CN111299889A - Robot welding workstation for manufacturing drill mast and welding method thereof - Google Patents
Robot welding workstation for manufacturing drill mast and welding method thereof Download PDFInfo
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- CN111299889A CN111299889A CN202010185416.0A CN202010185416A CN111299889A CN 111299889 A CN111299889 A CN 111299889A CN 202010185416 A CN202010185416 A CN 202010185416A CN 111299889 A CN111299889 A CN 111299889A
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- 238000003466 welding Methods 0.000 title claims abstract description 166
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000004519 manufacturing process Methods 0.000 title description 5
- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 238000002360 preparation method Methods 0.000 claims description 11
- 229910000831 Steel Inorganic materials 0.000 claims description 9
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- 230000000391 smoking effect Effects 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 2
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- 230000008093 supporting effect Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- 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 for a procedure covered by only one of the other main groups of this subclass
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- 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 for a procedure covered by only one of the other main groups of this subclass
- B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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Abstract
The invention discloses a robot welding workstation for preparing a drill mast and a welding method thereof, wherein the robot welding workstation comprises a welding robot transplanting mechanism, a head and tail frame moving positioner, a safety device and a corresponding electric control unit; the welding robot transplanting mechanism comprises a stand column, an X-axis beam is erected on the stand column, a Y-axis beam is arranged on the X-axis beam, a Z-axis beam is arranged on the Y-axis beam, and a welding robot body is arranged on the Z-axis beam; the head-tail frame mobile positioner comprises two mobile positioner bodies and a jacking and centering mechanism, wherein the jacking and centering mechanism is positioned between the two mobile positioner bodies; the safety device comprises a safety fence arranged on the periphery of the welding robot transplanting mechanism and the head-tail frame moving positioner; the electric control unit comprises an electric control cabinet, an electric control system is arranged in the electric control cabinet, and a control box is also arranged on the electric control cabinet. The invention replaces the existing manual welding mode, improves the working efficiency and the productivity, and improves the automation and mechanization level of a welding workshop.
Description
Technical Field
The invention relates to a robot welding workstation, in particular to a robot welding workstation for preparing a drill mast and a welding method thereof.
Background
The drilling mast (also called mast) is a main structural component of a rotary drilling rig of engineering machinery, and is an installation supporting component of a drill rod and a power head and a guide component of a working footage thereof. As an important component of the mast, the middle mast has the total length of dozens of meters and is a box-shaped beam welding structure consisting of an upper mast body and a lower mast body, and guide rails are welded on two sides of a pressing plate. In the middle mast structure, the welding seams of the pressure plate and the seal plate, the welding seams of the guide rail and the pressure plate are main welding seams which are distributed on one side of a section central axis, the mast body is composed of three steel plates, the cross section of the mast body is a rectangle with an opening and formed by two side edges and a long edge, the guide rail is formed by bending one steel plate, the cross section of the guide rail is formed by two long edges and two side edges, the center of one long edge of the guide rail is provided with an opening, the length of the opening is equal to the distance between the two side edges of the mast body, the mast body is inserted into the guide rail, the end surfaces of the two side edges of the mast body are contacted with one long edge of the guide rail, the two side edges of the mast body are contacted with the section.
The mast is a very typical slender rod welding structural member, is used as a supporting member of other parts, has high precision requirements on the cross section shape and the axial straightness, and therefore, the welding deformation of the mast is strictly controlled. In the mast welding process, the welding quality and efficiency need to be fully considered, and although a plurality of robot welding work stations are applied at home and abroad, the main beam steel plate and square tube and main beam splicing main welding and the welding requirements of a partition plate plug welding seam, an accessory and the like which are required by a workpiece cannot be finished at one time in the same work station at present.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a robot welding workstation for drill mast preparation and a welding method thereof, which replace the existing manual welding mode, provide an automatic, efficient and accurate drill mast welding mode, improve the working efficiency and the productivity, and improve the automation and mechanization level of a welding workshop.
In order to achieve the purpose, the invention adopts the following technical scheme:
on one hand, the robot welding workstation for preparing the drill mast comprises a welding robot transplanting mechanism, a head and tail frame moving positioner, a safety device and a corresponding electric control unit;
the welding robot transplanting mechanism comprises an upright post, wherein an X-axis beam is erected on the upright post, a Y-axis beam is arranged on the X-axis beam, a Z-axis beam is arranged on the Y-axis beam, and a welding robot body is arranged on the Z-axis beam;
the head and tail frame movable positioner comprises two movable positioner bodies and a jacking and centering mechanism, the two movable positioner bodies are oppositely arranged and used for fixing the drill mast, and the jacking and centering mechanism is positioned between the two movable positioner bodies and used for lifting and centering the drill mast;
the safety device comprises a safety fence arranged on the periphery of the welding robot transplanting mechanism and the head-tail frame moving positioner;
the electric control unit comprises an electric control cabinet, an electric control system is arranged in the electric control cabinet, a control box is further arranged on the electric control cabinet, and an action button and an emergency stop switch are arranged on the control box.
The Y-axis cross beam is provided with two, and correspondingly, the Z-axis cross beam and the welding robot body are also provided with two.
Still be furnished with welding power supply and smoking dust collector on the welding robot body, welding power supply intercommunication has the robot control cabinet.
The head and tail frame moving positioner further comprises a positioner rail, and the moving positioner body is arranged on the positioner rail.
The movable positioner body fixes the drill mast through a clamp.
The clamp is an electric double-drive four-jaw chuck.
The safety fence is of a closed structure, the upper portion of the safety fence is a steel arc-shielding light plate, the lower portion of the safety fence is a plastic-sprayed steel net, and an emergency button and a three-color alarm lamp are further arranged on the safety fence.
In another aspect, a robotic welding method for drill mast preparation, comprising the steps of:
1) adjusting the workpiece and the movable positioner body to the same height by using the jacking centering mechanism, and fixing the workpiece by using the clamp on the movable positioner body;
2) the workpiece is turned to a position with an upward or downward opening by the movable positioner body, wherein one welding robot body performs open welding from the middle to one end of the workpiece, and the other welding robot body performs open welding from the other end of the workpiece to the middle, so that welding of a welding seam at the bottom of the rib plate with the upward or downward opening of the workpiece is completed;
3) and the workpiece is turned to a position with an opening facing to the left or facing to the right by the mobile positioner body, one welding robot body is started to weld from the middle of the workpiece to one end, and the other welding robot body is started to weld from the other end of the workpiece to the middle of the workpiece, so that the welding of the welding seam at the bottom of the rib plate with the opening facing to the left or facing to the right of the workpiece is completed.
When the welding robot body is welded, an intermittent welding mode is adopted, namely 100mm welding is carried out, and 50mm welding is carried out.
According to the robot welding workstation for manufacturing the drill mast and the welding method thereof, the robot welding workstation is designed to be movable in a head and tail frame mode, when a workpiece is long and is clamped, the workpiece is placed on the jacking centering mechanism, the workpiece and the movable positioner body are adjusted to be at the same height by the jacking centering mechanism, then the movable positioner body moves simultaneously, and the moving distance of one side is reduced. Meanwhile, the sliding distance of the workpiece on the jacking centering mechanism is shortened in the clamping process, and the workpiece jacking centering mechanism is relatively safer. The jacking centering mechanism has a centering function, so that the workpiece cannot be greatly deviated in the clamping process, and the clamp is prevented from being subjected to unstable force. Can meet the requirement of 4 roots/16 hours in terms of productivity. After the partition plate is welded with the cache workpiece, the main beam square tube can be welded, and the welding needs to be determined according to the actual situation on site.
Drawings
FIG. 1 is a schematic view of a robotic welding workstation embodiment of the present invention;
FIG. 2 is a top view of an embodiment of the robotic welding station of FIG. 1;
FIG. 3 is a side view of an embodiment of the robotic welding station of FIG. 1;
FIG. 4 is a flow chart of a robot welding method embodiment of the present invention;
FIG. 5 is an electrical control schematic of an embodiment of the robotic welding station of the present invention;
FIG. 6 is a flow chart of centering of a jacking centering mechanism in an embodiment of a robotic welding station of the present invention;
FIG. 7 is a schematic illustration of the body offset of two mobile positioners in an embodiment of a robotic welding workstation of the present invention;
FIG. 8 is a schematic view of the interaction of two welding robot bodies in an embodiment of the robotic welding station of the present invention;
FIG. 9 is a schematic illustration of all servo motor limits in an embodiment of a robotic welding station of the present invention;
FIG. 10 is a schematic view of a jacking centering mechanism in an embodiment of a robotic welding station of the present invention;
FIG. 11 is a perspective view of a jacking centering mechanism in the embodiment of the robotic welding station of FIG. 10;
FIG. 12 is a right side view of a lift-up centering mechanism of the embodiment of the robotic welding station of FIG. 10;
FIG. 13 is a schematic view of a lift-up centering mechanism performing a centering function in the embodiment of the robotic welding station of FIG. 10.
Detailed Description
The technical scheme of the invention is further explained by combining the drawings and the embodiment.
Referring to fig. 1 to 3, a robotic welding workstation for manufacturing a drill mast according to the present invention includes a set of welding robot transplanting mechanisms, a set of head-tail frame moving positioner, a safety device and a corresponding electrical control unit.
The preferred, welding robot transplanting mechanism, including the stand 1, four that four equidistance set up 1 erects on the stand and is equipped with an X axle crossbeam 2, be equipped with two Y axle crossbeams 3 on the X axle crossbeam 2, through the transmission of outside axle motor drive gear rack toothing, make Y axle crossbeam 3 can be followed X axle crossbeam 2 removes, all be equipped with Z axle crossbeam 4 on the Y axle crossbeam 3, Z axle crossbeam 4 with also so on the Y axle crossbeam 3, all be equipped with welding robot body 5 on the Z axle crossbeam 4, so can realize welding robot body 5 free motion between different stations. Two independent slip mutually noninterference between welding robot body 5 satisfies the requirement of symmetrical welding and segmentation welding among the welding process. The welding robot body 5 is a FANUCM-10iA7L robot, and is provided with a TB I welding gun and a gun cleaning and wire cutting mechanism.
Preferably, the head and tail frame mobile positioner comprises two mobile positioner bodies 6 and a jacking centering mechanism 7, the two mobile positioner bodies 6 are arranged head and tail oppositely, and are installed and fixed on the workshop floor through positioner rails 8 to fix the drill mast 100, and the jacking centering mechanism 7 is located between the two mobile positioner bodies 6 to lift and center the drill mast 100. And a servo motor on the mobile positioner body 6 is matched with a high-precision speed reducer to drive so as to realize automatic overturning and displacement of the drill mast 100. Through the coordinated motion of the mobile positioner body 6 and the welding robot body 5, the welding gun is always in the best welding posture in the welding process, the turning angle is +/-360 degrees, the repeated positioning precision is +/-0.2 mm, and the jacking centering mechanism 7 is configured to ensure the supporting effect of the drill mast 100 in the workpiece loading operation and the welding process. Aiming at the problem that the drill mast 100 is too long, in order to prevent the welding operation from being irreversibly influenced by too large deformation in the clamping process and the welding process of the drill mast 100, the jacking centering mechanism 7 is used for making up for the problem, and the jacking centering mechanism 7 comprises three basic actions:
1) lifting in the vertical direction;
2) clamping and unclamping actions during centering;
3) movement along the length of the drill mast 100.
Preferably, the safety device comprises a welding robot transplanting mechanism and a safety fence 9 on the periphery of the head-tail frame moving and position changing machine, wherein the safety fence 9 is of a closed structure and is provided with an inlet and an outlet for ensuring the safety of equipment and workers, the safety fence 9 is an aluminum alloy frame, the upper part of the safety fence is a yellow steel arc shielding light plate, the lower part of the safety fence is a red plastic spraying steel net, the height of the safety fence is 2 meters, and other specification sizes are determined by using the final specification size of the welding robot body 5. For preventing that welding arc light from causing injury and guaranteeing entire system's pleasing to the eye to personnel's eyes, still be equipped with emergency button and three-colour warning light on the security fence 9, when equipment normal operating welding, green pilot lamp is bright, when equipment pause action, yellow pilot lamp is bright, when the unusual shutdown operation of equipment appearance, red pilot lamp is bright, and buzzing warning, instruction through three-colour warning light, the state of discerning equipment that can be clear, in operation in-process bee calling organ also reminds workshop workman, the driving etc. is noted and is dodged, reduce unnecessary incident.
Preferably, the electrical control unit comprises an electrical control cabinet 10, an electrical control system is arranged in the electrical control cabinet 10, the electrical control system is basically configured to include a control device of a rotary motor and a safety protection device for facilitating field remote operation, a control box is further configured on the electrical control cabinet 10, various action buttons and emergency stop switches are mounted on the control box, and when an emergency situation possibly endangering the personal safety or the equipment safety occurs, the power supply of the whole machine is immediately disconnected only by pressing the emergency stop switch, so that the safety of personnel and equipment is ensured.
Preferably, the welding robot body 5 is further provided with a welding power supply 11 and a smoking and dust removing device 12, and the welding power supply 11 is communicated with a robot control cabinet 13.
Preferably, the mobile positioner body 6 fixes the drill mast 100 through a clamp 14, and the clamp 14 can be an electric double-drive four-jaw chuck.
Preferably, the two ends of the X-axis beam 2 are connected with crawling ladders 15, so that workers can conveniently ascend and maintain.
Referring to fig. 4 to 13, the present invention further provides a robot welding method for manufacturing a drill mast, including the following steps:
1) the lifting and centering functions (as shown in fig. 6) of the lifting and centering mechanisms 7 are utilized to lift the two lifting and centering mechanisms 7 to the same height, a centering mechanism hand wheel 20 is adjusted, then a workpiece (namely the drill mast 100) is lifted to the lifting and centering mechanism 7, a centering fixing block 21 is controlled to clamp the workpiece, and then the movable positioner body 6 is manually adjusted to clamp the workpiece. The hand wheel is adjusted to enable the clamping block to be located on the outermost side, so that interference caused by workpiece rotation in the welding process is avoided;
2) the movable positioner body 6 adopts a head-tail frame structure form, and the servo motor and the high-precision speed reducer are driven to realize automatic overturning and displacement of the workpiece. Firstly, turning a workpiece to a position with an upward opening (0-degree position for short), wherein one welding robot body 5 is used for welding from the middle to one end of the workpiece, and the other welding robot body 5 is used for welding from the other end of the workpiece to the middle, so that the welding of a welding seam at the bottom of a rib plate at the 0-degree position of the workpiece is completed;
3) the quality of plug welding seams is guaranteed, the welding seams on the side surfaces are all adjusted to be in a flat welding position during welding, the workpiece is turned to a position (90-degree position for short) with an opening facing left or right by the movable positioner body 6, one welding robot body 5 performs open welding from the middle to one end of the workpiece, the other welding robot body 5 performs open welding from the other end of the workpiece to the middle, and welding of the welding seams at the bottom of the rib plate at the 90-degree position (-90-degree position) of the workpiece is completed.
Preferably, when the welding robot body is welded, an intermittent welding mode is adopted, namely 100mm welding and 50mm welding are achieved, and welding variables can be effectively prevented.
The electric control principle of the robot welding workstation is as follows:
1) all electrical controls use prof i net communication. The advantages are that: 1. a communication rate block; 2. the communication is stable; 3. is convenient for expansion.
2) And after the single-side welding of the jacking centering mechanism 7 is completed, the jacking centering mechanism 7 descends to the zero position, and when the workpiece is turned over in place, the jacking centering mechanism 7 jacks the surface of the workpiece again, and then the workpiece and the jacking centering mechanism run to three average positions together. The advantages are that: 1. the jacking mechanism contacts the workpiece in the welding process, so that the workpiece deformation caused by welding heating can be prevented; 2 the jacking mechanism walks an average value again after contacting the workpiece, can effectual school type, ensures that three jacking device is in same horizontal position welding process and generates heat and receives the influence of gravity to make the work piece to the deformation of ideal direction and overcome self deformation, corrects work piece self deformation.
3) The centering function of the jacking centering mechanism 7 adopts a torque motor (such as the number 7.1 in fig. 13), a speed reducer (such as the number 7.2 in fig. 13) and a sliding block to realize a mechanical structure (such as the number 7.3 in fig. 13) and a laser sensor (such as the number 7.4 in fig. 13). The clamping mechanisms on the two sides are clamped by one motor at the same time, and the clamping mechanism has the advantages that the situation that the front and back deviations of manual feeding are adjusted to the central position can be avoided.
Note: front and back mean that a person stands right in front of the workpiece as a reference point.
4) The movable positioner body 6 in the head-tail frame structure form adopts a high-precision servo motor with Siemens V90 absolute position 20+12 bit multi-circle absolute value coding. The advantages are that: 1. the inconsistency of the length of the product and the fact that the left part and the right part of the upper part cannot be aligned to the center are overcome. Dividing the difference between encoder feedback values of the servo motor by 2 and informing the welding robot body 5 of the position offset; 2. facilitating programming and debugging of the welding robot body 5. Note: the left and the right refer to the reference point when a person stands right in front of the workpiece.
5) Two the interaction of welding robot body 5, every machine sets up 32 bit data and carries out the transfer through the PLC piece and realize interfering the district setting, linkage operations such as interchange signal. The advantages are that: 1. the real-time information interaction is realized; 2. the safety of the equipment is enhanced.
6) All servo motors in the robot welding workstation have dual limit protection of soft limit and hard limit. The advantage is that the safety of the device is increased.
7) An information-based welding system: the welding current, the welding voltage and the gold wire speed can be displayed in real time through the informationized software, and data can be stored and processed. The advantages are that: 1. providing specific data support for a new product process; 2. when the product quality is not good, the parameter tracking can be carried out.
It will be appreciated by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
Claims (9)
1. A welding workstation of robot for boring mast preparation which characterized in that: comprises a welding robot transplanting mechanism, a head and tail frame moving positioner, a safety device and a corresponding electric control unit;
the welding robot transplanting mechanism comprises an upright post, wherein an X-axis beam is erected on the upright post, a Y-axis beam is arranged on the X-axis beam, a Z-axis beam is arranged on the Y-axis beam, and a welding robot body is arranged on the Z-axis beam;
the head and tail frame movable positioner comprises two movable positioner bodies and a jacking and centering mechanism, the two movable positioner bodies are oppositely arranged and used for fixing the drill mast, and the jacking and centering mechanism is positioned between the two movable positioner bodies and used for lifting and centering the drill mast;
the safety device comprises a safety fence arranged on the periphery of the welding robot transplanting mechanism and the head-tail frame moving positioner;
the electric control unit comprises an electric control cabinet, an electric control system is arranged in the electric control cabinet, a control box is further arranged on the electric control cabinet, and an action button and an emergency stop switch are arranged on the control box.
2. A robotic welding station for drill mast preparation according to claim 1, wherein: the Y-axis cross beam is provided with two, and correspondingly, the Z-axis cross beam and the welding robot body are also provided with two.
3. A robotic welding station for drill mast preparation according to claim 2, wherein: still be furnished with welding power supply and smoking dust collector on the welding robot body, welding power supply intercommunication has the robot control cabinet.
4. A robotic welding station for drill mast preparation according to claim 1, wherein: the head and tail frame moving positioner further comprises a positioner rail, and the moving positioner body is arranged on the positioner rail.
5. A robotic welding station for drill mast preparation according to claim 4, wherein: the movable positioner body fixes the drill mast through a clamp.
6. A robotic welding station for drill mast preparation according to claim 5, wherein: the clamp is an electric double-drive four-jaw chuck.
7. A robotic welding station for drill mast preparation according to claim 1, wherein: the safety fence is of a closed structure, the upper portion of the safety fence is a steel arc-shielding light plate, the lower portion of the safety fence is a plastic spraying steel mesh, and an emergency button and a three-color alarm lamp are further arranged on the safety fence.
8. A robotic welding method for drill mast preparation according to any of claims 1-7, characterized in that it comprises the following steps:
1) adjusting the workpiece and the movable positioner body to the same height by using the jacking centering mechanism, and fixing the workpiece by using the clamp on the movable positioner body;
2) the workpiece is turned to a position with an upward or downward opening by the movable positioner body, wherein one welding robot body performs open welding from the middle to one end of the workpiece, and the other welding robot body performs open welding from the other end of the workpiece to the middle of the workpiece, so that welding of a welding seam at the bottom of the rib plate with the upward or downward opening of the workpiece is completed;
3) and the workpiece is turned to a position with an opening facing to the left or facing to the right by the mobile positioner body, one welding robot body is started to weld from the middle of the workpiece to one end, and the other welding robot body is started to weld from the other end of the workpiece to the middle of the workpiece, so that the welding of the welding seam at the bottom of the rib plate with the opening facing to the left or facing to the right of the workpiece is completed.
9. A robotic welding method for drill mast preparation as defined in claim 8, wherein: when the welding robot body is welded, an intermittent welding mode is adopted, namely 100mm welding is carried out, and 50mm welding is carried out.
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| CN202010185416.0A CN111299889A (en) | 2020-03-17 | 2020-03-17 | Robot welding workstation for manufacturing drill mast and welding method thereof |
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| CN202010185416.0A CN111299889A (en) | 2020-03-17 | 2020-03-17 | Robot welding workstation for manufacturing drill mast and welding method thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112045339A (en) * | 2020-08-04 | 2020-12-08 | 中车长江车辆有限公司 | Railway wagon body welding system |
| CN112091497A (en) * | 2020-10-21 | 2020-12-18 | 河南明玺智能装备有限公司 | Inner seam welding workstation for double main beams of crane |
| CN112658560A (en) * | 2020-12-28 | 2021-04-16 | 王勇 | Production equipment of guardrail cat ladder |
| CN113579539A (en) * | 2021-08-24 | 2021-11-02 | 北京计算机技术及应用研究所 | Automatic welding production line device for upper mast and lower mast |
| CN117260099A (en) * | 2023-11-21 | 2023-12-22 | 徐州徐工重型车辆有限公司 | Welding workstation |
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| KR100515402B1 (en) * | 2005-04-25 | 2005-09-14 | (주)웰덱스 | Automatic mig welding system for side plate of aluminum vacuum chamber |
| CN201201139Y (en) * | 2008-06-02 | 2009-03-04 | 齐齐哈尔轨道交通装备有限责任公司 | Universal car body and base frame tilter |
| CN102896454A (en) * | 2012-09-28 | 2013-01-30 | 重庆盈丰升机械设备有限公司 | Full-automatic standard section overturning tooling |
| CN203831004U (en) * | 2014-05-20 | 2014-09-17 | 山东诺博泰智能科技有限公司 | Robot welding work station for pump truck arm rest |
| CN104785938A (en) * | 2015-04-20 | 2015-07-22 | 骏马石油装备制造有限公司 | Assembling and welding working station for cylinders and end plates of steam-injection machine |
| CN110561003A (en) * | 2019-09-17 | 2019-12-13 | 无锡华联科技集团有限公司 | Workpiece moving, jacking, clamping and deflection welding mechanism |
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| CN112045339A (en) * | 2020-08-04 | 2020-12-08 | 中车长江车辆有限公司 | Railway wagon body welding system |
| CN112045339B (en) * | 2020-08-04 | 2023-03-21 | 中车长江车辆有限公司 | Railway wagon body welding system |
| CN112091497A (en) * | 2020-10-21 | 2020-12-18 | 河南明玺智能装备有限公司 | Inner seam welding workstation for double main beams of crane |
| CN112658560A (en) * | 2020-12-28 | 2021-04-16 | 王勇 | Production equipment of guardrail cat ladder |
| CN113579539A (en) * | 2021-08-24 | 2021-11-02 | 北京计算机技术及应用研究所 | Automatic welding production line device for upper mast and lower mast |
| CN117260099A (en) * | 2023-11-21 | 2023-12-22 | 徐州徐工重型车辆有限公司 | Welding workstation |
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Application publication date: 20200619 |