CN105171198A - Mechanical contact type weld joint tracker with self-adaptive swing amplitude - Google Patents
Mechanical contact type weld joint tracker with self-adaptive swing amplitude Download PDFInfo
- Publication number
- CN105171198A CN105171198A CN201510670591.8A CN201510670591A CN105171198A CN 105171198 A CN105171198 A CN 105171198A CN 201510670591 A CN201510670591 A CN 201510670591A CN 105171198 A CN105171198 A CN 105171198A
- Authority
- CN
- China
- Prior art keywords
- probe
- electromagnet
- welding
- optoelectronic switch
- welding gun
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
-
- 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
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1276—Using non-contact, electric or magnetic means, e.g. inductive means
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Geometry (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Machine Tool Copy Controls (AREA)
Abstract
The invention discloses a mechanical contact type weld joint tracker with self-adaptive swing amplitude. The mechanical contact type weld joint tracker with the self-adaptive swing amplitude comprises a welding trolley, a swing mechanism, a tracking sensor and a welding gun. The welding trolley moves in the direction parallel to a weld joint of a workpiece. The swing mechanism is installed on the welding trolley and swings in the direction perpendicular to the weld joint of the workpiece. The tracking sensor and the welding gun are installed on the swing mechanism, and the swing mechanism and the welding gun swing at the same time, so that self-adaption of the swing amplitude of the welding gun to the width of a groove is achieved. According to the weld joint tracker, through the arrangement of the contact type sensor, self-adaptive adjustment of the swing amplitude to the groove can be achieved, the swing speed, the swing amplitude and the left-right stay duration of the welding gun can be adjusted independently, the center position of the weld joint can be tracked by the welding gun in real time, and thus the welding quality can be free from the dependence on the skill level of an electrowelding operator and other personnel factors.
Description
Technical field
The present invention relates to the adaptive mechanical contact weld tracker of a kind of amplitude of oscillation, belong to Automation of Welding field of sensing technologies.
Background technology
In automatic welding process, if the relative position of welding gun head and weld seam produces deviation, then can cause shaping difference and the defect such as lack of penetration.And in welding manufacture process, the change of the position while welding caused by adverse circumstances, weldment rigging error, welding stress and welding deformation during welding, the relative position error of Butt welding gun and weld seam is all needed to carry out detecting and correcting, so adopt THE WELD SEAM TRACKING TECHNOLOGY particularly important.
The problem that first will solve in seam tracking system is exactly the real-time detection of position while welding, and sensor used is depended in the acquisition of positional information to a great extent, a suitable sensor is the important foundation ensureing to follow the tracks of, therefore study highly sensitive, dynamic quality good, sensing scope is wide, antijamming capability is strong and the simple sensor of structure is the key in seam tracking system.
Contact weld seam tracking sensor is simple due to structure, and operate direct, easy to maintenance, cost is low, is not afraid of the interference such as the magnetic of electric arc, light, splashing, is use maximum a kind of welding seam tracking methods at present.But employing mechanical touch sensors, higher to the processing request of groove, any damage of tracking groove face and coarse injustice all can affect stability and the tracking accuracy of tracking; Probe contacts with groove all the time, and wearing and tearing are comparatively large, yielding, often change; Time in addition for large groove weld employing multi-pass welding, can only follow the tracks of when ground floor backing welding, all the other weld seams are then helpless.
Summary of the invention
In order to solve technical problem existing in background technology, the present invention proposes the adaptive mechanical contact weld tracker of a kind of amplitude of oscillation, its structure is simple, easy to operate, not easy to wear, require low to retaining wall on slope, by swinging self adaptation groove width, and be applicable to the multilayer welding of large groove weld.
Technical solution of the present invention proposes the adaptive weld tracker of a kind of amplitude of oscillation, and its technical characteristic is as follows:
The adaptive mechanical contact weld tracker of a kind of amplitude of oscillation, comprises welding tractor, swing mechanism, tracking transducer and welding gun; Described welding tractor moves along being parallel to workpiece bead direction, and described swing mechanism is arranged on welding tractor, swings perpendicular to workpiece bead direction; Described tracking transducer and welding gun are arranged on swing mechanism, and welding gun swings simultaneously, realize the self adaptation of torch swinging amplitude to groove width.
Above-mentioned tracking transducer comprises: Y type probe, electromagnet and optoelectronic switch;
Above-mentioned Y type probe comprises rotating fulcrum, dwang, anti-dazzling screen, the first probe and the second probe, described first probe and the second probe are arranged on dwang by rotating fulcrum, the other end of described dwang installs anti-dazzling screen, adjustable angle between the first described probe and the second probe, thus adapt to different groove widths;
Above-mentioned electromagnet comprises the first electromagnet and the second electromagnet, and described first electromagnet and the second electromagnet are arranged on dwang both sides, and described dwang by the adhesive with electromagnet, thus avoids the friction between tracking transducer and groove;
Above-mentioned optoelectronic switch comprises the first optoelectronic switch and the second optoelectronic switch, and described anti-dazzling screen, by the cooperation with the first optoelectronic switch, the second optoelectronic switch, controls the swaying direction of wig-wag.
Welding tractor of the present invention can be normal welding dolly or self-control dolly, is arranged on line slideway, guide rail parallel with weld seam (being designated as X-direction).Described guide rail can be rigid guideway or flexible guide rail, can be adapted to straight welding line, also can be adapted to girth welding.Welding tractor is by direct current generator or driving stepper motor, and its speed is adjustable online, and the gait of march of welding tractor is speed of welding.
Swing mechanism is arranged on welding tractor, and realize perpendicular to the swing (being designated as Y-direction) in bead direction, welding gun is arranged on swing mechanism, controls swing mechanism and can realize welding gun along the regular swing of Y-direction, thus realize the welding of large groove weld.The mechanical part of described swing mechanism is adopted as ball-screw vice mechanism, and drive part adopts stepper motor, by the control regulating the rotating speed of stepper motor to realize torch swinging speed.
Tracking transducer is arranged on swing mechanism, and welding gun swings simultaneously, can realize the self adaptation of torch swinging amplitude to groove width.When welding gun is to left movement, tracking transducer is also simultaneously to left movement, and when left side groove encountered by probe, torch swinging stops, and rotates backward after stopping on schedule; When welding gun moves right, when right side groove encountered by probe, welding gun also swings stopping, inverted running after stopping the scheduled time, thus realizes the self adaptation of torch swinging to groove.
Weld tracker of the present invention can realize the Automatic adjusument of the amplitude of oscillation to groove by touch sensor, torch swinging speed, amplitude of fluctuation, left and right time of staying Independent adjustable can be realized, the real-time tracking of welding gun butt welded seam center can be realized, thus make welding quality break away from dependence to electrical welding operation work technical merit and other individual factors.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is general structure schematic diagram of the present invention.
Fig. 2 is welding gun movement locus of the present invention.
Fig. 3 is the internal structure schematic diagram of tracking transducer of the present invention.
Fig. 4 is the control circuit schematic diagram of tracking transducer of the present invention.
Detailed description of the invention
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, only basic structure of the present invention are described in a schematic way, and therefore it only shows the formation relevant with the present invention.
As shown in Figure 1, the adaptive mechanical contact weld tracker of a kind of amplitude of oscillation, comprises welding tractor (omitting in figure), swing mechanism 1, tracking transducer 3 and welding gun 2; Welding tractor moves along being parallel to workpiece 4 bead direction, and swing mechanism 1 is arranged on welding tractor, swings perpendicular to workpiece 4 bead direction; Tracking transducer 3 and welding gun 2 are arranged on swing mechanism, and welding gun 2 swings simultaneously, realize welding gun 2 amplitude of fluctuation to the self adaptation of groove width.
For the welding of large groove workpiece, in order to ensure the penetration of weld seam both sides, welding gun 2 swings and stops appropriate time in both sides, and the movement locus of welding gun 2 as shown in Figure 2.Assuming that the welding tractor direction of motion (being parallel to workpiece 4 bead direction) is X-direction, welding gun 2 swaying direction (perpendicular to workpiece 4 bead direction) is designated as Y-direction.In Fig. 2, (a) is regular-shape motion track, and welding tractor stop motion when welding gun 2 swings along Y-direction, when groove both sides, welding gun 2 stops swinging, and stay for some time, welding tractor moves in X direction.In Fig. 2, (b) is triangular motion track, and welding tractor moves in X direction always, and welding gun 2 swings along Y-direction, does not stop in groove both sides, continues backswing.In Fig. 2, (c) is trapezoidal motion track, and welding tractor moves in X direction always, and welding gun 2 swings along Y-direction, after groove both sides stay for some time, continues backswing.
According to the analysis of Butt welding gun movement locus, when adopting rectangle or trapezoidal fortune arc track, welding gun 2 and tracking transducer 3 need to stay for some time in groove both sides, now the probe of tracking transducer 3 contacts with workpiece grooves, easily cause the wearing and tearing of probe or due to the uneven probe that causes of surface of the work stuck, cause sensor degradation.This proposes new requirement to the design of sensor, describes below to the internal structure emphasis of sensor.
Embodiment 1
Fig. 3 is the internal structure schematic diagram of tracking transducer 3 of the present invention.Above-mentioned tracking transducer 3 comprises: Y type probe, electromagnet and optoelectronic switch;
Above-mentioned Y type probe comprises rotating fulcrum 33, dwang 34, anti-dazzling screen 37, first probe 31 and the second probe 32, first probe 31 and the second probe 32 are arranged on dwang 34 by rotating fulcrum 33, the other end of dwang 34 installs anti-dazzling screen 37, adjustable angle between first probe 31 and the second probe 32, thus adapt to different groove widths;
Above-mentioned electromagnet comprises the first electromagnet 35 and the second electromagnet 36, first electromagnet 35 and the second electromagnet 36 and is arranged on dwang 34 both sides, and dwang 34 by the adhesive with electromagnet, thus avoids the friction between tracking transducer 3 and groove;
Above-mentioned optoelectronic switch comprises the first optoelectronic switch 38 and the second optoelectronic switch 49, and anti-dazzling screen 37, by the cooperation with the first optoelectronic switch 38, second optoelectronic switch 39, controls the swaying direction of wig-wag.
Y type probe is arranged in control box by rotating fulcrum, can rotate around rotating fulcrum 33; Adjustable angle between first probe 31 and the second probe 32, for identical groove size, the larger then amplitude of fluctuation of angle is less; The anti-dazzling screen 37 on probe top, by coordinating with the first optoelectronic switch 38 and the second optoelectronic switch 39, for judging whether the first probe 31 and the second probe 32 encounter groove face.The effect of the first electromagnet 35 and the second electromagnet 36 is rapid adhesive dwangs when groove face encountered by probe, is that probe departs from groove, avoids wearing and tearing.
Assuming that tracking transducer 3 has just encountered right side groove, start to swing left, now state has been that the second electromagnet 36 holds dwang 34, and anti-dazzling screen 37 covers the second optoelectronic switch 39 (sensor-output status is " 1 ").When swing mechanism swings left, if left side groove encountered by the first probe 31, under the effect of left side groove power, dwang 34, second electromagnet 36, anti-dazzling screen 37 leave the second optoelectronic switch 39, second optoelectronic switch 39 output state by " 1 " change " 0 "; Make rapidly the second electromagnet 36 dead electricity, the first electromagnet 35 must be electric, dwang 34 and the first electromagnet 35 adhesive, first probe 31 departs from left side groove, avoid the wearing and tearing of the first probe 31 during welding tractor walking, the output state that anti-dazzling screen 37 covers the first optoelectronic switch 38, first optoelectronic switch 38 is " 1 ".Now swing mechanism 1 stays for some time or backswing rapidly, depends on the welding gun movement locus of program setting.Same, when swing mechanism 1 swing to the right the second probe 32 encounter right side groove time, under the effect of right side groove power, dwang 34 departs from the first electromagnet 35, anti-dazzling screen 37 leaves the first optoelectronic switch 38, first optoelectronic switch 38 output state by " 1 " change " 0 "; Now make rapidly the first electromagnet 35 dead electricity, the second electromagnet 36 must be electric, rotate 34 bars and the second electromagnet 36 adhesive, second probe 32 departs from right side groove, avoid the wearing and tearing of the second probe 32 during welding tractor walking, the output state that anti-dazzling screen 37 covers the second optoelectronic switch 39, second optoelectronic switch 39 is " 1 ".
Second optoelectronic switch 39 outputs signal and shows that swing mechanism 1 swings on the left of groove by during " 1 " change " 0 ", and now the first electromagnet 35 adhesive dwang 34, makes the first probe 31 leave on the left of groove, avoid contact wear; First optoelectronic switch 38 outputs signal and shows that swing mechanism 1 swings on the right side of groove by during " 1 " change " 0 ", and now the second electromagnet 36 adhesive dwang, makes the second probe 32 leave on the right side of groove, avoid contact wear.
Fig. 4 is the control circuit schematic diagram of tracking transducer 3 of the present invention.D1 is the first optoelectronic switch, and D2 is the second optoelectronic switch, and K1 is the first electromagnet, and K2 is the second electromagnet.When anti-dazzling screen 37 enters optoelectronic switch, output signal " 1 "; When anti-dazzling screen leaves, output signal " 0 ".
Be subject to the impact of anti-dazzling screen according to these two optoelectronic switches, two probes touch can be exported to signal during different groove sidewall by the process of signal processing circuit, remove control two electromagnet simultaneously, thus realize above-mentioned function.
When tracking transducer 3 starts to swing left, now the second electromagnet K2 holds dwang, and anti-dazzling screen 37 covers the second optoelectronic switch D2.Contact with the left side wall of groove when probe swings left, anti-dazzling screen 37 leaves the second optoelectronic switch D2, then D2 output state is by " 1 " change " 0 ", so the input RD=0 of d type flip flop U1, causes Q pin output low level " 0 ",
pin exports high level " 1 ", so Q1 conducting, Q2 turn off, first electromagnet K1 obtains electric, the second electromagnet K2 dead electricity, the top of Y type probe and the first electromagnet K1 adhesive, first probe departs from left side groove, avoid the wearing and tearing of the first probe during welding tractor walking, anti-dazzling screen 37 covers the first optoelectronic switch D1, and the output state of the first optoelectronic switch D1 is " 1 ".The analytic process swung to the right is similar.
With above-mentioned according to desirable embodiment of the present invention for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this invention technological thought, can carry out various change and amendment completely.The technical scope of this invention is not limited to the content on description, must determine its technical scope according to right.
Claims (2)
1. the adaptive mechanical contact weld tracker of the amplitude of oscillation, is characterized in that, comprise welding tractor, swing mechanism, tracking transducer and welding gun; Described welding tractor moves along being parallel to workpiece bead direction, and described swing mechanism is arranged on welding tractor, swings perpendicular to workpiece bead direction; Described tracking transducer and welding gun are arranged on swing mechanism, and welding gun swings simultaneously, realize the self adaptation of torch swinging amplitude to groove width.
2. the adaptive mechanical contact weld tracker of a kind of amplitude of oscillation according to claim 1, it is characterized in that, described tracking transducer comprises: Y type probe, electromagnet and optoelectronic switch;
Described Y type probe comprises rotating fulcrum, dwang, anti-dazzling screen, the first probe and the second probe, described first probe and the second probe are arranged on dwang by rotating fulcrum, the other end of described dwang installs anti-dazzling screen, adjustable angle between the first described probe and the second probe, thus adapt to different groove widths;
Described electromagnet comprises the first electromagnet and the second electromagnet, and described first electromagnet and the second electromagnet are arranged on dwang both sides, and described dwang by the adhesive with electromagnet, thus avoids the friction between tracking transducer and groove;
Described optoelectronic switch comprises the first optoelectronic switch and the second optoelectronic switch, and described anti-dazzling screen, by the cooperation with the first optoelectronic switch, the second optoelectronic switch, controls the swaying direction of wig-wag.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510670591.8A CN105171198A (en) | 2015-10-16 | 2015-10-16 | Mechanical contact type weld joint tracker with self-adaptive swing amplitude |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510670591.8A CN105171198A (en) | 2015-10-16 | 2015-10-16 | Mechanical contact type weld joint tracker with self-adaptive swing amplitude |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105171198A true CN105171198A (en) | 2015-12-23 |
Family
ID=54893873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510670591.8A Pending CN105171198A (en) | 2015-10-16 | 2015-10-16 | Mechanical contact type weld joint tracker with self-adaptive swing amplitude |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105171198A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544056A (en) * | 2018-04-23 | 2018-09-18 | 段满红 | A kind of trailing type sliding narrow-clearance submerged arc welding connection device |
| CN109317881A (en) * | 2018-11-28 | 2019-02-12 | 合肥常青机械股份有限公司 | A kind of mechanical contact weld joint tracking detection system and method |
| CN109352178A (en) * | 2018-11-27 | 2019-02-19 | 武汉创恒世纪激光科技有限公司 | Laser oscillating welding system |
| CN110883400A (en) * | 2018-09-10 | 2020-03-17 | 安徽启迪博清自动化科技有限公司 | Welding gun tracking swing method and system based on crawling machine |
| CN111331248A (en) * | 2020-02-22 | 2020-06-26 | 武汉新耐视智能科技有限责任公司 | Laser stirring welding device with touch tracking function |
| CN113210808A (en) * | 2020-01-17 | 2021-08-06 | 天津大学 | Electric arc additive manufacturing method of magnesium alloy |
| CN113210807A (en) * | 2020-01-17 | 2021-08-06 | 天津大学 | Method for improving wettability of magnesium alloy in electric arc additive manufacturing |
| CN114378414A (en) * | 2022-01-14 | 2022-04-22 | 一重集团大连核电石化有限公司 | Compact TIG welding trolley with double-arc voltage tracking shaft |
| CN117324733A (en) * | 2023-10-26 | 2024-01-02 | 广东福维德焊接股份有限公司 | Deep fusion welding gun structure |
| CN117506139A (en) * | 2024-01-04 | 2024-02-06 | 武汉瑞普汽车部件有限公司 | Welding device and method for vehicle door inner plate assembly |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2136098Y (en) * | 1992-09-12 | 1993-06-16 | 镇江船舶学院 | Contact arc welding tracking sensor |
| CN2547453Y (en) * | 2002-05-21 | 2003-04-30 | 中国葛洲坝水利水电工程集团有限公司 | Automatic tracking sensor of adaptive groove width of welding torch oscillation range |
| US6563084B1 (en) * | 2001-08-10 | 2003-05-13 | Lincoln Global, Inc. | Probe for touch sensing |
| JP2007210019A (en) * | 2006-02-10 | 2007-08-23 | Mitsubishi Heavy Ind Ltd | Welding device and welding method |
| CN201189593Y (en) * | 2008-01-11 | 2009-02-04 | 范文利 | Welding seam tracking device |
| CN202106130U (en) * | 2011-05-17 | 2012-01-11 | 西安轨道交通装备有限责任公司 | Weld joint tracking device |
| CN103201065A (en) * | 2010-10-28 | 2013-07-10 | 依赛彼公司 | Welding device |
-
2015
- 2015-10-16 CN CN201510670591.8A patent/CN105171198A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2136098Y (en) * | 1992-09-12 | 1993-06-16 | 镇江船舶学院 | Contact arc welding tracking sensor |
| US6563084B1 (en) * | 2001-08-10 | 2003-05-13 | Lincoln Global, Inc. | Probe for touch sensing |
| CN2547453Y (en) * | 2002-05-21 | 2003-04-30 | 中国葛洲坝水利水电工程集团有限公司 | Automatic tracking sensor of adaptive groove width of welding torch oscillation range |
| JP2007210019A (en) * | 2006-02-10 | 2007-08-23 | Mitsubishi Heavy Ind Ltd | Welding device and welding method |
| CN201189593Y (en) * | 2008-01-11 | 2009-02-04 | 范文利 | Welding seam tracking device |
| CN103201065A (en) * | 2010-10-28 | 2013-07-10 | 依赛彼公司 | Welding device |
| CN202106130U (en) * | 2011-05-17 | 2012-01-11 | 西安轨道交通装备有限责任公司 | Weld joint tracking device |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544056B (en) * | 2018-04-23 | 2020-07-21 | 山东华星工程机械有限公司 | Follow-up sliding narrow-gap submerged-arc welding device |
| CN108544056A (en) * | 2018-04-23 | 2018-09-18 | 段满红 | A kind of trailing type sliding narrow-clearance submerged arc welding connection device |
| CN110883400A (en) * | 2018-09-10 | 2020-03-17 | 安徽启迪博清自动化科技有限公司 | Welding gun tracking swing method and system based on crawling machine |
| CN109352178A (en) * | 2018-11-27 | 2019-02-19 | 武汉创恒世纪激光科技有限公司 | Laser oscillating welding system |
| CN109317881A (en) * | 2018-11-28 | 2019-02-12 | 合肥常青机械股份有限公司 | A kind of mechanical contact weld joint tracking detection system and method |
| CN113210808A (en) * | 2020-01-17 | 2021-08-06 | 天津大学 | Electric arc additive manufacturing method of magnesium alloy |
| CN113210807A (en) * | 2020-01-17 | 2021-08-06 | 天津大学 | Method for improving wettability of magnesium alloy in electric arc additive manufacturing |
| CN111331248A (en) * | 2020-02-22 | 2020-06-26 | 武汉新耐视智能科技有限责任公司 | Laser stirring welding device with touch tracking function |
| CN111331248B (en) * | 2020-02-22 | 2022-03-29 | 武汉新耐视智能科技有限责任公司 | Laser stirring welding device with touch tracking function |
| CN114378414A (en) * | 2022-01-14 | 2022-04-22 | 一重集团大连核电石化有限公司 | Compact TIG welding trolley with double-arc voltage tracking shaft |
| CN114378414B (en) * | 2022-01-14 | 2024-02-06 | 一重集团大连核电石化有限公司 | Compact TIG welding trolley with double arc voltage tracking shafts |
| CN117324733A (en) * | 2023-10-26 | 2024-01-02 | 广东福维德焊接股份有限公司 | Deep fusion welding gun structure |
| CN117324733B (en) * | 2023-10-26 | 2024-05-24 | 广东福维德焊接股份有限公司 | Deep fusion welding gun structure |
| CN117506139A (en) * | 2024-01-04 | 2024-02-06 | 武汉瑞普汽车部件有限公司 | Welding device and method for vehicle door inner plate assembly |
| CN117506139B (en) * | 2024-01-04 | 2024-03-29 | 武汉瑞普汽车部件有限公司 | Welding device and method for vehicle door inner plate assembly |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105171198A (en) | Mechanical contact type weld joint tracker with self-adaptive swing amplitude | |
| CN102615390B (en) | Swing arc-based multi-layer and multi-channel weld tracking system and identification method thereof | |
| CN201807842U (en) | Automatically-welded adaptive device and adaptive control device | |
| CN104588838A (en) | Automatic tracking control and online correction system with welding gun and control method thereof | |
| CN103990893A (en) | Mechanical welding seam tracking device | |
| CN103762522A (en) | Line searching device and self line searching control method of high-voltage circuit patrol robot | |
| JP6052798B2 (en) | Abnormality monitoring device for automatic welding machine | |
| CN113909639A (en) | Welding line deflection automatic compensation submerged-arc welding trolley and method based on visual detection | |
| US9375808B2 (en) | Welding and cutting laser displacement compensation system | |
| CN102423828B (en) | Automatic-welding special repairing machine for train coupler knuckle | |
| CN108788394A (en) | A kind of laser scanning weld tracker and its tracking | |
| CN105312731A (en) | Delivery side displacement sensing based automatic tracking method for inner weld seam of spiral steel pipe | |
| CN208246014U (en) | A kind of argon arc welding robot | |
| KR20090061746A (en) | Automatic welding robot for submerged arc welding | |
| CN203830884U (en) | Mechanical welded joint tracking device | |
| KR20150109856A (en) | Plasma Cutting Machine | |
| KR101345013B1 (en) | Submerged arc welding apparatus and one-side welding apparatus | |
| CN106077905A (en) | Container cross joint Intelligent welding equipment with weld seam recognition and technique | |
| KR101470736B1 (en) | Automatic Welding Device of Steel Pipe Used Inclined Plane Angle of Welding Area | |
| KR20160037322A (en) | Welding servo carriage | |
| CN205834452U (en) | A kind of container general assembly cross joint Intelligent welding equipment of band weld seam recognition | |
| KR101698340B1 (en) | Orbital welding device for welding pipe with easy angle-adjustment of torch | |
| CN204842534U (en) | Wave transformation automatic straightening executor | |
| CN206662645U (en) | Automatic surfacing device applied to medium speed mill | |
| CN207030561U (en) | It is a kind of to plaiting tape edge automatic control deviation correcting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151223 |
|
| RJ01 | Rejection of invention patent application after publication |