CN106425177A - Robot welding system for elliptical tank body circumferential weld - Google Patents
Robot welding system for elliptical tank body circumferential weld Download PDFInfo
- Publication number
- CN106425177A CN106425177A CN201610784189.7A CN201610784189A CN106425177A CN 106425177 A CN106425177 A CN 106425177A CN 201610784189 A CN201610784189 A CN 201610784189A CN 106425177 A CN106425177 A CN 106425177A
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- welding system
- positioner
- robot welding
- tank body
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
- B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot welding system, in particular to a robot welding system of an elliptical tank body circumferential weld. The robot welding system of the elliptical tank body circumferential weld comprises an XYZ triaxial sky rail traveling mechanism, a robot welding system, a welding power supply, a servo roller frame reversal positioner and a positioner traveling track, the servo roller frame reversal positioner can be arranged on the positioner traveling track in a sliding mode, and the XYZ triaxial sky rail traveling mechanism is arranged on one side of the positioner traveling track. The robot welding system is arranged on the XYZ triaxial sky rail traveling mechanism, is connected with the welding power supply and can make rectilinear motion in the X-axis, Y-axis and Z-axis directions. According to the robot welding system of the elliptical tank body circumferential weld, through the XYZ triaxial rectilinear motion of the robot welding system, workpieces are driven to make irregular rotary motion, and the welding of the workpieces at various angles is achieved in combination with a robot welding gun.
Description
Technical field
The present invention relates to a kind of robot welding system, particularly to a kind of tank body elliptic ring-shaped seam robot welding system.
Background technology
With robot extensive application in the industry, it is big that more and more factories begin to use that robot forms to sheet material
Type workpiece is welded.Because workpiece quality itself is big, artificial group very loaded down with trivial details to, welding sequence, also workpiece cannot be carried out
Upset.Manually also cannot realize fast and accurately welding, commonly used positioner coordinates robot to be welded at present
Work, is fixed by the workpiece that the fixture on positioner will weld, and adjusts the position of workpiece by positioner, so that workpiece is reached
Suitable welding posture, to meet the welding requirements of robot.
Welding robot runs according to pre-set program, and robotic gripper's welding gun reaches weld seam top to start to weld
Connect, in welding process positioner can in good time turning of work piece so that the weld seam on workpiece is conducive to the weld job of robot.
Welding terminates, and robot resets.Positioner drives workpiece to overturn in good time, to adapt to the accurate welding of workpiece, and reduces workpiece weldering
The welding deformation that tape splicing comes.Existing common circumferential weld robot welding system is it is impossible to be suitable for surface of the work height, outer surface rotation
Velocity variations it is impossible to coupling robot welding procedure, that is, allow to weld the effect welding out excessively poor (by surface of the work
Highly, the speed impact of outer surface rotation).
Content of the invention
For the problems referred to above, it is an object of the invention to provide a kind of tank body elliptic ring-shaped seam robot welding system.
To achieve these goals, the present invention employs the following technical solutions：
A kind of tank body elliptic ring-shaped seam robot welding system, including XYZ tri- axle sky rail walking mechanism, robot welding system
System, the source of welding current, servo turning rolls upset positioner and positioner walking track, wherein servo turning rolls upset positioner can be slided
It is arranged on positioner walking track dynamicly, rotate for clamping workpiece and drive workpiece, described XYZ tri- axle sky rail row
Walk the side that mechanism is arranged at positioner walking track, described robot welding system is arranged at described XYZ tri- axle sky rail walking
Electrically connect in mechanism and with the source of welding current, described robot welding system passes through the driving of XYZ tri- axle sky rail walking mechanism,
Can be for linear motion along X, Y, Z axis direction, thus reaching accurate welding position.
Described XYZ tri- axle sky rail walking mechanism includes column and XYZ three-axis moving mechanism, its central post be multiple and
Direction along described positioner walking track is arranged in order, and described XYZ three-axis moving mechanism is arranged at the top of multiple columns, institute
State the Z axis lower end that robot welding system is arranged in described XYZ three-axis moving mechanism.
Described robot welding system includes robot, welding gun and laser and seeks a tracks of device, and wherein robot is arranged on
Z axis lower end in described XYZ three-axis moving mechanism, described welding gun is arranged at the actuating station of robot, and described laser is sought position and followed the tracks of
Device is arranged on welding gun.
Described laser is sought a tracks of device and is included monitoring camera and laser instrument, and described laser is sought a tracks of device and is used for correcting
The deviation of each size of workpiece and the real-time welding deformation occurring in welding process.
One end of described XYZ tri- axle sky rail walking mechanism is provided with a day rail maintenance ladder.
Described servo turning rolls upset positioner includes positioner road wheel, displacement machine base, bracing frame, Self-aligning roller
Mechanism and turnover driving mechanism, wherein conjugate machine base is respectively arranged at two ends with a bracing frame, and described Self-aligning idler wheel mechanism is
Two groups, be hingedly connected on two bracing frames, described turnover driving mechanism be arranged on displacement machine base on and with described in two groups
Self-aligning idler wheel mechanism is in transmission connection, and the lower section of described displacement machine base is provided with can walking on track walked by described positioner
Positioner road wheel.
Described Self-aligning idler wheel mechanism includes turning rolls and roller, and wherein turning rolls is V-structure, and in the middle part of it, top is passed through
Rotating shaft is hinged with support frame as described above, and the two ends of described turning rolls are rotatably provided with roller respectively, and described roller is turned over described
Turn drive mechanism to be in transmission connection.
Described turnover driving mechanism includes motor, reductor, power transmission shaft and chain-drive mechanism, wherein reductor and Chain conveyer
Mechanism is two sets, and each reductor is respectively by the roller in a set of chain-drive mechanism and Self-aligning idler wheel mechanism described in a group even
Connect, by power transmission shaft connection and one of reductor is connected two sets of reductors with the output shaft of motor.
Described chain-drive mechanism includes drive sprocket, chain and driven sprocket, and wherein drive sprocket is arranged at described deceleration
On the output shaft of machine, described driven sprocket is two, is coaxially disposed with two rollers respectively, and described drive sprocket passes through two chains
Bar is connected with two driven sprockets respectively.
Described servo turning rolls upset positioner is two groups, supports the two ends of described workpiece respectively.
Advantages of the present invention and beneficial effect are：
1. the present invention seeks position+tracks of device using laser, and the special laser being contained on robotic gun is followed the tracks of can be right
The weld seam of workpiece carries out real-time tracking welding, can be done the linear motion of X, Y, Z tri- axle by the sky rail walking mechanism of servo-drive,
And servo turning rolls upset positioner drives workpiece to rotate, robotic gun is coordinated to realize the weldering of various angles
Connect.
2. the present invention drives robotic gun system to do tri- directions of XYZ by sky rail X Y Z tri- axle walking mechanism
Straight line moving, and servo-controlled turning rolls drives workpiece to do irregular rotary motion, realize the different angle of workpiece/
Position, realizes suitable welding position.
3. the turning rolls positioner of the present invention is self-adjustable, can automatically adjust wheel carrier pivot angle according to diameter of work size, with
Meet the welding needs of different-diameter workpiece.
4. the laser of the present invention seeks position+laser tracker for correcting the deviation of each size of workpiece and welding
The real-time welding deformation occurring in journey.
Brief description
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the left view of Fig. 1；
Fig. 4 is the axonometric drawing of the present invention；
Fig. 5 is the connection diagram of Z axis and robot welding system in the present invention；
Fig. 6 is the structural representation of robot welding system in invention；
Fig. 7 is the structural representation that in the present invention, servo turning rolls overturns positioner；
Fig. 8 is enlarged drawing at I in Fig. 7；
Fig. 9 is the axonometric drawing that in the present invention, servo turning rolls overturns positioner；
Figure 10 is enlarged drawing at II in Fig. 9；
Figure 11 is the structural representation of turnover driving mechanism in the present invention.
In figure：1 is XYZ tri- axle sky rail walking mechanism, and 101 is column, and 102 is X-axis walking mechanism, and 103 is drag chain, 104
For Y-axis walking mechanism, 105 is Z axis walking mechanism, and 2 is robot welding system, and 201 is robot, and 202 is welding gun, and 203 are
Laser seeks a tracks of device, and 2031 is monitoring camera, and 2032 is laser instrument, and 3 is the source of welding current, and 4 is sky rail maintenance ladder, and 5 is to watch
Take turning rolls upset positioner, 501 is positioner road wheel, 502 is displacement machine base, and 503 is bracing frame, and 504 is rotating shaft,
505 is turning rolls, and 506 is roller, and 507 is road wheel base, and 508 is wheel shaft, and 509 is motor, and 510 is reductor, based on 511
Movable sprocket, 512 is chain, and 513 is driven sprocket, and 514 is power transmission shaft, and 6 is positioner walking track, and 7 is workpiece.
Specific embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with the accompanying drawings with specific embodiment pair
The present invention is described in detail.
As Figure 1-3, a kind of tank body elliptic ring-shaped seam robot welding system that the present invention provides, including XYZ tri- axle sky
Rail walking mechanism 1, robot welding system 2, the source of welding current 3, servo turning rolls upset positioner 5 and positioner walking track 6,
Wherein servo turning rolls upset positioner 5 is slidably mounted on positioner walking track 6, for clamping workpiece 7 and drive
Workpiece 7 rotates, and described XYZ tri- axle sky rail walking mechanism 1 is arranged at the side of positioner walking track 6, described machine
People's welding system 2 is arranged in described XYZ tri- axle sky rail walking mechanism 1 and is electrically connected with the source of welding current 3, described robot
Welding system 2 passes through the driving of XYZ tri- axle sky rail walking mechanism 1, can be for linear motion along X, Y, Z axis direction, thus reaching standard
True welding position.
Described XYZ tri- axle sky rail walking mechanism 1 includes column 101 and XYZ three-axis moving mechanism, and its central post 101 is many
Individual and along described positioner walk track 6 direction be arranged in order, described XYZ three-axis moving mechanism is arranged at multiple columns
101 top, described robot welding system 2 is arranged at the Z axis lower end in described XYZ three-axis moving mechanism.
As shown in figure 4, described XYZ three-axis moving mechanism includes X-axis walking mechanism 102, the Y-axis walking mechanism being sequentially connected
104 and Z axis walking mechanism 105, described X-axis walking mechanism 102, Y-axis walking mechanism 104 and Z axis walking mechanism 105 are all using sliding
Block guiding rail mechanism guides, and is driven using pinion and rack.
Described XYZ tri- axle sky rail walking mechanism 1 is sky rail X, Y, Z tri- axle walking mechanism, by sky rail X, Y, Z tri- axle
Walking mechanism drives robotic gun system 2 to do the straight line moving in tri- directions of X, Y, Z, and servo-controlled turning rolls drives
Workpiece does irregular rotary motion, realizes the different angle/position of workpiece, realizes suitable welding position, can coordinate machine
Device people realizes the covering of full workpiece, realizes maximized access for welding.One end of described XYZ tri- axle sky rail walking mechanism 1 sets
There is a day rail maintenance ladder 4.
As shown in figure 5, described robot welding system 2 includes robot 201, welding gun 202 and laser seeks a tracks of device
203, wherein robot 201 is arranged on the Z axis lower end in described XYZ three-axis moving mechanism, and described welding gun 202 is arranged at robot
201 actuating station, described laser is sought a tracks of device 203 and is arranged on welding gun 202.
As shown in fig. 6, described laser seeks a tracks of device 203 includes monitoring camera 2031 and laser instrument 2032, monitor mirror
2031 effect is to monitor weld seam by monitoring display device, described laser seek a tracks of device 203 be used for correcting workpiece each
The deviation of size and the real-time welding deformation occurring in welding process.The process that robotic laser seeks position is by laser strip bundle
Project, strafe workpiece features point, record and calculate this position, the effective length of laser strip bundle is exactly that characteristic point permits theoretically
The deviation range permitted.The precision of the repetitive positioning accuracy of such words relevant tool fixture and workpiece avoids the need for doing very
Precision, because laser seeks position and tracking has certain centering capacity.
Described servo turning rolls upset positioner 5 is two groups, supports the two ends of described workpiece 7, i.e. supporting ellipse shape respectively
The two ends of tank body.
As is seen in figs 7-10, described servo turning rolls upset positioner 5 includes positioner road wheel 501, displacement machine base
502nd, bracing frame 503, Self-aligning idler wheel mechanism and turnover driving mechanism, wherein conjugate machine base 502 is respectively arranged at two ends with one
Bracing frame 503, described Self-aligning idler wheel mechanism is two groups, is hingedly connected on two bracing frames 503, described turnover driving mechanism
It is arranged on displacement machine base 502 and be in transmission connection with Self-aligning idler wheel mechanism described in two groups, described displacement machine base 502
Lower section be provided with can described positioner walk track 6 on walking positioner road wheel 501.
Described Self-aligning idler wheel mechanism includes turning rolls 505 and roller 506, and wherein turning rolls 505 is V-structure, wherein
Portion top is hinged with support frame as described above 503 by rotating shaft 504, and the two ends of described turning rolls 505 are rotatably provided with rolling respectively
Wheel 506, described roller 506 and described turnover driving mechanism are in transmission connection.
In one embodiment of the invention, described roller 506 adopts steel wheel Surface coating rubber structure, large carrying capacity, drives
Kinetic force is strong.
As shown in figure 11, described turnover driving mechanism includes motor 509, reductor 510, power transmission shaft 514 and Chain conveyer machine
Structure, wherein reductor 510 and chain-drive mechanism are two sets, and each reductor 510 is respectively by a set of chain-drive mechanism and one group
Roller 506 in described Self-aligning idler wheel mechanism connects, and two sets of reductors 510 are connected by power transmission shaft 514 and one of
Reductor 510 is connected with the output shaft of motor 509.Described reductor 510 adopts right angle reductor.
Described chain-drive mechanism includes drive sprocket 511, chain 512 and driven sprocket 513, and wherein drive sprocket 511 sets
It is placed on the output shaft of described reductor 510, described driven sprocket 513 is two, is coaxially disposed with two rollers 506 respectively,
Described drive sprocket 511 is connected with two driven sprockets 513 respectively by two chains 512.
In sum, described servo turning rolls upset positioner 5 is self-adjustable, can be automatic according to the diameter of workpiece 7
Adjust the pivot angle of turning rolls 505, to meet the welding needs of different-diameter workpiece.Every turning rolls 505 is added using servomotor
Reductor drives, and on turning rolls 505, every roller 506 adopts chain gear transmission, using this kind of kind of drive reliable transmission, is transmitted
Torque big, and appropriate compensation can be carried out to micro malalignment.Described roller 506 adopts steel wheel Surface coating rubber to tie
Structure, large carrying capacity.Whole turning rolls 505 has stronger rigidity and stability, aesthetic in appearance, has reliable and stable use
Performance, maintaining is simple, long service life, and maintenance cost is low.
Described roller 506 is rotated by the drive belt of servomotor part 7 of starting building, and coordinates described robot welding system
System 2 is realizing the welding of various angles.
The present invention adopts electric integrated control system
1) system is made up of robot system, positioner system and welding system function, passes through communication interface between several persons
Communicated and relevant action link, jointly complete the welding job to workpiece.
2) robot and welding system are linked by Device-Net, and robot activates weldering by the form transferring program number
The corresponding welding procedure of machine.Robot calls the program number of corresponding technological parameter, and this program number comprises welding current, receives/receive arc
The technological parameters such as time, the program number that the activation welding machine in welding presets to realize calling of welding parameter, and equipment is whole
To be controlled by robot, so welding procedure and requirements of process compile planning by demonstrator
4) system is provided with sensor, possesses automatic fault detection and reports the ability of failure code.
5) whole welding system reserves TCP/IP communication interface, can with upper MES system carry out integrated, in welding system
Directly display on corresponding station integrated machine, realize being associated with production task.Welding can should be carried out by this interface simultaneously
With the data interconnection of MES system, concrete communication format both sides negotiation.
6) when the tank body of elliptical shape overturns positioner 5 driving rotation by servo turning rolls, the height of its welding position,
The speed of outer surface rotation is not constant, needs to realize by particular algorithm precise match with robot welding system.
The present invention seeks a tracks of device using laser, and the special laser tracker being contained on robotic gun can be to workpiece
Weld seam carry out real-time tracking welding, the linear motion of X, Y, Z tri- axle can be done by the sky rail walking mechanism of servo-drive, and
Servo turning rolls upset positioner drives workpiece to rotate, and coordinates robotic gun to realize the welding of various angles.
Originally the flow process that operates with bright greatly is：
Operative employee overturns tank body work piece hoisting to servo turning rolls on positioner and puts in place, operating personnel's push
Start button on box, welding robot runs according to pre-set program, and robotic gripper's welding gun reaches weld seam top
Start automatic localization welding, welding workpiece terminates, and robot resets, the lower workpiece of operating personnel's handling, and new workpiece is attached to change
On the machine of position.
The foregoing is only embodiments of the present invention, be not intended to limit protection scope of the present invention.All in the present invention
Spirit and principle within made any modification, equivalent substitution and improvement, extension etc., be all contained in protection scope of the present invention
Interior.
Claims (10)
1. a kind of tank body elliptic ring-shaped seam robot welding system is it is characterised in that include XYZ tri- axle sky rail walking mechanism (1), machine
Device people's welding system (2), the source of welding current (3), servo turning rolls upset positioner (5) and positioner walking track (6), wherein watch
Take turning rolls upset positioner (5) to be slidably mounted on positioner walking track (6), for clamping workpiece (7) and drive
Workpiece (7) rotates, and described XYZ tri- axle sky rail walking mechanism (1) is arranged at the side of positioner walking track (6), institute
State robot welding system (2) to be arranged at described XYZ tri- axle sky rail walking mechanism (1) above and be electrically connected with the source of welding current (3)
Connect, described robot welding system (2) passes through the driving in XYZ tri- axle sky rail walking mechanism (1), can make along X, Y, Z axis direction straight
Line moves, thus reaching accurate welding position.
2. tank body elliptic ring-shaped seam robot welding system according to claim 1 is it is characterised in that described XYZ tri- axle sky
Rail walking mechanism (1) includes column (101) and XYZ three-axis moving mechanism, and its central post (101) is multiple and along described change
The direction of position machine walking track (6) is arranged in order, and described XYZ three-axis moving mechanism is arranged at the top of multiple columns (101), institute
State the Z axis lower end that robot welding system (2) is arranged in described XYZ three-axis moving mechanism.
3. tank body elliptic ring-shaped seam robot welding system according to claim 1 is it is characterised in that described robot welding
System (2) includes robot (201), welding gun (202) and laser and seeks a tracks of device (203), and wherein robot (201) is arranged on
Z axis lower end in described XYZ three-axis moving mechanism, described welding gun (202) is arranged at the actuating station of robot (201), described sharp
Light is sought a tracks of device (203) and is arranged on welding gun (202).
4. tank body elliptic ring-shaped seam robot welding system according to claim 3 it is characterised in that described laser seek position with
Track device (203) includes monitoring camera (2031) and laser instrument (2032), and described laser is sought a tracks of device (203) and is used for correcting
The deviation of each size of workpiece and the real-time welding deformation occurring in welding process.
5. tank body elliptic ring-shaped seam robot welding system according to claim 1 is it is characterised in that described XYZ tri- axle sky
One end of rail walking mechanism (1) is provided with a day rail maintenance ladder (4).
6. tank body elliptic ring-shaped seam robot welding system according to claim 1 is it is characterised in that described servo turning rolls
Upset positioner (5) includes positioner road wheel (501), displacement machine base (502), bracing frame (503), Self-aligning idler wheel mechanism
And turnover driving mechanism, wherein conjugate machine base (502) is respectively arranged at two ends with a bracing frame (503), described Self-aligning roller
Mechanism is two groups, is hingedly connected on two bracing frames (503), and described turnover driving mechanism is arranged on displacement machine base (502)
It is in transmission connection above and with Self-aligning idler wheel mechanism described in two groups, the lower section of described displacement machine base (502) is provided with can be described
The positioner road wheel (501) of the upper walking of positioner walking track (6).
7. tank body elliptic ring-shaped seam robot welding system according to claim 6 is it is characterised in that described Self-aligning roller
Mechanism includes turning rolls (505) and roller (506), and wherein turning rolls (505) is V-structure, and in the middle part of it, rotating shaft is passed through on top
(504) hinged with support frame as described above (503), the two ends of described turning rolls (505) are rotatably provided with roller (506) respectively,
Described roller (506) is in transmission connection with described turnover driving mechanism.
8. tank body elliptic ring-shaped seam robot welding system according to claim 7 is it is characterised in that described upset driving machine
Structure includes motor (509), reductor (510), power transmission shaft (514) and chain-drive mechanism, wherein reductor (510) and Chain conveyer machine
Structure is two sets, and each reductor (510) is respectively by the rolling in a set of chain-drive mechanism and Self-aligning idler wheel mechanism described in a group
Wheel (506) connects, and two sets of reductors (510) are passed through power transmission shaft (514) and connected and one of reductor (510) and motor
(509) output shaft connects.
9. tank body elliptic ring-shaped seam robot welding system according to claim 8 is it is characterised in that described chain-drive mechanism
Including drive sprocket (511), chain (512) and driven sprocket (513), wherein drive sprocket (511) is arranged at described reductor
(510), on output shaft, described driven sprocket (513) is two, is coaxially disposed with two rollers (506) respectively, described active
Sprocket wheel (511) is connected with two driven sprockets (513) respectively by two chains (512).
10. the tank body elliptic ring-shaped seam robot welding system according to any one of claim 6-9 is it is characterised in that described
Servo turning rolls upset positioner (5) is two groups, supports the two ends of described workpiece (7) respectively.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610784189.7A CN106425177A (en) | 2016-08-31 | 2016-08-31 | Robot welding system for elliptical tank body circumferential weld |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610784189.7A CN106425177A (en) | 2016-08-31 | 2016-08-31 | Robot welding system for elliptical tank body circumferential weld |
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| CN201610784189.7A Pending CN106425177A (en) | 2016-08-31 | 2016-08-31 | Robot welding system for elliptical tank body circumferential weld |
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| CN114310048A (en) * | 2021-12-31 | 2022-04-12 | 北京博清科技有限公司 | Welding device, control method of welding device, and control device |
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