CN109732253A - Lorry compartment automatic welding equipment - Google Patents
Lorry compartment automatic welding equipment Download PDFInfo
- Publication number
- CN109732253A CN109732253A CN201910147451.0A CN201910147451A CN109732253A CN 109732253 A CN109732253 A CN 109732253A CN 201910147451 A CN201910147451 A CN 201910147451A CN 109732253 A CN109732253 A CN 109732253A
- Authority
- CN
- China
- Prior art keywords
- ontology
- arm
- welding
- crossbeam
- automatic 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
Links
Landscapes
- Resistance Welding (AREA)
Abstract
The invention discloses lorry compartment automatic welding equipments, including equipment body, the cantilever beams for capableing of translational motion in X direction are provided on equipment body, cantilever beams top is also nested with a mobile nut seat, and mobile nut seat two sides are respectively arranged with absorption arm and welding arm.The compartment board absorption arm of lorry compartment automatic welding equipment of the invention utilizes the characteristic of electromagnet, realizes the crawl to floor, and the electromagnet being fixed in locating piece can be rotated with 360 °, realize the accurate placement to carriage；Welding arm end is Three Degree Of Freedom wrist, is driven respectively by three motors on arm, transmits power using gear pair.Welding gun is connect by flange with wrist, realizes straight line, the movement of arch welded joint track.Mechanical structure of the invention is simple, small in size, and manufacturing cost is low, very easy to use, can be widely used.
Description
Technical field
The invention belongs to manufacturing equipment technical fields, and in particular to lorry compartment automatic welding equipment.
Background technique
Truck is mainly used for transporting cargo as cargo vehicle, the compartment of loading generally by left plate, right side plate, foreboard,
Top plate, car door and carriage chassis composition, compartment left plate, right side plate, foreboard, top plate mainly use steel skeleton to weld structure
At.Existing common compartment is made of bottom plate and floor, and floor is mutually perpendicular to arrange in horizontal plane, and weld seam has noncontinuity,
It but is straight line.The welding in compartment mostly uses man-hour manually hand-held soldering turret mode to weld at present, and the degree of automation is lower, and worker's labour is strong
Degree is big, the defects of weld distortion recess and burr are easily caused when edge welds, can be seriously additionally due to crossbeam flange is relatively narrow
Influence the presentation quality in compartment.
The welding quality of lorry compartment floor directly affects the intensity in compartment, rigidity.It is artificial to weld for medium-sized and small enterprises
It connects and remains existing main welding form, large labor intensity, working environment are severe, welding efficiency is lower, seriously affect product
The consummate degree of online efficiency, the quality and worker's technology of welding quality has direct relation, therefore, to the skill of welding operator
Art is more demanding, how to solve to cause inclined weldering, solder skip etc. scarce in compartment board welding since workpiece stitching error, positioning accuracy are low etc.
The problem of falling into guarantees the precision and efficiency of floor welding quality, it is ensured that realizes primary positioning, primary welding, improves welding quality, add
Fast production efficiency, while worker being freed from the hard work in workshop, it realizes people-oriented manufacturing philosophy, is current
The field needs the technical problem solved.
Summary of the invention
The object of the present invention is to provide lorry compartment automatic welding equipment, solve existing welding equipment dismounting it is difficult,
The low problem of positioning accuracy.
The technical scheme adopted by the invention is that lorry compartment automatic welding equipment, including equipment body, equipment body
Including two ontology columns, ontology crossbeam is fixed on two ontology columns, the ontology being provided in ontology crossbeam in X direction is horizontal
Beam lead screw and ontology crossbeam polished rod, ontology transverse beam feed screw are driven by the crossbeam driving motor that ontology cross rail outer is arranged in, ontology
It is horizontal that the cantilever that one can be X to translational motion along ontology transverse beam feed screw is nested on transverse beam feed screw and ontology crossbeam polished rod jointly
Beam, cantilever beams are arranged perpendicular to ontology transverse beam feed screw；The cantilever beam that cantilever beams are equipped with Y-direction drives lead screw, and cantilever is horizontal
Beam top is also nested with a mobile nut seat, and mobile nut seat is nested on cantilever beam driving lead screw, can drive along cantilever beam
Dynamic lead screw does Y-direction translational motion；The two sides of mobile nut seat are respectively the Z-direction guide rail of symmetrical configuration, and Z-direction guide upper is fixed
There is Z-direction motor, absorption arm is wherein provided on side Z-direction guide rail, is provided with welding arm on the Z-direction guide rail of the other side；Cantilever
Below the crossbeam is additionally provided with the workbench for being fixedly welded object；Two diagonal angles of workbench are also respectively provided with ranging biography
Sensor.
The features of the present invention also characterized in that
Absorption arm includes that the absorption arm ontology of inner hollow and setting are rotated in the intrinsic electromagnet of absorption arm
Motor, absorption arm ontology is connect by the sliding shoe being fixed on Z-direction guide rail with cantilever beams, below electromagnet rotating electric machine
It is connected with crossed roller bearing, crossed roller bearing is fixed in absorption arm ontology, and crossed roller bearing lower end is fixedly connected
There is flange, flange is oppositely arranged below by connector there are two locating piece, and each locating piece is embedded with electromagnet.
Welding arm includes welding arm main body and three motors positioned at welding arm main body top, welds arm main body
It being connect by being fixed on Z-direction guide rail sliding shoe with cantilever beams, the end for welding arm main body is connected to Three Degree Of Freedom wrist,
Three Degree Of Freedom wrist drives respectively by three motors, transmits power using gear pair；Three Degree Of Freedom wrist end passes through flange
It is connected with welding gun.
Equally distributed buphthalmos is provided on workbench.
It is also provided with X on workbench to the groove with Y-direction, is provided with length-adjustable fixing piece in groove.
Fixing piece is the electric putter with contractile function.
The invention has the advantages that the compartment board absorption arm of lorry compartment automatic welding equipment of the invention utilizes
The characteristic of electromagnet realizes the crawl to floor, and absorption arm end can be rotated with 360 °, realizes the accurate placement to carriage；
Welding arm end is Three Degree Of Freedom wrist, is driven respectively by three motors on arm, transmits power using gear pair.Weldering
Rifle is connect by flange with wrist, realizes straight line, the movement of arch welded joint track.
The equipment has the advantage that (1) is simple and compact for structure；(2) rigidity is good；(3) numerical control programming is easy；(4) solderable
Connect different size compartment board；(5) easy to loading and unloading.These advantages make the welding equipment be easily manufactured assembly and control, flexibly
Property it is good, machining accuracy is high, can be widely applied to vehicle manufacturing industry.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram of lorry compartment automatic welding equipment of the invention；
Fig. 2 is the crossbeam and cantilever beam connection relationship structure chart of lorry compartment automatic welding equipment of the invention；
Fig. 3 is the absorption arm and cantilever beam connection relationship diagram of lorry compartment automatic welding equipment of the invention；
Fig. 4 is the welding arm and cantilever beam connection relationship diagram of lorry compartment automatic welding equipment of the invention；
Fig. 5 is the welding arm structure schematic diagram of lorry compartment automatic welding equipment of the invention；
Fig. 6 is the welding gun model schematic of lorry compartment automatic welding equipment of the invention；
Fig. 7 is the bottom plate placement location figure of lorry compartment automatic welding equipment of the invention；
Fig. 8 is that the absorption arm of lorry compartment automatic welding equipment of the invention grabs floor state diagram；
Fig. 9 is the welding process figure of lorry compartment automatic welding equipment of the invention；
Figure 10 is the weld seam model view of the production of lorry compartment automatic welding equipment of the invention.
In figure, 2. absorption arms, 3. cantilever beams, 4. welding arms, 5. welding arm ontologies, 6. workbench, 7. rangings
Sensor, 8. ontology columns, 9. crossbeam driving motors, 10. ontology crossbeams, 11. ontology transverse beam feed screws, 12. ontology crossbeam polished rods,
14. cantilever beam drives lead screw, 15. mobile nut seats, 16.Z is to motor, 17.Z direction guiding rail, 18. locating pieces, 19. electromagnet, 20.
Crossed roller bearing, 21. electromagnet rotating electric machines, 22. absorption arm ontologies, 23. motors, 24. Three Degree Of Freedom wrists, 25. welderings
Rifle, transition arc weld seam of the 46.Z to weld seam, 47.X to weld seam, 49.Y into weld seam, 48.XY plane.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Lorry compartment automatic welding equipment of the invention, structure is as shown in Figure 1, include equipment body 1, equipment body 1
Including two ontology columns 8, it is fixed with ontology crossbeam 10 on two ontology columns 8, as shown in Fig. 2, setting in ontology crossbeam 10
There is ontology transverse beam feed screw 11 and ontology crossbeam polished rod 12 in X direction, ontology transverse beam feed screw 11 is by being arranged in outside ontology crossbeam 10
The crossbeam driving motor 9 of side drives, and being nested with one on ontology transverse beam feed screw 11 and ontology crossbeam polished rod 12 jointly can be along this
Body transverse beam feed screw 11 does cantilever beams 3 of the X to translational motion, and cantilever beams 3 are arranged perpendicular to ontology transverse beam feed screw 11；Cantilever is horizontal
The cantilever beam that beam 3 is equipped with Y-direction drives lead screw 14, and 3 top of cantilever beams is also nested with a mobile nut seat 15, movable wire
Base 15 is nested on cantilever beam driving lead screw 14, lead screw 14 can be driven to do Y-direction translational motion along cantilever beam；Mobile screw
The two sides of seat 15 are respectively the Z-direction guide rail 17 of symmetrical configuration, and 17 top of Z-direction guide rail is fixed with Z-direction motor 16, wherein side Z-direction
It is provided with absorption arm 2 on guide rail 17, is provided with welding arm 4 on other side Z-direction guide rail 17；It is also set up below cantilever beams 3
There is the workbench 6 for being fixedly welded object；Two diagonal angles of workbench 6 are also respectively provided with distance measuring sensor 7.
As shown in figure 3, absorption arm 2 includes that arm ontology 22 is being adsorbed in the absorption arm ontology 22 of inner hollow and setting
Interior electromagnet rotating electric machine 21, absorption arm ontology 22 are connected by the sliding shoe and cantilever beams 3 being fixed on Z-direction guide rail 17
It connects, electromagnet rotating electric machine 21 is connected with crossed roller bearing 20 below, and crossed roller bearing 20 is fixed on absorption arm ontology
In 22,20 lower end of crossed roller bearing is fixedly connected with flange, and flange is oppositely arranged that there are two locating pieces below by connector
18, each locating piece 18 is embedded with electromagnet 19.
As shown in Figure 4 and Figure 5, welding arm 4 includes welding arm main body 5 and positioned at the three of welding 5 top of arm main body
A motor 23, welding arm main body 5 are connect by being fixed on Z-direction guide rail 17 sliding shoe with cantilever beams 3, welding arm main body
End be connected to Three Degree Of Freedom wrist 24, Three Degree Of Freedom wrist 24 is driven respectively, is transmitted using gear pair by three motors
Power；24 end of Three Degree Of Freedom wrist has welding gun 25 (as shown in Figure 6) by flanged joint.
Equally distributed buphthalmos is provided on workbench 6.
It is also provided with X on workbench 6 to the groove with Y-direction, is provided with length-adjustable fixing piece in groove.
Fixing piece is the electric putter with contractile function.
X is also respectively provided with to, Y-direction locating piece b along the marginal position of workbench 6.
The device controls entire welding process using digital control system, and all motors are controlled by digital control system.
Under working condition, the equipment processing flow is as follows:
(1) platform floor moves to workbench designated position, completely attaches to the X on workbench to, Y-direction locating piece b；
Bottom plate is according to direction of motion movement is preset first, when bottom plate movement position is more than X to electric putter gripper, but not
When touching X to locating piece, X is extended to vertical push rod, and after electric putter gripper highest point is more than plate upper surface, X is to level
Push rod is shunk, and by bottom plate along X to locating piece is compacted to, similarly, Y-direction electric putter motion principle is identical, final to guarantee bottom plate and work
Make platform X and contact and clamp to, Y-direction locating piece, as shown in Figure 7.After bottom plate and workbench position completely, floor is accurately placed in
The position that digital control system provides, to guarantee welding precision.
(2) floor is adsorbed；
After bottom plate positioning, X calculates the length of bottom plate and wide to the work of, Y-direction distance measuring sensor, according to measurement result, and
Data are returned into digital control system, system calculates the placement location of floor according to pre-set program.
For various sizes of bottom plate, according to the length of bottom plate and wide and carriage interval and base plate size corresponding relationship,
Bars position would also vary from.Nut seat 15 realizes absorption arm and welding hand under the transmission of cantilever beam driving lead screw 14
The X of arm is to movement, and after reaching the position that floor is placed, electromagnet rotating electric machine 21 is moved, and adjusts electromagnet position, guarantees positioning
Block 18 is with rib edges along being overlapped, and the Z-direction motor 16 for the straight line mould group connecting on mobile nut seat with absorption arm moves, adjustment electricity
The Z-direction height of magnet 19, contacts with floor upper surface, and after energization, electromagnet adsorbs floor, as shown in figure 8, utilizing machine tool motion
Floor is placed on to the position planned, as shown in Figure 9.
(3) floor and bottom plate are welded；
After floor is placed in designated position, absorption arm rises along Z-direction, avoids producing when welding arm work with other parts
Raw interference.Welding gun 25 reaches position while welding along the path of welding of setting, and wherein lathe linear motion axis makes welding gun reach specific bit
It sets, Three Degree Of Freedom wrist 24 is responsible for adjustment welding gun terminal angle.It is as shown in Figure 10 straight weld corner weld seam model, 46 be machine
Bed Z-direction weld seam, 47 are X to be Y-direction weld seam, 48 is transition arc weld seam in X/Y plane to weld seam, 49.When welding 47 and 49,
Weld arm Z-direction position it is constant, under X-axis, the driving of y-axis motor complete straight weld welding, weld 48 when, need three from
It is used cooperatively by degree wrist, with X, y-axis motor linkage for adjusting posture of welding torch, carries out arch welded joint welding, weld Z-direction weld seam
When, X, Y-axis position is constant, and welding gun is moved along Z axis.Similarly, X, Y-direction welding can be carried out, the welding of all floors is thus completed, it is real
The now welding in entire compartment, as shown in Figure 10.
Present invention is generally directed to a length of 2200mm/2300mm in compartment, width be 1200mm/1500mm structure, be equipped with such
The vehicle in type compartment belongs to engineering transportation vehicle mostly, for transporting construction material, such as cement, stone, dregs, loading capacity
Greatly, therefore guarantee that the intensity in compartment, rigidity requirement are most important to the security performance of this type vehicle.
Claims (6)
1. lorry compartment automatic welding equipment, which is characterized in that including equipment body (1), the equipment body (1) includes two
A ontology column (8) is fixed with ontology crossbeam (10) on two ontology columns (8), setting in the ontology crossbeam (10)
There is ontology transverse beam feed screw (11) and ontology crossbeam polished rod (12) in X direction, the ontology transverse beam feed screw (11) is by being arranged in this
Crossbeam driving motor (9) on the outside of body crossbeam (10) drives, on the ontology transverse beam feed screw (11) and ontology crossbeam polished rod (12)
Cantilever beams (3) of the X to translational motion, the cantilever beams can be done along ontology transverse beam feed screw (11) by being nested with one jointly
(3) it is arranged perpendicular to ontology transverse beam feed screw (11)；The cantilever beam that the cantilever beams (3) are equipped with Y-direction drives lead screw (14),
Cantilever beams (3) top is also nested with a mobile nut seat (15), and the mobile nut seat (15) is nested in cantilever beam
In driving lead screw (14), lead screw (14) can be driven to do Y-direction translational motion along cantilever beam；The two of the mobile nut seat (15)
Side is respectively the Z-direction guide rail (17) of symmetrical configuration, and Z-direction guide rail (17) top is fixed with Z-direction motor (16), wherein side institute
It states and is provided with absorption arm (2) on Z-direction guide rail (17), is provided with welding arm (4) on other side Z-direction guide rail (17)；It is described outstanding
The workbench (6) for being fixedly welded object is additionally provided with below arm crossbeam (3)；Two diagonal angles of the workbench (6) are also
It is respectively arranged with distance measuring sensor (7).
2. lorry compartment automatic welding equipment according to claim 1, it is characterised in that: absorption arm (2) packet
Include the electromagnet rotating electric machine (21) of the absorption arm ontology (22) and setting of inner hollow in absorption arm ontology (22), institute
It states absorption arm ontology (22) to connect by the sliding shoe being fixed on the Z-direction guide rail (17) with cantilever beams (3), the electricity
Magnet rotating electric machine (21) is connected with crossed roller bearing (20) below, and the crossed roller bearing (20) is fixed on absorption arm
In ontology (22), crossed roller bearing (20) lower end is fixedly connected with flange, and the flange is opposite below by connector
There are two locating piece (18), each locating pieces (18) to be embedded with electromagnet (19) for setting.
3. lorry compartment automatic welding equipment according to claim 1, it is characterised in that: welding arm (4) packet
It includes welding arm main body (5) and is located at three motors (23) on welding arm main body (5) top, the welding arm main body (5)
It is connect by being fixed on the Z-direction guide rail (17) sliding shoe with cantilever beams (3), the end connection of the welding arm main body
Three Degree Of Freedom wrist (24), the Three Degree Of Freedom wrist (24) drive, passed using gear pair respectively by three motors
Graduating power；Three Degree Of Freedom wrist (24) end has welding gun (25) by flanged joint.
4. lorry compartment automatic welding equipment according to claim 1, it is characterised in that: set on the workbench (6)
It is equipped with equally distributed buphthalmos.
5. lorry compartment automatic welding equipment according to claim 1, it is characterised in that: on the workbench (6) also
X is offered to the groove with Y-direction, is provided with length-adjustable fixing piece in the groove.
6. lorry compartment automatic welding equipment according to claim 5, it is characterised in that: the fixing piece is that have to receive
The electric putter of contracting function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910147451.0A CN109732253A (en) | 2019-02-27 | 2019-02-27 | Lorry compartment automatic welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910147451.0A CN109732253A (en) | 2019-02-27 | 2019-02-27 | Lorry compartment automatic welding equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109732253A true CN109732253A (en) | 2019-05-10 |
Family
ID=66368565
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910147451.0A Pending CN109732253A (en) | 2019-02-27 | 2019-02-27 | Lorry compartment automatic welding equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109732253A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110176098A (en) * | 2019-05-23 | 2019-08-27 | 三峡大学 | Self-service books recycling vending machine and its application method |
| CN110315175A (en) * | 2019-07-08 | 2019-10-11 | 浙江省二建钢结构有限公司 | The welding equipment of rectangle gooseneck and the welding method of rectangle gooseneck |
| CN111906476A (en) * | 2020-08-07 | 2020-11-10 | 大捷智能科技(广东)有限公司 | Automatic lifting lug welding workbench and control method thereof |
| CN114227067A (en) * | 2021-11-19 | 2022-03-25 | 江苏科技大学 | Automatic welding and stacking integrated device for connecting piece and use method of automatic welding and stacking integrated device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008036655A (en) * | 2006-08-03 | 2008-02-21 | Kokuho:Kk | Welding apparatus |
| CN102873537A (en) * | 2011-07-11 | 2013-01-16 | 李敬宇 | Numerical control milling and drilling device for roof of train |
| CN202684913U (en) * | 2012-07-17 | 2013-01-23 | 昆山华恒焊接股份有限公司 | Six-degree-of-freedom spraying robot |
| CN204094382U (en) * | 2014-08-20 | 2015-01-14 | 湖南同冈科技发展有限责任公司 | A kind of welding jigs and fixtures device |
| CN204183459U (en) * | 2014-11-04 | 2015-03-04 | 苏州同里印刷科技股份有限公司 | A kind of running fix tool |
| CN104802164A (en) * | 2015-05-04 | 2015-07-29 | 安徽华创智能装备有限公司 | Six-DOF (Degree Of Freedom) planar joint robot |
| CN206643519U (en) * | 2017-03-14 | 2017-11-17 | 济南鎏佳机械有限公司 | A kind of agricultural vehicle compartment bonding machine |
| CN107826756A (en) * | 2017-12-06 | 2018-03-23 | 苏州工业职业技术学院 | A kind of terminal material fetching mechanism |
| CN207681890U (en) * | 2017-12-12 | 2018-08-03 | 江门市江海区宏特机械有限公司 | A kind of screw tightening machine |
-
2019
- 2019-02-27 CN CN201910147451.0A patent/CN109732253A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008036655A (en) * | 2006-08-03 | 2008-02-21 | Kokuho:Kk | Welding apparatus |
| CN102873537A (en) * | 2011-07-11 | 2013-01-16 | 李敬宇 | Numerical control milling and drilling device for roof of train |
| CN202684913U (en) * | 2012-07-17 | 2013-01-23 | 昆山华恒焊接股份有限公司 | Six-degree-of-freedom spraying robot |
| CN204094382U (en) * | 2014-08-20 | 2015-01-14 | 湖南同冈科技发展有限责任公司 | A kind of welding jigs and fixtures device |
| CN204183459U (en) * | 2014-11-04 | 2015-03-04 | 苏州同里印刷科技股份有限公司 | A kind of running fix tool |
| CN104802164A (en) * | 2015-05-04 | 2015-07-29 | 安徽华创智能装备有限公司 | Six-DOF (Degree Of Freedom) planar joint robot |
| CN206643519U (en) * | 2017-03-14 | 2017-11-17 | 济南鎏佳机械有限公司 | A kind of agricultural vehicle compartment bonding machine |
| CN107826756A (en) * | 2017-12-06 | 2018-03-23 | 苏州工业职业技术学院 | A kind of terminal material fetching mechanism |
| CN207681890U (en) * | 2017-12-12 | 2018-08-03 | 江门市江海区宏特机械有限公司 | A kind of screw tightening machine |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110176098A (en) * | 2019-05-23 | 2019-08-27 | 三峡大学 | Self-service books recycling vending machine and its application method |
| CN110315175A (en) * | 2019-07-08 | 2019-10-11 | 浙江省二建钢结构有限公司 | The welding equipment of rectangle gooseneck and the welding method of rectangle gooseneck |
| CN110315175B (en) * | 2019-07-08 | 2021-09-03 | 浙江省二建钢结构有限公司 | Welding equipment and welding method for rectangular steel cross beam |
| CN111906476A (en) * | 2020-08-07 | 2020-11-10 | 大捷智能科技(广东)有限公司 | Automatic lifting lug welding workbench and control method thereof |
| CN111906476B (en) * | 2020-08-07 | 2022-08-05 | 大捷智能科技(广东)有限公司 | Automatic lifting lug welding workbench and control method thereof |
| CN114227067A (en) * | 2021-11-19 | 2022-03-25 | 江苏科技大学 | Automatic welding and stacking integrated device for connecting piece and use method of automatic welding and stacking integrated device |
| CN114227067B (en) * | 2021-11-19 | 2022-08-16 | 江苏科技大学 | Automatic welding and stacking integrated device for connecting piece and use method of automatic welding and stacking integrated device |
| WO2023087596A1 (en) * | 2021-11-19 | 2023-05-25 | 江苏科技大学 | Automatic welding and arrangement integrated device for connectors and using method therefor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109732253A (en) | Lorry compartment automatic welding equipment | |
| CN106002011A (en) | Intelligent flexible welding system | |
| CN106077930B (en) | A kind of automatic welding device | |
| CN100534701C (en) | Flexible locating cramping apparatus controlled by servo | |
| CN103170707A (en) | Robot welding workstation for cylinder body | |
| CN207681800U (en) | Box-type substation robot automation's Flexible Welding Line | |
| CN206105265U (en) | Welding system of frame robot | |
| CN108857421B (en) | Quick assembly workstation for bogie frame components | |
| CN203076781U (en) | Automobile part spot-welding horizontal multi-station transmission system | |
| CN106041379B (en) | A kind of phase passes through the surface trimming welder of part | |
| CN104785899B (en) | A kind of automatic welding device and its processing method | |
| CN106238995A (en) | Utilize the welding method of shot-blasting machine case weld machine people's assembly | |
| CN203765158U (en) | Automatic plane curve welding mechanism with reciprocating rotating mechanism | |
| CN104354029A (en) | Five-axis linkage blade processing machine tool with automatic workpiece clamping function and clamping method of five-axis linkage blade processing machine tool | |
| CN204195099U (en) | Driver's cabin spot welding robot device | |
| CN207952916U (en) | Soldering turret repairs a die compensation device and soldering turret device | |
| CN209830696U (en) | Welding truck carriage device | |
| CN215432194U (en) | Automatic circular seam welding system | |
| CN104801988A (en) | Novel numerical control machine tool with multi-axial machining function | |
| CN212286224U (en) | Flexible welding system | |
| CN214291695U (en) | Liftable formula biax C type machine of shifting | |
| CN204771055U (en) | A storage fillet welding is met sb. at airport | |
| CN210649120U (en) | Five-axis automatic welding equipment | |
| CN107738061B (en) | Welding robot clamp for dense bookshelf underframe | |
| CN107685209B (en) | Environment-friendly walking three-station robot welding workstation |
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 |
Application publication date: 20190510 |
|
| RJ01 | Rejection of invention patent application after publication |