CN105033529A - Release mechanism and release method for running system of magnetic force magnetic adhesion welding robot - Google Patents
Release mechanism and release method for running system of magnetic force magnetic adhesion welding robot Download PDFInfo
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- CN105033529A CN105033529A CN201510552379.1A CN201510552379A CN105033529A CN 105033529 A CN105033529 A CN 105033529A CN 201510552379 A CN201510552379 A CN 201510552379A CN 105033529 A CN105033529 A CN 105033529A
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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
- B23K37/0241—Attachments between the welding or cutting element and the carriage
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Abstract
The invention relates to a release mechanism and a release method for a running system of a magnetic force magnetic adhesion welding robot. The release mechanism comprises a support mechanism, a force application mechanism and a hoisting mechanism, wherein the hoisting mechanism is connected with an adhesion magnet of the running system; the force application mechanism is connected with the hoisting mechanism; the force application mechanism drives the hoisting mechanism to move; the hoisting mechanism drives the adhesion magnet to lift; one end of the support mechanism is relatively fixed, and the end of the support mechanism is connected with the hoisting mechanism; and the support mechanism is used for bearing a reactive force during work of the force application mechanism. According to the release mechanism and the release method disclosed by the invention, the principle of tilting of a wedge is utilized, so that the magnet can be hoisted by applying a small force or moment; the principle that a borne resisting moment is different at different force application angle is utilized, so that the largest force is applied at the primary stage of prying of the magnet; and the adhesion force is reduced rapidly along with the increasing of the distance between the magnet and an adhered ferromagnetic object, so that the force-voltage factor of the release mechanism can be reduced, and accordingly rapid release with a small moment is realized.
Description
Technical field
The present invention relates to a kind of release mechanism and method of magnetic force magnetic suck welding robot running gear.
Background technology
Permanent magnet suction by force, does not need extra power supply, does not worry dead electricity slippage, is the element that the structure contacting two relative independent system in many mechanical devices often adopts.Such as welding profession has many walking robots, welding tractor etc., adopts strong magnet to maintain reliable contacts between walking mechanism and trapped orbit or workpiece.But when magnetic force is very strong, places dolly and be just difficult to aim at weld seam, adjustment also difficulty, also very difficult when taking off, therefore wish can as electromagnet the presence or absence of random change magnetic force.Existing mechanical release mechanism is usually laborsaving not, or the huge inconvenience of mechanism size uses.
Summary of the invention
Technical problem to be solved by this invention is, overcome the shortcoming of prior art, a kind of release mechanism and method of magnetic force magnetic suck welding robot running gear are provided, can magnet be tilted by the power or moment applying very little horizontal direction, not only save strength, and compact structure.
The technical scheme that the present invention solves above technical problem is:
The release mechanism of magnetic force magnetic suck welding robot running gear, described release mechanism comprises supporting mechanism, force application mechanism and draws high mechanism, the described mechanism that draws high is connected with adsorption magnet, described force application mechanism with draw high mechanism and be connected, described force application mechanism drives and draws high mechanism kinematic, and draw high mechanism and drive one end of adsorption magnet to lift, described supporting mechanism one end is relatively fixing, the other end with draw high mechanism and be connected, for promoting magnet.
Starting under the state unlocked, described in draw high the active force that mechanism produces adsorption magnet, be less than or equal to 90 ° ± 10 ° with the angle typical range of absorption affinity.
Release mechanism comprises voussoir, and the beveled end of described voussoir is and draws high mechanism, and the side of described voussoir is force application mechanism, and the horizontal ends of described voussoir is supporting mechanism.
Described adsorption magnet one end is fixed with roller, and the inclined plane of voussoir contacts with roller.
The side of described voussoir is equipped with push rod.
Described release mechanism is crank mechanism, described crank mechanism comprises crank axle, crank and rocking arm, described crank one end is loaded on crank axle, the other end is fixed with rocking arm, described rocking arm also can be equipped with roller, described rocking arm or rocking arm add roller mechanism and are loaded on the chute being arranged in magnet one end, and the magnet other end is free to rotate; Described crank axle is supporting mechanism, and described rocking arm is force application mechanism, and described crank and roller are and draw high mechanism.
Described magnet is fixed with pole, and one end of pole is hinged, and the other end has chute, and the roller on rocking arm or rocking arm slides in described chute.
Described release mechanism is crank mechanism, described crank mechanism comprises slide block, crank axle, crank and rocking arm, described magnet is fixed on slide block, slide block is limited in guide groove moving up and down, slide block has chute, and described crank one end is loaded on crank axle, and the other end is equipped with rocking arm, described rocking arm also can be equipped with roller, and described rocking arm or rocking arm add roller mechanism and are loaded in described chute; Described crank axle is supporting mechanism, and described rocking arm is force application mechanism, and described slide block, crank and roller are and draw high mechanism.
Described release mechanism is crank mechanism, described crank mechanism comprises swing slide block, slide bar, crank, crank axle and rocking arm, rocking arm can also be equipped with roller, described magnet is fixed on swing slide block, described swing slide block is placed in stopper slot, there is arcwall face described swing slide block one end, described arcwall face contacts with a sidewall of stopper slot, the other end of described swing slide block has chute, the other end of described swing slide block is placed in the shelves groove for limiting the upper-lower position swinging slide block, slide bar moves in guide groove, connecting rod is equipped with by hinge in one end of slide bar, the described connecting rod other end is connected through the hinge with the middle part swinging slide block, described crank one end is fixed on crank axle, the other end is equipped with the rocking arm be connected, rocking arm can also be equipped with roller, described roller is loaded in described chute, described crank axle is supporting mechanism, and described rocking arm is force application mechanism, and described swing slide block, slide bar, crank and roller are and draw high mechanism.
The unlock method of magnetic force magnetic suck welding robot running gear, draw high mechanism described in employing to be connected with the adsorption magnet of welding robot, drawing high mechanism drives at least one end of adsorption magnet to lift, adopt force application mechanism and support structure and draw high mechanism and be connected, power is applied to drawing high mechanism by supporting mechanism and force application mechanism, drive draws high mechanism kinematic, and described supporting mechanism is supported in magnetic force magnetic suck welding robot running gear or ground.
The invention has the beneficial effects as follows: the principle that the present invention utilizes voussoir to tilt, apply very little power in the horizontal direction, voussoir can be utilized to be tilted by magnet, utilize the principle that the moment of resistance suffered by different force application angle is different, send maximum strength in the initial period prizing magnet, along with magnet and the ferromagnetic object spacing be attracted increase, suction reduces rapidly, the power factor of tripper can reduce, thus realizes unlocking rapidly with little moment.This programme reduces releasing force or the moment of magnetic force magnetic suck mechanism, reduces the size of release mechanism.
Accompanying drawing explanation
Fig. 1 is maximum releasing force schematic diagram needed for magnetic force magnetic suck running gear release mechanism;
Fig. 2 is that the release mechanism of magnetic force magnetic suck running gear exerts a force in side view;
Fig. 3 is that the release mechanism of the first embodiment magnetic force magnetic suck running gear of the present invention is only by the principle schematic that voussoir realizes.
The original state principle schematic of the release mechanism of Fig. 4 the second embodiment of the present invention magnetic force magnetic suck running gear.
Fig. 5 is the voussoir of the release mechanism of the second embodiment magnetic force magnetic suck running gear of the present invention force principle schematic when lifting θ angle;
Fig. 6 is the principle schematic of the release mechanism of the third embodiment magnetic force magnetic suck running gear of the present invention.
The magnet of the release mechanism of Fig. 7 the 4th kind of embodiment magnetic force magnetic suck running gear of the present invention and branching rod structure schematic diagram.
Relativeness schematic diagram when the structure of Fig. 8 to be the initial angle θ of the release mechanism of the 4th kind of embodiment magnetic force magnetic suck running gear of the present invention be 90 degree of states starts to unlock;
The structure of Fig. 9 to be the initial angle θ of the release mechanism of the 4th kind of embodiment magnetic force magnetic suck running gear of the present invention be 0 degree of state starts relativeness schematic diagram when unlocking;
The structure of Figure 10 to be the initial angle θ of the release mechanism of the 4th kind of embodiment magnetic force magnetic suck running gear of the present invention be 0 degree of state has turned over a relativeness schematic diagram during angle;
The relativeness schematic diagram that Figure 11 is the initial angle θ of the release mechanism of the 4th kind of embodiment magnetic force magnetic suck running gear of the present invention when being the arm of force maximum rating of the structure of 0 degree of state;
Figure 12 to be the initial angle θ of the release mechanism of the 4th kind of embodiment magnetic force magnetic suck running gear of the present invention be structure of 0 degree of state complete released state schematic diagram;
Figure 13 is the relation schematic diagram in the gap between the absorption affinity F of magnet and magnet and steel;
Figure 14 is the relation schematic diagram in the gap between the unblock moment of the release mechanism of the 4th kind of embodiment magnetic force magnetic suck running gear of the present invention and magnet and steel;
Figure 15 is the initial locking state machine tool structural principle schematic diagram of the release mechanism of the 5th kind of embodiment magnetic force magnetic suck running gear of the present invention;
Figure 16 is unblock first view that the initial angle θ of the release mechanism of the 5th kind of embodiment magnetic force magnetic suck running gear of the present invention is greater than 0 degree of state;
Figure 17 is the unblock second state machine construction principle schematic diagram of the release mechanism of the 5th kind of embodiment magnetic force magnetic suck running gear of the present invention;
Figure 18 be the release mechanism of the 5th kind of embodiment magnetic force magnetic suck running gear of the present invention complete released state machine construction principle schematic diagram;
Figure 19 is the structural principle schematic diagram of first state (locking state) of the release mechanism of the 6th kind of embodiment magnetic force magnetic suck running gear of the present invention;
Figure 20 is the second view of the release mechanism of the 6th kind of embodiment magnetic force magnetic suck running gear of the present invention;
Figure 21 is the third state schematic diagram of the release mechanism of the 6th kind of embodiment magnetic force magnetic suck running gear of the present invention;
Figure 22 is the 4th view of the release mechanism of the 6th kind of embodiment magnetic force magnetic suck running gear of the present invention;
Figure 23 be the release mechanism of the 6th kind of embodiment magnetic force magnetic suck running gear of the present invention complete released state schematic diagram;
Figure 24 is the locking state structural principle schematic diagram of the release mechanism of the 7th kind of embodiment magnetic force magnetic suck running gear of the present invention.
Detailed description of the invention
Embodiment 1
As shown in Figure 1, this structure needs complete outer power f that magnet is pulled open abreast, then need the external force f applying to equal maximum suction F, and the release mechanism of magnetic force magnetic suck welding robot running gear as shown in Figure 2 exerts a force in side view; If at one end afterburning, then the power of half is only needed to pull open magnet, laborsaving to some extent.Further, as shown in Figure 3, be the principle schematic of release mechanism of the 1st kind of embodiment magnetic force magnetic suck welding robot running gear of the present invention.The permanent magnet of low-angle voussoir to adhesive is adopted to unlock.If namely at one end adopt angle to be that the voussoir of θ pries open magnet, in order to simplify discussion, not anti-hypothesis voussoir is smooth must not have frictional force effect, and magnet does not then produce slip at steel surface, the angle that magnet tilts is very little also ignores, and so can calculate only needs thrust f=F*tan θ/2.When θ is very little, f is very little, reaches very labour-saving effect.
From said mechanism, release mechanism comprises voussoir 1, and the beveled end 1a of described voussoir is and draws high mechanism, and the side 1b of described voussoir is force application mechanism, and the horizontal ends 1c of described voussoir is supporting mechanism.To sum up can obtain, described release mechanism comprises supporting mechanism, force application mechanism and draws high mechanism, the described mechanism that draws high is connected with the adsorption magnet 19 of welding robot, described force application mechanism with draw high mechanism and be connected, described force application mechanism drives and draws high mechanism kinematic, and draw high mechanism and drive one end of adsorption magnet 19 to lift, described supporting mechanism one end is relatively fixing, the other end with draw high mechanism and be connected, for supporting magnet 19.
Can obtain from above, the unlock method of magnetic force magnetic suck welding robot running gear, draw high mechanism described in employing to be connected with the adsorption magnet of welding robot, drawing high mechanism drives at least one end of adsorption magnet to lift, adopt force application mechanism and support structure and draw high mechanism and be connected, apply power by supporting mechanism and force application mechanism to drawing high mechanism, drive and draw high mechanism kinematic, described supporting mechanism is supported in magnetic force magnetic suck welding robot running gear or ground.
Embodiment 2
As shown in Figure 4 and Figure 5, difference from Example 1 is: in order to reduce the frictional force that magnet suffered by voussoir produces it, can increase a roller 2, and voussoir applies releasing force by roller 2 pairs of magnet.Namely be fixed with roller 2 in described adsorption magnet one end, the inclined plane of voussoir contacts with roller 2.
Embodiment 3
As shown in Figure 6, difference from Example 2 is: be fixed with push rod 3 at the side of described voussoir.
Above-mentioned operating physical force f by push away or pulling-pushing rod 3 applies, also can be applied by other frame for movement, as leverage indirectly.
Embodiment 4
As shown in Fig. 7 to Figure 12, described release mechanism is crank mechanism, and described crank mechanism comprises pole 4, crank 7, crank axle 8 and roller 9, described magnet is fixed with pole 4, and one end of pole connects with hinge 5, free to rotate; The other end has chute 6.Described crank 7 one end is loaded on crank axle 8, the other end is equipped with roller 9, described roller is fixed with rocking arm, described roller 9 is loaded on the chute being arranged in magnet one end, described crank axle 8 is supporting mechanism, described rocking arm is force application mechanism, and described pole 4, crank 7 and roller 9 are and draw high mechanism.
Unlock method based on the magnetic force magnetic suck running gear of said mechanism is: draw high mechanism described in employing and be connected with the adsorption magnet of welding robot, drawing high mechanism drives at least one end of adsorption magnet to lift, force application mechanism and vertical support is adopted to prop up structure and draw high mechanism and be connected, by supporting mechanism and force application mechanism to the power drawing high mechanism and apply respectively vertical direction and horizontal direction, drive draws high mechanism kinematic, and described supporting mechanism is supported in magnetic force magnetic suck running gear or ground.
Magnet is prized in theory the most laborsaving with the mechanism of initial angle θ=0, but due to reasons such as concrete structure restrictions, (refer to that magnet holds the state of steel) when may lock, initial angle is 0, as long as but just there is certain power-saving function initial θ ≠ 90 °, as long as so now θ value is less, sin θ value is less more precisely, all belong to thought of the present invention; When needing especially, initial θ can take absolute value less negative value and do not affect labor-saving effect.Because driving moment is little, the part of crank also can adopt a small and exquisite knob to replace handle.
The concrete principle of above-described embodiment is as follows: this embodiment and embodiment one difference are, are modified into and stir magnet by crank, can install a roller additional to reduce friction on crank.Suppose in figure, the state of unblock rotational angle theta=0 ° is defined as when the centre of gyration of crank is directly over the centre of gyration of roller, so obtain the driving moment M prized required for magnet can calculate: initial angle θ=90 ° when unwinding lock, then M=d*F/2, θ=0 °, then M=d*F*sin θ/2 when initial unblock, if at this moment θ is less, M ≈ d*F*tan θ/2 can be had, suitable with voussoir effect.Visible, when θ is very little, driving moment M is very little.Such as, if initial angle θ is <10 °, then initially unlocks moment and be only M=0.087d*F.Therefore the mechanism of employing the present invention program can be very laborsaving, the rocking arm (not shown) that so crank is installed outward just can be very short, to such an extent as to also passable by the structure of a knob and so on.Because the suction of magnet affects very large by the distance S between magnet to steel, this distance initial increases very little, suction F is just caused to decline to a great extent, graph of a relation as shown in figure 13, therefore, in the overall process unlocked, maximum drive moment Mmax0 may occur in the starting point place of midway instead of θ=0 ° (now S=0).Negligible friction ideally, starting point place M=0.By the impact of frictional force, can there is a non-zero initial value Mmin1 in starting point place M, maximum drive moment Mmax0 also may increase to some extent, becomes Mmax1, but still can be laborsaving.To express change in this releasing process by the curved line relation that S affects with unlocking moment M, its relation will roughly as shown in figure 14.
Embodiment 5
As shown in FIG. 15 to 18, the basis of embodiment 4 develops, and described release mechanism is crank mechanism, and described crank mechanism comprises slide block 10, crank, crank axle and roller, described magnet is fixed with slide block, in the guide groove 11 that slide block is limited in, can move up and down, slide block has horizontal chute, described crank one end is loaded on crank axle, the other end is equipped with roller, and described roller is fixed with rocking arm, and described roller is loaded in described chute.Described crank axle is supporting mechanism, and described rocking arm is force application mechanism, and described slide block, crank and roller are and draw high mechanism.
Above-described embodiment have employed more complicated mechanism, can reach parallel for the magnet object being pulled away from steel.The effect done like this is, the power f=F be pulled away from, although compared with aforementioned schemes apply maximum, force or moment add one times, completely unlock after residue suction reduce one times, the subsequent operations such as Mobile Equipment of being more convenient for.
Embodiment 6
As shown in Figure 19 to Figure 22, described release mechanism is crank mechanism, described crank mechanism comprises swing slide block 12, slide bar 13, crank, crank axle and roller, described magnet is fixed with swing slide block, described magnet and swing slide block are placed in stopper slot 14, there is arcwall face 15 described swing slide block one end, described arcwall face 15 contacts with the sidewall of stopper slot 14, the other end of described swing slide block 12 has chute, the other end of described swing slide block 12 is placed in the shelves groove 17 of stopper slot 14, for limiting the upper-lower position of slide bar, the connecting rod 18 be hinged with it is equipped with at the middle part swinging slide block 12, the other end and the slide bar 13 of described connecting rod 18 are hinged, slide bar 13 is limited in guide groove and can moves up and down, described crank one end is loaded on crank axle, the other end is equipped with roller, described roller is fixed with rocking arm, described roller is loaded on and is arranged in described chute, described crank axle is supporting mechanism, described rocking arm is force application mechanism, described swing slide block 12, slide bar, crank and roller are and draw high mechanism.
Adopt said mechanism to reach and first magnet one end is pulled away from steel, then θ is increased to a certain degree and again the other end is pulled away from steel.The effect that sample does is, the power f=F/2 be pulled away from still keeps laborsaving advantage, and the residue suction after unlocking also reduces one times, is convenient to the subsequent operations such as Mobile Equipment.
Embodiment 7
As shown in figure 24, described release mechanism is that helicoid draws high mechanism, described drawing high is stretched mechanism and is comprised helicoid 20, borded pile, borded pile back shaft, by promoting magnet around this back shaft turn borded pile, one end of described magnet is curve slope, and helicoid coordinates with this cambered surface and forms sliding relation.Described helicoid back shaft is supporting mechanism, and described borded pile is force application mechanism, and described helicoid 20 is and draws high mechanism.
In sum, adopt technical scheme of the present invention can realize unlocking the strong magnet of adsorbed state by very little moment, even only use single hand hand operation, and the volume that can realize mechanism is relatively small and exquisite.
The above is only the preferred embodiment of the present invention; be not limited to the present invention; should be understood that; for those skilled in the art; under the prerequisite not departing from the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.
Claims (10)
1. the release mechanism of magnetic force magnetic suck welding robot running gear, it is characterized in that: described release mechanism comprises supporting mechanism, force application mechanism and draws high mechanism, the described mechanism that draws high is connected with adsorption magnet, described force application mechanism with draw high mechanism and be connected, described force application mechanism drives and draws high mechanism kinematic, and draw high mechanism and drive one end of adsorption magnet to lift, described supporting mechanism one end is relatively fixing, the other end with draw high mechanism and be connected, for promoting magnet.
2. the release mechanism of magnetic-adsorption welding robot running gear as claimed in claim 1, it is characterized in that: starting under the state unlocked, the described active force drawing high mechanism and produce adsorption magnet, is less than or equal to 90 ° ± 10 ° with the angle typical range of absorption affinity.
3. the release mechanism of magnetic force magnetic suck welding robot running gear as claimed in claim 1 or 2, it is characterized in that: release mechanism comprises voussoir, the beveled end of described voussoir is and draws high mechanism, and the side of described voussoir is force application mechanism, and the horizontal ends of described voussoir is supporting mechanism.
4. the release mechanism of magnetic force magnetic suck welding robot running gear as claimed in claim 3, is characterized in that: described adsorption magnet one end is fixed with roller, and the inclined plane of voussoir contacts with roller.
5. the release mechanism of magnetic force magnetic suck welding robot running gear as claimed in claim 4, is characterized in that: the side of described voussoir is equipped with push rod.
6. the release mechanism of magnetic force magnetic suck welding robot running gear as claimed in claim 1 or 2, it is characterized in that: described release mechanism is crank mechanism, described crank mechanism comprises crank axle, crank and rocking arm, described crank one end is loaded on crank axle, the other end is fixed with rocking arm, described rocking arm also can be equipped with roller, and described rocking arm or rocking arm add roller mechanism and are loaded on the chute being arranged in magnet one end, and the magnet other end is free to rotate; Described crank axle is supporting mechanism, and described rocking arm is force application mechanism, and described crank and roller are and draw high mechanism.
7. the release mechanism of magnetic force magnetic suck welding robot running gear as claimed in claim 6, it is characterized in that: described magnet is fixed with pole, one end of pole is hinged, and the other end has chute, and the roller on rocking arm or rocking arm slides in described chute.
8. the release mechanism of magnetic force magnetic suck welding robot running gear as claimed in claim 1 or 2, it is characterized in that: described release mechanism is crank mechanism, described crank mechanism comprises slide block, crank axle, crank and rocking arm, described magnet is fixed on slide block, slide block is limited in guide groove moving up and down, slide block has chute, described crank one end is loaded on crank axle, the other end is equipped with rocking arm, described rocking arm also can be equipped with roller, and described rocking arm or rocking arm add roller mechanism and are loaded in described chute; Described crank axle is supporting mechanism, and described rocking arm is force application mechanism, and described slide block, crank and roller are and draw high mechanism.
9. the release mechanism of magnetic force magnetic suck welding robot running gear as claimed in claim 1 or 2, it is characterized in that: described release mechanism is crank mechanism, described crank mechanism comprises swing slide block, slide bar, crank, crank axle and rocking arm, rocking arm can also be equipped with roller, described magnet is fixed on swing slide block, described swing slide block is placed in stopper slot, there is arcwall face described swing slide block one end, described arcwall face contacts with a sidewall of stopper slot, the other end of described swing slide block has chute, the other end of described swing slide block is placed in the shelves groove for limiting the upper-lower position swinging slide block, slide bar moves in guide groove, connecting rod is equipped with by hinge in one end of slide bar, the described connecting rod other end is connected through the hinge with the middle part swinging slide block, described crank one end is fixed on crank axle, the other end is equipped with the rocking arm be connected, rocking arm can also be equipped with roller, described roller is loaded in described chute, described crank axle is supporting mechanism, and described rocking arm is force application mechanism, and described swing slide block, slide bar, crank and roller are and draw high mechanism.
10. the unlock method of magnetic force magnetic suck welding robot running gear, it is characterized in that: draw high mechanism described in employing and be connected with the adsorption magnet of welding robot, drawing high mechanism drives at least one end of adsorption magnet to lift, adopt force application mechanism and support structure and draw high mechanism and be connected, power is applied to drawing high mechanism by supporting mechanism and force application mechanism, drive draws high mechanism kinematic, and described supporting mechanism is supported in magnetic force magnetic suck welding robot running gear or ground.
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| CN201510552379.1A CN105033529B (en) | 2015-09-01 | 2015-09-01 | The unlocking mechanism and method of magnetic force magnetic suck welding robot running gear |
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| CN201510552379.1A CN105033529B (en) | 2015-09-01 | 2015-09-01 | The unlocking mechanism and method of magnetic force magnetic suck welding robot running gear |
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| CN107442985A (en) * | 2017-09-26 | 2017-12-08 | 南京中高知识产权股份有限公司 | A kind of method for dismounting based on magnetic-type robot |
| CN107442982A (en) * | 2017-09-26 | 2017-12-08 | 南京中高知识产权股份有限公司 | It is a kind of based on magnetic-type welding robot |
| CN107498536A (en) * | 2017-10-18 | 2017-12-22 | 南京中高知识产权股份有限公司 | A kind of absorption type welding robot |
| CN107498588A (en) * | 2017-10-18 | 2017-12-22 | 南京中高知识产权股份有限公司 | A kind of method for dismounting of absorption type welding robot |
| CN107617834A (en) * | 2017-09-10 | 2018-01-23 | 南京中高知识产权股份有限公司 | A kind of quick detachable magnetic suck welding robot |
| CN107717273A (en) * | 2017-10-31 | 2018-02-23 | 南京中高知识产权股份有限公司 | Welding system and its method of work with intelligent addressing |
| CN107738049A (en) * | 2017-10-31 | 2018-02-27 | 南京中高知识产权股份有限公司 | Magnetic-type welding robot and its method of work with flight function |
| CN107738048A (en) * | 2017-10-31 | 2018-02-27 | 南京中高知识产权股份有限公司 | A kind of magnetic-type welding robot of intelligent wireless and its method of work |
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| CN110944792A (en) * | 2017-07-27 | 2020-03-31 | 小池酸素工业株式会社 | Traveling carriage |
| CN107617834A (en) * | 2017-09-10 | 2018-01-23 | 南京中高知识产权股份有限公司 | A kind of quick detachable magnetic suck welding robot |
| CN107442985B (en) * | 2017-09-26 | 2019-01-29 | 南京中高知识产权股份有限公司 | A kind of method for dismounting based on magnetic-type robot |
| CN107442982A (en) * | 2017-09-26 | 2017-12-08 | 南京中高知识产权股份有限公司 | It is a kind of based on magnetic-type welding robot |
| CN107442985A (en) * | 2017-09-26 | 2017-12-08 | 南京中高知识产权股份有限公司 | A kind of method for dismounting based on magnetic-type robot |
| CN107498588A (en) * | 2017-10-18 | 2017-12-22 | 南京中高知识产权股份有限公司 | A kind of method for dismounting of absorption type welding robot |
| CN107498536A (en) * | 2017-10-18 | 2017-12-22 | 南京中高知识产权股份有限公司 | A kind of absorption type welding robot |
| CN107738048A (en) * | 2017-10-31 | 2018-02-27 | 南京中高知识产权股份有限公司 | A kind of magnetic-type welding robot of intelligent wireless and its method of work |
| CN107738047A (en) * | 2017-10-31 | 2018-02-27 | 南京中高知识产权股份有限公司 | Welding system and its method of work suitable for multirobot efficient collaboration, both |
| CN107738049A (en) * | 2017-10-31 | 2018-02-27 | 南京中高知识产权股份有限公司 | Magnetic-type welding robot and its method of work with flight function |
| CN107738047B (en) * | 2017-10-31 | 2019-05-10 | 南京中高知识产权股份有限公司 | Welding system and its working method suitable for multirobot efficient collaboration, both |
| CN107717273A (en) * | 2017-10-31 | 2018-02-23 | 南京中高知识产权股份有限公司 | Welding system and its method of work with intelligent addressing |
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