CN107052685B - A kind of flexible positioning device for car body welding producing line - Google Patents
A kind of flexible positioning device for car body welding producing line Download PDFInfo
- Publication number
- CN107052685B CN107052685B CN201611186158.8A CN201611186158A CN107052685B CN 107052685 B CN107052685 B CN 107052685B CN 201611186158 A CN201611186158 A CN 201611186158A CN 107052685 B CN107052685 B CN 107052685B
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- China
- Prior art keywords
- axis
- leadscrew
- axle
- base
- drag chain
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—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
Abstract
The invention discloses a kind of flexible positioning devices for car body welding producing line, including first axle, the second axis and third axis；Second axle position is above first axle and first axle can move back and forth relatively, and the second axis and first axle are in be mutually perpendicular to shape in the horizontal plane；The third axle position above the second axis and can opposite second axis move back and forth, third axis arrange vertically and vertically first axle and the second axis, is equipped on third axis and can be equipped with installation panel with respect to the column of third axis elevating movement, the upper end of the column；Between the first axle and the second axis, between the second axis and third axis, between third axis and column respectively by for protecting the first drag chain, the second drag chain, third drag chain of tracheae and cable to connect.Flexible positioning device height dimension for car body welding producing line of the invention is small, and drag chain compact layout has a wide range of application.
Description
Technical field
The present invention relates to automobile body-in-white Flexible Manufacturing Technology fields more particularly to a kind of for car body welding producing line
Flexible positioning device.
Background technique
Currently, the production method of automobile vendor has mass production, batch production and three kinds of stochastic production, as consumer likes
Good quick variation, the update time of automobile is shorter and shorter, to reduce equipment investment cost and quickly meeting consumer's
Demand, automobile stochastic production mode is increasingly presented and is popularized, so that the car body welding producing line of multi-vehicle-type mixed production applies day
It is cumulative more.The key of multi-vehicle-type mixed production, which is how to equip using the device of high flexibility, deacclimatizes different automobile types same
Flexible production on production line, the flexible positioning device applied to automobile body-in-white and its components welding and assembling production lines are to solve this
The key technology of one critical issue.
Current existing flexible positioning device height dimension is relatively high, cause the height of the whole line equipment of welding and assembling production lines compared with
Height, equipment investment cost are high.The existing method for reducing flexible positioning device device height is that third axis is mounted on the second axis
Side, although solving the problems, such as device height, third axis can generate tilting moment, equipment poor rigidity to the second axis.Furthermore
It is normal to reduce the influence to cable such as welding spark, winged slag, cooling of electrode water, existing flexible positioning device in the welding process
Cable is protected with drag chain, but existing flexible positioning device drag chain spatial position layout comparison is complicated, drag chain occupied space ruler
It is very little big, cause the limited occasion in spatial position not to be available flexible positioning device, limits the automobile weldering of multi-vehicle-type mixed production
The popularization and application of assembling production lines.
Summary of the invention
The object of the present invention is to provide a kind of flexible positioning devices for car body welding producing line, and height dimension is small, drags
Chain compact layout, has a wide range of application.
To achieve the above object, the present invention provides a kind of flexible positioning device for car body welding producing line, including
One axis, the second axis and third axis；Second axle position above first axle and can opposite first axle move back and forth, the second axis with
First axle is in be mutually perpendicular to shape in the horizontal plane；The third axle position is above the second axis and can back and forth move with respect to the second axis
Dynamic, third axis arrange vertically and vertically first axle and the second axis, and being equipped on third axis can be with respect to third axis elevating movement
Column, the upper end of the column is equipped with installation panel；Between the first axle and the second axis, the second axis and third axis it
Between, between third axis and column respectively by for protecting the first drag chain, the second drag chain, third drag chain of tracheae and cable to connect
It connects.
As a further improvement of the present invention, the first axle and the second axis are flat structure.
As a further improvement of the present invention, first drag chain both ends are solid respectively by first support and second support
It is scheduled on first axle and the second axis；Second drag chain both ends are separately fixed at third axis and by third bracket and drag chain backplate
Two axis；Distinguished on vertical columns and third axis by the 6th bracket and the 7th bracket at third drag chain both ends.
As a further improvement of the present invention, the both ends of the drag chain backplate also pass through the 4th bracket and the 5th bracket is solid
It is scheduled on the second axis.
As a further improvement of the present invention, the first axle include first base, be mounted in first base
One sliding rail and the first power unit, the first leadscrew-nut mechanism being connect with the first power unit, with the first leadscrew-nut mechanism
Nut connect and the first slide unit for being mounted on the first sliding rail；Second axis includes the second bottom connecting with the first slide unit
Seat, the second sliding rail being mounted in second base and the second power unit, the second feed screw nut being connect with the second power unit
Mechanism, the second slide unit for connecting and being mounted on the second sliding rail with the nut of the second leadscrew-nut mechanism, second base are located at
Above first base and vertical with first base, the both ends of first drag chain are fixed respectively by first support and second support
In first base and second base；The third axis includes the third pedestal connecting with the second slide unit, is mounted on third pedestal
On third power unit, connect with third power unit third leadscrew-nut mechanism, with the spiral shell of third leadscrew-nut mechanism
The third slide unit of mother's connection, third pedestal are located at second base top and vertically first base and second base, third lead screw spiral shell
The lead screw of parent agency is vertically arranged, and column is fixed on third slide unit, and one end of second drag chain is fixed by third bracket
It is fixed in second base in the other end of third pedestal, the second drag chain by drag chain backplate, the 4th bracket and the 5th bracket, the
The both ends of three drag chains are separately fixed on column and third pedestal by the 6th bracket and the 7th bracket.
As a further improvement of the present invention, first power unit is first servo motor, first servo motor
The nut of the first leadscrew-nut mechanism, the lead screw both ends connection the of first leadscrew-nut mechanism are connected by first shaft coupling
One lead screw mobile terminal supporting block and the first lead screw fixing end supporting block；Second power unit be the second servo motor, second
Servo motor connects the nut of the second leadscrew-nut mechanism, the lead screw two of second leadscrew-nut mechanism by second shaft coupling
End the second lead screw mobile terminal supporting block of connection and the second lead screw fixing end supporting block；The third power unit includes third servo
The lead screw end of motor, driving pulley, driven pulley and synchronous belt, the third leadscrew-nut mechanism is equipped with driven pulley, institute
It states and passes through synchronous band connection equipped with driving pulley, driving pulley and driven pulley on the output shaft of third servo motor.
As a further improvement of the present invention, first sliding rail is mounted on the lead screw two of the first leadscrew-nut mechanism
Side, first slide unit is by the first sliding block on the first sliding rail；Second sliding rail is mounted on the second leadscrew-nut mechanism
Lead screw two sides, second slide unit is by the second sliding block on the second sliding rail.
As a further improvement of the present invention, the first base is equipped with the first upper guard board, institute above the first slide unit
First base is stated on the outside of the first sliding rail equipped with the first side guard plate, first slide unit is from the first upper guard board and the first side guard plate
Between pass through, first slide unit along the first shaft section be in " returning " font；The second base is equipped with second above the second slide unit
Upper guard board, the second base are equipped with the second side guard plate on the outside of the second sliding rail, and second slide unit is from the second upper guard board and the
It is passed through among two side guard plates, second slide unit is in " returning " font along the second shaft section；It is equipped with and covers on the third pedestal
Shield on third leadscrew-nut mechanism and third power unit.
Compared with prior art, the beneficial effect of the flexible positioning device for car body welding producing line of the invention is such as
Under:
(1) it being used in the flexible positioning device of car body welding producing line, first axle, the second axis use flat design simultaneously,
Device height is low.
(2) third axis is placed in the surface of the second axis, and third axis does not generate tilting moment to the second axis, and equipment rigidity is high.
(3) drag chain characteristics of compact layout, layout is simple, occupies little space, requirement of the flexible positioning device to use occasion is low.
Through the following description and in conjunction with the attached drawings, the present invention will become more fully apparent, these attached drawings are used to explain the present invention
Embodiment.
Detailed description of the invention
Fig. 1 is axis body arrangement schematic diagram of the embodiment of the present invention.
Fig. 2 is drag chain of the embodiment of the present invention and guard shield schematic diagram.
Fig. 3 is that the embodiment of the present invention removes equipment schematic diagram after shell.
Wherein, 1, first axle, the 2, second axis, 3, third axis, 4, motor cover, 5, third bracket, the 6, second drag chain, 7, drag chain
Backplate, the 8, the 4th bracket, the 9, first upper guard board, the 10, first side guard plate, 11, first support, the 12, first drag chain, 13, second
Frame, the 14, second side guard plate, the 15, second upper guard board, the 16, the 5th bracket, 17, third drag chain, the 18, the 6th bracket, 19, the 7th
Frame, 20, shield, 21, driving pulley, 22, third servo motor, 23, support plate, the nut of the 24, first leadscrew-nut mechanism,
25, the lead screw of the first leadscrew-nut mechanism, the 26, first lead screw mobile terminal supporting block, the 27, first sliding block, 28, first base, 29,
Second lead screw fixing end supporting block, the 30, second servo motor, the 31, second sliding rail, 32, second shaft coupling, the 33, second slide unit,
34, third axis mounting base, 35, third slide unit, 36, the nut of third leadscrew-nut mechanism, 37, the silk of third leadscrew-nut mechanism
Thick stick, 38, guiding inner cavity, 39, column, 40, driven pulley, 41, installation panel, 42, synchronous belt.
Specific embodiment
The embodiment of the present invention described referring now to the drawings, similar element numbers represent similar element in attached drawing.
Referring to figs. 1 to Fig. 3, which show the specific structures of the preferable embodiment of the present invention, will be detailed below this hair
The design feature of bright each building block.
The present invention provides a kind of flexible positioning devices for car body welding producing line, including first axle 1, the second axis 2
With third axis 3, when this flexible positioning device works, first axle, the second axis and third axis collectively constitute dimensional Cartesian coordinates
System completes installation panel 41 and positions to the flexible of arbitrary point in the flexible positioning device stroke range.The first axle 1 and
Two axis 2 are flat structure, so that device height is low.
The first axle 1, the second axis 2 and third axis 3 protect shaft cable and tracheae using drag chain.First drag chain 12
Both ends first support 11 and second support 13 are fixed.Second drag chain 6 is placed on drag chain backplate 7, one end third bracket 5
Fixed, the other end is fixed with the drag chain backplate 7, and the 4th bracket 8 of the drag chain backplate 7 and the 5th bracket 16 are fixed.It is described
The 6th bracket 18 of 17 both ends of third drag chain and the 7th bracket 19 are fixed.First drag chain 12, the second drag chain 6 and third drag chain
The cable of 17 pairs of flexible positioning devices is protected, and the arrangement of cable is successively by way of the first drag chain 12, the second drag chain 6 and
Three drag chains 17.
The first axle 1, the second axis 2 and third axis 3 protect its internal transmission part using protected enclosure, prevent
Welding slag damages internal transmission part.The protected enclosure includes the first side guard plate 10, the first upper guard board 9, the second side guard plate 14, the
Two upper guard boards 15, shield, shield include shield 20 and motor cover 4.First side guard plate 10 and the first upper guard board 9 are to
The internal transmission part of one axis 1 is protected, the internal drive of second side guard plate 14 and the second upper guard board 15 to the second axis 2
Component is protected, and the shield 20 and motor cover 4 protect the internal transmission part of third axis 3.
The first axle 1 includes first base 28, the first sliding rail being located in the first base 28, mounted in described first
The first power unit that the first slide unit and driving first slide unit on sliding rail are moved forward and backward along the first sliding rail, described first
Power unit is first servo motor, and first servo motor is parallel to first sliding rail, in the first base 28
On the lead screw 25 of first leadscrew-nut mechanism, to drive the lead screw 25 of first leadscrew-nut mechanism to rotate.Described first
The lead screw 25 of leadscrew-nut mechanism is supported packaged by the first lead screw mobile terminal supporting block 26 of end and the first lead screw fixing end
In first base 28, the lead screw 25 of the first leadscrew-nut mechanism passes through the output shaft phase of first shaft coupling and first servo motor
Even.First sliding rail respectively sets one in the two sides of the lead screw 25 of the first leadscrew-nut mechanism, and first slide unit passes through first
Sliding block 27 is on the first sliding rail, when first servo motor 30 operates, the rotary motion of the lead screw 25 of the first leadscrew-nut mechanism
The linear motion of the nut 24 of the first leadscrew-nut mechanism is converted to, the nut 24 of the first leadscrew-nut mechanism pushes the first slide unit
Sliding.
For the first base 28 using die sinking casting, rigidity is high, light-weight.The first base 28 is in the outer of the first sliding rail
Side is equipped with the first side guard plate 10, and first base 28 is equipped with the first upper guard board 9, first slide unit at the top of the first side guard plate 10
Section " returning " font of via hole is equipped in middle part, first upper guard board 9 is passed through from first slide unit inside.
The first axle 1, the second axis 2 are driven using servo motor, lead screw transmission, and guide rail guiding, the first slide unit, second are slided
Platform 33 can be located in the first axle 1, any predeterminated position in 2 stroke range of the second axis.
Second axis 2 is slided including second base, the second sliding rail 31 being located in the second base, mounted in described second
The second power unit 30 that the second slide unit 33 and driving second slide unit 33 on rail 31 are moved forward and backward along the second sliding rail 31,
Second power unit 30 is the second servo motor, and the second servo motor is parallel to second sliding rail 31, mounted in described the
On the lead screw of the second leadscrew-nut mechanism on two pedestals, to drive the lead screw of second leadscrew-nut mechanism to rotate.Institute
The lead screw for stating the second leadscrew-nut mechanism passes through the second lead screw mobile terminal supporting block and the second lead screw fixing end supporting block of end
29 in second base, and the lead screw of the second leadscrew-nut mechanism passes through the output shaft of second shaft coupling and the second servo motor 30
It is connected.The two sides of lead screw of second sliding rail 31 in the second leadscrew-nut mechanism respectively set one, and second slide unit 33 passes through
Second sliding block is on the second sliding rail 31, when the second servo motor 30 operates, the revolution fortune of the lead screw of the second leadscrew-nut mechanism
Turn is changed to the linear motion of the nut of the second leadscrew-nut mechanism, and the nut of the second leadscrew-nut mechanism pushes the second slide unit 33
Sliding.
Wherein, the second axis 2 and 1 structure and working principle of first axle are all the same, such as the first base 28 and of first axle 1
The second base of two axis 2 is identical, in another example the second sliding rail 31 of the first sliding rail of first axle 1 and the second axis 2 is identical；Second axis 2
It is determined with the stroke range of first axle 1 according to the range that flexible positioning device positions.
The third axis 3 includes the third pedestal 34 connecting with second slide unit 33, is mounted on third pedestal 34
Third power unit, the third screw-nut structure being connect with third power unit, the nut 36 with third leadscrew-nut mechanism
The third slide unit 35 of connection, third power unit are third servo motor 22.The lead screw 37 of the third leadscrew-nut mechanism hangs down
It is directly vertically arranged in the second sliding rail 31, equipped with installation panel 41 at the top of the column 39.The silk of the third leadscrew-nut mechanism
Thick stick 37 passes through the third pedestal 34 for being located at guiding 38 bottom of inner cavity in support plate 23, the silk of the third leadscrew-nut mechanism
Thick stick 37 is connected on guiding inner cavity 38, and 37 end of lead screw of the third leadscrew-nut mechanism is equipped with driven pulley 40, and described the
Three servo motors 22 are in support plate 23, and the output shaft upper end of the third servo motor 22 is equipped with driving pulley 21, actively
Belt wheel 21 is connect with driven pulley 40 by synchronous belt 42.When the third servo motor 22 operates, 22 band of third servo motor
Dynamic driving pulley 21, driving pulley 21 drive driven pulley 40 by synchronous belt 42, make third feed screw nut machine connected to it
Structure 37 does rotary motion.The rotary motion of third servo motor 22 is converted to third silk by the lead screw 37 of third leadscrew-nut mechanism
The vertical lifting of the nut 36 of thick stick nut body moves, and the promotion of lead screw 37 of third leadscrew-nut mechanism nut is installed on third silk
Third slide unit 35 on the nut 36 of thick stick nut body does vertical lifting movement.The column 39 is installed on third slide unit 35,
Vertical lifting movement is done with third slide unit 35, installation panel 41 is driven to do vertical lifting movement.The axis body of as described third axis 3
Arrangement occupies little space, and will not generate the tilting moment to the second axis, and equipment rigidity is high.
Combining most preferred embodiment above, invention has been described, but the invention is not limited to implementations disclosed above
Example, and various modifications, equivalent combinations according to the essence of the present invention should be covered.
Claims (7)
1. a kind of flexible positioning device for car body welding producing line characterized by comprising first axle, the second axis and
Three axis；Second axle position is above first axle and first axle can move back and forth relatively, and the second axis and first axle are in horizontal plane
Interior is in be mutually perpendicular to shape；The third axle position is above the second axis and the second axis can move back and forth relatively, the vertical cloth of third axis
It sets and vertical first axle and the second axis, being equipped on third axis can be with respect to the column of third axis elevating movement, the column
Upper end installation panel is installed；Between the first axle and the second axis, between the second axis and third axis, third axis and column
Between respectively by for protecting tracheae to connect with the first drag chain of cable, the second drag chain, third drag chain；
The first axle includes that first base, the first sliding rail being mounted in first base and the first power unit and first are dynamic
First leadscrew-nut mechanism of power unit connection connect with the nut of the first leadscrew-nut mechanism and is mounted on the first sliding rail
The first slide unit；Second axis includes the second base connecting with the first slide unit, the second sliding rail being mounted in second base
With the nut of the second power unit, the second leadscrew-nut mechanism being connect with the second power unit and the second leadscrew-nut mechanism
Connect and be mounted on the second slide unit on the second sliding rail, second base be located at it is above first base and vertical with first base,
The both ends of first drag chain are separately fixed in first base and second base by first support and second support；Described
Three axis include the third pedestal connecting with the second slide unit, the third power unit being mounted on third pedestal and third power list
The third leadscrew-nut mechanism of member connection, the third slide unit connecting with the nut of third leadscrew-nut mechanism, third pedestal are located at
Above second base and vertical first base and second base, the lead screw of third leadscrew-nut mechanism are vertically arranged, and column is fixed
On third slide unit, one end of second drag chain is fixed on third pedestal by third bracket, and the other end of the second drag chain is logical
It crosses drag chain backplate, the 4th bracket and the 5th bracket to be fixed in second base, the both ends of third drag chain pass through the 6th bracket and the
Seven brackets are separately fixed on column and third pedestal.
2. being used for the flexible positioning device of car body welding producing line as described in claim 1, it is characterised in that: the first axle
It is flat structure with the second axis.
3. being used for the flexible positioning device of car body welding producing line as claimed in claim 1 or 2, it is characterised in that: described the
One drag chain both ends are separately fixed at first axle and the second axis by first support and second support；Second drag chain both ends pass through
Third bracket and drag chain backplate are separately fixed at third axis and the second axis；Third drag chain both ends pass through the 6th bracket and the 7th
Bracket is separately fixed on column and third axis.
4. being used for the flexible positioning device of car body welding producing line as claimed in claim 3, it is characterised in that: the drag chain shield
The both ends of plate also pass through the 4th bracket and the 5th bracket is fixed on the second axis.
5. being used for the flexible positioning device of car body welding producing line as claimed in claim 4, it is characterised in that: described first is dynamic
Power unit is first servo motor, and first servo motor connects the nut of the first leadscrew-nut mechanism, institute by first shaft coupling
The lead screw both ends for stating the first leadscrew-nut mechanism connect the first lead screw mobile terminal supporting block and the first lead screw fixing end supporting block；Institute
Stating the second power unit is the second servo motor, and the second servo motor connects the second leadscrew-nut mechanism by second shaft coupling
The lead screw both ends of nut, second leadscrew-nut mechanism connect the second lead screw mobile terminal supporting block and the second lead screw fixing end branch
Bracer；The third power unit includes third servo motor, driving pulley, driven pulley and synchronous belt, the third lead screw
The lead screw end of nut body is equipped with driven pulley, and driving pulley, main belt are housed on the output shaft of the third servo motor
Wheel passes through synchronous band connection with driven pulley.
6. being used for the flexible positioning device of car body welding producing line as claimed in claim 4, it is characterised in that: described first is sliding
Rail is mounted on the lead screw two sides of the first leadscrew-nut mechanism, and first slide unit is by the first sliding block on the first sliding rail；Institute
The screw rod two sides that the second sliding rail is mounted on the second leadscrew-nut mechanism are stated, second slide unit is sliding mounted in second by the second sliding block
On rail.
7. being used for the flexible positioning device of car body welding producing line as claimed in claim 4, it is characterised in that: first bottom
Seat is equipped with the first upper guard board above the first slide unit, and the first base is equipped with the first side guard plate on the outside of the first sliding rail, described
First slide unit passes through among the first upper guard board and the first side guard plate, and first slide unit is in " returning " font along the first shaft section；
The second base is equipped with the second upper guard board above the second slide unit, and the second base is equipped with second side on the outside of the second sliding rail
Backplate, second slide unit pass through among the second upper guard board and the second side guard plate, and second slide unit is in along the second shaft section
" returning " font；The shield covered on third leadscrew-nut mechanism and third power unit is installed on the third pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611186158.8A CN107052685B (en) | 2016-12-20 | 2016-12-20 | A kind of flexible positioning device for car body welding producing line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611186158.8A CN107052685B (en) | 2016-12-20 | 2016-12-20 | A kind of flexible positioning device for car body welding producing line |
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| Publication Number | Publication Date |
|---|---|
| CN107052685A CN107052685A (en) | 2017-08-18 |
| CN107052685B true CN107052685B (en) | 2019-07-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611186158.8A Active CN107052685B (en) | 2016-12-20 | 2016-12-20 | A kind of flexible positioning device for car body welding producing line |
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| CN (1) | CN107052685B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108857245A (en) * | 2018-07-19 | 2018-11-23 | 广州德恒汽车装备科技有限公司 | A kind of lifting device for weld car flexibility positioning unit |
| CN109506577B (en) * | 2019-01-21 | 2021-05-25 | 柳州沪信汽车科技有限公司 | Part measuring method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201665259U (en) * | 2010-02-20 | 2010-12-08 | 大连奥托股份有限公司 | Flexible positioning device |
| CN202358222U (en) * | 2011-11-30 | 2012-08-01 | 昆山诺克科技汽车装备制造有限公司 | Adjustable flexible positioner |
| CN103737226A (en) * | 2013-12-05 | 2014-04-23 | 四川成焊宝玛焊接装备工程有限公司 | Flexible positioning device in X, Y and Z coordinate system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816119B (en) * | 2015-04-30 | 2017-01-04 | 广州明珞汽车装备有限公司 | A kind of orthoscopic flexible positioning device |
-
2016
- 2016-12-20 CN CN201611186158.8A patent/CN107052685B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201665259U (en) * | 2010-02-20 | 2010-12-08 | 大连奥托股份有限公司 | Flexible positioning device |
| CN202358222U (en) * | 2011-11-30 | 2012-08-01 | 昆山诺克科技汽车装备制造有限公司 | Adjustable flexible positioner |
| CN103737226A (en) * | 2013-12-05 | 2014-04-23 | 四川成焊宝玛焊接装备工程有限公司 | Flexible positioning device in X, Y and Z coordinate system |
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| CN107052685A (en) | 2017-08-18 |
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