CN107138885B - Welding robot system applied to welding of corrugated wall and framework of transformer oil tank - Google Patents
Welding robot system applied to welding of corrugated wall and framework of transformer oil tank Download PDFInfo
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- CN107138885B CN107138885B CN201710462672.8A CN201710462672A CN107138885B CN 107138885 B CN107138885 B CN 107138885B CN 201710462672 A CN201710462672 A CN 201710462672A CN 107138885 B CN107138885 B CN 107138885B
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- welding
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- oil tank
- corrugated wall
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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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
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
Abstract
The invention relates to a welding robot system applied to welding of a corrugated wall and a framework of a transformer oil tank, which comprises six-axis industrial robots, a robot linkage suspension frame, a three-axis linkage positioner, a four-axis feeding portal frame, a corrugated wall grabbing tool, a conveyor, a dust removal system, a dust removal room and a control cabinet, wherein the dust removal system is positioned outside a dust removal box, and the control cabinet, the six-axis industrial robots, the robot linkage suspension frame, the four-axis feeding portal frame and the corrugated wall grabbing tool are all positioned in the dust removal room. The advantages are that: the full-automatic welding requirement of the transformer oil tank is met, and the technical problems of low welding consistency, reliability and production efficiency caused by manual welding of the existing transformer oil tank are solved.
Description
Technical Field
The invention relates to a welding robot system applied to welding of a corrugated wall and a framework of a transformer oil tank.
Background
At present, investigation on a production enterprise of the transformer oil tank finds that manual operation is mainly used for welding the transformer oil tank in a production link. The welding process of the transformer oil tank is complex, the quality requirement is high, and the production cycle is long. Meanwhile, in production, manual welding is adopted, welding workers are often influenced by psychological and physiological conditions and interference of peripheral rings, stability and consistency of welding work are difficult to maintain for a long time, low welding efficiency, unstable quality and the like are caused, and the surface smoothness after welding is poor. Therefore, the existing transformer oil tank welding production has the following defects:
1. the transformer oil tank is welded manually, the welding efficiency and quality are limited by the proficiency and the operation state of a welder to a great extent, the welding consistency is poor, the welding quality is unstable, and the efficiency is low;
2. firstly, spot welding is carried out on the framework and the corrugated wall, and then manual welding is carried out; does not have a special welding clamp, depends on manual handling to overturn the workpiece, and has low production efficiency
In view of the above problems, it is urgently needed to design a robot system and a special fixture for welding a transformer oil tank, so as to meet the full-automatic welding requirements of the transformer oil tank.
Disclosure of Invention
The invention provides a set of welding robot system applied to welding a corrugated wall and a framework of a transformer oil tank, which is used for meeting the full-automatic welding requirement of the transformer oil tank and solving the technical problems of low welding consistency, reliability and production efficiency caused by the manual welding required by the welding of the conventional transformer oil tank. The technical scheme of the invention is as follows:
the welding robot system comprises six-axis industrial robots, a robot linkage suspension frame, a three-axis linkage positioner, a four-axis feeding portal frame, a corrugated wall grabbing tool, a conveyor, a dedusting system, a dedusting room and a control cabinet, wherein the dedusting system is positioned outside a dedusting box; the control cabinet controls a six-axis industrial robot, a three-axis linkage positioner, a corrugated wall grabbing tool, a conveyor and a dust removal system, the bottom of the six-axis industrial robot is installed on a robot linkage suspension frame, a four-axis feeding portal frame spans over a conveying belt of the conveyor, a doorway is arranged on one side wall of a dust removal room, the three-axis linkage positioner is installed at the doorway, and a revolving door matched with the doorway is installed on a turntable of the three-axis linkage positioner; the corrugated wall grabbing tool is installed on a four-shaft feeding portal frame and moves up and down or left and right on the four-shaft feeding portal frame; and the six-axis industrial robot is provided with a welding gun.
The robot linkage suspension bracket comprises a base, a guide rail, a rack, a motor and an upright column, wherein a sliding plate is installed at the bottom end of the upright column, the upper end of the upright column is provided with the six-axis industrial robot, the sliding plate is installed on the base in a sliding mode through the guide rail, the sliding plate is provided with a driving motor, a rotating shaft of the driving motor is provided with a driving gear, and the driving gear is meshed with the rack installed on the base.
The three-axis linkage positioner comprises a fixed chassis, a rotating disk and an internal support type tool, wherein the rotating disk is rotatably arranged on the fixed chassis, a vertical cabinet is arranged on the upper part of the rotating disk, two rotary disks are symmetrically arranged on the vertical cabinet, and the internal support type tool is arranged on each rotary disk.
The four-shaft feeding portal frame comprises a cross beam and support beams, wherein the support beams are arranged at the end parts of the cross beam, the two support beams and the cross beam are arranged in an n shape, a support arm is arranged on the cross beam and is arranged on the cross beam in a sliding manner through an end plate, and a lifting driving mechanism is arranged on the end plate and is used for driving the support arm to ascend or descend; and the transverse driving mechanism is arranged on the transverse beam and used for driving the support arm to move along the length direction of the transverse beam.
The corrugated wall grabbing tool comprises a base, and a clamping cylinder, a flattening cylinder, a positioning block, a pressing block and a clamping block which are arranged on the base, wherein the clamping block is connected with the clamping cylinder and used for clamping and grabbing the corrugated wall of the transformer oil tank,
the pressing block is connected with the flattening cylinder, and the pressing block enables two ends of the corrugated wall of the transformer oil tank to be tightly attached to the transformer oil tank framework; the positioning block is adjustably mounted on the base.
The laser device is characterized in that a laser device support is arranged on the welding gun, and a laser device is arranged on the laser device support.
The internal supporting type tool comprises a power part, a workpiece supporting part and a welding power supply zero line moving part, wherein the power part comprises an air cylinder seat, a first air cylinder, a guide support, a mandrel and a linear bearing, the first air cylinder is installed on one side of a bottom plate through the air cylinder seat, a piston rod of the first air cylinder penetrates through the bottom plate and then extends to the other side of the bottom plate, the mandrel is connected with the piston rod of the first air cylinder, the linear bearing and the guide support are sequentially sleeved on the periphery of the mandrel, the linear bearing and the guide support are used for guiding the mandrel, the workpiece supporting parts are arranged on the bottom plates on two sides of the mandrel, and the welding power supply zero line moving part is arranged on a support of the workpiece supporting part.
The work piece supporting part include support, connecting rod, linear guide, initial stopper, limit stopper and dog, the support pass through the gliding linear guide of installing of slider on setting up on the bottom plate, the lateral part of bottom plate is provided with initial stopper, limit stopper and the dog spacing to the slider, initial stopper is located the upper portion of baffle, and the limit stopper is located linear guide's tip, is provided with the several connecting rod on the length direction along the dabber, the one end pivoted of each connecting rod is installed at the spindle, the other end pivoted is installed in the first pivot of support the outside of support still is provided with the several and struts the mechanism.
Each opening mechanism all including connecting otic placode, first linkage block, cylinder, second pivot, extension spring and spring strut, the connection otic placode of institute be two pairs, and every is installed respectively at the upper and lower both ends of support to every connecting otic placode, installs second pivot and copper sheathing every to connecting between the otic placode, this second pivot and copper sheathing parallel arrangement, the cylinder pass through bush pivoted and install in the second pivot, the first linkage block of institute installs on the support, between the connection otic placode of upper end and the first linkage block to and all be provided with spring strut and extension spring between connection otic placode of lower extreme and the first linkage block, extension spring's one end is connected on connecting the otic placode, and the other end passes through the spring strut and is connected with first linkage block.
The welding power supply zero line movement part comprises a second cylinder, a connecting plate and a second connecting block, the second cylinder is fixed on the support, the second connecting block is connected with the second cylinder through the connecting plate, and the second connecting block is connected with a zero line.
Drawings
Fig. 1 is a schematic view of the main structure of the present invention.
Fig. 2 is a schematic structural view of the linkage suspension bracket of the robot in fig. 1.
Fig. 3 is a schematic structural view of the three-axis linkage positioner in fig. 1.
Fig. 4 is a schematic structural diagram of the four-shaft loading portal frame in fig. 1.
Fig. 5 is a schematic structural view of the corrugated wall grabbing tool in fig. 1.
Fig. 6 is a schematic view of the laser, the torch, and the laser holder of fig. 1.
Fig. 7 is a schematic structural view of a main body of the internal supporting tool in fig. 3.
Fig. 8 is a top view of fig. 7.
Detailed Description
The invention will be further described with reference to specific embodiments, and the advantages and features of the invention will become apparent as the description proceeds. These examples are illustrative only and do not limit the scope of the present invention in any way. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention, and that such changes and substitutions are intended to be within the scope of the invention.
Referring to fig. 1 to 8, the invention relates to a welding robot system applied to welding a corrugated wall and a framework of a transformer oil tank, comprising a six-axis industrial robot 111, a robot linkage suspension frame 121, a three-axis linkage positioner 131, a four-axis feeding portal frame 141, a corrugated wall grabbing tool 151, a conveyor 161, a dedusting system 171, a dedusting room 181 and a control cabinet, wherein the dedusting system 171 is positioned outside the dedusting box 181, the control cabinet, the six-axis industrial robot 111, the robot linkage suspension frame 121, the four-axis feeding portal frame 141 and the corrugated wall grabbing tool 151 are all positioned in the dedusting room 181, a feeding area of the conveyor 161 is positioned outside the dedusting room 181, a blanking area is positioned inside the dedusting room 181, and the dedusting system 171 is communicated with the dedusting room 181 to remove dust from the dedusting room 181; the control cabinet controls a six-axis industrial robot 111, a three-axis linkage positioner 131, a corrugated wall grabbing tool 151, a conveyor 151 and a dust removal system 171, the bottom of the six-axis industrial robot 111 is mounted on a robot linkage suspension frame 121, a four-axis feeding portal frame 141 spans across a conveying belt of the conveyor 161, a door opening is formed in one side wall of a dust removal room 181, the three-axis linkage positioner 131 is mounted at the door opening, and a revolving door matched with the door opening is mounted on a turntable of the three-axis linkage positioner 131; the corrugated wall grabbing tool 151 is installed on a four-shaft feeding gantry 141 and moves up and down or left and right on the four-shaft feeding gantry; a welding gun is mounted on the six-axis industrial robot 111.
The six-axis industrial robot adopts a FANUCM-10iA/12 robot which is a standard robot with the maximum load of 12kg, the FANUCM-10iA/12 robot is a high-performance operating robot with an intelligent function and is suitable for various arc welding applications, the robot linkage suspension frame comprises a base 31, a guide rail 33, a rack 34, a motor 35 and an upright post 32, a sliding plate is installed at the bottom end of the upright post 32, the six-axis industrial robot 111 is installed at the upper end of the upright post, the sliding plate is installed on the base 31 in a sliding mode through the guide rail 33, a driving motor 35 is installed on the sliding plate, a driving gear is installed on a rotating shaft of the driving motor 35, and the driving gear is meshed with the rack 34 installed on the base. The linkage suspension bracket of the robot enlarges the working range of the robot, ensures the welding rate of the system, ensures that each welding line can be finished only by arcing once, overcomes the welding defects caused by butt joint, and ensures the welding quality.
The three-axis linkage positioner comprises a fixed chassis, a rotating disk 41 and an internal support type tool, wherein the rotating disk 41 is rotatably arranged on the fixed chassis, a vertical cabinet 45 is arranged on the upper part of the rotating disk 41, two rotary disks 42 are symmetrically arranged on the vertical cabinet, and each rotary disk is provided with the internal support type tool 4. The stations of the internal supporting type tool are exchanged through the rotary motion of the rotary disc 41, so that the uniformity of the positions of the two stations is ensured, and the welding quality is improved; meanwhile, when one station is welded, the other station can carry out loading and unloading, so that the production efficiency is improved; the three-axis linkage positioner enables a workpiece to be in the best welding position through the rotary motion of the rotary disc, is mainly used for overturning the transformer oil tank, can greatly improve the welding quality, lightens the labor intensity and improves the labor productivity.
The four-shaft feeding portal frame comprises a cross beam 51 and support beams 54, the support beams 54 are mounted at the end part of the cross beam 51, the two support beams 54 and the cross beam 51 are arranged in an n shape, a support arm 52 is mounted on the cross beam 51, the support arm 52 is mounted on the cross beam 51 through an end plate in a sliding manner, and a lifting driving mechanism (in the prior art, a rack is mounted on the support arm, a motor is mounted on the end plate, and a gear on the motor drives the rack to reciprocate) is mounted on the end plate and used for driving the support arm to ascend or descend; the beam is provided with a transverse drive mechanism (prior art) for driving the arm 51 to move along the length of the beam.
The corrugated wall grabbing tool comprises a base, and a clamping cylinder 61, a flattening cylinder 62, a positioning block 63, a pressing block 64 and a clamping block 65 which are arranged on the base, wherein the clamping block 65 is connected with the clamping cylinder 61 and used for clamping and grabbing the corrugated wall of the transformer oil tank, the pressing block 64 is connected with the flattening cylinder 62, and the pressing block 64 enables two ends of the corrugated wall of the transformer oil tank to be tightly attached to a framework of the transformer oil tank; the positioning block is adjustably mounted on the base (by bolt adjustment).
The welding gun 81 is provided with a laser support 83, and the laser support 83 is provided with a laser 82.
The internal supporting type tool comprises a power part, a workpiece supporting part and a welding power supply zero line moving part, wherein the power part comprises an air cylinder seat 3, a first air cylinder 106, a guide support 7, a mandrel 2 and a linear bearing 105, the first air cylinder 106 is installed on one side of a bottom plate 8 through the air cylinder seat 3, a piston rod of the first air cylinder 106 penetrates through the bottom plate 8 and then extends to the other side of the bottom plate 8, the mandrel 2 is connected with the piston rod of the first air cylinder 106, the linear bearing 105 and the guide support 7 are sequentially sleeved on the periphery of the mandrel 2, the guide support 7 plays a role in supporting and guiding and is installed on the bottom plate 8, the linear bearing 105 and the guide support 7 are used for guiding the mandrel 2, the workpiece supporting part is arranged on the bottom plate 8 on two sides of the mandrel 2, and the welding power supply zero line moving part is arranged on a support 1 of the workpiece supporting part.
The work piece supporting part include support 1, connecting rod 6, linear guide 114, initial stopper, limit stopper 11 and dog 12, support 1 through the gliding linear guide 114 of installing on setting up on the bottom plate of slider, the lateral part of bottom plate 8 is provided with initial stopper, limit stopper 11 and dog 12 spacing to the slide, initial stopper is located the upper portion of baffle 12, limit stopper 11 is located linear guide 114's tip, is provided with several connecting rod 6 on the length direction of dabber 2, the one end pivoted of each connecting rod 6 is installed on dabber 2, the other end pivoted is installed in support 1's first pivot (first pivot is installed on the support through oil-free bush 102 pivoted) support 1's the outside still is provided with the several and struts the mechanism.
Each the mechanism struts include all connecting ear plate 4, first linkage block 9, cylinder 16, second pivot 107, extension spring 111 and spring strut 112, connecting ear plate 4 of institute be two pairs, every pair of connecting ear plate is installed respectively at support 1 upper and lower both ends, install second pivot 107 and copper sheathing 109 between every pair of connecting ear plate, this second pivot 107 and copper sheathing 109 parallel arrangement, cylinder 16 install on second pivot 107 through the bush pivoted, first linkage block 9 of institute installs on support 1, between connecting ear plate and the first linkage block 9 of upper end to and all be provided with spring strut 112 and extension spring 111 between connecting ear plate and the first linkage block 9 of lower extreme, the one end of extension spring 111 is connected on connecting ear plate 4, and the other end passes through spring strut 112 and is connected with first linkage block 9.
The zero line moving part of the welding power supply comprises a second cylinder 113, a connecting plate 13 and a second connecting block 14, the second cylinder 113 is fixed on the bracket 1, the second connecting block 14 is connected with the second cylinder 113 through the connecting plate 13, and a zero line is connected to the second connecting block 14.
The working principle of the internal supporting type tool is as follows: through the flexible of the piston rod of first cylinder, drive dabber reciprocating motion, and then drive the slide and carry out reciprocating motion on linear guide, through linear guide's reciprocating motion, the support is along with the removal of slide, realizes the adjustment of two support intervals, accomplishes the clamp to the work piece, the work piece presss from both sides tight back, and the second cylinder is released the second connecting block, makes second connecting block and work piece in close contact with, and the welding machine zero line switches on through second connecting block work piece to weld.
The working principle of the invention is as follows: a worker installs the transformer oil tank framework on an inner support type tool of a three-axis linkage positioner outside a dedusting room, a rotating disc of the three-axis linkage positioner rotates for 180 degrees to exchange stations, a four-axis feeding portal frame finishes feeding and assembling of a corrugated wall of the transformer oil tank, and a robot starts welding; after the whole set of transformer oil tank is welded, the rotating disc (14) of the three-axis linkage positioner rotates 180 degrees, and workers finish the disassembly of the welded transformer oil tank; the whole system repeats the above process.
Claims (4)
1. The welding robot system is applied to welding of a corrugated wall and a framework of a transformer oil tank and is characterized by comprising six industrial robots, a robot linkage suspension frame, a three-axis linkage positioner, a four-axis feeding portal frame, a corrugated wall grabbing tool, a conveyor, a dust removal system, a dust removal room and a control cabinet, wherein the dust removal system is positioned outside a dust removal box; the control cabinet controls a six-axis industrial robot, a three-axis linkage positioner, a corrugated wall grabbing tool, a conveyor and a dust removal system, the bottom of the six-axis industrial robot is installed on a robot linkage suspension frame, a four-axis feeding portal frame spans over a conveying belt of the conveyor, a doorway is arranged on one side wall of a dust removal room, the three-axis linkage positioner is installed at the doorway, and a revolving door matched with the doorway is installed on a turntable of the three-axis linkage positioner; the corrugated wall grabbing tool is installed on a four-shaft feeding portal frame and moves up and down or left and right on the four-shaft feeding portal frame; a welding gun is arranged on the six-axis industrial robot;
the robot linkage suspension bracket comprises a base, a guide rail, a rack, a motor and an upright post, wherein a sliding plate is arranged at the bottom end of the upright post, the six-axis industrial robot is arranged at the upper end of the upright post, the sliding plate is slidably arranged on the base through the guide rail, a driving motor is arranged on the sliding plate, a rotating shaft of the driving motor is provided with a driving gear, and the driving gear is meshed with the rack arranged on the base;
the three-axis linkage positioner comprises a fixed chassis, a rotating disc and an internal support type tool, wherein the rotating disc is rotatably arranged on the fixed chassis, a vertical cabinet is arranged at the upper part of the rotating disc, two rotary discs are symmetrically arranged on the vertical cabinet, and each rotary disc is provided with the internal support type tool;
the internal supporting type tool comprises a power part, a workpiece supporting part and a welding power supply zero line moving part, wherein the power part comprises an air cylinder seat, a first air cylinder, a guide support, a mandrel and a linear bearing, the first air cylinder is installed on one side of a bottom plate through the air cylinder seat, a piston rod of the first air cylinder penetrates through the bottom plate and then extends to the other side of the bottom plate, the mandrel is connected with the piston rod of the first air cylinder, the linear bearing and the guide support are sequentially sleeved on the periphery of the mandrel, the linear bearing and the guide support are used for guiding the mandrel, the workpiece supporting parts are arranged on the bottom plates on two sides of the mandrel, and the welding power supply zero line moving part is arranged on a support of the workpiece supporting part
The workpiece supporting part comprises a support, connecting rods, a linear guide rail, an initial limiting block, a limit limiting block and a stop block, the support is slidably mounted on the linear guide rail arranged on the bottom plate through the slide block, the initial limiting block, the limit limiting block and the stop block for limiting the slide block are arranged on the side part of the bottom plate, the initial limiting block is positioned at the upper part of the stop plate, the limit limiting block is positioned at the end part of the linear guide rail, a plurality of connecting rods are arranged along the length direction of the mandrel, one end of each connecting rod is rotatably mounted on the mandrel, the other end of each connecting rod is rotatably mounted on a first rotating shaft of the support, and a plurality of spreading mechanisms are further arranged on the outer side of the support;
each spreading mechanism comprises two pairs of connecting lug plates, a first connecting block, a roller, a second rotating shaft, an extension spring and a spring support, wherein each pair of connecting lug plates are respectively arranged at the upper end and the lower end of the support;
the welding power supply zero line movement part comprises a second cylinder, a connecting plate and a second connecting block, the second cylinder is fixed on the support, the second connecting block is connected with the second cylinder through the connecting plate, and the second connecting block is connected with a zero line.
2. The welding robot system applied to welding the corrugated wall and the framework of the transformer oil tank as claimed in claim 1, wherein the four-axis loading portal frame comprises a cross beam and support beams, the support beams are mounted at the ends of the cross beam, the two support beams and the cross beam are arranged in an n shape, a support arm is mounted on the cross beam, the support arm is mounted on the cross beam in a sliding manner through an end plate, and a lifting driving mechanism is mounted on the end plate and used for driving the support arm to ascend or descend; and the transverse driving mechanism is arranged on the transverse beam and used for driving the support arm to move along the length direction of the transverse beam.
3. The welding robot system applied to welding the corrugated wall and the framework of the transformer oil tank as claimed in claim 1, wherein the corrugated wall grabbing tool comprises a base, and a clamping cylinder, a flattening cylinder, a positioning block, a pressing block and a clamping block which are arranged on the base, the clamping block is connected with the clamping cylinder and used for clamping and grabbing the corrugated wall of the transformer oil tank,
the pressing block is connected with the flattening cylinder, and two ends of the corrugated wall of the transformer oil tank are tightly attached to the transformer oil tank framework through the pressing block; the positioning block is adjustably mounted on the base.
4. The welding robot system applied to welding the corrugated wall and the framework of the transformer oil tank as claimed in claim 1, wherein a laser bracket is mounted on the welding gun, and a laser is mounted on the laser bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710462672.8A CN107138885B (en) | 2017-06-19 | 2017-06-19 | Welding robot system applied to welding of corrugated wall and framework of transformer oil tank |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710462672.8A CN107138885B (en) | 2017-06-19 | 2017-06-19 | Welding robot system applied to welding of corrugated wall and framework of transformer oil tank |
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| CN107138885A CN107138885A (en) | 2017-09-08 |
| CN107138885B true CN107138885B (en) | 2023-01-24 |
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| CN206869345U (en) * | 2017-06-19 | 2018-01-12 | 山东泰开机器人有限公司 | Applied to oil tank of transformer bellows wall and the welding robot system of skeleton welding |
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| CN107138885A (en) | 2017-09-08 |
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