CN108941989A - A kind of robot welding, cutting collision prevention device - Google Patents
A kind of robot welding, cutting collision prevention device Download PDFInfo
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- CN108941989A CN108941989A CN201810832663.8A CN201810832663A CN108941989A CN 108941989 A CN108941989 A CN 108941989A CN 201810832663 A CN201810832663 A CN 201810832663A CN 108941989 A CN108941989 A CN 108941989A
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- mandrel
- board
- restoring board
- shell
- cover board
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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
- B23K37/006—Safety devices
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Abstract
The present invention provides a kind of robot weldings, cutting collision prevention device, it is characterised in that: including mandrel, cover board, restoring board, secondary spring, shell；The mandrel is hollow structure, and welding gun is installed in one end, and the other end connects restoring board；The restoring board is round pie, is sleeved on one end of mandrel, is fixedly connected with mandrel；The shell is divided into open end and bottom, and bottom centre has circular through hole；The cover board is mounted on the open end of the shell, has circular through hole among the cover board, for passing through mandrel, and does not contact with mandrel, keep certain spacing；The mandrel has one end of restoring board by the interior bottom of secondary spring and shell in compression connection；The cover board and restoring board are in plane contact, and the two combination has accurate positioning and reset function.The device of the invention, collision torque is small, repeatable accuracy is high, collision is balanced in power, and working range is big, it can be achieved that any direction is collided and accurately resetted.
Description
Technical field
The present invention relates to Technology of Welding Robot fields, and in particular to a kind of robot welding, cutting collision prevention device.
Background technique
Welding robot is the industrial robot for being engaged in welding.In order to adapt to different purposes, the last one axis of robot
Mechanical interface, a usually connecting flange, can attaching soldering turret or welding gun, realize welding, cutting or thermal spraying.Welding robot
People is in operational process, due to the irregular variation of weld seam, will appear when being mounted on the welding gun of robot end encounter workpiece and
The case where other barriers, leads to the safety that welding gun is damaged and welding position shifts, and is influenced production and is operated, when slight
It causes welding gun to scrap, droid damage is caused when serious or hurts operator.It is anti-therefore, it is necessary to be installed to welding robot
It is against damages to be effectively protected welding gun when welding gun is collided with welded part mode for crash device.
In the prior art, be the anti-collision for realizing welding gun, usually there are two types of ways: one is utilize sensor and volume
The track of journey process control welding, such as Chinese patent CN105739507 disclose a kind of optimization road of robot anticollision
Diameter planing method, it is the accurate control that Butt welding gun is realized using means such as laser sensor, dynamic programming algorithm, programming Controls
System, but the Technical Design is complicated, workpiece volume is big and at high cost.Another kind is that mode is, by Machine Design come
Realize the anti-collision of welding gun, such as: CN105215589B discloses a kind of crash structure of welding robot, passes through steel
Pearl structure by the offset displacement being welded on axis amplify, then signal pass to diverter mechanism processing, recycle spring and
Piston bush is resetted；Chinese patent CN203557025U discloses a kind of collision prevention device for welding welding robot, utilizes steel
Pearl, spring and sensor realize the control and reset of welding gun；Chinese patent CN206415785U discloses a kind of preventing collision protection
Device converts torsional forces when colliding to using cylinder body and bracket the straight-line displacement of axis direction, to identify impact force
It generates, and signal is passed into control device using sensor；Above-mentioned prior art row to a certain degree solves welding robot
Anticollision problem, it is larger in the change in torque that collision process welding gun receives but due to the nonlinear force of spring, influence to weld
Connect the precision of control.
Therefore, a kind of collision prevention device for being able to achieve accurate reset, stable control welding gun is designed, it has also become one new
Technical problem.
Summary of the invention
The technical issues of to overcome big welding gun existing in the prior art change in torque in anticollision, control accuracy difference,
The present invention provides a kind of robot weldings, cutting collision prevention device.Collision prevention device provided by the invention, collision torque it is small,
Repeatable accuracy is high, collision is balanced in power, and working range is big, it can be achieved that any direction is collided and accurately resetted.
The technical scheme is that a kind of robot welding, cutting collision prevention device, it is characterised in that: including mandrel,
Cover board, restoring board, secondary spring, shell；The mandrel is hollow structure, and welding gun is installed in one end, and the other end connects restoring board；Institute
Stating restoring board is round pie, is sleeved on one end of mandrel, is fixedly connected with mandrel；The shell is divided into open end and bottom, bottom
Portion center has circular through hole；The cover board is mounted on the open end of the shell, has circular through hole among the cover board, uses
It in by mandrel, and is not contacted with mandrel, keeps certain spacing；There is the mandrel one end of restoring board to pass through aux. pressure
The interior bottom of spring and shell is in compression connection；The cover board and restoring board are in plane contact, and the two combination has accurate positioning
And reset function.
Further, one end of the mandrel installation welding gun, is provided with U-shaped welding gun positioning spline on mandrel side wall, to
Welding gun is installed.
Further, there is positioning pin on the cover board, the positioning pin has cone structure, on the restoring board with it is described
The corresponding position of positioning pin has locating slot, and the cone-tip surface and locating slot of the positioning pin are in taper-face contact, to realize cover board
With the precise positioning of restoring board.
Further, several opposite polarity magnets are also inlaid on the contact surface between the cover board and restoring board, it is described
Magnet is embedded in the plane of cover board and restoring board.The magnet uses rare earth kicker magnet, and the magnet is round pie, magnetic pole strength
Respectively in the same plane with the surface of cover board and restoring board.As a kind of optional embodiment of the present invention, on the cover board
The magnet inlayed, half are the pole N, the other half is the pole S, and the magnet inlayed on the restoring board at position of being corresponding to it, half is the pole S,
The other half is the pole N.In order to realize the quick positioning of cover board and restoring board, and prevent the dislocation of cover board and restoring board from occurring, fixed
Magnet near the pin position of position can be used the pole N, the pole S and be arranged alternately.Magnet on the cover board or restoring board can be, 4,
6,8,10,12,14,16 etc..
Further, the outer circumferential end face of institute's restoring board is spherical cambered surface, and the spherical cambered surface has at least one anti-rotation point pin, institute
It states anti-rotation point pin to inlay in the groove of spherical cambered surface, the anti-rotation point pin is cone structure, in the inner walls and anti-rotation point pin
Corresponding position in axial direction has the groove of bar shaped.The anti-rotation point pin is symmetric around mandrel.
Further, the cover board includes edge and inside boss, has multiple circular holes in side edge thereof, and bolt passes through circle
Hole is fixedly connected with the end face of the open end of shell；Circular through hole among the cover board passes through boss, and the circular through hole is
Taper, conical surface angle are 30-75 degree, preferably 45-75 degree, cone bottom outwardly, cone towards enclosure interior, the cone position
Circular through hole diameter is greater than the outer diameter of the mandrel.
Further, on the contact surface of the restoring board also have at least one inductor or microswitch, the inductor or
The spacing of the plane of microswitch and cover board is 0.1-0.5mm；The induction can be to be multiple, and be centrosymmetric distribution.
Further, the mandrel outer end also has the pipe clamp of clamping welding gun；There is dust-proof guarantor between the pipe clamp and shell
Sheath influences its precision to prevent dust, particle, insect etc. from entering inside crash structure.
Further, when welding gun collides, the overall collision torque of welding gun stress not will increase, the secondary spring
The resultant force of the magnetic force of pressure and magnet does not increase.
Further, there are three the positioning in direction for described device tool: anti-rotation point pin realizes that the axially position of restoring board, cover board are fixed
Position pin realizes the radial positioning that restoring board is realized with the positioning of the contact face of restoring board, outer casing inner wall strip groove.
Further, spherical between the restoring board and shell to contact, i.e., in the excircle spherical cambered surface of restoring board and shell
The spherical contact of wall；The diameter of the secondary spring is less than the diameter of the restoring board and is greater than the outer casing bottom central circular
The diameter of through-hole.
Compared with prior art, the beneficial effects of the present invention are:
(1) robot welding provided by the invention, cutting collision prevention device, using the dual of magnet and aux. pressure spring
Effect, when welding gun collides, the resultant force of the magnetic force of the pressure and magnet of secondary spring does not increase, so that the totality of welding gun stress
Collision torque not will increase, and collision torque does not increase with the increase of collision angle, and touches torque very little, only
0.3nm, so, collision is balanced in power, and the power of touching of very little is enough to protect any welding gun and burning torch, to realize that welding gun is steadily controlled
System.
(2) robot welding provided by the invention, cutting collision prevention device, repeatable accuracy is high, and there are three direction to determine for tool
Position: anti-rotation point pin is realized that the axially position of restoring board version, cover board positioning pin are realized and is positioned with the contact face of restoring board, in shell
Wall strip groove realizes the radial positioning of restoring board, is able to achieve 0~0.03mm of repetitive positioning accuracy, after welding gun collides, nothing
Adjustment robot again is needed, repetition accurate positioning can be realized.
(3) robot welding provided by the invention, cutting collision prevention device, using on the contact surface of cover board and restoring board
Spherical between the spherical cambered surface of magnet and restoring board and shell to contact, it is big to realize anticollision working range, and 360 degree any
Direction can collide 15 °, it is sufficient to provide the displacement of welding gun caused by robot braking time or burning torch.
(4) robot welding provided by the invention, cutting collision prevention device, have at least 1 on the contact surface of restoring board
~N number of inductor or microswitch, as long as any one obtains signal, robot stopping movement, to realize accurate control.
(5) robot welding provided by the invention, cutting collision prevention device, restoring board periphery are sharp equipped with 1~N number of anti-rotation
Pin, is provided with 1 on the inner wall of corresponding shell~N number of bar shaped arc groove, and anti-rotation point pin can guarantee that restoring board only can be along random angle
Degree center line overturns and does not interfere, and will not rotate along axis, ensure that control is accurate.
(6) robot welding provided by the invention, cutting collision prevention device, have proofing dust and protecting between pipe clamp and shell
Set, can prevent dust, particle, insect etc. from entering inside crash structure, ensure that control precision.
(7) robot welding provided by the invention, cutting collision prevention device, main body raw material are all using high-intensitive aluminium
Material, small in size, light-weight, only 800g, is easy to implement accurate control.
Detailed description of the invention
Fig. 1 is robot welding of the invention, the sectional view for cutting collision prevention device；
Fig. 2 is the schematic diagram of the connection structure of restoring board and shell of the invention；
Fig. 3 is the schematic diagram of the connection structure of cover board of the invention, restoring board, shell；
Fig. 4 is the magnet distribution schematic diagram on the cover board of implementation 1 of the invention；
Fig. 5 is the magnet distribution schematic diagram on the cover board of implementation 2 of the invention；
Appended drawing reference is as follows in figure: 1 pipe clamp, 2 dust-prevention protecting jackets, 3 mandrels, 4 cover boards, 5 positioning pins, 6 restoring boards, 7 auxiliary
Spring, 8 magnets, 9 inductors or microswitch, 10 shells, 11 anti-rotation point pins, 12 lock-screws, 13 restoring boards and shell ball
Plane contact between face contact, the taper-face contact of 14 positioning pins and restoring board, 15 cover boards and restoring board.
Specific embodiment
Below in conjunction with drawings and examples, the present invention will be described in further detail.It should be appreciated that described herein
Specific examples are only used to explain the present invention, is not intended to limit the present invention.
Embodiment 1
As shown in FIG. 1 to 3, a kind of robot welding, cutting collision prevention device, including mandrel 3, cover board 4, restoring board 6,
Secondary spring 7, shell 10；Wherein, mandrel 3 is hollow structure, and one end installs welding gun, U-shaped welding gun is provided on mandrel side wall
Positioning spline, the other end connect restoring board 6；Restoring board 6 is round pie, is sleeved on one end of mandrel 3, is connected with mandrel 3 in fixed
It connects；Shell 10 divides for open end and bottom, and open end is equipped with cover board 4, and bottom centre has circular through hole；Have among cover board 4
There is circular through hole, for passing through mandrel 3, and is not contacted with mandrel 3, keep certain spacing；Secondary spring 7 is compression spring,
Mandrel 3 has one end of restoring board 6 by the interior bottom of secondary spring 7 and shell 10 in compression connection；Cover board 4 and restoring board 6
In plane contact, the two combination has accurate positioning and reset function.
In addition, also having positioning pin 5 on cover board 4, positioning pin 5 has cone structure, right with positioning pin 5 on restoring board 6
The position answered has locating slot, and locating slot also has inner conical surface structure, and the cone-tip surface and locating slot of positioning pin 5 are in taper-face contact, from
And realize the precise positioning of cover board and restoring board.Also there is the lock-screw 12 to fixed locating stud 5 on cover board.
As shown in figure 4, be also inlaid with 1 on contact surface between cover board 4 and restoring board 6~and N number of opposite polarity magnet, institute
Magnet is stated to be embedded in the plane of cover board 4 and restoring board 6.The magnet uses rare earth kicker magnet, and the magnet is round pie, magnetic
Pole-face respectively with the surface of cover board and restoring board in the same plane, pass through the magnet on 6 contact plane of cover board 4 and restoring board
Under magneticaction, so that cover board 4 and restoring board 6 are combined closely.
The outer circumferential end face of restoring board 6 is spherical cambered surface, has 1~N number of anti-rotation point pin 11 in the spherical cambered surface, is isodistantly spaced point
Cloth, the opposite anti-rotation point pin 11 of every two can be 2,4,6 in 180 ° of axial symmetry distributions, the number of anti-rotation point pin 11
Deng.Having corresponding groove on spherical cambered surface, anti-rotation point pin 11 is inlayed in the groove of spherical cambered surface, and anti-rotation point pin 11 is cone structure,
Position corresponding with anti-rotation point pin 11 radially has the groove of bar shaped on the inner wall of shell 10.
Cover board 4 includes edge and the rotary table to enclosure interior protrusion, has multiple circular holes on 4 edge of cover board, bolt passes through
Circular hole is fixedly connected with the end face of shell 10；Circular through hole among cover board 4 passes through boss, and the circular through hole is taper,
Conical surface angle is 30-75 degree, preferably 45-75 degree, and outwardly, cone, that is, lesser taper is logical for the larger end opening of the conical through-hole
Hole end opening is towards enclosure interior, and the circular hole at cone position is greater than the outer diameter of mandrel 3.
There is at least 1~N number of inductor or microswitch on the contact surface of restoring board 6, the inductor or microswitch with
The spacing of the plane of cover board is 0.1-0.5mm, is symmetric.It is spherical between restoring board 6 and shell 10 to contact, state auxiliary bullet
The diameter of spring 7 is less than the diameter of restoring board 6 and is greater than the diameter of 10 bottom centre's circular through hole of shell.
There are three the positioning in direction for welding gun collision prevention device tool of the invention: anti-rotation point pin realizes that the axial direction of restoring board version is fixed
The radial positioning that restoring board is realized with the positioning of the contact face of restoring board, outer casing inner wall strip groove is realized in position, cover board positioning pin.
Embodiment 2
With reference to shown in FIG. 1 to FIG. 3, a kind of robot welding, cutting collision prevention device, including mandrel 3, cover board 4, restoring board
6, secondary spring 7, shell 10；Wherein, mandrel 3 is hollow structure, and one end installs welding gun, U-shaped weldering is provided on mandrel side wall
Rifle positioning spline, the other end connect restoring board 6；Restoring board 6 is round pie, is sleeved on one end of mandrel 3, with mandrel 3 in fixation
Connection；Shell 10 divides for open end and bottom, and open end is equipped with cover board 4, and bottom centre has circular through hole；Among cover board 4
With circular through hole, for passing through mandrel 3, and is not contacted with mandrel 3, keep certain spacing；Secondary spring 7 is pressure bullet
Spring, mandrel 3 have one end of restoring board 6 by the interior bottom of secondary spring 7 and shell 10 in compression connection；Cover board 4 and reset
Plate 6 is in plane contact, and the two combination has accurate positioning and reset function.
The structure and function of other components is the same as embodiment 1.
The difference is that there is the pipe clamp 1 of clamping welding gun in 3 outer end of mandrel；Have between pipe clamp 1 and shell 10 dust-proof
Protective case 2.Because in the welding process, due to the presence of weld fumes, arc light, splatter, the working environment of welding is again non-
Often severe, dust-prevention protecting jacket of the invention can prevent dust, particle, insect etc. from entering inside crash structure, to protect
Demonstrate,prove the welding precision of welding gun.
In the present embodiment, as shown in figure 5, the magnet inlayed on cover board, can be set to half is the pole N, the other half is S
Pole, the magnet inlayed on the restoring board at position of being corresponding to it, half are the pole S, the other half is the pole N.It can also be at positioning pin position
Near magnet be arranged alternately using the pole N, the pole S.In this way, when the dislocation of the locating slot of positioning pin and restoring board on cover board,
Due to the repulsion effect of the homopolarity of magnet, cover board and restoring board can not corresponding matching, the dislocation of cover board and restoring board can be prevented
Occur.Only magnet when corresponding on cover board and restoring board can just be occurred when the position of positioning pin and locating slot heteropolar attracting
Active force, thus ensure that the accurate quick positioning of cover board and restoring board, in order to realize the quick positioning of cover board and restoring board, lid
Magnet on plate or restoring board can be 4,6,8,10,12,14,16 etc..
Embodiment 3
A kind of robot welding, cutting collision prevention device, including mandrel 3, cover board 4, restoring board 6, secondary spring 7, shell
10；The structure and function of specific component is the same as embodiment 1.
Robot welding provided by the invention, cutting collision prevention device, the course of work are as follows: when welding gun or burning torch work
When encounter obstacle, welding gun or burning torch push mandrel 3 to rotate, and mandrel 3 links restoring board 6, make to produce between restoring board 6 and cover board 4
Raw gap, any one in 1~N number of inductor or microswitch 9 obtain signal, robot stopping movement.It collided herein
After journey, restoring board 6 and cover board 4 disengage, 8 suction of magnet is reduced, and 7 strength of secondary spring increases, the pressure and magnet of secondary spring 7
The resultant force of magnetic force do not increase, with the increase of restoring board 6 and 4 throw-off distances of cover board, total resultant force of spring and magnet is in micro-
Small reduction trend, the overall torque that collides not will increase.Robot resets, and after collision releases, restoring board 6 connects with the recovery of positioning pin 5
Touching, collision prevention device realize smart reset function.
Robot welding provided by the invention, cutting collision prevention device, prevent rotary principle as follows: 6 periphery of restoring board
Equipped with 1~N number of anti-rotation point pin 11, have 1 at the corresponding position of 10 inner wall of shell~N number of radial arc groove, tip pin can guarantee multiple
Position 6 meetings of plate are overturn along any angle center line, and are not interfered, and will not be rotated along axis.
Robot welding provided by the invention, cutting collision prevention device, high-precision repetitive positioning accuracy principle are as follows: resetting
Plate 6 is contacted using spherical surface with disc with shell 10, can not only guarantee radial positioning precision, but also can guarantee that restoring board 6 can be in office
Angle of anticipating overturning；Plane contact between restoring board 6 and cover board 4 guarantees axially position precision；It is bored between positioning pin 5 and restoring board 6
Face contact, the conical surface can not only play the role of locking after the gap between positioning and guiding, but also adjustable positioning pin 5 and restoring board is 0
Lock screw 12 on tight cover board, guarantees the axially position precision of restoring board；It ensure that anticollision fills simultaneously by the above means
Set radially, circumferentially, axially position precision.
Robot welding provided by the invention, cutting collision prevention device, ingenious in design, collision torque is small: only 0.3nm,
The power of touching of very little is enough to protect any welding gun and burning torch；Repeatable accuracy is high: 0~0.03mm of repetitive positioning accuracy collides
Afterwards, without adjustment robot again；Working range is big: any direction can collide 15 °, it is sufficient to which providing robot braking time causes
Welding gun or burning torch displacement；Collision is balanced in power: collision torque does not increase with the increase of collision angle；Main body former material
Material is all using High-strength aluminum product, and small in size, light-weight, only 800g, is precisely controlled to realize welding gun.
The preferred embodiment of the present invention has shown and described in above description, as previously described, it should be understood that the present invention is not office
Be limited to form disclosed herein, should not be regarded as an exclusion of other examples, and can be used for various other combinations, modification and
Environment, and can be changed within that scope of the inventive concept describe herein by the above teachings or related fields of technology or knowledge
It is dynamic.And changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, then it all should be appended by the present invention
In scope of protection of the claims.
Claims (10)
1. a kind of robot welding, cutting collision prevention device, it is characterised in that: including mandrel (3), cover board (4), restoring board (6),
Secondary spring (7), shell (10)；The mandrel (3) is hollow structure, and welding gun is installed in one end, and the other end connects restoring board (6)；
The restoring board (6) is round pie, is sleeved on one end of mandrel (3), is fixedly connected with mandrel (3)；The shell (10) is divided into
Open end and bottom, bottom centre have circular through hole；The cover board (4) is mounted on the open end of the shell (10), described
There is the circular through hole to pass through mandrel (3), the circular through hole is not contacted with mandrel among cover board (4)；The mandrel (3)
The one end for being set with restoring board (6) is connected by the interior bottom of secondary spring (7) and shell (10) in compression；The cover board (4)
It is in plane contact with restoring board (6), the two combination has accurate positioning and reset function.
2. robot welding according to claim 1, cutting collision prevention device, it is characterised in that: have on the cover board (4)
Have positioning pin (5), the positioning pin (5) has cone structure, position corresponding with the positioning pin (5) on the restoring board (6)
It sets with locating slot, the cone-tip surface of the positioning pin (5) is contacted with locating slot in the conical surface or line.
3. robot welding according to claim 2, cutting collision prevention device, it is characterised in that: lid (4) plate and answer
Also correspondence is inlaid with several opposite polarity magnets (8) on contact surface between position plate (6), and the magnet (8) is embedded in cover board
(4) and in the plane of the contact surface of restoring board (6).
4. robot welding according to claim 2 or 3, cutting collision prevention device, it is characterised in that: the restoring board
(6) outer circumferential end face is spherical cambered surface, and the spherical cambered surface has at least one anti-rotation point pin (11), anti-rotation point pin (11) edge
In the groove of embedding spherical cambered surface, the anti-rotation point pin (11) is cone structure；It is corresponding with anti-rotation point pin in the shell (10) inner wall
Position in axial direction there is the groove of bar shaped.
5. robot welding according to claim 3, cutting collision prevention device, it is characterised in that: the cover board (4) includes
Edge and inside boss, have multiple circular holes on edge, and bolt passes through the end face of the open end of circular hole and the shell (10)
It is fixedly connected；The intermediate circular through hole of the cover board (4) passes through boss, and the circular through hole is taper, and conical surface angle is 30-75
Degree, outwardly, for cone towards interior of shell, the circular through hole diameter at the cone position is greater than the outer diameter of the mandrel (3) at cone bottom.
6. robot welding according to claim 5, cutting collision prevention device, it is characterised in that: the restoring board (6)
There is at least one inductor or microswitch, the spacing of the plane of the inductor or microswitch and cover board is on contact surface
0.1-0.5mm。
7. robot welding according to claim 1, cutting collision prevention device, it is characterised in that: mandrel (3) outer end
Also there is the pipe clamp (1) of clamping welding gun, there are dust-prevention protecting jacket (2) between the pipe clamp (1) and the shell (10).
8. robot welding according to claim 1, cutting collision prevention device, it is characterised in that: collide in welding gun
When, the overall collision torque of welding gun stress does not increase, and the resultant force of the secondary spring pressure and magnet magnetic force does not increase.
9. robot welding according to claim 4, cutting collision prevention device, it is characterised in that: the robot welding,
Cutting collision prevention device tool, there are three the positioning in direction: anti-rotation point pin realizes that the axially position of restoring board version, cover board positioning pin are real
The radial positioning of restoring board is now realized with the positioning of the contact face of restoring board, outer casing inner wall strip groove.
10. robot welding according to claim 1, cutting collision prevention device, it is characterised in that: the restoring board (6)
The spherical contact between the shell (10)；The diameter of the secondary spring (7) is less than the diameter of the restoring board (6) and big
In the diameter of the shell (10) bottom centre circular through hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810832663.8A CN108941989B (en) | 2018-07-26 | 2018-07-26 | Robot welding, cutting collision device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810832663.8A CN108941989B (en) | 2018-07-26 | 2018-07-26 | Robot welding, cutting collision device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108941989A true CN108941989A (en) | 2018-12-07 |
| CN108941989B CN108941989B (en) | 2020-07-14 |
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|---|---|---|---|
| CN201810832663.8A Active CN108941989B (en) | 2018-07-26 | 2018-07-26 | Robot welding, cutting collision device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111318825A (en) * | 2020-03-31 | 2020-06-23 | 深圳市大德激光技术有限公司 | A collision avoidance device for during yaw laser welding |
| CN112212894A (en) * | 2020-11-20 | 2021-01-12 | 山东威高医疗科技有限公司 | Device and method for testing repeated positioning accuracy of electromagnetic navigation system |
| CN111843311B (en) * | 2020-07-31 | 2021-06-18 | 通亚汽车制造有限公司 | Welding electrode clamping device capable of automatically feeding |
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| CN111318825A (en) * | 2020-03-31 | 2020-06-23 | 深圳市大德激光技术有限公司 | A collision avoidance device for during yaw laser welding |
| CN111318825B (en) * | 2020-03-31 | 2020-11-06 | 深圳市大德激光技术有限公司 | A collision avoidance device for during yaw laser welding |
| CN111843311B (en) * | 2020-07-31 | 2021-06-18 | 通亚汽车制造有限公司 | Welding electrode clamping device capable of automatically feeding |
| CN112212894A (en) * | 2020-11-20 | 2021-01-12 | 山东威高医疗科技有限公司 | Device and method for testing repeated positioning accuracy of electromagnetic navigation system |
| CN112212894B (en) * | 2020-11-20 | 2022-08-02 | 山东威高医疗科技有限公司 | Device and method for testing repeated positioning accuracy of electromagnetic navigation system |
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