CN105855769A - Intelligent welding robot - Google Patents

Intelligent welding robot Download PDF

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Publication number
CN105855769A
CN105855769A CN201610408972.3A CN201610408972A CN105855769A CN 105855769 A CN105855769 A CN 105855769A CN 201610408972 A CN201610408972 A CN 201610408972A CN 105855769 A CN105855769 A CN 105855769A
Authority
CN
China
Prior art keywords
welding
manipulator
arm
workpiece
rotary shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201610408972.3A
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Chinese (zh)
Other versions
CN105855769B (en
Inventor
付淑珍
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangmen Sheng Yu metal products Co., Ltd.
Original Assignee
Foshan Lianzhi Xinchuang Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Foshan Lianzhi Xinchuang Technology Co Ltd filed Critical Foshan Lianzhi Xinchuang Technology Co Ltd
Priority to CN201610408972.3A priority Critical patent/CN105855769B/en
Publication of CN105855769A publication Critical patent/CN105855769A/en
Application granted granted Critical
Publication of CN105855769B publication Critical patent/CN105855769B/en
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Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0252Steering means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/0426Fixtures for other work
    • B23K37/0435Clamps
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047Auxiliary 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

Abstract

The invention discloses an intelligent welding robot which comprises a pair of opposite welding fixtures, a welding manipulator, a CCD (charge coupled device) camera and a control mechanism. The welding fixtures, the welding manipulator and the CCD camera are electrically connected with the control mechanism, the welding manipulator is positioned between the two opposite welding fixtures, the CCD camera is positioned on the upper portion of the welding manipulator, the control mechanism comprises an upper computer, a PLC (programmable logic controller) and a display, the welding fixtures and the welding manipulator can act under the constant control of the PLC, the CCD camera can move along with the welding manipulator and can photograph workpieces in welding procedures, the workpieces can be fixedly firmly grasped by the welding fixtures in the welding procedures, and welding operation can be carried out on the workpieces by the welding manipulator. The intelligent welding robot has the advantages that the intelligent welding robot is provided with the two structurally identical welding fixtures, the workpiece changing efficiency can be improved by the two welding fixtures, welding requirements of the welding manipulator can be met, and the welding efficiency can be greatly improved.

Description

A kind of Intelligent welding robot
Technical field:
The present invention relates to technical field of welding equipment, be specifically related to a kind of Intelligent welding robot.
Background technology:
Can run into a lot of welding operation process in industrial processes, mostly current welding operation is Being completed by welding manipulator, the end of welding manipulator is equipped with fixing welding gun, it is possible to achieve from The function of dynamic welding.Welding manipulator has stabilizes and increases welding quality, it is ensured that its uniformity; Welding manipulator has raises labour productivity, and within one day, can produce continuously for 24 hours;Bonding machine Tool hands can improve workman's labor condition, can work under hostile environment;Welding manipulator reduces Requirement to operative's technology;Welding manipulator shortens the preparatory period that product reshaping is regenerated, Reduce corresponding equipment investment;Welding manipulator can realize the Automation of Welding of be pilot.
But, existing welding equipment is all the corresponding weld clip of a welding manipulator Tool, weld jig needs to waste certain time when changing welding workpiece, this reduces welding The compactness of linking between mechanical hand and weld jig, it is difficult to realize efficient, fast workpiece more Change, it is difficult to meet welding job demand.
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 Intelligent welding machinery People, this welding robot arranges the weld jig that two structures are identical, and two weld jigs can Improve the replacing efficiency of workpiece, meet the welding demand of welding manipulator, increase substantially welding Efficiency.
The technology solution of the present invention is as follows:
A kind of Intelligent welding robot, including weld jig, the electroplating equipment wielding machine of pair of opposing Hands, CCD camera and controlling organization, weld jig, welding manipulator, CCD camera all with Controlling organization electrically connect, welding manipulator between two weld jigs being oppositely arranged, CCD Camera is positioned at the top of welding manipulator, and controlling organization includes host computer, PLC and shows Showing device, PLC controls the action of weld jig, welding manipulator, CCD camera constantly Along with welding manipulator moves, and the workpiece in welding process is taken pictures, in welding process, It is the most fixing that workpiece is soldered fixture, and workpiece is subjected to by welding manipulator, CCD phase Machine shot a photo every 10 seconds to workpiece, and the photo of shooting is passed to host computer, Photographic intelligence is analyzed judging by host computer, judges that welding quality is qualified if analyzed, on Qualifying signal is passed to PLC by position machine, and PLC controls welding manipulator and stops Welding, and control weld jig and turn an angle and workpiece is placed at workpiece collection, subsequently Enter the welding process of next workpiece;If analyzing and judging that welding quality is defective, host computer will Defective signal passes to PLC, and PLC controls welding manipulator and continues welding Until welding operation completes, display can show the photo that workpiece is taken, for operator Transfer at any time and check.
Preferred as technique scheme, weld jig includes firm banking, on firm banking Being welded with rotating base, rotating base is discoid, and rotating base bottom connects has rotation to drive Mechanism, rotating base is welded with fixture, and fixture end is provided with a pair and relatively sets The connection otic placode put, connects and is hinged with the first swing arm by jointed shaft on otic placode, and first swings End and second swing arm of arm are rotationally connected, and the end of the second swing arm is fixed by tumbler Connect and have weld jig head.
Preferred as technique scheme, firm banking is that square plate is made, firm banking Corner fixing be bolted on ground by first, first to fix bolt be hex bolts.
Preferred as technique scheme, welding manipulator includes supporting base, supports base Upper weld be fixed with cabinet, cabinet is rotatably connected to mechanical arm, one end of mechanical arm lead to Crossing rotary shaft to be connected with cabinet, mechanical arm driving mechanism is positioned at opposite side and the rotary shaft of cabinet Fixing connection, mechanical arm offers lifting chute, and sliding in lifting chute is provided with lifting arm, The lifting carriage of lifting arm is completed by lifting tooth rack-and-pinion, and the end of lifting arm stretches Set has telescopic arm, and telescopic arm is fixed with CCD camera, and the end universal hinging of telescopic arm has Plumb joint.
Preferred as technique scheme, supporting base is that rectangle steel plate is made, and supports the end The corner of seat fixing is bolted on ground by second, and second to fix bolt be hexagonal spiral shell Bolt.
Preferred as technique scheme, weld jig head includes jaw portion and vacuum cup Portion, vacuum cup portion includes vacuum pump and hollow installing plate, and hollow installing plate is connected by annular Part is connected with hollow rotary shaft, and the bottom of hollow rotary shaft is fixed with evacuated panel, evacuated panel bottom Be sealedly connected with multiple sucker structure, hollow rotary shaft be internally provided with interior driving motor, interior Motor is driven to drive hollow rotary shaft to rotate around hollow installing plate.
Preferred as technique scheme, offers penetrating cell body inside hollow installing plate, Vacuum pump is connected to evacuated panel by vacuum line, vacuum line sequentially pass through hollow installing plate, Circular connector and hollow rotary shaft, sucker structure includes sucking disk part and branch road, and sucking disk part is led to Cross that branch road and evacuated panel are fixing to be connected.
Preferred as technique scheme, jaw portion includes that jaw and opening and closing drive cylinder, folder Pawl is metal inverted F parts, and wherein the upper arm of metal inverted F parts is by being fixed on evacuated panel Mounting blocks hinged fixing, the vertical arm of metal inverted F parts is connected with opening and closing driving cylinder, Opening and closing drive cylinder to be fixed on the top of evacuated panel, the underarm of metal inverted F parts by vertical rod For with wedge angle, in order to promptly workpiece.
The beneficial effects of the present invention is: this welding robot arranges the welding that two structures are identical Fixture, two weld jigs can improve the replacing efficiency of workpiece, meet the weldering of welding manipulator Connect demand, increase substantially welding efficiency.
Accompanying drawing illustrates:
Fig. 1 is the structural representation of the present invention;
Fig. 2 is the structural representation of weld jig;
Fig. 3 is the structural representation of welding manipulator;
Fig. 4 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, Intelligent welding robot include pair of opposing weld jig 1, Welding manipulator 2, CCD camera 3 and controlling organization, weld jig 1, welding manipulator 2, CCD camera 3 all electrically connects with controlling organization, and welding manipulator 2 is positioned at two be oppositely arranged Between weld jig 1, CCD camera 3 is positioned at the top of welding manipulator 2, controlling organization bag Include host computer, PLC and display, PLC control constantly weld jig 1, The action of welding manipulator 2, CCD camera 3 moves along with welding manipulator 2, and to welding During workpiece take pictures, in welding process, it is the most fixing that workpiece is soldered fixture 1, Workpiece is subjected to by welding manipulator 2, CCD camera 3 every 10 seconds to workpiece Shooting a photo, and the photo of shooting is passed to host computer, photographic intelligence is entered by host computer Row is analyzed and is judged, judges that welding quality is qualified if analyzed, and qualifying signal is transmitted by host computer To PLC, PLC controls welding manipulator 2 and stops welding, and controls welding Fixture 1 turns an angle and is placed at workpiece collection by workpiece, subsequently enters next workpiece Welding process;If analyzing and judging that welding quality is defective, defective signal is transmitted by host computer To PLC, PLC controls welding manipulator 2 and continues welding until welding operation Completing, display can show the photo that workpiece is taken, and transfers at any time for operator and checks.
As in figure 2 it is shown, weld jig 1 includes firm banking 11, firm banking 11 welds It is discoid for having rotating base 12, rotating base 12, and rotating base 12 bottom connects rotation Turn drive mechanism, rotating base 12 is welded with fixture 13, fixture 13 end It is provided with the connection otic placode of pair of opposing, connects and be hinged with first by jointed shaft on otic placode Swing arm 14, end and second swing arm 15 of the first swing arm 14 be rotationally connected, and second The end of swing arm 15 is fixedly connected with weld jig head 4 by tumbler 16.
Firm banking 11 is made for square plate, and the corner of firm banking 11 is fixed by first Being bolted on ground, first to fix bolt be hex bolts.
As it is shown on figure 3, welding manipulator 2 includes supporting base 21, support the upper of base 21 Portion is welded with cabinet 22, and cabinet 22 is rotatably connected to mechanical arm 23, mechanical arm 23 One end be connected with cabinet 22 by rotary shaft, mechanical arm driving mechanism is positioned at another of cabinet Side also fixing with rotary shaft is connected, and mechanical arm 23 offers lifting chute 231, lifting cunning Sliding in groove 231 and be provided with lifting arm 24, the lifting carriage of lifting arm 24 is to pass through lifting tooth Rack-and-pinion completes, and the end telescopic of lifting arm 24 has telescopic arm 25, telescopic arm 25 On be fixed with CCD camera 3, the end universal hinging of telescopic arm 25 has plumb joint 26.
Supporting base 21 to make for rectangle steel plate, the corner supporting base 21 is solid by second Surely being bolted on ground, second to fix bolt be hex bolts.
As shown in Figure 4, weld jig head 4 includes jaw portion and vacuum cup portion, vacuum cup portion Including vacuum pump 410 and hollow installing plate 41, hollow installing plate 41 by circular connector 42 with Hollow rotary shaft 43 connects, and the bottom of hollow rotary shaft 43 is fixed with evacuated panel 49, evacuated panel 49 Lower seal connect have multiple sucker structure, hollow rotary shaft 43 be internally provided with interior drive electricity Machine, interior driving motor drives hollow rotary shaft 43 to rotate around hollow installing plate 41.
Hollow installing plate 41 is internal offers penetrating cell body (not shown), vacuum pump 410 Being connected to evacuated panel 49 by vacuum line, vacuum line sequentially passes through hollow installing plate 41, ring Shape connector 42 and hollow rotary shaft 43, sucker structure includes sucking disk part 40 and branch road, sucker Portion 40 is connected by branch road is fixing with evacuated panel 49.
Sequentially pass through hollow installing plate, circular connector and sky by being arranged to by vacuum line Heart rotary shaft, it is to avoid impaired in handling process of vacuum line;The inside of rotary shaft is arranged Interior driving motor, simplifies device, reduces the space that motor takies.
Jaw portion includes that jaw 47 and opening and closing drive cylinder 45, and jaw 47 is metal inverted F parts, Wherein the upper arm 48 of metal inverted F parts is hinged by the mounting blocks 46 being fixed on evacuated panel 49 Fixing, the vertical arm of metal inverted F parts drives cylinder 45 to be connected with opening and closing, and opening and closing drive gas Cylinder 45 is fixed on the top of evacuated panel 49, the underarm 471 of metal inverted F parts by vertical rod 44 For with wedge angle, in order to promptly workpiece.
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. an Intelligent welding robot, it is characterised in that: include the weldering of pair of opposing Welding fixture (1), welding manipulator (2), CCD camera (3) and controlling organization, welding Fixture (1), welding manipulator (2), CCD camera (3) all electrically connect with controlling organization, Welding manipulator (2) is positioned between two weld jigs (1) being oppositely arranged, CCD camera (3) being positioned at the top of welding manipulator (2), controlling organization includes that host computer, PLC control Device and display, PLC controls weld jig (1), welding manipulator (2) constantly Action, CCD camera (3) is mobile along with welding manipulator (2), and in welding process Workpiece take pictures, in welding process, it is promptly fixing that workpiece is soldered fixture (1), weldering Workpiece is subjected to by welding manipulator (2), and CCD camera (3) is right every 10 seconds Workpiece one photo of shooting, and the photo of shooting is passed to host computer, photo is believed by host computer Breath is analyzed judging, judging that welding quality is qualified if analyzed, host computer is by qualifying signal Passing to PLC, PLC controls welding manipulator (2) and stops welding, and Control weld jig (1) turns an angle and is placed on by workpiece at workpiece collection, with laggard Enter the welding process of next workpiece;If analyzing and judging that welding quality is defective, host computer will not Qualifying signal passes to PLC, and PLC controls welding manipulator (2) and continues Welding is until welding operation completes, and display can show the photo that workpiece is taken, for operation Personnel transfer at any time and check.
A kind of Intelligent welding robot the most according to claim 1, it is characterised in that: Weld jig (1) includes firm banking (11), and firm banking (11) is welded with the rotation end Seat (12), rotating base (12) is discoid, and rotating base (12) bottom connects rotation Turn drive mechanism, rotating base (12) is welded with fixture (13), fixture (13) End is provided with the connection otic placode of pair of opposing, connects and is hinged with by jointed shaft on otic placode First swing arm (14), the end of the first swing arm (14) and the second swing arm (15) turn Being dynamically connected, the end of the second swing arm (15) is fixedly connected with welding by tumbler (16) Clamp head (4).
A kind of Intelligent welding robot the most according to claim 2, it is characterised in that: Firm banking (11) is that square plate is made, and the corner of firm banking (11) is solid by first Surely being bolted on ground, first to fix bolt be hex bolts.
A kind of Intelligent welding robot the most according to claim 1, it is characterised in that: Welding manipulator (2) includes supporting base (21), and the upper weld supporting base (21) is solid Surely there is cabinet (22), cabinet (22) is rotatably connected to mechanical arm (23), mechanical arm (23) One end be connected with cabinet (22) by rotary shaft, mechanical arm driving mechanism is positioned at cabinet (22) Opposite side and fixing with rotary shaft is connected, mechanical arm (23) offers and lifts chute (231), Sliding in lifting chute (231) and be provided with lifting arm (24), the lifting of lifting arm (24) is sliding Moving and completed by lifting tooth rack-and-pinion, the end telescopic of lifting arm (24) has to be stretched Contracting arm (25), telescopic arm (25) is fixed with CCD camera (3), telescopic arm (25) End universal hinging has plumb joint (26).
A kind of Intelligent welding robot the most according to claim 4, it is characterised in that: Supporting base (21) is that rectangle steel plate is made, and supports the corner of base (21) by second Fixing being bolted on ground, second to fix bolt be hex bolts.
A kind of Intelligent welding robot the most according to claim 1, it is characterised in that: weldering Welding fixture head (4) includes jaw portion and vacuum cup portion, and vacuum cup portion includes vacuum pump (410) With hollow installing plate (41), hollow installing plate (41) is by circular connector (42) and sky Heart rotary shaft (43) connects, and the bottom of hollow rotary shaft (43) is fixed with evacuated panel (49), Evacuated panel (49) lower seal connects multiple sucker structure, hollow rotary shaft (43) interior Portion is provided with interior driving motor, and interior driving motor drives hollow rotary shaft (43) around hollow installation Plate (41) rotates.
A kind of Intelligent welding robot the most according to claim 6, it is characterised in that: empty Heart installing plate (41) is internal offers penetrating cell body, and vacuum pump (410) passes through vacuum tube Road is connected to evacuated panel (49), and vacuum line sequentially passes through hollow installing plate (41), annular even Fitting (42) and hollow rotary shaft (43), sucker structure includes sucking disk part (40) and props up Road, sucking disk part (40) is connected by branch road and evacuated panel (49) are fixing.
A kind of Intelligent welding robot the most according to claim 7, it is characterised in that: Jaw portion includes that jaw (47) and opening and closing drive cylinder (45), and jaw (47) is reversed F-typed Metal parts, wherein the upper arm (48) of metal inverted F parts is by being fixed on evacuated panel (49) On mounting blocks (46) hinged fixing, the vertical arm of metal inverted F parts drives gas with opening and closing Cylinder (45) connects, and opening and closing drive cylinder (45) to be fixed on evacuated panel (49) by vertical rod (44) Top, the underarm (471) of metal inverted F parts is with wedge angle, in order to promptly work Part.
CN201610408972.3A 2016-06-08 2016-06-08 A kind of Intelligent welding robot Active CN105855769B (en)

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Cited By (12)

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Publication number Priority date Publication date Assignee Title
CN106226674A (en) * 2016-09-25 2016-12-14 东莞市联洲知识产权运营管理有限公司 A kind of IC chip detection device
CN106338525A (en) * 2016-09-25 2017-01-18 东莞市联洲知识产权运营管理有限公司 Intelligent comparison device for integrated circuit boards
CN106736099A (en) * 2017-03-22 2017-05-31 杨雪锋 A kind of multi-functional welding frock clamp with automatic loading and unloading and warning device
CN106903465A (en) * 2017-04-17 2017-06-30 苏州格联威智能科技有限公司 A kind of welder of router circuit plate
CN108081174A (en) * 2017-12-18 2018-05-29 帅竞贤 A kind of profiled piece intelligence fixed equipment
CN108188629A (en) * 2017-12-08 2018-06-22 安徽通润汽车零部件有限公司 A kind of jack metal component process equipment and processing method
CN108790186A (en) * 2018-05-21 2018-11-13 广德天运新技术股份有限公司 A kind of carpet foot pad high-frequency welding tooling
CN109719751A (en) * 2018-12-30 2019-05-07 樊凌风 A kind of rotor blade lifting machine people's system
CN107442986B (en) * 2017-09-27 2019-05-10 江苏双双高新科技有限公司 Industrial robot is used in welding
CN113059429A (en) * 2021-02-15 2021-07-02 宁波职业技术学院 Corner grinding device is used in industrial robot production
CN113634978A (en) * 2021-10-12 2021-11-12 南通新华钢结构工程有限公司 Clamping system for welding
CN113927579A (en) * 2021-11-08 2022-01-14 宜宾职业技术学院 Intelligent manufacturing equipment for industrial robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106338525A (en) * 2016-09-25 2017-01-18 东莞市联洲知识产权运营管理有限公司 Intelligent comparison device for integrated circuit boards
CN106338525B (en) * 2016-09-25 2019-05-10 鹤山市世安电子科技有限公司 A kind of integrated circuit board intelligence comparison device
CN106226674A (en) * 2016-09-25 2016-12-14 东莞市联洲知识产权运营管理有限公司 A kind of IC chip detection device
CN106736099B (en) * 2017-03-22 2018-01-30 晨龙飞机(荆门)有限公司 A kind of multi-functional welding frock clamp with automatic loading and unloading and warning device
CN106736099A (en) * 2017-03-22 2017-05-31 杨雪锋 A kind of multi-functional welding frock clamp with automatic loading and unloading and warning device
CN106903465A (en) * 2017-04-17 2017-06-30 苏州格联威智能科技有限公司 A kind of welder of router circuit plate
CN107442986B (en) * 2017-09-27 2019-05-10 江苏双双高新科技有限公司 Industrial robot is used in welding
CN108188629A (en) * 2017-12-08 2018-06-22 安徽通润汽车零部件有限公司 A kind of jack metal component process equipment and processing method
CN108081174A (en) * 2017-12-18 2018-05-29 帅竞贤 A kind of profiled piece intelligence fixed equipment
CN108790186A (en) * 2018-05-21 2018-11-13 广德天运新技术股份有限公司 A kind of carpet foot pad high-frequency welding tooling
CN109719751A (en) * 2018-12-30 2019-05-07 樊凌风 A kind of rotor blade lifting machine people's system
CN113059429A (en) * 2021-02-15 2021-07-02 宁波职业技术学院 Corner grinding device is used in industrial robot production
CN113634978A (en) * 2021-10-12 2021-11-12 南通新华钢结构工程有限公司 Clamping system for welding
CN113634978B (en) * 2021-10-12 2021-12-17 南通新华钢结构工程有限公司 Clamping system for welding
CN113927579A (en) * 2021-11-08 2022-01-14 宜宾职业技术学院 Intelligent manufacturing equipment for industrial robot

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