CN107848055A - Welding system and its welding method based on manipulator and measuring arm - Google Patents
Welding system and its welding method based on manipulator and measuring arm Download PDFInfo
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- CN107848055A CN107848055A CN201680043868.7A CN201680043868A CN107848055A CN 107848055 A CN107848055 A CN 107848055A CN 201680043868 A CN201680043868 A CN 201680043868A CN 107848055 A CN107848055 A CN 107848055A
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- 238000003466 welding Methods 0.000 title claims abstract description 110
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 239000000523 sample Substances 0.000 claims abstract description 13
- 238000003825 pressing Methods 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008439 repair process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Welding system and welding method of the one kind based on manipulator (1) and measuring arm (2), including manipulator (1) and measuring arm (2), measuring arm (2) is removably disposed on manipulator (1), manipulator (1) includes the modularized joint of multiple series connection, modularized joint is all connected with drive mechanism, drive mechanism connects controller, the bottom of manipulator (1) is provided with a rotary joint (4), rotary joint (4) is fixedly connected in manipulator base (5), the top of manipulator (1) is provided with the end joint for being used for installing welding gun (3)；The bottom of measuring arm (2) is arranged on modularized joint, the top of measuring arm (2) is handle, its top is provided with sensor probe (6), side is provided with load button (8) and movable button (7), load button (8) and movable button (7) electrically connect with central processing unit, detent mechanism is provided with inside measuring arm (2), the offset of measuring arm (2) is sent to controller by detent mechanism.By the way that measuring arm (2) is arranged on manipulator (1), the measurement range of measuring arm (2) can be increased, button is reduced into 2 can make operation more convenient, the coordinate information for welding end points is sent to manipulator (1) by measuring arm (2), and error is smaller.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a welding system based on a manipulator and a measuring arm and a welding method thereof.
Background
The current robot welding methods are generally remote input welding and imported mechanical diagram input welding. The remote controller input welding is that the manipulator is controlled to move by a plurality of moving buttons corresponding to a manipulator moving shaft on an operation box, the manipulator is visually observed to reach a specified welding position, and an input button is pressed to complete the input of a welding end point, and because the general precision requirement is about 0.2mm, the input method needs to be concentrated in spirit, carry out multi-angle visual observation, and can accurately align the welding position by finely adjusting the position for a plurality of times. Has the following disadvantages: the operation is complicated, 12 motion buttons are needed to be operated in 6 axes, namely X +, X-, Y +, Y-, Z +, Z-, R +, R-, B +, B-, T +, T-, X +, X-, and 3 speed gear switches are respectively 'high speed', 'high', 'low', some are provided with encoder control buttons, and in addition, the operation time is more than 120 minutes when 50 welding points are operated; the precision is not high, and is generally in the range of +/-1 mm.
The welding drawing is directly introduced into a manipulator system, so that the operation is fast, but the precision of a clamp is high, the installation precision is high, the precision of a workpiece is high, the use cost is high, the adjustment and the upgrade are inconvenient, and the welding drawing is rarely used in the actual production.
In order to overcome the defects, the Chinese patent with the publication number of CN101927391A discloses a method for automatically surfacing and repairing damaged metal parts, which consists of a measuring robot and an arc welding robot, wherein the measuring robot consists of a structured light sensor and a No. 1 six-degree-of-freedom mechanical arm, and the arc welding robot consists of a welding gun and a No. 2 six-degree-of-freedom mechanical arm; the working process is as follows:
a. Scanning the metal part by using a measuring robot to obtain three-dimensional profile data of the metal part, wherein the three-dimensional profile data is point cloud data;
b. Comparing the point cloud data with an original CAD model, and extracting damaged area data;
c. Generating a repair path according to the data of the damaged area;
d. And controlling the arc welding robot to repair the data of the damaged area.
The technology disclosed by the invention patent is that a measuring robot is adopted to collect welding end points, and then the data of the welding end points are sent to an arc welding robot, which is equivalent to importing a mechanical diagram input welding method, so that the cost is high, and the measuring range of the measuring robot is smaller.
In addition, a Chinese utility model with publication number CN 203804382U discloses a novel welding manipulator, which comprises a Y axis, a Z axis, a control box and an X axis, wherein the top of the control box is provided with the X axis, and the Y axis is connected on the X axis in a sliding way; the Y shaft is connected with the Z shaft in a sliding mode through a sliding block, one end of a drag chain is connected to the Z shaft, the other end of the drag chain is connected to the top of the control box, a control block is arranged in the middle of the drag chain, and support legs of the control block are connected to the middle of the Y shaft; the left end of the Z shaft is provided with a Z motor so as to control the Z shaft to move left and right, the end face of the right end of the Z shaft is provided with an A shaft, and one end face of one side of the A shaft is connected with one end of the R shaft. The utility model discloses a welding manipulator's welder is fixed, and the operation is inconvenient among the welding process, and operating range is little moreover.
Disclosure of Invention
The invention provides a welding system based on a manipulator and a measuring arm and a welding method thereof, which solve the problems of inconvenient welding operation and small operation range of the existing manipulator.
The technical scheme of the invention is realized as follows:
a welding system based on a manipulator and a measuring arm comprises the manipulator and the measuring arm, wherein the measuring arm is detachably arranged on the manipulator, the manipulator and the measuring arm both adopt multi-degree-of-freedom manipulators, the manipulator comprises a plurality of modular joints which are connected in series, the modular joints are connected with a driving mechanism, the driving mechanism is connected with a controller, the bottom of the manipulator is provided with a rotary joint, the rotary joint is fixedly connected onto a manipulator base, and the top end of the manipulator is provided with a tail end joint which is used for installing a welding gun and consists of the modular joints; the bottom of the measuring arm is arranged on the modular joint, the top of the measuring arm is a handle, the top of the handle is provided with a sensor probe for measuring and determining a welding end point, the side surface of the handle is provided with an input button for controlling the input of the welding end point and a moving button for controlling the movement of the measuring arm, the input button and the moving button are both electrically connected with a central processor, and the central processor is arranged inside the measuring arm; and a positioning mechanism for determining the offset of the measuring arm is arranged in the measuring arm, the positioning mechanism sends the offset of the measuring arm to the controller, and the controller determines the absolute coordinate of the welding endpoint according to the coordinate of the measuring arm fixed on the manipulator and the offset of the measuring arm.
Furthermore, the measuring arm comprises a plurality of joints, the joints are connected with encoders, the encoders are connected with the central processing unit through data lines, a plurality of through holes are formed in the side walls of the joints, the data lines are arranged in the through holes, the data lines correspond to the through holes one to one, and the through holes are gathered together at the connecting part of the central processing unit and the data lines; the central processing unit is connected with the positioning mechanism through a data line.
Furthermore, the positioning mechanism measures the angle of each modular joint of the measuring arm, the positioning mechanism comprises a single chip microcomputer system, and the single chip microcomputer system calculates the offset of the measuring arm according to the angles of the modular joints.
Furthermore, the controller sets the connection position of the rotary joint and the manipulator base as an original point, sets the direction vertical to the manipulator base as a Z axis, and stores length, width and height data of the modular joint, displacement data of the driving mechanism and length data of the welding gun.
Furthermore, the mechanical arm and the measuring arm are both 3-7-degree-of-freedom mechanical arms.
A welding method according to the robot and measuring arm based welding system described above, comprising the steps of:
(1) Setting the directions of an X axis, a Y axis and a Z axis, and setting an original coordinate of a measuring arm according to the size information of the mechanical arm and the measuring arm, wherein the original coordinate is a coordinate of the measuring arm fixed on the mechanical arm;
(2) Pressing the moving button, moving the handle, moving the sensor probe to a welding position, and determining a welding end point by the sensor probe;
(3) Pressing an input button, and sending the offset of the measuring arm to the controller by the positioning mechanism;
(4) Judging whether other welding end points exist, if so, entering the step (2), and if not, entering the next step;
(5) The controller obtains absolute coordinates of all welding endpoints according to welding gun coordinates at the top end of the manipulator and the received offset of the measuring arm, and obtains a characteristic curve formed by all welding endpoints according to the absolute coordinates;
(6) And the controller drives the welding gun to weld according to the characteristic curve.
Further, the step (1) of setting the directions of the X axis, the Y axis and the Z axis specifically includes the steps of:
(101) Setting the joint of the measuring arm, the rotary joint and the manipulator base as an original point;
(102) The modularized joint is arranged into two parts which are vertical to each other, the direction of one part which is vertical to the plane where the manipulator base is located is a Z axis, and the direction of the other part is an X axis; the direction perpendicular to the X axis and the Z axis is defined as the Y axis.
Further, the characteristic curve is a straight line, a circular arc, an ellipse, a parabola, a hyperbola, an involute or a spline curve.
Further, the manipulator moves in a multi-axis linkage manner.
Furthermore, the mechanical arm and the measuring arm are both 3-7-degree-of-freedom mechanical arms.
The invention has the beneficial effects that: the measuring arm is arranged on the mechanical arm, the measuring range of the measuring arm is increased, the number of keys is reduced to 2, the operation is more convenient, the measuring arm directly sends the coordinate information of the welding end point to the mechanical arm, the coordinate of the welding end point does not need to be manually determined, and the error is small.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of a robot and gage arm based welding system according to the present invention;
FIG. 2 is a flow chart of a welding method performed by the robot and gage arm based welding system of the present invention.
In the figure, 1-robot; 2-a measuring arm; 3-a welding gun; 4-360 degree rotary joint; 5, a manipulator base; 6-sensor probe; 7-a movement button; 8-enter button.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the invention provides a welding system based on a manipulator and a measuring arm, which comprises a manipulator 1 and a measuring arm 2, wherein the measuring arm 2 is detachably arranged on the manipulator 1, the manipulator 1 and the measuring arm 2 both adopt multi-degree-of-freedom manipulators, the manipulator 1 comprises a plurality of modular joints connected in series, the modular joints are connected with a driving mechanism, the driving mechanism is connected with a controller, the bottom of the manipulator 1 is provided with a 360-degree rotary joint 4, the 360-degree rotary joint 4 is fixedly connected on a manipulator base 5, and the top end of the manipulator 1 is provided with a tail end joint formed by the modular joints and used for mounting a welding gun 3; the bottom of the measuring arm 2 is arranged on the modular joint, the top of the measuring arm 2 is a handle, the top of the handle is provided with a sensor probe 6 for measuring and determining a welding end point, the side surface of the handle is provided with an input button 8 for controlling the input of the welding end point and a moving button 7 for controlling the movement of the measuring arm 2, the input button 8 and the moving button 7 are both electrically connected with a central processing unit, and the central processing unit is arranged inside the measuring arm 2; the measuring arm 2 is internally provided with a positioning mechanism for determining the offset of the measuring arm 2, the positioning mechanism sends the offset of the measuring arm 2 to the controller, and the controller determines the absolute coordinate of the welding endpoint according to the coordinate of the measuring arm 2 fixed on the manipulator 1 and the offset of the measuring arm 2.
The measuring arm 2 comprises a plurality of joints, the joints are connected with encoders, the encoders are connected with the central processing unit through data lines, a plurality of through holes are formed in the side walls of the joints, the data lines are arranged in the through holes, the data lines correspond to the through holes one to one, and the through holes are gathered together at the connecting part of the central processing unit and the data lines; the central processing unit is connected with the positioning mechanism through a data line.
The positioning mechanism measures the angle of each modular joint of the measuring arm and comprises a single chip microcomputer system, and the single chip microcomputer system calculates the offset of the measuring arm according to the angles of the modular joints. Specifically, the positioning mechanism comprises encoders in each joint for measuring the measuring arm 2, the encoders corresponding to each joint send detected data to the single chip microcomputer system, and the single chip microcomputer system calculates the offset and the moving direction of the measuring arm 2 according to the received data.
The controller sets the connection position of the 360-degree rotary joint 4 and the manipulator base 5 as an original point, sets the direction vertical to the manipulator base 5 as a Z axis, and stores length, width and height data of the modular joint, displacement data of the driving mechanism and length data of the welding gun 3.
The mechanical arm and the measuring arm both adopt a mechanical arm with 3-7 degrees of freedom.
The welding system of the present invention can be installed and used by the following steps:
1. mounting the manipulator in a fixed position (i.e. the manipulator base 5);
2. detachably mounting the measuring arm on a tail end joint or other modular joints of the manipulator;
3. a user holds a handle of the measuring arm and pulls the sensor probe 6 of the measuring arm to move to a preset welding position;
4. pressing a moving button 7 on the measuring arm to enable the manipulator to rapidly move to the position near the designated welding position;
5. the manipulator rapidly moves to a specified position in a multi-axis linkage mode according to the offset direction of the measuring arm;
6. the moving button 7 is released, and the manipulator stops at the current position;
7. the sensor probe 6 is directly touched to the welding position;
8. pressing the input button 8 determines the absolute coordinates of the welding end point;
9. the plurality of welding endpoints can form characteristic curves such as straight lines, arcs, ellipses, spline curves and the like;
10. after the curve is finished, the measuring arm is fastened and fixed on the mechanical arm, or the measuring arm is unloaded, so that the measuring arm is prevented from being thrown out in the welding process to influence welding.
In the embodiment of the invention, the measuring arm and the manipulator are both 6-joint freedom degree, are completely freely controlled by hands, are very convenient to operate, can be positioned to a specified position within 1 second, and take the welding operation of 50 points as an example below to analyze the advantages and the disadvantages specifically:
| conventional teaching method | The invention | Description of the advantages | |
| Moving mode | Single axis movement | Multi-axis linkage | Quick positioning |
| Measuring range | Range of motion of manipulator | Manipulator range + measuring arm range | The measurement range is larger |
| Number of buttons to be operated | 12+ speed gear switch | 2 are provided with | The operation is simpler |
| Time of operation | 120 minutes | 5 minutes | |
| Precision of operation | ± 1mm | ± 0.15mm | |
| Intensity of labour | Require a high degree of concentration | Easy touch | The conventional teaching is to align the welding gun with the weld by visual inspection of the human eye |
| Dead angle performance | The position of the sight-blocking line cannot be operated | Is not influenced by sight | Reduce dead angle |
As shown in fig. 2, the present invention also proposes a welding method performed according to the above welding system based on a robot arm and a measuring arm, comprising the following steps:
(1) Setting the directions of an X axis, a Y axis and a Z axis, and setting an original coordinate of a measuring arm according to the size information of the mechanical arm and the measuring arm, wherein the original coordinate is a coordinate of the measuring arm fixed on the mechanical arm;
(2) Pressing the moving button 7, moving the handle, moving the sensor probe 6 to a welding position, and determining a welding end point by the sensor probe 6;
(3) Pressing the input button 8, the positioning mechanism sends the offset of the measuring arm to the controller;
(4) Judging whether other welding end points exist, if so, entering the step (2), and if not, entering the next step;
(5) The controller obtains absolute coordinates of all welding endpoints according to welding gun coordinates at the top end of the manipulator and the received offset of the measuring arm, and obtains a characteristic curve formed by all welding endpoints according to the absolute coordinates; the characteristic curve can be formed by a controller, and specifically, the controller can adopt a single chip microcomputer.
(6) And the controller drives the welding gun to weld according to the characteristic curve.
The step (1) of setting the directions of the X axis, the Y axis and the Z axis specifically comprises the following steps:
(101) Setting the joint of the measuring arm, the 360-degree rotary joint and the manipulator base as an original point;
(102) The modularized joint is arranged into two parts which are vertical to each other, the direction of one part which is vertical to the plane where the manipulator base is located is a Z axis, and the direction of the other part is an X axis; the direction perpendicular to the X axis and the Z axis is defined as the Y axis.
The characteristic curve is a straight line, a circular arc, an ellipse, a parabola, a hyperbola, an involute or a spline curve.
The manipulator moves in a multi-axis linkage manner. Specifically, the mechanical arm and the measuring arm are all mechanical arms with 3-7 degrees of freedom. Through the multi-axis linkage mode, the movement of the manipulator is more flexible, the range of motion is wider, and the control is more sensitive.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
- The utility model provides a welding system based on manipulator and measuring arm, includes manipulator and measuring arm, measuring arm detachably sets up on the manipulator, manipulator and measuring arm all adopt multi freedom arm, its characterized in that: the manipulator comprises a plurality of modular joints which are connected in series, the modular joints are connected with a driving mechanism, the driving mechanism is connected with a controller, the bottom of the manipulator is provided with a rotary joint, the rotary joint is fixedly connected to a manipulator base, and the top end of the manipulator is provided with a tail end joint which is used for installing a welding gun and consists of the modular joints; the bottom of the measuring arm is mounted on the modular joint, the top of the measuring arm is a handle, the top of the handle is provided with a sensor probe for measuring and determining a welding end point, the side surface of the handle is provided with an input button for controlling the input of the welding end point and a moving button for controlling the movement of the measuring arm, the input button and the moving button are both electrically connected with a central processing unit, and the central processing unit is arranged inside the measuring arm; and a positioning mechanism used for determining the offset of the measuring arm is arranged in the measuring arm, the positioning mechanism sends the offset of the measuring arm to the controller, and the controller determines the absolute coordinate of the welding endpoint according to the coordinate of the measuring arm fixed on the manipulator and the offset of the measuring arm.
- The robot and gage arm based welding system as defined in claim 1, wherein: the measuring arm comprises a plurality of joints, the joints are connected with encoders, the encoders are connected with the central processing unit through data lines, a plurality of through holes are formed in the side walls of the joints, the data lines are arranged in the through holes, the data lines correspond to the through holes one by one, and the through holes are gathered together at the connecting part of the central processing unit and the data lines; the central processing unit is connected with the positioning mechanism through a data line.
- The robot and gage arm based welding system as defined in claim 1, wherein: the positioning mechanism measures the angle of each modular joint of the measuring arm, the positioning mechanism comprises a single chip microcomputer system, and the single chip microcomputer system calculates the offset of the measuring arm according to the angles of the modular joints.
- The robot and gage arm based welding system as defined in claim 1, wherein: the controller sets the joint of the rotary joint and the manipulator base as an original point, sets the direction vertical to the manipulator base as a Z axis, and stores length, width and height data of the modular joint, displacement data of the driving mechanism and length data of the welding gun.
- The robot and gage arm based welding system as defined in claim 1, wherein: the mechanical arm and the measuring arm are both 3-7-degree-of-freedom mechanical arms.
- A method of welding by the robot and gage arm based welding system of claim 1, comprising the steps of:(1) setting directions of an X axis, a Y axis and a Z axis, and setting an original coordinate of the measuring arm according to the size information of the mechanical arm and the measuring arm, wherein the original coordinate is a coordinate of the measuring arm fixed on the mechanical arm;(2) pressing the moving button, moving the handle, and moving the sensor probe to a welding position, wherein the sensor probe determines a welding end point;(3) pressing the input button, and sending the offset of the measuring arm to the controller by the positioning mechanism;(4) judging whether other welding end points exist, if so, entering the step (2), and if not, entering the next step;(5) the controller obtains absolute coordinates of all welding end points according to the welding gun coordinate at the top end of the manipulator and the received offset of the measuring arm, and obtains a characteristic curve formed by all welding end points according to the absolute coordinates;(6) and the controller drives the welding gun to weld according to the characteristic curve.
- The method of welding performed by the robot and gage arm based welding system of claim 6, wherein: the step (1) of setting the directions of the X axis, the Y axis and the Z axis specifically comprises the following steps:(101) setting the joint of the measuring arm, the rotary joint and the manipulator base as an origin;(102) the modularized joint is arranged into two parts which are vertical to each other, the direction of one part vertical to the plane where the manipulator base is located is a Z axis, and the direction of the other part is an X axis; the direction perpendicular to the X axis and the Z axis is defined as the Y axis.
- The method of welding performed by the robot and gage arm based welding system of claim 6, wherein: the characteristic curve is a straight line, a circular arc, an ellipse, a parabola, a hyperbola, an involute and a spline curve.
- The method of welding performed by the robot and gage arm based welding system of claim 6, wherein: the manipulator moves in a multi-axis linkage manner.
- The method of welding performed by the robot and gage arm based welding system of claim 6, wherein: the mechanical arm and the measuring arm both adopt mechanical arms with 3-7 degrees of freedom.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/073777 WO2017139911A1 (en) | 2016-02-15 | 2016-02-15 | Welding system based on manipulator and measuring arm and welding method therefor |
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| Publication Number | Publication Date |
|---|---|
| CN107848055A true CN107848055A (en) | 2018-03-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201680043868.7A Pending CN107848055A (en) | 2016-02-15 | 2016-02-15 | Welding system and its welding method based on manipulator and measuring arm |
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| Country | Link |
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| CN (1) | CN107848055A (en) |
| WO (1) | WO2017139911A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908407A (en) * | 2018-08-20 | 2018-11-30 | 安徽理工大学 | A kind of adjustable mechanical arm of support frame |
| CN113635342A (en) * | 2021-08-16 | 2021-11-12 | 兰州大学 | Rotary replaceable mechanical arm and unmanned submersible |
| CN114227095A (en) * | 2021-12-28 | 2022-03-25 | 安徽省安工机械制造有限公司 | Be used for stirring arm wear strip welded intelligent arm |
| CN114888500A (en) * | 2022-03-09 | 2022-08-12 | 柳州铁道职业技术学院 | Automatic welding robot for railway shaping combination cabinet wiring |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101623867B (en) * | 2008-07-11 | 2010-12-01 | 中国科学院沈阳自动化研究所 | Device and method for making robot track given route at high accuracy |
| CN101927391A (en) * | 2010-08-27 | 2010-12-29 | 大连海事大学 | Method for performing automatic surfacing repair on damaged metal part |
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2016
- 2016-02-15 CN CN201680043868.7A patent/CN107848055A/en active Pending
- 2016-02-15 WO PCT/CN2016/073777 patent/WO2017139911A1/en active Application Filing
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|---|---|---|---|---|
| JPH08197250A (en) * | 1995-01-30 | 1996-08-06 | Komatsu Ltd | Welding robot |
| WO2003074221A1 (en) * | 2002-03-04 | 2003-09-12 | Kawasaki Jukogyo Kabushiki Kaisha | Automatic groove copy welder and welding method |
| CN102489838A (en) * | 2011-12-15 | 2012-06-13 | 上海交通大学 | Obstacle-crossing all-position automatic welding robot |
| CN102825365A (en) * | 2012-09-12 | 2012-12-19 | 湘潭大学 | Automatic tracking system and method of welding line based on capacitive transducer |
| CN104149089A (en) * | 2014-07-28 | 2014-11-19 | 广东工业大学 | Modular series master robot |
| CN104175031A (en) * | 2014-08-20 | 2014-12-03 | 北京工业大学 | Welding robot with automatic correction function and welding method employing same |
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| Publication number | Publication date |
|---|---|
| WO2017139911A1 (en) | 2017-08-24 |
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