CN108942024A - A kind of automatic soldering device and control system - Google Patents
A kind of automatic soldering device and control system Download PDFInfo
- Publication number
- CN108942024A CN108942024A CN201811036842.7A CN201811036842A CN108942024A CN 108942024 A CN108942024 A CN 108942024A CN 201811036842 A CN201811036842 A CN 201811036842A CN 108942024 A CN108942024 A CN 108942024A
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- China
- Prior art keywords
- module
- turntable
- control system
- welding
- stepper motor
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
-
- 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
- B23K37/0252—Steering means
-
- 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
- B23K37/0258—Electric supply or control circuits therefor
-
- 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
- B23K37/0294—Transport carriages or vehicles
Abstract
It include basic machine and control system the invention discloses a kind of automatic soldering device and control system, basic machine includes creeper truck, track drive direct current generator, crane, mechanical arm, camera, leading truck, welding gun, control system includes single-chip microcontroller, crawler belt driving wheel drive module, turntable stepper motor drive module, forearm stepper motor drive module, large arm stepper motor drive module, infrared detection module, fingerprint identification module, ccd image detection module, wireless control module, ultrasonic distance measuring module, gas humidity detection module, relay, welding gun power module, power module, alarm module, crystal oscillator module, the present apparatus has six-freedom degree, have the function of automatically correcting weld excursion, the incidence of weld porosity can be reduced according to ambient humidity adjust automatically shield gas flow rate, it can be played using hydraulic-driven crane Antivibration, the effect for increasing device overall stability.
Description
Technical field
The present invention relates to welding technology field, in particular to a kind of automatic soldering device and control systems.
Background technique
Welding technique is widely used in machine manufacture, shipbuilding industry, architectural engineering, power equipment production, aviation and space flight
The fields such as industry.With the development of mechanical equipment high speed and heavy-duty, the requirement of welding quality is higher and higher, especially right
Require higher in some special circumstances such as abnormity welding, toxic operating condition, narrow space, welder the degree of automation.At present
Most of electroplating equipment wielding machine devices use chassis stationary structure, and specific welding is completed in the fixation position that production line is arranged in
Task is programmed control by tutorial program, however under special operation condition, conventional electroplating equipment wielding machine device can not quickly,
It is accurately performed weld task.Therefore, grind out that a kind of high degree of automation, processing flexibility are strong, operation is convenient, low in cost, high
Efficiency, high-precision, high reliability electroplating equipment wielding machine device have important application value.
Summary of the invention
In view of the above problems, the present invention has developed a kind of automatic soldering device and control system, which has mostly freely
Degree, can be realized flexible rotating and the movement of Butt welding gun, achievable to not after realizing clamped one time to part in operation process
With the weld task at position, human-computer interaction can be completed by wireless control module, be imaged using ultrasonic distance measuring module and CCD
Head realization welding gun station it is accurate, posture of welding torch can constantly be corrected by infrared detection module, fingerprint identification module, it is ensured that welding track and practical weld
Seam coincide, and the movement of six-freedom degree can effectively can be achieved by the design to basic machine by the present invention, improves welding gun positioning
The stabilization and vibration resistance of precision and mechanism.
A kind of automatic soldering device and control system include basic machine and control system, and the basic machine includes carrying out
Band vehicle, track drive direct current generator, crane, mechanical arm, camera, leading truck, welding gun, wherein camera includes ccd image
Camera and infrared image camera, mechanical arm includes base, turntable, turntable driving motor, large arm, forearm driving motor, small
Arm, large arm driving motor, creeper truck are the walking mechanism of this welder, and track drive direct current generator is bolted on shoe
On band vehicle platform and by driving creeper truck active wheel drive creeper truck to move forward or back, crane bottom end passes through pin and crawler belt
The support that welds on vehicle platform is connected, top and base be connected by pin, it can be achieved that welding gun lifting action, turntable passes through spiral shell
Nail is fixed on the upper surface of base, and turntable driving motor is bolted on turntable and turntable is driven to turn around the electric machine main shaft
Dynamic, large arm driving motor can drive large arm to rotate around this electric machine main shaft.Large arm is connect with forearm by shaft, forearm driving motor
It is connect with shaft by jaw and toothed coupling, the rotation of forearm can be driven and welding gun is driven to rotate, the control system includes
Single-chip microcontroller, crawler belt driving wheel drive module, turntable stepper motor drive module, forearm stepper motor drive module, large arm stepping
Motor drive module, infrared detection module, fingerprint identification module, ccd image detection module, wireless control module, ultrasonic distance measuring module, gas are wet
Detection module, relay, welding gun power module, power module, alarm module, crystal oscillator module are spent, the single-chip microcontroller is control
The central processing unit of system, power module are powered to single-chip microcontroller, and crystal oscillator module provides machine clock, wireless control for control system
Module is connect with single-chip microcontroller by I/O port, realizes human-computer interaction by nRF24L01 chip to control the mobile side of basic machine
To with speed, ultrasonic distance measuring module is mounted on the headstock baffle of creeper truck, and ccd image detection module is assisted to judge crawler belt
Spatial position of the vehicle apart from welding position, under the poor operating condition of visibility, headstock and welded part spacing be less than safety away from
From when will by single-chip microcontroller trigger alarm module and control crawler belt driving wheel drive module issue retreat instruction, ccd image inspection
Survey module connect with single-chip microcontroller by I/O port, on the one hand can by the space length of trigonometric calculations welding gun and welding position,
On the other hand welding position contour images can be acquired to provide for subsequent welding sequence referring to data, infrared detection module, fingerprint identification module is being welded
Real-time tracking is carried out to welding track in the process, passes through the alternate position spike before comparison welding with the center line of the contour line after welding
It is different, the instruction for adjusting welding torch position is issued to prevent from welding partially using single-chip microcontroller, and gas humidity detection module module is installed on welding gun
Head is used for detection gas humidity, detects ambient air humidity before welding progress first, detects carbon dioxide in welding progress
Protective gas humidity adjusts the flow of carbon-dioxide protecting gas by single-chip microcontroller to reduce weld porosity defect.
Further, as a kind of specific structure type, basic machine of the present invention includes creeper truck, track drive
Direct current generator, crane, mechanical arm, camera, leading truck, welding gun.
Further, as a kind of specific structure type, mechanical arm of the present invention includes base, turntable, turntable drive
Dynamic motor, large arm, forearm driving motor, forearm, large arm driving motor.
Further, as a kind of specific structure type, crane bottom end of the present invention is fixed by pin and carries out
It is connected with the support welded on vehicle platform, top and base complete the lifting action of welding gun using hydraulic-driven.
Further, as a kind of specific structure type, turntable of the present invention is fixed by screws in table on base
Face, turntable driving motor are bolted on turntable and turntable are driven to rotate around the electric machine main shaft, and large arm driving motor can
Large arm is driven to rotate around this electric machine main shaft.
Further, as a kind of specific structure type, large arm of the present invention is connect with forearm by shaft, forearm
Driving motor is connect with shaft by jaw and toothed coupling, and the rotation of forearm can be driven to drive welding gun to rotate.
Preferably, the control system includes single-chip microcontroller, crawler belt driving wheel drive module, the driving of turntable stepper motor
Module, forearm stepper motor drive module, large arm stepper motor drive module, infrared detection module, fingerprint identification module, ccd image detection module,
Wireless control module, relay, welding gun power module, ultrasonic distance measuring module, alarm module, gas humidity detection module.
Preferably, it is systematic microprocessor, transplanting that the single-chip microcontroller, which selects STM32F103ZET6 chip,
STemWin shape library and FreeROTS operating system, single-chip microcontroller are 11.0592MHz brilliant with clock frequency by I/O interface respectively
Vibration module, crawler belt driving wheel drive module, turntable stepper motor drive module, forearm stepper motor drive module, large arm stepping
Motor drive module, infrared detection module, fingerprint identification module, ccd image detection module, wireless control module, ultrasonic distance measuring module, gas are wet
Spend detection module, relay, welding gun power module, power module, alarm module, crystal oscillator module connection, the wireless control
Module uses nRF24L01 chip, input voltage 3.3V, the MP2359 DC decompression converter that the power module uses
Power supply is powered with AMS1117-3.3 buck converter, 12V voltage is converted to by 5V voltage by MP2359 converter,
It recycles AMS1117-3.3 converter that 5V is depressured to 3.3V to be powered single-chip microcontroller, electricity can be reduced by being depressured twice
Amount loss and device heating, the crawler belt driving wheel drive module use DRV8804 stepper motor driver, which is
Unipolar stepper motor driver, the turntable stepper motor drive module uses DRV8804 stepper motor driver, described
Forearm stepper motor drive module uses DRV8806 stepper motor driver, and the large arm stepper motor drive module uses
DRV8806 stepper motor driver, the infrared detection module, fingerprint identification module use R2868 infrared sensor chip, receive welding track
The infrared signal of sending encodes signal by external interrupt circuit and timer and is led to again through amplification and filter circuit
Single-chip microcontroller decoding control stepper motor rotation is crossed, the gas humidity detection module utilizes humistor using RS485 module
The humidity of carbon-dioxide protecting gas is detected, ccd image detection module is obtained using TSL1401CL linear ccd image sensor
The chamfered shape and spatial positional information of weld seam, ultrasonic distance measuring module obtain car body and soldered work using HC-SR04 module
The distance of part.
Detailed description of the invention
Below with attached drawing, the present invention is further illustrated, but the embodiment in attached drawing is not constituted to the present invention
Any restrictions.
Fig. 1 is the main view of the general assembly drawing of the basic machine of a kind of automatic soldering device of the invention and control system；
Fig. 2 is that the portion of the mechanical arm of a kind of automatic soldering device of the invention and control system fills the main view of figure；
Fig. 3 is the circuit theory schematic diagram of a kind of automatic soldering device of the invention and control system；
Fig. 4 is the schematic illustration of the wireless control module of a kind of automatic soldering device of the invention and control system；
Fig. 5 is that the principle of the MP2359 DC decompression converter module of a kind of automatic soldering device of the invention and control system is shown
It is intended to；
Fig. 6 is the principle of the AMS1117-3.3 buck converter modules of a kind of automatic soldering device of the invention and control system
Schematic diagram；
Fig. 7 is the schematic illustration of the infrared detection module, fingerprint identification module of a kind of automatic soldering device of the invention and control system.
Specific embodiment
As shown in Figures 1 to 7, a kind of automatic soldering device and control system include basic machine (1) and control system
(2), the basic machine (1) includes creeper truck (101), track drive direct current generator (102), crane (103), mechanical arm
(104), camera (105), leading truck (106), welding gun (107), wherein camera (105) include ccd image camera with it is red
Outer image pickup head, mechanical arm (104) include base (1041), turntable (1042), turntable driving motor (1043), large arm
(1044), forearm driving motor (1045), forearm (1046), large arm driving motor (1047), creeper truck (101) are this welding dress
The walking mechanism set, track drive direct current generator (102) are bolted on creeper truck platform and by driving creeper truck
Active wheel drive creeper truck moves forward or back, and crane (103) bottom end is solid by the support welded on pin and creeper truck platform
Even, top and base (1041) be connected by pin, it can be achieved that welding gun lifting action, turntable (1042) is fixed by screws in
The upper surface of base (1041), turntable driving motor (1043) are bolted on turntable (1042) and drive turntable
(1042) it is rotated around the electric machine main shaft, large arm driving motor (1047) can drive large arm (1044) to rotate around this electric machine main shaft.Greatly
Arm (1044) is connect with forearm (1046) by shaft, and forearm driving motor (1045) and shaft are connected by jaw and toothed coupling
It connects, the rotation of forearm (1046) can be driven and welding gun is driven to rotate, the control system (2) includes single-chip microcontroller (201), crawler belt
Driving wheel drive module (202), turntable stepper motor drive module (203), forearm stepper motor drive module (204), large arm
Stepper motor drive module (205), infrared detection module, fingerprint identification module (206), ccd image detection module (207), wireless control module
(208), ultrasonic distance measuring module (209), gas humidity detection module (210), relay (211), welding gun power module
(212), power module (213), alarm module (214), crystal oscillator module (215), the single-chip microcontroller (201) are control system
(2) central processing unit, power module (213) are powered to single-chip microcontroller (201), and crystal oscillator module (215) provides machine for control system
Device clock, wireless control module (208) are connect with single-chip microcontroller (201) by I/O port, are realized by nRF24L01 chip man-machine
Interactive moving direction and speed to control basic machine (1), ultrasonic distance measuring module (209) are mounted on creeper truck (101)
On headstock baffle, ccd image detection module (207) is assisted to judge spatial position of the creeper truck (101) apart from welding position,
Under the poor operating condition of visibility, headstock and welded part spacing will be triggered by single-chip microcontroller (201) when being less than safe distance and be reported
Alert device module (210) and control crawler belt driving wheel drive module (202), which issue, retreats instruction, ccd image detection module (207) with
Single-chip microcontroller (201) is connected by I/O port, on the one hand can be another by the space length of trigonometric calculations welding gun and welding position
Aspect can acquire welding position contour images and provide for subsequent welding sequence referring to data, and infrared detection module, fingerprint identification module (206) is being welded
Real-time tracking is carried out to welding track in termination process, passes through the alternate position spike before comparison welding with the center line of the contour line after welding
It is different, using the instruction of single-chip microcontroller (201) sending adjusting welding torch position to prevent from welding partially, gas humidity detection module (210) module
Welding gun (108) head is installed on for detection gas humidity, detects ambient air humidity before welding carries out first, welding carries out
Middle detection carbon-dioxide protecting gas humidity adjusts the flow of carbon-dioxide protecting gas by single-chip microcontroller (201) to reduce weldering
Stitch gas hole defect.
Working principle: making device close to welding post by wireless control module (208) by manually issuing instruction, then by
Ccd image detection module (207) is finely adjusted the relative position of device and station, while utilizing ultrasonic distance measuring module
(209) safe distance of detection device and station, and alarm signal is issued by alarm module (210) in time, and pass through list
Piece machine (201) controls relay (211), and then drives the switch of welding gun power module (212), passes through infrared inspection in welding process
It surveys module (206) and obtains weld profile shape by carrying out with the weld profile line being stored in single-chip microcontroller (201) before welding pair
Than, adjust welding gun (108) posture, while by gas humidity detection module (210) obtain protective gas humidity parameter with
Shield gas flow rate is adjusted, single-chip microcontroller (201) passes through the cooperation of wireless control module (208) and the sensor module, can
It realizes the closed-loop control to present apparatus six degree of freedom, keeps movement more flexible, more adaptable, have and automatically correct weld excursion
Function, the incidence of weld porosity can be reduced according to ambient humidity adjust automatically shield gas flow rate, is adopted in basic machine
Antivibration can be played the role of with hydraulic-driven crane (103), increase device overall stability.
The above is only the preferred embodiment of the present invention, therefore cannot successively limit the scope of implementation of the present invention, i.e., according to
The equivalent changes and modifications that the invention patent range and description are done, should still be within the scope of the present invention.
Claims (8)
1. a kind of automatic soldering device and control system include basic machine (1) and control system (2), the basic machine
(1) include creeper truck (101), track drive direct current generator (102), crane (103), mechanical arm (104), camera (105),
Leading truck (106), welding gun (107), wherein camera (105) includes ccd image camera and infrared image camera, mechanical arm
It (104) include base (1041), turntable (1042), turntable driving motor (1043), large arm (1044), forearm driving motor
(1045), forearm (1046), large arm driving motor (1047), creeper truck (101) are the walking mechanism of this welder, and crawler belt drives
Dynamic direct current generator (102) are bolted on creeper truck platform and by driving creeper truck active wheel drive creeper truck to advance
Or retreat, crane (103) bottom end is connected by the support welded on pin and creeper truck platform, and top and base (1041) are logical
Cross pin be connected, it can be achieved that welding gun lifting action, turntable (1042) is fixed by screws in the upper surface of base (1041), turns
Platform driving motor (1043) is bolted on turntable (1042) and turntable (1042) is driven to rotate around the electric machine main shaft, greatly
Arm driving motor (1047) can drive large arm (1044) to rotate around this electric machine main shaft, and large arm (1044) and forearm (1046) are by turning
Axis connection, forearm driving motor (1045) are connect with shaft by jaw and toothed coupling, can drive the rotation of forearm (1046) simultaneously
Welding gun rotation is driven, the control system (2) includes single-chip microcontroller (201), crawler belt driving wheel drive module (202), turntable step
Into motor drive module (203), forearm stepper motor drive module (204), large arm stepper motor drive module (205), infrared
Detection module (206), ccd image detection module (207), wireless control module (208), ultrasonic distance measuring module (209), gas
Humidity detecting module (210), relay (211), welding gun power module (212), power module (213), alarm module (214),
Crystal oscillator module (215), the single-chip microcontroller (201) are the central processing unit of control system (2), and power module (213) is to monolithic
Machine (201) power supply, crystal oscillator module (215) provide machine clock, wireless control module (208) and single-chip microcontroller for control system
(201) connected by I/O port, human-computer interaction is realized by nRF24L01 chip with control the moving direction of basic machine (1) with
Speed, ultrasonic distance measuring module (209) are mounted on the headstock baffle of creeper truck (101), assist ccd image detection module
(207) judge spatial position of the creeper truck (101) apart from welding position, under the poor operating condition of visibility, headstock with welded
Alarm module (210) and control crawler belt driving wheel will be triggered when connecing workpiece spacing less than safe distance by single-chip microcontroller (201)
Drive module (202), which issues, retreats instruction, and ccd image detection module (207) is connect with single-chip microcontroller (201) by I/O port, a side
On the other hand face can acquire welding position contour images by the space length of trigonometric calculations welding gun and welding position
There is provided for subsequent welding sequence referring to data, infrared detection module, fingerprint identification module (206) in the welding process to welding track carry out in real time with
Track is issued using single-chip microcontroller (201) by the position difference before comparison welding with the center line of the contour line after welding and adjusts weldering
To prevent from welding partially, gas humidity detection module (210) module is installed on welding gun (108) head for detecting gas for the instruction that rifle position is set
Body humidity detects ambient air humidity before welding carries out first, welds and detect carbon-dioxide protecting gas humidity in carrying out, leads to
The flow of single-chip microcontroller (201) adjustment carbon-dioxide protecting gas is crossed to reduce weld porosity defect.
2. a kind of automatic soldering device according to claim 1 and control system, it is characterised in that the basic machine
(1) include creeper truck (101), track drive direct current generator (102), crane (103), mechanical arm (104), camera (105),
Leading truck (106), welding gun (107).
3. a kind of automatic soldering device according to claim 1 and control system, it is characterised in that the mechanical arm
It (104) include base (1041), turntable (1042), turntable driving motor (1043), large arm (1044), forearm driving motor
(1045), forearm (1046), large arm driving motor (1047).
4. a kind of automatic soldering device according to claim 1 and control system, it is characterised in that the crane
(103) bottom end is connected by the way that pin is fixed with the support welded on creeper truck platform, top and base (1041), using hydraulic drive
The dynamic lifting action for completing welding gun.
5. a kind of automatic soldering device according to claim 1 and control system, it is characterised in that the turntable
(1042) it is fixed by screws in base (1041) upper surface, turntable driving motor (1043) is bolted on turntable
(1042) on, and turntable (1042) is driven to rotate around the electric machine main shaft, large arm driving motor (1047) can drive large arm (1044)
It is rotated around this electric machine main shaft.
6. a kind of automatic soldering device according to claim 1 and control system, it is characterised in that the large arm
(1044) it being connect with forearm (1046) by shaft, forearm driving motor (1045) is connect with shaft by jaw and toothed coupling,
The rotation of forearm (1046) can be driven, so that welding gun be driven to rotate.
7. a kind of automatic soldering device according to claim 1 and control system, it is characterised in that the control system
It (2) include single-chip microcontroller (201), crawler belt driving wheel drive module (202), turntable stepper motor drive module (203), forearm stepping
Motor drive module (204), large arm stepper motor drive module (205), infrared detection module, fingerprint identification module (206), ccd image detection module
(207), wireless control module (208), relay (211), welding gun power module (212), ultrasonic distance measuring module (209), report
Alert module (214), gas humidity detection module (210).
8. a kind of automatic soldering device according to claim 1 and control system, it is characterised in that the single-chip microcontroller
(201) selecting STM32F103ZET6 chip is systematic microprocessor, transplants STemWin shape library and FreeROTS operating system,
Single-chip microcontroller (201) is respectively 11.0592MHz crystal oscillator module (215), crawler belt active wheel drive mould with clock frequency by I/O interface
Block (202), turntable stepper motor drive module (203), forearm stepper motor drive module (204), the driving of large arm stepper motor
Module (205), infrared detection module, fingerprint identification module (206), ccd image detection module (207), wireless control module (208), ultrasonic distance measurement
Module (209), gas humidity detection module (210), relay (211), welding gun power module (212), power module (213),
Alarm module (214), crystal oscillator module (215) connection, the wireless control module (208) use nRF24L01 chip, input
Voltage is 3.3V, the MP2359 DC decompression converter and AMS1117-3.3 buck converter pair that the power module uses
Power supply is powered, and 12V voltage is converted to 5V voltage by MP2359 converter, recycles AMS1117-3.3 converter will
5V is depressured to 3.3V and is powered to single-chip microcontroller (201), can reduce electric quantity loss and device heating by being depressured twice, described
Crawler belt driving wheel drive module (202) use DRV8804 stepper motor driver, the driver be unipolar stepper motor driving
Device, the turntable stepper motor drive module (203) use DRV8804 stepper motor driver, the forearm stepping electricity
Machine drive module (204) uses DRV8806 stepper motor driver, and the large arm stepper motor drive module (205) uses
DRV8806 stepper motor driver, the infrared detection module, fingerprint identification module (206) use R2868 infrared sensor chip, receive welding
The infrared signal that track issues encodes signal by external interrupt circuit and timer through amplification and filter circuit
Control stepper motor rotation is decoded by single-chip microcontroller again, the gas humidity detection module (210) is utilized using RS485 module
Humistor detects the humidity of carbon-dioxide protecting gas, and ccd image detection module (207) uses TSL1401CL linear CCD figure
As the chamfered shape and spatial positional information of sensor acquisition weld seam, ultrasonic distance measuring module (209) is obtained using HC-SR04 module
Pick-up body is at a distance from welded part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811036842.7A CN108942024A (en) | 2018-09-06 | 2018-09-06 | A kind of automatic soldering device and control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811036842.7A CN108942024A (en) | 2018-09-06 | 2018-09-06 | A kind of automatic soldering device and control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108942024A true CN108942024A (en) | 2018-12-07 |
Family
ID=64475047
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811036842.7A Withdrawn CN108942024A (en) | 2018-09-06 | 2018-09-06 | A kind of automatic soldering device and control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108942024A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110347093A (en) * | 2019-08-03 | 2019-10-18 | 山东大庚工程材料科技有限公司 | A kind of whole grid welding equipment control system of high-strength intelligence |
| CN110640363A (en) * | 2019-10-30 | 2020-01-03 | 商丘工学院 | Automatic welding machine for electrical engineering of motor |
-
2018
- 2018-09-06 CN CN201811036842.7A patent/CN108942024A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110347093A (en) * | 2019-08-03 | 2019-10-18 | 山东大庚工程材料科技有限公司 | A kind of whole grid welding equipment control system of high-strength intelligence |
| CN110640363A (en) * | 2019-10-30 | 2020-01-03 | 商丘工学院 | Automatic welding machine for electrical engineering of motor |
| CN110640363B (en) * | 2019-10-30 | 2022-03-11 | 商丘工学院 | Automatic welding machine for electrical engineering of motor |
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Application publication date: 20181207 |