CN112192106A - Moving mechanism of welding robot - Google Patents
Moving mechanism of welding robot Download PDFInfo
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- CN112192106A CN112192106A CN202010892519.0A CN202010892519A CN112192106A CN 112192106 A CN112192106 A CN 112192106A CN 202010892519 A CN202010892519 A CN 202010892519A CN 112192106 A CN112192106 A CN 112192106A
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- welding robot
- plate
- moving mechanism
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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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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Abstract
The invention relates to a welding robot moving mechanism which comprises a support frame, wherein a cross beam is fixedly arranged on the support frame, and a sliding mechanism is arranged along the length direction of the cross beam; the welding robot is assembled on the robot supporting seat in a sliding mode, a welding machine moving mechanism is arranged on the robot supporting seat, and the welding machine moving mechanism can drive the welding robot to move horizontally along the sliding mechanism; the welding robot is simple in structure and ingenious in design, and the welding robot can move horizontally along the sliding mechanism by arranging the welding machine moving mechanism; the moving stability and the safety of the welding robot are improved, and the welding robot is very convenient to move.
Description
Technical Field
The invention belongs to the technical field of steel plate processing, and particularly relates to a moving mechanism of a welding robot.
Background
The H-shaped steel is an economic section efficient section with more optimized section area distribution and more reasonable strength-to-weight ratio, and is named because the section is the same as the English letter H. The H-shaped steel is formed by assembling two wing plates and a web plate, and the relative position relationship between the web plate and the wing plates directly influences the qualification rate of the finished H-shaped steel.
Realize through the welding between the pterygoid lamina of H shaped steel and the web, current welding robot weight is big, often through other equipment handling in the transport, but the entering of haulage equipment of not being convenient for in the narrow and small workshop in space, then just very troublesome when removing welding robot, carry through the manpower, not only waste time and energy, and there is the hidden danger of empting, be unfavorable for the welding between pterygoid lamina and the web simultaneously, production efficiency is not high, can not satisfy current demand.
In view of the above technical problems, improvements are needed.
Disclosure of Invention
The invention aims to provide a moving mechanism of an H-shaped steel welding robot, which has the advantages of simple structure, reasonable design, convenient and stable movement and convenient operation and is suitable for different types and specifications.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows: a welding robot moving mechanism comprises a support frame, wherein a cross beam is fixedly arranged on the support frame, and a sliding mechanism is arranged along the length direction of the cross beam; the robot supporting seat of sliding assembly on slide mechanism, welding robot assembles on the robot supporting seat, has laid welding machine moving mechanism on the robot supporting seat, and welding machine moving mechanism can drive welding robot along the slide mechanism translation.
As a preferred mode of the invention, the robot supporting seat is of an 'L' -shaped structure and comprises a transverse plate and a longitudinal plate; the transverse plate and the longitudinal plate are fixedly connected and integrally formed; the welding robot is assembled on the longitudinal plate; wherein, the transverse plate and the longitudinal plate are connected with the sliding mechanism in a matching way.
As a preferable mode of the present invention, the sliding mechanism includes a top connecting plate fixedly disposed on the top of the cross beam, a top guide rail is fixedly disposed on the top connecting plate, and correspondingly, a transverse slider adapted to the top guide rail is fixedly disposed on the bottom of the transverse plate.
In a preferred embodiment of the present invention, the sliding mechanism includes a side wall connecting plate fixedly disposed on a side wall of the cross beam, a side rail is fixedly disposed on the side wall connecting plate, and a longitudinal slider adapted to the side rail is fixedly disposed on an inner side of the longitudinal plate.
As a preferred mode of the invention, a connecting plate is vertically and fixedly arranged in the middle of the longitudinal plate, a plurality of sliding damping mechanisms are assembled on the connecting plate, and the sliding damping mechanisms abut against the side wall connecting plate; two limiting plates matched with the sliding damping mechanism are vertically and fixedly arranged at the bottom of the connecting plate, a limiting groove is formed between the two limiting plates, and the sliding damping mechanism is assembled in the limiting groove.
As a preferable mode of the present invention, the sliding damper mechanism includes a connecting shaft; one end of the connecting shaft is fixedly provided with a bearing seat; a spring, an adjusting block and a limit nut are sequentially sleeved on the connecting shaft; one end of the spring is abutted against the bearing seat, the other end of the spring is abutted against the bottom of the adjusting block, the tightness of the spring is adjusted through the limiting nut, the bearing is assembled at the bottom of the bearing seat, and the bearing is abutted against the side wall connecting plate.
In a preferred aspect of the present invention, the welding machine moving mechanism includes a spacer fixed on the transverse plate, a driving motor is disposed on the spacer, a driving shaft of the driving motor passes through the transverse plate, a helical gear is fixed at the bottom of the driving shaft, and correspondingly, a helical rack engaged with the helical gear is disposed on the cross beam, the helical rack is fixed on the inner side of the top mounting plate, the top mounting plate is fixed on the cross beam, and a space is left between the top mounting plate and the top connecting plate.
As a preferred mode of the invention, at least two limiting devices for limiting the movement of the welding machine moving mechanism are distributed on the top connecting plate, each limiting device comprises a cylinder seat fixedly arranged on the top connecting plate, a driving cylinder is fixedly arranged on the cylinder seat, the bottom of a cylinder shaft of the driving cylinder is connected with an iron absorption bottom plate, the bottom of the iron absorption bottom plate is fixedly provided with an electromagnet, and the electromagnet corresponds to the other side of the top mounting plate.
As a preferable mode of the invention, the outer side of the cross beam is provided with an overhaul platform, and a handrail is fixedly arranged on the overhaul platform.
As a preferred mode of the present invention, end limiting plates are vertically and fixedly disposed at two ends of the beam, and limiting members are disposed on the end limiting plates.
The invention has the beneficial effects that:
1. the welding robot is simple in structure and ingenious in design, and the welding robot can move horizontally along the sliding mechanism by arranging the welding machine moving mechanism; the moving stability and safety of the welding robot are improved, and the welding robot is very convenient to move;
2. according to the invention, the robot supporting seat is arranged, and the robot supporting seat and the sliding mechanism are in translational fit with each other, so that the operation convenience of the welding robot is improved, and meanwhile, the welding robot is assembled on the longitudinal plate, so that the operation space of the welding robot is enlarged, and the use efficiency is improved;
3. the transverse plate and the longitudinal plate are fixedly connected and integrally formed; the structural strength and the integral firmness of the robot supporting seat are improved, and the use safety of the robot supporting seat is further ensured;
4. the top guide rail is connected with the transverse sliding block in a sliding way, and the side guide rail is connected with the longitudinal sliding block in a sliding way; the continuity and the stability of the movement of the welding robot are ensured;
5. the sliding damping mechanism is arranged, and has the function of supporting the whole welding robot, meanwhile, the sliding connectivity of the welding robot on the side wall connecting plate is further improved, and the sliding smoothness degree of the welding robot is ensured;
6. the sliding damping mechanism slides on the side wall connecting plate through the bearing, and the tension degree between the sliding damping mechanism and the side wall connecting plate is adjusted through the spring, so that the sliding flexibility of the welding robot is improved on the premise of ensuring safety;
7. the welding machine moving mechanism is arranged, the driving motor drives the helical gear to move along the helical rack, the moving stability of the welding robot is improved, meanwhile, the transmission mode that the helical gear is meshed with the helical rack is adopted, the self precision is improved, high-precision transmission is realized, meanwhile, the helical gear machining process is relatively simple, the assembly process is simple, and the requirement of a gear meshing plane is avoided;
8. according to the welding robot, the limiting device is arranged, the driving air cylinder on the limiting device controls the moving stroke of the welding robot through the PLC, when the welding machine moving mechanism moves to a specified position, the air cylinder shaft of the driving air cylinder drives the electromagnet to move downwards, the electromagnet is electrified after being contacted with the top mounting plate, and the electromagnet can be firmly adsorbed on the other side of the top mounting plate, so that the stability of the welding robot in moving is realized; in addition, the invention has simple structure, easy realization and high stability and reliability, reduces the material cost, and adopts the PLC controller to flexibly increase and reduce the control functions;
9. the invention is provided with a maintenance platform outside the beam, and a railing is fixedly arranged on the maintenance platform; the maintenance of the welding robot is facilitated, and the service life of the welding robot is prolonged;
10. the welding robot is provided with the limiting plate for ensuring the moving safety of the welding robot, and meanwhile, the limiting part is distributed on the limiting plate; the locating part is made for the plastics material for the buffer nature of slowing down the collision of robot supporting seat and locating part has avoided the robot supporting seat to collide the future damage for a long time, has further guaranteed safe in utilizationly.
Drawings
FIG. 1 is a state diagram of use of an embodiment of the present invention;
FIG. 2 is a side view of an embodiment of the present invention;
FIG. 3 is a cross-sectional view of embodiment A-A of the present invention;
FIG. 4 is a partial enlarged view of embodiment B of the present invention;
FIG. 5 is a schematic structural diagram of a moving mechanism of a welding machine according to an embodiment of the invention;
reference numbers in the figures: the device comprises a support frame 9, a cross beam 90, a cylinder seat 91, a driving cylinder 92, a cylinder shaft 93, an iron absorption bottom plate 94, an electromagnet 95, an overhaul platform 96, a railing 97, an end limiting plate 98, a limiting part 99, a sliding mechanism 900, a top connecting plate 901, a top guide rail 902, a transverse slide block 903, a side wall connecting plate 904, a side guide rail 905, a longitudinal slide block 906, a robot supporting seat 910, a transverse plate 911, a longitudinal plate 912, a connecting plate 913, a welding machine moving mechanism 930, a spacer 931, a driving motor 932, a driving shaft 933, a helical gear 934, a helical rack 935, a top mounting plate 936, a sliding damping mechanism 940, a connecting shaft 941, a bearing seat 942, a spring 943, an adjusting block 944, a limiting nut 945, a bearing 946, a limiting plate 947, a.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the accompanying drawings.
Example (b): as shown in fig. 1-5, a welding robot moving mechanism includes a supporting frame 9, a beam 90 is fixedly disposed on the supporting frame 9, and a sliding mechanism 900 is disposed along a length direction of the beam 90; the robot support 910 is slidably assembled on the sliding mechanism 900, the welding robot 920 is assembled on the robot support 910, the welding machine moving mechanism 930 is arranged on the robot support 910, and the welding machine moving mechanism 930 can drive the welding robot 910 to move horizontally along the sliding mechanism 900; the welding robot is simple in structure and ingenious in design, and the welding robot can move horizontally along the sliding mechanism by arranging the welding machine moving mechanism; the moving stability and the safety of the welding robot are improved, and the welding robot is very convenient to move.
The robot support 910 is in an L-shaped structure, and comprises a transverse plate 911 and a longitudinal plate 912; the transverse plate 911 and the longitudinal plate 912 are fixedly connected and integrally formed; the welding robot 920 is mounted on the longitudinal plate 912; wherein, the transverse plate 911 and the longitudinal plate 912 are connected with the sliding mechanism 900 in a matching way. According to the invention, the robot supporting seat is arranged, and the robot supporting seat and the sliding mechanism are in translational fit with each other, so that the operation convenience of the welding robot is improved, and meanwhile, the welding robot is assembled on the longitudinal plate, so that the operation space of the welding robot is enlarged, and the use efficiency is improved.
Specifically, the transverse plate and the longitudinal plate are fixedly connected and integrally formed; the structural strength and the whole firmness of the robot supporting seat are improved, and the use safety of the robot supporting seat is further guaranteed.
The sliding mechanism 900 comprises a top connecting plate 901 fixedly arranged at the top of the cross beam 90, a top guide rail 902 is fixedly arranged on the top connecting plate 901, and correspondingly, a transverse sliding block 903 matched with the top guide rail 902 is fixedly arranged at the bottom of a transverse plate 911; the sliding mechanism 900 comprises a side wall connecting plate 904 fixedly arranged on the side wall of the cross beam 90, a side guide rail 905 is fixed on the side wall connecting plate 904, and correspondingly, a longitudinal sliding block 906 matched with the side guide rail 905 is fixedly arranged on the inner side of the longitudinal plate 912; the top guide rail is connected with the transverse sliding block in a sliding way, and the side guide rail is connected with the longitudinal sliding block in a sliding way; the consistency and the stability of the movement of the welding robot are ensured.
A connecting plate 913 is vertically and fixedly arranged in the middle of the longitudinal plate 912, a plurality of sliding damping mechanisms 940 are assembled on the connecting plate 913, and the sliding damping mechanisms 940 abut against the side wall connecting plate 904; the bottom of the connecting plate 913 is vertically and fixedly provided with two limiting plates 947 matched with the sliding damping mechanism 940, a limiting groove 948 is formed between the two limiting plates 947, and the sliding damping mechanism 940 is assembled in the limiting groove 948. The limiting groove 948 is used for limiting the sliding damping mechanism 940 to move up and down along the limiting groove 948, and the use stability and safety of the sliding damping mechanism 940 are guaranteed.
The sliding damping mechanism 940 includes a connecting shaft 941; a bearing seat 942 is fixedly arranged at one end of the connecting shaft 941; a spring 943, an adjusting block 944 and a limit nut 945 are sequentially sleeved on the connecting shaft 941; one end of the spring 943 abuts against the bearing seat 942, the other end abuts against the bottom of the adjusting block 944, the tightness of the spring 943 is adjusted through the limit nut 945, the bottom of the bearing seat 942 is provided with a bearing 946, and the bearing 946 abuts against the side wall connecting plate 904; the sliding damping mechanism slides on the side wall connecting plate through the bearing, and the tension degree between the sliding damping mechanism and the side wall connecting plate is adjusted through the spring, so that the sliding flexibility of the welding robot is improved on the premise of ensuring safety.
The welding machine moving mechanism 930 comprises a spacer 931 fixedly arranged on a transverse plate 911, a driving motor 932 is arranged on the spacer 931, a driving shaft 933 of the driving motor 932 penetrates through the transverse plate 911, a helical gear 934 is fixedly arranged at the bottom of the driving shaft 933, correspondingly, a helical rack 935 meshed with the helical gear 934 is arranged on a cross beam 90, the helical rack 935 is fixedly arranged on the inner side of a top mounting plate 936, the top mounting plate 936 is fixedly arranged on the cross beam 90, and a gap is reserved between the top mounting plate 936 and the top connecting plate 901; the welding machine moving mechanism is arranged, the driving motor drives the helical gear to move along the helical rack, the moving stability of the welding robot is improved, meanwhile, the transmission mode that the helical gear is meshed with the helical rack is adopted, the self precision is improved, high-precision transmission is realized, meanwhile, the helical gear machining process is relatively simple, the assembly process is simple, and the requirement of a gear meshing plane is avoided;
at least two limiting devices 950 used for limiting the movement of the welding machine moving mechanism 930 are arranged on the top connecting plate 901, each limiting device 950 comprises a cylinder seat 91 fixedly arranged on the top connecting plate 901, a driving cylinder 92 is fixedly arranged on the cylinder seat 91, the bottom of a cylinder shaft 93 of the driving cylinder 92 is connected with an iron absorption bottom plate 94, the bottom of the iron absorption bottom plate 94 is fixedly provided with an electromagnet 95, and the electromagnet 95 corresponds to the other side of the top mounting plate 936; the invention controls the moving stroke of the welding robot by arranging the limiting device and the driving cylinder on the limiting device through the PLC controller, wherein, the PLC controller is a conventional controller device,
the stroke data of H-shaped steel can be welded according to actual needs and stored and transmitted to a PLC (programmable logic controller), the PLC performs data conversion information processing on the transmitted data according to the stroke requirements of a customer on an H-shaped steel welding machine, and then drives an air cylinder 92, when a welding machine moving mechanism moves to a specified position, an air cylinder shaft of the driving air cylinder drives an electromagnet to move downwards, the electromagnet is electrified after the electromagnet is contacted with a top mounting plate, and the electromagnet can be firmly adsorbed on the other side of the top mounting plate, so that the stability of the welding robot in moving is realized; in addition, the invention has simple structure, easy realization, reduced material cost, flexible increase and decrease of control functions by adopting the PLC controller, high stability and strong reliability.
The outer side of the beam 90 is provided with an overhaul platform 96, and a railing 97 is fixedly arranged on the overhaul platform 96; the invention is provided with a maintenance platform outside the beam, and a railing is fixedly arranged on the maintenance platform; the maintenance of the welding robot is facilitated, and the service life of the welding robot is prolonged.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention; thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Although the reference numerals in the figures are used more here: the device comprises a support frame 9, a cross beam 90, a cylinder seat 91, a driving cylinder 92, a cylinder shaft 93, a magnet bottom plate 94, an electromagnet 95, an overhaul platform 96, a railing 97, an end limiting plate 98, a limiting piece 99, a sliding mechanism 900, a top connecting plate 901, a top guide rail 902, a transverse slide block 903, a side wall connecting plate 904, a side guide rail 905, a longitudinal slide block 906, a robot supporting seat 910, a transverse plate 911, a longitudinal plate 912, a connecting plate 913, a welding machine moving mechanism 930, a spacer 931, a driving motor 932, a driving shaft 933, a helical gear 934, a helical rack 935, a top mounting plate 936, a sliding damping mechanism 940, a connecting shaft 941, a bearing seat 942, a spring 943, an adjusting block 944, a limiting nut 945, a bearing 946, a limiting plate 947, a limiting groove 948, a limiting device 950 and other terms; these terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (10)
1. A welding robot moving mechanism is characterized in that; the device comprises a support frame (9), wherein a cross beam (90) is fixedly arranged on the support frame (9), and a sliding mechanism (900) is arranged along the length direction of the cross beam (90); the robot support seat (910) is assembled on the sliding mechanism (900) in a sliding mode, the welding robot (920) is assembled on the robot support seat (910), the welding machine moving mechanism (930) is arranged on the robot support seat (910), and the welding machine moving mechanism (930) can drive the welding robot (910) to move horizontally along the sliding mechanism (900).
2. The welding robot moving mechanism according to claim 1, wherein: the robot supporting seat (910) is of an L-shaped structure and comprises a transverse plate (911) and a longitudinal plate (912); the transverse plate (911) and the longitudinal plate (912) are fixedly connected and integrally formed; the welding robot (920) is assembled on the longitudinal plate (912); wherein, the transverse plate (911) and the longitudinal plate (912) are connected with the sliding mechanism (900) in a matching way.
3. The welding robot moving mechanism according to claim 2, wherein: the sliding mechanism (900) comprises a top connecting plate (901) fixedly arranged at the top of the cross beam (90), a top guide rail (902) is fixedly arranged on the top connecting plate (901), and correspondingly, a transverse sliding block (903) matched with the top guide rail (902) is fixedly arranged at the bottom of the transverse plate (911).
4. The welding robot moving mechanism according to claim 3, wherein: the sliding mechanism (900) comprises a side wall connecting plate (904) fixedly arranged on the side wall of the cross beam (90), a side guide rail (905) is fixed on the side wall connecting plate (904), and correspondingly, a longitudinal sliding block (906) matched with the side guide rail (905) is fixedly arranged on the inner side of the longitudinal plate (912).
5. The welding robot moving mechanism according to claim 4, wherein: a connecting plate (913) is vertically and fixedly arranged in the middle of the longitudinal plate (912), a plurality of sliding damping mechanisms (940) are assembled on the connecting plate (913), and the sliding damping mechanisms (940) are abutted against the side wall connecting plate (904); two limiting plates (947) matched with the sliding shock absorption mechanism (940) are vertically and fixedly arranged at the bottom of the connecting plate (913), a limiting groove (948) is formed between the two limiting plates (947), and the sliding shock absorption mechanism (940) is assembled in the limiting groove (948).
6. The welding robot moving mechanism according to claim 5, wherein: the sliding damping mechanism (940) comprises a connecting shaft (941); one end of the connecting shaft (941) is fixedly provided with a bearing seat (942); a spring (943), an adjusting block (944) and a limit nut (945) are sequentially sleeved on the connecting shaft (941); one end of the spring (943) is abutted against the bearing seat (942), the other end of the spring is abutted against the bottom of the adjusting block (944), the tightness of the spring (943) is adjusted through the limiting nut (945), the bottom of the bearing seat (942) is provided with the bearing (946), and the bearing (946) is abutted against the side wall connecting plate (904).
7. The welding robot moving mechanism according to claim 1, wherein: welding machine moving mechanism (930) is including setting firmly spacer (931) on horizontal board (911), laid driving motor (932) on spacer (931), transverse board (911) is passed in drive shaft (933) of driving motor (932), helical gear (934) has set firmly in drive shaft (933) bottom, corresponding to this, crossbeam (90) are laid and are engaged with helical gear (934) helical gear (935), helical gear (935) set firmly in top mounting panel (936) inboard, top mounting panel (936) set firmly on crossbeam (90), and, leave the interval between top mounting panel (936) and top connecting plate (901).
8. The welding robot moving mechanism according to claim 7, wherein: at least two limiting devices (950) used for limiting the movement of the welding machine moving mechanism (930) are arranged on the top connecting plate (901), each limiting device (950) comprises a cylinder seat (91) fixedly arranged on the top connecting plate (901), a driving cylinder (92) is fixedly arranged on each cylinder seat (91), an iron-absorbing bottom plate (94) is connected to the bottom of a cylinder shaft (93) of each driving cylinder (92), an electromagnet (95) is fixedly arranged at the bottom of each iron-absorbing bottom plate (94), and the electromagnet (95) corresponds to the other side of the top mounting plate (936).
9. The welding robot moving mechanism according to claim 1, wherein: the outside of crossbeam (90) has laid maintenance platform (96), has set firmly railing (97) on maintenance platform (96).
10. A welding robot moving mechanism according to any one of claims 1 to 9, characterized in that: and end limiting plates (98) are vertically and fixedly arranged at two ends of the cross beam (90), and limiting pieces (99) are arranged on the end limiting plates (98).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010892519.0A CN112192106A (en) | 2020-08-31 | 2020-08-31 | Moving mechanism of welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010892519.0A CN112192106A (en) | 2020-08-31 | 2020-08-31 | Moving mechanism of welding robot |
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| CN112192106A true CN112192106A (en) | 2021-01-08 |
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| CN202010892519.0A Pending CN112192106A (en) | 2020-08-31 | 2020-08-31 | Moving mechanism of welding robot |
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| KR101556405B1 (en) * | 2014-06-23 | 2015-09-30 | 박수범 | A robot welding machine for an Euro-form frame |
| CN105328373A (en) * | 2015-12-10 | 2016-02-17 | 河北昊昱机电设备研究所有限公司 | Flexible welding production line with nine-axis gantry robot |
| CN207936459U (en) * | 2017-12-31 | 2018-10-02 | 妙境（北京）环境科技有限公司 | A kind of mobile chassis of air purifier |
| CN109108542A (en) * | 2018-09-04 | 2019-01-01 | 宁波摩科机器人科技有限公司 | A kind of motor-car single-track turnout beam weldering robot workstation |
| CN110815195A (en) * | 2019-11-05 | 2020-02-21 | 浙江省建工集团有限责任公司 | Lifting mechanism of manipulator |
| CN210908632U (en) * | 2019-11-11 | 2020-07-03 | 唐山海容机器人应用技术研究院 | Movable cross beam of robot automatic welding portal frame |
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2020
- 2020-08-31 CN CN202010892519.0A patent/CN112192106A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101556405B1 (en) * | 2014-06-23 | 2015-09-30 | 박수범 | A robot welding machine for an Euro-form frame |
| CN105328373A (en) * | 2015-12-10 | 2016-02-17 | 河北昊昱机电设备研究所有限公司 | Flexible welding production line with nine-axis gantry robot |
| CN207936459U (en) * | 2017-12-31 | 2018-10-02 | 妙境（北京）环境科技有限公司 | A kind of mobile chassis of air purifier |
| CN109108542A (en) * | 2018-09-04 | 2019-01-01 | 宁波摩科机器人科技有限公司 | A kind of motor-car single-track turnout beam weldering robot workstation |
| CN110815195A (en) * | 2019-11-05 | 2020-02-21 | 浙江省建工集团有限责任公司 | Lifting mechanism of manipulator |
| CN210908632U (en) * | 2019-11-11 | 2020-07-03 | 唐山海容机器人应用技术研究院 | Movable cross beam of robot automatic welding portal frame |
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Application publication date: 20210108 |