CN105834632B - A kind of novel welding industrial robot high precision mobile platform - Google Patents
A kind of novel welding industrial robot high precision mobile platform Download PDFInfo
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- CN105834632B CN105834632B CN201610344269.0A CN201610344269A CN105834632B CN 105834632 B CN105834632 B CN 105834632B CN 201610344269 A CN201610344269 A CN 201610344269A CN 105834632 B CN105834632 B CN 105834632B
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- 238000003466 welding Methods 0.000 title claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 238000009434 installation Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 20
- 238000013519 translation Methods 0.000 abstract description 10
- 230000014616 translation Effects 0.000 abstract description 10
- 238000004458 analytical method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
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- 238000010894 electron beam technology Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
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- 239000004416 thermosoftening plastic Substances 0.000 description 1
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Resistance Welding (AREA)
Abstract
The present invention relates to a kind of novel welding industrial robot high precision mobile platform, including device for revolving and driving and six-degree-of-freedom parallel connection mechanism；Described six-degree-of-freedom parallel connection mechanism is located at turn around below drive device front end, and device for revolving and driving is connected with six-degree-of-freedom parallel connection mechanism.The present invention provides support and the effect of position adjustments for welding robot, and bearing capacity is strong, and modulability is good and kinematic dexterity is high, its integral position can adjust, local location motion is flexible, and stability is high, improves the welding quality and efficiency of welding robot indirectly；And device for revolving and driving can realize moving left and right on horizontal plane and move forward and backward and gyration on the vertical plane, two translations one i.e. in space rotate the motion in three degree of freedom direction altogether, the regulation of overall large scale and big orientation of the welding robot in welding is can ensure that by device for revolving and driving, improves the welding performance of welding robot.
Description
Technical field
The present invention relates to welding technology field, specifically a kind of novel welding industrial robot is put down with high precision movement
Platform.
Background technology
Welding is also referred to as welding Huo person's Rong and connect, welding be a kind of jointing metal in a manner of heating, high temperature or high pressure or
The manufacturing process and technology of other thermoplastics such as plastics；There are many kinds, including gas flame, electricity in the energy source that modern times weld
Arc, laser, electron beam, friction and ultrasonic wave etc., in addition to use in the factory, welding can also be carried out in a variety of contexts,
Such as field, underwater and space, no matter wherein, welding all may bring danger to operator, so necessary when being welded
Take appropriate safeguard procedures, weld to human body may caused by injury includes burn, electric shock, inpairment of vision, suction have poison gas
Body, ultraviolet overexposure etc..Use human weld for current welding more, so not only occupy it is substantial amounts of manually into
This, welding efficiency is low, poor welding quality, and due to human weld, peril generation is often accompanied by welding process, to weldering
Meet worker and bring certain Personal Risk, also progressively start to carry out the welding job of workpiece, mesh using welding robot at present
Preceding welding robot is generally made up of welding support, welding equipment and control system, but current welding support is deposited
Modulability is poor, bearing capacity is weak and kinematic dexterity is poor the problems such as.In consideration of it, the invention provides a kind of industry of novel welding
Robot high precision mobile platform.
The content of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of novel welding industrial robot high precision movement
Platform.
The present invention to be solved its technical problem and use following technical scheme to realize.
A kind of novel welding industrial robot high precision mobile platform, including device for revolving and driving and six-freedom parallel
Mechanism；Described six-degree-of-freedom parallel connection mechanism is located at turn around below drive device front end, and device for revolving and driving and six degree of freedom
Parallel institution is connected.
Further, described device for revolving and driving includes elevator, longitudinal electric slide rail, longitudinal sliding block, electric turntable, horizontal stroke
To electric sliding rail, transverse slider and fixed seat, described elevator rectangular-blocklike structure, the longitudinal electric slide rail back side is fixed on
Elevator front end, longitudinal electric slide rail both ends are respectively arranged with longitudinal baffle, and longitudinal sliding block is arranged on longitudinal electric slide rail, electricity
Turn back-end disk is fixed on longitudinal sliding block, and electric turntable front end is provided with transverse electric slide rail, and transverse electric slide rail and horizontal stroke
It is two to the quantity of sliding block, transverse electric slide rail Parallel Symmetric arrangement, transverse electric slide rail front end is provided with transverse baffle, horizontal
It is I-shaped structure to the vertical cross section of electric sliding rail, transverse slider is arranged on transverse electric slide rail, and fixed seat is in the form of annular discs
Structure, fixed seat both ends are connected with transverse slider respectively；Device for revolving and driving can realize moving left and right with before on horizontal plane
Move afterwards and gyration on the vertical plane, i.e., two translations one in space rotate the motion in three degree of freedom direction altogether,
The regulation of overall large scale and big orientation of the welding robot in welding is can ensure that by device for revolving and driving, improves welding
The welding performance of robot.
Further, described six-degree-of-freedom parallel connection mechanism includes fixed platform, moving platform, connecting seat, upper spherical hinge, electronic pushed away
Bar, block plate seat, lower spherical hinge, Triangulum and limit spring；Described connecting seat and Triangulum quantity are three, upper spherical hinge, electricity
The quantity of dynamic push rod, block plate seat and lower spherical hinge is six, described fixed platform and moving platform structure in rounded shape, connecting seat
On the lower surface of fixed platform, and connecting seat is in equilateral triangle location arrangements on fixed platform, and Triangulum is arranged on dynamic flat
On platform upper surface, and the installation site between connecting seat and Triangulum is interlocked two-by-two, and Triangulum is in equilateral triangle column structure,
Triangulum is respectively symmetrically provided with inclined plane along its vertical center line, is offered in inclined plane and lower spherical hinge lower end external screw thread phase
The installation screwed hole of cooperation, electric pushrod bottom are connected by upper spherical hinge with connecting seat, electric pushrod top and block plate seat
Upper end is connected, and block plate seat lower end is connected with lower spherical hinge one end, and the lower spherical hinge other end is arranged on Triangulum, spacing bullet
Spring is around being enclosed on electric pushrod, and limit spring one end is connected with electric pushrod, and the limit spring other end is connected with block plate seat
Connect；Six-degree-of-freedom parallel connection mechanism uses 6-SPS six-degree-of-freedom parallel connection mechanism, and rigidity is big compared with serial mechanism, six degree of freedom
Parallel institution Stability Analysis of Structures, kinematic dexterity are high, bearing capacity is strong and fine motion precision is high, and six-degree-of-freedom parallel connection mechanism is in space
The motion that three translations three rotate six-freedom degree direction altogether can be carried out, and space is small, movement velocity is fast and kinematic dexterity
It is good, in the present invention, drive welding robot to carry out three translations three in space by six-degree-of-freedom parallel connection mechanism and rotate altogether
The motion in six-freedom degree direction, it is easy to the regulation in welding robot local precisely small orientation of microsize in welding.
Compared with prior art, the present invention has advantages below：
(1) present invention provides support and the effect of position adjustments for welding robot, and bearing capacity is strong, and modulability is good
High with kinematic dexterity, its integral position can adjust, and local location motion is flexible, and stability is high, improves bonding machine indirectly
The welding quality and efficiency of device people.
(2) device for revolving and driving of the invention can realize moving left and right on horizontal plane and move forward and backward and in vertical plane
On gyration, i.e., in space two translation one rotate altogether three degree of freedom direction motion, can by device for revolving and driving
Ensure the regulation of overall large scale and big orientation of the welding robot in welding, improve the welding performance of welding robot.
(3) six-degree-of-freedom parallel connection mechanism of the invention uses 6-SPS six-degree-of-freedom parallel connection mechanism, compared with serial mechanism
Rigidity is big, and six-degree-of-freedom parallel connection mechanism Stability Analysis of Structures, kinematic dexterity are high, bearing capacity is strong and fine motion precision is high, six degree of freedom
Parallel institution can carry out the motion that three translations three rotate six-freedom degree direction altogether in space, and space is small, motion speed
Degree is fast and kinematic dexterity is good, drives welding robot to carry out three turns of three translation in space by six-degree-of-freedom parallel connection mechanism
The motion in dynamic six-freedom degree direction altogether, it is easy to the regulation in welding robot local precisely small orientation of microsize in welding.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the dimensional structure diagram of device for revolving and driving of the present invention；
Fig. 3 is the dimensional structure diagram of six-degree-of-freedom parallel connection mechanism of the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figure 1 to Figure 3, a kind of novel welding industrial robot high precision mobile platform, including revolution driving dress
Put 3 and six-degree-of-freedom parallel connection mechanism 4；Described six-degree-of-freedom parallel connection mechanism 4 is located at turn around below the front end of drive device 3, and is returned
Rotary driving device 3 is connected with six-degree-of-freedom parallel connection mechanism 4.
As depicted in figs. 1 and 2, described device for revolving and driving 3 is sliding including elevator 31, longitudinal electric slide rail 32, longitudinal direction
Block 33, electric turntable 34, transverse electric slide rail 35, transverse slider 36 and fixed seat 37, the described rectangular-blocklike of elevator 31
Structure, the back side of longitudinal electric slide rail 32 are fixed on the front end of elevator 31, and the both ends of longitudinal electric slide rail 32 are respectively arranged with longitudinal gear
Plate, longitudinal sliding block 33 are arranged on longitudinal electric slide rail 32, and the rear end of electric turntable 34 is fixed on longitudinal sliding block 33, electric turntable
34 front ends are provided with transverse electric slide rail 32, and the quantity of transverse electric slide rail 35 and transverse slider 36 is two, transverse electric
The Parallel Symmetric of slide rail 35 arranges that the front end of transverse electric slide rail 35 is provided with transverse baffle, the vertical cross section of transverse electric slide rail 35
For I-shaped structure, transverse slider 36 is arranged on transverse electric slide rail 35,37 structure in the form of annular discs of fixed seat, 37 liang of fixed seat
End is connected with transverse slider 36 respectively；Device for revolving and driving 3 can realize moving left and right on horizontal plane and move forward and backward and
Gyration on the vertical plane, i.e., two translations one in space rotate the motion in three degree of freedom direction altogether, driven by turning round
Dynamic device 3 can ensure that the regulation of overall large scale and big orientation of the welding robot in welding, improve welding robot
Welding performance.
As shown in figures 1 and 3, described six-degree-of-freedom parallel connection mechanism 4 include fixed platform 41, moving platform 42, connecting seat 43,
Upper spherical hinge 44, electric pushrod 45, block plate seat 46, lower spherical hinge 47, Triangulum 48 and limit spring 49；Described connecting seat 43
It is three with the quantity of Triangulum 48, upper spherical hinge 44, electric pushrod 45, the quantity of block plate seat 46 and lower spherical hinge 47 are six, institute
Fixed platform 41 and moving platform 42 structure in rounded shape stated, connecting seat 43 are arranged on the lower surface of fixed platform 41, and are connected
Seat 43 is in equilateral triangle location arrangements on fixed platform 41, and Triangulum 48 is arranged on the upper surface of moving platform 42, and connecting seat 43
Installation site between Triangulum 48 is interlocked two-by-two, and Triangulum 48 is in equilateral triangle column structure, and Triangulum 48 hangs down along it
Straight center line is respectively symmetrically provided with inclined plane, and the installation being engaged with the lower lower end external screw thread of spherical hinge 47 is offered in inclined plane
Screwed hole, the bottom of electric pushrod 45 are connected by upper spherical hinge 44 with connecting seat 43, the top of electric pushrod 45 and block plate seat 46
Upper end is connected, and the lower end of block plate seat 46 is connected with lower one end of spherical hinge 47, and the lower other end of spherical hinge 47 is arranged on Triangulum 48
On, limit spring 49 is around being enclosed on electric pushrod 45, and the one end of limit spring 49 is connected with electric pushrod 45, limit spring 49
The other end is connected with block plate seat 46；Six-degree-of-freedom parallel connection mechanism 4 uses 6-SPS six-degree-of-freedom parallel connection mechanism, with cascade machine
Structure is big compared to rigidity, and the Stability Analysis of Structures of six-degree-of-freedom parallel connection mechanism 4, kinematic dexterity are high, bearing capacity is strong and fine motion precision is high, and six
Freedom degree parallel connection mechanism 4 can be carried out in space three translations three rotate altogether six-freedom degree direction motion, and space it is small,
Movement velocity is fast and kinematic dexterity is good, in the present invention, welding robot is driven in space by six-degree-of-freedom parallel connection mechanism 4
The interior motion for carrying out three translations three and rotating six-freedom degree direction altogether, it is easy to welding robot local precisely small in welding
The regulation in the small orientation of size.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above-described embodiment and specification simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, and these change and changed
Enter all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Define.
Claims (1)
- A kind of 1. novel welding industrial robot high precision mobile platform, it is characterised in that：Including device for revolving and driving and six Freedom degree parallel connection mechanism；Described six-degree-of-freedom parallel connection mechanism is located at turn around below drive device front end, and device for revolving and driving It is connected with six-degree-of-freedom parallel connection mechanism；Wherein：Described device for revolving and driving include elevator, longitudinal electric slide rail, longitudinal sliding block, electric turntable, transverse electric slide rail, Transverse slider and fixed seat, described elevator rectangular-blocklike structure, the longitudinal electric slide rail back side are fixed on elevator front end, Longitudinal electric slide rail both ends are respectively arranged with longitudinal baffle, and longitudinal sliding block is arranged on longitudinal electric slide rail, electric turntable rear end It is fixed on longitudinal sliding block, electric turntable front end is provided with transverse electric slide rail, and the number of transverse electric slide rail and transverse slider Amount is two, and transverse electric slide rail Parallel Symmetric arrangement, transverse electric slide rail front end is provided with transverse baffle, transverse electric slide rail Vertical cross section be I-shaped structure, transverse slider is arranged on transverse electric slide rail, fixed seat structure in the form of annular discs, fixed seat Both ends are connected with transverse slider respectively；Device for revolving and driving can realize moving left and right on horizontal plane and move forward and backward and Gyration on vertical plane；Described six-degree-of-freedom parallel connection mechanism include fixed platform, moving platform, connecting seat, upper spherical hinge, electric pushrod, block plate seat, Lower spherical hinge, Triangulum and limit spring；Described connecting seat and Triangulum quantity are three, upper spherical hinge, electric pushrod, block plate The quantity of seat and lower spherical hinge is six, and described fixed platform and moving platform structure in rounded shape, connecting seat are arranged on and allocated On the lower surface of platform, and connecting seat is in equilateral triangle location arrangements on fixed platform, and Triangulum is arranged on moving platform upper surface, And the installation site between connecting seat and Triangulum is interlocked two-by-two, and Triangulum is in equilateral triangle column structure, Triangulum along its Vertical center line is respectively symmetrically provided with inclined plane, and the installation being engaged with lower spherical hinge lower end external screw thread is offered in inclined plane Screwed hole, electric pushrod bottom are connected by upper spherical hinge with connecting seat, and electric pushrod top is connected with block plate seat upper end, Block plate seat lower end is connected with lower spherical hinge one end, and the lower spherical hinge other end is arranged on Triangulum, and limit spring is around being enclosed on electricity On dynamic push rod, and limit spring one end is connected with electric pushrod, and the limit spring other end is connected with block plate seat.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610344269.0A CN105834632B (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
| CN201711353630.7A CN107813088A (en) | 2016-05-23 | 2016-05-23 | Welding industry robot high precision mobile platform and method of work |
| CN201711353638.3A CN108080831A (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610344269.0A CN105834632B (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711353638.3A Division CN108080831A (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
| CN201711353630.7A Division CN107813088A (en) | 2016-05-23 | 2016-05-23 | Welding industry robot high precision mobile platform and method of work |
Publications (2)
| Publication Number | Publication Date |
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| CN105834632A CN105834632A (en) | 2016-08-10 |
| CN105834632B true CN105834632B (en) | 2017-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711353630.7A Pending CN107813088A (en) | 2016-05-23 | 2016-05-23 | Welding industry robot high precision mobile platform and method of work |
| CN201711353638.3A Pending CN108080831A (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
| CN201610344269.0A Active CN105834632B (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711353630.7A Pending CN107813088A (en) | 2016-05-23 | 2016-05-23 | Welding industry robot high precision mobile platform and method of work |
| CN201711353638.3A Pending CN108080831A (en) | 2016-05-23 | 2016-05-23 | A kind of novel welding industrial robot high precision mobile platform |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426204B (en) * | 2016-11-03 | 2018-09-04 | 东北石油大学 | A kind of submarine pipeline welding underwater robot |
| CN107007946A (en) * | 2017-06-06 | 2017-08-04 | 成都博士科技有限公司 | It is a kind of to be used for proton and the automatic chair of heavy particle therapy incidence cancer |
| CN108637553B (en) * | 2018-05-22 | 2020-04-24 | 广东盈科机器人产业有限公司 | Multi-surface welding robot |
| CN109648188B (en) * | 2019-02-18 | 2023-08-22 | 安徽理工大学 | Series-parallel heavy-load friction stir welding robot |
| CN109834415B (en) * | 2019-04-08 | 2023-07-25 | 安徽工程大学 | Series-parallel five-degree-of-freedom welding robot |
| CN111571569A (en) * | 2020-05-22 | 2020-08-25 | 西安飞机工业（集团）有限责任公司 | Six-degree-of-freedom self-adaptive posture-adaptive holding platform and using method thereof |
| CN112110324B (en) * | 2020-07-29 | 2022-10-25 | 杭州艺会智能科技有限公司 | Six-degree-of-freedom motion platform |
| CN113086641B (en) * | 2021-03-16 | 2023-01-10 | 深圳市华星光电半导体显示技术有限公司 | Conveying device |
| CN115122017B (en) * | 2022-08-25 | 2022-11-01 | 山西锦荣智能技术有限公司 | Self-adaptive precise welding robot system |
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| CN101298120A (en) * | 2008-06-06 | 2008-11-05 | 无锡市南方电器制造有限公司 | Machine frame of cantilevered mode digital control flame plasma cutting machine |
| CN102922203A (en) * | 2012-10-26 | 2013-02-13 | 晋江宝工机械有限公司 | Full-dimensional welding rotating equipment as well as control device and method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DD120815A1 (en) * | 1975-08-21 | 1976-07-05 | ||
| US4659902A (en) * | 1985-04-22 | 1987-04-21 | Westinghouse Electric Corp. | Robot laser system |
| CN202241278U (en) * | 2011-09-05 | 2012-05-30 | 北京华巍中兴电气有限公司 | Series-parallel combined type automatic welding robot with eight degrees of freedom |
| CN102841602B (en) * | 2012-09-21 | 2014-07-16 | 山东大学 | Robot single-leg assembly control development performance test platform and method |
| CN103331558A (en) * | 2013-06-19 | 2013-10-02 | 青岛云和机械制造有限公司 | Lifting type welding positioner |
| CN203853701U (en) * | 2014-06-05 | 2014-10-01 | 北京大合兄弟科技发展有限公司 | Cantilever type cutting machine |
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2016
- 2016-05-23 CN CN201711353630.7A patent/CN107813088A/en active Pending
- 2016-05-23 CN CN201711353638.3A patent/CN108080831A/en active Pending
- 2016-05-23 CN CN201610344269.0A patent/CN105834632B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101298120A (en) * | 2008-06-06 | 2008-11-05 | 无锡市南方电器制造有限公司 | Machine frame of cantilevered mode digital control flame plasma cutting machine |
| CN102922203A (en) * | 2012-10-26 | 2013-02-13 | 晋江宝工机械有限公司 | Full-dimensional welding rotating equipment as well as control device and method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107813088A (en) | 2018-03-20 |
| CN108080831A (en) | 2018-05-29 |
| CN105834632A (en) | 2016-08-10 |
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Effective date of registration: 20190412 Address after: 430212 Nine Formations of Xingyuan Changcun, Daqiao New District, Jiangxia District, Wuhan City, Hubei Province Patentee after: Wuhan Weiputai Technology Co.,Ltd. Address before: 362400 Daxincun Daxinnan 70, Taozhou Township, Anxi County, Fujian Province Patentee before: Xiao Xingjin |
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Denomination of invention: A New High Precision Mobile Platform for Welding Industrial Robot Effective date of registration: 20221104 Granted publication date: 20171222 Pledgee: Bank of China Limited by Share Ltd. Wuhan Wuchang branch Pledgor: Wuhan Weiputai Technology Co.,Ltd. Registration number: Y2022420000360 |
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Date of cancellation: 20231031 Granted publication date: 20171222 Pledgee: Bank of China Limited by Share Ltd. Wuhan Wuchang branch Pledgor: Wuhan Weiputai Technology Co.,Ltd. Registration number: Y2022420000360 |
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Denomination of invention: A New High Precision Mobile Platform for Welding Industrial Robots Effective date of registration: 20231109 Granted publication date: 20171222 Pledgee: Bank of China Limited by Share Ltd. Wuhan Wuchang branch Pledgor: Wuhan Weiputai Technology Co.,Ltd. Registration number: Y2023980064604 |