CN111633362A - Welding machine track adjustable industrial robot - Google Patents
Welding machine track adjustable industrial robot Download PDFInfo
- Publication number
- CN111633362A CN111633362A CN202010426942.1A CN202010426942A CN111633362A CN 111633362 A CN111633362 A CN 111633362A CN 202010426942 A CN202010426942 A CN 202010426942A CN 111633362 A CN111633362 A CN 111633362A
- Authority
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- China
- Prior art keywords
- concave groove
- reset
- industrial robot
- copper bar
- welding machine
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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 to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
Abstract
The invention belongs to the technical field of welding robots, and particularly relates to an industrial robot with an adjustable welding machine track, which comprises a concave groove and a welded object, wherein reset holes are formed in two ends of the concave groove, a reset device is arranged in each reset hole, each reset device comprises a reset steel wire rope, each reset steel wire rope extends to the outside of each reset hole, a power running device and an electric control arrangement device are respectively arranged in each concave groove, each power running device comprises a motor and a gear, a tooth socket is formed in the inner bottom wall of each concave groove, and the surface of each gear is meshed with the inner wall of the tooth socket. This industrial robot with adjustable welding machine orbit through setting up resetting means, can make between the adjacent concave groove taut all the time by reset spring, and the same reset spring elasticity is the same, and the orbit that a plurality of concave groove formed can be formed with regular radian, through setting up the power device of traveling, can make whole device travel along the orbit that a plurality of concave groove are connected in the concave groove.
Description
This patent is the divisional application, and the information of former application is as follows, the name: an industrial robot with adjustable welding machine orbit, application number: 2019106936751, filing date: 2019/7/30.
Technical Field
The invention relates to the technical field of welding robots, in particular to an industrial robot with an adjustable welding machine track.
Background
The welding robot is an industrial robot that engages in welding, including cutting and painting. According to the definition of the international organization for standardization (ISO) industrial robot, which is a versatile, reprogrammable, automatically controlled manipulator with three or more programmable axes for use in the field of industrial automation, belongs to the standard welding robot.
At present, a welding robot is in an actual welding process, particularly, when a relatively high and large cylindrical welding or paint spraying process is carried out, manual operation is very troublesome, if a navigation crane is used for hoisting welding or paint spraying equipment, the precision is difficult to guarantee, particularly, when the diameter of a cylinder is larger than the height of a human body, the inner wall of the welding or paint spraying process is very inconvenient, in addition, the welding or paint spraying track of the welding or paint spraying process can be changed along with different requirements, the welding or paint spraying difficulty can be increased, the welding working environment is relatively severe, and the generated smell is very unfavorable for the health of the human body.
Disclosure of Invention
Based on the technical problems that the track of the existing welding equipment is not adjustable and the automation degree is not high, the invention provides an industrial robot with an adjustable welding machine track.
The invention provides an industrial robot with an adjustable welding machine track, which comprises a concave groove and a welded object, wherein reset holes are formed in the two ends of the concave groove, a reset device is arranged in each reset hole, each reset device comprises a reset steel wire rope, and each reset steel wire rope extends to the outside of each reset hole.
The power running device comprises a motor and a gear, a tooth socket is formed in the inner bottom wall of the concave groove, and the surface of the gear is meshed with the inner wall of the tooth socket.
The electric control arrangement device comprises an anode copper bar and a cathode copper bar, and the anode copper bar and the cathode copper bar are electrically connected with the motor through the electrifying salient points.
The bottoms of one ends of the adjacent concave grooves are movably connected through a steering mechanism.
Preferably, the one end fixed mounting that reset wire rope is located its inside has spacing ball, reset wire rope's surface activity has cup jointed reset spring, reset spring's both ends free end respectively with the surface of spacing ball and the outside one end inner wall fixed connection of reset hole.
Through above-mentioned technical scheme, spacing ball can play limiting displacement to the wire rope that resets, and spacing ball is kept off inside spacing downthehole portion always for the tensile length of the wire rope that resets is restricted.
Preferably, a plurality of connecting blocks are fixedly mounted on the outer surface of the motor, one ends of the connecting blocks opposite to each other are hinged to each other through a pin shaft, torsion springs are movably sleeved on the surfaces of the two ends of the pin shaft, and the free ends of the two ends of each torsion spring are fixedly connected with the surface of the pin shaft and the surface of the connecting block respectively.
Through above-mentioned technical scheme, torsion spring can make the motor at its both ends twist all the time towards the inner diapire of concave groove, prevents that the motor from traveling obstructed when adjacent concave groove is not on same plane or orbit and taking place.
Preferably, the motor is a motor with double output shafts, the output shaft of the motor is fixedly provided with a rotating shaft through a coupler, the surface of the rotating shaft is fixedly sleeved with the axis of the gear, and the meshing part of the outer surface of the gear and the inner wall of the tooth socket is made of rubber.
Through above-mentioned technical scheme, the motor of dual output shaft can strengthen the equilibrium that the motor went, and the surface and the tooth's socket inner wall of the gear that adopt rubber preparation simultaneously can make the motor have the advantage that the flexibility went, when torque spring at the concave groove orbit unevenness in the face of, especially when turning, rubber can be appropriate by elastic compression or skid, its process is: when the vehicle turns, the stroke of one end of the motor is short, the stroke of the other end of the motor is long, and in order to keep synchronous running, the short-stroke end of the motor is required to slip, and the long-stroke end of the motor is required to run quickly.
Preferably, the electronic control arrangement device further comprises a vertical pipe, the lower surface of the vertical pipe is fixedly connected with the upper surface of the motor, a pressure spring is fixedly installed on the inner bottom wall of the vertical pipe, a T-shaped ejector rod is inserted into the inner wall of the vertical pipe in a sliding mode, and the lower surface of the T-shaped ejector rod is fixedly connected with the free end of the top end of the pressure spring.
Through the technical scheme, the pressure spring in the vertical pipe is required to jack up the T-shaped ejector rod to be always contacted with the inner top wall of the concave groove for preventing the anode copper strip and the cathode copper strip on the adjacent concave groove from being not on one line, and an uninterrupted power supply is provided.
Preferably, both ends of the top of the T-shaped ejector rod are fixedly connected with elastic rods, both ends of each elastic rod are fixedly connected with the plurality of electrified salient points, and the surfaces of the electrified salient points are circular.
Through the technical scheme, the circular electrifying salient point can be in more stable transition contact with the positive copper bar and the negative copper bar in the adjacent concave grooves, continuous electrifying is kept, and the adaptability is stronger.
Preferably, the positive copper bar and the negative copper bar are fixedly mounted on the inner top walls of the two sides of the concave groove, and the surfaces of the plurality of electrified salient points are respectively in sliding connection with the lower surfaces of the positive copper bar and the negative copper bar.
Through the technical scheme, the electrifying convex points and the positive copper bar and the negative copper bar are always kept in an electrifying state in a sliding connection mode, and the principle is the same as that of a power supply mode provided by the top of a high-speed rail motor car.
Preferably, wires are fixedly mounted inside two sides of the concave groove, and the two wires are respectively fixedly connected with the surfaces of the positive copper strip and the negative copper strip and are connected with the positive copper strip and the negative copper strip for conduction.
Through above-mentioned technical scheme, the wire is installed inside the concave groove, can increase the wire length of space department between the adjacent concave groove according to the maximum crookedness of concave groove simultaneously, tears the wire when avoiding crooked, and convenient safety prevents to take place to twine the problem of tearing apart more.
Preferably, the steering mechanism comprises steering balls, steering grooves are formed in the bottoms of the opposite ends of the concave grooves, the inner walls of the steering grooves are in sliding sleeve connection with the surfaces of the steering balls, and the surfaces of two adjacent steering balls are fixedly connected through connecting rods.
Through the technical scheme, three hundred and sixty degrees of rotation can be realized between the adjacent concave grooves, and the bending is facilitated.
Preferably, a welding gun is fixedly installed on the upper surface of the T-shaped ejector rod, the welding gun extends to the outside of the concave groove, the concave grooves are connected through a steering mechanism to form a curve shape, the concave grooves are fixedly bonded with the object to be welded through viscose glue, and the bonding track of the concave grooves is the same as the welding track of the object to be welded.
Through above-mentioned technical scheme, the concave groove of easy to assemble improves welder's operational environment, realizes simultaneously that the orbit is adjustable, increases welding efficiency.
The beneficial effects of the invention are as follows:
1. through setting up resetting means, can make between the adjacent concave groove by reset spring taut all the time, and same reset spring elasticity is the same, and the orbit that a plurality of concave groove formed can form regular radian.
2. By arranging the power running device, the whole device can run along the track formed by connecting the concave grooves in the concave grooves.
3. Through setting up automatically controlled arrangement device, can provide the power for the motor can not cut off the power supply when traveling on the orbit.
4. Through setting up steering mechanism, can provide the connection to turning to of adjacent concave groove to can turn to its biggest and make the injecing, avoid breaking the concave groove.
Drawings
FIG. 1 is a schematic diagram of an industrial robot with an adjustable welding machine track according to the present invention;
FIG. 2 is a structural diagram of the inside of a reset hole of an industrial robot with an adjustable welding machine track, which is provided by the invention;
FIG. 3 is a motor structure installation diagram of an industrial robot with an adjustable welding machine track, which is provided by the invention;
FIG. 4 is a diagram of an internal structure of a standpipe of an industrial robot with an adjustable welding machine track according to the present invention;
FIG. 5 is a structural front view of a steering ball of an industrial robot with an adjustable welding machine track, which is provided by the invention;
FIG. 6 is a mounting diagram of a concave groove structure of an industrial robot with an adjustable welding machine track, which is provided by the invention;
fig. 7 is a perspective view of a welded object of an industrial robot with an adjustable welding machine track according to the invention.
In the figure: 1. a concave groove; 2. a reset hole; 21. resetting the steel wire rope; 22. a limiting ball; 23. a return spring; 3. a motor; 31. a gear; 32. a tooth socket; 33. connecting blocks; 34. a pin shaft; 35. a torsion spring; 36. a rotating shaft; 4. a positive copper bar; 41. a negative copper bar; 42. electrifying the salient points; 43. a vertical tube; 44. a pressure spring; 45. a T-shaped ejector rod; 46. an elastic rod; 47. a wire; 5. a steering ball; 51. a steering groove; 52. a connecting rod; 53. a welding gun; 6. the object to be welded.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-7, the welding machine track adjustable industrial robot comprises a concave groove 1 and an object to be welded 6, wherein reset holes 2 are formed in two ends of the concave groove 1, a reset device is arranged in each reset hole 2, the reset device comprises a reset steel wire rope 21, and the reset steel wire rope 21 extends to the outside of each reset hole 2;
furthermore, a limiting ball 22 is fixedly mounted at one end of the reset steel wire rope 21 inside the reset steel wire rope, a reset spring 23 is movably sleeved on the surface of the reset steel wire rope 21, free ends of two ends of the reset spring 23 are respectively fixedly connected with the surface of the limiting ball 22 and the inner wall of one end outside the reset hole 2, the limiting ball 22 can limit the reset steel wire rope 21, and the limiting ball 22 is always blocked inside the reset hole 2, so that the stretching length of the reset steel wire rope 21 is limited;
through setting up resetting means, can make between the adjacent concave groove 1 taut all the time by reset spring 23, and same reset spring elasticity is the same, and the orbit that a plurality of concave grooves 1 formed can form regular radian.
A power running device and an electric control arrangement device are respectively arranged in the concave groove 1, the power running device comprises a motor 3 and a gear 31, a tooth socket 32 is formed in the inner bottom wall of the concave groove 1, and the surface of the gear 31 is meshed with the inner wall of the tooth socket 32;
furthermore, the outer surfaces of the motors 3 are fixedly provided with connecting blocks 33, the opposite ends of the connecting blocks 33 are hinged through pin shafts 34, the surfaces of the two ends of each pin shaft 34 are movably sleeved with torsion springs 35, the free ends of the two ends of each torsion spring 35 are fixedly connected with the surfaces of the pin shafts 34 and the surfaces of the connecting blocks 33, and the torsion springs 35 can enable the motors 3 at the two ends of each torsion spring to be always twisted towards the inner bottom wall of the concave groove 1, so that the problem that the motors 3 are blocked when the adjacent concave grooves 1 are not on the same plane or track is solved;
further, the motor 3 is a motor with dual output shafts, the output shaft of the motor 3 is fixedly provided with a rotating shaft 36 through a coupling, the surface of the rotating shaft 36 is fixedly sleeved with the axis of the gear 31, the meshing part of the outer surface of the gear 31 and the inner wall of the tooth groove 32 is made of rubber, the motor 3 with dual output shafts can enhance the driving balance of the motor 3, and meanwhile, the outer surface of the gear 31 and the inner wall of the tooth groove 32 which are made of rubber can enable the motor 3 to have the advantage of flexible driving, when the torsion spring 35 faces the concave-convex track of the concave groove 1, particularly when the torsion spring turns, the rubber can be properly compressed or slipped by elasticity, and the process is as follows: when turning, the stroke of one end of the motor 3 is short, the stroke of the other end is long, in order to keep synchronous running, the end with short stroke of the motor is required to slip, and the end with long stroke of the other end is required to run quickly;
by providing the power running device, the entire device can be made to run along a track where the plurality of concave grooves 1 are connected within the concave groove 1.
The electric control arrangement device comprises an anode copper bar 4 and a cathode copper bar 41, wherein the anode copper bar 4 and the cathode copper bar 41 are electrically connected with the motor 3 through electrifying salient points 42;
furthermore, the electric control arrangement device further comprises a vertical pipe 43, the lower surface of the vertical pipe 43 is fixedly connected with the upper surface of the motor 3, a pressure spring 44 is fixedly installed on the inner bottom wall of the vertical pipe 43, a T-shaped ejector rod 45 is inserted into the inner wall of the vertical pipe 43 in a sliding manner, the lower surface of the T-shaped ejector rod 45 is fixedly connected with the free end of the top end of the pressure spring 44, and in order to prevent the positive copper strip 4 and the negative copper strip 41 on the adjacent concave groove 1 from being not on the same line, the pressure spring 44 in the vertical pipe 43 is required to jack up the T-shaped ejector rod to be always contacted with the inner top wall of the concave groove 1;
furthermore, both ends of the top of the T-shaped ejector rod 45 are fixedly connected with elastic rods 46, both ends of each elastic rod 46 are fixedly connected with the plurality of electrifying bumps 42, the surfaces of the electrifying bumps 42 are circular, and the circular electrifying bumps 42 can be in more stable transition contact with the positive copper strips 4 and the negative copper strips 41 in the adjacent concave grooves 1, so that continuous electrification is maintained, and the adaptability is stronger;
further, the positive copper bar 4 and the negative copper bar 41 are fixedly mounted on the inner top walls of the two sides of the concave groove 1, the surfaces of the plurality of electrifying salient points 42 are respectively in sliding connection with the lower surfaces of the positive copper bar 4 and the negative copper bar 41, so that the electrifying salient points 42 can always keep an electrifying state in the sliding connection with the positive copper bar 4 and the negative copper bar 41, and the principle is the same as the power supply mode provided by the top of the high-speed rail vehicle;
furthermore, wires 47 are fixedly installed inside two sides of the concave groove 1, the two wires 47 are respectively fixedly connected with the surfaces of the positive copper strip 4 and the negative copper strip 41 and are connected with the surfaces of the two wires to conduct electricity, the wires 47 are installed inside the concave groove 1, meanwhile, the length of the wires 47 at the gap between the adjacent concave grooves 1 can be increased according to the maximum bending degree of the concave groove 1, the wires 47 are prevented from being broken when bending is conducted, the operation is more convenient and safer, and the problem of winding and breaking is solved;
through setting up automatically controlled arrangement device, can provide the power for motor 3 can not cut off the power supply when traveling on the orbit.
The bottoms of one ends of the adjacent concave grooves 1 are movably connected through a steering mechanism;
further, the steering mechanism comprises steering balls 5, the bottoms of the opposite ends of the concave grooves 1 are provided with steering grooves 51, the inner walls of the steering grooves 51 are in sliding sleeve connection with the surfaces of the steering balls 5, and the surfaces of two adjacent steering balls 5 are fixedly connected through a connecting rod 52, so that three-hundred-sixty-degree rotation can be realized between the adjacent concave grooves 1, and bending is facilitated;
furthermore, a welding gun 53 is fixedly installed on the upper surface of the T-shaped ejector rod 45, the welding gun 53 extends to the outside of the concave groove 1, the concave grooves 1 are connected through a steering mechanism to form a curve shape, the concave grooves 1 are fixedly bonded with the object to be welded 6 through viscose glue, the bonding track of the concave grooves 1 is the same as the welding track of the object to be welded 6, the concave grooves 1 are convenient to install, the working environment of a welder is improved, meanwhile, the track is adjustable, and the welding efficiency is increased;
through setting up steering mechanism, can provide the connection to turning to of adjacent concave groove 1 to can turn to its the biggest and make the injecing, avoid breaking concave groove 1, thereby solved current welding equipment orbit unadjustable, technical problem that degree of automation is not high.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. The utility model provides an industrial robot with adjustable welding machine orbit, includes concave groove (1) and by welding thing (6), its characterized in that: reset holes (2) are formed in the two ends of the concave groove (1), a reset device is arranged in each reset hole (2), the reset device comprises a reset steel wire rope (21), and the reset steel wire rope (21) extends to the outside of each reset hole (2);
a power running device and an electric control arrangement device are respectively arranged in the concave groove (1), the power running device comprises a motor (3) and a gear (31), a tooth groove (32) is formed in the inner bottom wall of the concave groove (1), and the surface of the gear (31) is meshed with the inner wall of the tooth groove (32);
the electric control arrangement device comprises an anode copper bar (4) and a cathode copper bar (41), wherein the anode copper bar (4) and the cathode copper bar (41) are electrically connected with the motor (3) through electrifying salient points (42);
the bottoms of one ends of the adjacent concave grooves (1) are movably connected through a steering mechanism;
a limiting ball (22) is fixedly mounted at one end of the reset steel wire rope (21) inside the reset steel wire rope, a reset spring (23) is movably sleeved on the surface of the reset steel wire rope (21), and free ends of two ends of the reset spring (23) are fixedly connected with the surface of the limiting ball (22) and the inner wall of one end outside the reset hole (2) respectively;
a plurality of the outer surface of the motor (3) is fixedly provided with a connecting block (33), the opposite ends of the connecting block (33) are hinged through a pin shaft (34), the surfaces of the two ends of the pin shaft (34) are movably sleeved with a torsion spring (35), and the free ends of the two ends of the torsion spring (35) are fixedly connected with the surface of the pin shaft (34) and the surface of the connecting block (33) respectively.
2. An industrial robot with adjustable welding machine track as claimed in claim 1, characterized in that: motor (3) are dual output shaft motor, the output shaft of motor (3) has pivot (36) through shaft coupling fixed mounting, the fixed cup joint of axle center department of the surface of pivot (36) and gear (31), the surface of gear (31) all adopts the rubber preparation to form with tooth's socket (32) inner wall meshing department.
3. An industrial robot with adjustable welding machine track as claimed in claim 1, characterized in that: the electric control arrangement device further comprises a vertical pipe (43), the lower surface of the vertical pipe (43) is fixedly connected with the upper surface of the motor (3), a pressure spring (44) is fixedly installed on the inner bottom wall of the vertical pipe (43), a T-shaped ejector rod (45) is inserted into the inner wall of the vertical pipe (43) in a sliding mode, and the lower surface of the T-shaped ejector rod (45) is fixedly connected with the free end of the top end of the pressure spring (44).
4. An industrial robot with adjustable welding machine track as claimed in claim 3, characterized in that: the top both ends of T type ejector pin (45) all fixedly connected with elastic rod (46), the both ends of elastic rod (46) respectively with a plurality of circular telegram bump (42) fixed connection, the surface that leads to protruding contact (42) is circular form.
5. An industrial robot with adjustable welding machine track as defined in claim 4, characterized in that: the positive copper bar (4) and the negative copper bar (41) are fixedly mounted on the inner top walls of the two sides of the concave groove (1), and the surfaces of the electrifying salient points (42) are in sliding connection with the lower surfaces of the positive copper bar (4) and the negative copper bar (41) respectively.
6. An industrial robot with adjustable welding machine track as claimed in claim 5, characterized in that: the inside wire (47) of all fixed mounting in both sides of concave groove (1), two wire (47) are connected and are switched on electrically conductively with the fixed surface of anodal copper bar (4) and negative pole copper bar (41) respectively.
7. An industrial robot with adjustable welding machine track as claimed in claim 1, characterized in that: steering mechanism is including turning to ball (5), and is a plurality of turn to groove (51) have all been seted up to the bottom of the relative one end in concave groove (1), the inner wall that turns to groove (51) and the surface slip of turning to ball (5) cup joint, adjacent two the surface of turning to ball (5) passes through connecting rod (52) fixed connection.
8. An industrial robot with adjustable welding machine track as claimed in claim 3, characterized in that: the upper surface fixed mounting of T type ejector pin (45) has welder (53), welder (53) extend to the outside of concave groove (1), and is a plurality of concave groove (1) is connected through steering mechanism and is the curve shape, and is a plurality of concave groove (1) all is through viscose and by welding thing (6) fixed bonding, concave groove (1) bonding orbit is the same with the welding orbit by welding thing (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010426942.1A CN111633362A (en) | 2019-07-30 | 2019-07-30 | Welding machine track adjustable industrial robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910693675.1A CN110293352B (en) | 2019-07-30 | 2019-07-30 | Welding machine track adjustable industrial robot |
| CN202010426942.1A CN111633362A (en) | 2019-07-30 | 2019-07-30 | Welding machine track adjustable industrial robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910693675.1A Division CN110293352B (en) | 2019-07-30 | 2019-07-30 | Welding machine track adjustable industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111633362A true CN111633362A (en) | 2020-09-08 |
Family
ID=68032241
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910693675.1A Active CN110293352B (en) | 2019-07-30 | 2019-07-30 | Welding machine track adjustable industrial robot |
| CN202010426942.1A Withdrawn CN111633362A (en) | 2019-07-30 | 2019-07-30 | Welding machine track adjustable industrial robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910693675.1A Active CN110293352B (en) | 2019-07-30 | 2019-07-30 | Welding machine track adjustable industrial robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN110293352B (en) |
| WO (1) | WO2021017558A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110293352B (en) * | 2019-07-30 | 2020-04-21 | 南京涵铭置智能科技有限公司 | Welding machine track adjustable industrial robot |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3176587A (en) * | 1961-05-05 | 1965-04-06 | North American Aviation Inc | Multiple purpose fabrication method |
| JPS5611199A (en) * | 1979-07-11 | 1981-02-04 | Nippon Steel Corp | Flexible band rail for travelling carriage |
| JPS59215298A (en) * | 1983-05-20 | 1984-12-05 | Koike Sanso Kogyo Co Ltd | Construction of traveling carriage and rail for automatic thermal cutting, automatic welding and automatic linear heating of curved line |
| JPH0825012B2 (en) * | 1993-12-03 | 1996-03-13 | コータキ精機株式会社 | Portable fusing machine |
| JP3732622B2 (en) * | 1997-06-30 | 2006-01-05 | 三菱重工業株式会社 | Three-dimensional self-propelled cart and rail used for it |
| DE19835167A1 (en) * | 1998-08-04 | 2000-02-10 | Hilti Ag | Guide rail for devices for processing concrete or stone |
| US6627004B1 (en) * | 2000-05-22 | 2003-09-30 | Mathey Dearman, Inc. | Carriage for cutting, beveling and welding torches |
| CN102000928B (en) * | 2009-09-01 | 2014-05-07 | 上海宣邦金属新材料科技有限公司 | Portable pipeline automatic circumferential walking device and pipeline processing method |
| CN106425195B (en) * | 2016-08-29 | 2018-01-26 | 芜湖银星汽车零部件有限公司 | A kind of industrial welding robot |
| CN109048152B (en) * | 2018-09-20 | 2020-04-21 | 中国化学工程第六建设有限公司 | All-position pipeline intelligent welding system |
| CN110293352B (en) * | 2019-07-30 | 2020-04-21 | 南京涵铭置智能科技有限公司 | Welding machine track adjustable industrial robot |
-
2019
- 2019-07-30 CN CN201910693675.1A patent/CN110293352B/en active Active
- 2019-07-30 CN CN202010426942.1A patent/CN111633362A/en not_active Withdrawn
-
2020
- 2020-04-29 WO PCT/CN2020/087880 patent/WO2021017558A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN110293352A (en) | 2019-10-01 |
| CN110293352B (en) | 2020-04-21 |
| WO2021017558A1 (en) | 2021-02-04 |
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Application publication date: 20200908 |