CN105880882B - A kind of robot system for pipe fitting welding - Google Patents

A kind of robot system for pipe fitting welding Download PDF

Info

Publication number
CN105880882B
CN105880882B CN201610409131.4A CN201610409131A CN105880882B CN 105880882 B CN105880882 B CN 105880882B CN 201610409131 A CN201610409131 A CN 201610409131A CN 105880882 B CN105880882 B CN 105880882B
Authority
CN
China
Prior art keywords
freedom
multiple degrees
welding
arm
workpiece
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.)
Active
Application number
CN201610409131.4A
Other languages
Chinese (zh)
Other versions
CN105880882A (en
Inventor
林建兰
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.)
Zhaoqing friendship long Technology Co., Ltd.
Original Assignee
Zhaoqing Friendship Long 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.)
Filing date
Publication date
Application filed by Zhaoqing Friendship Long Technology Co Ltd filed Critical Zhaoqing Friendship Long Technology Co Ltd
Priority to CN201610409131.4A priority Critical patent/CN105880882B/en
Publication of CN105880882A publication Critical patent/CN105880882A/en
Application granted granted Critical
Publication of CN105880882B publication Critical patent/CN105880882B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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
    • B23K37/0211Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • 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
    • B23K37/0247Driving 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
    • 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
    • B23K37/0443Jigs
    • 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
    • B23K2101/00Articles made by soldering, welding or cutting
    • B23K2101/04Tubular or hollow articles
    • B23K2101/10Pipe-lines

Landscapes

  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)

Abstract

The invention discloses a kind of robot system for pipe fitting welding, including multiple degrees of freedom weld jig, multiple degrees of freedom welding manipulator, CCD camera and control cabinet, multiple degrees of freedom weld jig, multiple degrees of freedom welding manipulator, CCD camera electrically connects with control cabinet, multiple degrees of freedom weld jig and multiple degrees of freedom welding manipulator are oppositely arranged, CCD camera is located at the top of multiple degrees of freedom welding manipulator, control cabinet is located at the side of multiple degrees of freedom welding manipulator, control cabinet host computer, PLC and display, PLC constantly controls multiple degrees of freedom weld jig, the action of multiple degrees of freedom welding manipulator, CCD camera moves with multiple degrees of freedom welding manipulator, and the workpiece in welding process is taken pictures.The clip claw assembly of the robot system can automatic open-close, realize the fixation and taking-up of pipe fitting, and then facility is brought to operative employee, improve welding efficiency.

Description

A kind of robot system for pipe fitting welding
Technical field:
The present invention relates to technical field of welding equipment, and in particular to a kind of robot system for pipe fitting welding.
Background technology:
In the plant equipment that the industries such as shipyard, oil, petrochemical industry, chemical industry, power plant use, often in the presence of substantial amounts of bend pipe, The endless members such as flange.During processing, manufacture, assembling above-mentioned plant equipment, generally require to above-mentioned bend pipe, flange etc. The interior angle of part, the two of exterior angle annular weld beads are welded.Traditional welding method is by handmade rotary welding workpiece Method is welded.In this way, not only labor intensity is big, operation inconvenience, and welding quality is difficult to be guaranteed.
In order to solve the above problems, Chinese No. 200820032345.5 patent discloses one kind and is used in pipe pipe welding head On guide frame, the guide frame solves the problems, such as that welding workpiece rotates automatically.But in actual use, work It is found that after welding workpiece is welded, the opening on breach and housing on gear ring often misplaces.In order to take out what is welded Welding workpiece, workpeople need to click on the button on welding gun manually to rotate gear ring so that on the breach and housing on gear ring Opening overlaps, consequently facilitating taking out welding workpiece.Inconvenience not only so is brought to operative employee, and reduces welding effect Rate.
The content of the invention:
The purpose of the present invention is aiming at the deficiencies in the prior art, there is provided a kind of robot system for pipe fitting welding, The clip claw assembly of the robot system can automatic open-close, realize the fixation and taking-up of pipe fitting, and then bring just to operative employee Profit, 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, multiple degrees of freedom welding manipulator, CCD camera and control cabinet, multiple degrees of freedom weld jig, multiple degrees of freedom welding manipulator, CCD camera are electrically connected with control cabinet Connect, multiple degrees of freedom weld jig and multiple degrees of freedom welding manipulator are oppositely arranged, and CCD camera is located at multiple degrees of freedom welding manipulator Top, control cabinet is located at the side of multiple degrees of freedom welding manipulator, and control cabinet includes host computer, PLC and display, PLC controls the action of multiple degrees of freedom weld jig, multiple degrees of freedom welding manipulator in real time, and CCD camera is with how free Welding manipulator movement is spent, and the workpiece in welding process is taken pictures, in welding process, workpiece is by multiple degrees of freedom weld clip Tool is promptly fixed, and multiple degrees of freedom welding manipulator is subjected to workpiece, and CCD camera is shot every preset time to workpiece One photo, and the photo of shooting is passed into host computer, host computer carries out analysis judgement to photographic intelligence, if analysis judges It is qualified to go out welding quality, qualifying signal is passed to PLC, PLC control multiple degrees of freedom electroplating equipment wielding machine by host computer Hand stops welding, and controls multiple degrees of freedom weld jig to turn an angle and workpiece is placed at workpiece collection, subsequently enters The welding process of next workpiece;If analysis judges that welding quality is unqualified, unqualified signal is passed to PLC controls by host computer Device, PLC control multiple degrees of freedom welding manipulator continues welding until welding operation is completed, and display can show workpiece The photo taken, transfers and checks at any time for operating personnel.
As the preferred of above-mentioned technical proposal, PLC includes PLC microprocessors and Control System Software part, The exploitation and welding primary control program establishment of Control System Software part including I/O human-computer interaction programs, can manually/press automatically Button conversion operation pattern.
As the preferred of above-mentioned technical proposal, multiple degrees of freedom weld jig includes firm banking, is welded with firm banking Rotating base, rotating base are discoid, and rotating base bottom is connected with rotary drive mechanism, is welded with rotating base Fixture, fixture end set have a connection otic placode of a pair of opposing, and first is hinged with by jointed shaft in connection otic placode Swing arm, the end of the first swing arm are rotatablely connected with the second swing arm, and the end of the second swing arm is fixed by tumbler to be connected It is connected to clip claw assembly.
As the preferred of above-mentioned technical proposal, firm banking is made up of square plate, and the corner of firm banking passes through first Fixing bolt fixes on the ground, and the first fixing bolt is hex bolts.
As the preferred of above-mentioned technical proposal, multiple degrees of freedom welding manipulator includes support base, the top of support base Cabinet is welded with, mechanical arm is rotatably connected on cabinet, one end of mechanical arm is connected by rotary shaft with cabinet, mechanical arm Drive mechanism is located at the opposite side of cabinet and is fixedly connected with rotary shaft, and lifting chute is offered on mechanical arm, lifts in chute Slip is provided with lifting arm, and the lifting carriage of lifting arm is completed by lifting tooth rack-and-pinion, and the end of lifting arm is stretched Telescopic arm is socketed with, CCD camera is fixed with telescopic arm, the end universal hinging of telescopic arm has plumb joint.
As the preferred of above-mentioned technical proposal, support base is made up of rectangle steel plate, and the corner of support base passes through Two fixing bolts fix on the ground, and the second fixing bolt is hex bolts.
As the preferred of above-mentioned technical proposal, clip claw assembly includes clamping jaw fixed seat, and clamping jaw fixed seat both ends are provided with Be hinged otic placode, the be hinged otic placode of both sides have been respectively articulated with the end of the first jig arm and the second jig arm, the first jig arm and the second jig arm The first clamping plate and the second clamping plate have been respectively articulated with, telescopic oil cylinder has been fixed with clamping jaw fixed seat, the second clamping plate is with stretching The piston-rod end of oil cylinder is hinged by the 3rd connector, and the first clamping plate passes through the company of combination with the piston-rod end of telescopic oil cylinder Fitting is hinged, and combined connection component includes the first connector and the second connector, wherein, one end of the first connector is connected with second Part is hinged, and the other end of the first connector is hinged with the first clamping plate, the piston-rod end hinge of the second connector and telescopic oil cylinder Connect.
The beneficial effects of the present invention are:The clip claw assembly of the robot system can automatic open-close, realize consolidating for pipe fitting Fixed and taking-up, and then facility is brought to operative employee, improve welding efficiency.
Brief description of the drawings:
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.
Embodiment:
In order that the above objects, features and advantages of the present invention can be more obvious understandable, below in conjunction with the accompanying drawings to this hair Bright embodiment is described in detail.
As shown in figure 1, the robot system for pipe fitting welding includes multiple degrees of freedom weld jig 1, multiple degrees of freedom welds Manipulator 2, CCD camera 4 and control cabinet 3, multiple degrees of freedom weld jig 1, multiple degrees of freedom welding manipulator 2, CCD camera 4 are equal Electrically connected with control cabinet 3, multiple degrees of freedom weld jig 1 and multiple degrees of freedom welding manipulator 2 are oppositely arranged, and CCD camera 4 is positioned at more The top of free degree welding manipulator 2, control cabinet 3 are located at the side of multiple degrees of freedom welding manipulator 2, and control cabinet 3 includes upper Machine, PLC and display, PLC control multiple degrees of freedom weld jig 1, multiple degrees of freedom welding manipulator 2 in real time Action, CCD camera 4 is moved with multiple degrees of freedom welding manipulator 2, and the workpiece in welding process is taken pictures, and is welded Cheng Zhong, workpiece are promptly fixed by multiple degrees of freedom weld jig 1, and multiple degrees of freedom welding manipulator 2 is subjected to workpiece, CCD camera 4 shoots a photo to workpiece every preset time, and the photo of shooting is passed into host computer, host computer control Piece information carries out analysis judgement, if analysis judges that welding quality is qualified, qualifying signal is passed to PLC controls by host computer Device, PLC control multiple degrees of freedom welding manipulator 2 stops welding, and controls multiple degrees of freedom weld jig 1 to rotate certain angle Workpiece is placed at workpiece collection by degree, subsequently enters the welding process of next workpiece;If analysis judges that welding quality does not conform to Unqualified signal is passed to PLC by lattice, host computer, and PLC control multiple degrees of freedom welding manipulator 2 continues to weld Until welding operation is completed, display can show the photo that workpiece is taken, transfer and check at any time for operating personnel.
PLC includes PLC microprocessors and Control System Software part, and Control System Software part includes I/O The exploitation and welding primary control program establishment of human-computer interaction program, can manually/automatic button conversion operation pattern.
As shown in Fig. 2 multiple degrees of freedom weld jig 1 includes firm banking 11, rotating base is welded with firm banking 11 12, rotating base 12 is discoid, and the bottom of rotating base 12 is connected with rotary drive mechanism, is welded with rotating base 12 Fixture 13, the end set of fixture 13 have the connection otic placode of a pair of opposing, are hinged with connection otic placode by jointed shaft First swing arm 14, the end of the first swing arm 14 are rotatablely connected with the second swing arm 15, and the end of the second swing arm 15 passes through Tumbler is fixedly connected with clip claw assembly 5.
Firm banking 11 is made up of square plate, and the corner of firm banking 11 is fixed on ground by the first fixing bolt On, the first fixing bolt is hex bolts.
As shown in figure 3, multiple degrees of freedom welding manipulator 2 includes support base 21, the upper weld of support base 21 is fixed There is cabinet 22, mechanical arm 24 is rotatably connected on cabinet 22, one end of mechanical arm 24 is connected by rotary shaft 23 with cabinet 22, machine The drive mechanism of tool arm 24 is located at the opposite side of cabinet and is fixedly connected with rotary shaft 23, and lifting chute is offered on mechanical arm 24, Slided in lifting chute and be provided with lifting arm 25, the lifting carriage of lifting arm 25 is completed by lifting tooth rack-and-pinion, is risen The end of drop arm 25 is flexible to be socketed with telescopic arm 26, and CCD camera 4, the universal hinge in end of telescopic arm 26 are fixed with telescopic arm 26 It is connected to plumb joint 27.
Support base 21 is made up of rectangle steel plate, and the corner of support base 21 is fixed on ground by the second fixing bolt On, the second fixing bolt is hex bolts.
As shown in figure 4, clip claw assembly 5 includes clamping jaw fixed seat 51, the both ends of clamping jaw fixed seat 51 are provided be hinged otic placode, The be hinged otic placode of both sides has been respectively articulated with the end of the first jig arm 521 and the second jig arm 522, the first jig arm 521 and the second jig arm 522 End has been respectively articulated with the first clamping plate 541 and the second clamping plate 542, is fixed with telescopic oil cylinder 55 in clamping jaw fixed seat 51, and second The piston-rod end of clamping plate 542 and telescopic oil cylinder 55 is hinged by the 3rd connector, the first clamping plate 541 and telescopic oil cylinder 55 Piston-rod end be hinged by combined connection component, combined connection component includes the first connector 531 and the second connector 532, its In, one end of the first connector 531 is be hinged with the second connector 532, the other end and the first clamping plate of the first connector 531 541 is be hinged, and the piston-rod end of the second connector 532 and telescopic oil cylinder 55 is hinged.
The embodiment is to the illustrative present invention, not for the limitation present invention.Any those skilled in the art The embodiment can be modified under the spirit and scope without prejudice to the present invention, therefore the rights protection model of the present invention Enclose, should be as listed by the claim of the present invention.

Claims (2)

  1. A kind of 1. robot system for pipe fitting welding, it is characterised in that:Including multiple degrees of freedom weld jig (1), how free Spend welding manipulator (2), CCD camera (4) and control cabinet (3), multiple degrees of freedom weld jig (1), multiple degrees of freedom electroplating equipment wielding machine Hand (2), CCD camera (4) electrically connect with control cabinet (3), multiple degrees of freedom weld jig (1) and multiple degrees of freedom welding manipulator (2) it is oppositely arranged, CCD camera (4) is located at the top of multiple degrees of freedom welding manipulator (2), and control cabinet (3) is located at multiple degrees of freedom weldering The side of welding manipulator (2), control cabinet (3) include host computer, PLC and display, and control is more certainly in real time for PLC By the action of degree weld jig (1), multiple degrees of freedom welding manipulator (2), CCD camera (4) is with multiple degrees of freedom welding manipulator (2) it is mobile, and the workpiece in welding process is taken pictures, in welding process, workpiece is firmly grasped by multiple degrees of freedom weld jig (1) Fixed, multiple degrees of freedom welding manipulator (2) is subjected to workpiece, and CCD camera (4) is shot every preset time to workpiece One photo, and the photo of shooting is passed into host computer, host computer carries out analysis judgement to photographic intelligence, if analysis judges It is qualified to go out welding quality, qualifying signal is passed to PLC, PLC control multiple degrees of freedom electroplating equipment wielding machine by host computer Hand (2) stops welding, and controls multiple degrees of freedom weld jig (1) to turn an angle and workpiece is placed at workpiece collection, with Enter the welding process of next workpiece afterwards;If analysis judges that welding quality is unqualified, host computer passes to unqualified signal PLC, PLC control multiple degrees of freedom welding manipulator (2) continues welding to be completed until welding operation, display energy The photo that workpiece is taken enough is shown, transfers and checks at any time for operating personnel;Multiple degrees of freedom weld jig (1) includes firm banking (11) rotating base (12), is welded with firm banking (11), rotating base (12) is discoid, and rotating base (12) bottom connects Rotary drive mechanism is connected to, fixture (13) is welded with rotating base (12), fixture (13) end set has a pair The connection otic placode being oppositely arranged, the first swing arm (14) is hinged with by jointed shaft in connection otic placode, the first swing arm (14) End is rotatablely connected with the second swing arm (15), and the end of the second swing arm (15) is fixedly connected with clip claw assembly by tumbler (5);Firm banking (11) is made up of square plate, and the corner of firm banking (11) is fixed on ground by the first fixing bolt On, the first fixing bolt is hex bolts;Multiple degrees of freedom welding manipulator (2) includes support base (21), support base (21) Upper weld be fixed with cabinet (22), mechanical arm (24) is rotatably connected on cabinet (22), one end of mechanical arm (24) passes through Rotary shaft (23) is connected with cabinet (22), and mechanical arm (24) drive mechanism is located at the opposite side of cabinet and fixed with rotary shaft (23) Connect, lifting chute is offered on mechanical arm (24), is slided in lifting chute and is provided with lifting arm (25), the liter of lifting arm (25) Drop is slided and completed by lifting tooth rack-and-pinion, and the end of lifting arm (25) is flexible to be socketed with telescopic arm (26), telescopic arm (26) CCD camera (4) is fixed with, the end universal hinging of telescopic arm (26) has plumb joint (27);Support base (21) is length Square plate is made, and the corner of support base (21) is fixed on the ground by the second fixing bolt, and the second fixing bolt is six Corner bolt;Clip claw assembly (5) includes clamping jaw fixed seat (51), and clamping jaw fixed seat (51) both ends are provided be hinged otic placode, both sides Be hinged otic placode be respectively articulated with the first jig arm (521) and the second jig arm (522), the first jig arm (521) and the second jig arm (522) End be respectively articulated with the first clamping plate (541) and the second clamping plate (542), flexible oil is fixed with clamping jaw fixed seat (51) Cylinder (55), the piston-rod end of the second clamping plate (542) and telescopic oil cylinder (55) are hinged by the 3rd connector, the first clamping plate (541) piston-rod end with telescopic oil cylinder (55) is hinged by combined connection component, and combined connection component includes the first connector (531) and the second connector (532), wherein, one end of the first connector (531) and the second connector (532) are be hinged, and first connects The other end and the first clamping plate (541) of fitting (531) are be hinged, the piston rod of the second connector (532) and telescopic oil cylinder (55) End is hinged.
  2. A kind of 2. robot system for pipe fitting welding according to claim 1, it is characterised in that:PLC bag Include PLC microprocessors and Control System Software part, Control System Software part include I/O human-computer interaction programs exploitation and Primary control program establishment is welded, can manually/automatic button conversion operation pattern.
CN201610409131.4A 2016-06-08 2016-06-08 A kind of robot system for pipe fitting welding Active CN105880882B (en)

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 CN105880882A (en) 2016-08-24
CN105880882B true 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)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN110977320B (en) * 2020-03-05 2020-06-12 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

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5537868B2 (en) * 2009-08-26 2014-07-02 株式会社アマダ Welding robot
JP6170345B2 (en) * 2013-06-03 2017-07-26 株式会社アマダホールディングス Automatic correction system and method
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
CN105370226B (en) * 2015-11-02 2017-12-08 湖南三一石油科技有限公司 Oil drilling and extracting equipment, drilling floor surface manipulator and tubing string help mechanism
CN105397244B (en) * 2015-11-27 2017-06-23 大连理工大学 A kind of pile end board multistation robot Intelligent welding system
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

Also Published As

Publication number Publication date
CN105880882A (en) 2016-08-24

Similar Documents

Publication Publication Date Title
CN105880882B (en) A kind of robot system for pipe fitting welding
CN205702953U (en) A kind of robot system for pipe fitting welding
CN105855769B (en) A kind of Intelligent welding robot
CN110238575B (en) Visual autonomous welding robot
CN205914913U (en) Intelligence welding machines people
CN205834533U (en) Minus plate automatic welding line
CN106736418B (en) For the automated system to eccentric shaft assembly bearing
CN110421333A (en) Side stopboard changer device people and a side stopboard installation method
CN111562309A (en) Ultrasonic phased array weld joint detection magnetic adsorption wall climbing robot and working method thereof
CN107553045A (en) A kind of terraced frame robot welding system
CN112621798A (en) Robot paw
CN205588309U (en) Tube -shape part clamping rotating mechanism
CN214978747U (en) Multi-station welding device
CN211136033U (en) Special machine for welding robot arm
CN208614065U (en) A kind of welding and detection device
CN207255546U (en) Welding robot handgrip
CN116765726A (en) Automatic welding device and method thereof
CN218051352U (en) Clamping mechanism for machining high-definition camera for inspection robot
CN208496210U (en) A kind of fully welded valve automatic welding platform
CN209632418U (en) Weld two station welding mechanisms
CN207026851U (en) Tool locating structure
CN114769951B (en) Automatic welding device and system based on three-dimensional modeling and application thereof
JPH0679461A (en) Automatic welding equipment
CN221434850U (en) Automatic spin riveting equipment
CN219234361U (en) Welding frock convenient to welding

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