CN109352138A - A kind of magnetic separator cartridge automatic soldering technique and welding robot system - Google Patents
A kind of magnetic separator cartridge automatic soldering technique and welding robot system Download PDFInfo
- Publication number
- CN109352138A CN109352138A CN201810326396.7A CN201810326396A CN109352138A CN 109352138 A CN109352138 A CN 109352138A CN 201810326396 A CN201810326396 A CN 201810326396A CN 109352138 A CN109352138 A CN 109352138A
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- China
- Prior art keywords
- welding
- mould group
- side plate
- magnetic separator
- welding gun
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- 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.)
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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
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/167—Arc welding or cutting making use of shielding gas and of a non-consumable electrode
-
- 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
- B23K37/003—Cooling 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
- B23K9/00—Arc welding or cutting
- B23K9/0026—Arc welding or cutting specially adapted for particular articles or 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
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
Abstract
The invention discloses a kind of magnetic separator cartridge automatic soldering technique and welding robot systems, it solves in the prior art that welding quality is poor, welding efficiency is lower, the higher deficiency of human cost, have the effect of capableing of efficiently, the weld job of automatic, high quality completion cartridge；Its technical solution are as follows: the following steps are included: process parameters range when being welded according to cartridge, determines optimal processing parameter value using orthogonal experiment method；Choose the magnetically soft alloy material stick that adjacent three row stretches out both side plate symmetric position, according to it is upper and lower, in welding sequence the magnetically soft alloy material stick end and both side plate are welded together, fix two sides Board position；According to it is upper and lower, in welding sequence weld the magnetically soft alloy material sticks of other rows of both side plate simultaneously at equal intervals, dynamic regulation welding gun tungsten electrode is at a distance from both side plate when welding.
Description
Technical field
The present invention relates to cartridge processing technique field more particularly to a kind of magnetic separator cartridge automatic soldering technique and welderings
Welding robot system.
Background technique
Cartridge is magnetic separator core component, is mainly made of four blocks of soft magnetic materials plates and several soft magnetic materials sticks.It will be soft
The both ends of magnetic material bar weld together with two blocks of outside soft magnetic materials plate, form cartridge component.
Currently, cartridge welding mostly uses greatly artificial argon arc welding method to complete welding.There is weldering in this welding manner
Connect the defects of of poor quality, welding efficiency is low, human cost is higher.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of magnetic separator cartridge automatic soldering technique and welding
Robot system has the effect of capableing of the weld job of efficient, automatic, high quality completion cartridge.
The present invention adopts the following technical solutions:
A kind of magnetic separator cartridge automatic soldering technique, comprising the following steps:
Process parameters range when step (1) is welded according to cartridge determines optimal processing parameter value using orthogonal experiment method；
Step (2) chooses the magnetically soft alloy material that most uplink, center row and most three row of downlink stretch out both side plate symmetric position
Stick, according to it is upper and lower, in welding sequence the magnetically soft alloy material stick end and both side plate are welded together, make both side plate
Position is fixed；
Step (3) according to it is upper and lower, in welding sequence weld the magnetically soft alloy materials of other rows of both side plate simultaneously at equal intervals
Stick, dynamic regulation welding gun tungsten electrode is at a distance from both side plate when welding.
Further, the technological parameter includes that the distance of welding current, speed of welding, welding gun tungsten electrode away from both side plate is gentle
Gas pressure.
Further, in the step (1), process parameters range when according to human weld determines technological level number, builds
The orthogonal arrage of vertical technological parameter and technological level.
Further, it in the step (3), is detected according to arc voltage and obtains welding gun tungsten electrode indirectly at a distance from both side plate, led to
It crosses controller control roll adjustment movement mould group and drives welding gun movement, with adjustable range size.
Further, it is welded using the argon arc welding mode of not filler.
A kind of magnetic separator cartridge automatic welding machine people's system, comprising:
Robot body, including station and two groups of mechanical arms that can be moved in X, Y, Z-direction, every group of mechanical arm includes
Arc voltage roll adjustment moves mould group, X-axis movement mould group, Y-axis movement mould group and Z axis and moves mould group；
Wherein, arc voltage roll adjustment movement mould group is fixed on side and the clamping welding gun of Z axis movement mould group；It is solid that Z axis moves mould group
Due to the side of X-axis movement mould group, the bottom of X-axis movement mould group, which is equipped with, moves mould group along the Y-axis that station moves；
Control system, has man machine operation interface, and control welding gun carries out weld job according to setting program.
It further, further include cooling water tank, the cooling water tank is connected by water pipe with welding gun.
Further, each movement mould group of the mechanical arm connects driving motor, the driving motor by transmission mechanism
It is equipped with driver and controller.
It further, further include the source of welding current, the cathode of the source of welding current is connected by cable with the tungsten electrode of welding gun, welding electricity
The anode in source is connected by cable with welded part.
Further, the side of the robot body is equipped with smoke-discharging dust-eliminating device, and the smoke-discharging dust-eliminating device includes pair
It should smoke discharging pipe in welding gun installation site and the smoke evacuation dust removal machine that is connected with smoke discharging pipe.
Compared with prior art, the beneficial effects of the present invention are:
(1) optimal processing parameter value when the present invention determines welding using orthogonal experimental method improves welding precision；
(2) when the present invention welds the magnetically soft alloy material stick of cartridge side plate, using it is upper and lower, in welding sequence, close
Reason planning welding track guarantees that adequately heat dissipation time, both side plate weld simultaneously, make thermal stress largely be cancelled out each other, greatly
The thermal deformation of side plate is reduced greatly；
(3) the present invention detects according to arc voltage using dynamic regulation welding gun tungsten electrode at a distance from side plate and obtains distance indirectly,
Then roll adjustment is controlled by controller and moves the drive welding gun movement of mould group, with adjustable range size, distance is made to be maintained at best model
In enclosing；
(4) present invention improves welding efficiency by the alternately welding, pick-and-place of the cartridge on two stations；Realization high quality,
High efficiency is automatically performed cartridge weld job.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is system block diagram of the invention；
Fig. 2 is welding robot system structural schematic diagram of the invention；
Fig. 3 is cartridge welding robot composition block diagram of the invention；
Fig. 4 is arc voltage roll adjustment the system composition block diagram of the invention；
Wherein, 1, robot body；2, the source of welding current；3, cooling water tank；4, argon tanks；5, X-axis moves mould group；6, Z1 axis
Move mould group；7, welding gun I；8, Z2 axis moves mould group；9, welding gun II；10, arc voltage roll adjustment moves mould group；11, smoke discharging pipe；12,
Smoke evacuation dust removal machine；13, be locked mechanism；14, Y-axis moves mould group.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique is introduced, exist in the prior art that welding quality is poor, welding efficiency is lower, human cost
Higher deficiency, in order to solve technical problem as above, present applicant proposes a kind of magnetic separator cartridge automatic soldering technique and
Welding robot system.
In a kind of typical embodiment of the application, a kind of magnetic separator cartridge automatic soldering technique is provided, according to
The characteristics of medium box structure, material, welding method are determined as the argon arc welding method of not filler, the i.e. protection in inert gas argon gas
Under, it is melted by the end heat that electric arc will stretch out the magnetically soft alloy material stick of two blocks of side plates, together with plate-side plate welding.
Wherein, the techniques such as distance, welding track, the air-flow air pressure of welding current, speed of welding, welding gun tungsten electrode away from workpiece are joined
Number welding quality, efficiency have a significant impact；It intercouples, influence each other again between these technological parameters, accordingly, it is determined that most
Good technological parameter and method are most important.
Magnetic separator cartridge automatic soldering technique process are as follows:
Process parameters range when step (1) is according to human weld, determines technological level number, then establishes technological parameter
The orthogonal arrage of (factor) and technological level.
The application determines that factor number is 4, and the level of each parameter is 3, establishes the horizontal orthogonal experiment of 4 factor 3
Table；It is obtained after serial experiment:
Welding current is 250 ± 10A, and speed of welding is 25 ± 5mm/s, distance 6 ± 1mm of the welding gun tungsten electrode away from workpiece, gas
Gas presses 0.5 ± 0.1MPa.
The thin plate that step (2) is 2-3mm due to the side plate of cartridge is also easy to produce welding thermal deformation in welding, causes side
The deformation such as warpage, indent of plate, so that optimum distance of the welding gun tungsten electrode at a distance from side plate more than 6 ± 1mm, causes solder skip or weldering
Burst is fallen into, and cannot reach welding quality requirement；Therefore, welding track of making rational planning for can effectively reduce side plate thermal deformation.
The welding measure of the application are as follows:
Firstly, choose side plate most uplink, the magnetically soft alloy material stick of center row and most downlink is welded, according to it is upper and lower,
In welding sequence, using two welding guns simultaneously weld the symmetrical position of both side plate, keep two sides Board position substantially stationary；
Then, according to other row magnetically soft alloy material stick ends of upper and lower, equal intervals welding；Have so relatively adequately
It radiates the time, both side plate welds simultaneously, so that thermal stress is largely cancelled out each other, substantially reduces the thermal deformation of side plate.
In addition, in order to further decrease the influence of thermal deformation welding quality, using dynamic regulation welding gun tungsten electrode and side plate
Distance, i.e., detected according to arc voltage (arc voltage is directlyed proportional at a distance from tungsten electrode and side plate) and obtain distance indirectly, then pass through controller
It controls roll adjustment movement mould group and drives welding gun movement, with adjustable range size, be maintained at distance in the optimum range of 6 ± 1mm.
In the another embodiment of the application, as shown in Figs 1-4, a kind of magnetic separator cartridge automatic welding machine is provided
Device people's system, including robot body 1, control system, cooling water tank 3, the source of welding current 2, argon tanks 4 and smoke-discharging dust-eliminating device；
Control system is equipped with man machine operation interface, by operating artificial operation interface, adjusts the operating status of robot body 1.
The robot body 1 includes station, and the two sides of station are separately installed with and can move in X, Y, Z-direction
Mechanical arm；It wherein, in the vertical direction of same level is X-direction with Y-direction, with X, Y using column traffic direction as Y-direction
The vertical direction of plane where direction is Z-direction.
As shown in Fig. 2, Y-axis movement mould group 14, the top peace of the Y-axis movement mould group 14 are installed in the two sides of station respectively
Dress X-axis movement mould group 5, front side (using the traffic direction of workpiece as front side) the installation Z axis movement mould group of X-axis movement mould group 5, two
Mechanical arm is transported in X, Y, Z-direction under the drive that its X-axis moves mould group 5, Y-axis movement mould group 14, Z axis movement mould group respectively
It is dynamic.
The installed in front arc voltage roll adjustment that Z axis moves mould group moves mould group 10, and the side of arc voltage roll adjustment movement mould group 10 passes through
The mechanism that is locked 13 clamps welding gun；The mechanism 13 that is locked includes V-block, and welding gun is fixed on Z axis movement mould by V-block
Group front side is simultaneously fastened by bolts.
The welding gun is powered by the source of welding current 2；The cathode of the source of welding current 2 is connected by cable with the tungsten electrode of welding gun, is welded
The anode of power supply 2 is connected by cable with welded part.
Two mechanical arms respectively clamp a welding gun, i.e. welding gun I7, welding gun II9, and welding gun I7 and welding gun II9 pass through water pipe respectively
Cooling water tank 3 is connected, water pipe separates water pipe and return pipe, constitutes water cooling by cooling water tank 3, outlet pipe and return pipe and welding gun and follows
Loop system.
The welding gun I7 and welding gun II9 is separately connected argon tanks 4, has valve in the argon tanks 4.
The side of station is equipped with smoke-discharging dust-eliminating device, and the smoke-discharging dust-eliminating device includes smoke discharging pipe 11 and and smoke exhaust pipe
The connected smoke evacuation dust removal machine 12 in road 11,11 end of smoke discharging pipe are flue dust collecting mouth, and the flue dust collecting mouth is located at two
The middle upper part of welding gun.
For the ease of illustrating the movement of mechanical arm, a mechanical arm is defined as mechanical arm I, another mechanical arm is defined as
Mechanical arm II, the corresponding component of the two are all made of this mode and are distinguished.
The X1 axis movement mould group of mechanical arm I includes X1 axis driving motor and its transmission mechanism, and transmission mechanism uses gear
Rack gear, Y1 axis movement mould group include Y1 axis driving motor and its transmission mechanism, and transmission mechanism uses rack-and-pinion
Transmission mechanism；It includes Z1 axis driving motor and its transmission mechanism that Z1 axis, which moves mould group 6, and transmission mechanism uses screw nut driven
Mechanism.
The X2 axis movement mould group of mechanical arm II includes X2 axis driving motor and its transmission mechanism, and transmission mechanism uses gear
Rack gear, Y2 axis movement mould group include Y2 axis driving motor and its transmission mechanism, and transmission mechanism uses rack-and-pinion
Transmission mechanism；It includes Z2 axis driving motor and its transmission mechanism that Z2 axis, which moves mould group 8, and transmission mechanism uses screw nut driven
Mechanism.
X1 axis driving motor, X2 axis driving motor, Y-axis driving motor, Z1 are installed in X, Y, Z-direction respectively on mechanical arm
Axis driving motor, Z2 axis driving motor, X1 axis driving motor, X2 axis driving motor, Y-axis driving motor, Z1 axis driving motor, Z2
Axis driving motor passes through transmission mechanism respectively and is connected with mechanical arm.
Above-mentioned each driving motor is connected to controller by driver.
The arc voltage roll adjustment movement mould group 10 includes driving motor and its transmission mechanism, and transmission mechanism uses feed screw nut
Transmission mechanism；Arc voltage roll adjustment moves and installs arc voltage sensor in mould group 10, and arc voltage sensor is isolated by arc voltage signal through arc voltage becomes
Mold changing block reaches controller, completes the acquisition of welding gun arc voltage, transformation and input controller, and output control roll adjustment moves mould group, drives
Welding gun adjusts welding gun tungsten electrode to the distance of side plate, keeps it within the scope of optimum distance.
Station 1 is set on station and station 2, the front side that station 1 is located at station 2 (are with cartridge traffic direction side
Front side).
Station 1 and station 2 on the station are equipped with positioning device, the positioning device include centralized positioning slot and
Front end locating piece (positioning device is existing structure).
The working principle of the application are as follows:
Firstly, cartridge to be welded is placed on station in the positioning device of station 1 and station 2, filled by positioning
The centralized positioning slot and front end locating piece set complete the positioning of cartridge.
Then, it opens the source of welding current 2 to switch, opens the valve in argon tanks 4, and be adjusted to required pressure, start cooling water
Case 3 starts smoke-discharging dust-eliminating device.
Later, prior establishment corresponding with cartridge to be welded, station is selected to save in the man-machine interface of control system
Welding in systems controls program；Startup program operation, at this moment the two of robot body mechanical arm drives welding gun respectively, presses
Weld job is carried out according to the welding track, welding current, speed of welding of program setting；
Meanwhile arc voltage roll adjustment system is working, and completes welding gun arc voltage and acquires, converts, inputting its controller, by operation,
Output control arc voltage roll adjustment moves mould group, drives welding gun to adjust welding gun tungsten electrode to the distance of side plate, keeps it in optimum distance
In range.
After the completion of the cartridge welding of station 1, mechanical arm automatic running to station 2, welding is located at the medium of station 2
Box；At this moment it takes the welding medium box on station 1 away, places new cartridge to be welded；Pass through the cartridge of station 1 and station 2
Alternately welding, pick-and-place, improve welding efficiency.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of magnetic separator cartridge automatic soldering technique, which comprises the following steps:
Process parameters range when step (1) is welded according to cartridge determines optimal processing parameter value using orthogonal experiment method；
Step (2) chooses the magnetically soft alloy material stick that most uplink, center row and most three row of downlink stretch out both side plate symmetric position, presses
According to it is upper and lower, in welding sequence the magnetically soft alloy material stick end and both side plate are welded together, consolidate two sides Board position
It is fixed；
Step (3) according to it is upper and lower, in welding sequence weld the magnetically soft alloy material sticks of other rows of both side plate simultaneously at equal intervals,
Dynamic regulation welding gun tungsten electrode is at a distance from both side plate when welding.
2. a kind of magnetic separator cartridge automatic soldering technique according to claim 1, which is characterized in that the technological parameter
The gentle gas pressure of distance including welding current, speed of welding, welding gun tungsten electrode away from both side plate.
3. a kind of magnetic separator cartridge automatic soldering technique according to claim 1, which is characterized in that the step (1)
In, process parameters range when according to human weld determines technological level number, establishes the orthogonal of technological parameter and technological level
Table.
4. a kind of magnetic separator cartridge automatic soldering technique according to claim 1, which is characterized in that the step (3)
In, it is detected according to arc voltage and obtains welding gun tungsten electrode indirectly at a distance from both side plate, roll adjustment movement mould group is controlled by controller and is driven
Welding gun movement, with adjustable range size.
5. a kind of magnetic separator cartridge automatic soldering technique according to claim 1, which is characterized in that using not filler
Argon arc welding mode is welded.
6. a kind of magnetic separator cartridge automatic welding machine people's system characterized by comprising
Robot body, including station and two groups of mechanical arms that can be moved in X, Y, Z-direction, every group of mechanical arm includes arc voltage
Roll adjustment moves mould group, X-axis movement mould group, Y-axis movement mould group and Z axis and moves mould group；
Wherein, arc voltage roll adjustment movement mould group is fixed on side and the clamping welding gun of Z axis movement mould group；Z axis movement mould group is fixed on X
Axis moves the side of mould group, and the bottom of X-axis movement mould group, which is equipped with, moves mould group along the Y-axis that station moves；
Control system, has man machine operation interface, and control welding gun carries out weld job according to setting program.
7. a kind of magnetic separator cartridge automatic welding machine people's system according to claim 6, which is characterized in that further include
Cooling water tank, the cooling water tank are connected by water pipe with welding gun.
8. a kind of magnetic separator cartridge automatic welding machine people's system according to claim 6, which is characterized in that the machine
Each movement mould group of tool arm connects driving motor by transmission mechanism, and the driving motor is equipped with driver and controller.
9. a kind of magnetic separator cartridge automatic welding machine people's system according to claim 6, which is characterized in that further include
The cathode of the source of welding current, the source of welding current is connected by cable with the tungsten electrode of welding gun, and the anode of the source of welding current passes through cable and welded
Workpiece is connect to be connected.
10. a kind of magnetic separator cartridge automatic welding machine people's system according to claim 6, which is characterized in that described
The side of robot body is equipped with smoke-discharging dust-eliminating device, and the smoke-discharging dust-eliminating device includes the smoke evacuation corresponding to welding gun installation site
Pipeline and the smoke evacuation dust removal machine being connected with smoke discharging pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810326396.7A CN109352138A (en) | 2018-04-12 | 2018-04-12 | A kind of magnetic separator cartridge automatic soldering technique and welding robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810326396.7A CN109352138A (en) | 2018-04-12 | 2018-04-12 | A kind of magnetic separator cartridge automatic soldering technique and welding robot system |
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| Publication Number | Publication Date |
|---|---|
| CN109352138A true CN109352138A (en) | 2019-02-19 |
Family
ID=65349650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201810326396.7A Pending CN109352138A (en) | 2018-04-12 | 2018-04-12 | A kind of magnetic separator cartridge automatic soldering technique and welding robot system |
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| CN106964920A (en) * | 2017-03-10 | 2017-07-21 | 湖南科美达电气股份有限公司 | The making frock and preparation method of a kind of cartridge |
| CN208147109U (en) * | 2018-04-12 | 2018-11-27 | 济南大学 | A kind of magnetic separator cartridge automatic welding machine people's system |
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2018
- 2018-04-12 CN CN201810326396.7A patent/CN109352138A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01210197A (en) * | 1988-02-16 | 1989-08-23 | Mitsubishi Electric Corp | Preassembling jig for circumferential seal automatic welding equipment |
| CN101612687A (en) * | 2009-04-27 | 2009-12-30 | 济南海通焊接技术有限公司 | Numerical control multi-shaft linkage flexible arc welding system |
| CN205324942U (en) * | 2015-10-28 | 2016-06-22 | 上海核工程研究设计院 | Automatic argon arc welds build -up welding device |
| CN105364266A (en) * | 2015-12-18 | 2016-03-02 | 广东省自动化研究所 | Mechanical arm motion trail adjusting system and method |
| CN106239005A (en) * | 2016-08-31 | 2016-12-21 | 甘肃酒钢集团西部重工股份有限公司 | A kind of magnetic medium box weld jig and welding procedure |
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| CN208147109U (en) * | 2018-04-12 | 2018-11-27 | 济南大学 | A kind of magnetic separator cartridge automatic welding machine people's system |
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