CN106695235A - Full-automatic welding equipment - Google Patents
Full-automatic welding equipment Download PDFInfo
- Publication number
- CN106695235A CN106695235A CN201710141377.2A CN201710141377A CN106695235A CN 106695235 A CN106695235 A CN 106695235A CN 201710141377 A CN201710141377 A CN 201710141377A CN 106695235 A CN106695235 A CN 106695235A
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- welding
- tubing
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- plate
- feeding
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- 238000003466 welding Methods 0.000 title claims abstract description 126
- 230000007246 mechanism Effects 0.000 claims abstract description 135
- 238000007599 discharging Methods 0.000 claims abstract description 16
- 238000012856 packing Methods 0.000 claims abstract description 4
- 230000035611 feeding Effects 0.000 claims description 66
- 230000005540 biological transmission Effects 0.000 claims description 33
- 210000000707 wrist Anatomy 0.000 claims description 28
- 239000000463 material Substances 0.000 claims description 13
- 238000003825 pressing Methods 0.000 claims description 10
- 238000007789 sealing Methods 0.000 claims description 9
- 230000033228 biological regulation Effects 0.000 claims description 5
- 238000004140 cleaning Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000004806 packaging method and process Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009713 electroplating Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
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
- 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
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
- B23K37/0538—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor for rotating tubes, e.g. rollers
-
- 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
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses full-automatic welding equipment. Left and right connectors of a pipe and a trunk of the pipe are manually placed on a connector feeding mechanism and a feeding and discharging guide rail correspondingly, the left and right connectors of the pipe are grabbed by an industrial robot to a rotation welding mechanism, the trunk of the pipe is conveyed to the welding position through a chain, the rotation welding mechanism is provided with a clamping part and a servo motor, the left and right connectors of the pipe are clamped by the clamping part, and the two sides of the clamping part achieves packing and will achieve automatic positioning, the servo motor rotates to drive the left and right connectors of the pipe and the trunk of the pipe to rotate simultaneously; and a welding mechanism on the six-shaft industrial robot welds the connecting positions of the left and right connectors of the pipe and the trunk of the pipe, after welding is carried out, the welded pipe is conveyed out through discharging mechanisms on the other side of a left sliding table and the other side of a right sliding table to be conveyed to the lower layer of the feeding and discharging guide rail to be guided out, and the pipe automatically flows to an assembly line through an inclined rail. The full-automatic welding equipment is high in welding efficiency, free of limitation, stable in welding effect, good in coincidence and capable of welding truss pipes with multiple specifications, different lengths and multiple models in a full-automatic manner.
Description
Technical field
The present invention relates to tubing welding technology field, a kind of Full-automatic welding equipment is particularly related to.
Background technology
Welding equipment has been applied among all trades and professions, existing welding equipment feature：Efficiency is low, limitation, welding
Effect is unstable.
Efficiency is low：Feeding blanking and welding process are numerous and diverse, not up to full-automatic；
Limitation：It is not applied for multiple product specification；
Welding effect is unstable：Weld seam is inconsistent, unsightly；
At present, can be provided with manipulator on welding equipment, manipulator be applied to material handling, product crawl, product cutting processing,
The many kinds of work position such as welding, while convenient production, also solve the problems, such as cost of labor, but manipulator still needs constantly
Improve, the present invention is studied for welded type manipulator, to improve the weak point of traditional manipulator, traditional manipulator
There is following weak point in terms of welding：
1. traditional manipulator adjustable-angle scope is narrower, in some Product processings, it is necessary to setting special frock comes auxiliary
Help welding；
2. welding stability is low, because welding requirements is uniform, needs to consider whole equipment in manipulator rocking process
Stability, traditional manipulator still can be rocked with slight at present.
In addition, existing welded tube has the disadvantage：It is unable to two ends to weld simultaneously, pipe length is non-adjustable, and one end is soldered can just open
Begin to exchange the direction welding other end, pipe length is non-adjustable, can only be welded and fixed size pipe.
Currently manufactured industry pipe material product（Such as stainless steel tube, PVC plastic expects pipe etc.）As long as packaging hand-filling or half
Auto state is packed, and its labour intensity is big, and numerous people are reluctant to apply for this post, and the development of industry is limited to a certain extent.Pass
The automated packaging equipment of the tubing packaging industry of system its send most of tube portion by manually operating or being transmitted with traditional belt
Mode, not only feeding speed is slower, and the accuracy of feeding is low, is unfavorable for the automatic production line operation of factory.
The content of the invention
For deficiency of the prior art, the technical problem to be solved in the present invention there are provided a kind of Full-automatic welding and set
It is standby.
In order to solve the above technical problems, the present invention is realized by following scheme：A kind of Full-automatic welding equipment, this is complete certainly
Dynamic welding equipment includes：
Joint feeding mechanism, the joint feeding mechanism is provided with two, respectively Shi Zuo joint feedings mechanism, right connector feeder
Structure, Liang Ge joint feedings mechanism is placed side by side, and for the left and right joint feeding of tubing, the joint feeding mechanism is provided with feeding rail
Road；
Welding machine, the welding machine is provided with two, is placed in the inner side of Liang Ge joint feedings mechanism；
Industrial robot, the artificial six-shaft industrial robot of industrial machine, six-shaft industrial robot is provided with 2, six axle
Be provided with industrial robot Multi-angle free rotation manipulator, welding mechanism, the welding mechanism by cable connection in
On welding machine, the welding mechanism is used for the welding of tubing left and right joint and tubing trunk；
Clear rifle station, the clear rifle station is placed between two industrial robots, and the clear rifle station is used for the cleaning of industrial robot；
Sealing wire, the sealing wire includes horizontal double sided slider bar, the left and right slide unit being placed on horizontal double sided slider bar, is placed in left and right slide unit front side
Switch board, left and right slide unit inner side is provided with two loading and unloading guide rails of tubing trunk, and two loading and unloading guide rails are simultaneously discharged
Put, the left and right slide unit moves to adjust the width between two loading and unloading guide rails in horizontal double sided slider bar, to adapt to weld tubing
The width of mobile jib；The left and right slide unit is provided with rotary welding mechanism；
Switch board, the switch board is provided with 2, lives apart in the left and right front side of sealing wire；
Tubing left and right joint and tubing trunk are manually placed into joint feeding mechanism, loading and unloading guide rail, the industrial machine respectively
People captures tubing left and right joint to rotary welding mechanism, and tubing trunk is sent to welding position, rotary welding device by chain
Clamping part, servomotor are provided with, clamping part clamping tubing left and right joint, its both sides packing can be automatically positioned, servomotor rotation
Turn, drive tubing left and right joint and pipe trunk to rotate simultaneously, the welding mechanism on six-shaft industrial robot is by tubing left and right joint
Junction with pipe trunk is welded, and after welding, the tubing that the discharging mechanism of left and right slide unit opposite side will be welded is sent out, and delivers to
The lower floor of blanking guide rail derives, and is flowed on streamline automatically by ramp.
Further, the six-shaft industrial robot is fixed on a frame upper end, and it includes support and is placed in support
On horizontal rotary mechanism, the horizontal rotary mechanism sidepiece is provided with arm rotating mechanism, the axle of the arm rotating mechanism
End connects wrist rotating mechanism, the shaft end connecting welding mechanism of the wrist rotating mechanism；
The support is fixed on a base plate, and base plate is secured by bolts in frame, and the support is held thereon in cylinder
Fixed disk is provided with by bolt, the fixed disk center is fixed with an axostylus axostyle, axostylus axostyle other end connection horizontal rotary mechanism；
The horizontal rotary mechanism includes the first motor, arm rotating mechanism mounting seat, and first motor is vertical
Place, its drive division connects above-mentioned axostylus axostyle, drive division is one overall, the arm with motor housing, arm rotating mechanism mounting seat
Portion's rotating mechanism mounting seat sidepiece is fixed with arm rotating mechanism；
The arm rotating mechanism includes the second motor, moment power transmission shaft, and second motor is laterally disposed, its with
First motor is vertical, and second motor is vertical with moment power transmission shaft to be connected, moment transmission the tip of the axis connection wrist
Portion's rotating mechanism；
The wrist rotating mechanism includes the 3rd motor, the 4th motor, wrist power transmission shaft, the 3rd motor
Moment transmission the tip of the axis is installed vertically on, its motor of shell sidepiece right angle setting the 4th, the 3rd motor drives
Dynamic wrist power transmission shaft rotates around the 3rd motor axle, and the axle portion of the 4th motor passes through leading in the middle part of wrist power transmission shaft
Hole, the rotating seat of its end connecting welding mechanism；
The welding mechanism includes rotating seat, the 5th motor, welding conduit, plumb joint, and the rotating seat is fixedly connected with U
Type frame, axle is connected with welding base at the opening of U-shaped frame, and the axle outer end of the welding base, U-shaped frame outside connection the 5th drive electricity
Machine, the welding base connecting welding conduit welds conduit connecting welding head.
Further, control case assembly is also equipped with the base plate, the control case assembly includes vertical mounting blocks, control
Box, control box side is installed on the side of vertical mounting blocks, and the vertical mounting blocks are placed in the side of base；
The 4th driving motor belt motor has deceleration device；
The wrist power transmission shaft middle part is through hole, its end and rotating seat ends contact；
The moment power transmission shaft is that axis body bar portion is square；
Axis body bar part two parts of the wrist power transmission shaft, it is cone to drive motor side near the 4th, is driven away from the 4th
The part of motor is cylinder.
Further, tubing rotary welding mechanism is provided with the left and right slide unit, on the tubing rotary welding mechanism
Clamping and rotating system is provided with, the clamping and rotating system includes front end clamping section and the push dress being connected with the clamping section
Put；
The clamping section includes servomotor and the harmonic wave speed reducing machine being connected with servomotor, the harmonic wave speed reducing machine and servo electricity
Machine is installed in cylinder blanket jointly, cylinder blanket end face edge and on round trisection line, be provided with 3 lack
Mouthful, 3 breach inwardly cross together, in 3 breach, are provided with 3 pneumatic clamps contiguous blocks, 3 pneumatic clamps contiguous blocks
The inner be placed in cylindrical housing interior, and 3 pneumatic clamps contiguous blocks 202 are connected with magnetic valve, the pneumatic clamps contiguous block
Pneumatic clamps fixture block is connected with, the pneumatic clamps fixture block is L-shaped, and its bottom is screwed on pneumatic clamps fixture block, its vertical part
Inwardly, it is provided with locating piece in the middle part of 3 pneumatic clamps fixture blocks；
The pusher includes cylinder, fixed vertical plate, and the cylinder is arranged in fixed vertical plate, the end connection of its telescopic shaft
Clamping section.
Further, the pneumatic clamps contiguous block is in convex, its nose connection pneumatic clamps fixture block.
Further, it is cambered surface that the vertical part of the pneumatic clamps fixture block clamps face.
Further, the left and right slide unit also includes tubing feeding structure, and the feeding structure is arranged between two racks,
Two racks are each provided with one group of motor, and two groups of motors are placed in opposite directions, and the shaft end of the motor is connected with chain
Wheel assembly, the chain wheel assembly other end is socketed on pinch roller assembly；
The feeding structure includes two side plate, two row's guide rails side by side, the vertical connecting lateral plate of every guide rail and is arranged at
The inside lower end edge of side plate, the side plate and guide rail are arranged to slope track in 20 degree of angles of inclination, in the upper end of side plate
Some arrangement for adjusting height are provided with, the arrangement for adjusting height includes determining block, movable block, block is determined for convex block, in its convex portion
Medial surface is bolted movable block, and movable block is L-shaped, and its vertical part is provided with oval groove, and bolt passes through oval groove, by spiral shell
The elastic height to adjust movable block of silk, there are height limiting plate, the limit for height in the transverse part lower surface of the movable block by screw connection
Plate lower surface is also equipped with height limiting plate, height limiting plate upper end by the guide pass that screw connection has limit for height round bar, the two rows guide rail
Face is provided with limit for height round bar；
The lateral surface of the side plate has diagonal brace by screw connection, and the diagonal brace is a tabular body of rod, its body of rod other end lateral surface
It is connected with axle, the other end frame side of axle；
The end of the feeding structure is provided with knob adjusting means, feeding location-plate, the knob adjusting means be used for caliber to
The heart is adjusted, and its top is provided with adjustable plate, and knob screw rod is provided with adjustable plate, and the knob screw rod regulation is adjustable
Rising or falling for plate is saved, and positions it, the feeding location-plate is arranged at the lower section of knob adjusting means, its inner side edge
Backgauge driving lever is installed, the backgauge driving lever is L-shaped, it is tilted obliquely, is set with the junction of feeding location-plate at it
There is torsion spring；
The knob adjusting means inside edge, has been arranged side by side 2 material pressing devices, and 2 material pressing devices are connected to cylinder；
The material pressing device include fixed block, slide rail, clamping device, the clamping device include be arranged on the upper fixture block on slide rail, under
Fixture block；
The upper fixture block, the opposite face of lower fixture block are provided with arc groove.
Further, the left and right slide unit also includes tubing discharging structure, and the discharging structure is installed between two racks,
Two front sides of rack, two opposite motors are provided with, the shaft end of the motor is socketed with chain, chain
The other end is connected on gear shaft, and the equal projection of some spacing is provided with chain, and projection is used to live tubing, the chain surely
The feed end of bar, is provided with feeding device, feeding device connection cylinder assembly；
The feeding device include base plate, two parallel slide rails, block piece, slide plate, cylinder, cylinder fixture, holder support block,
Holder, the slide rail is bolted on base plate, and slide plate bottom surface the right and left is provided with fastener, and the fastener is stuck in slide rail
In the chute of two sides, the slide plate is stood on slide plate along chute slide anteroposterior, the holder support block, and it is simultaneously by stretching
Contracting bar connects cylinder, and the cylinder is fixed on cylinder fixture, and the holder support block sets towards the side surface upper part of cylinder
Holder is equipped with, holder includes holder upper grip, holder lower chuck；
The top of the holder support block is provided with clamping cylinder, clamping cylinder and holder upper grip, holder lower chuck
Connection；
The discharge end of the chain is provided with tubing guide rail mechanism, the tubing guide rail mechanism diagonally downward, when chain is defeated by tubing
After delivering to tubing guide rail mechanism, tubing is automatically imported streamline along tubing guide rail mechanism；
The holder upper grip, the forward surface of holder lower chuck are provided with arc groove；
The angle diagonally downward of the tubing guide rail mechanism is between 15-25 degree.
Relative to prior art, the beneficial effects of the invention are as follows：
1. manipulator design of the present invention is steady, will not produce and rock, and is provided with deceleration device on the 4th motor, Ke Yihuan
The rotary speed of welding mechanism is solved, the 5th motor drives welding mechanism to be swung around the 5th drive shaft, while the 4th drives electricity
Machine drives welding mechanism and the 5th motor integral-rotation, therefore, electroplating equipment wielding machine can reach multiple angles to weld, and make weldering
Connect and more facilitate, it is not necessary to which separately adding tool is aided in again.In addition, using more thick and heavy solid metal knot support more
Structure, solid metallic structure makes whole equipment center of gravity concentrate on manipulator lower wall, improves the stability of manipulator.
2. tubing rotary welding mechanism of the present invention can two ends weld simultaneously, and applicable various pipe lengths, with from
Dynamic clamping and positioning function, two ends circumference rotation simultaneously during welding, weld seam is consistent, welding effect stabilization.
3. after the manual blowing of tubing feeding structure of the present invention, then feeding structure meeting automatic material taking is pressed from both sides automatically by cylinder
Hold, tubing is delivered into specified location and is welded.Tubing feeding structure of the present invention reduces the stand-by period, reduces manual work work
Sequence, and then labour intensity is reduced, being capable of efficient processing tubing.The automated packaging equipment of traditional tubing packaging industry its go out
Most of tube portion by manually operating or with traditional belt load mode, not only discharging speed is slower, and discharging standard
True property is low, is unfavorable for the automatic production line operation of factory.
4. tubing discharging structure of the present invention is self-emptying, reduces the tubing stand-by period after processing, meanwhile, also cause
In production process, the labour intensity of personnel is low, with efficient, safe production.
5. Full-automatic welding equipment welding efficiency of the present invention is high, and without limitation, welding effect stable and consistent is good, can entirely certainly
The dynamic many specifications of welding, different length, the truss tubing of polytypic.
Brief description of the drawings
Fig. 1 is Full-automatic welding equipment integral layout schematic diagram of the present invention；
Fig. 2 is six-joint robot structural representation of the present invention；
Fig. 3 is clamping section structural representation of the present invention；
Fig. 4 is clamping-rotating device structural representation of the present invention；
Fig. 5 is that feeding structure of the present invention is arranged on schematic diagram on rack；
Fig. 6 is feeding structure schematic diagram of the present invention；
Fig. 7 is clamping device schematic diagram of the present invention；
Fig. 8 is tubing discharging structure overall structure diagram of the present invention；
Fig. 9 is feeding apparatus structure schematic diagram of the present invention.
Specific embodiment
The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, apparent is clearly defined so as to be made to protection scope of the present invention.
As shown in figs 1-9, a kind of Full-automatic welding equipment of the invention, the Full-automatic welding equipment includes：
Joint feeding mechanism 503, the joint feeding mechanism 503 is provided with two, in difference Shi Zuo joint feedings mechanism, right connector
Material mechanism, Liang Ge joint feedings mechanism is placed side by side, and for the left and right joint feeding of tubing, the joint feeding mechanism 503 sets
There is feeding track 501；
Welding machine 502, the welding machine 502 is provided with two, is placed in the inner side of Liang Ge joint feedings mechanism 503；
Industrial robot 503, the industrial robot 503 is six-shaft industrial robot, and six-shaft industrial robot is provided with 2, institute
Manipulator, the welding mechanism that Multi-angle free rotation is provided with six-shaft industrial robot are stated, the welding mechanism passes through cable
It is connected on welding machine 502, the welding mechanism is used for the welding of tubing left and right joint and tubing trunk；
Clear rifle station 504, the clear rifle station 504 is placed between two industrial robots 503, and the clear rifle station 504 is used for industrial machine
The cleaning of device people 503；
Sealing wire, the sealing wire includes horizontal double sided slider bar, the left and right slide unit 505 being placed on horizontal double sided slider bar, is placed in left and right slide unit
The switch board 506 of 505 front sides, the inner side of the left and right slide unit 505 is provided with two loading and unloading guide rails 507 of tubing trunk, two
Loading and unloading guide rail 507 is placed side by side, and the left and right slide unit 505 moves to adjust two loading and unloading guide rails 507 in horizontal double sided slider bar
Between width, with adapt to weld tubing mobile jib width；The left and right slide unit 505 is provided with rotary welding mechanism；
Switch board 506, the switch board 506 is provided with 2, lives apart in the left and right front side of sealing wire；
Tubing left and right joint and tubing trunk are manually placed into joint feeding mechanism 503, loading and unloading guide rail 507, the work respectively
Industry robot 503 captures tubing left and right joint to rotary welding mechanism, and tubing trunk is sent to welding position by chain, rotation
Welder is provided with clamping part, servomotor, and clamping part clamping tubing left and right joint, its both sides packing can be automatically positioned, watch
Motor rotation is taken, drives tubing left and right joint and pipe trunk to rotate simultaneously, the welding mechanism on six-shaft industrial robot is by tubing
The junction of left and right joint and pipe trunk is welded, after welding, the tubing that the discharging mechanism of the opposite side of left and right slide unit 505 will be welded
Send out, the lower floor for delivering to loading and unloading guide rail 507 derives, and is flowed on streamline automatically by ramp.
As shown in Fig. 2 the six-shaft industrial robot is fixed on the upper end of a frame 107, it includes support 105 and puts
Horizontal rotary mechanism on support 105, the horizontal rotary mechanism sidepiece is provided with arm rotating mechanism, the arm rotation
The shaft end connection wrist rotating mechanism of mechanism, the shaft end connecting welding mechanism of the wrist rotating mechanism；
The support 105 is fixed on a base plate 106, and base plate 106 is secured by bolts in frame 107, and the support 105 is in
Cylinder, holds be provided with fixed disk 113 by bolt thereon, and the center of the fixed disk 113 is fixed with an axostylus axostyle, and axostylus axostyle is another
End connection horizontal rotary mechanism；
The horizontal rotary mechanism includes the first motor 103, arm rotating mechanism mounting seat, first motor
103 vertical placements, its drive division connects above-mentioned axostylus axostyle, and drive division is one overall with motor housing, arm rotating mechanism mounting seat,
The arm rotating mechanism mounting seat sidepiece is fixed with arm rotating mechanism；
The arm rotating mechanism includes the second motor 108, moment power transmission shaft 102, and second motor 108 is laterally
Place, it is vertical with the first motor 103, and second motor 108 is vertical with moment power transmission shaft 102 to be connected, moment
The end connection wrist rotating mechanism of power transmission shaft 102；
The wrist rotating mechanism includes the 3rd motor 101, the 4th motor 114, wrist power transmission shaft 112, described the
Three motors 101 are installed vertically on the end of moment power transmission shaft 102, its motor 114 of shell sidepiece right angle setting the 4th,
3rd motor 101 drives wrist power transmission shaft 112 around the rotation of the 3rd motor axle, the 4th motor 114
Axle portion through the middle part of wrist power transmission shaft 112 through hole, the rotating seat of its end connecting welding mechanism；
The welding mechanism includes rotating seat, the 5th motor 111, welding conduit 110, plumb joint 109, and the rotating seat connects
Connect and be fixed with U-shaped frame, axle is connected with welding base at the opening of U-shaped frame, the axle outer end of the welding base, U-shaped frame outside connection the
Five motors 111, the welding base connecting welding conduit 110, welding conduit 110 connecting welding first 109.
Control case assembly 104 is also equipped with the base plate 106, the control case assembly 104 includes vertical mounting blocks, control
Box, control box side is installed on the side of vertical mounting blocks, and the vertical mounting blocks are placed in the side of base 105；
4th motor 114 carries deceleration device；
The middle part of the wrist power transmission shaft 112 is through hole, its end and rotating seat ends contact；
The moment power transmission shaft 102 is that axis body bar portion is square；
Axis body bar part two parts of the wrist power transmission shaft 112, are cone near the end of the 4th motor 114, away from the
The part of four motors 114 is cylinder.
The method of operation of six-shaft industrial robot is as follows：
Start manipulator；
The drive division of the first motor 103 is connected with axostylus axostyle, and axostylus axostyle is integrally fixed on fixed disk 113, therefore, first drives electricity
The drive division of machine 103 and, motor housing, arm rotating mechanism mounting seat rotated by reaction force, and then, arm rotating mechanism peace
Dress seat drives the horizontal rotation of arm rotating mechanism；
The shaft end of the second motor 108 of arm rotating mechanism is socketed moment power transmission shaft 102, and moment power transmission shaft 102 is around second
Motor axle rotates, and being capable of 360 degree of rotations.
The external shell of the 3rd motor 101 is one overall, and its axle portion is integrally fixed at the end circular hole of moment power transmission shaft 102
Interior, when the 3rd motor 101 works, it is subject to the reaction force of the 3rd motor axle and rotates, the 3rd motor
101 external shells drive whole wrist rotating mechanism to swing up and down, and when the 4th motor 114 works, its axostylus axostyle drives welding
Mechanical left rotation and right rotation, the weld part of welding mechanism end is rotated up and down by the driving of the 5th motor 111.
Such as Fig. 3-4, tubing rotary welding mechanism, the tubing rotary welding mechanism are provided with the left and right slide unit 505
On be provided with clamping and rotating system, the clamping and rotating system includes that front end clamping section and push be connected with the clamping section are filled
Put；
The clamping section includes servomotor 201 and the harmonic wave speed reducing machine that be connected with servomotor 201, the harmonic wave speed reducing machine and
Servomotor 201 is installed in cylinder blanket jointly, cylinder blanket end face edge and on round trisection line,
3 breach are provided with, 3 breach inwardly cross together, in 3 breach, are provided with 3 pneumatic clamps contiguous blocks 202,3
The inner of pneumatic clamps contiguous block 202 is placed in cylindrical housing interior, and 3 pneumatic clamps contiguous blocks 202 are connected with magnetic valve, institute
State pneumatic clamps contiguous block 202 and be connected with pneumatic clamps fixture block 203, the pneumatic clamps fixture block 203 is L-shaped, its bottom is solid by screw
It is scheduled on pneumatic clamps fixture block 203, its vertical part inwardly, locating piece 204 is provided with the middle part of 3 pneumatic clamps fixture blocks 203；
The pusher includes cylinder 207, fixed vertical plate, and the cylinder 207 is arranged in fixed vertical plate, the end of its telescopic shaft
Portion connects clamping section.
The pneumatic clamps contiguous block 202 is in convex, its nose connection pneumatic clamps fixture block 203.
It is cambered surface that the vertical part of the pneumatic clamps fixture block 203 clamps face.
Harmonic wave speed reducing machine is driven using servomotor 201,3 pneumatic clamps contiguous blocks of solenoid valve control, 202,3 gas are used
To contract, 3 pneumatic clamps contiguous blocks 202 drive 3 pneumatic clamps fixture blocks 203 to contract to dynamic folder contiguous block 202, and 3 pneumatic
The L-type vertical part for pressing from both sides fixture block 203 clamps the termination 205 of tubing, and tubing trunk is delivered to specified location, and cylinder 207 promotes clamping section,
2 terminations 205 are made to splice with trunk, splicing completes servomotor 201 and drives reductor to start rotation, while rotation, folder
2 groups of tubing rotary welding mechanisms beside tight whirligig are welded simultaneously, and the purpose that tubing two ends are welded simultaneously is reached with this.
As illustrated in figs. 5-7, the left and right slide unit 505 also includes tubing feeding structure, and the feeding structure is arranged on two machines
Between cabinet 301, two racks 301 are each provided with one group of motor 308, and two groups of motors 308 are placed in opposite directions, the driving
The shaft end of motor 308 is connected with chain wheel assembly, and the chain wheel assembly other end is socketed on pinch roller assembly；
The feeding structure includes two side plate 309, two row's guide rails side by side, the vertical connecting lateral plate of every guide rail and setting
In the inside lower end edge of side plate, the side plate and guide rail are arranged to slope track in 20 degree of angles of inclination, in the upper of side plate 309
End is provided with some arrangement for adjusting height 305, and the arrangement for adjusting height 305 includes determining block, movable block, determines block for convex
Block, movable block is bolted in its convex portion medial surface, and movable block is L-shaped, and its vertical part is provided with oval groove, and bolt passes through waist
Circular groove, the height of movable block is adjusted by screw tightness, and there is limit for height the transverse part lower surface of the movable block by screw connection
Plate 304, the lower surface of the height limiting plate 304 is also provided with by the guide pass that screw connection has limit for height round bar 310, the two rows guide rail
There is height limiting plate, height limiting plate upper surface is provided with limit for height round bar；
The lateral surface of the side plate 309 has diagonal brace 306 by screw connection, and the diagonal brace 306 is a tabular body of rod, and its body of rod is another
End lateral surface is connected with axle, the other end frame side of axle；
The end of the feeding structure is provided with knob adjusting means, feeding location-plate 315, and the knob adjusting means is used for caliber
Centripetal regulation, its top is provided with adjustable plate 312, and knob screw rod 313, the knob are provided with adjustable plate 312
The regulation of screw rod 313 can adjust rising or falling for plate 312, and position it, and the feeding location-plate 315 is arranged at knob tune
The lower section of regulating device 315, its inner side edge is provided with backgauge driving lever 314, and the backgauge driving lever 314 is L-shaped, and its tilting is inclined
Shape, torsion spring is provided with it with the junction of feeding location-plate 315；
The knob adjusting means inside edge, has been arranged side by side 2 material pressing devices, and 2 material pressing devices are connected to cylinder；
The material pressing device includes fixed block 302, slide rail, clamping device 303, and the clamping device 303 includes being arranged on slide rail
Upper fixture block 3031, lower fixture block 3032；
The upper fixture block 3031, the opposite face of lower fixture block 3032 are provided with arc groove.
As Fig. 8-9, the left and right slide unit 505 also include tubing discharging structure, the discharging structure is installed on two racks 301
Between, two front sides of rack, two opposite motors 404 being provided with, the shaft end of the motor 404 is socketed with
Chain 407, the other end of chain is connected on gear shaft, and the equal projection of some spacing is provided with chain 407, and projection is used
In tubing is lived surely, the feed end of the chain 407 is provided with feeding device 402, the feeding device 402 connection cylinder assembly
403；
The feeding device 402 include 4026, two parallel slide rails 4028 of base plate, block piece 4029, slide plate 4027, cylinder 4025,
Cylinder fixture 4024, holder support block 4021, holder, the slide rail 4028 are bolted on base plate 4026, sliding
The bottom surface the right and left of plate 4027 is provided with fastener, and the fastener is stuck in 4028 liang of chutes of side of slide rail, the slide plate 4027
Along chute slide anteroposterior, the holder support block 4021 is stood on slide plate 4027, and it simultaneously connects cylinder by expansion link
4025, the cylinder 4025 is fixed on cylinder fixture 4024, and the holder support block 4021 is towards the side of cylinder 4025
Face top is provided with holder, and holder includes holder upper grip 4022, holder lower chuck 4023；
The top of the holder support block 4021 is provided with clamping cylinder, clamping cylinder and holder upper grip 4022, clamping
Part lower chuck 4023 is connected；
The discharge end of the chain is provided with tubing guide rail mechanism 405, the tubing guide rail mechanism 405 diagonally downward, when chain will
After tubing is delivered to tubing guide rail mechanism 405, tubing is automatically imported streamline along tubing guide rail mechanism 405；
The holder upper grip 4022, the forward surface of holder lower chuck 4023 are provided with arc groove；
The angle diagonally downward of the tubing guide rail mechanism is between 15-25 degree.
The preferred embodiment of the present invention is the foregoing is only, the scope of the claims of the invention, every profit is not thereby limited
The equivalent structure or equivalent flow conversion made with description of the invention and accompanying drawing content, or directly or indirectly it is used in other phases
The technical field of pass, is included within the scope of the present invention.
Claims (8)
1. a kind of Full-automatic welding equipment, it is characterised in that the Full-automatic welding equipment includes：
Joint feeding mechanism（503）, the joint feeding mechanism（503）Two are provided with, Shi Zuo joint feedings mechanism, the right side connect respectively
Head feed mechanism, Liang Ge joint feedings mechanism is placed side by side, for the left and right joint feeding of tubing, the joint feeding mechanism
（503）It is provided with feeding track（501）；
Welding machine（502）, the welding machine（502）Two are provided with, Liang Ge joint feedings mechanism is placed in（503）Inner side；
Industrial robot（503）, the industrial robot（503）It is six-shaft industrial robot, six-shaft industrial robot is provided with 2
It is individual, manipulator, the welding mechanism of Multi-angle free rotation are provided with the six-shaft industrial robot, the welding mechanism leads to
Cable connection is crossed in welding machine（502）On, the welding mechanism is used for the welding of tubing left and right joint and tubing trunk；
Clear rifle station（504）, the clear rifle station（504）It is placed in two industrial robots（503）Between, the clear rifle station（504）With
In industrial robot（503）Cleaning；
Sealing wire, the sealing wire includes horizontal double sided slider bar, the left and right slide unit being placed on horizontal double sided slider bar（505）, to be placed in left and right sliding
Platform（505）The switch board of front side（506）, the left and right slide unit（505）Inner side is provided with two loading and unloading guide rails of tubing trunk
（507）, two loading and unloading guide rails（507）It is placed side by side, the left and right slide unit（505）Two are adjusted in the movement of horizontal double sided slider bar
Loading and unloading guide rail（507）Between width, with adapt to weld tubing mobile jib width；The left and right slide unit（505）It is provided with rotation
Welding mechanism；
Switch board（506）, the switch board（506）2 are provided with, are lived apart in the left and right front side of sealing wire；
Tubing left and right joint and tubing trunk are manually placed into joint feeding mechanism respectively（503）, loading and unloading guide rail（507）, institute
State industrial robot（503）To rotary welding mechanism, tubing trunk is sent to welding position to crawl tubing left and right joint by chain
Put, rotary welding device is provided with clamping part, servomotor, clamping part clamping tubing left and right joint, its both sides packing meeting is automatic
Positioning, servomotor rotation drives tubing left and right joint to be rotated simultaneously with pipe trunk, the welding mechanism on six-shaft industrial robot
The junction of tubing left and right joint and pipe trunk is welded, after welding, left and right slide unit（505）The discharging mechanism of opposite side will be welded
Good tubing is sent out, and delivers to loading and unloading guide rail（507）Lower floor derive, and flowed on streamline automatically by ramp.
2. a kind of Full-automatic welding equipment according to claim 1, it is characterised in that：The six-shaft industrial robot is installed
It is fixed on a frame（107）Upper end, it includes support（105）And it is placed in support（105）On horizontal rotary mechanism, the level
Rotating mechanism sidepiece is provided with arm rotating mechanism, and the shaft end connection wrist rotating mechanism of the arm rotating mechanism is described
The shaft end connecting welding mechanism of wrist rotating mechanism；
The support（105）It is fixed on a base plate（106）On, base plate（106）It is secured by bolts in frame（107）On, it is described
Support（105）In cylinder, hold thereon and fixed disk is provided with by bolt（113）, the fixed disk（113）Center and an axle
Bar is fixed, axostylus axostyle other end connection horizontal rotary mechanism；
The horizontal rotary mechanism includes the first motor（103）, arm rotating mechanism mounting seat, first motor
（103）Vertical to place, its drive division connects above-mentioned axostylus axostyle, and drive division is one whole with motor housing, arm rotating mechanism mounting seat
Body, the arm rotating mechanism mounting seat sidepiece is fixed with arm rotating mechanism；
The arm rotating mechanism includes the second motor（108）, moment power transmission shaft（102）, second motor
（108）It is laterally disposed, itself and the first motor（103）Vertically, second motor（108）With moment power transmission shaft
（102）Vertical connection, moment power transmission shaft（102）End connection wrist rotating mechanism；
The wrist rotating mechanism includes the 3rd motor（101）, the 4th motor（114）, wrist power transmission shaft（112）,
3rd motor（101）It is installed vertically on moment power transmission shaft（102）End, its shell sidepiece right angle setting 4 wheel driven
Dynamic motor（114）, the 3rd motor（101）Drive wrist power transmission shaft（112）It is described around the rotation of the 3rd motor axle
4th motor（114）Axle portion pass through wrist power transmission shaft（112）The through hole at middle part, the rotation of its end connecting welding mechanism
Seat；
The welding mechanism includes rotating seat, the 5th motor（111）, welding conduit（110）, plumb joint（109）, the rotation
Swivel base is fixedly connected with U-shaped frame, and axle is connected with welding base, the axle outer end of the welding base, U-shaped frame outside at the opening of U-shaped frame
Connect the 5th motor（111）, the welding base connecting welding conduit（110）, weld conduit（110）Connecting welding head
（109）.
3. a kind of Full-automatic welding equipment according to claim 2, it is characterised in that：The base plate（106）On also install
There is control case assembly（104）, the control case assembly（104）Including vertical mounting blocks, control box, control box side is installed on vertical peace
The side of block is filled, the vertical mounting blocks are placed in base（105）Side；
4th motor（114）With deceleration device；
The wrist power transmission shaft（112）Middle part is through hole, its end and rotating seat ends contact；
The moment power transmission shaft（102）For axis body bar portion is square；
The wrist power transmission shaft（112）Axis body bar part two parts, near the 4th motor（114）It is cone to hold, far
From the 4th motor（114）Part for cylinder.
4. a kind of Full-automatic welding equipment according to claim 1, it is characterised in that：The left and right slide unit（505）On set
Tubing rotary welding mechanism is equipped with, clamping and rotating system, the clamping whirler are provided with the tubing rotary welding mechanism
Structure includes front end clamping section and the pusher being connected with the clamping section；
The clamping section includes servomotor（201）And and servomotor（201）The harmonic wave speed reducing machine of connection, the harmonic reduction
Machine and servomotor（201）Be installed in cylinder blanket jointly, cylinder blanket end face edge and in round trisection
On line, 3 breach are provided with, 3 breach inwardly cross together, in 3 breach, are provided with 3 pneumatic clamps contiguous blocks
（202）, 3 pneumatic clamps contiguous blocks（202）The inner be placed in cylindrical housing interior, and 3 pneumatic clamps contiguous blocks 202 are connected
There are magnetic valve, the pneumatic clamps contiguous block（202）It is connected with pneumatic clamps fixture block（203）, the pneumatic clamps fixture block（203）It is L-shaped,
Its bottom is screwed in pneumatic clamps fixture block（203）On, its vertical part inwardly, in 3 pneumatic clamps fixture blocks（203）Middle part set
It is equipped with locating piece（204）；
The pusher includes cylinder（207）, fixed vertical plate, the cylinder（207）It is arranged in fixed vertical plate, its telescopic shaft
End connection clamping section.
5. a kind of Full-automatic welding equipment according to claim 4, it is characterised in that：The pneumatic clamps contiguous block（202）
In convex, its nose connection pneumatic clamps fixture block（203）.
6. a kind of Full-automatic welding equipment according to claim 4, it is characterised in that：The pneumatic clamps fixture block（203）'s
It is cambered surface that vertical part clamps face.
7. a kind of Full-automatic welding equipment according to claim 1, it is characterised in that：The left and right slide unit（505）Also wrap
Tubing feeding structure is included, the feeding structure is arranged on two racks（301）Between, two racks（301）It is each provided with one group of drive
Dynamic motor（308）, two groups of motors（308）It is opposite to place, the motor（308）Shaft end be connected with chain wheel assembly,
The chain wheel assembly other end is socketed on pinch roller assembly；
The feeding structure includes two side plates side by side（309）, two row's guide rails, the vertical connecting lateral plate of every guide rail and set
The inside lower end edge of side plate is placed in, the side plate and guide rail are arranged to slope track in 20 degree of angles of inclination, in side plate（309）
Upper end be provided with some arrangement for adjusting height（305）, the arrangement for adjusting height（305）Including determining block, movable block, block is determined
It is convex block, movable block is bolted in its convex portion medial surface, movable block is L-shaped, and its vertical part is provided with oval groove, bolt
Through oval groove, the height of movable block is adjusted by screw tightness, the transverse part lower surface of the movable block passes through screw connection
There is height limiting plate（304）, the height limiting plate（304）There is limit for height round bar lower surface by screw connection（310）, the two rows guide rail
Guide pass is also equipped with height limiting plate, and height limiting plate upper surface is provided with limit for height round bar；
The side plate（309）Lateral surface have diagonal brace by screw connection（306）, the diagonal brace（306）It is a tabular body of rod, its bar
Body other end lateral surface is connected with axle, the other end frame side of axle；
The end of the feeding structure is provided with knob adjusting means, feeding location-plate（315）, the knob adjusting means is for managing
The centripetal regulation in footpath, its top is provided with adjustable plate（312）, can adjust plate（312）On be provided with knob screw rod（313）,
The knob screw rod（313）The adjustable plate of regulation（312）Rise or fall, and position it, the feeding location-plate
（315）It is arranged at knob adjusting means（315）Lower section, its inner side edge is provided with backgauge driving lever（314）, the backgauge driving lever
（314）It is L-shaped, its tilt it is oblique, in itself and feeding location-plate（315）Junction be provided with torsion spring；
The knob adjusting means inside edge, has been arranged side by side 2 material pressing devices, and 2 material pressing devices are connected to cylinder；
The material pressing device includes fixed block（302）, slide rail, clamping device（303）, the clamping device（303）Including being arranged on cunning
Upper fixture block on rail（3031）, lower fixture block（3032）；
The upper fixture block（3031）, lower fixture block（3032）Opposite face be provided with arc groove.
8. a kind of Full-automatic welding equipment according to claim 1, it is characterised in that：The left and right slide unit（505）Also wrap
Tubing discharging structure is included, the discharging structure is installed on two racks（301）Between, two front sides of rack, it is provided with two
Opposite motor（404）, the motor（404）Shaft end be socketed with chain（407）, the other end of chain is connected to
On gear shaft, in chain（407）On be provided with the equal projection of some spacing, projection is used to live tubing, the chain surely（407）
Feed end, be provided with feeding device（402）, the feeding device（402）Connection cylinder assembly（403）；
The feeding device（402）Including base plate（4026）, two parallel slide rails（4028）, block piece（4029）, slide plate（4027）、
Cylinder（4025）, cylinder fixture（4024）, holder support block（4021）, holder, the slide rail（4028）By bolt
It is fixed on base plate（4026）, slide plate（4027）Bottom surface the right and left is provided with fastener, and the fastener is stuck in slide rail（4028）Both sides
In the chute on side, the slide plate（4027）Along chute slide anteroposterior, the holder support block（4021）Stand on slide plate（4027）
On, it simultaneously connects cylinder by expansion link（4025）, the cylinder（4025）It is fixed on cylinder fixture（4024）On, it is described
Holder support block（4021）Towards cylinder（4025）Side surface upper part be provided with holder, holder includes holder upper grip
（4022）, holder lower chuck（4023）；
The holder support block（4021）Top be provided with clamping cylinder, clamping cylinder and holder upper grip（4022）、
Holder lower chuck（4023）Connection；
The discharge end of the chain is provided with tubing guide rail mechanism（405）, the tubing guide rail mechanism（405）Diagonally downward, chain is worked as
Tubing is delivered to tubing guide rail mechanism by bar（405）Afterwards, tubing is along tubing guide rail mechanism（405）It is automatically imported streamline；
The holder upper grip（4022）, holder lower chuck（4023）Forward surface be provided with arc groove；
The angle diagonally downward of the tubing guide rail mechanism is between 15-25 degree.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710141377.2A CN106695235B (en) | 2017-03-10 | 2017-03-10 | A kind of Full-automatic welding equipment |
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|---|---|---|---|
| CN201710141377.2A CN106695235B (en) | 2017-03-10 | 2017-03-10 | A kind of Full-automatic welding equipment |
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| CN106695235B CN106695235B (en) | 2018-03-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107855702A (en) * | 2017-12-29 | 2018-03-30 | 嘉兴清水电子有限公司 | One kind automation iron core welding equipment |
| CN108817783A (en) * | 2018-09-06 | 2018-11-16 | 珠海格力智能装备有限公司 | Welding equipment |
| CN109108543A (en) * | 2018-10-17 | 2019-01-01 | 佛山市固高自动化技术有限公司 | Using the fluid reservoir automatic welding device of robot feeding and blanking |
| CN109128661A (en) * | 2018-11-02 | 2019-01-04 | 苏州睿达矩自动化设备有限公司 | A kind of fixture for workpiece circular welding |
| CN109290695A (en) * | 2018-11-28 | 2019-02-01 | 厦门丰力机械有限公司 | Steel bar truss assembling device |
| CN110171143A (en) * | 2019-07-03 | 2019-08-27 | 富莱克斯(天津)科技有限公司 | A kind of six Shaft and NC Machining Test hot air welding equipment |
| CN110315254A (en) * | 2018-03-29 | 2019-10-11 | 中国科学院沈阳自动化研究所 | High pressure collector pipe flexible intelligent welding workstation based on dual robot |
| CN110883475A (en) * | 2018-09-11 | 2020-03-17 | 上海保隆汽车科技股份有限公司 | Anti-splashing device for welding automobile tail decorative pipe |
| CN110935982A (en) * | 2019-12-05 | 2020-03-31 | 深圳市鸿栢科技实业有限公司 | Arc starting control device for robot welding and control method thereof |
| CN111687571A (en) * | 2020-04-27 | 2020-09-22 | 浙江中控太阳能技术有限公司 | Automatic welding equipment for stand column |
| CN112589328A (en) * | 2020-12-14 | 2021-04-02 | 安徽华星消防设备(集团)有限公司 | Efficient production device and automatic production method for fire extinguisher cylinder |
| CN112719657A (en) * | 2020-12-03 | 2021-04-30 | 珠海瑞凌焊接自动化有限公司 | Multi-station nozzle welding workstation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107855702A (en) * | 2017-12-29 | 2018-03-30 | 嘉兴清水电子有限公司 | One kind automation iron core welding equipment |
| CN110315254A (en) * | 2018-03-29 | 2019-10-11 | 中国科学院沈阳自动化研究所 | High pressure collector pipe flexible intelligent welding workstation based on dual robot |
| CN108907403B (en) * | 2018-08-08 | 2023-08-22 | 电子科技大学中山学院 | Using method of long tube full-automatic intelligent welding equipment |
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| CN109128661A (en) * | 2018-11-02 | 2019-01-04 | 苏州睿达矩自动化设备有限公司 | A kind of fixture for workpiece circular welding |
| CN109128661B (en) * | 2018-11-02 | 2020-05-29 | 嘉兴晟源工业设计有限公司 | Clamp for annular welding of workpiece |
| CN109290695A (en) * | 2018-11-28 | 2019-02-01 | 厦门丰力机械有限公司 | Steel bar truss assembling device |
| CN109290695B (en) * | 2018-11-28 | 2024-02-23 | 海南华桁科技有限公司 | Steel bar truss assembly device |
| CN110171143A (en) * | 2019-07-03 | 2019-08-27 | 富莱克斯(天津)科技有限公司 | A kind of six Shaft and NC Machining Test hot air welding equipment |
| CN110935982A (en) * | 2019-12-05 | 2020-03-31 | 深圳市鸿栢科技实业有限公司 | Arc starting control device for robot welding and control method thereof |
| CN111687571A (en) * | 2020-04-27 | 2020-09-22 | 浙江中控太阳能技术有限公司 | Automatic welding equipment for stand column |
| CN112719657A (en) * | 2020-12-03 | 2021-04-30 | 珠海瑞凌焊接自动化有限公司 | Multi-station nozzle welding workstation |
| CN112589328B (en) * | 2020-12-14 | 2022-07-29 | 安徽华星消防设备(集团)有限公司 | Efficient production device and automatic production method for fire extinguisher cylinder |
| CN112589328A (en) * | 2020-12-14 | 2021-04-02 | 安徽华星消防设备(集团)有限公司 | Efficient production device and automatic production method for fire extinguisher cylinder |
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