CN109158807A - A kind of Intelligent welding mechanical arm - Google Patents

A kind of Intelligent welding mechanical arm Download PDF

Info

Publication number
CN109158807A
CN109158807A CN201811008131.9A CN201811008131A CN109158807A CN 109158807 A CN109158807 A CN 109158807A CN 201811008131 A CN201811008131 A CN 201811008131A CN 109158807 A CN109158807 A CN 109158807A
Authority
CN
China
Prior art keywords
fixedly connected
mechanical arm
flange disk
cursor
intelligent welding
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.)
Pending
Application number
CN201811008131.9A
Other languages
Chinese (zh)
Inventor
陈律希
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Hanming Intelligent Technology Co Ltd
Nanjing Hanmingzhi Intelligent Technology Co Ltd
Original Assignee
Nanjing Hanming Intelligent Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nanjing Hanming Intelligent Technology Co Ltd filed Critical Nanjing Hanming Intelligent Technology Co Ltd
Priority to CN201811008131.9A priority Critical patent/CN109158807A/en
Publication of CN109158807A publication Critical patent/CN109158807A/en
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C23/00Non-electrical signal transmission systems, e.g. optical systems
    • G08C23/04Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0252Steering means

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

The invention discloses a kind of Intelligent welding mechanical arms, including support base, the support base inner rotation is connected with rotating disc, the rotating disc upper end is fixedly connected with arm bearing support, arm bearing support front end is rotatably connected to support arm, the support arm upper end is fixedly installed with attachment device, the attachment device right end is rotatably connected to cursor, the cursor right end is fixedly connected with U-board, rotating bar is rotatably connected in the U-board, first flange disk is fixedly connected on the right side of the rotating bar, first flange end margin of facing left is fixedly installed with fastening bolt, the first flange disk is fixedly connected with second flange disk by fastening bolt, the second flange disk right end is fixedly connected with connector, the connector side is fixedly connected with pyroscan.The present invention improves the service efficiency of Intelligent welding mechanical arm, can detect to welding position, ensure that the quality of welding, saves the time of staff, improves the progress of work.

Description

A kind of Intelligent welding mechanical arm
Technical field
The present invention relates to technical field of welding equipment, specially a kind of Intelligent welding mechanical arm.
Background technique
Mechanical arm is the automated machine device that most broad practice is obtained in robot technical field, is made in industry Make, therapeutic treatment, entertainment service, military affairs, the fields such as semiconductors manufacture and space probation can see its figure, although it Form have nothing in common with each other, but they have the characteristics that one it is common, be to receive instruction, be precisely positioned to three-dimensional The certain point of (or two dimension) spatially carries out operation, and mechanical arm is divided into multi-joint manipulator arm according to the difference of structure type, Rectangular coordinate system mechanical arm, spherical coordinate system mechanical arm, polar coordinates mechanical arm, cylindrical coordinates mechanical arm etc., with machinery The development in change epoch, mechanical arm also by more carried out using.
Mechanical arm, it is movable as the arm of people, the engineering goods of people's labour can be replaced, it can be real by PLC controller The work of some column such as now welding, carrying, cutting, spraying.Electroplating equipment wielding machine arm is had been widely used at present in auto manufacturing, automobile The welding such as chassis, chair framework, guide rail, silencer and fluid torque-converter, especially obtains in automobile chassis welding production It is widely applied.Welding quality can be improved using this technology, thus even attempt to replace certain arc-welding operations with it, weld Connecing mechanical arm is the industrial robot for being engaged in welding (including cutting and spraying).Existing Intelligent welding mechanical arm, cannot be to welding Position is detected, and people is needed to detect to welding scene, cumbersome, and the radiance generated in the welding process can be to eyes It causes centainly to damage, there is also working efficiencies cannot quickly weld target point more slowly for mechanical arm, influences the progress of work.
Summary of the invention
The purpose of the present invention is to provide a kind of Intelligent welding mechanical arms, mentioned above in the background art existing to solve Intelligent welding mechanical arm cannot detect welding position, need staff to detect to welding scene, cumbersome asks Topic.
In order to solve the above technical problems, the invention provides the following technical scheme: a kind of Intelligent welding mechanical arm, including support Pedestal, the support base inner rotation are connected with rotating disc, and the rotating disc upper end is fixedly connected with arm bearing support, the arm Bearing support front end is rotatably connected to support arm, and the support arm upper end is fixedly installed with attachment device, the attachment device right end It is rotatably connected to cursor, the cursor right end is fixedly connected with U-board, and rotating bar, institute are rotatably connected in the U-board It states and is fixedly connected with first flange disk on the right side of rotating bar, first flange end margin of facing left is fixedly installed with fastening bolt, institute It states first flange disk and second flange disk is fixedly connected with by fastening bolt, the second flange disk right end is fixedly connected with connection Head, the connector side are fixedly connected with pyroscan, and the connector right end is fixedly installed with plumb joint.
Preferably, the support base side is fixedly connected with Convenient table.
Preferably, the support base left end is fixedly connected with fixed block, and the upper end of fixing block is fixedly installed with first Motor, the first motor output shaft are fixedly connected with gear, and the gear side is rotatably connected to driving wheel, the support bottom Seat inner rotation is connected with rotating disc, and the rotation disc side offers tooth connection, the rotation disc side pass through tooth connection and Driving wheel rotation connection.
Preferably, hydraulic cylinder is fixedly installed with inside the cursor, the hydraulic cylinder left end is fixedly connected with rotary head, The rotating bar left end, which is fixedly connected with, is fixedly connected with block, and the rotary head is rotatablely connected with block is fixedly connected with, the rotating bar Upper end is fixedly connected with fixed card buckle, and the rotating bar is rotatably connected on inside U-board by fixed card buckle.
Preferably, fastening pad is provided between the first flange disk and second flange disk.
Compared with prior art, the beneficial effects of the present invention are:
1. the present invention, is fixedly connected with connector by second flange disk right end, connector side is fixedly connected with infrared Line detector carries out Detection location to Target Weld Vertex by pyroscan, solves existing Intelligent welding mechanical arm, no Welding position can be detected, staff is needed to detect to welding scene, cumbersome technical problem improves intelligence The service efficiency of electroplating equipment wielding machine arm can detect welding position, ensure that the quality of welding, also avoid staff past It runs again, saves the time of staff, and reached by the motion mode of the equipment and be quickly spot welded to target, mention The high progress of work, ensure that the stability of quality and reduces labor intensity.
2. when using Intelligent welding mechanical arm, first can be passed through by setting first flange disk and second flange disk Ring flange is fixed through fastening bolt mutually with second flange disk, convenient for being hinged with different tools or end effector, improves the machinery The use scope of arm.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention;
Fig. 2 is support base of the embodiment of the present invention and fixed block cross-sectional view;
Fig. 3 is attachment device of embodiment of the present invention structural schematic diagram;
Fig. 4 is cursor of the embodiment of the present invention and U-board cross-sectional view.
In figure: 1, support base;2, Convenient table;3, fixed block;4, first motor;5, gear;6, driving wheel;7, it rotates Disk;8, tooth connection;9, arm bearing support;10, support arm;11, attachment device;12, the second motor;13, fixed disk;14, cursor; 15, U-board;16, hydraulic cylinder;17, rotating bar;18, fixed card buckle;19, rotary head;20, it is fixedly connected with block;21, first flange Disk;22, second flange disk;23, fastening bolt;24, connector;25, pyroscan;26, plumb joint.
Specific embodiment
In order to improve the service efficiency of Intelligent welding mechanical arm, welding position can be detected, ensure that welding Quality, also staff is avoided back and forth to run, saves the time of staff, ensure that quality stability and reduce labor Fatigue resistance, the embodiment of the invention provides a kind of Intelligent welding mechanical arms.Following will be combined with the drawings in the embodiments of the present invention, right Technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only the present invention one Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
Embodiment 1
Fig. 1-4 is please referred to, a kind of Intelligent welding mechanical arm, including support base 1, support base 1 are present embodiments provided Inner rotation is connected with rotating disc 7, and 7 upper end of rotating disc is fixedly connected with arm bearing support 9, and 9 front end of arm bearing support is rotatably connected to Support arm 10,10 upper end of support arm are fixedly installed with attachment device 11, and 11 right end of attachment device is rotatably connected to cursor 14, turn 14 right end of swing arm is fixedly connected with U-board 15, and rotating bar 17 is rotatably connected in U-board 15, is fixedly connected on the right side of rotating bar 17 There is first flange disk 21,21 left end edge of first flange disk is fixedly installed with fastening bolt 23, and first flange disk 21 passes through fastening Bolt 23 is fixedly connected with second flange disk 22, and 22 right end of second flange disk is fixedly connected with connector 24,24 side of connector It is fixedly connected with pyroscan 25,24 right end of connector is fixedly installed with plumb joint 26.
It in the present embodiment, is rotated in support base 1 by rotating disc 7, then band swing arm bearing support 9 is rotated, and is led to The position for overregulating support arm 10 adjusts the height and orientation of plumb joint 26, then by cursor 14 in 11 transfer of attachment device Dynamic, then attachment device 11 drives U-board 15 to be rotated, that is, can reach the rotation purpose of plumb joint 26, then according to rotating bar 17 rotate in U-board 15, can further adjust the welding and assembling height of plumb joint 26, be reached by the motion mode of the equipment Quickly target is spot welded, improves the progress of work, then first flange disk 21 and second flange disk 22 pass through fastening bolt 23 It is attached, convenient for being hinged with different tools or end effector, the use scope of the mechanical arm is improved, to Target Weld process In, detection welding effect is carried out by pyroscan 25, wherein 25 model SZ79-ABT-100 of pyroscan, protected The quality for having demonstrate,proved welding, also avoids staff from back and forth running, saves the time of staff, easy to adjustment in time, guarantees Welding quality.
Embodiment 2
Please refer to Fig. 1-4, be further improved on the basis of embodiment 1: 1 side of support base is fixedly connected with solid Determine leg 2, be convenient for consolidation process, prevent in use the equipment shake, influence the normal work of equipment, support 1 left end of pedestal is fixedly connected with fixed block 3, and 3 upper end of fixed block is fixedly installed with first motor 4, wherein first motor 4 and second 12 model of motor is Y80M1-2, and 4 output shaft of first motor is fixedly connected with gear 5, and 5 side of gear is rotatably connected to transmission Wheel 6,1 inner rotation of support base is connected with rotating disc 7, and 7 side of rotating disc offers tooth connection 8, and 7 side of rotating disc passes through company It connects tooth 8 and driving wheel 6 is rotatablely connected, rotated by first motor 4 with moving gear 5, then gear 5 will by driving wheel 6 Kinetic energy is conveyed to rotating disc 7 by tooth connection 8, then rotating disc 7 can be rotated with swing arm bearing support 9, be easy to implement this and set The rotation of standby pedestal ensure that the stability of quality and reduce labor intensity, reached fast by the motion mode of the equipment Speed is spot welded target, improves the progress of work.
Wherein, the second motor 12 is fixedly installed in attachment device 11,12 right end of the second motor is fixedly connected with fixed disk 13,12 output shaft of the second motor is fixedly connected with cursor 14, and 14 left end of cursor is rotatably connected on inside fixed disk 13, just In driving cursor 14 to be rotated by the second motor 12, then it is rotatablely connected, is protected in fixed disk 13 by cursor 14 The stability of cursor 14 has been demonstrate,proved, has reduced and shakes, transmission kinetic energy has been convenient for, is fixedly installed with hydraulic cylinder inside cursor 14 16,16 left end of hydraulic cylinder is fixedly connected with rotary head 19, and 17 left end of rotating bar, which is fixedly connected with, is fixedly connected with block 20, rotary head 19 It is rotatablely connected with block 20 is fixedly connected with, 17 upper end of rotating bar is fixedly connected with fixed card buckle 18, and rotating bar 17 passes through fixed card buckle 18 are rotatably connected on inside U-board 15, and 16 right end of hydraulic cylinder is rotatablely connected by rotary head 19 with block 20 is fixedly connected with, so that liquid Cylinder pressure 16 and rotating bar 17 are rotatablely connected, and are then rotatablely connected, are led to by the fixed card buckle 18 and U-board 15 of 17 upper end of rotating bar It crosses the progress of hydraulic cylinder 16 shrinkage band turn lever 17 to be moved down or drawn close to level, improves its property for being convenient for work Can, it is provided with fastening pad between first flange disk 21 and second flange disk 22, its connection can be made more to fasten, guarantees that it can be with Normal use is also convenient for improving the tightness for being hinged with different tools or end effector, ensure that the stability and reduction of quality Labor intensity.
In description of the invention, it should be noted that the orientation of the instructions such as term "vertical", "upper", "lower", "horizontal" or Person's positional relationship is orientation based on the figure or positional relationship, is merely for convenience of description of the present invention and simplification of the description, Rather than the device or element of instruction or hint meaning must have a particular orientation, and are constructed and grasped with specific orientation Make, therefore is not considered as limiting the invention.In addition, " first ", " second " are used for description purposes only, and should not be understood as Instruction implies relative importance.
In description of the invention, it is also necessary to explanation, unless otherwise specific regulation and limitation, term " setting ", " peace Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally Connection, can be mechanical connection, is also possible to be electrically connected, can be and be directly connected to, and be also possible to be connected by intermediary, can To be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be above-mentioned The concrete meaning of term in the present invention.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding And modification, the scope of the present invention is defined by the appended.

Claims (6)

1. a kind of Intelligent welding mechanical arm, including support base (1), it is characterised in that: support base (1) inner rotation connects It is connected to rotating disc (7), rotating disc (7) upper end is fixedly connected with arm bearing support (9), arm bearing support (9) the front end rotation It is connected with support arm (10), support arm (10) upper end is fixedly installed with attachment device (11), and the attachment device (11) is right End is rotatably connected to cursor (14), and cursor (14) right end is fixedly connected with U-board (15), in the U-board (15) It is rotatably connected to rotating bar (17), is fixedly connected with first flange disk (21), the first flange on the right side of the rotating bar (17) Disk (21) left end edge is fixedly installed with fastening bolt (23), and the first flange disk (21) connects by the way that fastening bolt (23) are fixed It is connected to second flange disk (22), second flange disk (22) right end is fixedly connected with connector (24), the connector (24) Side is fixedly connected with pyroscan (25), and connector (24) right end is fixedly installed with plumb joint (26).
2. a kind of Intelligent welding mechanical arm according to claim 1, it is characterised in that: support base (1) side is solid Surely Convenient table (2) are connected with.
3. a kind of Intelligent welding mechanical arm according to claim 1, it is characterised in that: support base (1) left end is solid Surely it is connected with fixed block (3), fixed block (3) upper end is fixedly installed with first motor (4), first motor (4) output Axis is fixedly connected with gear (5), and gear (5) side is rotatably connected to driving wheel (6), is turned inside the support base (1) Dynamic to be connected with rotating disc (7), rotating disc (7) side offers tooth connection (8), and rotating disc (7) side passes through connection Tooth (8) and driving wheel (6) are rotatablely connected.
4. a kind of Intelligent welding mechanical arm according to claim 1, it is characterised in that: fixed in the attachment device (11) It is equipped with the second motor (12), the second motor (12) right end is fixedly connected with fixed disk (13), second motor (12) Output shaft is fixedly connected with cursor (14), and the cursor (14) left end is rotatably connected on fixed disk (13) inside.
5. a kind of Intelligent welding mechanical arm according to claim 1, it is characterised in that: fixed inside the cursor (14) It is equipped with hydraulic cylinder (16), hydraulic cylinder (16) left end is fixedly connected with rotary head (19), and rotating bar (17) left end is solid Surely it is connected with and is fixedly connected block (20), the rotary head (19) is rotatablely connected with block (20) are fixedly connected with, the rotating bar (17) Upper end is fixedly connected with fixed card buckle (18), and the rotating bar (17) is rotatably connected on U-board (15) by fixed card buckle (18) It is internal.
6. a kind of Intelligent welding mechanical arm according to claim 1, it is characterised in that: the first flange disk (21) and the Two ring flanges are provided with fastening pad between (22).
CN201811008131.9A 2018-08-31 2018-08-31 A kind of Intelligent welding mechanical arm Pending CN109158807A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811008131.9A CN109158807A (en) 2018-08-31 2018-08-31 A kind of Intelligent welding mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811008131.9A CN109158807A (en) 2018-08-31 2018-08-31 A kind of Intelligent welding mechanical arm

Publications (1)

Publication Number Publication Date
CN109158807A true CN109158807A (en) 2019-01-08

Family

ID=64893641

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811008131.9A Pending CN109158807A (en) 2018-08-31 2018-08-31 A kind of Intelligent welding mechanical arm

Country Status (1)

Country Link
CN (1) CN109158807A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109975064A (en) * 2019-04-04 2019-07-05 南京涵铭置智能科技有限公司 A kind of seabed ore scout carrier and its acquisition ore method
CN110202302A (en) * 2019-07-24 2019-09-06 江苏天鹏机电制造有限公司 A kind of frid automatic welding machine people
CN111774696A (en) * 2020-07-10 2020-10-16 江苏理工学院 Fixing clamp
CN114008544A (en) * 2019-04-15 2022-02-01 麦格纳国际公司 Method for eliminating weld gap and positional deviation in welded assembly

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106112336A (en) * 2016-08-15 2016-11-16 江门市弘程精密制造有限公司 A kind of six axle welding manipulators
CN205702911U (en) * 2016-03-31 2016-11-23 江苏泉工机器人科技有限公司 High-accuracy mechanical arm welding equipment
CN205798770U (en) * 2016-07-18 2016-12-14 江苏瑞伯特智能科技股份有限公司 A kind of six axle welding manipulators
CN106425199A (en) * 2016-11-06 2017-02-22 合肥齐飞信息技术有限公司 Vehicle body welding manipulator for vehicle production
CN206010211U (en) * 2016-08-26 2017-03-15 安徽鸿路钢结构(集团)股份有限公司 A kind of novel welding machine people
CN106736125A (en) * 2017-03-17 2017-05-31 盐城市高跃机械有限公司 Suspension type for vehicle seat solid welding robot
CN206445815U (en) * 2017-01-19 2017-08-29 珠海市椿田机械科技有限公司 A kind of multi-function robot
CN206632561U (en) * 2017-03-10 2017-11-14 深圳一诺基业科技有限公司 A kind of manipulator of Multi-angle free rotation
CN206998099U (en) * 2017-06-28 2018-02-13 重庆众思创智能科技有限公司 A kind of Automation of Welding manipulator
CN207127426U (en) * 2017-09-18 2018-03-23 丁勇杰 Welding robot
CN107891423A (en) * 2017-11-08 2018-04-10 石家庄铁道大学 Intelligent exploration robot and its detection method based on Multi-sensor Fusion detection

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205702911U (en) * 2016-03-31 2016-11-23 江苏泉工机器人科技有限公司 High-accuracy mechanical arm welding equipment
CN205798770U (en) * 2016-07-18 2016-12-14 江苏瑞伯特智能科技股份有限公司 A kind of six axle welding manipulators
CN106112336A (en) * 2016-08-15 2016-11-16 江门市弘程精密制造有限公司 A kind of six axle welding manipulators
CN206010211U (en) * 2016-08-26 2017-03-15 安徽鸿路钢结构(集团)股份有限公司 A kind of novel welding machine people
CN106425199A (en) * 2016-11-06 2017-02-22 合肥齐飞信息技术有限公司 Vehicle body welding manipulator for vehicle production
CN206445815U (en) * 2017-01-19 2017-08-29 珠海市椿田机械科技有限公司 A kind of multi-function robot
CN206632561U (en) * 2017-03-10 2017-11-14 深圳一诺基业科技有限公司 A kind of manipulator of Multi-angle free rotation
CN106736125A (en) * 2017-03-17 2017-05-31 盐城市高跃机械有限公司 Suspension type for vehicle seat solid welding robot
CN206998099U (en) * 2017-06-28 2018-02-13 重庆众思创智能科技有限公司 A kind of Automation of Welding manipulator
CN207127426U (en) * 2017-09-18 2018-03-23 丁勇杰 Welding robot
CN107891423A (en) * 2017-11-08 2018-04-10 石家庄铁道大学 Intelligent exploration robot and its detection method based on Multi-sensor Fusion detection

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109975064A (en) * 2019-04-04 2019-07-05 南京涵铭置智能科技有限公司 A kind of seabed ore scout carrier and its acquisition ore method
CN114008544A (en) * 2019-04-15 2022-02-01 麦格纳国际公司 Method for eliminating weld gap and positional deviation in welded assembly
CN110202302A (en) * 2019-07-24 2019-09-06 江苏天鹏机电制造有限公司 A kind of frid automatic welding machine people
CN111774696A (en) * 2020-07-10 2020-10-16 江苏理工学院 Fixing clamp

Similar Documents

Publication Publication Date Title
CN109158807A (en) A kind of Intelligent welding mechanical arm
CN105855762B (en) A kind of welding system based on robot technology
CN105081633B (en) Five-degree-of-freedom welding cutting robot
CN206519669U (en) A kind of double continuous line welding device of view-based access control model
CN204913115U (en) Five degrees of freedom welding cutting machine people
CN102672704A (en) Differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms
CN204712049U (en) A kind of Six-DOF industrial robot
CN203316970U (en) Robot welding pneumatic roll-over workbench
CN102689295A (en) Full-driven magnetic attraction type multifunctional wall climbing robot with multi-degree-of-freedom robotic arm
CN106392357B (en) A kind of barrel-type casing automatic welding machine people
CN109693057A (en) Multi-angle Frame Welding robot
CN105598626A (en) Automatic tailor-welding tool for reel sprinkler reel wing plate
CN204724990U (en) A kind of integrated four axle fully-automatic intelligent argon arc welding machines
CN110039248A (en) A kind of molding welding equipment for I-steel production
CN206912599U (en) Lower frame of excavator positioner
CN105880881B (en) A kind of Intelligent welding robot device
CN104589346A (en) Collisionless path planning method suitable for manipulator
CN209094857U (en) Welding auxiliary assembly
CN205914905U (en) Intelligence welding robot device
CN202894632U (en) Container connecting pipe intersecting wire-electrode cutting robot mechanism
CN107052689A (en) Lower frame of excavator positioner
CN203141008U (en) Switching device for fixing welding gun
CN206632561U (en) A kind of manipulator of Multi-angle free rotation
CN105509814B (en) Automobile instrument panel monitor station
CN116275766A (en) Four-foot big dog type welding robot

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
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20190108