CN105171194A - Multi-type welding processing and manufacturing technological method for full-automatic welding robot - Google Patents

Multi-type welding processing and manufacturing technological method for full-automatic welding robot Download PDF

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Publication number
CN105171194A
CN105171194A CN201510613100.6A CN201510613100A CN105171194A CN 105171194 A CN105171194 A CN 105171194A CN 201510613100 A CN201510613100 A CN 201510613100A CN 105171194 A CN105171194 A CN 105171194A
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China
Prior art keywords
welding
robot
industrial computer
main industrial
information
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CN201510613100.6A
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Chinese (zh)
Inventor
朱聚中
丛林
康国君
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深圳市研控自动化科技有限公司
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Priority to CN201510613100.6A priority Critical patent/CN105171194A/en
Publication of CN105171194A publication Critical patent/CN105171194A/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/02Seam welding; Backing means; Inserts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/10Other electric circuits therefor; Protective circuits; Remote controls
    • B23K9/1087Arc welding using remote control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127Means for tracking lines during arc welding or cutting
    • B23K9/1272Geometry oriented, e.g. beam optical trading
    • B23K9/1274Using non-contact, optical means, e.g. laser means

Abstract

The invention discloses a multi-type welding processing and manufacturing technological method for a full-automatic welding robot. According to the method, the welding process can be achieved reliably, conveniently and rapidly, and the method is suitable for welding of welding seams of products of various types. The method comprises the following steps that 1, the welding robot is assembled on a welding station of a welding production line; 2, the welding robot is initialized after being powered on; 3, whether the angles and zero points of all axes of the welding robot are correct or not is determined; 4, a robot control device main network address and a robot slave network address are set, Cartesian coordinates are defined according to actual needs, and the coordinates of a welding gun are determined; 5, a welding piece is scanned into a three-dimensional model through a laser bar code scanning system, the three-dimensional model is guided into a main industrial personal computer, and welding information is directly designated on the three-dimensional model through a wireless teaching device; and 6, program codes are generated according to scanned three-dimensional model information and welding information through the main industrial personal computer, and are sent to a robot control device.

Description

For the polymorphic type welding processing method of manufacturing technology of Full-automatic welding machine people

Technical field

The present invention relates to the welding processing of welding robot, the welding specifically for the welding robot on the welding post on welding and assembling production lines controls.

Background technology

Robot (Robot) is the installations automatically performing work.It both can accept mankind commander, can run again the program of layout in advance, also can according to the principle guiding principle action of formulating with artificial intelligence technology.Its task assists or replace the work of human work, such as production industry, building industry, or the work of danger.

The more next moon that welding robot uses on welding and assembling production lines is extensive, especially the welding of the key position such as automotive axle; But traditional welding robot is in process in enormous quantities, it can design different welding control methods according to different welds types, and even design different welding robots, versatility is poor.

Summary of the invention

Technical problem to be solved by this invention is for above-mentioned deficiency of the prior art, a kind of polymorphic type welding processing method of manufacturing technology for Full-automatic welding machine people is provided, it reliably can realize welding process easily, is applicable to the welding of various types of production joint.

In order to achieve the above object, the present invention is achieved by the following technical solutions:

For the polymorphic type welding processing method of manufacturing technology of Full-automatic welding machine people, described welding robot comprises: robot body, welding gun, fixture, robot controller and main industrial computer; Described robot body connects welding gun, robot controller, described main industrial computer jockey and robot controller;

Described welding robot also comprises: initialization module, zero point confirm module, address assignment module, wireless teaching apparatus, laser-vision sensing system, laser barcode scanning system, communication module and welding control module; Described initialization module, zero point confirm that module, address assignment module, laser-vision sensing system, laser barcode scanning system, communication module are connected successively with welding control module; Described wireless teaching apparatus and main industrial computer wireless connections; Described robot controller is connected by motor energizing cables and encoder line with described robot body;

Described polymorphic type welding processing method of manufacturing technology comprises the following steps:

(1) welding robot is assemblied on the welding post of welding and assembling production lines;

(2) initialize after welding robot energising;

(3) confirm that whether welding robot each shaft angle degree, zero point be accurate;

(4) robot controller main network address, robot are set from the network address, and define cartesian coordinate according to actual needs, determine the coordinate of welding gun;

(5) weldment is scanned into threedimensional model by laser barcode scanning system, imports main industrial computer, then directly on threedimensional model, specifies weld information by wireless teaching apparatus, comprises the position of weld seam, length, torch swinging mode; When welding work pieces needs batch production, read the weld information of workpiece welding bar code by bar code identification system, then information is delivered to main industrial computer; By main industrial computer, bar code information is changed into welding signal;

(6) main industrial computer is by scanning three-dimensional model information out and weld information generator code, and send to robot controller, send log-on message by wireless teaching apparatus, welding robot starts action;

(7) welding track is optimized in debugging, communicates with main industrial computer, controls welding gun and clamp movement, completes welding.

The preferred embodiment of the present invention and further improvement as follows:

(1) in described welding robot,

Described initialization module, for initializing robot;

Whether described zero point confirms module, accurate for confirming robot each shaft angle degree, zero point;

Described address assignment module, for arranging robot controller main network address, robot from the network address, and defining cartesian coordinate according to actual needs, determining the coordinate of welding gun;

Described wireless teaching apparatus, to the startup of robot, suddenly stops operating, manually carries out the interpolation of various point, straight line, circular arc according to the shape of weldment;

Described laser-vision sensing system, gathers corresponding image information, and carries out Image semantic classification, then information is delivered to main industrial computer, main industrial computer carries out weld seam recognition to image, extracts required weld information, delivers to robot controller after process;

Described laser barcode scanning system, receives required weld information and imports main industrial computer, combining with the threedimensional model of welding work pieces, finally by system generator code, sends to robot controller to carry out work;

Described communication module, for main industrial computer interactive signal, command main industrial computer to weld to control described welding gun;

Described welding control module, controls welding gun and clamp movement for the signal according to robot controller, completes welding;

(2) described main industrial computer is connected by Devicenet with the communication each other of described robot controller.

(3) described welding gun is servo torch.

(4) also comprise the step of wireless teaching between described step (6) and step (7), the step of described wireless teaching is operator by the startup of wireless teaching apparatus butt welding machine device people, suddenly stops operating; The interpolation of various point, straight line, circular arc is manually carried out according to the shape of weldment.

Further: between the step and step (7) of described wireless teaching, also comprise the step fed back and revise, the step of described feedback amendment is that laser-vision sensing system will receive crater image information and delivers to image pick-up card, image pick-up card carries out pretreatment to image, then information is delivered to main industrial computer, main industrial computer carries out weld seam recognition to image, extract required weld information, robot controller and welding control module is delivered to after software process, the welding parameter of Butt welding gun carries out feedback amendment, ensure the adaptability after the change of welding robot welding conditions.

(5) the laser-vision sensing system described in comprises laser instrument, CCD camera, optical filter and pattern capture card; After CCD camera imaging, pattern capture card gathers corresponding image information, and carry out Image semantic classification, then information is delivered to main industrial computer, main industrial computer carries out weld seam recognition to image, extract required weld information, after software process, deliver to robot controller and welding control module.

(6) described laser barcode scanning system comprises laser scanner, the modifiable position of laser scanner and the controller of attitude and bar code; Institute's welding work pieces scanning is imported main industrial computer for threedimensional model by laser scanner, and the workpiece that weld posts corresponding bar code; Required weld information receives and combines with threedimensional model by the bar code identification system of main industrial computer inside, and last generation system program code, sends to robot controller.

Beneficial effect of the present invention is:

The present invention is used for the polymorphic type welding processing method of manufacturing technology of Full-automatic welding machine people, and described welding robot comprises: robot body, welding gun, fixture, robot controller and main industrial computer; Described robot body connects welding gun, robot controller; Described welding robot also comprises: initialization module, zero point confirm module, address assignment module, wireless teaching apparatus, laser-vision sensing system, laser barcode scanning system, communication module and welding control module; Described initialization module, zero point confirm that module, address assignment module, laser-vision sensing system, laser barcode scanning system, communication module are connected successively with welding control module; Described wireless teaching apparatus and main industrial computer wireless connections; Described robot controller is connected by motor energizing cables and encoder line with described robot body;

We construct the welding robot based on method of manufacturing technology of the present invention by above-mentioned functions modular structure; Its method of manufacturing technology in concrete welding process comprises the following steps:

(1) welding robot is assemblied on the welding post of welding and assembling production lines;

(2) initialize after welding robot energising;

(3) confirm that whether welding robot each shaft angle degree, zero point be accurate;

(4) robot controller main network address, robot are set from the network address, and define cartesian coordinate according to actual needs, determine the coordinate of welding gun;

(5) weldment is scanned into threedimensional model by laser barcode scanning system, imports main industrial computer, then directly on threedimensional model, specifies weld information by wireless teaching apparatus, comprises the position of weld seam, length, torch swinging mode; When welding work pieces needs batch production, read the weld information of workpiece welding bar code by bar code identification system, then information is delivered to main industrial computer; By main industrial computer, bar code information is changed into welding signal;

(6) main industrial computer is by scanning three-dimensional model information out and weld information generator code, and send to robot controller, send log-on message by wireless teaching apparatus, welding robot starts action;

(7) welding track is optimized in debugging, communicates with main industrial computer, controls welding gun and clamp movement, completes welding.

Basic, above-mentioned process can complete welding process automatically, can be concentrated and carry out course of work control, realize reliable robot welding process by main industrial computer; Meanwhile, we are wireless teaching apparatus also, provides friendly man machine operation interface and wide human-machine operation space; Operator can carry out the control to robot faster and more easily; In the path planning part of weld seam, we have initiative, non-contacting feature by laser-vision sensing system, and three-dimensional information, the sensitivity accuracy that can obtain accurate object are high, anti-electromagnetic field interference performance is strong; Three-dimensional laser scanning technique of the present invention and bar code information reading device simplify the process of teaching, add the accuracy of teaching, shorten the movement between welding place and idle running, decrease the overall operation time, add the accommodation of welding.

Accompanying drawing illustrates:

Fig. 1 is the structure principle chart of welding robot of the present invention.

Detailed description of the invention

Below in conjunction with embodiment, the present invention is further described, and following embodiment is illustrative, is not determinate, can not limit protection scope of the present invention with following embodiment.

Polymorphic type welding processing method of manufacturing technology for Full-automatic welding machine people disclosed by the invention, described welding robot comprises: robot body, welding gun, fixture, robot controller and main industrial computer; Described robot body connects welding gun, robot controller, described main industrial computer jockey and robot controller;

Described welding robot also comprises: initialization module, zero point confirm module, address assignment module, wireless teaching apparatus, laser-vision sensing system, laser barcode scanning system, communication module and welding control module; Described initialization module, zero point confirm that module, address assignment module, laser-vision sensing system, laser barcode scanning system, communication module are connected successively with welding control module; Described wireless teaching apparatus and main industrial computer wireless connections; Described robot controller is connected by motor energizing cables and encoder line with described robot body;

Described polymorphic type welding processing method of manufacturing technology comprises the following steps:

(1) welding robot is assemblied on the welding post of welding and assembling production lines;

(2) initialize after welding robot energising;

(3) confirm that whether welding robot each shaft angle degree, zero point be accurate;

(4) robot controller main network address, robot are set from the network address, and define cartesian coordinate according to actual needs, determine the coordinate of welding gun;

(5) weldment is scanned into threedimensional model by laser barcode scanning system, imports main industrial computer, then directly on threedimensional model, specifies weld information by wireless teaching apparatus, comprises the position of weld seam, length, torch swinging mode; When welding work pieces needs batch production, read the weld information of workpiece welding bar code by bar code identification system, then information is delivered to main industrial computer; By main industrial computer, bar code information is changed into welding signal;

(6) main industrial computer is by scanning three-dimensional model information out and weld information generator code, and send to robot controller, send log-on message by wireless teaching apparatus, welding robot starts action;

(7) welding track is optimized in debugging, communicates with main industrial computer, controls welding gun and clamp movement, completes welding.

Preferably, in described welding robot,

Described initialization module, for initializing robot;

Whether described zero point confirms module, accurate for confirming robot each shaft angle degree, zero point;

Described address assignment module, for arranging robot controller main network address, robot from the network address, and defining cartesian coordinate according to actual needs, determining the coordinate of welding gun;

Described wireless teaching apparatus, to the startup of robot, suddenly stops operating, manually carries out the interpolation of various point, straight line, circular arc according to the shape of weldment;

Described laser-vision sensing system, gathers corresponding image information, and carries out Image semantic classification, then information is delivered to main industrial computer, main industrial computer carries out weld seam recognition to image, extracts required weld information, delivers to robot controller after process;

Described laser barcode scanning system, receives required weld information and imports main industrial computer, combining with the threedimensional model of welding work pieces, finally by system generator code, sends to robot controller to carry out work;

Described communication module, for main industrial computer interactive signal, command main industrial computer to weld to control described welding gun;

Described welding control module, controls welding gun and clamp movement for the signal according to robot controller, completes welding;

Preferably, described main industrial computer is connected by Devicenet with the communication each other of described robot controller.Devicenet be the one that grows up the mid-90 based on the low cost of CAN (ControllerAreaNetwork) technology, high performance communication network, at first by Rockwell company of U.S. Application and Development.It is a kind of communication bus of low cost.Industrial equipment (as: limit switch, photoelectric sensor, valve group, motor starter, process sensor, barcode reader, variable frequency drives, panel display and operator interface) is connected to network by it, thus eliminates expensive hardwire cost.Direct interconnection improves the communication of equipment room, and provides considerable device level diagnostic function simultaneously, and this is difficult to realize by hardwire I/O interface.It is while providing the interchangeability between multiple vendor same item, decreases cost and the time of distribution and mounting industrial automation equipment.DeviceNet not only makes to be connected to each other and communication with a cable between equipment, the more important thing is the diagnostic function of the device level that it brings to system.This function is be difficult to realize on traditional I/O.

Preferably, described welding gun is servo torch.

Preferably, also comprise the step of wireless teaching between described step (6) and step (7), the step of described wireless teaching is operator by the startup of wireless teaching apparatus butt welding machine device people, suddenly stops operating; The interpolation of various point, straight line, circular arc is manually carried out according to the shape of weldment.The working strength of manual interpolation is all responsible for the process of path of welding planning lower than traditional teaching apparatus.

Preferably, the step fed back and revise also is comprised between the step and step (7) of described wireless teaching, the step of described feedback amendment is that laser-vision sensing system will receive crater image information and delivers to image pick-up card, image pick-up card carries out pretreatment to image, then information is delivered to main industrial computer, main industrial computer carries out weld seam recognition to image, extract required weld information, robot controller and welding control module is delivered to after software process, the welding parameter of Butt welding gun carries out feedback amendment, ensure the adaptability after the change of welding robot welding conditions.

Preferably, described laser-vision sensing system comprises laser instrument, CCD camera, optical filter and pattern capture card; After CCD camera imaging, pattern capture card gathers corresponding image information, and carry out Image semantic classification, then information is delivered to main industrial computer, main industrial computer carries out weld seam recognition to image, extract required weld information, after software process, deliver to robot controller and welding control module.

Preferably, described laser barcode scanning system comprises laser scanner, the modifiable position of laser scanner and the controller of attitude and bar code; Institute's welding work pieces scanning is imported main industrial computer for threedimensional model by laser scanner, and the workpiece that weld posts corresponding bar code; Required weld information receives and combines with threedimensional model by the bar code identification system of main industrial computer inside, and last generation system program code, sends to robot controller.

Above the preferred embodiment for the present invention is explained in detail; but the invention is not restricted to above-mentioned embodiment; in the ken that those of ordinary skill in the art possess; can also make a variety of changes under the prerequisite not departing from present inventive concept; these changes relate to correlation technique well-known to those skilled in the art, and these all fall into the protection domain of patent of the present invention.

Do not depart from the spirit and scope of the present invention and can make other changes many and remodeling.Should be appreciated that and the invention is not restricted to specific embodiment, scope of the present invention is defined by the following claims.

Claims (8)

1. for the polymorphic type welding processing method of manufacturing technology of Full-automatic welding machine people, described welding robot comprises: robot body, welding gun, fixture, robot controller and main industrial computer; Described robot body connects welding gun, robot controller, described main industrial computer jockey and robot controller;
Described welding robot also comprises: initialization module, zero point confirm module, address assignment module, wireless teaching apparatus, laser-vision sensing system, laser barcode scanning system, communication module and welding control module; Described initialization module, zero point confirm that module, address assignment module, laser-vision sensing system, laser barcode scanning system, communication module are connected successively with welding control module; Described wireless teaching apparatus and main industrial computer wireless connections; Described robot controller is connected by motor energizing cables and encoder line with described robot body;
Described polymorphic type welding processing method of manufacturing technology comprises the following steps:
(1) welding robot is assemblied on the welding post of welding and assembling production lines;
(2) initialize after welding robot energising;
(3) confirm that whether welding robot each shaft angle degree, zero point be accurate;
(4) robot controller main network address, robot are set from the network address, and define cartesian coordinate according to actual needs, determine the coordinate of welding gun;
(5) weldment is scanned into threedimensional model by laser barcode scanning system, imports main industrial computer, then directly on threedimensional model, specifies weld information by wireless teaching apparatus, comprises the position of weld seam, length, torch swinging mode; When welding work pieces needs batch production, read the weld information of workpiece welding bar code by bar code identification system, then information is delivered to main industrial computer; By main industrial computer, bar code information is changed into welding signal;
(6) main industrial computer is by scanning three-dimensional model information out and weld information generator code, and send to robot controller, send log-on message by wireless teaching apparatus, welding robot starts action;
(7) welding track is optimized in debugging, communicates with main industrial computer, controls welding gun and clamp movement, completes welding.
2., as claimed in claim 1 for the polymorphic type welding processing method of manufacturing technology of Full-automatic welding machine people, it is characterized in that: in described welding robot,
Described initialization module, for initializing robot;
Whether described zero point confirms module, accurate for confirming robot each shaft angle degree, zero point;
Described address assignment module, for arranging robot controller main network address, robot from the network address, and defining cartesian coordinate according to actual needs, determining the coordinate of welding gun;
Described wireless teaching apparatus, to the startup of robot, suddenly stops operating, manually carries out the interpolation of various point, straight line, circular arc according to the shape of weldment;
Described laser-vision sensing system, gathers corresponding image information, and carries out Image semantic classification, then information is delivered to main industrial computer, main industrial computer carries out weld seam recognition to image, extracts required weld information, delivers to robot controller after process;
Described laser barcode scanning system, receives required weld information and imports main industrial computer, combining with the threedimensional model of welding work pieces, finally by system generator code, sends to robot controller to carry out work;
Described communication module, for main industrial computer interactive signal, command main industrial computer to weld to control described welding gun;
Described welding control module, controls welding gun and clamp movement for the signal according to robot controller, completes welding;
3., as claimed in claim 1 for the polymorphic type welding processing method of manufacturing technology of Full-automatic welding machine people, it is characterized in that: described main industrial computer is connected by Devicenet with the communication each other of described robot controller.
4., as claimed in claim 1 for the polymorphic type welding processing method of manufacturing technology of Full-automatic welding machine people, it is characterized in that: described welding gun is servo torch.
5. as claimed in claim 1 for the polymorphic type welding processing method of manufacturing technology of Full-automatic welding machine people, it is characterized in that: the step also comprising wireless teaching between described step (6) and step (7), the step of described wireless teaching is operator by the startup of wireless teaching apparatus butt welding machine device people, suddenly stops operating; The interpolation of various point, straight line, circular arc is manually carried out according to the shape of weldment.
6. as claimed in claim 5 for the polymorphic type welding processing method of manufacturing technology of Full-automatic welding machine people, it is characterized in that: between the step and step (7) of described wireless teaching, also comprise the step fed back and revise, the step of described feedback amendment is that laser-vision sensing system will receive crater image information and delivers to image pick-up card, image pick-up card carries out pretreatment to image, then information is delivered to main industrial computer, main industrial computer carries out weld seam recognition to image, extract required weld information, robot controller and welding control module is delivered to after software process, the welding parameter of Butt welding gun carries out feedback amendment, ensure the adaptability after the change of welding robot welding conditions.
7., as claimed in claim 1 for the polymorphic type welding processing method of manufacturing technology of Full-automatic welding machine people, it is characterized in that: described laser-vision sensing system comprises laser instrument, CCD camera, optical filter and pattern capture card; After CCD camera imaging, pattern capture card gathers corresponding image information, and carry out Image semantic classification, then information is delivered to main industrial computer, main industrial computer carries out weld seam recognition to image, extract required weld information, after software process, deliver to robot controller and welding control module.
8. the polymorphic type welding processing method of manufacturing technology of Full-automatic welding machine people as claimed in claim 1, is characterized in that: described laser barcode scanning system comprises laser scanner, the modifiable position of laser scanner and the controller of attitude and bar code; Institute's welding work pieces scanning is imported main industrial computer for threedimensional model by laser scanner, and the workpiece that weld posts corresponding bar code; Required weld information receives and combines with threedimensional model by the bar code identification system of main industrial computer inside, and last generation system program code, sends to robot controller.
CN201510613100.6A 2015-09-23 2015-09-23 Multi-type welding processing and manufacturing technological method for full-automatic welding robot CN105171194A (en)

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CN106182003A (en) * 2016-08-01 2016-12-07 清华大学 A kind of mechanical arm teaching method, Apparatus and system
CN106271004A (en) * 2016-08-25 2017-01-04 南通天宇休闲用品有限公司 A kind of pet cage processing method based on intelligent self-align high-frequency welding system
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CN105965162A (en) * 2016-06-30 2016-09-28 永胜机械工业(昆山)有限公司 Intelligent pipe opening welding device by robot
CN106182003A (en) * 2016-08-01 2016-12-07 清华大学 A kind of mechanical arm teaching method, Apparatus and system
CN106271004A (en) * 2016-08-25 2017-01-04 南通天宇休闲用品有限公司 A kind of pet cage processing method based on intelligent self-align high-frequency welding system
CN107876953A (en) * 2016-09-29 2018-04-06 福特环球技术公司 Jointing machine with position guidance system
CN106583974A (en) * 2016-12-16 2017-04-26 南京合信智能装备有限公司 Laser quick locating welding system and laser quick locating welding method without programming structural part
CN106583974B (en) * 2016-12-16 2018-04-13 南京合信智能装备有限公司 One kind quickly seeks a welding system and welding method without programming structure part laser
CN107088721A (en) * 2017-05-22 2017-08-25 东莞艾斯博自动化设备有限公司 A kind of positioner and its fixture identifying device
CN107262953A (en) * 2017-07-24 2017-10-20 江门市固创科技有限公司 It is a kind of can caller automatically welding method
CN108305348A (en) * 2017-12-25 2018-07-20 重庆达德机械制造有限公司 A kind of multifunctional pipe bending machine
CN108262580A (en) * 2017-12-25 2018-07-10 重庆达德机械制造有限公司 A kind of Multifunctional tube maker
CN108581284A (en) * 2018-05-09 2018-09-28 滁州职业技术学院 A kind of precision intelligence welding equipment
CN108581284B (en) * 2018-05-09 2020-05-05 滁州职业技术学院 Accurate intelligent welding equipment
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CN109175597A (en) * 2018-09-20 2019-01-11 北京博清科技有限公司 Welding parameter real-time regulating method and system based on weld width identification
CN109623151A (en) * 2019-02-20 2019-04-16 中铝瑞闽股份有限公司 A kind of aluminium volume end face welding system based on line laser
CN110508908A (en) * 2019-08-05 2019-11-29 苏州热工研究院有限公司 A kind of polymorphic type welding special purpose robot and its self checking method

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