CN105880882A - Robot system for welding pipe fittings - Google Patents
Robot system for welding pipe fittings Download PDFInfo
- Publication number
- CN105880882A CN105880882A CN201610409131.4A CN201610409131A CN105880882A CN 105880882 A CN105880882 A CN 105880882A CN 201610409131 A CN201610409131 A CN 201610409131A CN 105880882 A CN105880882 A CN 105880882A
- Authority
- CN
- China
- Prior art keywords
- freedom
- welding
- multiple degrees
- arm
- hinged
- 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
Links
Classifications
-
- 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
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/10—Pipe-lines
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot system for welding pipe fittings. The robot system comprises a multiple-degree-of-freedom welding jig, a multiple-degree-of-freedom welding manipulator, a CCD camera, a control box, an upper computer of the control box, a PLC and a displayer, wherein the multiple-degree-of-freedom welding jig, the multiple-degree-of-freedom welding manipulator and the CCD camera are all electrically connected with the control box; the multiple-degree-of-freedom welding jig and the multiple-degree-of-freedom welding manipulator are oppositely arranged; the CCD camera is positioned at the upper part of the multiple-degree-of-freedom welding manipulator; the control box is positioned on the side surface of the multiple-degree-of-freedom welding manipulator; the PLC controls the motion of the multiple-degree-of-freedom welding jig and the multiple-degree-of-freedom welding manipulator all the time, and the CCD camera moves along with the multiple-degree-of-freedom welding manipulator and takes photographs for workpieces in the welding process. A clamping jaw assembly of the robot system can open and close automatically, and the fixation and the withdrawal of the pipe fittings are realized, so that convenience is brought for operators, and the welding efficiency is improved.
Description
Technical field:
The present invention relates to technical field of welding equipment, be specifically related to a kind of machine for pipe fitting welding
Device people's system.
Background technology:
In the plant equipment that the industries such as shipyard, oil, petrochemical industry, chemical industry, power plant use, past
Toward there is the endless members such as substantial amounts of bend pipe, flange.Processing, manufacturing, assembling above-mentioned machinery
During equipment, generally require to the interior angles of parts such as above-mentioned bend pipe, flange, the two of exterior angle
Bar annular weld bead welds.Traditional welding method is the side by handmade rotary welding workpiece
Method is welded.So, not only labor intensity is big, operation inconvenience, and welding quality is difficult
To be guaranteed.
In order to solve the problems referred to above, No. 200820032345.5 patent of China discloses one
Being used in the guide frame on pipe sealing of tube head, this guide frame solves welding workpiece automatic rotary
The problem turned.But, in actual use, after workpeople finds that welding workpiece welds,
Breach on gear ring often misplaces with the opening on housing.In order to take out the Welder welded
Part, workpeople needs the button manually clicking on welding gun to rotate gear ring so that lacking on gear ring
Mouth overlaps with the opening on housing, consequently facilitating take out welding workpiece.The most not only give operative employee
Bring inconvenience, and reduce welding efficiency.
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 for pipe fitting weldering
The robot system connect, the clip claw assembly of this robot system can automatic open-close, it is achieved pipe fitting
Fixing and take out, and then bring facility to operative employee, improve welding efficiency.
The technology solution of the present invention is as follows:
A kind of robot system for pipe fitting welding, including multiple degrees of freedom weld jig, the most certainly
By degree welding manipulator, CCD camera and control chamber, multiple degrees of freedom weld jig, the most freely
Degree welding manipulator, CCD camera all electrically connect with control chamber, and multiple degrees of freedom weld jig is with many
Degree of freedom welding manipulator is oppositely arranged, and CCD camera is positioned at the upper of multiple degrees of freedom welding manipulator
Portion, control chamber is positioned at the side of multiple degrees of freedom welding manipulator, and control chamber host computer, PLC are controlled
Device processed and display, PLC controls multiple degrees of freedom weld jig, multiple degrees of freedom weldering constantly
The action of welding manipulator, CCD camera moves along with multiple degrees of freedom welding manipulator, and to welding
During workpiece take pictures, in welding process, workpiece is firmly grasped by multiple degrees of freedom weld jig
Fixing, workpiece is subjected to by multiple degrees of freedom welding manipulator, and CCD camera is every presetting
Time shoots a photo to workpiece, and the photo of shooting is passed to host computer, host computer pair
Photographic intelligence is analyzed judging, judges that welding quality is qualified if analyzed, and host computer will close
Lattice signal passes to PLC, and PLC controls multiple degrees of freedom welding manipulator and stops
Welding, and control multiple degrees of freedom weld jig turn an angle workpiece is placed on workpiece collect
Place, subsequently enters the welding process of next workpiece；If analyzing and judging that welding quality is defective,
Defective signal is passed to PLC by host computer, and PLC controls multiple degrees of freedom weldering
Welding manipulator continues to weld until welding operation completes, and display can show what workpiece was taken
Photo, transfers at any time for operator and checks.
Preferred as technique scheme, PLC includes PLC microprocessor and control
Systems soft ware part processed, Control System Software part include I/O human-computer interaction program exploitation and
Welding primary control program establishment, can manually/automatic button conversion operator scheme.
Preferred as technique scheme, multiple degrees of freedom weld jig includes firm banking,
Being welded with rotating base on firm banking, rotating base is discoid, and rotating base bottom connects
Having rotary drive mechanism, rotating base is welded with fixture, fixture end is provided with
The connection otic placode of pair of opposing, connects and is hinged with the first swing by jointed shaft on otic placode
Arm, end and second swing arm of the first swing arm be rotationally connected, and the end of the second swing arm leads to
Cross tumbler and be fixedly connected with clip claw assembly.
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, multiple degrees of freedom welding manipulator includes supporting base,
The upper weld supporting base is fixed with cabinet, and cabinet is rotatably connected to mechanical arm, mechanical arm
One end be connected with cabinet by rotary shaft, mechanical arm driving mechanism is positioned at the opposite side of cabinet also
Fixing with rotary shaft and be connected, mechanical arm offers lifting chute, sliding in lifting chute is arranged
Having lifting arm, the lifting carriage of lifting arm is completed by lifting tooth rack-and-pinion, lifting arm
End telescopic have telescopic arm, telescopic arm is fixed with CCD camera, the end of telescopic arm
Universal hinging 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, clip claw assembly includes that jaw fixes seat, and jaw is fixed
Seat two ends are provided with hinged otic placode, and the hinged otic placode of both sides has been respectively articulated with the first jig arm and the
Two jig arm, the end of the first jig arm and the second jig arm has been respectively articulated with the first clamping plate and the second folder
Tight plate, jaw fixes and is fixed with telescopic oil cylinder on seat, the piston of the second clamping plate and telescopic oil cylinder
Bar end is hinged by the 3rd connector, and the first clamping plate leads to the piston-rod end of telescopic oil cylinder
Crossing combined connection component hinged, combined connection component includes the first connector and the second connector, wherein,
First connector and the second connector are hinged, the other end of the first connector and the first clamping plate hinge
Connecing, the second connector is hinged with the piston-rod end of telescopic oil cylinder.
The beneficial effects of the present invention is: the clip claw assembly of this robot system can be opened automatically
Close, it is achieved the fixing and taking-up of pipe fitting, and then bring facility to operative employee, improve welding
Efficiency.
Accompanying drawing illustrates:
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of multiple degrees of freedom weld jig；
Fig. 3 is the structural representation of multiple degrees of freedom welding manipulator；
Fig. 4 is the structural representation of clip claw assembly.
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, the robot system for pipe fitting welding includes multiple degrees of freedom weld jig
1, multiple degrees of freedom welding manipulator 2, CCD camera 4 and control chamber 3, multiple degrees of freedom welds
Fixture 1, multiple degrees of freedom welding manipulator 2, CCD camera 4 all electrically connect with control chamber 3,
Multiple degrees of freedom weld jig 1 and multiple degrees of freedom welding manipulator 2 are oppositely arranged, CCD camera 4
Being positioned at the top of multiple degrees of freedom welding manipulator 2, control chamber 3 is positioned at multiple degrees of freedom electroplating equipment wielding machine
The side of hands 2, control chamber 3 host computer, PLC and display, during PLC
Time control multiple degrees of freedom weld jig 1, the action of multiple degrees of freedom welding manipulator 2, CCD phase
Machine 4 moves along with multiple degrees of freedom welding manipulator 2, and claps the workpiece in welding process
According to, in welding process, workpiece is the most fixing by multiple degrees of freedom weld jig 1, and multiple degrees of freedom welds
Workpiece is subjected to by welding manipulator 2, and workpiece is clapped by CCD camera 4 every Preset Time
Taking the photograph a photo, and the photo of shooting is passed to host computer, photographic intelligence is carried out by host computer
Analyzing and judge, judging that welding quality is qualified if analyzed, qualifying signal is passed to by host computer
PLC, PLC controls multiple degrees of freedom welding manipulator 2 and stops welding, and controls
Multiple degrees of freedom weld jig 1 processed turns an angle and is placed on by workpiece 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 multiple degrees of freedom welding manipulator
2 continue to weld until welding operation completes, and display can show the photo that workpiece is taken,
Transfer at any time for operator and check.
PLC includes PLC microprocessor and Control System Software part, control system
Software section includes exploitation and the welding primary control program establishment of I/O human-computer interaction program, can pass through
Manual/auto button conversion operator scheme.
As in figure 2 it is shown, multiple degrees of freedom weld jig 1 includes firm banking 11, firm banking
Being welded with rotating base 12 on 11, rotating base 12 is discoid, rotating base 12 bottom
Connect and have rotary drive mechanism, rotating base 12 is welded with fixture 13, fixture
13 ends are provided with the connection otic placode of pair of opposing, connect and are cut with scissors by jointed shaft on otic placode
Being connected to the first swing arm 14, the end of the first swing arm 14 and the second swing arm 15 rotate even
Connecing, the end of the second swing arm 15 is fixedly connected with clip claw assembly 5 by tumbler.
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, multiple degrees of freedom welding manipulator 2 includes supporting base 21, support the end
The upper weld of seat 21 is fixed with cabinet 22, and cabinet 22 is rotatably connected to mechanical arm 24,
One end of mechanical arm 24 is connected with cabinet 22 by rotary shaft 23, mechanical arm 24 drive mechanism
It is positioned at the opposite side of cabinet and fixing with rotary shaft 23 is connected, mechanical arm 24 offers lifting
Chute, slides in lifting chute and is provided with lifting arm 25, and the lifting carriage of lifting arm 25 is logical
Crossing what lifting tooth rack-and-pinion completed, the end telescopic of lifting arm 25 has telescopic arm 26,
Being fixed with CCD camera 4 on telescopic arm 26, the end universal hinging of telescopic arm 26 has plumb joint
27。
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, clip claw assembly 5 includes that jaw fixes seat 51, and jaw fixes seat 51 liang
End is provided with hinged otic placode, and the hinged otic placode of both sides has been respectively articulated with the first jig arm 521 and the
Two jig arm 522, the end of the first jig arm 521 and the second jig arm 522 has been respectively articulated with the first folder
Tight plate 541 and the second clamping plate 542, jaw fixes and is fixed with telescopic oil cylinder 55 on seat 51,
Second clamping plate 542 and the piston-rod end of telescopic oil cylinder 55 are hinged by the 3rd connector,
First clamping plate 541 and the piston-rod end of telescopic oil cylinder 55 are hinged by combined connection component,
Combined connection component includes the first connector 531 and the second connector 532, and wherein, first connects
Part 531 is hinged with the second connector 532, the other end of the first connector 531 and the first clamping
Plate 541 is hinged, and the second connector 532 is hinged with the piston-rod end of telescopic oil cylinder 55.
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 (7)
1. the robot system for pipe fitting welding, it is characterised in that: include the most freely
Degree weld jig (1), multiple degrees of freedom welding manipulator (2), CCD camera (4) and control
Case processed (3), multiple degrees of freedom weld jig (1), multiple degrees of freedom welding manipulator (2), CCD
Camera (4) all electrically connects with control chamber (3), multiple degrees of freedom weld jig (1) and many from
Being oppositely arranged by degree welding manipulator (2), CCD camera (4) is positioned at multiple degrees of freedom bonding machine
The top of tool hands (2), control chamber (3) is positioned at the side of multiple degrees of freedom welding manipulator (2)
Face, control chamber (3) host computer, PLC and display, PLC controls constantly
Multiple degrees of freedom weld jig (1), the action of multiple degrees of freedom welding manipulator (2), CCD phase
Machine (4) is mobile along with multiple degrees of freedom welding manipulator (2), and to the workpiece in welding process
Taking pictures, in welding process, workpiece is the most fixing by multiple degrees of freedom weld jig (1),
Workpiece is subjected to by multiple degrees of freedom welding manipulator (2), CCD camera (4) every
Preset Time shoots a photo to workpiece, and the photo of shooting is passed to host computer, upper
Photographic intelligence is analyzed judging by machine, judges that welding quality is qualified if analyzed, host computer
Qualifying signal passes to PLC, and PLC controls multiple degrees of freedom welding manipulator
(2) stop welding, and control multiple degrees of freedom weld jig (1) and turn an angle workpiece
It is placed at workpiece collection, subsequently enters the welding process of next workpiece；Weldering is judged if analyzed
Connecing off quality, defective signal is passed to PLC, PLC by host computer
Control multiple degrees of freedom welding manipulator (2) to continue to weld until welding operation completes, display
The photo that workpiece is taken can be shown, transfer at any time for operator and check.
A kind of robot system for pipe fitting welding the most according to claim 1, its
It is characterised by: PLC includes PLC microprocessor and Control System Software part, control
Systems soft ware part processed includes exploitation and the welding primary control program establishment of I/O human-computer interaction program,
Can manually/automatic button conversion operator scheme.
A kind of robot system for pipe fitting welding the most according to claim 1, its
It is characterised by: multiple degrees of freedom weld jig (1) includes firm banking (11), firm banking (11)
On be welded with rotating base (12), rotating base (12) is discoid, rotating base (12)
Bottom connects rotary drive mechanism, and rotating base (12) is welded with fixture (13),
Fixture (13) end is provided with the connection otic placode of pair of opposing, connects and passes through on otic placode
Jointed shaft is hinged with the first swing arm (14), the end of the first swing arm (14) and the second pendulum
Swing arm (15) is rotationally connected, and the end of the second swing arm (15) connects by tumbler is fixing
There is clip claw assembly (5).
A kind of robot system for pipe fitting welding the most according to claim 3, its
It is characterised by: firm banking (11) is that square plate is made, the corner of firm banking (11)
Fixing being bolted on ground by first, first to fix bolt be hex bolts.
A kind of robot system for pipe fitting welding the most according to claim 1, its
It is characterised by: multiple degrees of freedom welding manipulator (2) includes supporting base (21), supports base
(21) upper weld is fixed with cabinet (22), and cabinet is rotatably connected to machinery on (22)
Arm (24), one end of mechanical arm (24) is connected with cabinet (22) by rotary shaft (23),
Mechanical arm (24) drive mechanism is positioned at the opposite side of cabinet and fixing with rotary shaft (23) is connected,
Offering lifting chute on mechanical arm (24), sliding in lifting chute is provided with lifting arm (25),
The lifting carriage of lifting arm (25) is completed by lifting tooth rack-and-pinion, lifting arm (25)
End telescopic have telescopic arm (26), telescopic arm (26) is fixed with CCD camera (4),
The end universal hinging of telescopic arm (26) has plumb joint (27).
A kind of robot system for pipe fitting welding the most according to claim 5, its
It is characterised by: supporting base (21) is that rectangle steel plate is made, and supports the four of base (21)
Angle fixing is bolted on ground by second, and second to fix bolt be hex bolts.
A kind of robot system for pipe fitting welding the most according to claim 6, its
It is characterised by: clip claw assembly (5) includes that jaw fixes seat (51), and jaw fixes seat (51)
Two ends are provided with hinged otic placode, and the hinged otic placode of both sides has been respectively articulated with the first jig arm (521)
With the second jig arm (522), the end of the first jig arm (521) and the second jig arm (522) is respectively
Being hinged with the first clamping plate (541) and the second clamping plate (542), jaw fixes seat (51)
On be fixed with telescopic oil cylinder (55), the work of the second clamping plate (542) and telescopic oil cylinder (55)
Stopper rod end is hinged by the 3rd connector, the first clamping plate (541) and telescopic oil cylinder (55)
Piston-rod end by combined connection component hinged, combined connection component includes the first connector
(531) and the second connector (532), wherein, the first connector (531) is connected with second
Part (532) is hinged, the other end of the first connector (531) and the first clamping plate (541)
Hinged, the second connector (532) is hinged with the piston-rod end of telescopic oil cylinder (55).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409131.4A CN105880882B (en) | 2016-06-08 | 2016-06-08 | A kind of robot system for pipe fitting welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409131.4A CN105880882B (en) | 2016-06-08 | 2016-06-08 | A kind of robot system for pipe fitting welding |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105880882A true CN105880882A (en) | 2016-08-24 |
| CN105880882B CN105880882B (en) | 2018-01-09 |
Family
ID=56729300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610409131.4A Active CN105880882B (en) | 2016-06-08 | 2016-06-08 | A kind of robot system for pipe fitting welding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105880882B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945260A (en) * | 2017-03-09 | 2017-07-14 | 刘胜香 | The stretcher that a kind of chemical industry is prepared with PET |
| CN108500515A (en) * | 2018-04-04 | 2018-09-07 | 邵阳学院 | A kind of Mobile welding equipment |
| CN110977320A (en) * | 2020-03-05 | 2020-04-10 | 潍坊东方钢管有限公司 | Pipeline clamping debugging device |
| CN111047702A (en) * | 2019-12-18 | 2020-04-21 | 成都飞机工业（集团）有限责任公司 | Automatic welding method for flange bent pipe based on binocular vision |
| CN111644802A (en) * | 2020-07-10 | 2020-09-11 | 刘海涛 | Pipeline welding clamp for ocean vessel |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011045898A (en) * | 2009-08-26 | 2011-03-10 | Amada Co Ltd | Welding robot |
| JP2014233740A (en) * | 2013-06-03 | 2014-12-15 | 株式会社アマダ | System and method for automatic correction |
| CN105150191A (en) * | 2015-08-11 | 2015-12-16 | 德州耐垦工业自动化设备有限公司 | Horizontal multi-joint robot |
| CN204989047U (en) * | 2015-06-29 | 2016-01-20 | 华中科技大学 | Welding quality analytical equipment based on infrared vision |
| CN105370226A (en) * | 2015-11-02 | 2016-03-02 | 湖南三一石油科技有限公司 | Petroleum drilling and production equipment, drilling table surface manipulator and pipe column support mechanism |
| CN105397244A (en) * | 2015-11-27 | 2016-03-16 | 大连理工大学 | Multi-station robot intelligent welding system for pipe piling sheets |
| CN205702953U (en) * | 2016-06-08 | 2016-11-23 | 佛山市联智新创科技有限公司 | A kind of robot system for pipe fitting welding |
-
2016
- 2016-06-08 CN CN201610409131.4A patent/CN105880882B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011045898A (en) * | 2009-08-26 | 2011-03-10 | Amada Co Ltd | Welding robot |
| JP2014233740A (en) * | 2013-06-03 | 2014-12-15 | 株式会社アマダ | System and method for automatic correction |
| CN204989047U (en) * | 2015-06-29 | 2016-01-20 | 华中科技大学 | Welding quality analytical equipment based on infrared vision |
| CN105150191A (en) * | 2015-08-11 | 2015-12-16 | 德州耐垦工业自动化设备有限公司 | Horizontal multi-joint robot |
| CN105370226A (en) * | 2015-11-02 | 2016-03-02 | 湖南三一石油科技有限公司 | Petroleum drilling and production equipment, drilling table surface manipulator and pipe column support mechanism |
| CN105397244A (en) * | 2015-11-27 | 2016-03-16 | 大连理工大学 | Multi-station robot intelligent welding system for pipe piling sheets |
| CN205702953U (en) * | 2016-06-08 | 2016-11-23 | 佛山市联智新创科技有限公司 | A kind of robot system for pipe fitting welding |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945260A (en) * | 2017-03-09 | 2017-07-14 | 刘胜香 | The stretcher that a kind of chemical industry is prepared with PET |
| CN106945260B (en) * | 2017-03-09 | 2019-02-26 | 东莞市超融实业有限公司 | A kind of stretcher that chemical industry is prepared with PET plastic |
| CN108500515A (en) * | 2018-04-04 | 2018-09-07 | 邵阳学院 | A kind of Mobile welding equipment |
| CN111047702A (en) * | 2019-12-18 | 2020-04-21 | 成都飞机工业（集团）有限责任公司 | Automatic welding method for flange bent pipe based on binocular vision |
| CN110977320A (en) * | 2020-03-05 | 2020-04-10 | 潍坊东方钢管有限公司 | Pipeline clamping debugging device |
| CN111644802A (en) * | 2020-07-10 | 2020-09-11 | 刘海涛 | Pipeline welding clamp for ocean vessel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105880882B (en) | 2018-01-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205702953U (en) | A kind of robot system for pipe fitting welding | |
| CN105855769B (en) | A kind of Intelligent welding robot | |
| CN105880882A (en) | Robot system for welding pipe fittings | |
| CN110238575B (en) | Visual autonomous welding robot | |
| CN205914913U (en) | Intelligence welding machines people | |
| CN106736418B (en) | For the automated system to eccentric shaft assembly bearing | |
| CN205703051U (en) | A kind of Intelligent welding equipment | |
| CN205834533U (en) | Minus plate automatic welding line | |
| CN108747109B (en) | Automatic part welding device for industrial production | |
| CN105904143A (en) | Intelligent welding equipment | |
| CN212652908U (en) | Automatic welding device for large sheet metal part turnover | |
| CN117245303A (en) | Welding robot suitable for large-sized steel member and welding method thereof | |
| CN205588309U (en) | Tube -shape part clamping rotating mechanism | |
| CN113458702A (en) | Be used for welded clamp to get device and robot | |
| CN211136033U (en) | Special machine for welding robot arm | |
| CN116765726A (en) | Automatic welding device and method thereof | |
| CN106425255B (en) | Robot welding positioner | |
| CN207255546U (en) | Welding robot handgrip | |
| CN206065793U (en) | Robot welding positioner | |
| CN208086743U (en) | A kind of robot clamp carried for bent axle | |
| CN106695288B (en) | For the automation equipment to eccentric shaft assembly bearing | |
| CN206230216U (en) | Automation equipment for assembling bearing to eccentric shaft | |
| CN112025124A (en) | Automatic welding device for large sheet metal part turnover | |
| CN220480755U (en) | Industrial robot adds clamping apparatus device | |
| CN218874192U (en) | Metal collapsible tube automatic weld rotating tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lin Jianlan Inventor before: Fu Shuzhen |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20171208 Address after: 526108 Jindu Town, Jindu Town, Gaoyao Town, Zhaoqing, Guangdong Province, Jindu Industrial Park Applicant after: Zhaoqing friendship long Technology Co., Ltd. Address before: 528200 Guangdong Province Nanhai District of Foshan City, Guicheng Summer East is Wai Industrial Zone Foshan City Lianzhi Science & Technology Co Ltd Applicant before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY CO., LTD. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |