CN110449794A - A kind of combined welding fuselage of compatible moving guide rail and mobile base trolley - Google Patents
A kind of combined welding fuselage of compatible moving guide rail and mobile base trolley Download PDFInfo
- Publication number
- CN110449794A CN110449794A CN201910828360.3A CN201910828360A CN110449794A CN 110449794 A CN110449794 A CN 110449794A CN 201910828360 A CN201910828360 A CN 201910828360A CN 110449794 A CN110449794 A CN 110449794A
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- wig
- wag
- fixed
- mobile base
- screw rod
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- 238000003466 welding Methods 0.000 title claims abstract description 53
- 239000003638 chemical reducing agent Substances 0.000 claims description 22
- 230000009467 reduction Effects 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims 1
- 238000009434 installation Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 241000237858 Gastropoda Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
Abstract
The invention discloses the combined welding fuselages of a kind of compatible moving guide rail and mobile base trolley, including mounting seat, control cabinet, wig-wag and clamper, further include locking type sliding block, and the locking type sliding block is fixed on the downside of the mounting seat.Welding fuselage can quickly be connect by locking type sliding block with rigid guideway trolley, mobile base trolley and flexible guide rail, and to be suitable for different welding operating conditions, which has small in size, advantages of simple structure and simple simultaneously.
Description
Technical field
The present invention relates to technical field of welding equipment, and in particular to the combined type of compatible moving guide rail and mobile base trolley
Weld fuselage.
Background technique
Welding technique is widely used in shipbuilding industry, auto manufacturing, petrochemical industry, equipment manufacture and mine construction etc.
Industry.In order to improve welding quality and welding efficiency, in the prior art, there is a variety of welding auxiliary equipments, such as main use
In the mobile base trolley welded to fillet weld, it is mainly used for the rigid guideway trolley welded to plane and main
Flexible guide rail for being welded to curved surface.
However, existing welding auxiliary equipment has deficiency below: different types of mobile base trolley can only be applicable in
In a kind of welding operating condition, be unable to satisfy to it is different welding operating conditions welding, when to realize different welding operating conditions are welded when,
Need cover equipment, increase and purchase and maintenance cost.
Summary of the invention
The invention proposes the combined welding fuselages of a kind of compatible moving guide rail and mobile base trolley, solve existing
Welding auxiliary equipment can not be suitable for it is a variety of welding operating conditions welding.
The technological means that the present invention uses is as follows:
A kind of combined welding fuselage of compatible moving guide rail and mobile base trolley, including mounting seat, control cabinet, pendulum
Dynamic device and clamper, further include locking type sliding block, the locking type sliding block is fixed on the downside of the mounting seat.
Further, the wig-wag includes wig-wag shell and is successively disposed longitudinally on the intracorporal pendulum of wig-wag shell
Dynamic device motor, gear reduction unit, shaft coupling and the first worm reducer, the wig-wag shell are mounted on the control cabinet
One end, the wig-wag motor are connect with gear reduction unit, and the output shaft of the gear reduction unit passes through the shaft coupling and institute
The connection of the first worm reducer is stated, the output shaft of first worm reducer is stretched out from the two sides of the wig-wag shell, institute
It states and the clamper is installed on the output shaft of the first worm reducer.
Further, the wig-wag further includes angular transducer, and the angular transducer and the gear reduction unit connect
It connects.
It further, further include transverse adjustment, longitudinal adjuster and attachment base；
The transverse adjustment includes transverse adjustment seat, the first sliding block, sliding rail and the first screw rod, the lateral adjustments
Device seat is fixed in the mounting seat, and the sliding rail is fixed on the transverse adjustment seat, and first sliding block is mounted on
On the sliding rail, first screw rod both ends are articulated on the both ends of the transverse adjustment seat, the bottom surface of first sliding block
On be fixed with nut, the nut is connect with first screw rod, and first sliding block edge can be driven by rotating first screw rod
The sliding rail transverse movement；
The attachment base is fixed on first sliding block；
The longitudinal adjuster includes the first fixed block, the second fixed block, two guide rods, fixed plate and the second screw rod,
First fixed block is mounted on the attachment base, is fixed with two guide rods on first fixed block, and described two
The other end of guide rod is fixed with second fixed block, is equipped with second screw rod between described two fixed blocks, and described
Two screw rod both ends and fixed block are pivotally connected, and the fixed plate is fixedly connected with the control cabinet, and the fixed plate is equipped with for institute
The through-hole and the threaded hole connecting with second screw rod that guide rod passes through are stated, the control cabinet can be driven by rotating second screw rod
Along the guide rod longitudinal movement.
It further, further include the deflection adjuster being placed in the control cabinet, the deflection adjuster includes deflector
Motor and deceleration device, the deflector motor are connect with deceleration device, the output shaft of the deceleration device and the wig-wag
Shell is fixedly connected.
Further, the deceleration device include the first retarder and the second reducer of turbodrill, the deflector motor with
The first retarder connection, first retarder are connect with second reducer of turbodrill, second worm reducer
Output shaft from one end of the control cabinet stretch out and be fixedly connected with the wig-wag shell.
It further, further include rail driving device, the rail driving device includes hard rail road rack drives motor,
Two retarders and gear, the rail driving device are mounted on the downside of transverse adjustment seat one end.
It further, further include a word infrared ray calibrator.
Compared with the prior art, the combined welding fuselage of compatible moving guide rail and mobile base trolley of the present invention
Have the advantages that due to being equipped with locking type sliding block on the downside of mounting seat, locking type sliding block can be convenient with movement
Base dolly, rigid guideway or flexible guide rail connection, allow to be suitable for different welding operating conditions, reduce acquisition cost and
Maintenance cost.
Detailed description of the invention
Fig. 1 is the structure chart of the combined welding fuselage of compatible moving guide rail disclosed by the invention and mobile base trolley；
Fig. 2 a is the structure chart of locking type sliding block；
Fig. 2 b is the structure chart of the bottom of locking type sliding block；
Fig. 2 c is the structure chart of latch segment；
Fig. 3 is the right view of Fig. 1；
Fig. 4 is the axonometric drawing of the combined welding fuselage of compatible moving guide rail disclosed by the invention and mobile base trolley；
Fig. 5 removes controller for the combined welding fuselage of compatible moving guide rail disclosed by the invention and mobile base trolley
With the structure chart of the shell of wig-wag shell two sides；
Fig. 6 is the structure chart of transverse adjustment；
Fig. 7 is the schematic diagram that wig-wag is rotated by certain angle in deflection adjuster；
Fig. 8 is the combined welding fuselage and linear guide of compatible moving guide rail disclosed by the invention and mobile base trolley
The structure chart of installation；
Fig. 9 is the combined welding fuselage and mobile base of compatible moving guide rail disclosed by the invention and mobile base trolley
The structure chart of trolley installation.
In figure: 1, mounting seat, 10, locking type sliding block, 11, clamper, 12, welding gun, 100, locking type take-up housing, 101,
Drop center wheel, 102, turning knob, 103, latch segment, 104, tie down screw, 105, sliding groove, 106, locking spring, 1030, sliding
Portion, 1031, card-tight part, 1032, threaded hole, 2, control cabinet, 20, power module, 21, control key, 22, output interface, 30, swing
Device shell, 31, wig-wag motor, 32, gear reduction unit, 33, shaft coupling, the 34, first worm reducer, 35, angular transducer,
40, transverse adjustment seat, the 41, first sliding block, 42, sliding rail, the 43, first screw rod, the 44, first knob, 400, rail fixing part,
401, screw rod fixed part, the 50, first fixed block, the 51, second fixed block, 52, guide rod, 53, fixed plate, the 55, second screw rod, 56,
Second knob, 6, attachment base, 70, deflector motor, the 71, first retarder, the 72, second reducer of turbodrill, 80, hard rail road rack gear
Driving motor, the 81, second retarder, 82, gear, 90, one word infrared ray calibrator, 91, rectilinear orbit, 92, mobile base it is small
Vehicle, 93, rack gear, 94, locking sliding block fixing seat, 95, mounting groove.
Specific embodiment
It is as shown in Figure 1, Figure 2a and Fig. 3 the weldering of the combined type of compatible moving guide rail disclosed by the invention and mobile base trolley
Pick body, including mounting seat 1, control cabinet 2, wig-wag 3 and clamper 11, the bottom of mounting seat 1 are fixed with locking type
Sliding block 10.
Specifically, control cabinet 2 and wig-wag 3 are installed in mounting seat 1, control cabinet can control wig-wag to be acted,
The clamper being fixed on wig-wag is driven to be swung to be subjected in turn.As shown in Figure 2 a, in the present embodiment,
Locking type sliding block 10 uses idler wheel sliding block, and idler wheel sliding block includes locking type take-up housing 100 and drop center wheel 101, locking type take-up housing
100 are fixed on the bottom of mounting seat 1, are equipped with multiple drop center wheels 101 on locking type take-up housing 100, drop center wheel can with it is straight
The mounting groove 95 in locking sliding block fixing seat on line guide rail or mobile base trolley quickly connects, locking sliding block fixing seat and straight
Line guide rail structure is identical, that is, locking sliding block fixing seat is a bit of linear guide.In the present embodiment, locking type sliding block has
There are two groups.
Further, the wig-wag 3 is disposed longitudinally on including wig-wag shell 30 and successively the wig-wag shell 30
Interior wig-wag motor 31, gear reduction unit 32, shaft coupling 33 and the first worm reducer 34, the wig-wag shell 30 are pacified
Mounted in one end of the control cabinet 2, power module 20 and control panel (not shown), the wig-wag are equipped in control cabinet 2
Motor 31 is connect with gear reduction unit 32, and the output shaft of the gear reduction unit 32 passes through the shaft coupling 33 and first snail
Wheel decelerator 34 connects, and the output shaft of first worm reducer 34 is stretched out from the two sides of the wig-wag shell 30, described
The clamper 11 is installed on the output shaft of first worm reducer 34, the two sides of worm reducer are equipped with clamper, also with
Convenient for being welded to not ipsilateral.As shown in figure 5, control cabinet is equipped with control key 21 (control button and knob), pass through control
Swing amplitude peak, swing speed, the residence time for swinging to both ends and the setting of middle site of the adjustable clamper of key.Pendulum
Dynamic device is mounted on control cabinet, so that the more compact structure of welding fuselage, reduces the volume of welding fuselage.
Further, in the present embodiment, wig-wag motor uses servo motor, and gear reduction unit is subtracted using spider gear
Fast device, the wig-wag 3 further include angular transducer 35, and the angular transducer is connect with the gear reduction unit, pass through angle
Degree sensor can accurately obtain the swing position of gripper device, be accurately controlled in order to which butt welding taps into row.
It further, further include transverse adjustment 4, longitudinal adjuster and connection as shown in Fig. 1, Fig. 3, Fig. 4 and Fig. 5
Seat 6；
As shown in fig. 6, the transverse adjustment 4 includes transverse adjustment seat 40, the first sliding block 41, sliding rail 42 and first
Screw rod 43, the transverse adjustment seat 40 are fixed in the mounting seat 1, and transverse adjustment seat 40 includes rail fixing part
400 and the screw rod fixed part 401 at 400 both ends of rail fixing part is set, is fixed with the sliding rail 42 on rail fixing part 400,
First sliding block 41 is mounted on the sliding rail 42, and 43 both ends of the first screw rod are articulated on the screw rod fixed part 401,
The lower part of first sliding block 41 is fixed with nut (in figure for show), and the nut is connect with first screw rod 43, the
The end of one screw rod 43 is fixed with the first knob 44, when driving the first screw rod 43 to move back and forth by the first knob 44, the first spiral shell
Bar 43 can drive first sliding block 41 along the sliding rail transverse movement；Through transverse adjustment adjustable holding on clamper
The horizontal direction position of welding gun.The attachment base is fixed on first sliding block.The longitudinal adjuster include the first fixed block 50,
Second guide rod 52 of fixed block 51, two, fixed plate 53 and the second screw rod 55, first fixed block 50 are mounted on the connection
On seat 6, longitudinally disposed two guide rods 52, the other end of two guide rods 52 are fixed on first fixed block 50
It is fixed with second fixed block 51, second screw rod 55, second screw rod 55 are installed between described two fixed blocks
Both ends and fixed block are pivotally connected, and the fixed plate 53 is fixedly connected with the control cabinet 2, and in the present embodiment, fixed plate 53 has
Two pieces, the upper and lower ends being respectively placed in control cabinet 2 are simultaneously fixedly connected with control cabinet upper and lower ends, and the fixed plate 53 is equipped with
The through-hole (part that guide rod passes through in figure) passed through for the guide rod and the threaded hole being connect with second screw rod (in figure with
The part of second screw rod contact), second screw rod 55 is rotated, the second screw rod can be driven fixed plate by threaded hole and in guide rod
Guiding role under move up and down, and then drive the control cabinet along the guide rod longitudinal movement.
By the adjustable vertical position for being clamped in welding gun on clamper of longitudinal adjuster, in order to be welded
It connects.
Further, as shown in figure 5, further including the deflection adjuster being placed in the control cabinet 2, the deflection adjuster
Including deflector motor 70 and deceleration device, in the present embodiment, the deceleration device includes the first retarder 71 and the second whirlpool
Wheel decelerator 72, deflector motor use servo motor, and the deflector motor 70 is connect with first retarder 71, described
First retarder 71 is connect with second reducer of turbodrill 72, and the output shaft of second worm reducer 72 is from the control
One end of case 2 is stretched out and is fixedly connected with the wig-wag shell 30, as shown in fig. 7, deflector motor can by deceleration device
Driving wig-wag rotates in vertical space, to carry out the adjusting of welding gun, makes that it is suitable for different welding operating conditions.The present embodiment
Two retarders of middle use can also can be specifically set as needed using one or more retarders to increase reduction ratio
Meter.
Further, further include rail driving device, the rail driving device include hard rail road rack drives motor 80,
Second retarder 81 and gear 82, hard rail road rack drives motor use servo motor, and the rail driving device is mounted on
The transverse adjustment seat is far from wig-wag one end.It is illustrated in figure 8 compatible moving guide rail disclosed by the invention and mobile base
The structure chart that the combined welding fuselage and linear guide 90 of trolley are installed, linear guide are adsorbed on welded workpiece, straight line
The side of guide rail 90 is equipped with rack gear 93, the sliding slot connection of the drop center wheel installed in mounting seat and linear guide, to realize weldering
The quick connection for body and the linear guide of picking, gear 82 are engaged with rack gear 92, are additionally provided with output interface 22 in the side of control cabinet,
Hard rail road rack drives motor can be connected by output interface, control cabinet can control hard rail road rack drives electricity by output interface
The rotation of machine, and then the rotation of gear is driven, wheel and rack engagement, so that welding fuselage can be moved along linear guide,
Complete welding.
It further, further include a word infrared ray calibrator 90, in the present embodiment, the word infrared ray calibrator peace
Mounted in the control cabinet far from the one end for being equipped with wig-wag, the infrared laser emitted by a word infrared ray calibrator can be with
Check whether track is parallel with butt weld, can correct in time if any deviation, improves automatic welding precision.
Further, as shown in Fig. 2 a, Fig. 2 b and Fig. 2 c, locking type sliding block 10 further includes sliding block locking mechanism, the cunning
Block locking mechanism includes turning knob 102, latch segment 103, locking spring 106 and tie down screw 104, locking type take-up housing
100 one end is equipped with sliding groove 105, and as shown in Figure 2 c, latch segment 103 includes sliding part 1030 and card-tight part 1031, sliding part
1030 are equipped with threaded hole 1032, and sliding part is placed in sliding groove, and tie down screw 104 is worn from the side of locking type take-up housing 100
Enter in sliding groove 105, and tie down screw is connect with threaded hole, locking spring 106, locking spring one end are cased on tie down screw
It is abutted with the inner wall in latch segment sliding groove close to turning knob, the other end is abutted with sliding part, passes through turning knob rotation lock
Tight screw rod can drive latch segment to slide in sliding groove, and when latch segment moves back and forth in sliding groove, card-tight part can be caught in and set
It sets in the locking slot in the installation groove sidewall of locking sliding block fixing seat or is separated with locking slot, to realize welding fuselage and movement
Base dolly being fixedly connected or separating, and locking spring can prevent tie down screw in the play of locking type take-up housing.
It is illustrated in figure 9 the combined welding fuselage of compatible moving guide rail and mobile base trolley disclosed by the invention and moves
The structure chart of base dolly installation is moved, is fixed with locking sliding block fixing seat (linear guide) on mobile base trolley, locking type is sliding
Mobile base trolley can quickly connect with welding fuselage and be carried out by sliding block locking mechanism by block and locking sliding block fixing seat
It is locked, mobile base trolley can drive the movement of welding fuselage to realize welding.
In the present embodiment, in order to guarantee that the movement for welding fuselage is steady, rectilinear orbit and locking sliding block fixing seat are adopted
With double guide rail structure, bonding machine is equipped with two rows of drop center wheels with it, and every row's drop center wheel has multiple, the number of every row's drop center wheel in figure
Amount is 3.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. the combined welding fuselage of a kind of compatible moving guide rail and mobile base trolley, including mounting seat (1), control cabinet
(2), wig-wag (3) and clamper (11), it is characterised in that: further include locking type sliding block (10), the locking type sliding block
(10) it is fixed on the downside of the mounting seat (1).
2. the combined welding fuselage of compatible moving guide rail according to claim 1 and mobile base trolley, feature exist
In: the swing that the wig-wag (3) includes wig-wag shell (30) and is successively disposed longitudinally in the wig-wag shell (30)
Device motor (31), gear reduction unit (32), shaft coupling (33) and the first worm reducer (34), the wig-wag shell (30)
It is mounted on one end of the control cabinet (2), the wig-wag motor (31) connect with gear reduction unit (32), the The gear deceleration
The output shaft of device (32) is connect by the shaft coupling (33) with first worm reducer (34), first worm gear reducer
The output shaft of device (34) is stretched out from the two sides of the wig-wag shell (30), on the output shaft of first worm reducer (34)
The clamper (11) are installed.
3. the combined welding fuselage of compatible moving guide rail according to claim 2 and mobile base trolley, feature exist
In: the wig-wag (3) further includes angular transducer (35), and the angular transducer (35) and the gear reduction unit (32) are even
It connects.
4. the combined welding of compatible moving guide rail and mobile base trolley as claimed in any of claims 1 to 3
Fuselage, it is characterised in that: further include transverse adjustment (4), longitudinal adjuster and attachment base (6)；
The transverse adjustment (4) includes transverse adjustment seat (40), the first sliding block (41), sliding rail (42) and the first screw rod
(43), the transverse adjustment seat (40) is fixed on the mounting seat (1), is fixed on the transverse adjustment seat (40)
The sliding rail (42), first sliding block (41) are mounted on the sliding rail (42), and the first screw rod (43) both ends are articulated in
On the both ends of the transverse adjustment seat (40), nut, the nut and institute are fixed on the bottom surface of first sliding block (41)
The first screw rod (43) connection is stated, rotating first screw rod (43) can drive first sliding block (41) along the sliding rail (42) cross
To movement；
The attachment base (6) is fixed on first sliding block (41)；
The longitudinal adjuster include the first fixed block (50), the second fixed block (51), two guide rods (52), fixed plate (53) with
And second screw rod (55), first fixed block (50) are mounted on the attachment base (6), it is solid on first fixed block (50)
Surely there are two guide rods (52), the other end of two guide rods (52) is fixed with second fixed block (51), and described two
Second screw rod (55) is installed, the second screw rod (55) both ends and fixed block are pivotally connected, the fixation between a fixed block
Plate (53) is fixedly connected with the control cabinet (2), the fixed plate be equipped with the through-hole passed through for the guide rod and with it is described
The threaded hole of second screw rod connection, rotating second screw rod can drive the control cabinet along the guide rod longitudinal movement.
5. the combined welding fuselage of compatible moving guide rail according to claim 4 and mobile base trolley, feature exist
In: it further include the deflection adjuster being placed in the control cabinet (2), the deflection adjuster includes deflector motor (70) and subtracts
Speed variator, the deflector motor (70) connect with deceleration device, the output shaft of the deceleration device and the wig-wag shell
(30) it is fixedly connected.
6. the combined welding fuselage of compatible moving guide rail according to claim 5 and mobile base trolley, feature exist
In: the deceleration device includes the first retarder (71) and the second reducer of turbodrill (72), the deflector motor (70) and institute
The first retarder (71) connection is stated, first retarder (71) connect with second reducer of turbodrill (72), and described second
The output shaft of worm reducer (72), which is stretched out from one end of the control cabinet (2) and fixed with the wig-wag shell (30), to be connected
It connects.
7. the combined welding fuselage of compatible moving guide rail according to claim 4 and mobile base trolley, feature exist
In: it further include rail driving device, the rail driving device includes hard rail road rack drives motor (80), the second retarder
(81) and gear (82), the rail driving device are mounted on the downside of described transverse adjustment seat (40) one end.
8. the combined welding fuselage of compatible moving guide rail according to claim 2 or 3 and mobile base trolley, feature
It is: further includes a word infrared ray calibrator (90).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910828360.3A CN110449794B (en) | 2019-09-03 | 2019-09-03 | Combined welding machine body compatible with movable guide rail and movable base trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910828360.3A CN110449794B (en) | 2019-09-03 | 2019-09-03 | Combined welding machine body compatible with movable guide rail and movable base trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110449794A true CN110449794A (en) | 2019-11-15 |
| CN110449794B CN110449794B (en) | 2024-04-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910828360.3A Active CN110449794B (en) | 2019-09-03 | 2019-09-03 | Combined welding machine body compatible with movable guide rail and movable base trolley |
Country Status (1)
| Country | Link |
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| CN (1) | CN110449794B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112152156A (en) * | 2020-09-14 | 2020-12-29 | 国网山东省电力公司商河县供电公司 | Cable protective layer cutting device |
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| KR20170127951A (en) * | 2016-05-13 | 2017-11-22 | 현대중공업 주식회사 | Auto welding apparatus for corrugation plate |
| CN106041260A (en) * | 2016-06-21 | 2016-10-26 | 天津大学 | Lightweight rail-mounted five-axis welding robot |
| CN206326287U (en) * | 2016-11-09 | 2017-07-14 | 西安建筑科技大学 | A kind of welding robot |
| CN107717186A (en) * | 2017-10-20 | 2018-02-23 | 中船黄埔文冲船舶有限公司 | One kind is used for reinforcing rib structure angle welding MIG welding gun self-adaptive regulatings |
| CN109823428A (en) * | 2019-02-22 | 2019-05-31 | 沈传普 | Robot moving method |
| CN211135991U (en) * | 2019-09-03 | 2020-07-31 | 大连瑞隆自动化科技有限公司 | Combined welding machine body compatible with moving guide rail and moving base trolley |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112152156A (en) * | 2020-09-14 | 2020-12-29 | 国网山东省电力公司商河县供电公司 | Cable protective layer cutting device |
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