CN110919146A - Synchronous compound motion automatic gas shielded welding device with pendulum and horizontal swing - Google Patents
Synchronous compound motion automatic gas shielded welding device with pendulum and horizontal swing Download PDFInfo
- Publication number
- CN110919146A CN110919146A CN201911264240.1A CN201911264240A CN110919146A CN 110919146 A CN110919146 A CN 110919146A CN 201911264240 A CN201911264240 A CN 201911264240A CN 110919146 A CN110919146 A CN 110919146A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- roller
- sliding block
- welding gun
- semi
- 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.)
- Withdrawn
Links
Images
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
-
- 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
- B23K9/287—Supporting devices for electrode holders
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention relates to a synchronous compound motion automatic gas shielded welding device with a pendulum and a horizontal swing, which comprises a stepping motor, a roller and a guide rail slide block mechanism, wherein the stepping motor is connected with a horizontal swing mechanism; the slide block in the guide rail slide block mechanism can move horizontally. The slide block drives the welding gun clamping block and the roller to move; the roller can rotate; when the roller wheel rotates, the semi-elliptical roller wheel is contacted with the surface of the semi-elliptical guide rail and can move along the surface of the semi-elliptical guide rail, and simultaneously, when the semi-elliptical roller wheel is pushed by the semi-elliptical guide rail, the sliding block fixedly connected with the roller wheel can horizontally move in the horizontal groove-shaped guide rail of the guide rail sliding block mechanism; the left end and the right end of the sliding block are both provided with a spring to be connected. The roller is driven to rotate by the stepping motor, the welding gun clamping block and the welding gun are driven to rotate together, the reverse force of the arc guide rail plate to the roller is recycled, the synchronous compound motion of the bell pendulum and the horizontal swing of the welding gun can be guaranteed, the angle of the bell pendulum motion of the welding gun can be increased, and the penetration of the side wall is facilitated.
Description
Technical Field
The invention relates to a mechanical welding device, in particular to a synchronous compound motion automatic gas shielded welding device which is applied to occasions needing to swing a welding gun under the condition of multilayer and multi-pass welding of a large thick steel plate, and in particular relates to a clock pendulum and horizontal swing combined motion automatic gas shielded welding device.
Background
When a large thick steel plate is subjected to multiple layers and multiple paths, in order to increase the side wall penetration, a welding gun is often required to swing so as to ensure the weld forming characteristics. Generally, a welding gun swinging device usually has three modes of transverse swinging, pendulum swinging or crescent swinging, wherein pendulum swinging is used more because the pendulum swinging can increase the melting depth of a side wall to the maximum extent. However, when the groove gap is small, due to the existence of the welding gun nozzle and the contact tip, the welding gun nozzle or the contact tip is likely to touch the groove side wall in the pendulum swinging process, so that the pendulum angle is severely limited, and the side wall fusion is insufficient.
The prior art pendulous device generally only adopts one of the above three swing modes, and the problem that exists is: multiple swing compound motions cannot be realized to increase the sidewall penetration. For example, the inventor of the prior art has filed a gas shielded welding torch capable of automatically swinging transversely on 2008/11/06 (patent No. 200880110611.4, which can only realize the function of swinging transversely of the torch), or although the two motions are independent from each other and are realized by different mechanical devices and control systems, the motions are asynchronous and the mechanisms are relatively complex, for example, a follow-up torch oscillator proposed in 201610155608.0 by xinjiang wegian akco technologies limited company realizes both transverse swinging and pendulum swinging, but the two motion systems are independent from each other, and these devices cannot realize synchronous compound motions of a plurality of swings of welding torches by using one set of mechanical device and control system, and can synchronously increase the distance between the welding wire and the side wall when the pendulum swings to the side wall, thereby increasing the amplitude of the pendulum motion.
Disclosure of Invention
1. The technical problem to be solved is as follows:
aiming at the defects of the prior art, the automatic gas shielded welding device with the synchronous compound motion is simple in structure, economical and practical and capable of realizing the addition of the pendulum and the horizontal swing.
2. The technical scheme is as follows:
the utility model provides a pendulum adds automatic gas shielded arc welding device of synchronous compound motion of yaw which characterized in that: comprises a stepping motor, a roller and a guide rail sliding block mechanism; the guide rail sliding block mechanism comprises a groove-shaped guide rail sliding block; the surface of the groove-shaped guide rail mechanism is provided with a horizontal groove-shaped guide rail; the sliding block is arranged in the horizontal groove-shaped guide rail and can move horizontally.
The outer end of the sliding block is fixedly connected with the inner end of a welding gun clamping block used for clamping a welding gun; the outer end of the welding gun clamping block is fixedly connected with a roller; the roller can rotate along with the rotation of an output shaft 11 of a stepping motor arranged at the outer end of the roller; the upper part of the roller is a semicircle, and the lower part of the roller is a semiellipse; the rollers are uniformly distributed by taking the vertical shaft as a symmetry axis; a semi-elliptical guide rail formed by two arc guide rail plates is arranged right below the semi-ellipse of the roller; when the roller wheel rotates, the semi-elliptical roller wheel is contacted with the surface of the semi-elliptical guide rail and can move along the surface of the semi-elliptical guide rail, and simultaneously, when the semi-elliptical roller wheel is pushed by the semi-elliptical guide rail, the sliding block fixedly connected with the roller wheel can horizontally move in the horizontal groove-shaped guide rail of the guide rail sliding block mechanism; the left end and the right end of the sliding block are respectively provided with a spring to be connected; one end of the spring is connected with the sliding block, and the other end of the spring is respectively connected with the spring baffle plates fixed on two sides of the horizontal groove-shaped guide rail.
Furthermore, the device also comprises a control circuit of the stepping motor; and the control circuit of the stepping motor controls the stepping motor to rotate forward and backward.
Furthermore, the roller is provided with a through hole, and an output shaft 11 of the stepping motor penetrates through the through hole and is connected with the through hole through a flat key 12; the inner end of the roller is connected with the welding gun clamping block through a roller bolt.
Further, a welding gun through hole is formed in the vertical direction of the welding gun clamping block, and a welding gun penetrates through the welding gun through hole and then is locked through a locking screw.
Furthermore, a protruding pin shaft is designed at the inner end of the welding gun clamping block, and the protruding pin shaft is inserted into the sliding block in a clearance fit mode, so that the sliding block is fixed.
Further, the device also comprises a motor plate; the motor fixing plate is positioned between the roller and the motor; the motor fixing plate is connected with the sliding block through a long bolt 2 and a bolt sleeve 2.
Further, the horizontal groove-shaped guide rail is connected with a spring baffle through a baffle bolt; the slide block and the spring baffle are connected with two springs through a slide block pin shaft and a baffle pin shaft.
3. Has the advantages that:
(1) in the invention, a track sliding block mechanism is connected with two spring baffles through bolts. The sliding block and the spring baffle are connected with two buffer springs through a sliding block pin shaft and a baffle pin shaft. The design of the buffer spring ensures that the sliding block has a certain buffer effect when moving towards two sides, and meanwhile, after the welding process is finished, no matter where the motor stops, the welding gun is in the middle position, so that the sliding block can be conveniently used as the initial position before the next welding.
(2) The stepping motor is connected with the motor fixing plate through a motor bolt. The motor fixing plate is connected with the sliding block through the long bolt 2 and the nut 2. Therefore, the stepping motor can be fixedly installed, and can move transversely along with the sliding block when the welding gun swings in a pendulum manner.
(3) The automatic gas shielded welding device with the synchronous compound motion of the pendulum swing and the transverse swing is not limited to the gas shielded welding occasions, and can also be used in the occasions needing to synchronously compound swing the welding gun, such as argon arc welding, submerged arc welding and the like.
Compared with the prior art, the invention has the following maximum advantages: the roller is driven to rotate by the stepping motor, the welding gun clamping block and the welding gun are driven to rotate together, the reverse force of the arc guide rail plate to the roller is recycled, the synchronous compound motion of the bell pendulum and the horizontal swing of the welding gun can be guaranteed, the angle of the bell pendulum motion of the welding gun can be increased, and the penetration of the side wall is facilitated.
The invention has simple structure and convenient assembly and disassembly, is particularly suitable for occasions requiring synchronous compound swinging of the welding guns under the conditions of multilayer and multi-pass welding and the like, and has extremely high application value.
Drawings
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is an enlarged view of a portion of the stepper motor and roller;
FIG. 3 is a right side view of the principal structure of the present invention;
FIG. 4 is a three-dimensional assembly view of the roller and torch clamp block;
fig. 5 is a schematic view of the synchronized compound motion of the welding gun.
Detailed Description
As shown in fig. 1 to 5, a synchronous compound motion automatic gas shielded welding device of pendulum and yaw: comprises a stepping motor 1, a roller 2 and a guide rail sliding block mechanism 3; the guide rail sliding block mechanism 3 comprises a groove-shaped guide rail sliding block 31; the surface of the groove-shaped guide rail mechanism is provided with a horizontal groove-shaped guide rail 32; the slider 31 is mounted in a horizontal slotted guide so as to be able to move horizontally.
The outer end of the slide block 31 is fixedly connected with the inner end of a welding gun clamping block 5 for clamping a welding gun; the outer end of the welding gun clamping block 5 is fixedly connected with the roller 2; the roller 2 can rotate along with the rotation of an output shaft 11 of the stepping motor 1 arranged at the outer end of the roller 2; the upper part of the roller 2 is a semicircle, and the lower part of the roller is a semiellipse; the rollers 2 are uniformly distributed by taking a vertical shaft as a symmetrical shaft; a semi-elliptical guide rail 4 formed by two arc guide rail plates is arranged right below the semi-ellipse of the roller 2; when the roller 2 rotates, the semi-elliptical roller 2 is contacted with the surface of the semi-elliptical guide rail and can move along the surface of the semi-elliptical guide rail 4, and simultaneously, when the semi-elliptical roller 2 is pushed by the semi-elliptical guide rail 4, the sliding block 31 fixedly connected with the roller 2 can horizontally move in the horizontal groove-shaped guide rail of the guide rail sliding block mechanism 3; the left end and the right end of the sliding block 31 are respectively provided with a buffer spring 11 which is connected with each other; one end of the buffer spring 11 is connected with the slide block 31, and the other end is respectively connected with the spring baffle plates 10 fixed on two sides of the groove-shaped guide rail.
An arc-shaped guide rail plate 4 is arranged on the groove-shaped guide rail 32 through 4 long bolts 1 and G and nuts 1 and H.
As shown in fig. 2, 3 and 4, a motor shaft 11 of the stepping motor 1 is connected to the roller 2 through a flat key 12. The roller 2 is connected with the welding clamping block through the roller 2 through a bolt, a welding gun through hole is formed in the welding gun clamping block, and the welding gun penetrates through the welding gun through hole and then is locked through a locking screw J, so that the welding gun is prevented from falling out of the welding gun through hole 51. The right end of the welding gun clamping block 5 is provided with a protruding pin shaft 52, and the protruding pin shaft 52 is inserted into the sliding block 31 through clearance fit. Under the action of a control system (not shown), the stepping motor 11 drives the roller 22 to rotate, so as to drive the welding gun 6 to perform pendulum oscillation, and the end part of the welding wire 7 performs pendulum oscillation in the groove 81 of the workpiece 8. Meanwhile, the roller 2 moves along the semi-elliptical guide rail 4, and since the semi-elliptical guide rail 4 and the groove-shaped guide rail 32 are fixedly connected through the bolt G, the roller 2 is moved transversely. The roller 2 drives the welding gun clamping block 5 to move transversely through the connection of the bolt I. The welding gun clamping block 5 drives the sliding block 31 to move transversely through the protruding pin shaft 52.
Further, the control circuit of the stepping motor 1 is also included; and the control circuit of the stepping motor 1 controls the stepping motor 1 to do forward and reverse rotation motion.
Furthermore, the roller is provided with a through hole, and an output shaft 11 of the stepping motor penetrates through the through hole and is connected with the through hole through a flat key 12; the inner end of the roller 2 is connected with the welding gun clamping block through a roller bolt.
Further, a welding gun through hole is formed in the vertical direction of the welding gun clamping block, and a welding gun penetrates through the welding gun through hole and then is locked through a locking screw.
Further, a protruding pin shaft is designed at the inner end of the welding gun clamping block, and the protruding pin shaft is inserted into the sliding block 31 through clearance fit, so that the sliding block 31 is fixed.
Further, the device also comprises a motor plate; the motor fixing plate 9 is positioned between the roller 2 and the motor; the motor fixing plate 9 is connected with the sliding block 31 through the long bolt 2 and the bolt sleeve 2.
Further, the horizontal groove-shaped guide rail 32 is connected with a spring baffle plate through a baffle plate bolt; the slide block 31 and the spring baffle are connected with each other through a slide block pin shaft 33 and a baffle pin shaft.
As shown in fig. 4, the stepping motor 1 is connected to the motor fixing plate 9 through a motor bolt K. The motor fixing plate 9 is connected with the sliding block 3 through a long bolt and a nut. Therefore, the stepping motor 1 can be fixedly installed, and meanwhile, when the welding gun 6 swings in a pendulum manner, the stepping motor 1 can move transversely along with the sliding block 31.
As shown in fig. 2, the slotted guide 32 is connected to the spring flapper 10 by flapper bolts M. The two buffer springs 11 are connected between the slide block 31 and the spring baffle 10 through a slide block pin shaft 33 and a baffle pin shaft 101. The arrangement of the buffer spring 11 can ensure that the two sides of the sliding block 31 move with a certain buffer effect, and can ensure that the sliding block 31 and the welding gun 6 can automatically return to the middle position when the roller 2 moves from the two sides to the middle position. After the welding process is finished, no matter where the motor 1 stops, the welding gun 6 can be ensured to be at the middle position, and the welding gun can be conveniently used as the initial position before the next welding.
This problem is further illustrated by way of example, as shown in fig. 1 and 5. When the welding gun 6 is driven by the stepping motor 1 and the roller 2 to do pendulum motion, if the welding gun 6 swings counterclockwise from the center position to the left by an angle omega, the semi-elliptical guide rail 4 gives a reverse force F to the roller 2, and under the action of the reverse force F, the roller 2 drives the welding gun 6 to do transverse movement to the right side together. Therefore, the distance between the end of the welding wire 7 and the left side wall of the groove 81 of the workpiece 8 is increased, the angular range of the bell motion of the welding gun 6 is increased, and the larger side wall penetration is favorably formed. When the welding gun 6 moves towards the right side, the process is just opposite. Meanwhile, when the welding gun 6 does reciprocating pendulum motion, the welding gun can synchronously do transverse swing under the drive of the roller 2, so that the fluidity of the molten pool is further enhanced, and the side wall melting depth is favorably enhanced.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides a pendulum adds automatic gas shielded arc welding device of synchronous compound motion of yaw which characterized in that: comprises a stepping motor (1) and a guide rail sliding block mechanism (3); the guide rail sliding block mechanism (3) comprises a groove-shaped guide rail sliding block (31); the surface of the groove-shaped guide rail mechanism is provided with a horizontal groove-shaped guide rail (32); the sliding block (31) is arranged in a horizontal groove-shaped guide rail (32) and can move horizontally;
the outer end of the sliding block (31) is fixedly connected with the inner end of a welding gun clamping block (5) for clamping a welding gun; the outer end of the welding gun clamping block (5) is fixedly connected with a roller; the roller can rotate along with the rotation of an output shaft (11) of a stepping motor (1) arranged at the outer end of the roller; the upper part of the roller (2) is a semicircle, and the lower part of the roller is a semiellipse; the rollers (2) are uniformly distributed by taking a vertical shaft as a symmetrical shaft; a semi-elliptical guide rail (4) formed by two arc-shaped guide rail plates is arranged right below the semi-ellipse of the roller (2); when the roller (2) rotates, the semi-elliptical roller (2) is in contact with the surface of the semi-elliptical guide rail and can move along the surface of the semi-elliptical guide rail, and meanwhile, when the semi-elliptical roller (2) is pushed by the semi-elliptical guide rail (4), the sliding block (31) fixedly connected with the roller (2) can horizontally move in the horizontal groove-shaped guide rail (32) of the guide rail sliding block mechanism (3); the left end and the right end of the sliding block (31) are respectively provided with a spring (11) to be connected; one end of the spring (11) is connected with the sliding block (31), and the other end is respectively connected with the spring baffle plates (10) fixed on two sides of the horizontal groove-shaped guide rail (32).
2. The synchronous compound motion automatic gas shield welding device of claim 1, characterized in that: the control circuit of the stepping motor (1) is also included; and a control circuit of the stepping motor (1) controls the stepping motor (1) to rotate forward and backward.
3. The synchronous compound motion automatic gas shield welding device of claim 1, characterized in that: the roller (2) is provided with a through hole, and an output shaft (11) of the stepping motor (1) penetrates through the through hole and is connected with the through hole through a flat key; the inner end of the roller (2) is connected with the welding gun clamping block (5) through a roller (2) bolt.
4. The synchronous compound motion automatic gas shield welding device of claim 1, characterized in that: a welding gun through hole (51) is formed in the vertical direction of the welding gun clamping block (5), and a welding gun penetrates through the welding gun through hole (51) and then is locked by a locking screw.
5. The synchronous compound motion automatic gas shield welding device of claim 1, characterized in that: the inner end of the welding gun clamping block (5) is provided with a protruding pin shaft, and the protruding pin shaft is inserted into the sliding block (31) in a clearance fit mode so as to fix the sliding block.
6. The synchronous compound motion automatic gas shield welding device of claim 1, characterized in that: the device also comprises a motor plate; the motor fixing plate is positioned between the roller (2) and the motor; the motor fixing plate is connected with the sliding block (31) through a long bolt and a bolt sleeve.
7. The synchronous compound motion automatic gas shield welding device of claim 1, characterized in that: the horizontal groove-shaped guide rail (32) is connected with the spring baffle (10) through a baffle bolt; the sliding block (31) and the spring baffle (10) are connected with the two springs (11) through a sliding block pin shaft (33) and a baffle pin shaft (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911264240.1A CN110919146A (en) | 2019-12-11 | 2019-12-11 | Synchronous compound motion automatic gas shielded welding device with pendulum and horizontal swing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911264240.1A CN110919146A (en) | 2019-12-11 | 2019-12-11 | Synchronous compound motion automatic gas shielded welding device with pendulum and horizontal swing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110919146A true CN110919146A (en) | 2020-03-27 |
Family
ID=69858883
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911264240.1A Withdrawn CN110919146A (en) | 2019-12-11 | 2019-12-11 | Synchronous compound motion automatic gas shielded welding device with pendulum and horizontal swing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110919146A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112157338A (en) * | 2020-11-02 | 2021-01-01 | 桂林航天工业学院 | Plasma welding device and welding method thereof |
| CN113523511A (en) * | 2020-03-29 | 2021-10-22 | 长春博识自动化焊接技术有限公司 | Swinging arc device for swinging contact tube of gas metal arc welding gun |
| CN115106672A (en) * | 2022-08-29 | 2022-09-27 | 南通市恒瑞精密机械制造有限公司 | Automatic welding equipment for steel plates |
-
2019
- 2019-12-11 CN CN201911264240.1A patent/CN110919146A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113523511A (en) * | 2020-03-29 | 2021-10-22 | 长春博识自动化焊接技术有限公司 | Swinging arc device for swinging contact tube of gas metal arc welding gun |
| CN113523511B (en) * | 2020-03-29 | 2022-06-24 | 长春博识自动化焊接技术有限公司 | Swinging arc device for swinging contact tube of gas metal arc welding gun |
| CN112157338A (en) * | 2020-11-02 | 2021-01-01 | 桂林航天工业学院 | Plasma welding device and welding method thereof |
| CN115106672A (en) * | 2022-08-29 | 2022-09-27 | 南通市恒瑞精密机械制造有限公司 | Automatic welding equipment for steel plates |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110919146A (en) | Synchronous compound motion automatic gas shielded welding device with pendulum and horizontal swing | |
| CN211539871U (en) | Synchronous compound motion automatic gas shielded welding device with pendulum and horizontal swing | |
| CN103990893B (en) | Mechanical type welding seam tracking device | |
| CN110303225B (en) | Multi-arc gun additive manufacturing system and method | |
| CN107755912B (en) | Tubing all positon laser-arc hybrid welding in industry system | |
| CN102423827A (en) | Welding gun swinging device for vertical electrogas welder | |
| CN105665924B (en) | Optical path auto-switch device and its changing method based on two sets of laser-processing systems | |
| US20150041446A1 (en) | Welding carriage | |
| CN205397922U (en) | Trailer device is changeed in heavy load of half gate -type | |
| CN111071296A (en) | Single-track turnout rail-changing system | |
| CN203753821U (en) | Rail conveying device | |
| CN102615440A (en) | Seam tracking mechanism of pipeline welding system | |
| CN102166682B (en) | Weld tracking device | |
| CN104923887A (en) | Transverse direction self-adaptation tracking device for ultra-narrow gap MAG/MIG welding weld line | |
| CN103894747B (en) | A kind of large-scale combined joist steel girder always spells automatic welding device and automatic soldering method | |
| CN106001855A (en) | Welding method and robot welding system | |
| KR20140118151A (en) | welder of exclusive use of ship block | |
| KR100602788B1 (en) | Automatic Butt Welding with capacity of welding for large size flat plate in both direction | |
| CN105799737A (en) | Monorail turnout beam driving device | |
| CN103640863B (en) | Control method for built-in driving mechanism for tracks | |
| CN104169034A (en) | Welding apparatus | |
| CN206785391U (en) | The double circle assembling machines of shield machine segment | |
| EP3674031A1 (en) | Hybrid welding method and hybrid welding apparatus | |
| CN203282017U (en) | Single-gun double-wire vertical electrogas welding device | |
| CN104308344B (en) | Narrow dark cabinets cavity welding robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200327 |
|
| WW01 | Invention patent application withdrawn after publication |