CN105290691A - Double-stand-column positioner mechanism for hopper welding and control system of double-stand-column positioner mechanism - Google Patents
Double-stand-column positioner mechanism for hopper welding and control system of double-stand-column positioner mechanism Download PDFInfo
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- CN105290691A CN105290691A CN201510798854.3A CN201510798854A CN105290691A CN 105290691 A CN105290691 A CN 105290691A CN 201510798854 A CN201510798854 A CN 201510798854A CN 105290691 A CN105290691 A CN 105290691A
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- Manufacture Of Motors, Generators (AREA)
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Abstract
The invention relates to a special auxiliary welding device, in particular to a double-stand-column positioner mechanism for hopper welding and a control system of the double-stand-column positioner mechanism. The double-stand-column positioner mechanism comprises stand columns, a driving shaft, a driven shaft, a transmission, a drive motor and a welding workpiece clamping mechanism. The stand columns are composed of the first stand column and the second stand column which are arranged in parallel. The diving shaft is horizontally erected at the top end of the first stand column. The driven shaft is horizontally erected at the top end of the second stand column. The two sides of the welding workpiece clamping mechanism are movably connected with the driving shaft and the driven shaft respectively. The driving shaft is connected with the transmission as well. The transmission is connected with the drive motor. According to the double-stand-column positioner mechanism, the closed-loop stepping motor is adopted to drive a positioner to move, a photoelectric sensor collects the real-time angle of the positioner in the movement process, the requirement of deflection at any angle is met, the positioner can be kept at the current position after being braked, and thus the movement accuracy and locating accuracy of the positioner are improved greatly.
Description
Technical field
The present invention relates to a kind of special welding auxiliary equipment, be specifically related to a kind of two column positioner mechanism for hopper welding and control system thereof.
Background technology
Positioner is special welding auxiliary equipment, is applicable to the welding displacement of revolution work, to obtain desirable processing stations and welding processing speed.It can support the use with manipulator, welding machine, composition automatic welding center, also can be used for workpiece displacement during manual welding.Two column list swinging positioner is mainly used in evolution motion when rectangle structure part welds.
The anglec of rotation of traditional two column list swinging positioners can not regulate arbitrarily within the scope of 360 °, and its kinematic accuracy is only determined by the assembly precision of positioner frame for movement; Welded part is after displacement, and it needs each plane of displacement may be on different horizontal planes, requires higher to the exercise performance of automatic welding device, and is unfavorable for the speed of welding improving automatic welding device.
Summary of the invention
The object of the invention is to overcome deficiency of the prior art and a kind of two column positioner mechanism for hopper welding and control system thereof are provided, can not only arbitrarily angledly conjugate, positioner keep current location motionless after can also be made to brake, thus substantially increase kinematic accuracy and the positioning precision of positioner, reduce the complexity of automatic welder(welding machine).
The object of the present invention is achieved like this:
A kind of two column positioner mechanisms for hopper welding, comprise column, driving shaft, driven shaft, gearbox, drive motors and welding work pieces to be installed mechanism, described column is made up of column one and column two, described column one and column two are arranged in parallel, described driving shaft level frame is located at column one top, described driven shaft level frame is located at column two top, the described welding work pieces mechanism both sides that are installed are flexibly connected with driving shaft and driven shaft respectively, described driving shaft is connected with gearbox simultaneously, and described gearbox is connected with drive motors.
Based on the above, one end of described driving shaft is provided with keyway, and the other end is square cylinder structure, and wherein one end of described driven shaft is also square cylinder structure, and described driving shaft is fixedly connected with gearbox with the end of keyway.
Based on the above, described driving shaft is fixed by bearing block one and bearing block two, and described driven shaft is fixed by bearing block three and bearing block four.
Based on the above, described driving shaft and driven shaft are all set with by bearing with spherical outside surface and bearing block.
Based on the above, described driving shaft, driven shaft and welding work pieces are installed between mechanism and are all connected by fixed tray 4.
Based on the above, described fixed tray is provided with welding work pieces can be regulated to be installed the fixing hole of mechanism's center of gravity, the be installed two sides of mechanism of described welding work pieces are mounted on fixing hole corresponding to two fixed trays, the centre of described fixed tray is provided with the through hole for docking with driving shaft or driven shaft, the position of described driving shaft, driven shaft and through hole grafting is provided with end cap, and described end cap is bolted.
Based on the above, the described welding work pieces whole mechanism that is installed is a funnel, and comprise oral area framework, lateral frame and under(-)chassis, described oral area framework, lateral frame and under(-)chassis all have angle steel to form;
Also comprise the link plate being arranged symmetrically in oral area framework both sides, described link plate is provided with mount hole.
Based on the above, for leaving gap between described link plate and lateral frame.
As above for two column list swinging positioner mechanism control systems for hopper welding,
This control system comprises man-machine interaction unit, central control unit, servo drive unit, stepper motor and encoder, described man-machine interaction unit and central control unit control connection, by touch-screen for operating personnel provide the man-machine interface controlling positioner motion; Described central control unit, for gathering data and the control instruction of man-machine interaction unit, drives servo drive unit, and the input signal of capturing and coding device, realizes closed-loop control simultaneously; Described stepper motor provides power; Described encoder detects the position signalling of driving shaft by correlation photoelectric sensor.
Based on the above, described correlation photoelectric sensor is arranged on driving shaft by a mounting frame for sensor.
The design adopts closed loop driving stepper motor positioner to move, photoelectric sensor gathers the real-time angular of positioner motion, arbitrarily angled displacement can not only need, and keep current location motionless after positioner can be made to brake, thus greatly improve kinematic accuracy and the positioning precision of positioner; In the design, to the structural member of multiple welding processing planes with common inscribed circle, special clamping mechanism is adopted to be installed, ensure that its welding plane is after becoming by positioner, all in same level, such automatic welding device only needs to realize the welding campaign in same level, without the need to considering the motion of vertical direction, reduces the complexity of automatic welding device; In the design, when workpiece is ferromagnetic material, adopts electromagnet mechanism for quick fixing to carry out fastening, thus decrease the clamping time of workpiece, improve operating efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation of entirety of the present invention.
Fig. 2 is the structural representation of driving shaft.
Fig. 3 is the structural representation of driven shaft.
Fig. 4 is the structural representation in fixed tray front.
Fig. 5 is the structural representation of fixed tray reverse side.
Fig. 6 is the assembly structure schematic diagram of fixed tray and driving shaft or driven shaft.
Fig. 7 is the assembling exploded view of fixed tray and driving shaft or driven shaft.
Fig. 8 is the contour structures schematic diagram of hopper.
Fig. 9 is that welding work pieces is installed the structural representation of mechanism.
Figure 10 is that welding work pieces is installed the design sketch that is installed of mechanism.
Figure 11 is the structural representation of rotating center.
Figure 12 is control system general structure block diagram.
Figure 13 is the operation interface of man-machine interaction.
The structural representation of Figure 14 correlation photoelectric sensor.
Figure 15 control system circuit block diagram.
Detailed description of the invention
Below in conjunction with specific embodiment, the invention will be further described.
A kind of two column list swinging positioner mechanisms for hopper welding, comprise column 1, driving shaft 2, driven shaft 3, gearbox 4, drive motors 5 and welding work pieces are installed mechanism 8, described column 1 is made up of column 1 and column 27, described column 1 and column 27 are arranged in parallel, described driving shaft 2 level frame is located at column 1 top, described driven shaft 2 level frame is located at column 27 top, described welding work pieces mechanism 8 both sides that are installed are flexibly connected with driving shaft 2 and driven shaft 3 respectively, described driving shaft 2 is connected with gearbox 4 simultaneously, described gearbox 4 is connected with drive motors 5.
Column 1 wherein and column 27 adopt the pillar construction of trapezium structure, add the strength that the weight capacity of column and workpiece overturn generation back and forth.In addition, column is hollow structure, and as shown in Figure 1, the width of the column of column ensure that the area with earth surface to the mode of a middle employing vertical column and two supporting upright column structures, increases stability.
As shown in Fig. 1,2,3,4,5,6,7, one end of described driving shaft 2 is provided with keyway 9, is connected by key with gearbox 4, is connected by a flat key, can be good at the synchronous axial system realizing driving shaft 2 and gearbox 4.The other end is square cylinder structure, and wherein one end of described driven shaft 3 is also square cylinder structure.The through hole 16 at the center of fixed tray 14 is also square structure simultaneously, identical with the end construction of driven shaft 3 with driving shaft 2 like this, form fixing suit, then end cap 17 is mounted cover through hole 16 position at fixed tray 14, then by bolt, cover plate 17 and fixed tray 14, turning cylinder are fixed together, overall stability can be ensured, and dismounting and maintenance are all very convenient, especially can not rotate the slippage of axle and fixed tray 14 on the direction of circumference, simultaneously for transmitting the moment of torsion needed for motion, extend the life-span used.
Described driving shaft 2 is fixed by bearing block 1 and bearing block 2 11, and described driven shaft 3 is fixed by bearing block 3 12 and bearing block 4 13.Described driving shaft 2 and driven shaft 3 are all set with by bearing with spherical outside surface and bearing block.Described driving shaft 2, driven shaft 3 and welding work pieces are installed between mechanism 8 and are all connected by fixed tray 14.Described column 1 and the upper surface of column 27 are horizontal plane and can ensure being horizontally disposed with of all bearing blocks like this, ensure its stability.Meanwhile, driving shaft 2 and driven shaft 3 all adopt two bearing blocks, can ensure its intensity on the one hand, can keep the stability of driving shaft 2 and driven shaft 3 on the other hand.If adopt a bearing block, so driving shaft or driven shaft easily produce the rotation of level at the end face of column, thus damage bearing block, because welding work pieces is installed, mechanism 8 needs rotating along the direction of driving shaft or driven shaft circumference, therefore, if the unstable words of bearing block, so because welding work pieces is installed after mechanism 8 installs hopper, the weight of himself can be very large, like this will when rotation, shearing force will be produced, so easy damage driving shaft or driven shaft on the direction perpendicular to driving shaft and driven shaft.
In addition, the driving shaft of two column list swinging positioner and driven shaft are the centers of gyration, and its Main Function transmits moment of torsion needed for gyration and provides support welded part and the power needed for corresponding clamping mechanism.In the design, the fixing employing bearing with spherical outside surface of driving shaft and driven shaft, because bearing with spherical outside surface has self-aligning function, so the axiality needed for ensureing can reduce the precision of installation when fixing diaxon while, and diaxon agent structure can adopt the form of optical axis.
As Fig. 4, shown in 5, described fixed tray 14 is provided with welding work pieces can be regulated to be installed the fixing hole 15 of mechanism 8 center of gravity, the be installed two sides of mechanism 8 of described welding work pieces are mounted on the fixing hole 15 of two fixed tray 14 correspondences, described fixing hole 15 is oval hole, oval hole itself has certain width, can finely tune, adopt circular hole then can not finely tune, because the gap ratio between adjacent hole is larger, therefore be not easy to finely tune, oval hole just in time overcomes such shortcoming, hole along ellipse just can be finely tuned, then fixing.In addition, the layout in oval hole is also random, but must be parallel to each other, be meant to oval empty center line be parallel to each other, contribute to like this regulating, as shown in Figure 4,5, oval hole is all parallel to each other, orthogonal slotted eye can not be there is, be not easy to like this regulate, especially finely tune.
Based on the above, described welding work pieces mechanism 8 entirety that is installed is a funnel, and comprise oral area framework 81, lateral frame 82 and under(-)chassis 83, described oral area framework 81, lateral frame 82 and under(-)chassis 83 all have angle steel to form; Also comprise the link plate 18 being arranged symmetrically in oral area framework 81 both sides, described link plate 18 is provided with mount hole 19.For leaving gap 20 between described link plate 18 and lateral frame 82.The funnel arrived involved in the present invention is just wherein a kind of, but all needs to find center line, and such workpiece, when rotation, just because of not having not on centerline, and can not produce the result of skew.Such as the workpiece of comparison rule, if the workpiece such as cuboid, square, cylinder are then easily find center line, but for irregular, the structure of such as funnel is just not easy to find center line, funnel as shown in Figure 8, out-of-shape, just needs when rotation to find center line accurately, otherwise is not easy easily to produce sideslip when rotating or rotate.
The center line of this structure search the method that can adopt as indicated at 11, the method of inscribed circle is adopted to carry out the searching at center, funnel is carried out cross section placement, as shown in figure 11, be a trapezium structure, draw a circle, this circle is simultaneously tangent with trapezoidal top, two sides, the center of circle of the circle drawn like this is exactly the place of center line, and that just can very gently send finds center line, and then carries out next step installation.
As shown in Figure 9, to be installed mechanism according to the welding work pieces of the hopper after finding center exactly, entirety is a funnel structure, the welding work pieces that just in time link plate 18 is arranged on bucket-shaped structure is installed the both sides of mechanism, be positioned at immediate vicinity, then mount hole 19 is set on link plate 18, is fixedly connected with the corresponding ellipse on fixed tray 14.Then will need being buckled in welding work pieces according to the pattern of Figure 10 and being installed in mechanism of the steel plate of welding, just can realize welding when rotation.Conveniently link plate 18 and welding work pieces are installed the installation of the steel plate between mechanism, reserved certain hole 20 between link plate 18 and lateral frame 82.
A kind of two column list swinging positioner mechanism control systems for hopper welding, this control system comprises man-machine interaction unit, central control unit, servo drive unit, stepper motor and encoder, described man-machine interaction unit and central control unit control connection, by touch-screen for operating personnel provide the man-machine interface controlling positioner motion; Described central control unit, for gathering data and the control instruction of man-machine interaction unit, drives servo drive unit, and the input signal of capturing and coding device, realizes closed-loop control simultaneously; Described stepper motor provides power; Described encoder detects the position signalling of driving shaft by correlation photoelectric sensor.
Based on the above, described correlation photoelectric sensor is arranged on driving shaft by a mounting frame for sensor.
After positioner moves to desired position, its motion state will remain unchanged, so select gearbox---the turbine and worm gearbox with auto-lock function herein.In order to reduce the complexity of system, reducing the number of parts, improving the reliability of system, select the turbine and worm gearbox of right angle hollow herein, this gearbox and driving shaft by keyway until be connected, as shown in Figure 9.The gear ratio of gearbox according to the demand of running speed and required torque, can select the multiple gear ratio between 1:3 ~ 1:180.
Power source selection closed loop stepper motor required herein, namely one end of the output shaft of this stepper motor is connected with encoder, can export corresponding position signalling.
positioner Design of Motion Control System
Positioner kinetic control system is used for the rotation shifting movement accurately controlling positioner, and provides man-machine interface for operating personnel, is the required all angles rotating displacement of welded part setting.Positioner kinetic control system general structure as shown in figure 12.
1, man-machine interaction unit design
Man-machine interaction unit for operating personnel provide control positioner motion man-machine interface, its function comprises: the anglec of rotation etc. of start shifting movement, stop shifting movement, set all angles, the in real time current positioner of display needed for workpiece displacement, adopts the touch-screen commonly used in industrial production to realize this function herein.Touch-screen display window design start, stop and angle input function.
As shown in figure 13, displacement angle input frame rotates for inputting the angle value that shifting movement wants in-position point successively, whole rotary motion is 0 ~ 360 degree, operating personnel can as required in displacement angle input frame 1 ~ 8, increase button ▲ and angle minimizing button ▼ by angle, setting rotates the angle of displacement successively.If the location point of required change is less than 8, then the desirable system default value of unwanted displacement angle 0 degree.System, when work, reads the angle-data of required displacement successively from displacement angle 1, and when reading first 0 angle, system thinks that the location point of required displacement is so far, and deflection angle degrees of data thereafter no longer reads.Current angular display box be used for show positioner motion real-time angular position.After pressing " startup " button, central control unit just reads the angle-data of input successively, then just starts to move as requested.When positioner rotates time, press " stopping " button, positioner moves to current required in-position point just stop motion immediately.When positioner preparation time, if be in non-initial position, can press " reset " button, positioner just automatically returns to initial position.
2, Design of Central Control Unit
Central control unit, for gathering data and the control instruction of man-machine interaction unit, then drives servo drive unit, control step motor movement, thus drives positioner driving shaft to rotate.Meanwhile, central control unit adopts the input signal of encoder, according to the gear ratio of gearbox, calculates the angle that driving shaft is current, and compared with the input angle data of man-machine interaction unit, thus realize accurate closed-loop control.Positioner working environment dust is more, and the electromagnetic interference produced during welding is comparatively strong, so select PLC as control axis herein.
3, other motion control units design
The kinetic control system of positioner, except central control unit and man-machine interaction unit, also has the stepper motor relevant to power supply, stepper motor driver and position to feed back encoder used.
Stepper motor will rotate according to the actual conditions of load, and stepper motor driver then needs to rotate according to stepper motor.Because practical working situation is different, the kind of alternative stepper motor and respective actuator is more, repeats no more herein.Encoder then needs selection increment type, so that detect the position signalling of driving shaft in real time.
In addition, in order to make positioner Rapid reset, needing in positioner driving shaft (or driven shaft) side, correlation photoelectric sensor being installed, as shown in figure 14.
Two correlation photoelectric sensor being arranged on driving shaft axle center angle by mounting frame for sensor is the position of 45 °, can improve the positioning precision of positioner at initial position.When positioner is in initial position, two equal conductings of sensor, transmit a signal to central control unit, carry out respective handling by central control unit.
4, quick-clamping design
When the material of welded part is ferromagnetic substance, in order to improve the clamping speed of welded part, the mode of magnechuck can be adopted to fix workpiece.
When welded part is positioned over after on clamping mechanism, press magnechuck and control button, just magnechuck can be made to obtain electric, thus workpiece is tightly fixed together with clamping mechanism.In order to prevent magnechuck in the process used, because of unexpected power-off, and cause workpiece and clamping mechanism to come off, the power supply of magnechuck will adopt ups power to power separately.
5, kinetic control system circuit design
Positioner kinetic control system circuit is used to control positioner and carries out precise rotational motion according to the requirement of operating personnel, and its circuit structure as shown in figure 15.
Exchanges data is carried out by RS232 bus: PLC reads displacement angle and the control information of touch-screen, after treatment, produces control signal by PLC, is sent to servo-driver, and Driving Stepping Motor moves between touch-screen and PLC; Meanwhile, PLC reads the code device signal be connected with stepping motor rotor, and after being processed, converts the actual position information of positioner to, send touch-screen to show.After " reset " key is pressed, PLC drives positioner motion, and after it detects the position signalling that position-detection sensor sends, stopped by positioner to current location, this position is the initial position of positioner.
If this positioner is used in automatic production line, then can using the real-time monitoring of touch screen portion as working state of system, and PLC is directly connected with host computer by industrial bus, receive the instruction that host computer sends, and positioner current motion state can be sent to host computer, by the unified process of host computer.
The Curve guide impeller of this positioner, is not only modern industrial production and brings facility, and also mitigate the work load of operating personnel, will create the more wealth of society.
Claims (10)
1. the two column list swinging positioner mechanisms for hopper welding, it is characterized in that: comprise column (1), driving shaft (2), driven shaft (3), gearbox (4), drive motors (5) and welding work pieces are installed mechanism (8), described column (1) is made up of column one (6) and column two (7), described column one (6) and column two (7) are arranged in parallel, described driving shaft (2) level frame is located at column one (6) top, described driven shaft (2) level frame is located at column two (7) top, described welding work pieces mechanism (8) both sides that are installed are flexibly connected with driving shaft (2) and driven shaft (3) respectively, described driving shaft (2) is connected with gearbox (4) simultaneously, described gearbox (4) is connected with drive motors (5).
2. a kind of two column list swinging positioner mechanisms for hopper welding according to claim 1, it is characterized in that: one end of described driving shaft (2) is provided with keyway (9), the other end is square cylinder structure, wherein one end of described driven shaft (3) is also square cylinder structure, and described driving shaft (2) is fixedly connected with gearbox (4) with the end of keyway (9).
3. a kind of two column list swinging positioner mechanisms for hopper welding according to claim 1, it is characterized in that: described driving shaft (2) is fixed by bearing block one (10) and bearing block two (11), described driven shaft (3) is fixed by bearing block three (12) and bearing block four (13).
4. a kind of two column list swinging positioner mechanisms for hopper welding according to claim 3, is characterized in that: described driving shaft (2) and driven shaft (3) are all set with by bearing with spherical outside surface and bearing block.
5. a kind of two column list swinging positioner mechanisms for hopper welding according to claim 1, is characterized in that: described driving shaft (2), driven shaft (3) and welding work pieces are installed between mechanism (8) and are all connected by fixed tray (14).
6. a kind of two column list swinging positioner mechanisms for hopper welding according to claim 5, it is characterized in that: described fixed tray (14) is provided with welding work pieces can be regulated to be installed the fixing hole (15) of mechanism (8) center of gravity, the be installed two sides of mechanism (8) of described welding work pieces are mounted on fixing hole (15) corresponding to two fixed trays (14), the centre of described fixed tray (14) is provided with the through hole (16) for docking with driving shaft (2) or driven shaft (3), described driving shaft (2), driven shaft (3) is provided with end cap (17) with the position of through hole (16) grafting, described end cap (17) is bolted.
7. a kind of two column list swinging positioner mechanisms for hopper welding according to claim 6, it is characterized in that: described welding work pieces mechanism (8) entirety that is installed is a funnel, comprise oral area framework (81), lateral frame (82) and under(-)chassis (83), described oral area framework (81), lateral frame (82) and under(-)chassis (83) all have angle steel to form;
Also comprise the link plate (18) being arranged symmetrically in oral area framework (81) both sides, described link plate (18) is provided with mount hole (19).
8. a kind of two column list swinging positioner mechanisms for hopper welding according to claim 7, is characterized in that: for leaving gap (20) between described link plate (18) and lateral frame (82).
9. the two column list swinging positioner mechanism control systems for hopper welding as claimed in claim 1, it is characterized in that: this control system comprises man-machine interaction unit, central control unit, servo drive unit, stepper motor and encoder, described man-machine interaction unit and central control unit control connection, by touch-screen for operating personnel provide the man-machine interface controlling positioner motion; Described central control unit, for gathering data and the control instruction of man-machine interaction unit, drives servo drive unit, and the input signal of capturing and coding device, realizes closed-loop control simultaneously; Described stepper motor provides power; Described encoder detects the position signalling of driving shaft by correlation photoelectric sensor.
10. a kind of two column list swinging positioner mechanism control systems for hopper welding according to claim 9, is characterized in that: described correlation photoelectric sensor is arranged on driving shaft by a mounting frame for sensor.
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| CN105750669A (en) * | 2016-04-29 | 2016-07-13 | 合肥工业大学 | Surface electrolytic machining device for curved half tube |
| CN105945494A (en) * | 2016-06-08 | 2016-09-21 | 山东希斯新能源发展有限公司 | Large box-type steel structure welding positioner and use method thereof |
| CN106272553A (en) * | 2016-08-31 | 2017-01-04 | 上海煜鹏通讯电子股份有限公司 | The most complete a kind of compatible robot arm jig base and production method thereof |
| CN106624376A (en) * | 2016-11-30 | 2017-05-10 | 湖州佳创自动化科技有限公司 | Fixing equipment for pipe material laser machining device |
| CN109278005A (en) * | 2018-08-09 | 2019-01-29 | 平高集团有限公司 | A kind of Workpiece tilting device |
| CN109278005B (en) * | 2018-08-09 | 2021-03-09 | 平高集团有限公司 | Workpiece turnover device |
| CN109434257A (en) * | 2018-09-30 | 2019-03-08 | 广州瑞松北斗汽车装备有限公司 | It is detected the localization method and system of workpiece |
| CN109434257B (en) * | 2018-09-30 | 2023-10-31 | 广州瑞松北斗汽车装备有限公司 | Method and system for positioning detected workpiece |
| CN109342509A (en) * | 2018-11-23 | 2019-02-15 | 海宁红狮宝盛科技有限公司 | Contact resistance test machine and its method |
| CN112008308A (en) * | 2020-09-17 | 2020-12-01 | 广东正业科技股份有限公司 | Flexible welding system |
| CN114193063A (en) * | 2021-12-28 | 2022-03-18 | 江苏炳凯富汽车零部件制造有限公司 | Car air conditioner condenser assembly weldment work platform of multi-angle upset |
| CN114918514A (en) * | 2022-06-08 | 2022-08-19 | 河北业鑫金属制品有限公司 | Cable bridge forming and processing device and processing method |
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