CN105935829B - A kind of fillet weld automatically tracks self-regulated device and its Intelligent welding robot - Google Patents
A kind of fillet weld automatically tracks self-regulated device and its Intelligent welding robot Download PDFInfo
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- CN105935829B CN105935829B CN201610421176.3A CN201610421176A CN105935829B CN 105935829 B CN105935829 B CN 105935829B CN 201610421176 A CN201610421176 A CN 201610421176A CN 105935829 B CN105935829 B CN 105935829B
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- welding
- fillet weld
- pedestal
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- welding robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1278—Using mechanical 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
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
- B23K9/025—Seam welding; Backing means; Inserts for rectilinear seams
Abstract
The present invention discloses a kind of fillet weld and automatically tracks self-regulated device and its Intelligent welding robot, and fillet weld automatically tracks self-regulated device, including pedestal and the welding gun being installed on pedestal；Pedestal is equipped with arc sensor；It further includes two contacting roller pressure sensors that fillet weld, which automatically tracks self-regulated device, and two contacting roller pressure sensors are symmetrically arranged on the two sides of pedestal；Contacting roller pressure sensor includes: idler wheel, pressure sensor, bearing and seat axis, and bearing is connect by pressure sensor with idler wheel, and one end of seat axis is connect with bearing, and the other end of seat axis is connect with pedestal.The present invention automatically tracks self-regulated device and its Intelligent welding robot by providing a kind of fillet weld, solves the problems, such as that the welding robot of the industry metal structure welding of the heavy-duty machineries such as current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery automatically tracks fillet weld in the flat position and fillet weld in the vertical position, automatically adjust welding gun and automatically adjust welding procedure.
Description
Technical field
The present invention relates to a kind of fillet welds to automatically track self-regulated device and its Intelligent welding robot, more particularly to one
Kind is for heavy machinery industries such as shipbuilding, ocean engineering, steel structure bridge, steel building, chemical machinery and hoisting machineries
A kind of fillet weld of metal structure connection fillet weld automatically tracks self-regulated device and its Intelligent welding robot.
Background technique
For heavy-duty machineries such as shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machineries
Manufacture it is most of be not batch production, most of is individually to produce, seldom processed, assembled using standardized production line,
Manufacture.Because the hardware overall dimensions of these industries are big, weight is heavy, different, the complicated seldom use of crossbar structure
Fixed frock clamp is assembled, welding process there are many in the enclosure space of metal structure or hemi-closure space into
Row, most of weld seam are fillet weld in the flat position and fillet weld in the vertical position, and causing these industries substantially does not have and the seldom fixed industry of application is welded
Welding robot is all to rely on many welders and be moved to the position of metal structure welding to weld.
Currently, electric welding skilled worker's labour cost of enterprise rises year by year, and it is welded this arduous labor and is ready dry people
Fewer and fewer, the good electric welding skilled worker of technology is increasingly difficult to look for.And human weld's unstable quality, low efficiency.But enterprise product
Competition it is but more and more stronger, product requirement is higher and higher, and product quality is more and more tighter.This is increasing from now on to contradiction, only
It just can effectively solve by a kind of moveable Intelligent welding robot.But it is special due to above-mentioned industry metal structure, zero
The phenomenon that position while welding caused by the reasons such as construction, deformation and gap deviation very more, metal structure slab structure is assembled in part processing
The multilayer multiple tracks continuous arc welding of part, the kinetic control system control welding gun for depending merely on welding robot move not along the path of weld seam
The problem of automatic welding can be fully solved, will also automatically adjust device by welding seam automatic tracking device and welding procedure.
Sensor is the key component of seam tracking system.Its effect is the location and shape for being accurately detected weld seam
Information is simultaneously converted into electric signal.Control system could be handled signal, and control automatic adjusting mechanism according to testing result
Welding torch position is adjusted, to realize soldering joint automatic tracking.
It generally can be divided into direct-arc formula, contact and contactless three categories.Mechanical, machine can be divided by working principle
Electricity, electromagnetism, capacitor, jet stream, ultrasound, infrared, photoelectricity, laser, vision, electric arc, spectrum and optical fiber type etc..It is several frequently seen below
Weld seam tracking sensor:
Touch sensor is the sensor used earliest, feature be not by electric arc interference, reliable operation, at low cost,
Once it was used widely in production, but since tracking accuracy is not high, abrasion is big, easily-deformable, is not suitable for high-speed welding, at present
Replaced by other method for sensing.
Ultrasonic sensor is not afraid of electromagnetism, light, flue dust interference in welding, but is easy by noise jamming, to noise ratio
It is more sensitive, such as have certain limitation in the application of CO2 gas shielded arc welding welding method.
The working principle of arc sensor is in the welding process, when the relative position between welding gun and workpiece changes
When, the variation of arc voltage and electric current can be caused, these variations all can serve as characteristic signal and be extracted realization welding gun height
Low and left and right both direction tracing control.But for no symmetrical side or at all without the joint form of side wall, existing electric arc
Sensor cannot then identify.
Photoelectric sensor precision is high, reproducibility is good, may be implemented to bevel shape, width and the detection in section and weld seam with
Track provides foundation for the self adaptive control of welding parameter.Photoelectric sensor can be divided into the single-point based on discrete photoelectric cell again
Formula photoelectric sensor and the visual sensor that groove image information can be obtained.
It is different according to the working method of welding robot vision welding system, can will be used for welding robot vision weld joint with
The visual sensor of track system is divided into 3 kinds: structure light formula, laser scan type and directly shooting arc type.Currently, have in the market compared with
More laser scan type welding robot vision weld joint tracking systems, but price is generally all somewhat expensive.The tracking of butt weld is imitated
Fruit is preferable, but less desirable to the tracking effect of fillet weld.And it is overproof to weld gap to automatically adjust welding procedure this
Aspect effect is also not highly desirable.
Summary of the invention
The purpose of the present invention is overcoming shortcoming in the prior art, provide a kind of simple and reliable, soldering joint automatic tracking,
The fillet weld that weld seam shape position error energy adjust automatically welding gun alignment weld seam, weld gap deviation can automatically adjust welding procedure is automatic
Self-regulated device and its Intelligent welding robot are tracked, current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical industry are solved
The welding robot of the industry metal structure welding of the heavy-duty machineries such as mechanical and hoisting machinery to fillet weld in the flat position and fillet weld in the vertical position from
The problem of motion tracking, automatic adjustment welding gun and automatic adjustment welding procedure.
The purpose of the present invention is achieved through the following technical solutions:
A kind of fillet weld automatically tracks self-regulated device, including pedestal and the welding gun being installed on the pedestal；
The pedestal is equipped with arc sensor；
It further includes two contacting roller pressure sensors that the fillet weld, which automatically tracks self-regulated device, and two idler wheels connect
Touch pressure sensor is symmetrically arranged on the two sides of the pedestal；
The contacting roller pressure sensor includes: idler wheel, pressure sensor, bearing and seat axis, and the bearing passes through
The pressure sensor is connect with the idler wheel, and one end of the seat axis is connect with the bearing, the other end of the seat axis with
The pedestal connection.
The idler wheel is circular cone structure in one of the embodiments,.
A kind of Intelligent welding robot automatically tracks self-regulated device including above-mentioned fillet weld, further includes: moving trolley, liter
Falling unit, manipulator；
The lifting device is installed in the moving trolley, and the manipulator is installed on the lifting device, described
Fillet weld automatically tracks self-regulated device and is installed on the manipulator.
The moving trolley is running on wheels structure in one of the embodiments,.
The moving trolley is crawler-type traveling structure in one of the embodiments,.
The moving trolley is legged walking structure in one of the embodiments,.
The present invention automatically tracks self-regulated device and its Intelligent welding robot by providing a kind of fillet weld, and solution is made at present
The industry metal structure of the heavy-duty machineries such as ship, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery
The welding robot of welding automatically tracks fillet weld in the flat position and fillet weld in the vertical position, automatically adjusts welding gun and automatically adjust welding procedure
Problem.
Detailed description of the invention
Fig. 1 is the fillet welding gap progress that the fillet weld of one embodiment of the invention automatically tracks self-regulated device to hardware
The schematic diagram of welding；
Fig. 2 is the schematic diagram for the contacting roller pressure sensor that fillet weld shown in FIG. 1 automatically tracks self-regulated device；
Fig. 3 is the schematic diagram of the Intelligent welding robot of one embodiment of the invention.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.
Please refer to Fig. 1 and Fig. 2, a kind of fillet weld automatically tracks self-regulated device 10 and includes pedestal 100 and be installed on pedestal
Welding gun 200. on 100
Pedestal 100 is equipped with arc sensor 110.
It further includes two contacting roller pressure sensors 120, two idler wheel contacts that fillet weld, which automatically tracks self-regulated device 10,
Formula pressure sensor 120 is symmetrically arranged on the two sides of pedestal 100.
Contacting roller pressure sensor 120 includes: idler wheel 121, pressure sensor 122, bearing 123 and seat axis 124.Axis
Hold 123 and connect with idler wheel 121 by pressure sensor 122, one end of seat axis 124 is connect with bearing 123, seat axis 124 it is another
End is connect with pedestal 100.
In the present embodiment, idler wheel is circular cone structure.
As shown in figure 3, a kind of Intelligent welding robot 20, automatically tracks self-regulated device 10 including above-mentioned fillet weld, also wraps
It includes: moving trolley 300, lifting device 400, manipulator 500.
Lifting device 400 is installed in moving trolley 300, and manipulator 500 is installed on lifting device 400, and fillet weld is certainly
Motion tracking self-regulated device 10 is installed on manipulator 500.
To solve the weight such as current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery
The welding robot of the industry metal structure welding of type machinery automatically tracks fillet weld in the flat position and fillet weld in the vertical position, automatically adjusts welding gun
The problem of with automatic adjustment welding procedure, for example, moving trolley 300 is running on wheels structure, moving trolley 300 can also be shoe
Belt walking structure, moving trolley 300 can also be legged walking structure.To solve current shipbuilding, ocean engineering, bridge
The welding robot of the industry metal structure welding of the heavy-duty machineries such as steel construction, steel building, chemical machinery and hoisting machinery
Fillet weld in the flat position and fillet weld in the vertical position are automatically tracked, automatically adjust the problem of welding gun and automatic adjustment welding procedure.
To solve the weight such as current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery
The welding robot of the industry metal structure welding of type machinery automatically tracks fillet weld in the flat position and fillet weld in the vertical position, automatically adjusts welding gun
The problem of with automatic adjustment welding procedure, such as arc sensor 110, an annulus is provided with for a columnar component
Shape arc sensor, main function are the detection overproof variations for causing arc voltage and electric current of fillet welding gap, these variations are made
Be characterized signal be extracted realization the welding condition arc voltage of welding machine and the size of electric current are adjusted, and
The speed of welding of Butt welding gun mechanism is adjusted.To solve current shipbuilding, ocean engineering, bridge steel structure, steel construction are built
It builds, the welding robot of the industry metal structure welding of heavy-duty machineries such as chemical machinery and hoisting machinery is to fillet weld in the flat position and Li Jiao
The problem of soldering joint automatic tracking, automatic adjustment welding gun and automatic adjustment welding procedure.
To solve the weight such as current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery
The welding robot of the industry metal structure welding of type machinery automatically tracks fillet weld in the flat position and fillet weld in the vertical position, automatically adjusts welding gun
The problem of with automatic adjustment welding procedure, such as contacting roller pressure sensor 120, mainly by idler wheel 121, pressure sensor
122, bearing 123 and seat axis 124 form.Two contacting roller pressure sensors are symmetrically mounted on the preceding two sides of welding gun, welding gun
The contacting roller pressure sensor contacts of two sides and keep welding to the both sides corner connection component surface of fillet weld when being directed at fillet weld
Rifle according to setting pose theta alignment weld seam.The contacting roller of two sides when welding gun makes welding gun play arc welding toward weld movement
Pressure sensor keeps a pressure value normally set, to guarantee that welding gun is moved along weld seam automatically.If both sides
Certain of the metal component of corner connection deforms on one side generates weld excursion, then the pressure value of the contacting roller pressure sensor on certain one side
Variation detects that the signal of this pressure value variation can be transferred to the amplitude of oscillation that welding gun mechanism adjusts welding gun, guarantees welding gun alignment weldering
Stitch center.To solve current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and crane
The welding robot of the industry metal structure welding of the heavy-duty machineries such as tool automatically tracks fillet weld in the flat position and fillet weld in the vertical position, adjusts automatically
The problem of saving welding gun and automatic adjustment welding procedure.
To solve the weight such as current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery
The welding robot of the industry metal structure welding of type machinery automatically tracks fillet weld in the flat position and fillet weld in the vertical position, automatically adjusts welding gun
The problem of with automatic adjustment welding procedure, such as 110 main function of arc sensor are that fillet welding gap is overproof causes electricity for detection
The welding condition arc voltage of welding machine and the size of electric current is adjusted in the variation of arc voltage and electric current, realization, and
The speed of welding of Butt welding gun mechanism is adjusted.It is mainly characterized by catching the overproof easily attractive arc voltage of weld gap and electric current
Variation, give full play to arc sensor to the sensitive high feature of the variation of detection arc voltage and electric current, improve automatically with
The precision of welding procedure is automatically adjusted when track weld seam.To solve current shipbuilding, ocean engineering, bridge steel structure, steel construction
The welding robot of the industry metal structure welding of the heavy-duty machineries such as building, chemical machinery and hoisting machinery to fillet weld in the flat position and is stood
Fillet weld automatically tracks, automatically adjusts the problem of welding gun and automatic adjustment welding procedure.
To solve the weight such as current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery
The welding robot of the industry metal structure welding of type machinery automatically tracks fillet weld in the flat position and fillet weld in the vertical position, automatically adjusts welding gun
The problem of with automatic adjustment welding procedure, such as contacting roller pressure sensor 120 guarantee that welding gun automatically tracks weld seam.It is special
Point is by electric arc interference, reliable operation, at low cost.Added pressure sensor makes to contacting roller not being that machinery connects firmly
Touching, reduces abrasion and deformation, improves the precision for automatically tracking weld seam.To solve current shipbuilding, ocean engineering, bridge
The welding robot of the industry metal structure welding of the heavy-duty machineries such as steel construction, steel building, chemical machinery and hoisting machinery
Fillet weld in the flat position and fillet weld in the vertical position are automatically tracked, automatically adjust the problem of welding gun and automatic adjustment welding procedure.
Such as it is to be directed to that arc sensor 110 plus 120 combination collocation of contacting roller pressure sensor, which form a kind of feature,
Simple and reliable, the cheap, soldering joint automatic tracking of one kind of fillet weld and the fillet weld for automatically adjusting welding procedure automatically track
Self-regulated device.
To solve the weight such as current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery
The welding robot of the industry metal structure welding of type machinery automatically tracks fillet weld in the flat position and fillet weld in the vertical position, automatically adjusts welding gun
The problem of with automatic adjustment welding procedure, for example, moving trolley 300 can be moved in XY coordinate direction, mainly by X-axis longitudinal direction
Mobile mechanism and Y-axis transverse moving mechanism composition.Mainly: the accurate movement of X longitudinal direction and Y transverse direction may be implemented, it is mobile
Precision is within the scope of ± 2mm.300 move mode of moving trolley can be wheeled or crawler type or leg formula.300 energy band of moving trolley
The XY move that is issued by robot movement-control system of welding robot human body move.It is made at present to solve
The industry metal structure of the heavy-duty machineries such as ship, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery
The welding robot of welding automatically tracks fillet weld in the flat position and fillet weld in the vertical position, automatically adjusts welding gun and automatically adjust welding procedure
Problem.
To solve the weight such as current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery
The welding robot of the industry metal structure welding of type machinery automatically tracks fillet weld in the flat position and fillet weld in the vertical position, automatically adjusts welding gun
The problem of with automatic adjustment welding procedure, for example, lifting device 400 is mounted on planar central position in moving trolley 300, along Z
Axis direction liftable.Mainly: can be sent out by robot movement-control system with manipulator 500 along Z-direction lifting moving
Z move out is moved, and realizes the metal structure seam welds of eminence or lower.To solve current shipbuilding, sea
The industry metal structure welding of the heavy-duty machineries such as foreign engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery
Welding robot automatically tracks fillet weld in the flat position and fillet weld in the vertical position, automatically adjusts the problem of welding gun and automatic adjustment welding procedure.
To solve the weight such as current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery
The welding robot of the industry metal structure welding of type machinery automatically tracks fillet weld in the flat position and fillet weld in the vertical position, automatically adjusts welding gun
The problem of with automatic adjustment welding procedure, for example, manipulator 500 is mounted on along the liftable lifting device 400 of Z-direction
End.Mainly: machine can be pressed with visual identity tack weld tracker, welding self tuning regulator, welding gun and welding gun head mechanism
The robot movement control instruction that people's kinetic control system issues is carried out the adjustment of welding gun pose by the requirement of welding procedure, makes to weld
Rifle and welding gun head mechanism, including visual identity tack weld tracker, welding self tuning regulator can be along the welding of metal structure
It is moved by the requirement of welding procedure in seam path.To solve current shipbuilding, ocean engineering, bridge steel structure, steel construction
The welding robot of the industry metal structure welding of the heavy-duty machineries such as building, chemical machinery and hoisting machinery to fillet weld in the flat position and is stood
Fillet weld automatically tracks, automatically adjusts the problem of welding gun and automatic adjustment welding procedure.
The present invention automatically tracks self-regulated device and its Intelligent welding robot by providing a kind of fillet weld, and solution is made at present
The industry metal structure of the heavy-duty machineries such as ship, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery
The welding robot of welding automatically tracks fillet weld in the flat position and fillet weld in the vertical position, automatically adjusts welding gun and automatically adjust welding procedure
Problem.
Only several embodiments of the present invention are expressed for embodiment described above, and the description thereof is more specific and detailed, but
It cannot be construed as a limitation to the scope of the present invention.It should be pointed out that for the ordinary skill people of this field
For member, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to of the invention
Protection scope.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (5)
1. a kind of fillet weld automatically tracks self-regulated device, which is characterized in that including pedestal and the welding gun being installed on the pedestal；
The pedestal is equipped with arc sensor, and the arc sensor includes circle tube member and circular ring shape arc sensor,
The annulus arc sensor is set in the circle tube member, and the circle tube member is set on the pedestal；
It further includes two contacting roller pressure sensors, two contacting rollers that the fillet weld, which automatically tracks self-regulated device,
Pressure sensor is symmetrically arranged on the two sides of the pedestal；
The contacting roller pressure sensor includes: idler wheel, pressure sensor, bearing and seat axis, and the bearing passes through described
Pressure sensor is connect with the idler wheel, and one end of the seat axis is connect with the bearing, the other end of the seat axis with it is described
Pedestal connection；
The idler wheel is circular cone structure.
2. a kind of Intelligent welding robot, which is characterized in that self-regulated device is automatically tracked including fillet weld described in claim 1,
Further include: moving trolley, lifting device, manipulator；
The lifting device is installed in the moving trolley, and the manipulator is installed on the lifting device, the fillet welding
Seam automatically tracks self-regulated device and is installed on the manipulator.
3. Intelligent welding robot according to claim 2, which is characterized in that the moving trolley is running on wheels knot
Structure.
4. Intelligent welding robot according to claim 2, which is characterized in that the moving trolley is crawler-type traveling knot
Structure.
5. Intelligent welding robot according to claim 2, which is characterized in that the moving trolley is legged walking knot
Structure.
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| CN109128452A (en) * | 2018-08-20 | 2019-01-04 | 南京理工大学 | A kind of super-high strength steel arc-welding seam angle cognitive method and device |
| CN110682040B (en) * | 2019-11-05 | 2021-06-22 | 湖南城市学院 | Aerify cabinet body welding set |
| CN111774691A (en) * | 2020-07-28 | 2020-10-16 | 浙江路鑫交通设施工程有限公司 | Efficient and safe isolation net automatic welding equipment and working method thereof |
| CN111774779B (en) * | 2020-08-04 | 2023-01-31 | 山东华海新材料有限公司 | Multifunctional welding tool |
| CN113634858B (en) * | 2021-10-14 | 2021-12-10 | 南通南飞精密钣金有限公司 | Be used for non ferrous metal contour machining welding subassembly |
| CN114433990A (en) * | 2022-02-07 | 2022-05-06 | 扬州市中天机械制造有限公司 | Tool structure for welding steel structure |
| CN115338540B (en) * | 2022-10-14 | 2023-01-24 | 江苏方大光电科技有限公司 | Welding device for automatic seam-searching type portal frame |
| CN115958349A (en) * | 2022-12-30 | 2023-04-14 | 山东金旭钢构工程有限公司 | H-shaped steel gantry welding machine |
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| JP2819644B2 (en) * | 1989-08-16 | 1998-10-30 | 石川島播磨重工業株式会社 | Automatic fillet welding robot inside the frame |
| JP4740601B2 (en) * | 2004-03-31 | 2011-08-03 | 東邦シートフレーム株式会社 | Drum can filling welding method |
| CN201100844Y (en) * | 2007-11-28 | 2008-08-13 | 北京石油化工学院 | 2-D mechanical contact welding line tracking sensor |
| CN103341685B (en) * | 2013-07-17 | 2016-08-17 | 湘潭大学 | A kind of automatic weld tracking control method based on magnetic control arc and laser-vision sensing and system |
| CN104772590B (en) * | 2015-04-29 | 2016-08-31 | 唐山开元特种焊接设备有限公司 | Flat fillet weld mechanically tracking automatic welding device |
| CN204800166U (en) * | 2015-07-14 | 2015-11-25 | 崔彪 | A automatic welder for last spiral welding bead of helical blade |
| CN205764374U (en) * | 2016-06-14 | 2016-12-07 | 惠州市铠屹精密机械有限公司 | A kind of angle welding is from motion tracking self-regulated device and Intelligent welding robot thereof |
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