CN105689879A - Spot welding tongs used cooperatively with robot intermediate-frequency resistance welding control cabinet - Google Patents
Spot welding tongs used cooperatively with robot intermediate-frequency resistance welding control cabinet Download PDFInfo
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- CN105689879A CN105689879A CN201610175827.5A CN201610175827A CN105689879A CN 105689879 A CN105689879 A CN 105689879A CN 201610175827 A CN201610175827 A CN 201610175827A CN 105689879 A CN105689879 A CN 105689879A
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Classifications
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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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/24—Electric supply or control circuits therefor
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/24—Electric supply or control circuits therefor
- B23K11/241—Electric supplies
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/24—Electric supply or control circuits therefor
- B23K11/25—Monitoring devices
- B23K11/252—Monitoring devices using digital means
- B23K11/257—Monitoring devices using digital means the measured parameter being an electrical current
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/31—Electrode holders and actuating devices therefor
- B23K11/314—Spot welding guns, e.g. mounted on robots
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Resistance Welding (AREA)
Abstract
The invention relates to spot welding tongs used cooperatively with a robot intermediate-frequency resistance welding control cabinet. The spot welding tongs comprise a second electrode arm (31), an electrode cap (32), a first electrode arm (33), two welding tong arms (34), a control handle (35), a cylinder (36) and a welding tong hanger (37), wherein the cylinder (36) is connected between the two welding tong arms (34), and the control handle (35) is used for controlling opening of the cylinder (36); the first electrode arm (33) is arranged at the common connection end of the two welding tong arms (34), and the electrode cap (32) is located on the first electrode arm (33); and the second electrode arm (31) is also connected to the common connection end of the two welding tong arms (34), and a limit stopping block (38) of a fixture limits the movement range and stroke of the second electrode arm (31).
Description
Technical field
The present patent application is on 08 04th, 2014 applying date, and application number is: 201410379115.6, and name is called the divisional application of the application for a patent for invention of " a kind of robot intermediate frequency resistance welding switch board "。The present invention relates to a kind of with robot intermediate frequency resistance welding switch board with the use of spot-welding welding tongs。
Background technology
Along with China joined WTO, China's expanding economy and the world integrate with, and the boundary of domestic compentition and international competition will be more and more fuzzyyer, and the mode of production and the management mode in transformation past are extremely urgent。Also it is such at welding field, adopts automatic welding to improve productivity ratio and product quality has been trend of the times。It is so in large enterprise, is also such to medium-sized and small enterprises。Adopt robot to carry out weld job and can be greatly enhanced productivity effect and business efficiency；On the other hand, the shifting speed of robot is fast, up to 3m/s, even faster。Therefore, it is however generally that, adopt robot welding than can improve 2～4 times by artificial welding efficiency equally, welding quality is excellent and stable。The welding jig of spot welding robot, it is necessary to have employed integration soldering turret, welding transformer is contained in after soldering turret, the miniaturization so transformator must be tried one's best。
Summary of the invention
The present invention devise a kind of with robot intermediate frequency resistance welding switch board with the use of spot-welding welding tongs, its solve the technical problem that do not have currently on the market a special and robot welding with the use of intermediate frequency resistance welding switch board。
In order to solve the technical problem of above-mentioned existence, present invention employs below scheme:
A kind of with robot intermediate frequency resistance welding switch board with the use of spot-welding welding tongs, it is characterized in that: inside the switch board of robot intermediate frequency resistance welding switch board, be provided with welding controller (1), 1000HZ induction coil (2), main power source chopper (3) and 1000HZ monitor (4), welding controller (1) is provided with mean for welding controller main power source secondary end (5) that welding gun welding transformer main power source uses, and is provided with ground connection bronze medal (6) in switch board cabinet；Being provided with alarm lamp (7), main power source rotary handle of circuit breaker (8), RS232 PORT COM (10), flat recess band key door lock (11) and rotary handle door lock (12) on the cabinet door of switch board front, main power source rotary handle of circuit breaker (8) controls main power source chopper (3)；It is provided with cable fixed support (15) in middle, the switch board back side, the switch board back side is positioned at cable fixed support (15) and is connected with welding controller dissipating cover (17), and the switch board back side is positioned at that cable fixed support (15) is arranged over welding gun signal cable socket (14), cable integrator (13), is externally introduced 24VDC power supply cable-through hole (20), safety return circuit emergent stop signal cable-through hole (19), standby locking cable-through hole (16) and welding gun feed cable locked coil (18)；It is also connected with suspension ring (9) at switch board end face；1000HZ monitor (4) includes current monitor；Current transformer；Current monitor summation current transformer constitutes a residual current protective unit；Auxiliary reclay, it plays control on-off action when welding gun temperature changes；X1 terminal, is signally attached to welding gun socket by this terminal by the KSR constant current detection signal on controller, UIR self adaptation welding signal；XP terminal, draws 24VDC power supply by this terminal；F1 chopper, it controls for conventional 24V on/off, F2 chopper, and it controls for safe 24V on/off；V2 terminal, relay generation action and welding gun signal intensity can be sent to outside and V1 terminal by this terminal, 24V power supply is accessed from outside by this terminal, it is characterised in that: spot-welding welding tongs includes the second horn (31), electrode cap (32), the first horn (33), two welding tong arm (34), joystick (35), cylinder (36) and hanger for soldering pliers (37)；Being connected to cylinder (36) between two welding tong arm (34), joystick (35) is used for controlling the unlatching of cylinder (36)；Two links welding tong arm (34) common are provided with the first horn (33), and electrode cap (32) is positioned on the first horn (33)；Second horn (31) is also connected on two welding tong arm (34) common connection ends, and the spacing stopper (38) of fixture limits scope and the stroke of the second horn (31) movement。
A kind of robot intermediate frequency resistance welding switch board, it is characterized in that: inside switch board, be provided with welding controller (1), 1000HZ induction coil (2), main power source chopper (3) and 1000HZ monitor (4), welding controller (1) is provided with mean for welding controller main power source secondary end (5) that welding gun welding transformer main power source uses, and is provided with ground connection bronze medal (6) in switch board cabinet；Being provided with alarm lamp (7), main power source rotary handle of circuit breaker (8), RS232 PORT COM (10), flat recess band key door lock (11) and rotary handle door lock (12) on the cabinet door of switch board front, main power source rotary handle of circuit breaker (8) controls main power source chopper (3)；It is provided with cable fixed support (15) in middle, the switch board back side, the switch board back side is positioned at cable fixed support (15) and is connected with welding controller dissipating cover (17), and the switch board back side is positioned at that cable fixed support (15) is arranged over welding gun signal cable socket (14), cable integrator (13), is externally introduced 24VDC power supply cable-through hole (20), safety return circuit emergent stop signal cable-through hole (19), standby locking cable-through hole (16) and welding gun feed cable locked coil (18)；It is also connected with suspension ring (9) at switch board end face。
Further, mains power cable was locked coil (11) by mains power cable and was entered switch board, cable outer layer sheath strip off 4 is divided into tetra-strands of wires of L1, L2, L3 and PE, mains power cable L1, L2, L3 wire, respectively through V-type insulated sleeve on annular cold pressure lines ose bag, are installed insulated terminal cover after being coupled with on the terminal of main circuit breaker upper end and compressing by four strands of wires；PE wire is received on cabinet inner top ground connection bronze medal (6)。
Further, welding gun feed cable one end connects welding gun, the welding gun feed cable other end was locked coil (18) by welding gun feed cable and was entered switch board, welding gun feed cable is by tri-strands of wires of outer protective sleeve strip off U, V and PE, three strands of wires compress and put V-type insulated sleeve by pin type cold pressure lines nose, welding gun feed cable U1, V1 wire being received U1, V1 of welding controller main power source secondary end (5) terminal-X4 end upper and compress, welding gun feed cable PE line is received on the PE of welding controller main power source secondary end (5) terminal-X4 end and compresses。
Further, 1000HZ monitor (4) includes current monitor；Current transformer；Current monitor summation current transformer constitutes a residual current protective unit；Auxiliary reclay, it plays control on-off action when welding gun temperature changes；X1 terminal, is signally attached to welding gun socket by this terminal by KSR, the UIR on controller；XP terminal, draws 24VDC power supply by this terminal；F1 chopper, it controls for conventional 24V on/off, F2 chopper, and it controls for safe 24V on/off；V2 terminal, relay generation action and welding gun signal intensity can be sent to outside and V1 terminal by this terminal, access 24V power supply from outside by this terminal。
This robot intermediate frequency resistance welding switch board has the advantages that
Robot welding switch board of the present invention, can well be applied to robot welding, can not only be monitored by welding quality, also have stable welding technological properties and the extensibility of function, multiple communication modes, it is possible to well tackle various resistance spot welding machine people。
Accompanying drawing explanation
Fig. 1: the front view of robot of the present invention intermediate frequency resistance welding switch board；
Fig. 2: the internal structure schematic diagram of robot of the present invention intermediate frequency resistance welding switch board；
Fig. 3: the rearview of robot of the present invention intermediate frequency resistance welding switch board；
Fig. 4: the robot of the present invention matching used spot-welding welding tongs structural representation of intermediate frequency resistance welding switch board；
Fig. 5: the matching used non-solder area protection structural scheme of mechanism of robot of the present invention intermediate frequency resistance welding switch board；
The left view of Fig. 6: Fig. 5；
Fig. 7: welding controller welding controller schematic diagram in robot of the present invention intermediate frequency resistance welding switch board。
Description of reference numerals:
1 welding controller；2 1000HZ induction coils；3 main power source choppers；4 1000HZ monitors；5 welding controller main power source secondary ends；6 ground connection bronze medals；7 alarm lamps；8 main power source rotary handle of circuit breakers；9 suspension ring；10 RS232 PORT COM；11 flat recess band key door locks；12 rotary handle door locks；13 cable integrators；14 welding gun signal cable sockets；15 cable fixed supports；16 standby locking cable-through holes；17 welding controller dissipating covers；18 welding gun feed cables locked coil；19 safety return circuit emergent stop signal cable-through holes；20 are externally introduced 24VDC power supply cable-through hole；
31 second horns；32 electrode caps；33 first horns；34 welding tong arms；35 joysticks；36 cylinders；37 hanger for soldering pliers；38 spacing stoppers；
41 protective baffle plates；42 first rotating arms；43 connect axle；44 second turning arms；45 drive links；46 cylinders；47 pedestals；48 impeller-hubs。
Detailed description of the invention
Below in conjunction with Fig. 1 to Fig. 7, the present invention will be further described:
As shown in Figure 1, a kind of robot intermediate frequency resistance welding switch board, welding controller 1,1000HZ induction coil 2, main power source chopper 3 and 1000HZ monitor 4 it is provided with inside switch board, welding controller 1 is provided with mean for the welding controller main power source secondary end 5 that welding gun welding transformer main power source uses, and is provided with ground connection bronze medal 6 in switch board cabinet；Being provided with alarm lamp 7, main power source rotary handle of circuit breaker 8, RS232 PORT COM 10, flat recess band key door lock 11 and rotary handle door lock 12 on the cabinet door of switch board front, main power source rotary handle of circuit breaker 8 controls main power source chopper 3；It is provided with cable fixed support 15 in middle, the switch board back side, the switch board back side is positioned at cable fixed support 15 and is connected with welding controller dissipating cover 17, and the switch board back side is positioned at that cable fixed support 15 is arranged over welding gun signal cable socket 14, cable integrator 13, is externally introduced 24VDC power supply cable-through hole 20, safety return circuit emergent stop signal cable-through hole 19, standby locking cable-through hole 16 and welding gun feed cable locked coil 18；It is also connected with suspension ring 9 at switch board end face。
Mains power cable was locked coil 11 by mains power cable and was entered switch board, cable outer layer sheath strip off 4 is divided into tetra-strands of wires of L1, L2, L3 and PE, mains power cable L1, L2, L3 wire, respectively through V-type insulated sleeve on annular cold pressure lines ose bag, are installed insulated terminal cover after being coupled with on the terminal of main circuit breaker upper end and compressing by four strands of wires；PE wire is received on cabinet inner top ground connection bronze medal 6。
Welding gun feed cable one end connects welding gun, the welding gun feed cable other end was locked coil 10 by welding gun feed cable and was entered switch board, welding gun feed cable is by tri-strands of wires of outer protective sleeve strip off U, V and PE, three strands of wires compress and put V-type insulated sleeve by pin type cold pressure lines nose, welding gun feed cable U1, V1 wire being received U1, V1 of welding controller main power source secondary end 5 terminal-X4 end upper and compress, welding gun feed cable PE line is received on the PE of welding controller main power source secondary end 5 terminal-X4 end and compresses。
1000HZ monitor 4 includes current monitor；Current transformer；Current monitor summation current transformer constitutes a residual current protective unit；Auxiliary reclay, it plays control on-off action when welding gun temperature changes；X1 terminal, is signally attached to welding gun socket by this terminal by KSR, the UIR on controller；XP terminal, draws 24VDC power supply by this terminal；F1 chopper, it controls for conventional 24V on/off, F2 chopper, and it controls for safe 24V on/off；V2 terminal, relay generation action and welding gun signal intensity can be sent to outside and V1 terminal by this terminal, access 24V power supply from outside by this terminal。
Switch board technical parameter illustrates:
Controller model: PSI63C0.777L1
Power requirement: 3P+PE(TN system, TN system)
Input voltage: 400V?20%to480V+10%50/60Hz
Output voltage: 500V ± 3%1000Hz ± 3%
Maximum heat continuous current: 110A
Maximum output current: 800A
No-load power: 110W ± 10%
Applied environment temperature :+5 DEG C～+45 DEG C
Switch board detection of electrical leakage scope: 0～300mA within the scope of 0～2000Hz
Welding transformer range of application: electric resistance welding, projection welding, mixed weldering etc.
Welding switch board main feature:
1, UIR adaptation function, it is provided that visual adjustment interface, during welding debugging, can set up corresponding invariable power sample curve according to the sheet material of combination；
2, welding gun electrode management program, has electrode tally function, it is possible to realize electrode dressing or replacement request instruction；
3, the expansible above communication modes of Profibus, Ethernet, Interbus, Devicenet4 kind。
As shown in Figure 7, a kind of spot-welding welding tongs, the welding gun that spot-welding welding tongs is connected with above-mentioned robot intermediate frequency resistance welding switch board with the use of, it includes the second horn 31, electrode cap the 32, first horn 33, two welding tong arm 34, joystick 35, cylinder 36 and hanger for soldering pliers 37。Being connected to cylinder 36 between two welding tong arms 34, joystick 35 is for controlling the unlatching of cylinder 36。Two links welding tong arm 34 common are provided with the first horn 33, and electrode cap 32 is positioned on the first horn 33。Second horn 31 is also connected on two welding tong arm 34 common connection ends, and the spacing stopper 38 of fixture limits scope and the stroke that the second horn 31 moves。
The operation principle of this spot-welding welding tongs is: by joystick 35 control cylinder 36 work time, cylinder 36 gives two welding tong arm 34 pressure, two welding tong arms 34 give the first horn 33 tension force under the effect of the pressure, second horn 31 contacts fixture upper limit stopper 38 under tension, first horn 33 is produced counteracting force by the second horn 31 by spacing stopper 38, electrode cap 32 on first horn 33 is under the effect of the second horn 31 counteracting force, electrode cap 32 is made to have pressure, and contact further with sheet metal component and complete high-quality welding。
As it can be seen in figures 5 and 6, present invention additionally comprises non-solder area protection mechanism, this non-solder area protection mechanism and welding gun in the present invention with the use of。This non-solder area protection mechanism includes multiple protective baffle plate 41, multiple first rotating arm 42, multiple connection axle 43, multiple second turning arm 44, drive link 45, cylinder 46, pedestal 47 and multiple impeller-hub 48。Each first rotating arm 42 and one second turning arm 44 are integrated part, and protective baffle plate 41 is arranged on first rotating arm 42 for stopping and protecting non-solder region。Being provided with axle installing hole between first rotating arm 42 and the second turning arm 44, any one connection axle 43 of pedestal 47 vertical inserts in the axle installing hole between corresponding first rotating arm 42 and the second turning arm 44。Also being provided with axle installing hole on second turning arm 44, vertical and parallel be provided with multiple impeller-hub 48 on drive link 45, each impeller-hub 48 inserts in the axle installing hole of the second turning arm 44 of correspondence。Drive link 45 horizontal movement under cylinder 46 acts on。
In the present invention, the operation principle of non-solder area protection mechanism is as follows: welding gun is when welding, it is subject to the impact of body structure, being partially welded will necessarily occur in some positions, the least bit and rosin joint have influence on non-solder region, and main cause is that in welding process, operator cannot the position of visual solder joint。
When non-solder of the present invention area protection mechanism cylinder 46 works, thrust to drive link 45 horizontal direction, drive link 45 drives impeller-hub 48 also to do the movement of horizontal direction, first rotating arm 42 and the second turning arm 44 and rotates around connection axle 43 under impeller-hub 48 and connection axle 43 style of work。In the process rotated, protective baffle plate 41 is positioned at vertical height and also changes accordingly; non-solder region thus for differing heights; can pass through under cylinder action; protective baffle plate 41 is blocked; thus can be greatly reduced occur being partially welded, the least bit and rosin joint situation, also well protection to non-solder region。Protective baffle plate 41 size is interchangeable to adapt to the non-solder region of different areas。Owing to many automobile same area are welded simultaneously, it is possible to use multiple protective baffle plate 41。
As shown in Figure 6, the middle welding controller control method of robot of the present invention intermediate frequency resistance welding switch board is as follows: by the analysis to qualified solder joint, establish sample curve；In welding process, the electric current of welding and resistance all can be detected and feed back by each millisecond, by the analysis of welding controller 1 and contrast with sample curve, automatically welding current and time is adjusted；Being adjusted according to energy conservation principle, extend and be unlocked between when soldered, welding controller 1 regulatory function guarantees the actual energy energy more than or equal to sample solder joint being soldered solder joint；When compensating if there is splashing, after finding splashing, the loss of metal liquid will be compensated by prolongation weld interval；During if there is disturbance compensation, procedure parameter deviates from sample, causes disturbance, can be found and be compensated by the change of electric current and time, and changing value depends on the type of disturbance。
Above in conjunction with accompanying drawing, the present invention is carried out exemplary description; the realization of the obvious present invention is not subject to the restrictions described above; as long as have employed the various improvement that the design of the method for the present invention carries out with technical scheme; or the not improved design by the present invention and technical scheme directly apply to other occasion, all in protection scope of the present invention。
Claims (1)
1. one kind with robot intermediate frequency resistance welding switch board with the use of spot-welding welding tongs, it is characterized in that: inside the switch board of robot intermediate frequency resistance welding switch board, be provided with welding controller (1), 1000HZ induction coil (2), main power source chopper (3) and 1000HZ monitor (4), welding controller (1) is provided with mean for welding controller main power source secondary end (5) that welding gun welding transformer main power source uses, and is provided with ground connection bronze medal (6) in switch board cabinet；Being provided with alarm lamp (7), main power source rotary handle of circuit breaker (8), RS232 PORT COM (10), flat recess band key door lock (11) and rotary handle door lock (12) on the cabinet door of switch board front, main power source rotary handle of circuit breaker (8) controls main power source chopper (3)；It is provided with cable fixed support (15) in middle, the switch board back side, the switch board back side is positioned at cable fixed support (15) and is connected with welding controller dissipating cover (17), and the switch board back side is positioned at that cable fixed support (15) is arranged over welding gun signal cable socket (14), cable integrator (13), is externally introduced 24VDC power supply cable-through hole (20), safety return circuit emergent stop signal cable-through hole (19), standby locking cable-through hole (16) and welding gun feed cable locked coil (18)；It is also connected with suspension ring (9) at switch board end face；1000HZ monitor (4) includes current monitor；Current transformer；Current monitor summation current transformer constitutes a residual current protective unit；Auxiliary reclay, it plays control on-off action when welding gun temperature changes；X1 terminal, is signally attached to welding gun socket by this terminal by the KSR constant current detection signal on controller, UIR self adaptation welding signal；XP terminal, draws 24VDC power supply by this terminal；F1 chopper, it controls for conventional 24V on/off, F2 chopper, and it controls for safe 24V on/off；V2 terminal, relay generation action and welding gun signal intensity can be sent to outside and V1 terminal by this terminal, 24V power supply is accessed from outside by this terminal, it is characterised in that: spot-welding welding tongs includes the second horn (31), electrode cap (32), the first horn (33), two welding tong arm (34), joystick (35), cylinder (36) and hanger for soldering pliers (37)；Being connected to cylinder (36) between two welding tong arm (34), joystick (35) is used for controlling the unlatching of cylinder (36)；Two links welding tong arm (34) common are provided with the first horn (33), and electrode cap (32) is positioned on the first horn (33)；Second horn (31) is also connected on two welding tong arm (34) common connection ends, and the spacing stopper (38) of fixture limits scope and the stroke of the second horn (31) movement。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610175827.5A CN105689879B (en) | 2014-08-04 | 2014-08-04 | A kind of spot-welding welding tongs used cooperatively with robot intermediate frequency resistance welding switch board |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410379115.6A CN104191080B (en) | 2014-08-04 | 2014-08-04 | A kind of robot intermediate frequency resistance welded switch board |
| CN201610175827.5A CN105689879B (en) | 2014-08-04 | 2014-08-04 | A kind of spot-welding welding tongs used cooperatively with robot intermediate frequency resistance welding switch board |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410379115.6A Division CN104191080B (en) | 2014-08-04 | 2014-08-04 | A kind of robot intermediate frequency resistance welded switch board |
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| Publication Number | Publication Date |
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| CN105689879A true CN105689879A (en) | 2016-06-22 |
| CN105689879B CN105689879B (en) | 2017-09-29 |
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| CN201410379115.6A Active CN104191080B (en) | 2014-08-04 | 2014-08-04 | A kind of robot intermediate frequency resistance welded switch board |
| CN201610175827.5A Active CN105689879B (en) | 2014-08-04 | 2014-08-04 | A kind of spot-welding welding tongs used cooperatively with robot intermediate frequency resistance welding switch board |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106270998A (en) * | 2016-08-28 | 2017-01-04 | 合肥国声电子通信有限责任公司 | A kind of robot intermediate frequency resistance welding switch board |
| CN111299792A (en) * | 2019-07-01 | 2020-06-19 | 北京实耐固连接技术有限公司 | Self-adaptive system and self-adaptive adjusting method for resistance welding tongs |
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| CN106271248B (en) * | 2016-08-26 | 2018-09-07 | 江西鼎好科技发展有限公司 | Firm humanoid robot welds switch board |
| CN106270991A (en) * | 2016-08-26 | 2017-01-04 | 汤在英 | With the robot welding switch board supporting platform |
| CN106238892A (en) * | 2016-08-26 | 2016-12-21 | 汤在英 | Cooling type robot welding switch board |
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| CN106271247B (en) * | 2016-08-26 | 2018-06-12 | 唐山松一科技有限公司 | Multi-function robot welds switch board |
| CN106271246A (en) * | 2016-08-28 | 2017-01-04 | 合肥国声电子通信有限责任公司 | A kind of welding reconditioning compensation method of the automobile body welding equipment of auto industry |
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| CN106270998A (en) * | 2016-08-28 | 2017-01-04 | 合肥国声电子通信有限责任公司 | A kind of robot intermediate frequency resistance welding switch board |
| CN111299792A (en) * | 2019-07-01 | 2020-06-19 | 北京实耐固连接技术有限公司 | Self-adaptive system and self-adaptive adjusting method for resistance welding tongs |
| CN111299792B (en) * | 2019-07-01 | 2021-08-06 | 北京实耐固连接技术有限公司 | Self-adaptive system and self-adaptive adjusting method for resistance welding tongs |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105689879B (en) | 2017-09-29 |
| CN104191080A (en) | 2014-12-10 |
| CN104191080B (en) | 2016-05-04 |
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