CN105855762A - Welding system based on robot technology - Google Patents
Welding system based on robot technology Download PDFInfo
- Publication number
- CN105855762A CN105855762A CN201610408810.XA CN201610408810A CN105855762A CN 105855762 A CN105855762 A CN 105855762A CN 201610408810 A CN201610408810 A CN 201610408810A CN 105855762 A CN105855762 A CN 105855762A
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- welding
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- system based
- welding system
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- 238000003466 welding Methods 0.000 title claims abstract description 68
- 238000005516 engineering process Methods 0.000 title abstract description 11
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims description 17
- 230000003028 elevating effect Effects 0.000 claims description 9
- 239000008188 pellet Substances 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 229910001220 stainless steel Inorganic materials 0.000 claims description 5
- 239000010935 stainless steel Substances 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 2
- 229910000831 Steel Inorganic materials 0.000 claims 2
- 239000010959 steel Substances 0.000 claims 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000009987 spinning Methods 0.000 claims 1
- 238000012797 qualification Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 3
- 229910000679 solder Inorganic materials 0.000 description 2
- 102000008579 Transposases Human genes 0.000 description 1
- 108010020764 Transposases Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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
-
- 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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- 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
- B23K37/0247—Driving 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
- 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
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a welding system based on robot technology. The welding system comprises a welding robot, a welding clamp component and a control component, the welding clamp component is electrically connected with the control component, the control component controls movement of the welding clamp component, and the welding robot comprises a robot portion and a welding head positioned on the robot portion and driven by the same to be in motion of multiple degrees of freedom; the robot portion comprises a robot body and a control box, hardware controlling movement of the robot body and software installed in the hardware in advance are mounted in the control box, and the robot portion further comprises a camera sensor and a position sensor which are electrically connected with the control box. The welding system combines industrial robot technology with conventional welding technology, and complex and troublesome welding operation is completed through the multiple-degree-of-freedom welding robot, so that welding efficiency is improved substantially, welding quality can be improved effectively, and welding qualification rate can be increased.
Description
Technical field:
The present invention relates to technical field of welding equipment, be specifically related to a kind of based on robotics
Welding system.
Background technology:
Along with the sustainable development of China's economy, domestic heavy-duty machinery, metallurgical machinery, shipbuilding,
Mine engineering machinery, station boiler, pressure vessel, petrochemical industry, rolling stock, automobile etc.
Industry has been enter into world's same industry rank of advanced units, owing to these industries are all based on welding procedure
Lead, add the increase of domestic investment, provide good opportunity to develop for China's welding machine profession.
Energy-efficient welding jig will surgingly increase, and obtain in industries such as petrochemical industry, shipbuilding, boiler, railways
To Rapid Popularization.
Industrial robot is that one by overprogram and automatically controls, it is possible to complete manufacture process
In some operation task Mechatronics Automatics tool multi-functional, multivariant equipment and be
System, its combination manufactures main frame or production line, can form unit or multimachine automated system,
Unmanned participate under, it is achieved carry, weld, assemble and the multiple production operation such as spraying.How will
Industrial Robot Technology combines with conventional soldering techniques, it is achieved efficient, the welding behaviour of high-quality
It is that welding technology field is badly in need of solving the technical problem that as process.
Summary of the invention:
The purpose of the present invention is aiming at the deficiencies in the prior art, it is provided that a kind of based on robot skill
The welding system of art, this welding system combines Industrial Robot Technology and traditional welding skill
Art, completes complexity, loaded down with trivial details welding operation by multivariant welding robot, the most greatly
Width improves welding efficiency, moreover it is possible to effectively improved welding quality, improves solder yield.
The technology solution of the present invention is as follows:
A kind of welding system based on robotics, including welding robot, weld jig group
Part and control assembly, weld jig assembly electrically connects with controlling assembly, controls assembly and controls weldering
The movement of welding fixture assembly；Welding robot includes robot part and plumb joint, plumb joint position
On robot part, and do multifreedom motion under the drive of robot part；Robot
Part includes robot body and control chamber, is provided with control robot body motion in control chamber
Hardware and the software that is pre-installed in hardware；Robot part also includes image sensor
And position sensor, image sensor electrically connects with control chamber with position sensor, and shooting passes
Sensor carries out photograph taking and photo is passed to control chamber the workpiece in welding process, controls
Host computer in case analyzes workpiece welding situation according to pictorial information, and binding site sensor passes
The positional information passed adjusts the motion of welding robot constantly, until welding process terminates.
Preferred as technique scheme, robot body includes base, and base rotates peace
Equipped with rotating seat, the top of rotating seat is fixed with relative two gripper shoe, two gripper shoes
Structure is identical, and the opposite side of two gripper shoes is provided with vertical lifting chute, lifts chute
Interior slip is provided with lifting slider, and lifting slider is installed with fixed arm, and fixed arm is empty
Core structure, its one end connects rotary drive motor, and the other end connects expansion link, expansion link
Being actively socketed on the inside of fixed arm, the end of expansion link is rotatably connected to revolving part, revolving part
Bottom be connected with a rotary pin shaft, rotary pin shaft is rotatably connected to swing arm simultaneously.
Preferred as technique scheme, robot body also includes elevation driving unit, rises
Fall driver element is hoist cylinder, and hoist cylinder is fixedly mounted on rotating seat, hoist cylinder
Piston rod is fixing with lifting slider to be connected.
Preferred as technique scheme, base is square structure, is made up of stainless-steel sheet,
Its corner is fixed with ground by fixture, and fixture is hex bolts, and rotary drive motor leads to
Cross planet-cycloid reducer or harmonic speed reducer drives fixed arm to rotate.
Preferred as technique scheme, plumb joint includes the support being welded on swing arm end
Bar, the end of support bar is provided with pellet part, and on pellet part, turning set is connected to universal ball joint,
The outer surface of universal ball joint is welded with welding gun.
Preferred as technique scheme, weld jig assembly includes support and is positioned at support
On weld jig head, support is flame support, it include two vertical beams being oppositely arranged and
With the crossbeam that two vertical beams are fixedly connected into one, two vertical beams are respectively and fixedly installed to one
On frame base, bracket base is square structure, is made up of stainless-steel sheet, and its corner is passed through
Fixture is fixed with ground, and fixture is hex bolts.
Preferred as technique scheme, crossbeam slides and is provided with traversing slide block, traversing cunning
Slide relative with crossbeam of block is completed by traversing rack-pinion, and traversing slide block lifts
Connecting and have elevating lever, slide relative with traversing slide block of elevating lever is by lifter rack gear pair
Completing, the end of elevating lever is fixed with telescoping rod, and telescoping rod can carry out 360 ° of rotations
Rotating and make, the end of telescoping rod is hinged with weld jig head.
Preferred as technique scheme, weld jig head includes two connections being oppositely arranged
Otic placode, is connected and is integrally fixed by connector between otic placode, connects and offers bearing pin on otic placode
Hole, the first fixture and the second fixture are connected by the hinging pin shaft being arranged in pin shaft hole, and first
The structure of fixture and the second fixture is identical, and both are provided with magnetic with the position of workpiece joint
Bar, the first fixture and the second fixture are all to be driven by telescopic cylinder to realize opening and closing, telescopic cylinder
One end is fixed with connector by fixing seat, and the other end is by articulated element and the first fixture or the
Two fixtures are hinged.
The beneficial effects of the present invention is: this welding system combines Industrial Robot Technology and biography
The solder technology of system, completes complexity, loaded down with trivial details welding behaviour by multivariant welding robot
Make, welding efficiency is not only greatly improved, moreover it is possible to effectively improved welding quality, improve welding and close
Lattice rate.
Accompanying drawing illustrates:
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of welding robot；
Fig. 3 is the structural representation of plumb joint；
Fig. 4 is the structural representation of weld jig assembly；
Fig. 5 is the structural representation of weld jig head.
Detailed description of the invention:
Understandable in order to enable the above-mentioned purpose of the present invention, feature and advantage to become apparent from, below
In conjunction with accompanying drawing, the detailed description of the invention of the present invention is described in detail.
As it is shown in figure 1, welding system based on robotics includes welding robot 1, weldering
Welding fixture assembly 2 and control assembly, weld jig assembly 2 electrically connects with controlling assembly, control
Assembly processed controls the movement of weld jig assembly 2；Welding robot includes robot part and weldering
Joint, plumb joint is positioned on robot part, and does under the drive of robot part the most freely
Degree motion；Robot part includes robot body and control chamber, is provided with control in control chamber
The hardware of robot body motion and the software that is pre-installed in hardware；Robot part is also
Including image sensor and position sensor, image sensor and position sensor and control chamber
Electrical connection, image sensor carries out photograph taking and is transmitted by photo the workpiece in welding process
To control chamber, the host computer in control chamber is analyzed workpiece welding situation according to pictorial information, and is tied
The positional information closing position sensor transmission adjusts the motion of welding robot 1 constantly, until weldering
Termination process terminates.
As in figure 2 it is shown, robot body includes base 11, base 11 is rotatablely equipped with rotation
Transposase 11 2, the top of rotating seat 12 is fixed with relative two gripper shoe 13, two gripper shoes
The structure of 13 is identical, and the opposite side of two gripper shoes 13 is provided with vertical lifting chute,
Slide in lifting chute and be provided with lifting slider, lifting slider is installed with fixed arm 16,
Fixed arm 16 is hollow-core construction, and its one end connects rotary drive motor 15, and the other end connects
Expansion link 17, expansion link 17 is had to be actively socketed on the inside of fixed arm 16, expansion link 17
End is rotatably connected to revolving part 18, and the bottom of revolving part 18 is connected with a rotary pin shaft, rotation
Ship and resell on another market and be rotatably connected to swing arm 19 on axle simultaneously.
As in figure 2 it is shown, robot body also includes elevation driving unit, elevation driving unit is
Hoist cylinder 14, hoist cylinder 14 is fixedly mounted on rotating seat 12, hoist cylinder 14
Piston rod is fixing with lifting slider to be connected.
Base 11 is square structure, is made up of stainless-steel sheet, its corner by fixture with
Ground is fixed, and fixture is hex bolts, and rotary drive motor 15 is slowed down by cycloidal-pin wheel
Device or harmonic speed reducer drive fixed arm 16 to rotate.
As it is shown on figure 3, plumb joint 3 includes the support bar 31 being welded on swing arm 19 end,
The end of support bar 31 is provided with pellet part 32, and on pellet part 32, turning set is connected to ten thousand
To ball-joint 33, the outer surface of universal ball joint 33 is welded with welding gun 34.
As shown in Figure 4, weld jig assembly 2 includes support 22 and is positioned on support 22
Weld jig head 4, support 22 is flame support, and it includes two vertical beams being oppositely arranged
And it being fixedly connected into the crossbeam of one with two vertical beams, two vertical beams are respectively and fixedly installed to one
On bracket base 21, bracket base 21 is square structure, is made up of stainless-steel sheet, its
Corner is fixed with ground by fixture, and fixture is hex bolts.
Sliding on crossbeam and be provided with traversing slide block 23, traversing slide block 23 is relative with crossbeam to slide
Being completed by traversing rack-pinion, traversing slide block 23 lifts connection elevating lever 24,
Slide relative with traversing slide block 23 of elevating lever 24 is completed by lifter rack gear pair,
The end of elevating lever 24 is fixed with telescoping rod 25, and telescoping rod 25 can carry out 360 ° of rotations
Rotating and make, the end of telescoping rod 25 is hinged with weld jig head 4.
As it is shown in figure 5, weld jig head 4 includes two connection otic placodes 41 being oppositely arranged,
Connect and be integrally fixed by connector between otic placode 41, connect and offer bearing pin on otic placode 41
Hole 44, the first fixture 42 and the second fixture 43 are by being arranged on the swivel pin in pin shaft hole 4
Axle connects, and the first fixture 42 is identical with the structure of the second fixture 43, both and workpiece joint
Position be provided with magnetic strips 46, the first fixture 42 and the second fixture 43 are all by flexible
Cylinder 45 drives and realizes opening and closing, and telescopic cylinder 45 one end is solid with connector by fixing seat 411
Fixed, the other end is hinged with the first fixture 42 or the second fixture 43 by articulated element 431.
Described embodiment is in order to the illustrative present invention, not for limiting the present invention.Any
Those skilled in the art all can be under the spirit and the scope of the present invention, to described embodiment
Modify, therefore the scope of the present invention, should be as listed by the claim of the present invention.
Claims (8)
1. a welding system based on robotics, it is characterised in that: include bonding machine
Device people (1), weld jig assembly (2) and control assembly, weld jig assembly (2) with
Control assembly electrical connection, control assembly and control the movement of weld jig assembly (2)；Bonding machine
Device people includes robot part and plumb joint (3), and plumb joint (3) is positioned on robot part,
And do multifreedom motion under the drive of robot part；Robot part includes that robot is originally
Body and control chamber, be provided with in control chamber and control the hardware of robot body motion and pacify in advance
The software being contained in hardware；Robot part also includes image sensor and position sensor,
Image sensor electrically connects with control chamber with position sensor, and image sensor is in welding process
Workpiece carry out photograph taking and photo passed to control chamber, the host computer in control chamber according to
Pictorial information analyzes workpiece welding situation, and the positional information of binding site sensor passes is constantly
Adjust the motion of welding robot (1), until welding process terminates.
A kind of welding system based on robotics the most according to claim 1, its
It is characterised by: robot body includes that base (11), base are rotatablely equipped with rotation on (11)
Swivel base (12), the top of rotating seat (12) is fixed with relative two gripper shoe (13), and two
The structure of individual gripper shoe (13) is identical, and the opposite side of two gripper shoes (13) is provided with perpendicular
Straight lifting chute, slides in lifting chute and is provided with lifting slider, fixing peace on lifting slider
Equipped with fixed arm (16), fixed arm (16) is hollow-core construction, and its one end connects has rotation to drive
Galvanic electricity machine (15), the other end connects has expansion link (17), expansion link (17) to be actively socketed on
The inside of fixed arm (16), the end of expansion link (17) is rotatably connected to revolving part (18),
The bottom of revolving part (18) is connected with a rotary pin shaft, and rotary pin shaft is rotatably connected to simultaneously
Swing arm (19).
A kind of welding system based on robotics the most according to claim 2, its
Being characterised by: robot body also includes elevation driving unit, elevation driving unit is lifting oil
Cylinder (14), hoist cylinder (14) is fixedly mounted on rotating seat (12), hoist cylinder (14)
Piston rod and lifting slider fixing be connected.
A kind of welding system based on robotics the most according to claim 2, its
It is characterised by: base (11) is square structure, is made up of stainless-steel sheet, and its corner is passed through
Fixture is fixed with ground, and fixture is hex bolts, and rotary drive motor (15) is by pendulum
Line pinwheel reducer or harmonic speed reducer drive fixed arm (16) to rotate.
A kind of welding system based on robotics the most according to claim 2, its
It is characterised by: plumb joint (3) includes being welded on the support bar (31) of swing arm (19) end,
The end of support bar (31) is provided with pellet part (32), and pellet part (32) is upper to be rotated
Being socketed with universal ball joint (33), the outer surface of universal ball joint (33) is welded with welding gun (34).
A kind of welding system based on robotics the most according to claim 1, it is special
Levy and be: weld jig assembly (2) includes support (22) and is positioned on support (22)
Weld jig head (4), support (22) is flame support, and it includes two be oppositely arranged
Individual vertical beam and with two vertical beams be fixedly connected into one crossbeam, two vertical beams fixedly mount respectively
On a bracket base (21), bracket base (21) is square structure, by rustless steel
Steel plate is made, and its corner is fixed with ground by fixture, and fixture is hex bolts.
A kind of welding system based on robotics the most according to claim 6, its
Being characterised by: sliding on crossbeam is provided with traversing slide block (23), traversing slide block (23) is with horizontal
Relatively sliding of beam is completed by traversing rack-pinion, the upper lifting of traversing slide block (23)
Connecting and have elevating lever (24), slide relative with traversing slide block (23) of elevating lever (24) is
Being completed by lifter rack gear pair, the end of elevating lever (24) is fixed with telescoping rod
(25), telescoping rod (25) can carry out 360 ° of spinning movements, telescoping rod (25)
End hinged with weld jig head (4).
A kind of welding system based on robotics the most according to claim 7, its
It is characterised by: weld jig head (4) includes two connection otic placodes (41) being oppositely arranged, even
Ear connecting plate is integrally fixed by connector between (41), connects and offers on otic placode (41)
Pin shaft hole (44), the first fixture (42) and the second fixture (43) are by being arranged on pin shaft hole
(4) hinging pin shaft in connects, the first fixture (42) and the structure of the second fixture (43)
Identical, both are provided with magnetic strips (46), the first fixture (42) with the position of workpiece joint
It is all to be driven by telescopic cylinder (45) to realize opening and closing, telescopic cylinder with the second fixture (43)
(45) one end is fixed with connector by fixing seat (411), and the other end passes through articulated element
(431) hinged with the first fixture (42) or the second fixture (43).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610408810.XA CN105855762B (en) | 2016-06-08 | 2016-06-08 | A kind of welding system based on robot technology |
| CN201711042378.8A CN107855688A (en) | 2016-06-08 | 2016-06-08 | A kind of welding system based on robot technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610408810.XA CN105855762B (en) | 2016-06-08 | 2016-06-08 | A kind of welding system based on robot technology |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711042378.8A Division CN107855688A (en) | 2016-06-08 | 2016-06-08 | A kind of welding system based on robot technology |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105855762A true CN105855762A (en) | 2016-08-17 |
| CN105855762B CN105855762B (en) | 2017-12-19 |
Family
ID=56649328
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711042378.8A Withdrawn CN107855688A (en) | 2016-06-08 | 2016-06-08 | A kind of welding system based on robot technology |
| CN201610408810.XA Expired - Fee Related CN105855762B (en) | 2016-06-08 | 2016-06-08 | A kind of welding system based on robot technology |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711042378.8A Withdrawn CN107855688A (en) | 2016-06-08 | 2016-06-08 | A kind of welding system based on robot technology |
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| CN106514077A (en) * | 2016-11-28 | 2017-03-22 | 苏州五圣通机器人自动化有限公司 | High-precision robot automatic welding device special for grid plate and working method thereof |
| CN106736135A (en) * | 2016-11-28 | 2017-05-31 | 苏州五圣通机器人自动化有限公司 | A kind of floating tool and its method of work for grid plate weld |
| CN106826040A (en) * | 2017-04-18 | 2017-06-13 | 三菱电机(广州)压缩机有限公司 | For compressor muffler and the welder of mounting bracket |
| CN107160069A (en) * | 2017-05-19 | 2017-09-15 | 成都福莫斯智能系统集成服务有限公司 | A kind of Novel staircase robot welding system |
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| CN107225502A (en) * | 2017-06-13 | 2017-10-03 | 辽宁科技大学 | A kind of clamping device of six degree of freedom magnetic force attrition process space bent pipe |
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| CN107378960A (en) * | 2017-07-25 | 2017-11-24 | 芜湖超源力工业设计有限公司 | It is a kind of can surface polishing welding robot |
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| CN108581871A (en) * | 2018-03-20 | 2018-09-28 | 马鞍山远荣机器人智能装备有限公司 | A kind of industrial robot intelligent operating system |
| CN108857237B (en) * | 2018-08-20 | 2024-06-11 | 北京中康增材科技有限公司 | Clamping mechanism for welding |
| CN108857237A (en) * | 2018-08-20 | 2018-11-23 | 芜湖龙鳞汽车部件有限公司 | A kind of clamp system of novel welding |
| CN109807509A (en) * | 2019-01-23 | 2019-05-28 | 杭州嘉淼技术服务有限公司 | A kind of industrial welding robot |
| CN109807509B (en) * | 2019-01-23 | 2021-04-30 | 上海中巽科技股份有限公司 | Industrial welding robot |
| CN111451611B (en) * | 2020-05-08 | 2021-11-16 | 六安市龙兴汽车零部件有限公司 | Intelligent welding robot control system based on cloud computing |
| CN111451611A (en) * | 2020-05-08 | 2020-07-28 | 六安市龙兴汽车零部件有限公司 | Intelligent welding robot control system based on cloud computing |
| CN113084417A (en) * | 2021-04-16 | 2021-07-09 | 镇江市恩帝斯精密机械有限公司 | Welding robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105855762B (en) | 2017-12-19 |
| CN107855688A (en) | 2018-03-30 |
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