CN109834398A - A kind of system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering - Google Patents
A kind of system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering Download PDFInfo
- Publication number
- CN109834398A CN109834398A CN201811643199.4A CN201811643199A CN109834398A CN 109834398 A CN109834398 A CN 109834398A CN 201811643199 A CN201811643199 A CN 201811643199A CN 109834398 A CN109834398 A CN 109834398A
- Authority
- CN
- China
- Prior art keywords
- weldering
- mig
- agitating friction
- milling
- workpiece
- 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
Abstract
The invention discloses a kind of systems suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering, including agitating friction weldering milling fexible unit, robotic gripping device, robot MIG welder.Agitating friction weldering milling fexible unit carries out weldering milling to workpiece, and robotic gripping device is mainly used for shifting and carrying workpiece, and robot MIG welder carries out MIG weldering to workpiece.The present invention is integrated with agitating friction weldering and MIG welding technology, plays weldquality height of the welding without splashing, welding deformation small advantage and MIG welding technology of agitating friction welding technology, is easy to automate advantage；And agitating friction weldering milling fexible unit is by that can weld workpiece, be milled after automatic tool changer tool changing；MIG weldering is assisted to realize automatic welding by advanced seam tracking system simultaneously, and robot vision intelligent grabbing workpiece, realize the automatic switchover of agitating friction weldering and MIG weldering, whole process can first pass through off-line programming technique simulation in advance, and direct output writer control system completes entire welding process.
Description
Technical field
The present invention relates to lightweighting materials welding technology fields, more particularly to a kind of stir suitable for lightweighting materials collection to rub
The system for wiping weldering with MIG weldering.
Background technique
It is at present a kind of trend for the application of lightweighting materials, many automobile industries are not the case where influencing bus body strength
Under, vehicle body is advantageously reduced using lightweighting materials and is self-possessed, to realize the best match of material and components function.And for light
The welding for quantifying material mostly uses traditional MIG/MAG welding procedure, and traditional technique be easy to cause spatter, welding
The problems such as deformation.
Summary of the invention
For overcome the deficiencies in the prior art, one of the objects of the present invention is to provide one kind to be suitable for lightweighting materials collection
The system of agitating friction weldering and MIG weldering, can solve the problem that prior art be easy to cause spatter, welding deformation etc..
An object of the present invention adopts the following technical scheme that realization:
A kind of system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering, including agitating friction weldering mill general dress
It sets, robotic gripping device, robot MIG welder；The agitating friction weldering milling fexible unit is stirred friction to workpiece
Weldering and milling, the robotic gripping device grabbing workpiece is placed on the robot MIG welder, the robot later
MIG welder carries out MIG weldering to workpiece.
Further, the agitating friction weldering milling fexible unit includes stirring electro spindle, cutter, automatic tool changer, institute
Cutting tool installation manner is stated on the stirring electro spindle；Friction welding (FW) cutter and milling cutter are installed on the automatic tool changer, it is described to stir
It mixes and replaces friction welding (FW) cutter or milling cutter at the mobile automatic tool changer of electro spindle.
Further, agitating friction weldering milling fexible unit further includes the first positive clamps, the first side clamps, described
First positive clamps clamping workpiece front, and then make to stir electro spindle to workpiece progress face bonding milling, first side clamps
Clamping workpiece side, and then make to stir electro spindle to the weldering milling of workpiece progress side.
Further, the agitating friction weldering milling fexible unit further includes calibration positioning plane, and the calibration positions plane
The location of workpiece is calibrated.
Further, the agitating friction weldering milling fexible unit further includes friction welding (FW) milling pedestal and electric control gear, the electricity
Control device is located at friction welding (FW) milling chassis interior, and the stirring electro spindle, the first positive clamps, the first side clamps are mounted on described
Friction welding (FW) mills on pedestal.
Further, seam tracking system built in the robot MIG welder, the robot MIG welder is in institute
Under the auxiliary for stating seam tracking system, real time scan is found out weld seam and is welded.
Further, the robot MIG welder includes MIG weldering pedestal, robot MIG welding mechanism, the second positive clamping
Tool, external axis modified gear, the second positive clamps are bolted in the external axis modified gear, the external axis modified gear
It is rotatablely installed and welds pedestal in MIG, drive the external axis modified gear to rotate by external motor.
Further, the robotic gripping device includes grasping mechanism, intermediate station, and the grasping mechanism grabbing workpiece is put
It is placed in the intermediate station.
Further, the robotic gripping device further includes vision camera, and the vision camera is realized automatic without teaching
Crawl.
Further, the robotic gripping device further includes second side clamps, second side clamps side
Just switch the front and back sides of workpiece.
Compared with prior art, agitating friction weldering is integrated with the beneficial effects of the present invention are: present system and MIG welds skill
Art gives full play to the welding of agitating friction welding technology without the weldquality of splashing, welding deformation small advantage and MIG welding technology
Height is easy to the advantages that automating；And agitating friction weldering milling fexible unit is by that can carry out workpiece after automatic tool changer tool changing
Weldering, milling, have handled overlap, burr of the edge of work etc.；MIG weldering is assisted to realize by advanced seam tracking system simultaneously automatic
Change welding and robot vision intelligent grabbing workpiece, realizes the automatic switchover of agitating friction weldering and MIG weldering, whole process can
It first passes through off-line programming technique in advance to simulate without matter emulation, direct output writer control system completes entire welding process；Entirely
Process has prevented flue dust and the radiation of welding process generation, is conducive to environmental protection, it is easy to accomplish automation improves production efficiency, drops
Low cost of labor etc..
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects, features and advantages of the invention can
It is clearer and more comprehensible, it is special below to lift preferred embodiment, and cooperate attached drawing, detailed description are as follows.
Detailed description of the invention
Fig. 1 is a kind of one preferred embodiment of system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering of the present invention
Perspective view；
Fig. 2 is that the present invention is a kind of to be welded suitable for agitating friction the system of the weldering of lightweighting materials collection agitating friction and MIG weldering
Mill the perspective view of fexible unit；
Fig. 3 is that a kind of robot suitable for the system that the weldering of lightweighting materials collection agitating friction is welded with MIG of the present invention is grabbed
Take the perspective view of device；
Fig. 4 is that the present invention is a kind of suitable for robot MIG welding the system of the weldering of lightweighting materials collection agitating friction and MIG weldering
The perspective view of device；
Fig. 5 is a kind of the vertical of automatic tool changer suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering of the present invention
Body figure；.
In figure: 10, agitating friction weldering milling fexible unit；11, electro spindle is stirred；12, friction welding (FW) mills pedestal；13, move certainly
Cutter mechanism；131, tool changing pedestal；132, toolframe；133, cover board；134, general knife handle；14, the first side clamps；15, first
Positive clamps；16, calibration positioning plane；20, robotic gripping device；21, intermediate station；22, vision camera；23, grasping mechanism；
24, second side clamps；30, robot MIG welder；31, the second positive clamps；32, robot MIG welding mechanism；33, external
Axis modified gear.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
It can be and be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
Fig. 1-5 is please referred to, a kind of system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering, further includes stirring
Friction welding (FW) mills fexible unit 10, robotic gripping device 20, robot MIG welder 30.
Agitating friction weldering milling fexible unit 10 include stirring electro spindle 11, rotary core shaft, cutter, automatic tool changer 13,
First positive clamps 15, the first side clamps 14, friction welding (FW) milling pedestal 12 and electric control gear, calibration positioning plane 16.Automatically controlled dress
Inside friction welding (FW) milling pedestal 12, stirring electro spindle 11, the first positive clamps 15, the first side clamps 14 are mounted on friction
On weldering milling pedestal 12.
Cutter is mounted on stirring electro spindle 11 by hydraulic coupling absorption, passes through driving internal-internal rotary core shaft band moving knife
Tool；Preferably, stirring electro spindle 11 is equipped with oil inlet and outlet, and oil inlet and outlet is by changing hydraulic coupling removable cutting tool.From moving
Friction welding (FW) cutter and milling cutter are installed on cutter mechanism 13, replace friction welding (FW) knife at the mobile automatic tool changer 13 of stirring electro spindle 11
Tool or milling cutter.
Preferably, with reference to Fig. 5 automatic tool changer 13 include several different cutters, tool changing pedestal 131, toolframe 132,
Circlip, cover board 133.Toolframe 132 is bolted in tool changing pedestal 131, and cover board 133 is bolted in tool changing pedestal 131, and covering part knife
Have frame 132, dust and other impurities is prevented to be attached on the mounting plane of toolframe 132.General knife handle is installed on different cutters
134, toolframe 132, which is equipped with, to be mounted on the matched imitative type face of general 134 outer profile of knife handle, general knife handle 134 by circlip
On toolframe 132, circlip can be stirred, and be conveniently replaceable cutter.General knife handle 134 is constrained on toolframe 132 by imitative type face, by
Circlip is fixedly clamped；General knife handle 134 is placed and is taken out, and needs robot that circlip is overcome to do work, tangential force need to be greater than circlip
Elastic force can activity.
The lower end of first positive clamps 15 is mounted on friction welding (FW) milling pedestal 12, above can clamping workpiece front, and then make
It stirs electro spindle 11 and face bonding milling is carried out to workpiece.Preferably, the first positive clamps 15 include cylinder, mounting plate, heat dissipation pressure head,
Connecting plate, locating piece.Heat dissipation pressure head and cylinder are spirally connected by connecting plate, and cylinder drives heat dissipation pressure head closure to be used for workpiece pressing,
Connecting plate is bolted in mounting plate, and mounting plate is bolted in friction welding (FW) milling pedestal 12.Preferably, locating piece is installed on mounting plate, positioning
Block is used for the guiding and positioning of workpiece.The lower end of first side clamps 14 is mounted on friction welding (FW) milling pedestal 12, the first side clamping
Tool 14 is equipped with a holding tank, and tool, which is located in holding tank, clamps side surface of workpiece, and then stirring electro spindle 11 is made to carry out side to workpiece
Face weldering milling.
Calibration positioning plane 16 calibrates the location of workpiece.Operator is moved by off-line programming software analogue simulation system
Track generates the program that can be run, and is input to heavily loaded humanoid robot and stirring electro spindle 11, carries out position in calibration positioning plane 16
Set check and correction and adjustment.
Robot MIG welder 30 includes MIG weldering pedestal, robot MIG welding mechanism 32, the second positive clamps 31, outside
Axis modified gear 33.The structure of second positive clamps 31 is identical as the structure of the first positive clamps 15, the second positive 31 spiral shell of clamps
It is connected to external axis modified gear 33, the external rotational installation of axis modified gear 33 is welded pedestal in MIG, driven by external motor external
Axis modified gear 33 rotates, to cooperate robot MIG welding mechanism 32 to complete the offset requirement of specified angle.Preferably, robot
Seam tracking system built in MIG welder 30, robot MIG welder 30 is under the auxiliary of seam tracking system, real time scan
Weld seam is found out adaptively to adjust welding parameter and weld.
Robotic gripping device 20 includes grasping mechanism 23, intermediate station 21, vision camera 22, second side clamps 24.It grabs
Take mechanism 23 is equipped with cylinder and sucker, and cylinder drives sucker grabbing workpiece.Grasping mechanism 23 is controlled with by system.Machine
People's grabbing device 20 has been mainly that switching workpiece welding front and back sides and the transfer effect of shelving, workpiece is facilitated to grab grasping mechanism 23
It removes and intermediate station 21 is placed in any attitude specifies in region, can realize that no teaching automated intelligent is grabbed by vision camera 22
It takes.Second side clamps 24 facilitate the front and back sides of switching workpiece, and from robot MIG welder 30 is when welding inner wall block
Clamping action, the structure of second side clamps 24 are identical as the structure of the first side clamps 14.
Workflow of the invention is as follows: manually assembled at the first positive clamps 15 and static housing part plate is (i.e.
Workpiece), after which preprepared off-line simulation simulation program, operating system can be imported after the completion of feeding.Heavily loaded humanoid robot and
Stirring electro spindle 11 sky at calibration positioning plane 16 is walked, adjust automatically parameter position relationship and precise positioning.
Firstly, stirring electro spindle 11 completes the welding of cabinet front at the first positive clamps 15；First positive clamps 15 are released
Workpiece is put, 23 grabbing workpiece of grasping mechanism is placed at the first side clamps 14, and the first side clamps 14 clamp workpiece, stirring electricity
Main shaft 11 completes the unilateral welding of body side；Fixture discharges workpiece, and 23 grabbing workpiece of grasping mechanism rotates 180 degree, switching welding
Side；It places at the first side clamps 14, clamps workpiece, stirring electro spindle 11 completes the unilateral welding of body side, and completes
It all welds side.
Agitating friction postwelding, weld seam have burr etc. to need to handle, and robot and stirring electro spindle 11 are in automatic cutter changing machine
Structure 13 replaces milling cutter, and 23 grabbing workpiece of grasping mechanism is placed at the first positive clamps 15 at the same time, Milling Process to be done.It stirs
It mixes electro spindle 11 and completes the milling of cabinet front at the first positive clamps 15；First positive clamps 15 discharge workpiece, grasping mechanism
23 grabbing workpieces are placed at the first side clamps 14, and workpiece is clamped；Stirring electro spindle 11 completes case at the first positive clamps 15
The unilateral milling of body side surface；First positive clamps 15 discharge workpiece, and 23 grabbing workpiece of grasping mechanism rotates 180 degree, switch weld side
Face is placed at the first side clamps 14, clamps workpiece, stirring electro spindle 11 completes the unilateral milling of body side, and completes side
Whole millings.
After milling, 23 grabbing workpiece of grasping mechanism is placed at the second positive clamps 31, cylinder clamping workpiece, and external axis becomes
Position mechanism 33 is just turn 90 degrees, manually installed side wall pendant and tooling clamping；Robot MIG welder 30 is in seam tracking system
Under auxiliary, real time scan is found out weld seam and is welded；The MIG postwelding after the completion of side wall is unilateral, the external reversion of axis modified gear 33 180
Degree, manually installed side wall pendant and tooling clamp；Robot MIG welder 30 is swept in real time under the auxiliary of seam tracking system
It retouches and finds out weld seam and complete other side welding.
MIG postwelding is completed to pendant, 23 grabbing workpiece of grasping mechanism is placed at second side clamps 24, sucker is unclamped,
Grasping mechanism 23 turns direction, is placed in intermediate station 21 from workpiece reverse side grabbing workpiece and specifies in region, manually installed inner wall blocking
Block and fixation；23 grabbing workpiece of grasping mechanism is placed at second side clamps 24；Robot MIG welder 30 is in weld joint tracking
Under the auxiliary of system, real time scan finds out weld seam and inner wall blocking block welding.So far, the welding tooling of certain box parts is all complete
At.
Present system is integrated with agitating friction weldering and MIG welding technology, gives full play to the welding nothing of agitating friction welding technology
It splashes, the weldquality for the advantage and MIG welding technology that welding deformation is small is high, is easy to the advantages that automating；And agitating friction welds
Fexible unit 10 is milled by can be welded, be milled to workpiece after 13 tool changing of automatic tool changer, handled the edge of work overlap,
Burr etc.；MIG weldering is assisted to realize that automatic welding and robot vision are intelligently grabbed by advanced seam tracking system simultaneously
Workpiece is taken, realizes the automatic switchover of agitating friction weldering and MIG weldering, it is imitative without material object that whole process can first pass through off-line programming technique in advance
True simulation, direct output writer control system complete entire welding process；Whole process has prevented the flue dust of welding process generation
And radiation, it is conducive to environmental protection, it is easy to accomplish automation improves production efficiency, reduces cost of labor etc..
More than, all embodiments are only the preferred embodiment of the present invention, not make any shape to the present invention
Limitation in formula；The those of ordinary skill of all industry can be shown in by specification attached drawing and above and swimmingly implement this hair
It is bright；But all those skilled in the art are without departing from the scope of the present invention, utilize disclosed above skill
Art content and the equivalent variations of a little variation, modification and evolution made, are equivalent embodiment of the invention；Meanwhile it is all according to
According to the variation, modification and evolution etc. of substantial technological any equivalent variations to the above embodiments of the invention, still fall within
Within the protection scope of technical solution of the present invention.
Claims (10)
1. a kind of system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering, it is characterised in that: welded including agitating friction
Mill fexible unit, robotic gripping device, robot MIG welder；The agitating friction weldering milling fexible unit carries out workpiece
Agitating friction weldering and milling, the robotic gripping device grabbing workpiece is placed on the robot MIG welder later, described
Robot MIG welder carries out MIG weldering to workpiece.
2. the system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering as described in claim 1, it is characterised in that:
The agitating friction weldering milling fexible unit includes stirring electro spindle, cutter, automatic tool changer, and the Cutting tool installation manner is stirred described
It mixes on electro spindle；Friction welding (FW) cutter and milling cutter are installed, the stirring electro spindle movement is described certainly on the automatic tool changer
Move and replaces friction welding (FW) cutter or milling cutter at cutter mechanism.
3. the system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering as claimed in claim 2, it is characterised in that:
The agitating friction weldering milling fexible unit further includes the first positive clamps, the first side clamps, the first positive clamps clamping
Workpiece front, and then make stir electro spindle to workpiece carry out face bonding milling, the first side clamps clamping workpiece side, in turn
Make to stir electro spindle to the weldering milling of workpiece progress side.
4. the system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering as claimed in claim 3, it is characterised in that:
The agitating friction weldering milling fexible unit further includes calibration positioning plane, and the calibration positioning plane calibrates the location of workpiece.
5. the system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering as claimed in claim 4, it is characterised in that:
The agitating friction weldering milling fexible unit further includes friction welding (FW) milling pedestal and electric control gear, and the electric control gear is located at friction welding (FW) milling
Chassis interior, the stirring electro spindle, the first positive clamps, the first side clamps are mounted on the friction welding (FW) milling pedestal.
6. the system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering as claimed in claim 5, it is characterised in that:
Seam tracking system built in the robot MIG welder, the robot MIG welder is in the auxiliary of the seam tracking system
It helps down, real time scan is found out weld seam and welded.
7. the system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering as claimed in claim 6, it is characterised in that:
The robot MIG welder includes that MIG welds pedestal, robot MIG welding mechanism, the second positive clamps, external axis modified gear,
The second positive clamps are bolted in the external axis modified gear, and the external axis modified gear rotational installation welds base in MIG
Seat drives the external axis modified gear to rotate by external motor.
8. the system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering as described in claim 1, it is characterised in that:
The robotic gripping device includes grasping mechanism, intermediate station, and the grasping mechanism grabbing workpiece is placed in the intermediate station.
9. the system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering as claimed in claim 8, it is characterised in that:
The robotic gripping device further includes vision camera, and the vision camera realization is automatically grabbed without teaching.
10. the system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering as claimed in claim 9, it is characterised in that:
The robotic gripping device further includes second side clamps, and second side clamps facilitate the positive and negative of switching workpiece
Face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811643199.4A CN109834398A (en) | 2018-12-29 | 2018-12-29 | A kind of system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811643199.4A CN109834398A (en) | 2018-12-29 | 2018-12-29 | A kind of system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109834398A true CN109834398A (en) | 2019-06-04 |
Family
ID=66883585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811643199.4A Pending CN109834398A (en) | 2018-12-29 | 2018-12-29 | A kind of system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109834398A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6854632B1 (en) * | 1997-12-19 | 2005-02-15 | Esab, Ab | Welding apparatus |
| CN1597228A (en) * | 2003-10-27 | 2005-03-23 | 波音公司 | Agitation friction welding system and corralation agitation friction welding assembly, controller and method |
| CN104191084A (en) * | 2014-07-04 | 2014-12-10 | 上海拓璞数控科技有限公司 | Overall circumferential weld friction-stir welding device and welding method of large-scale storage box |
| CN104400279A (en) * | 2014-10-11 | 2015-03-11 | 南京航空航天大学 | CCD-based method and system for automatic identification and track planning of pipeline space weld seams |
| CN108857153A (en) * | 2018-06-28 | 2018-11-23 | 广州瑞松威尔斯通智能装备有限公司 | A kind of welding workstation and welding method |
-
2018
- 2018-12-29 CN CN201811643199.4A patent/CN109834398A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6854632B1 (en) * | 1997-12-19 | 2005-02-15 | Esab, Ab | Welding apparatus |
| CN1597228A (en) * | 2003-10-27 | 2005-03-23 | 波音公司 | Agitation friction welding system and corralation agitation friction welding assembly, controller and method |
| CN104191084A (en) * | 2014-07-04 | 2014-12-10 | 上海拓璞数控科技有限公司 | Overall circumferential weld friction-stir welding device and welding method of large-scale storage box |
| CN104400279A (en) * | 2014-10-11 | 2015-03-11 | 南京航空航天大学 | CCD-based method and system for automatic identification and track planning of pipeline space weld seams |
| CN108857153A (en) * | 2018-06-28 | 2018-11-23 | 广州瑞松威尔斯通智能装备有限公司 | A kind of welding workstation and welding method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210939256U (en) | Multifunctional manipulator | |
| CN108746972B (en) | Automatic change robot spot welding equipment | |
| CN203062052U (en) | Welding robot | |
| CN112847128A (en) | Welding seam grinding device based on six robots | |
| CN213857747U (en) | Automatic welding device | |
| CN204148695U (en) | Vehicle right and left underarm robotic arc-welding system | |
| CN109290838A (en) | Workpiece turning for automated processing machine tool turns around device | |
| CN209334962U (en) | Rotary eight axis of the double-station linkage robot welding jig of draught fan impeller | |
| CN209078006U (en) | A kind of automobile metal plate work full-automation welder | |
| CN210060278U (en) | Double-station turnover type welding device for flower basket frame | |
| CN212683560U (en) | Automatic feeding and discharging system applied to VA4 machine tool | |
| CN109834398A (en) | A kind of system suitable for the weldering of lightweighting materials collection agitating friction and MIG weldering | |
| CN210099299U (en) | Automatic welding system for small and medium-sized electric cabinets | |
| CN213764386U (en) | Full-automatic multi-angle arc welding device of robot | |
| CN210359942U (en) | High-efficient welding equipment | |
| CN204075465U (en) | Automobile engine front mounting beam robot arc welding system | |
| CN209632418U (en) | Weld two station welding mechanisms | |
| CN111618496A (en) | Multi-station gas tank welding production line | |
| CN208033981U (en) | A kind of jack welding machine special | |
| CN212552436U (en) | Multi-station gas tank welding production line | |
| CN209998609U (en) | industrial robot with positioning welding function | |
| CN214418161U (en) | Sheet metal component straight seam welding and grinding device | |
| CN204913028U (en) | Welding set is protected to automatic gasification of automotive suspension class spare part | |
| CN109366025A (en) | Rotary eight axis of the double-station linkage robot welding jig of draught fan impeller and method | |
| CN220480755U (en) | Industrial robot adds clamping apparatus device |
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: 20190604 |