CN106216902A - A kind of all position welding picks - Google Patents
A kind of all position welding picks Download PDFInfo
- Publication number
- CN106216902A CN106216902A CN201610723157.6A CN201610723157A CN106216902A CN 106216902 A CN106216902 A CN 106216902A CN 201610723157 A CN201610723157 A CN 201610723157A CN 106216902 A CN106216902 A CN 106216902A
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- China
- Prior art keywords
- linear motion
- motion unit
- welding gun
- welding
- kinematic axis
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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
- 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
Abstract
The invention discloses a kind of all position welding to pick, hoofing part cell substrate is by guiding wheels and described walking gear pendant in the side of rack guide rail, the kinematic axis of the first linear motion unit is fixed on substrate, the kinematic axis of the second linear motion unit is fixed on the sliding part of the first linear motion unit, first welding gun is fixed on the sliding part of the second linear motion unit by the first welding gun fixture, the kinematic axis of the first linear motion unit is perpendicular to the kinematic axis of the second linear motion unit, first angle swing axle driver element is fixed on the kinematic axis of the second linear motion unit, the output shaft of the first angle swing axle driver element and the first welding gun fixture connect, the output shaft of hoofing part unit is connected with the wheel shaft of walking gear.The present invention efficiently solves the technical problem that the existing welding efficiency picked for all position welding of revolving parts is low, so achieve all positon to revolving parts, quickly, accurately weld, to improve welding work efficiency.
Description
Technical field
The present invention relates to field of welding devices, particularly relate to a kind of all position welding and pick.
Background technology
All-position welding owner ready-package the to be used all positon pipeline welding head of the revolving parts such as current pipeline adds
The mode of flexible rail completes, and the mode that this ready-package all positon pipeline welding head adds flexible rail disclosure satisfy that movable type
Welding procedure to portable devices requirement, but due to the restriction of flexible rail, the existing all position welding for revolving parts
The welding efficiency picked is low.
Summary of the invention
The present invention, by providing a kind of all position welding to pick, solves the existing all position welding for revolving parts and picks
The low technical problem of welding efficiency.
A kind of all position welding that the embodiment of the present invention provides picks, including: substrate, rack guide rail, guide wheels, tooth of walking
Wheel, the first linear motion unit, the second linear motion unit, the first angle swing axle driver element, the first welding gun, the first welding gun is fixed
Part, hoofing part unit；
Described substrate by described guiding wheels and described walking gear pendant in the side of described rack guide rail, described
The kinematic axis of one linear motion unit is fixing on the substrate, and the kinematic axis of described second linear motion unit is fixed on described
On the sliding part of the first linear motion unit, described first welding gun is fixed on described second straight by described first welding gun fixture
On the sliding part of line moving cell, the kinematic axis of described first linear motion unit is perpendicular to described second linear motion unit
Kinematic axis, described first angle swing axle driver element is fixed on the sliding part of described second linear motion unit, described first jiao
The output shaft of balance staff driver element is connected with described first welding gun fixture, the output shaft of described hoofing part unit and described row
The wheel shaft walking gear connects.
Preferably, described rack guide rail is annulus rack guide rail, and described tooth-strip part is positioned at outside described annulus rack guide rail
On ring.
Preferably, described guiding wheels include: least one set guidance set, and described guidance set includes outer directive wheel and interior
Directive wheel；The wheel shaft of described outer directive wheel and the wheel shaft of described interior directive wheel are each attached on described substrate, described outer directive wheel
The outer spigot surface laminating of slideway and described rack guide rail, the slideway of described interior directive wheel and the interior spigot surface of described rack guide rail
Laminating.
Preferably, described guidance set includes outer directive wheel latch segment, and described outer directive wheel is locked by described outer directive wheel
Tight block is locked on the substrate.
Preferably, described all position welding picks and also includes: the 3rd linear motion unit, the 4th linear motion unit, and second
Welding gun, the second welding gun fixture, the second angle swing axle driver element；The kinematic axis of described 3rd linear motion unit is fixed on described
On substrate, the kinematic axis of described 4th linear motion unit is fixed on the sliding part of described 3rd line moving cell, and described
Two welding guns are fixed on the sliding part of described 4th linear motion unit by described second welding gun fixture, the 3rd linear motion
The kinematic axis of unit is perpendicular to the kinematic axis of described 4th linear motion unit, the output shaft of described second angle swing axle driver element
It is connected with described second welding gun fixture.
Preferably, described 3rd linear motion unit and described first linear motion unit are symmetrically arranged same straight line
Moving cell.
Preferably, described 4th linear motion unit and described second linear motion unit are symmetrically arranged same straight line
Moving cell.
Preferably, described second welding gun fixture is symmetrical arranged with described first welding gun fixture, wherein, and described first weldering
Rifle fixture is arranged on the kinematic axis of described second linear motion unit the side facing to described 4th linear motion unit, institute
State the second welding gun fixture be arranged on described 4th linear motion unit kinematic axis on single facing to described second linear motion
The side of unit.
Preferably, described hoofing part unit is reducing motor or frequency conversion motor, the casing or described of described reducing motor
On the side carried with described rack guide rail that the casing of frequency conversion motor is fixed on described substrate.
The one or more technical schemes provided by the embodiment of the present invention, at least achieve following technique effect or excellent
Point:
The all position welding that the embodiment of the present invention provides picks: owing to substrate is by guiding wheels and walking gear pendant at tooth
The side of bar guide rail, thus the welding mechanism being fixed on substrate (welding mechanism refer to the first linear motion unit, second straight line fortune
Moving cell, the first angle swing axle driver element, the first welding gun, the first welding gun fixture and the entirety of hoofing part unit composition) just
Side hanging is arranged on the side of rack guide rail, therefore, it is possible to be suitable to the shape of revolving parts, and by the first linear motion
Unit and the second linear motion unit are vertically arranged: complete the first welding gun along revolving parts radially with the first linear motion unit
Translation, the first linear motion unit just can complete the first welding gun along the axial translation of revolving parts, by the first angle swing
Axle driver element can directly drive the first welding gun to rotate and complete the angle swing action in welding.Thus the first linear motion unit,
The combination of the second linear motion unit and the first angle swing axle driver element is capable of multiple degree of freedom of the first welding gun motion, then
Installing in conjunction with side hanging makes the first welding gun reach each welding position of revolving parts fast and accurately, the most effectively solves
The technical problem that the existing welding efficiency picked for all position welding of revolving parts is low, and then achieve revolving body zero
The all positon of part, quickly, accurately weld, to improve welding work efficiency.
Further, owing to rack guide rail is annulus rack guide rail, so that welding mechanism (the first linear motion unit,
Second linear motion unit, the first angle swing axle driver element, the first welding gun, the first welding gun fixture and hoofing part unit composition
Entirety) move to each position of radial direction of revolving parts along annulus rack guide rail, it is achieved that all-position welding in pipeline.
Further, owing to being also provided with the 3rd linear motion unit, the 4th linear motion unit, the second angle swing axle driving
Unit, the second welding gun and another welding mechanism of the second welding gun fixture composition, form double-torch symmetrical on single bonding machine,
Thus the first welding gun and these two welding guns of the second welding gun can the starting the arc simultaneously or according to the sequencing starting the arc, carry the most further
High welding efficiency.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to
The accompanying drawing provided obtains other accompanying drawing.
Fig. 1 is the axonometric chart that in the embodiment of the present invention, all position welding picks；
Fig. 2 is the front view that in the embodiment of the present invention, all position welding picks；
Fig. 3 is the left view that in the embodiment of the present invention, all position welding picks；
Fig. 4 is the top view that in the embodiment of the present invention, all position welding picks；
Fig. 5 is the rearview that in the embodiment of the present invention, all position welding picks.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
With reference to shown in Fig. 1～Fig. 5, a kind of all position welding that the embodiment of the present invention provides picks, including: substrate 1, tooth bar are led
Rail 2, guide wheels, walking gear the 3, first linear motion unit, the second linear motion unit, the first angle swing axle driver element 4,
First welding gun the 5, first welding gun fixture 6 and hoofing part unit 8.
Substrate 1 by guiding wheels and walking gear 3 pendant in the side of rack guide rail 2, the first linear motion unit
Kinematic axis 9 is fixing on substrate 1, and the kinematic axis 11 of the second linear motion unit is fixed on the sliding part of the first linear motion unit
On 10, the first welding gun 5 is fixed on the sliding part 12 of the second linear motion unit by the first welding gun fixture 6, the first straight line
The kinematic axis 9 of moving cell is perpendicular to the kinematic axis 11 of the second linear motion unit, and the first angle swing axle driver element 4 is fixed on
On the kinematic axis 11 of two linear motion units, output shaft and the first welding gun fixture 6 of the first angle swing axle driver element 4 connect,
The output shaft of hoofing part unit 8 is connected with the wheel shaft of walking gear 3.
The work process of the present invention is: hoofing part unit 8 drives walking gear 3 to move along rack guide rail 2, and first is straight
Line moving cell and the second linear motion unit combine the motion of the most vertical both direction that can complete welding gun, concrete,
First linear motion unit completes the translation along revolving parts radial direction of first welding gun 5, and the first linear motion unit completes first
Welding gun 5 is along the axial translation of revolving parts.First angle swing axle driver element 4 directly drives the first welding gun fixture 6 and first
Welding gun 5 rotates and completes the angle swing action in welding.Thus the first linear motion unit, the second linear motion unit and first jiao
The combination of balance staff driver element 4 is capable of multiple degree of freedom of the first welding gun 5 motion, installs in conjunction with side hanging and makes the first weldering
Rifle 5 reaches each welding position of revolving parts fast and accurately.
Concrete, the first angle swing axle driver element 4 is angle swing spindle motor, and in specific implementation process, the first angle swing axle drives
Moving cell 4 can be frequency conversion motor, reducing motor.First welding gun fixture 6 is fixed on the output of the first angle swing axle driver element 4
On axle, the first welding gun fixture 6 is annular folder, locks the first welding gun 5 in annular folder by bolt.
Concrete, hoofing part unit 8 is reducing motor or frequency conversion motor, and hoofing part unit 8 is reducing motor or change
Frequently on the side carried with rack guide rail 2 that motor, the casing of reducing motor or the casing of frequency conversion motor are fixed on substrate 1.OK
The output shaft walking driver element 8 is connected through substrate 1 with the walking gear 3 being positioned at substrate 1 opposite side.Hoofing part unit 8
Output shaft is connected with the wheel shaft of walking gear 3.
Concrete, guiding wheels and include least one set guidance set, each group guidance set includes outer directive wheel 13 He respectively
Interior directive wheel 14；The wheel shaft of outer directive wheel 13 and the wheel shaft of interior directive wheel 14 are each attached on substrate 1, the slideway of outer directive wheel 13
Fit with the outer spigot surface of rack guide rail 2, the interior spigot surface laminating of the slideway of interior directive wheel 14 and rack guide rail 2.Concrete one
In embodiment, each group guidance set includes outer directive wheel latch segment 15 respectively, and outer directive wheel 13 is by outer directive wheel latch segment 15
Locking on substrate 1, is installed when being used for needing only.
In a pre-installation, fix outer directive wheel 13 on substrate 1 and interior directive wheel 14 is in open mode, during installation, first
First by substrate 1, outer directive wheel 13, interior directive wheel the 14, first linear motion unit, the second linear motion unit, the first angle swing axle
What driver element the 4, first welding gun the 5, first welding gun fixture 6 and hoofing part unit 8 formed is integrally placed at the one of rack guide rail 2
Side, makes walking gear 3 engage with rack guide rail 2, after interior directive wheel 14 is fitted with spigot surface in rack guide rail 2, then locks
Screw on outer directive wheel latch segment 15, to guarantee that outer directive wheel 13 closely cooperates with the outer spigot surface of rack guide rail 2.Thus it is real
Show the modularity composition that all position welding picks.
Further, all position welding that the present invention provides picks and also includes: the 3rd linear motion unit, the 4th linear motion
Unit, the second welding gun the 16, second welding gun fixture 17 and the second angle swing axle driver element 18.The motion of the 3rd linear motion unit
Axle 19 is fixing, and the kinematic axis 21 of the 4th linear motion unit is fixed on the sliding part 20 of the 3rd line moving cell on substrate 1,
Second welding gun 16 is fixed on the sliding part 7 of the 4th linear motion unit by the second welding gun fixture 17, the 3rd linear motion
The kinematic axis 19 of unit is perpendicular to the kinematic axis 21 of the 4th linear motion unit, the output shaft of the second angle swing axle driver element 18 with
Second welding gun fixture 17 connects.
Concrete, the second welding gun fixture 17 is fixed on the output shaft of the second angle swing axle driver element 17, the second welding gun
Fixture 17 is annular folder, locks the second welding gun 16 in annular folder by bolt.
Further, in one embodiment, the 3rd linear motion unit and the first linear motion unit are that symmetry sets
The same straight line moving cell put；4th linear motion unit and the second linear motion unit are symmetrically arranged same straight line fortune
Moving cell.Second welding gun fixture 17 is symmetrical arranged with the first welding gun fixture 6, and it is straight that the first welding gun fixture 6 is arranged on second
Facing to the side of the 4th linear motion unit on line moving cell, the second welding gun fixture 17 is arranged on the 4th linear motion unit
The upper side facing to the second linear motion unit.Thus the first linear motion unit, the second linear motion unit, the first angle swing axle
The entirety of driver element the 4, first welding gun the 5, first welding gun fixture 5 composition and the 3rd linear motion unit, the 4th linear motion
Unit, the second being integrally formed of welding gun the 16, second welding gun fixture the 17, second angle swing axle driver element 18 composition are symmetrical arranged
Double-torch configuration, during weld job, the first welding gun 5 and the second welding gun 16 can play arc welding simultaneously, it is also possible to by elder generation
The rear order starting the arc, thus improve welding efficiency, different welding demand can be met.
In specific implementation process, the first linear motion unit, the second linear motion unit, the 3rd linear motion unit and
4th linear motion unit can be ball screw and spherical guide type unit, ball screw and slide rail type unit, belt transmission
With spherical guide type unit, belt drives and slide rail type unit, belt drives and guide wheel type unit.Do not limit.
In one embodiment, rack guide rail 2 is annulus rack guide rail, and tooth-strip part is positioned at the outer shroud of annulus rack guide rail
On, thus hoofing part unit 8 drives walking gear 3 to complete circular motion along annulus rack guide rail, so that the first welding gun 5 He
Second welding gun 16 can arrive the circumferential optional position in the revolving parts such as pipeline, and the first linear motion unit, the second straight line are transported
The combination of moving cell and the first angle swing axle driver element 4 is capable of multiple degree of freedom of the first welding gun 5 motion.The present invention provides
All position welding pick and be applicable to the all-position welding of the revolving parts such as pipeline.
Concrete, tooth-strip part is V-type tooth bar.
The one or more embodiments provided by the invention described above embodiment, have implemented following technique effect or excellent
Point:
The all position welding that the embodiment of the present invention provides picks: owing to substrate is by guiding wheels and walking gear pendant at tooth
The side of bar guide rail, thus the welding mechanism being fixed on substrate (welding mechanism refer to the first linear motion unit, second straight line fortune
Moving cell, the first angle swing axle driver element, the first welding gun, the first welding gun fixture and the entirety of hoofing part unit composition) just
Side hanging is arranged on the side of rack guide rail, therefore, it is possible to be suitable to the shape of revolving parts, and by the first linear motion
Unit and the second linear motion unit are vertically arranged: complete the first welding gun along revolving parts radially with the first linear motion unit
Translation, the first linear motion unit just can complete the first welding gun along the axial translation of revolving parts, by the first angle swing
Axle driver element can directly drive the first welding gun to rotate and complete the angle swing action in welding.Thus the first linear motion unit,
The combination of the second linear motion unit and the first angle swing axle driver element is capable of multiple degree of freedom of the first welding gun motion, then
Installing in conjunction with side hanging makes the first welding gun reach each welding position of revolving parts fast and accurately, the most effectively solves
The technical problem that the existing welding efficiency picked for all position welding of revolving parts is low, and then achieve revolving body zero
The all positon of part, quickly, accurately weld, to improve welding work efficiency.
Further, owing to rack guide rail is annulus rack guide rail, so that welding mechanism (the first linear motion unit,
Second linear motion unit, the first angle swing axle driver element, the first welding gun, the first welding gun fixture and hoofing part unit composition
Entirety) move to each position of radial direction of revolving parts along annulus rack guide rail, it is achieved that all-position welding in pipeline.
Further, owing to being also provided with the 3rd linear motion unit, the 4th linear motion unit, the second angle swing axle driving
Unit, the second welding gun and another welding mechanism of the second welding gun fixture composition, form double-torch symmetrical on single bonding machine,
Thus the first welding gun and these two welding guns of the second welding gun can the starting the arc simultaneously or according to the sequencing starting the arc, carry the most further
High welding efficiency.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and amendment to these embodiments.So, claims are intended to be construed to include excellent
Select embodiment and fall into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and the modification essence without deviating from the present invention to the present invention
God and scope.So, if these amendments of the present invention and modification belong to the scope of the claims in the present invention and equivalent technologies thereof
Within, then the present invention is also intended to comprise these change and modification.
Claims (9)
1. an all position welding picks, it is characterised in that including: substrate, rack guide rail, guides wheels, and walking gear, first is straight
Line moving cell, the second linear motion unit, the first angle swing axle driver element, the first welding gun, the first welding gun fixture, walking is driven
Moving cell；
Described substrate by described guiding wheels and described walking gear pendant in the side of described rack guide rail, described first straight
The kinematic axis of line moving cell is fixing on the substrate, and the kinematic axis of described second linear motion unit is fixed on described first
On the sliding part of linear motion unit, described first welding gun is fixed on described second straight line by described first welding gun fixture and transports
On the sliding part of moving cell, the kinematic axis of described first linear motion unit is perpendicular to the motion of described second linear motion unit
Axle, described first angle swing axle driver element is fixed on the sliding part of described second linear motion unit, described first angle swing axle
The output shaft of driver element is connected with described first welding gun fixture, the output shaft of described hoofing part unit and described walking tooth
The wheel shaft of wheel connects.
2. all position welding as claimed in claim 1 picks, it is characterised in that described rack guide rail is annulus rack guide rail, institute
State tooth-strip part to be positioned on the outer shroud of described annulus rack guide rail.
3. all position welding as claimed in claim 1 picks, it is characterised in that described guiding wheels include: least one set guides
Assembly, described guidance set includes outer directive wheel and interior directive wheel；
The wheel shaft of described outer directive wheel and the wheel shaft of described interior directive wheel are each attached on described substrate, the cunning of described outer directive wheel
The outer spigot surface laminating of road and described rack guide rail, the slideway of described interior directive wheel pastes with the interior spigot surface of described rack guide rail
Close.
4. all position welding as claimed in claim 3 picks, it is characterised in that described guidance set includes that outer directive wheel is locked
Block, described outer directive wheel is locked on the substrate by described outer directive wheel latch segment.
5. all position welding as claimed in claim 1 picks, it is characterised in that described all position welding picks and also includes: the 3rd is straight
Line moving cell, the 4th linear motion unit, the second welding gun, the second welding gun fixture, the second angle swing axle driver element；
The kinematic axis of described 3rd linear motion unit is fixing on the substrate, the kinematic axis of described 4th linear motion unit
Being fixed on the sliding part of described 3rd line moving cell, described second welding gun is fixed on institute by described second welding gun fixture
Stating on the sliding part of the 4th linear motion unit, it is single that the kinematic axis of the 3rd linear motion unit is perpendicular to described 4th linear motion
The kinematic axis of unit, the output shaft of described second angle swing axle driver element is connected with described second welding gun fixture.
6. all position welding as claimed in claim 5 picks, it is characterised in that described 3rd linear motion unit and described first
Linear motion unit is symmetrically arranged same straight line moving cell.
7. all position welding as claimed in claim 5 picks, it is characterised in that described 4th linear motion unit and described second
Linear motion unit is symmetrically arranged same straight line moving cell.
8. all position welding as claimed in claim 5 picks, it is characterised in that described second welding gun fixture and described first weldering
Rifle fixture is symmetrical arranged, and wherein, described first welding gun fixture is arranged on the kinematic axis of described second linear motion unit
Facing to the side of described 4th linear motion unit, described second welding gun fixture is arranged on described 4th linear motion unit
Kinematic axis on facing to the side of described second linear motion unit.
9. all position welding as claimed in claim 1 picks, it is characterised in that described hoofing part unit is reducing motor or change
Frequently motor, the casing of described reducing motor or the casing of described frequency conversion motor are fixed on carrying on the back with described rack guide rail of described substrate
On the side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610723157.6A CN106216902A (en) | 2016-08-25 | 2016-08-25 | A kind of all position welding picks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610723157.6A CN106216902A (en) | 2016-08-25 | 2016-08-25 | A kind of all position welding picks |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106216902A true CN106216902A (en) | 2016-12-14 |
Family
ID=57554466
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610723157.6A Pending CN106216902A (en) | 2016-08-25 | 2016-08-25 | A kind of all position welding picks |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106216902A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112207469A (en) * | 2020-09-23 | 2021-01-12 | 中国化学工程第六建设有限公司 | P91 high-temperature steel pipeline welding and heat treatment process |
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| CN104139265A (en) * | 2014-08-06 | 2014-11-12 | 哈尔滨工程大学 | Elastic rail type automatic pipeline outer wall welding mechanism |
| CN105479010A (en) * | 2015-12-31 | 2016-04-13 | 湖北三江航天红阳机电有限公司 | Pipe all-position laser grooving machine |
| CN105945475A (en) * | 2016-06-20 | 2016-09-21 | 湖北三江航天红阳机电有限公司 | Side-hung type all-position welding robot for pipeline |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201154425Y (en) * | 2008-02-01 | 2008-11-26 | 北京石油化工学院 | Welding tractor with slide block type locking mechanism |
| CN201455576U (en) * | 2009-07-16 | 2010-05-12 | 北京石油化工学院 | Pipeline all-position automatic welding conical surface locking type guide track |
| CN101954556A (en) * | 2009-07-16 | 2011-01-26 | 北京石油化工学院 | All-position automatic welding guide rail of pipeline |
| CN101712093A (en) * | 2009-11-24 | 2010-05-26 | 上海市安装工程有限公司 | Open gear ring type all position automatic welding device |
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| CN103286494A (en) * | 2013-05-27 | 2013-09-11 | 清华大学 | Rail type all-position welding robot for box-type steel structures |
| CN103506788A (en) * | 2013-09-23 | 2014-01-15 | 北京石油化工学院 | Complex-track all-position double gun automatic welding robot |
| CN104139265A (en) * | 2014-08-06 | 2014-11-12 | 哈尔滨工程大学 | Elastic rail type automatic pipeline outer wall welding mechanism |
| CN105479010A (en) * | 2015-12-31 | 2016-04-13 | 湖北三江航天红阳机电有限公司 | Pipe all-position laser grooving machine |
| CN105945475A (en) * | 2016-06-20 | 2016-09-21 | 湖北三江航天红阳机电有限公司 | Side-hung type all-position welding robot for pipeline |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112207469A (en) * | 2020-09-23 | 2021-01-12 | 中国化学工程第六建设有限公司 | P91 high-temperature steel pipeline welding and heat treatment process |
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Effective date of registration: 20170809 Address after: 432000 middle section of Changzheng Road, Hubei, Xiaogan Applicant after: Sanjiang Hubei Aerospace Hongyang electromechanical Co., Ltd. Xiaogan equipment manufacturing branch Address before: 432000 Xiaogan Changzheng Road, Hubei, No. 95 Applicant before: Hubei Sanjiang Aerospace Red Sun Electromechanical Co., Ltd. |
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Application publication date: 20161214 |
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