CN106695200A - Mechanical arm pore-opening robot - Google Patents
Mechanical arm pore-opening robot Download PDFInfo
- Publication number
- CN106695200A CN106695200A CN201510774774.4A CN201510774774A CN106695200A CN 106695200 A CN106695200 A CN 106695200A CN 201510774774 A CN201510774774 A CN 201510774774A CN 106695200 A CN106695200 A CN 106695200A
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- CN
- China
- Prior art keywords
- rotation
- lifting
- arm
- tooth bar
- perforate
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K10/00—Welding or cutting by means of a plasma
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering 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
- B23K7/00—Cutting, scarfing, or desurfacing by applying flames
- B23K7/10—Auxiliary devices, e.g. for guiding or supporting the torch
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/12—Vessels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a mechanical arm pore-opening robot which comprises a rotary arm mechanism, a lifting arm mechanism, a telescopic arm mechanism, a gun pendulum mechanism and a cantilever frame mechanism. The mechanical arm pore-opening robot is characterized in that the rotary arm mechanism is positioned on the upper part of the mechanical arm pore-opening robot; the side surface of the rotary arm mechanism is connected with the cantilever frame mechanism; the lifting arm mechanism is positioned on the middle part of the mechanical arm pore-opening robot, and is mounted on the lower surface of the rotary arm mechanism; the telescopic arm mechanism is mounted at one side of the lifting arm mechanism through a bolt; the telescopic arm mechanism is fixedly connected with a lifting base through a telescopic base; the upper part of the gun pendulum mechanism is connected with the telescopic arm mechanism; and the mechanical arm pore-opening robot is put and fixed by virtue of a pedestal on the cantilever frame mechanism.
Description
Technical field
It is more particularly to a kind of for perforated container cutting robots such as cylinder, ellipsoidal head, spherical crown and cones the present invention relates to mechanical arm perforate robot, perforate cutting can be carried out using thermal cutting modes such as oxygen-acetylene, plasmas.
Background technology
With the continuous growth of world's equipment manufacture, the status of Chinese manufacturing big country is progressively established, and at the same time Metal Cutting total amount, cutting complexity and technical requirements are improved constantly.Perforate cutting and its retaining wall on slope are an important steps in the equipment manufactures such as petrochemical industry, boiler, pressure vessel, ship, urban duct.At present, most of manufacturing enterprise uses artificial setting-out, manual perforate cutting and finished edge, and manual grinding is generally required after cutting carries out secondary operation.The problems such as inefficiency, machining accuracy are poor, labour intensity is high, work under bad environment, the production cost that is detrimental to health are high is especially prominent.Large-sized numerical control cutting equipment price is high, and maintenance cost is high, it is necessary to professional training human users, it has not been convenient to, it is dumb.Based on above reason, in the urgent need to it is a kind of it is portable, with certain automatization level and reach the easily operated perforate cutting robot of degree of precision.
It uses spider hang to the patent of invention container intersection line cutting robot of current Harbin Engineering University's application, cutting operation can only be carried out in the Work Space Range of spider, it is difficult to which the movement for carrying out greater room and scope carries out cutting operation.Patent of the present invention is advantage portable, with small in volume, is easy to carry and is adapted to scene processing, and this is not available for the patent of invention container intersection line cutting robot of Harbin Engineering University's application.Therefore, a kind of small volume, the lightweight, robot that is easy to carry and is adapted to on-site cutting operation are badly in need of in reality.
The content of the invention
It is an object of the invention to solve the above problems, there is provided a kind of cost is moderate, simple structure, a kind of mechanical arm perforate robot for being easily achieved.The present invention the used technical scheme that solves the above problems is：
Mechanical arm perforate robot includes：Swivel arm mechanism, lifting arm mechanism, Telescopic boom mechanism, gun pendulum mechanism, cantilever frame mechanism.It is characterized in that：Swivel arm mechanism is located at mechanical arm perforate robot upper part, and its side is connected with cantilever frame mechanism；The lifting arm mechanism is located at mechanical arm perforate robot middle part, is installed on below swivel arm mechanism；Telescopic boom mechanism is installed on lifting arm mechanism side by bolt, and the Telescopic boom mechanism is connected by telescopic stand with lifting seat；The top of the gun pendulum mechanism is connected with Telescopic boom mechanism；Mechanical arm perforate robot carries out placement fixation by the pedestal on cantilever frame mechanism.
The present invention can also include such some architectural features.
1. the composition of swivel arm mechanism described in includes：Rotation motor, rotation decelerator, rotation reducer stent, rotation little gear, rotation gear wheel, connecting plate, upper axle bed, upper axle；The rotation motor is installed on the input shaft end of rotation decelerator, and rotation is arranged on the output shaft of rotation decelerator with little gear；The rotation motor is driven by rotation decelerator and realizes that rotation is exported with pinion rotation；Rotation decelerator is arranged on rotation reducer stent upside, and rotation is arranged on connecting plate with reducer stent；The connecting plate is arranged on upper axle bed top by bolt；The upper axle is provided with rotation gear wheel, rotation little gear and rotation gear wheel are engaged transmission relation, the upper axle is installed on the endoporus of the upper axle bed by bearing, when rotation motor has rotation to export, can realize that upper axle rotates around the axle center of upper axle bed by drive connection.
2. the composition that arm mechanism is lifted described in includes：Lower axle, slide rail, lifting decelerator, lifting motor, lifting seat, laser, lifting gear, tooth bar, sliding block；Lifting arm mechanism is installed on upper axle lower end by bolt.Tooth bar and slide rail are installed in the lower axle；The lifting decelerator is installed on lifting seat；The lifting motor is installed on lifting reducer input shaft；The lifting gear is installed on lifting reducer output shaft and is intermeshed with tooth bar；The tooth bar is installed in the rach slot of lower axle；The slide rail is installed in the sliding-rail groove of lower axle, and slide rail is mounted opposite in the both sides of lower axle with tooth bar；The sliding block is slided with the mutual stringing of slide rail, and lifting seat is installed on sliding block；The laser is installed on the bottom of lower axle, for feeling relieved；When lifting motor has rotation to export, lifting seat is to be capable of achieving ascending motion or descending motion.
3. the composition of Telescopic boom mechanism described in includes：Telescopic stand, handwheel, flexible gear, feather key, tooth bar pipe, Telescopic boom mechanism are installed on lifting arm mechanism by telescopic stand.The tooth bar pipe side is machined with straight-tooth, and its relative other side is machined with keyway；Keyway is machined with the telescopic stand endoporus；Tooth bar pipe is installed on the endoporus of telescopic stand, and feather key is installed in keyway；The flexible gear is installed in telescopic stand and is intermeshed with the tooth on tooth bar pipe；Handwheel is connected with flexible gear, is to be capable of achieving stretching out for tooth bar pipe to move or retraction movement by rotation hand wheel.
4. the composition of gun pendulum mechanism includes described in：Connect gun rack, burning torch support, burning torch seat, burning torch, the gun pendulum mechanism is installed on Telescopic boom mechanism by even gun rack.The even gun rack is installed on tooth bar pipe and away from telescopic stand；The burning torch support is installed on even gun rack；The burning torch seat is installed on burning torch stent ends, and burning torch seat can swing around the installation axis hole of burning torch stent ends；The burning torch is installed in burning torch seat.
5. mechanical arm perforate robot, perforate near workpieces to be cut are placed on by cantilever frame mechanism using pedestal by mechanical arm perforate robot.The cantilever frame mechanism is constituted to be included：Forearm, small arm axle, large arm, big arm axle, pivoted arm, tumbler shaft, pedestal.The cantilever shalving structure, one end is connected with upper axle bed, and other end installs near workpieces to be cut by pedestal, realizes realizing cutting in the range of certain space by the motion of forearm, large arm and pivoted arm, is more suitable for the first-class workpiece of ellipsoidal head, ball sealing.
The beneficial effects of the invention are as follows：（1）Terminal with compact integral structure is light to be easily portable；（2）Can be from the interior outside Double Directional Cutting such as container conduit；（3）Required precision higher can be reached, perforate quality is high；（4）It is cheap, easily for medium-sized and small enterprises receive.
Brief description of the drawings
Fig. 1 is the overall structure diagram of mechanical arm perforate robot of the present invention；
Fig. 2 is the structural representation of swivel arm mechanism of the present invention；
Fig. 3 is the structural representation of present invention lifting arm mechanism；
Fig. 4 is the structural representation of Telescopic boom mechanism of the present invention；
Fig. 5 is the structural representation of gun pendulum mechanism of the present invention；
Fig. 6 is the structural representation of cantilever frame mechanism of the present invention；
Fig. 7 is ellipsoidal head perforate operation effectiveness schematic diagram of the present invention.
In figure：1, rotation motor, 2, rotation decelerator, 3, rotation reducer stent, 4, rotation little gear, 5, rotation gear wheel, 6, connecting plate, 7, upper axle bed, 8, upper axle, 9, lower axle, 10, slide rail, 11, lifting decelerator, 12, lifting motor, 13, lifting seat, 14, laser, 15, lifting gear, 16, sliding block, 17, tooth bar, 18, telescopic stand, 19, handwheel, 20, flexible gear, 21, feather key, 22, tooth bar pipe, 23, connect gun rack, 24, burning torch support, 25, burning torch, 26, burning torch seat, 27, forearm, 28, small arm axle, 29, large arm, 30, big arm axle, 31, pivoted arm, 32, tumbler shaft, 33, pedestal.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, mechanical arm perforate robot of the present invention（Fig. 1）, including swivel arm mechanism（Fig. 2）, lifting arm mechanism（Fig. 3）, Telescopic boom mechanism（Fig. 4）, gun pendulum mechanism（Fig. 5）, cantilever frame mechanism（Fig. 6）, it is characterised in that：Swivel arm mechanism（Fig. 2）Positioned at mechanical arm perforate robot upper part, its side and cantilever frame mechanism（Fig. 6）It is connected；The lifting arm mechanism（Fig. 3）Positioned at mechanical arm perforate robot middle part, swivel arm mechanism is installed on（Fig. 2）Below；Telescopic boom mechanism（Fig. 4）Lifting arm mechanism is installed on by bolt（Fig. 3）Side, the Telescopic boom mechanism（Fig. 4）By telescopic stand（18）With lifting seat（13）It is connected；The gun pendulum mechanism（Fig. 5）Top and Telescopic boom mechanism（Fig. 4）It is connected；The cantilever frame mechanism（Fig. 6）By pedestal（33）Mechanical arm perforate robot is placed near workpieces to be added.
With reference to Fig. 1, Fig. 2, the swivel arm mechanism（Fig. 2）Composition include：Rotation motor（1）, rotation decelerator（2）, rotation reducer stent（3）, rotation little gear（4）, rotation gear wheel（5）, connecting plate（6）, upper axle bed（7）, upper axle（8）.The rotation motor（1）It is installed on rotation decelerator（2）Input shaft end, rotation little gear（4）Rotation decelerator is installed（2）Output shaft on；The rotation motor（1）By rotation decelerator（2）Rotation little gear is realized in transmission（4）Rotation output；The rotation decelerator（2）Installed in rotation reducer stent（3）Upside, rotation reducer stent（3）Installed in connecting plate（6）On；The connecting plate（6）Upper axle bed is arranged on by bolt（7）Top；The upper axle（8）Upper end is provided with rotation gear wheel（5）, rotation little gear（4）With rotation gear wheel（5）It is engaged transmission relation, the upper axle（8）The upper axle bed is installed on by bearing（7）Endoporus, when rotation motor（1）When thering is rotation to export, upper axle can be realized by drive connection（8）Around upper axle bed（7）Axle center rotation, make to be installed on axle（8）The lifting arm mechanism of lower end realizes rotation.
With reference to Fig. 1, Fig. 3, the lifting arm mechanism（Fig. 3）Composition include：Lower axle（9）, slide rail（10）, lifting decelerator（11）, lifting motor（12）, lifting seat（13）, laser（14）, lifting gear（15）, tooth bar（17）, sliding block（16）；Lifting arm mechanism（Fig. 3）Upper axle is installed on by bolt（8）Lower end.The lower axle（9）On tooth bar is installed（17）And slide rail（10）；The lifting decelerator（11）It is installed on lifting seat（13）On；The lifting motor（12）It is installed on lifting decelerator（11）Input shaft；The lifting gear（15）It is installed on lifting decelerator（11）On output shaft and and tooth bar（17）Intermeshing；The tooth bar（17）It is installed on lower axle（9）Rach slot in；The slide rail（10）It is installed on lower axle（9）Sliding-rail groove in, slide rail（10）With tooth bar（17）It is mounted opposite in lower axle（9）Both sides；The sliding block（16）With slide rail（10）Mutual stringing is slided, lifting seat（13）It is installed on sliding block（16）On；The laser（14）It is installed on lower axle（9）Lower end, for feeling relieved；When lifting motor（12）When thering is rotation to export, lifting seat（13）Telescopic boom mechanism can be driven to realize ascending motion or descending motion.
With reference to Fig. 1, Fig. 4, the composition of the Telescopic boom mechanism includes：Telescopic stand（18）, handwheel（19）, flexible gear（20）, feather key（21）, tooth bar pipe（22）, Telescopic boom mechanism is by telescopic stand（18）It is installed on lifting arm mechanism.The tooth bar pipe（22）Side is machined with straight-tooth, and its relative other side is machined with keyway；The telescopic stand（18）Keyway is machined with endoporus；Tooth bar pipe（22）It is installed on telescopic stand（18）Endoporus, feather key（21）It is installed in keyway；The flexible gear（20）It is installed on telescopic stand（18）It is interior and with tooth bar pipe（20）On tooth intermeshing；Handwheel（19）With flexible gear（20）It is connected, by turn handwheel（19）Drive flexible gear（20）Rotation is capable of achieving tooth bar pipe（22）Stretch out motion or retraction movement.
With reference to Fig. 1, Fig. 5, the composition of the gun pendulum mechanism includes：Connect gun rack（23）, burning torch support（24）, burning torch（25）, burning torch seat（26）, the gun pendulum mechanism is by even gun rack（23）It is installed on Telescopic boom mechanism.The even gun rack（23）It is installed on tooth bar pipe（22）Above and away from telescopic stand（18）；The burning torch support（24）The company's of being installed on gun rack（23）On；The burning torch seat（26）It is installed on burning torch support（24）End, burning torch seat（26）Can be around（Fig. 6）Shown axis oscillating；The burning torch（25）It is installed on burning torch seat（26）It is interior.
With reference to Fig. 1, Fig. 6, the cantilever frame mechanism is constituted to be included：Forearm（27）, small arm axle（28）, large arm（29）, big arm axle（30）, pivoted arm（31）, tumbler shaft（32）, pedestal（33）.By forearm（27）, large arm（29）And pivoted arm（31）Motion realize in the range of certain space realize cutting, be more suitable for the first-class workpiece of ellipsoidal head, ball sealing.Mechanical arm perforate robot is placed on by perforate near workpieces to be cut, one end and upper axle bed using pedestal by cantilever frame mechanism（7）It is connected, other end installs near workpieces to be cut by pedestal；During work, mechanical arm perforate robot is passed through into pedestal first（33）Cut near workpieces are fixed on, lower axle is adjusted（9）Lower end laser（14）The laser beam projection of transmitting adjusts the initial position of mechanical arm perforate robot to the cutting hole home position of pipeline.The parameters such as perforate radius are set, and adjustment bevel angle starts combustion preheater, carries out abnormal curved surface perforate cutting.Wherein（Fig. 7）For mechanical arm perforate robot is placed on the schematic diagram for treating that perforate is carried out near perforate workpiece ellipsoidal head.
The basic principles, principal features and advantages of the present invention have been shown and described above.It should be understood by those skilled in the art that; the present invention is not limited to the above embodiments; merely illustrating the principles of the invention described in above-described embodiment and specification; without departing from the spirit and scope of the present invention; various changes and modifications of the present invention are possible, and these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appending claims and its equivalent thereof.
Claims (6)
1. mechanical arm perforate robot includes：Swivel arm mechanism, lifting arm mechanism, Telescopic boom mechanism, gun pendulum mechanism, cantilever frame mechanism；It is characterized in that：Swivel arm mechanism is located at robot upper part, and its side is connected with cantilever frame mechanism；The lifting arm mechanism is located at robot middle part, is installed on below swivel arm mechanism；Telescopic boom mechanism is installed on lifting arm mechanism side by bolt, and the Telescopic boom mechanism is connected by telescopic stand with lifting seat；The top of the gun pendulum mechanism is connected with Telescopic boom mechanism；Mechanical arm perforate robot is by being placed near workpiece to be processed on cantilever frame mechanism.
2. mechanical arm perforate robot according to claim 1, it is characterised in that：The composition of the swivel arm mechanism includes：Rotation motor, rotation decelerator, rotation reducer stent, rotation little gear, rotation gear wheel, connecting plate, upper axle bed, upper axle；The rotation motor is installed on the input shaft end of rotation decelerator, and rotation is arranged on the output shaft of rotation decelerator with little gear；The rotation motor is driven by rotation decelerator and realizes that rotation is exported with pinion rotation；Rotation decelerator is arranged on rotation reducer stent upside, and rotation is arranged on connecting plate with reducer stent；The connecting plate is arranged on upper axle bed top by bolt；The upper axle is provided with rotation gear wheel, and rotation little gear and rotation gear wheel are engaged transmission relation, and the upper axle is installed on the endoporus of the upper axle bed by bearing.
3. mechanical arm perforate robot according to claim 1, it is characterised in that：The composition of the lifting arm mechanism includes：Lower axle, slide rail, lifting decelerator, lifting motor, lifting seat, laser, lifting gear, tooth bar, sliding block；Lifting arm mechanism is installed on upper axle lower end by bolt；Tooth bar and slide rail are installed in the lower axle；The lifting decelerator is installed on lifting seat；The lifting motor is installed on lifting reducer input shaft；The lifting gear is installed on lifting reducer output shaft and is intermeshed with tooth bar；The tooth bar is installed in the rach slot of lower axle；The slide rail is installed in the sliding-rail groove of lower axle, and slide rail is mounted opposite in the both sides of lower axle with tooth bar；The sliding block is slided with the mutual stringing of slide rail, and lifting seat is installed on sliding block；The laser is installed on the bottom of lower axle, for feeling relieved.
4. mechanical arm perforate robot according to claim 1, it is characterised in that：The composition of the Telescopic boom mechanism includes：Telescopic stand, handwheel, flexible gear, feather key, tooth bar pipe, Telescopic boom mechanism are installed on lifting arm mechanism by telescopic stand；The tooth bar pipe side is machined with straight-tooth, and its relative other side is machined with keyway；Keyway is machined with the telescopic stand endoporus；Tooth bar pipe is installed on the endoporus of telescopic stand, and feather key is installed in keyway；The flexible gear is installed in telescopic stand and is intermeshed with the tooth on tooth bar pipe.
5. mechanical arm perforate robot according to claim 1, it is characterised in that：The composition of the gun pendulum mechanism includes：Connect gun rack, burning torch support, burning torch seat, burning torch, the gun pendulum mechanism is installed on Telescopic boom mechanism by even gun rack；The even gun rack is installed on tooth bar pipe and away from telescopic stand；The burning torch support is installed on even gun rack；The burning torch seat is installed on burning torch stent ends, and burning torch seat can swing around the installation axis hole of burning torch stent ends；The burning torch is installed in burning torch seat.
6. mechanical arm perforate robot according to claim 1, perforate near workpieces to be cut are placed on by cantilever frame mechanism using pedestal by mechanical arm perforate robot；The cantilever frame mechanism is constituted to be included：Forearm, small arm axle, large arm, big arm axle, pivoted arm, tumbler shaft, pedestal；The cantilever shalving structure, one end is connected with upper axle bed, and other end installs near workpieces to be cut by pedestal, realizes realizing cutting in the range of certain space by the motion of forearm, large arm and pivoted arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510774774.4A CN106695200A (en) | 2015-11-14 | 2015-11-14 | Mechanical arm pore-opening robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510774774.4A CN106695200A (en) | 2015-11-14 | 2015-11-14 | Mechanical arm pore-opening robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106695200A true CN106695200A (en) | 2017-05-24 |
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ID=58931128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510774774.4A Pending CN106695200A (en) | 2015-11-14 | 2015-11-14 | Mechanical arm pore-opening robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106695200A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434242A (en) * | 2019-01-11 | 2019-03-08 | 哈尔滨工程大学 | A kind of portable four axis abnormal curved surface aperture cutting head |
| CN117983939A (en) * | 2024-04-03 | 2024-05-07 | 常州市同昌电气设备有限公司 | A plasma cutting torch for cutting of building steel |
-
2015
- 2015-11-14 CN CN201510774774.4A patent/CN106695200A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434242A (en) * | 2019-01-11 | 2019-03-08 | 哈尔滨工程大学 | A kind of portable four axis abnormal curved surface aperture cutting head |
| CN117983939A (en) * | 2024-04-03 | 2024-05-07 | 常州市同昌电气设备有限公司 | A plasma cutting torch for cutting of building steel |
| CN117983939B (en) * | 2024-04-03 | 2024-06-11 | 常州市同昌电气设备有限公司 | A plasma cutting torch for cutting of building steel |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170524 |
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| WD01 | Invention patent application deemed withdrawn after publication |