand.Gear
Plate is symmetrical with spindle central.
The setting of welding swinging mounting is exactly in order to overcome welding ends 3 to weld upwards, by welding swinging mounting
Adjust to realize the comprehensive welding to welding thing.
It is rear that bracket base is defined with the one side of welding rifle cooperation, and its opposite face is front.Whole machinery is started working
When, the operator in front first carries out welding the placement work of thing to support unit, disposes roller to fix exactly on fixture
Structure, is exactly that fixture is stretched in hollow firm banking.Then chair leg pipe is put into, first pressure side roller is wrapped up into when putting
Fixed structure, then nose circle is placed in draw-in groove, adjust rotatable fix bar and the one end with rubber blanket is gone on chair leg pipe
Chair leg pipe is fixed in side, then lift supporting rod decline.When lift supporting rod declines fixed chair leg pipe, control circuit is subject to
Instruction, rotating shaft 4 causes the support unit for being in front to rotate 180 °, when 180 ° of axis of rotation, originally in order that
Thing must be welded to be fixed conveniently and cause the solder side for being in welding rifle opposite face to be exposed to and weld under rifle so that welding rifle starts work
Make, at the same time, because of rotation, the opposite side support unit of transposition carries out laying the operation of welding thing for operation pair, works as behaviour
Make after the completion of personnel lay, rifle is also unwelded completes for welding, stays the next time and time for taking out welding thing.
Welding gun head 32 when 32 adjustment position of welding gun head is needed, finely tunes motor by initial position setting in motion
Release or shrink wire tube cause the junction of wire tube and welding gun head 32 will not be subject to it is very high pull power, and also can
So that one is provided welding gun head 32 cause the power that it rotates an angle to coordinate the cambered surface of five-pointed star chair leg local.Welding wire is micro-
Adjust the motor left side when have a small amount of surplus in order that fine setting motor on the right of welding wire pulling device more smoothly pull,
When whole welding job stops, the welding wire of surplus is reclaimed by welding wire pusher, and wire tube is also trimmed off motor recovery section
So that welding gun head 32 is in initial position straight down.Two-sided welding first to wherein simultaneously welding, waits the part
Simultaneously all bracket base is rotated in the horizontal plane 180 °, then the another side of solderable pipe fitting after the completion of welding.
Claims (7)
1. a kind of coordinate welding manipulator, including welding gun three-dimensional coordinate moves support（1）, welding wire apparatus for feeding（2）And with it is described
Welding gun three-dimensional coordinate moves support（1）With the welding wire apparatus for feeding（2）The welding ends being connected（3）, it is characterised in that it is described
Welding wire apparatus for feeding（2）Including welding wire feed portion（21）With wire tube trimming part（22）；The wire tube trimming part（22）Including
Wire tube, finely tune motor and be arranged on the wire tube resettlement groove at the fine setting motor output shaft end, the wire tube Jing circumference fortune
It is dynamic to be placed in the wire tube resettlement groove and and welding ends（3）Connection, welding wire tube portion covers wire tube placement rooved face；Institute
State welding ends（3）The fine setting motor coordinates the welding ends when work（3）Control the quantity delivered of the welded pipe；
The welding ends（3）Support is moved including with welding gun three-dimensional coordinate（1）The runing rest of connection（31）And with the welding wire
The welding gun head of pipe connection（32）；And the wire tube rotates when welding between 0 ° to 360 °；
The welding ends（3）Also include and the runing rest（31）Fixed big armed lever（33）With the flexible connection big armed lever
（33）End and the flexible connection welding gun head（32）Little armed lever, the little armed lever is in the big armed lever（33）Length side
It is rotated up.
2. a kind of coordinate welding manipulator according to claim 1, it is characterised in that the welding wire feed portion（21）Including
Welding wire, welding wire pusher and is positioned close to the welding ends（3）Welding wire pulling device, wire tube described in the welding wire Jing
Reach the welding ends（3）.
3. a kind of coordinate welding manipulator according to claim 1, it is characterised in that the three-dimensional coordinate moves support
（1）Including the X-axis support being connected with base（11）, can be in the X-axis support（11）Mobile Z axis support（13）With can be
The Z axis support（13）The Y-axis support of upper movement（12）, the welding wire apparatus for feeding（2）It is arranged on the Y-axis support（12）
On.
4. a kind of coordinate welding manipulator according to claim 1, it is characterised in that the welding ends（3）Near vertical
It is down-set.
5. a kind of coordinate welding manipulator according to claim 1, it is characterised in that the angle that the little armed lever is rotated exists
Between 0 ° to 90 °.
6. a kind of coordinate welding manipulator according to claim 1, it is characterised in that the runing rest（31）On open up
There is through hole（4）, the wire tube is through the through hole（4）It is interior with the welding ends（3）Connection.
7. a kind of coordinate welding manipulator according to claim 3, it is characterised in that the Y-axis support（12）Upper setting
There is a stopping means for keeping the wire tube stable, the stopping means is the internal spacing collar by there is the wire tube, institute
Stating spacing collar inner surface setting has soft cushion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510472966.XA CN104959708B (en) | 2015-08-05 | 2015-08-05 | Coordinate welding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510472966.XA CN104959708B (en) | 2015-08-05 | 2015-08-05 | Coordinate welding manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104959708A CN104959708A (en) | 2015-10-07 |
| CN104959708B true CN104959708B (en) | 2017-05-03 |
Family
ID=54213881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510472966.XA Active CN104959708B (en) | 2015-08-05 | 2015-08-05 | Coordinate welding manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104959708B (en) |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3542314A1 (en) * | 1985-11-29 | 1987-06-04 | Kuka Schweissanlagen & Roboter | TRANSPORT DEVICE FOR WELDING WIRE FEED ON WELDING DEVICES |
| JP3682598B2 (en) * | 1999-07-06 | 2005-08-10 | バブコック日立株式会社 | Welding equipment |
| JP3841757B2 (en) * | 2003-01-23 | 2006-11-01 | ファナック株式会社 | Torch cable processing structure of arc welding robot |
| CN100398246C (en) * | 2004-06-30 | 2008-07-02 | 上海锅炉厂有限公司 | Process and device for automatic argon arc welding and narrow gap burial arc welding for circular pipe header seam |
| US9555495B2 (en) * | 2007-05-31 | 2017-01-31 | Lincoln Global, Inc. | Automatic welding wire feed adjuster |
| CN101138803B (en) * | 2007-09-30 | 2010-06-30 | 无锡市风华焊接设备有限公司 | Submerged arc welding carriage |
| CN101456182B (en) * | 2007-12-12 | 2012-03-28 | 中国科学院自动化研究所 | Intelligent robot welding device using large-scale workpiece |
| CN102974923B (en) * | 2012-12-06 | 2016-04-06 | 安徽好运机械有限公司 | Special automatic welding machine |
| CN203526826U (en) * | 2013-09-25 | 2014-04-09 | 安吉金科机械设备有限公司 | Coordinate welding mechanical arm |
| CN205032833U (en) * | 2015-08-05 | 2016-02-17 | 安吉金科机械设备有限公司 | Coordinate welding mechanical arm |
-
2015
- 2015-08-05 CN CN201510472966.XA patent/CN104959708B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104959708A (en) | 2015-10-07 |
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Denomination of invention: A Coordinate Welding Robot Effective date of registration: 20231226 Granted publication date: 20170503 Pledgee: Bank of Guilin Co.,Ltd. Fangchenggang branch Pledgor: GUANGXI SHENGLONG METALLURGICAL CO.,LTD. Registration number: Y2023450000172 |