CN109079370A - A kind of automatic welding device applied to Curtain wall frame - Google Patents
A kind of automatic welding device applied to Curtain wall frame Download PDFInfo
- Publication number
- CN109079370A CN109079370A CN201810926062.3A CN201810926062A CN109079370A CN 109079370 A CN109079370 A CN 109079370A CN 201810926062 A CN201810926062 A CN 201810926062A CN 109079370 A CN109079370 A CN 109079370A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- welding
- curtain wall
- welding bench
- wall frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The present invention relates to a kind of automatic welding device applied to Curtain wall frame, including welding bench, wherein one group of adjacent two sides is respectively equipped with transverse feeding mechanism and longitudinal feed mechanism to welding bench；Welding bench is equipped with positioning mechanism, and the side of the relatively transverse feed mechanism of welding bench or longitudinal feed mechanism is equipped with six axis welding robots；The welding bench other side adjacent with six axis welding robots is equipped with cutting agency；Transverse feeding mechanism includes the guide rail being laterally arranged, and guide rail is longitudinally spaced is equipped at least two, and the side of each guide rail is equipped with the blanking rack being arranged along its length；Longitudinally disposed mounting table is equipped between guide rail and welding bench, mounting table is equipped with the slide plate slided along rail length direction, and slide plate is equipped with several groups and the one-to-one feeding unit of guide rail；Every group of feeding unit includes at least one set of symmetrically arranged delivery wheel, and guide rail is located on its line of symmetry.At work, welding quality and welding efficiency is effectively ensured in the present invention, reduces labor intensity.
Description
Technical field
The present invention relates to technical field of welding equipment more particularly to a kind of automatic welding devices applied to Curtain wall frame.
Background technique
With the continuous development of China's building curtain wall, more and more alien invasion curtain walls use type unitized curtain wall, in factory
Processing assembling is inside carried out, then transports to construction site and is installed.Modular screens have Fast Installation, construction area
The advantages that area is small is widely used in decorating outer wall of building technology.
Factory is all intersection of the staff using hand-held welding gun to Curtain wall frame when making the skeleton of screens
Point is welded.Thus it is easy to cause the pad welding quality of Curtain wall frame different；And one position staff of welding
Need to move a position, labor intensity is larger.
Summary of the invention
The object of the present invention is to provide a kind of automatic welding devices applied to Curtain wall frame, are effectively ensured to curtain wall bone
The welding quality and welding efficiency of frame, and reduce labor intensity.
Above-mentioned technical purpose of the invention has the technical scheme that
A kind of automatic welding device applied to Curtain wall frame, including welding bench, the welding bench wherein divide by one group of adjacent two sides
It She You not transverse feeding mechanism and longitudinal feed mechanism；The welding bench is equipped with positioning mechanism, and the welding bench is relatively transverse
The side of feed mechanism or longitudinal feed mechanism is equipped with six axis welding robots；The welding bench is adjacent with six axis welding robots
The other side be equipped with cutting agency；The transverse feeding mechanism includes the guide rail being laterally arranged, and the guide rail is longitudinally spaced
Equipped at least two, the side of each guide rail is equipped with the blanking rack being arranged along its length；The guide rail and welding bench
Between be equipped with longitudinally disposed mounting table, the mounting table is equipped with the slide plate that slides along rail length direction, on the slide plate
Equipped with several groups and the one-to-one feeding unit of guide rail；Every group of feeding unit includes at least one set of symmetrically arranged delivery wheel,
And the guide rail is located on its line of symmetry.
By using above-mentioned technical proposal, transverse feeding mechanism and longitudinal feed mechanism are automatically by horizontal skeleton and longitudinal bone
Frame is transported to take on welding bench respectively and put well, and six axis welding robots weld the crosspoint of horizontal skeleton and longitudinal framework
It connects, realizes the automatic welding of Curtain wall frame.Wherein, positioning mechanism carries out the feeding of transverse feeding mechanism and longitudinal feed mechanism
Positioning, guarantee six axis welding robots can the crosspoint accurately to horizontal skeleton and longitudinal framework weld.When curtain wall bone
After frame welds, cutting agency automatically removes the Curtain wall frame being welded from welding bench, so as to next Curtain wall frame
It is welded, guarantees working efficiency.For transverse feeding mechanism in feeding, horizontal skeleton is fallen on guide rail from blanking rack and one end
It is clamped between delivery wheel, while delivery wheel rotates conveying, slide plate drives delivery wheel on mounting table to close to welding bench side
To sliding.After horizontal skeleton is completely transported on welding bench in this way, slide plate drives feeding unit to retreat reset, so as to next
Group horizontal skeleton is conveyed.
Further, positioning is rotatably equipped with the screw rod being arranged along its length in the slide plate, sets on the slide plate
There are several and the one-to-one guide groove of guide rail；One group of arranged symmetrically and and screw rod is slidably fitted in each guide groove
The chassis of threaded connection, two chassis in every group are opposite with the thread rotary orientation that wire rod thread connects；Conveying described in every group
Symmetrically arranged delivery wheel is rotatably installed in respectively on two chassis in mechanism, and its pivot center is vertically arranged.
By using above-mentioned technical proposal, when driving screw rod rotation, in threaded connection effect and the guide groove of itself and chassis
To under the position-limiting action on chassis, two chassis in every group are moved to close to each other or separate direction, and then every group of drive is symmetrical
Delivery wheel it is close to each other, rotation conveying horizontal skeleton or is located remotely from each other release horizontal skeleton, then retract reset, to convey
Next group of horizontal skeleton, it is convenient and easy.
Further, the blanking rack includes the storing frame for being inclined at guide rail side, and it is close to one end of guide rail
For lower end；The storing frame is respectively equipped with along the both ends in rail length direction along the setting of its inclined direction and perforative limit
Slot, and the limiting slot is equipped with stop gauge close to guide rail.
By using above-mentioned technical proposal, several horizontal skeletons are deposited in storing frame, are acted in the backgauge of stop gauge
Under, avoid horizontal skeleton from being slipped on guide rail naturally.When six axis welding robots complete a welding, cutting agency will be welded
After the Curtain wall frame connected is removed from welding bench, stop gauge slides off the through part of limiting slot, releases to horizontal skeleton
Position-limiting action, horizontal skeleton falls one automatically and is transported on welding bench to guide rail via feeding unit.Stop gauge is multiple
Position, continues to limit to the horizontal skeleton abutted with it, guarantees that every guide rail last time only has a horizontal skeleton.
Further, the stop gauge is slidably mounted on limiting slot through part perpendicular to limiting slot length direction including edge
Baffle, the first cylinder of its sliding of driving is connected on the baffle.
By using above-mentioned technical proposal, baffle is limited the horizontal skeleton that limiting slot through part is abutted with it is located at
Position, the first cylinder drive barrier slides, are acted on realizing the backgauge effect of baffle or releasing baffle the backgauge of horizontal skeleton,
Structure is simple, facilitates operation and effect is obvious.
Further, the positioning mechanism includes being separately positioned on welding bench close to the of six axis welding robot sides
One limit plate and the second limit plate of close cutting agency side, first limit plate and the second limit plate are respectively along its institute
It is arranged in side edge length direction, and is embedded with magnet respectively；Driving is connected with below second limit plate, and it is slided up and down
Second cylinder.
By using above-mentioned technical proposal, when horizontal skeleton and longitudinal framework respectively with the first limit plate and the second limit plate
After abutting, horizontal skeleton and longitudinal framework end are adsorbed on respectively on the first limit plate and the second limit plate.For lateral feeding
For mechanism, feeding unit stops conveying, and every group of symmetrical delivery wheel is located remotely from each other, and unclamps horizontal skeleton, is realized to cross
Positioning to skeleton.Longitudinal feed mechanism stops conveying, realizes the positioning to longitudinal framework, guarantees horizontal skeleton and longitudinal framework
Cross-point locations it is certain, and then guarantee six axis welding robots welding it is accurate and efficient.Wherein, the second limit plate connects
It is connected to the second cylinder for driving it to slide up and down, can be avoided the second limit plate in this way influences the blanking work of cutting agency.
Further, the cutting agency includes Pneumatic clamping jaw of the edge perpendicular to the sliding of the second limit plate length direction, and
The splicing frame that upper surface and welding bench upper surface flush is equipped with below the Pneumatic clamping jaw.
By using above-mentioned technical proposal, after Curtain wall frame welding, the second cylinder drives the second limit plate downward
Sliding, makes the upper surface of the second limit plate be located at the lower section of Curtain wall frame.Then make Pneumatic clamping jaw to close to Curtain wall frame direction
It slides and clamps Curtain wall frame；Then driving Pneumatic clamping jaw drives Curtain wall frame to slide to far from welding bench direction, until curtain wall
Skeleton is detached from welding bench.After unclamping Pneumatic clamping jaw, Curtain wall frame is fallen on splicing frame, so that welding bench can continue to next curtain
The welding of wall skeleton.
Further, the welding bench two sides are respectively equipped with the leading truck along the setting of Pneumatic clamping jaw glide direction, two institutes
It states leading truck and is equipped with the slippage slot being arranged along its length, positioning is rotatably equipped with along its length in the slippage slot
The screw rod of setting；Be slidably fitted with the L-type connecting plate connecting with screw flight in the slippage slot, the L-type connecting plate from
By holding close to welding bench, and the Pneumatic clamping jaw is fixed on the free end of L connecting plate.
By using above-mentioned technical proposal, when driving screw turns, screw rod and L-type connecting plate threaded connection effect and
For slippage slot under the limition orientation effect of L-type connecting plate, L-type connecting plate drives Pneumatic clamping jaw to slide in slippage slot, and then will
Curtain wall frame is transferred on splicing frame from welding bench, convenient and easy.Wherein, the free end of L-type connecting plate is close to welding bench,
While guaranteeing that Pneumatic clamping jaw can accurately clamp Curtain wall frame, leading truck and transverse feeding mechanism or longitudinal feed mechanism are avoided
And six axis welding robot interfere, influence the normal work of the automatic welding device.
Further, the splicing frame includes the splicing plate being arranged between two leading trucks along leading truck length direction,
The four corners of splicing plate lower end surface are respectively equipped with the supporting leg of stretching structure；It is arranged with and is fixed under splicing plate outside the supporting leg
Tension spring between end face and supporting leg lower end, under normal conditions, splicing plate upper surface and welding bench upper surface flush.
By using above-mentioned technical proposal, under normal conditions, the upper surface of splicing plate and the upper surface of welding bench are flushed, and are existed in this way
When Curtain wall frame is transferred on splicing frame from welding bench, it can directly take and be placed on splicing plate, avoid unclamping curtain in Pneumatic clamping jaw
Curtain wall frame is fallen on splicing plate when wall skeleton, is easy the Curtain wall frame that damage has just been welded.Meanwhile in tension spring and can
Under the mating reaction of the supporting leg of stretching structure, one Curtain wall frame of every stacking on splicing plate, then splicing plate move downward one section away from
From, and guarantee that the upper surface of the Curtain wall frame of the top is flushed with welding bench upper surface always.
Further, the supporting leg bottom be equipped with universal wheel, and on the leading truck positioned at slippage slot lower section be equipped with
The discharge port of splicing frame cooperation.
By using above-mentioned technical proposal, when splicing plate drops to minimum state, splicing frame can not continue to stack curtain wall
Skeleton.At this point, entire splicing frame is pulled out from discharge outlet, the splicing frame that more renews carries out splicing, convenient and easy, and efficiency compared with
It is high.The universal wheel of supporting leg bottom is set, the movement of splicing frame is facilitated, reduces labor intensity.
Further, rectangular array is equipped with several cross-brace blocks and several longitudinal bracing blocks, and institute on the welding bench
It states cross-brace block and longitudinal bracing block is staggered.
By using above-mentioned technical proposal, horizontal skeleton, which is taken, to be placed on cross-brace block, and longitudinal framework, which is taken, is placed on longitudinal branch
On bracer, the crosspoint of such horizontal skeleton and longitudinal framework is emptied positioned at the top of welding bench, and then in six axis welding robots
When people welds it, welding slag is fallen on welding bench, in this way, welding slag will not glue in the mobile Curtain wall frame being welded
It is attached on the lower end surface of horizontal skeleton and longitudinal framework.
In conclusion the invention has the following advantages:
1, by welding bench surrounding be respectively set transverse feeding mechanism, longitudinal feed mechanism, six axis welding robots and under
Expect mechanism, and positioning mechanism is set, realizes automatic charging, automatic positioning, automatic welding and automatic blanking, be effectively ensured to curtain
The welding quality and welding efficiency of wall skeleton, and reduce labor intensity.
2, by welding bench rectangular array several cross-brace blocks and several longitudinal bracing blocks, and cross-brace are set
Block and longitudinal bracing block are staggered, and the crosspoint of such horizontal skeleton and longitudinal framework is emptied positioned at the top of welding bench, weldering
The welding slag generated in termination process is fallen on welding bench.In this way, welding slag will not be adhered in the mobile Curtain wall frame being welded
On the lower end surface of horizontal skeleton and longitudinal framework.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of automatic welding device applied to Curtain wall frame；
Fig. 2 is a kind of part-structure explosive view of automatic welding device applied to Curtain wall frame；
Fig. 3 is a kind of part-structure sectional view of automatic welding device applied to Curtain wall frame；
Fig. 4 is a kind of partial structure diagram of automatic welding device applied to Curtain wall frame.
In figure, 1, welding bench；2, cross-brace block；3, longitudinal bracing block；4, transverse feeding mechanism；5, longitudinal feeder
Structure；6, welding robot；7, guide rail；8, blanking rack；9, storing frame；91, limiting slot；10, baffle；101, the first cylinder；11, it puts
Set platform；111, sliding slot；112, threaded rod；1121, first motor；12, slide plate；121, sliding block；122, guide groove；13, screw rod；
131, the second motor；14, chassis；15, delivery wheel；151, shaft；152, worm gear；16, worm screw；161, third motor；17, first
Limit plate；18, the second limit plate；181, the second cylinder；19, leading truck；191, slippage slot；192, discharge port；20, screw rod；
201, the 4th motor；21, L-type connecting plate；22, Pneumatic clamping jaw；23, splicing frame；24, splicing plate；25, supporting leg；251, universal wheel；
26, tension spring；27, horizontal skeleton；28, longitudinal framework；29, card slot；30, magnet.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
A kind of automatic welding device applied to Curtain wall frame, referring to Fig.1, including welding bench 1, in the surrounding of welding bench 1
It is respectively equipped with longitudinal feeder that the transverse feeding mechanism 4 of feeding is carried out to horizontal skeleton 27, carries out feeding to longitudinal framework 28
Structure 5, six axis welding robots 6 that the crosspoint of horizontal skeleton 27 and longitudinal framework 28 is welded and for that will be welded
The cutting agency that Curtain wall frame is removed from welding bench 1.Wherein, transverse feeding mechanism 4 is opposite with cutting agency, longitudinal feeder
Structure 5 and six axis welding robots 6 are opposite, i.e., longitudinal feed mechanism 5 and transverse feeding mechanism 4 are adjacent, six axis welding robots, 6 He
Cutting agency is adjacent.Meanwhile welding bench 1 is equipped with positioning mechanism, to guarantee that six axis welding robots 6 can be accurately to lateral bone
The crosspoint of frame 27 and longitudinal framework 28 is welded.In the present embodiment, 5 knot of transverse feeding mechanism 4 and longitudinal feed mechanism
Structure is identical, is described specifically by taking transverse feeding mechanism 4 as an example.Meanwhile referring to Fig.1,27 upper surface of horizontal skeleton and longitudinal framework
28 lower end surfaces are respectively equipped with mutually matched card slot 29, and card slot 29 distinguishes transversely 28 length direction of skeleton 27 and longitudinal framework
Equipped with several.After corresponding card slot 29 is mutually clamped, horizontal skeleton 27 and longitudinal framework 28 are generally aligned in the same plane.
Referring to Fig. 2, transverse feeding mechanism 4 includes the guide rail 7 being laterally arranged, and guide rail 7 is longitudinally spaced equipped at least two
A, the side of each guide rail 7 is equipped with the blanking rack 8 being arranged along its length.In the present embodiment, the array along longitudinal direction of guide rail 7
It is equipped at intervals with four.Longitudinally disposed mounting table 11 is equipped between guide rail 7 and welding bench 1, mounting table 11 is equipped with along its length
The slide plate 12 spending direction setting and sliding along 7 length direction of guide rail, the lower end surface of slide plate 12 is located at the upper of 1 upper surface of welding bench
Side, and slide plate 12 is equipped with several groups and the one-to-one feeding unit of guide rail 7.Every group of feeding unit includes at least one set of symmetrical
The delivery wheel 15 of setting, and guide rail 7 is located on its line of symmetry.In the present embodiment, every group of feeding unit is symmetrically set including one group
Two delivery wheels 15 set, and under normal conditions, blanking rack 8 is located above delivery wheel 15 close to one end of welding bench 1.
Slide plate 12 is slidably mounted on mounting table 11 in order to realize, referring to Fig. 2 and Fig. 3, mounting table 11 is square along its length
To midline position be equipped with the sliding slot 111 that be arranged along its width direction, equipped with being slidably mounted in sliding slot 111 below slide plate 12
Sliding block 121.Positioning is rotatably equipped with threaded rod 112 in sliding slot 111, and sliding block 121 is threadedly coupled with threaded rod 112.Meanwhile
Threaded rod 112 stretches out sliding slot 111 far from one end of welding bench 1, and is fixedly connected with the first motor being fixed on mounting table 11
1121.In addition, positioning is rotatably equipped with the screw rod 13 being arranged along its length, screw rod in slide plate 12 referring to Fig. 2 and Fig. 3
13 one end are connected with the second motor 131；Several and the one-to-one guide groove 122 of guide rail 7 are equipped in 12 upper surface of slide plate.Often
One group of chassis 14 for being symmetrical arranged and being threadedly coupled with screw rod 13, and two in every group are slidably fitted in a guide groove 122
Thread rotary orientation that chassis 14 is threadedly coupled with screw rod 13 is on the contrary, two 14 phases of chassis when i.e. driving screw rod 13 rotates, in every group
It is mutually close or be located remotely from each other.Referring to Fig. 3, two delivery wheels 15 are rotatably installed in two chassis 14 respectively in every group of feeding unit
On, and its shaft 151 is vertically arranged.Wherein, in order to realize the locating rotation of delivery wheel 15, in turning for wherein delivery wheel 15
Coaxially setting is fixed with below axis 151 in worm gear 152, where chassis 14 be equipped with third motor 161, third motor
161 output shaft is equipped with the worm screw 16 engaged with worm gear 152.
It referring to Figures 1 and 2, is 4 feeding of transverse feeding mechanism first, horizontal skeleton 27 is from blanking in blanking rack 8 to guide rail 7
On, and be clamped between two delivery wheels 15；Start the second motor 131, driving screw rod 13 rotates, and drives every group of two chassis 14
Drive two delivery wheels 15 close to each other.After two delivery wheels 15 are abutted with horizontal skeleton 27, third motor 161 drives worm screw 16
Rotation, under the engagement of worm screw 16 and worm gear 152, delivery wheel 15 rotates conveying.Meanwhile starting first motor 1121, it drives
Dynamic slide plate 12 drives delivery wheel 15 to move to close to 1 direction of welding bench, can be by lateral bone when guaranteeing that delivery wheel 15 rotates conveying
Frame 27 is all transported on welding bench 1.After horizontal skeleton 27 touches positioning mechanism, two delivery wheels 15 are transported to direction is located remotely from each other
It is dynamic, horizontal skeleton 27 is unclamped, horizontal skeleton 27, which is taken, to be placed on welding bench 1；Slide plate 12 drives delivery wheel 15 to retract and resets simultaneously, with
Just conveying next time.Referring to Fig.1, followed by longitudinal 5 feeding of feed mechanism, longitudinal feeding step is identical as lateral feeding step,
But the guide rail 7 and slide plate 12 in longitudinal feed mechanism 5 are higher than guide rail 7 and slide plate 12 in transverse feeding mechanism 4, such ability
Guarantee that longitudinal framework 28 can be slided into first on welding bench 1 out of horizontal skeleton 27 card slot 29.When the touching of longitudinal framework 28 is fixed
Position mechanism makes, the card slot 29 of the 29 face horizontal skeleton 27 of card slot on longitudinal framework 28, after slide plate 12 retreats reset, longitudinal card slot
29 move downward with horizontal skeleton 27 engage, lower end surface, which is taken, to be placed on welding bench 1.
In order to realize automatic blanking, set blanking rack 8 to include being inclined to lead in the present embodiment referring to Fig. 2
The storing frame 9 of 7 side of rail, and storing frame 9 is lower end close to one end of guide rail 7.Storing frame 9 along 7 length direction of guide rail two
End is respectively equipped with along the setting of its inclined direction and perforative limiting slot 91, and the both ends of horizontal skeleton 27 or longitudinal framework 28 are slided respectively
It is dynamic to be mounted in corresponding limiting slot 91.Stop gauge is equipped with close to one end of guide rail 7 in limiting slot 91.In the present embodiment,
Stop gauge includes the baffle 10 that edge is slidably mounted on 91 through part of limiting slot perpendicular to 91 length direction level of limiting slot, and every
The side that the baffle 10 at a 9 both ends of storing frame is located remotely from each other, which is connected separately with, to be fixed on storing frame 9, for driving it to slide
First cylinder 101.
Referring to Fig. 2, under normal conditions, several horizontal skeletons 27 and several longitudinal frameworks 28 are deposited in corresponding storing frame 9 respectively
It is interior, and its both ends is slidably mounted in limiting slot 91, baffle 10 blocks limiting slot 91.Need to convey horizontal skeleton 27 or vertical
When to skeleton 28, first cylinder 101 at 9 both ends of storing frame respectively drives two baffles 10 and slides in the direction away from each other, solution
Except the plugging action to limiting slot 91；At this point, horizontal skeleton 27 or longitudinal framework 28, which are fallen on guide rail 7, is transported to welding bench
On 1.While horizontal skeleton 27 or longitudinal framework 28 fall out limiting slot 91, the first cylinder 101 drives the sliding of baffle 10 multiple
Position continues backgauge, and guarantee can only once fall a horizontal skeleton 27 or longitudinal framework 28, convenient and easy.Wherein, laterally
Its card slot 29 is towards on the contrary, the card slot 29 in horizontal skeleton 27 is separate when skeleton 27 and longitudinal framework 28 are deposited in storing frame 9
Guide rail 7, the card slot 29 on longitudinal framework 28 is close to guide rail 7, and card slot 29 is opened when guarantee horizontal skeleton 27 is fallen on guide rail 7 in this way
Upwards, longitudinal framework 28 falls to card slot 29 when on guide rail 7, and Open Side Down for mouth, guarantees that longitudinal framework 28 and horizontal skeleton 27 can
Smoothly engaging.
Wherein, in order to avoid six axis welding robots 6 are when carrying out welding, welding slag falls on welding bench 1 and is easy
It is adhered on the lower end surface of horizontal skeleton 27 and longitudinal framework 28, referring to Fig.1 or Fig. 4, if rectangular array is equipped on welding bench 1
Dry cross-brace block 2 and longitudinal bracing block 3, and cross-brace block 2 and longitudinal bracing block 3 are staggered.Horizontal skeleton 27, which is taken, puts
In cross-brace block 2, longitudinal framework 28 is taken after engaging with horizontal skeleton 27 to be placed on longitudinal bracing block 3.At this point, horizontal skeleton 27
It is emptied above welding bench 1 with the crosspoint of longitudinal framework 28, welding slag is avoided to be adhered to horizontal skeleton 27 and longitudinal framework 28
Lower end surface.
In the present embodiment, in order to realize the positioning to horizontal skeleton 27 and longitudinal framework 28, so that delivery wheel 15 is timely
Stop transportation work, referring to Fig. 4, sets positioning mechanism to include being separately positioned on welding bench 1 close to six axis welding robots
First limit plate 17 of 6 side of people and the second limit plate 18 of close cutting agency side.The laterally setting of first limit plate 17,
Second limit plate 18 is longitudinally disposed, and is embedded with magnet 30 respectively.Second limit plate 18 passes through welding bench 1 and is connected with below
Drive the second cylinder 181 that it is slided up and down.When horizontal skeleton 27 is abutted with the second limit plate 18, longitudinal framework 28 and first limits
When position plate 17 abuts, the end of horizontal skeleton 27 and longitudinal framework 28 is adsorbed on the first limit plate 17 and the second limit plate 18 respectively
Corresponding position, at this point, corresponding delivery wheel 15 stop transportation work.After Curtain wall frame welding, the second cylinder 181
Drive the second limit plate 18 to slide down to the lower section of longitudinal bracing block 3, so as to cutting agency by the Curtain wall frame being welded from weldering
It is removed on consecutive 1.
The Curtain wall frame being welded is removed from welding bench 1 for convenience, in the present embodiment, referring to Fig. 4, blanking machine
Structure includes two along being arranged and be located at the leading trucks 19 of 1 two sides of welding bench perpendicular to 18 plate length direction of the second limit plate
The side close to each other of leading truck 19 is equipped with the slippage slot 191 being arranged along its length.Positioning turns in each slippage slot 191
It is dynamic that the screw rod 20 being arranged along its length is installed, and screw rod 20 is connected with the 4th motor 201 far from one end of welding bench 1.
Be slidably fitted with the L-type connecting plate 21 being threadedly coupled with screw rod 20 in each slippage slot 191, two L-type connecting plates 21 from
Pneumatic clamping jaw 22 is respectively equipped with by end.
Referring to Fig. 4, after Curtain wall frame welding, it is vertical that the second cylinder 181 drives the second limit plate 18 to slide down to
To 3 lower section of supporting block.4th motor 201 drives screw rod 20 to rotate, and L-type connecting plate 21 slides into its freedom in slippage slot 191
End is located at 1 top of welding bench, and after Pneumatic clamping jaw 22 clamps Curtain wall frame, the 4th motor 201 drives screw rod 20 to invert, and makes pneumatic clamps
Pawl 22 drives Curtain wall frame to slide off welding bench 1 to far from 1 direction of welding bench.In order to avoid Curtain wall frame is from welding bench 1
It is fallen to after leaving on the ground, the splicing frame 23 being arranged along its length is equipped between two leading trucks 19.
Referring to Fig. 4, in the present embodiment, splicing frame 23 includes being arranged along 19 length direction of leading truck in two leading trucks 19
Between splicing plate 24, the four corners of 24 lower end surface of splicing plate are respectively equipped with the supporting leg 25 of stretching structure, and supporting leg 25 is inserted by two sections
Bar (not shown) grafting forms, and is arranged with and is fixed between 25 lower end of 24 lower end surface of splicing plate and supporting leg outside supporting leg 25
Tension spring 26.When tension spring 26 is in the normal state, the upper surface of splicing plate 24 and the upper surface of longitudinal bracing block 3 are flushed.
It directly takes and is placed on when Curtain wall frame is transferred on splicing frame 23 by Pneumatic clamping jaw 22 from welding bench 1 referring to Fig. 4
On splicing plate 24, avoids the Curtain wall frame when Pneumatic clamping jaw 22 unclamps Curtain wall frame from directly falling on splicing plate 24, be easy damage
The Curtain wall frame that evil has just been welded.Meanwhile under the mating reaction of tension spring 26 and the supporting leg 25 of retractable structure, splicing plate
One Curtain wall frame of every stacking on 24, then splicing plate 24 moves downward a distance, and guarantee the top Curtain wall frame it is upper
End face is flushed with 1 upper surface of welding bench always.Wherein, Curtain wall frame is taken out in order to replace splicing frame 23, referring to Fig. 4, is being propped up
25 bottom of leg is equipped with the universal wheel 251 with self-locking function, and the lower section on leading truck 19 positioned at slippage slot 191 is equipped with and splicing
The discharge port 192 that frame 23 cooperates, can directly pull out splicing frame 23 from discharge port 192 in this way, convenient and easy.
In the present embodiment, the components such as guide rail 7, delivery wheel 15, the first limit plate 17, the second limit plate 18 and welding bench 1
It is equipped with the inductor (not shown) being connected into PLC system, the running between above-mentioned each electrical components passes through PLC system
Control, guarantees to cooperate with each other between each component.
The working principle of the invention and application method:
When feeding, PLC system controls the work of the first cylinder 101 in transverse feeding mechanism 4 first, releases baffle 10 to limiting slot
91 backgauge effect, horizontal skeleton 27 is skidded off out of limiting slot 91 to be fallen on guide rail 7 and is stuck between two delivery wheels 15, and
Its card slot 29 is opening up.While horizontal skeleton 27 is skidded off out of limiting slot 91, the first cylinder 101 drives baffle 10 to reset
Backgauge.When horizontal skeleton 27 is fallen on guide rail 7, PLC system starts the second motor 131 and third motor 161, drives every group
Two chassis 14 drive two delivery wheels 15 are close to each other extremely to abut with horizontal skeleton 27, and delivery wheel 15 rotates conveying.When defeated
When wheel 15 being sent to abut with horizontal skeleton 27 and rotate conveying, the second motor 131 stops working, and first motor 1121 starts, driving
Slide plate 12 drives delivery wheel 15 to move to 1 top of welding bench, and horizontal skeleton 27 is completely transported to 1 top of welding bench.Work as transverse direction
After skeleton 27 is abutted with the second limit plate 18 and is adsorbed on the second limit plate 18, the reversion of the second motor 131 makes two delivery wheels
Horizontal skeleton 27 is unclamped in 15 separation, and the reversion of the second motor 131 drives the sliding of slide plate 12 to reset, and third motor 161 stops working.
At the same time, PLC system controls longitudinal feed mechanism 5 and carries out feeding according to the step identical with transverse feeding mechanism 4, wherein indulging
After card slot 29 to skeleton 28 is opening down, and longitudinal framework 28 and the first limit plate 17 abut, PLC system also controls the weldering of six axis
Welding robot 6 starts to carry out welding.
When six axis welding robots 6 have welded after Curtain wall frame, PLC system control the second cylinder 181 and the 4th of starting
Motor 201, the second cylinder 181 drive the second limit plate 18 to move downward, and the 4th motor 201 driving L-type connecting plate 21 is sliding
Its free end is slid into slot 191 is located at 1 top of welding bench.The Pneumatic clamping jaw 22 of PLC system control at this time clamps Curtain wall frame, and
The reversion of the 4th motor 201 is controlled, so that Pneumatic clamping jaw 22 is pulled Curtain wall frame, it is drawn on splicing frame 23 from welding bench 1.
After Curtain wall frame is detached from from welding bench 1, PLC system controls the second cylinder 181 and the second limit plate 18 is driven to reset, and carries out
The feeding step of next round.
This specific embodiment is only explanation of the invention, is not limitation of the present invention, those skilled in the art
Member can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as at this
All by the protection of Patent Law in the scope of the claims of invention.
Claims (10)
1. a kind of automatic welding device applied to Curtain wall frame, it is characterised in that: including welding bench (1), the welding bench (1)
Wherein one group of adjacent two sides is respectively equipped with transverse feeding mechanism (4) and longitudinal feed mechanism (5)；The welding bench (1) is equipped with
It is welded equipped with six axis the side of positioning mechanism, the relatively transverse feed mechanism of the welding bench (1) (4) or longitudinal feed mechanism (5)
Robot (6)；The welding bench (1) and the adjacent other side of six axis welding robots (6) are equipped with cutting agency；In the transverse direction
Expect that mechanism (4) include the guide rail (7) being laterally arranged, and the guide rail (7) is longitudinally spaced is equipped at least two, it is each described to lead
The side of rail (7) is equipped with the blanking rack (8) being arranged along its length；It is equipped between the guide rail (7) and welding bench (1) longitudinal
The mounting table (11) of setting, the mounting table (11) are equipped with the slide plate (12) slided along guide rail (7) length direction, the slide plate
(12) several groups and guide rail (7) one-to-one feeding unit are equipped with；Every group of feeding unit includes at least one set of be symmetrical arranged
Delivery wheel (15), and the guide rail (7) is located on its line of symmetry.
2. a kind of automatic welding device applied to Curtain wall frame according to claim 1, it is characterised in that: the slide plate
(12) positioning is rotatably equipped with the screw rod (13) being arranged along its length in, and the slide plate (12) is equipped with several and guide rail
(7) one-to-one guide groove (122)；One group of arranged symmetrically and and screw rod is slidably fitted in each guide groove (122)
(13) chassis (14) being threadedly coupled, the thread rotary orientation phase that two chassis (14) in every group are threadedly coupled with screw rod (13)
Instead；Symmetrically arranged delivery wheel (15) is rotatably installed in respectively on two chassis (14) in feeding unit described in every group, and its turn
Shaft line is vertically arranged.
3. a kind of automatic welding device applied to Curtain wall frame according to claim 1 or 2, it is characterised in that: described
Blanking rack (8) includes the storing frame (9) for being inclined at guide rail (7) side, and it is lower end close to one end of guide rail (7)；
The storing frame (9) is respectively equipped with along the both ends of guide rail (7) length direction along the setting of its inclined direction and perforative limiting slot
(91), and the limiting slot (91) close to guide rail (7) be equipped with stop gauge.
4. a kind of automatic welding device applied to Curtain wall frame according to claim 3, it is characterised in that: the backgauge
Device includes along the baffle (10) for being slidably mounted on limiting slot (91) through part perpendicular to limiting slot (91) length direction, the gear
The first cylinder (101) of its sliding of driving is connected on plate (10).
5. a kind of automatic welding device applied to Curtain wall frame according to claim 1, it is characterised in that: the positioning
Mechanism includes being separately positioned on first limit plate (17) of close six axis welding robot (6) sides on welding bench (1) and leaning on
The second limit plate (18) of nearly cutting agency side, first limit plate (17) and the second limit plate (18) are respectively where it
The setting of side edge length direction, and it is embedded with magnet (30) respectively；It is connected with and is driven above and below it below second limit plate (18)
The second cylinder (181) of sliding.
6. a kind of automatic welding device applied to Curtain wall frame according to claim 5, it is characterised in that: the blanking
Mechanism includes Pneumatic clamping jaw (22) of the edge perpendicular to the sliding of the second limit plate (18) length direction, and under the Pneumatic clamping jaw (22)
Side is equipped with the splicing frame (23) that upper surface and welding bench (1) upper surface flush.
7. a kind of automatic welding device applied to Curtain wall frame according to claim 6, it is characterised in that: the welding
Platform (1) two sides are respectively equipped with the leading truck (19) along the setting of Pneumatic clamping jaw (22) glide direction, on two leading trucks (19)
Equipped with the slippage slot (191) being arranged along its length, positioning is rotatably equipped with along its length in the slippage slot (191)
The screw rod (20) of setting；It is slidably fitted with the L-type connecting plate (21) being threadedly coupled with screw rod (20) in the slippage slot (191),
The free end of the L-type connecting plate (21) is close to welding bench (1), and the Pneumatic clamping jaw (22) is fixed on the freedom of L connecting plate
End.
8. a kind of automatic welding device applied to Curtain wall frame according to claim 7, it is characterised in that: the splicing
Frame (23) includes the splicing plate (24) being arranged between two leading trucks (19) along leading truck (19) length direction；The splicing plate
(24) four corners of lower end surface are respectively equipped with the supporting leg (25) of stretching structure, are arranged with outside the supporting leg (25) and are fixed on splicing plate
(24) tension spring (26) between lower end surface and supporting leg (25) lower end, under normal conditions, splicing plate (24) upper surface and welding
Platform (1) upper surface flushes.
9. a kind of automatic welding device applied to Curtain wall frame according to claim 8, it is characterised in that: the supporting leg
(25) bottom is equipped with universal wheel (251), and the lower section on the leading truck (19) positioned at slippage slot (191) is equipped with and splicing frame
(23) discharge port (192) cooperated.
10. a kind of automatic welding device applied to Curtain wall frame according to claim 1, it is characterised in that: the weldering
Rectangular array is equipped with several cross-brace blocks (2) and several longitudinal bracing blocks (3), and the cross-brace block (2) on consecutive (1)
It is staggered with longitudinal bracing block (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810926062.3A CN109079370B (en) | 2018-08-15 | 2018-08-15 | Automatic welding equipment applied to curtain wall framework |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810926062.3A CN109079370B (en) | 2018-08-15 | 2018-08-15 | Automatic welding equipment applied to curtain wall framework |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109079370A true CN109079370A (en) | 2018-12-25 |
| CN109079370B CN109079370B (en) | 2020-05-05 |
Family
ID=64793413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810926062.3A Active CN109079370B (en) | 2018-08-15 | 2018-08-15 | Automatic welding equipment applied to curtain wall framework |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109079370B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110821113A (en) * | 2019-10-18 | 2020-02-21 | 同济大学 | Automatic installation method of curtain wall plate robot |
| CN110977272A (en) * | 2019-12-17 | 2020-04-10 | 天邑昊建筑装饰工程有限公司 | Auxiliary welding equipment for curtain wall installation and construction |
| CN111112905A (en) * | 2019-11-23 | 2020-05-08 | 江苏诺米新材料科技有限公司 | Back welding method and welding table for aluminum curtain wall plate |
| CN112338398A (en) * | 2020-11-12 | 2021-02-09 | 左健康 | Four-side-frame automatic welding device |
| CN112404846A (en) * | 2020-11-09 | 2021-02-26 | 淮南市金德实业有限公司 | Six-axis all-position welding robot |
| CN112440110A (en) * | 2020-11-13 | 2021-03-05 | 厦门金新展示架有限公司 | Metal display rack production process and equipment thereof |
| CN112894081A (en) * | 2021-01-05 | 2021-06-04 | 杭州宏崎建材有限公司 | Automatic girth welding machine with can change weldment automatically |
| CN112917052A (en) * | 2021-01-25 | 2021-06-08 | 宁波纬诚科技股份有限公司 | Welding equipment |
| CN114603863A (en) * | 2022-03-11 | 2022-06-10 | 洛阳瑞昌环境工程有限公司 | Plastic support bar automatic weld machine |
| CN114789315A (en) * | 2022-05-27 | 2022-07-26 | 江苏海德曼新材料股份有限公司 | Welding manufacturing device for steel structure framework of architectural decoration curtain wall |
| CN115255794A (en) * | 2022-10-01 | 2022-11-01 | 香河万利通实业有限公司 | Aluminum alloy door and window welded platform |
| CN115570304A (en) * | 2022-11-18 | 2023-01-06 | 苏州中南钢结构股份有限公司 | Quick welding platform for container house |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000158135A (en) * | 1998-11-26 | 2000-06-13 | Honda Motor Co Ltd | Automatic welding system |
| CN103302391A (en) * | 2013-05-13 | 2013-09-18 | 浙江兄弟之星汽配有限公司 | Automatic spot welding machine |
| CN103934564A (en) * | 2014-04-18 | 2014-07-23 | 唐山轨道客车有限责任公司 | Automatic spot welding tool, device and method for air conditioning unit bases |
| CN104551461A (en) * | 2014-12-15 | 2015-04-29 | 张家港江苏科技大学产业技术研究院 | Feeding device for boards of various specifications |
| CN206435848U (en) * | 2016-12-06 | 2017-08-25 | 山东伊莱特重工股份有限公司 | A kind of automatic blanking system |
| CN206764180U (en) * | 2017-05-24 | 2017-12-19 | 浙江吉盛机械有限公司 | A kind of showcase hanger rapid processing equipment |
-
2018
- 2018-08-15 CN CN201810926062.3A patent/CN109079370B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000158135A (en) * | 1998-11-26 | 2000-06-13 | Honda Motor Co Ltd | Automatic welding system |
| CN103302391A (en) * | 2013-05-13 | 2013-09-18 | 浙江兄弟之星汽配有限公司 | Automatic spot welding machine |
| CN103934564A (en) * | 2014-04-18 | 2014-07-23 | 唐山轨道客车有限责任公司 | Automatic spot welding tool, device and method for air conditioning unit bases |
| CN104551461A (en) * | 2014-12-15 | 2015-04-29 | 张家港江苏科技大学产业技术研究院 | Feeding device for boards of various specifications |
| CN206435848U (en) * | 2016-12-06 | 2017-08-25 | 山东伊莱特重工股份有限公司 | A kind of automatic blanking system |
| CN206764180U (en) * | 2017-05-24 | 2017-12-19 | 浙江吉盛机械有限公司 | A kind of showcase hanger rapid processing equipment |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110821113A (en) * | 2019-10-18 | 2020-02-21 | 同济大学 | Automatic installation method of curtain wall plate robot |
| CN111112905A (en) * | 2019-11-23 | 2020-05-08 | 江苏诺米新材料科技有限公司 | Back welding method and welding table for aluminum curtain wall plate |
| CN111112905B (en) * | 2019-11-23 | 2022-02-18 | 江苏诺米新材料科技有限公司 | Back welding method and welding table for aluminum curtain wall plate |
| CN110977272A (en) * | 2019-12-17 | 2020-04-10 | 天邑昊建筑装饰工程有限公司 | Auxiliary welding equipment for curtain wall installation and construction |
| CN112404846A (en) * | 2020-11-09 | 2021-02-26 | 淮南市金德实业有限公司 | Six-axis all-position welding robot |
| CN112404846B (en) * | 2020-11-09 | 2022-08-23 | 淮南市金德实业有限公司 | Six-axis all-position welding robot |
| CN112338398A (en) * | 2020-11-12 | 2021-02-09 | 左健康 | Four-side-frame automatic welding device |
| CN112440110A (en) * | 2020-11-13 | 2021-03-05 | 厦门金新展示架有限公司 | Metal display rack production process and equipment thereof |
| CN112894081A (en) * | 2021-01-05 | 2021-06-04 | 杭州宏崎建材有限公司 | Automatic girth welding machine with can change weldment automatically |
| CN112917052A (en) * | 2021-01-25 | 2021-06-08 | 宁波纬诚科技股份有限公司 | Welding equipment |
| CN114603863A (en) * | 2022-03-11 | 2022-06-10 | 洛阳瑞昌环境工程有限公司 | Plastic support bar automatic weld machine |
| CN114603863B (en) * | 2022-03-11 | 2023-10-24 | 洛阳瑞昌环境工程有限公司 | Automatic welding machine for plastic support bars |
| CN114789315A (en) * | 2022-05-27 | 2022-07-26 | 江苏海德曼新材料股份有限公司 | Welding manufacturing device for steel structure framework of architectural decoration curtain wall |
| CN114789315B (en) * | 2022-05-27 | 2022-12-09 | 江苏海德曼新材料股份有限公司 | Welding manufacturing device for steel structure framework of architectural decoration curtain wall |
| CN115255794A (en) * | 2022-10-01 | 2022-11-01 | 香河万利通实业有限公司 | Aluminum alloy door and window welded platform |
| CN115255794B (en) * | 2022-10-01 | 2023-01-13 | 荣盛家居有限公司 | Aluminum alloy door and window welded platform |
| CN115570304A (en) * | 2022-11-18 | 2023-01-06 | 苏州中南钢结构股份有限公司 | Quick welding platform for container house |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109079370B (en) | 2020-05-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109079370A (en) | A kind of automatic welding device applied to Curtain wall frame | |
| CN102398150B (en) | Automatic screw tightening apparatus | |
| CN209140470U (en) | A kind of pipe chamfering machine handling equipment | |
| CN109809174B (en) | Loading and unloading system for plasma cleaning machine and full-automatic microwave plasma cleaning equipment | |
| CN207464607U (en) | A kind of automatic feed/discharge equipment | |
| US20210402531A1 (en) | Automated screw driving machine | |
| CN112157549B (en) | Automatic machining production line for drum brake pads | |
| CN105965101B (en) | A kind of double-side chamfering machine | |
| CN109607201B (en) | Ceramic tile taking and placing device | |
| CN105414375A (en) | Steel pipe weld joint identifying and positioning device | |
| CN115432431A (en) | A processing is with automatic manipulator for shifting material | |
| CN110844541A (en) | Automatic screw feeding machine for product assembly | |
| CN109533995A (en) | A kind of processing workshop automatic stacking industrial robot | |
| CN113103017A (en) | Full-automatic production line for heating radiators | |
| CN210944013U (en) | Unloading device for welding net rack pipe | |
| CN113927270B (en) | Automatic screw tightening machine for automobile battery shell cover | |
| CN113146334B (en) | Feeding and discharging equipment for numerical control machine tool and numerical control machine tool thereof | |
| CN210938025U (en) | Screw is automatic discharge mechanism one by one suitable for hardware product equipment | |
| CN211197749U (en) | Automatic screw feeding machine for product assembly | |
| CN108296859A (en) | A kind of mechanical arm production fixing device | |
| CN210794876U (en) | Feed mechanism suitable for survey chartered plane | |
| CN110816960A (en) | Automatic filling equipment of shell fragment | |
| CN110329973B (en) | Filling equipment is used in processing of industry sanitizer | |
| CN211306592U (en) | Full-automatic gang drill structure | |
| CN215702245U (en) | Automatic blanking device of cutting machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |