CN112692477A - Movable truss girder applied to welding robot - Google Patents
Movable truss girder applied to welding robot Download PDFInfo
- Publication number
- CN112692477A CN112692477A CN202011530956.4A CN202011530956A CN112692477A CN 112692477 A CN112692477 A CN 112692477A CN 202011530956 A CN202011530956 A CN 202011530956A CN 112692477 A CN112692477 A CN 112692477A
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- Prior art keywords
- girder
- guide rail
- speed reducing
- welding robot
- carrier plate
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- 238000003466 welding Methods 0.000 title claims abstract description 35
- 238000005096 rolling process Methods 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000001360 synchronised effect Effects 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000004513 sizing Methods 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000012797 qualification Methods 0.000 abstract description 2
- 239000002131 composite material Substances 0.000 description 7
- 229910001220 stainless steel Inorganic materials 0.000 description 5
- 229910000975 Carbon steel Inorganic materials 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010962 carbon steel Substances 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 239000010935 stainless steel Substances 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 239000010970 precious metal Substances 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- 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
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of welding, and discloses a movable truss girder applied to a welding robot, which comprises a left girder and a right girder which are arranged in parallel, wherein vertical legs are vertically arranged below the left girder and the right girder, a front girder and a rear girder are arranged between the left girder and the right girder in parallel, and the front girder and the rear girder are vertical to the left girder and the rear girder; linear rolling guide rails are fixedly arranged on the front beam and the rear beam; the invention has the advantages of high welding qualification rate, good welding stability and high productivity.
Description
Technical Field
The invention belongs to the technical field of welding, relates to a movable truss girder, and particularly relates to a movable truss girder applied to a welding robot.
Background
At present, the stainless steel-carbon steel composite board is widely applied to industries such as petroleum, chemical industry, salt industry, water conservancy and electric power, and the like, is used as a resource-saving product, can reduce the consumption of precious metals, greatly reduces the construction cost, realizes the perfect combination of low cost and high performance, and has good social benefit.
The base layer material of the stainless steel carbon steel composite board can use common carbon steel such as Q235B and the like, the coating material can use various stainless steels such as 304 and the like, and the free combination of the material and the thickness meets the requirements of different applications. In the manufacturing process of the large-thickness composite board, the stainless steel plate with the coating is attached to the base layer and then pressurized by the pressure machine, so that air on the interface of the stainless steel plate and the base layer is removed to improve compactness, then point welding of the edge of the plate is carried out under the pressure of the pressure machine, finally the steel plate is erected by the plate turnover mechanism, and full-length welding groove welding in the length direction and the height direction is completed by the welding robot.
Disclosure of Invention
The invention aims to provide a movable truss girder which has high welding qualification rate, good welding stability and high production rate and is applied to a welding robot.
In order to achieve the purpose, the invention adopts the following technical scheme: a movable truss girder applied to a welding robot comprises a left girder and a right girder which are arranged in parallel, wherein vertical legs are vertically arranged below the left girder and the right girder, a front girder and a rear girder are arranged between the left girder and the right girder in parallel, and the front girder and the rear girder are perpendicular to the left girder and the rear girder; linear rolling guide rails are fixedly arranged on the front beam and the rear beam; the two ends of the front beam and the rear beam are connected through a left connecting plate and a right connecting plate; a left guide rail seat is arranged below the left connecting plate, and a right guide rail seat is arranged below the right connecting plate; the top ends of the left beam and the right beam are provided with linear guide rail sliding blocks, and the left guide rail seat and the right guide rail seat are connected with the linear guide rail sliding blocks; two ends of the back beam are provided with transverse movement speed reducing motors, and the shaft ends of the transverse movement speed reducing motors are provided with small belt wheels; the rear beam is also provided with a connecting seat, the connecting seat is connected with a transmission shaft through a bearing, one end of the transmission shaft is connected with a large belt wheel through a tensioning sleeve, and the large belt wheel is connected with a small belt wheel through a synchronous toothed belt; the other end of the transmission shaft is provided with a transverse gear in a matching way through a shaft hole, and the transverse gear is connected with the transmission shaft through a flat key; a transverse rack is also arranged between the left beam and the right beam and is meshed with a transverse gear; a synchronous belt tensioning mechanism is also arranged on the rear beam and matched with the synchronous cog belt; a carrier plate is arranged on the linear guide rail slide block, a speed reducing base is arranged below the carrier plate, a movable carrier plate speed reducing motor is arranged on the speed reducing base, and a large gear is arranged on an output shaft of the movable carrier plate speed reducing motor and matched with the output shaft of the movable carrier plate speed reducing motor through a flat key; the inner side of the upper part of the front beam is also provided with a longitudinal rack which is meshed with the large gear.
Furthermore, a wear pad is arranged between the speed reduction base and the carrier plate, and a wear pad is arranged between the connecting seat and the mounting surface of the back beam.
Furthermore, a connecting beam is arranged between the front beam and the rear beam, and the front beam and the rear beam are connected together through screws by the connecting beam.
Furthermore, the top ends of the vertical legs are provided with jackscrews, and the ground of the vertical legs is provided with a machine tool adjusting sizing block.
Furthermore, a mounting hole in the shape of a long round hole is formed in the right guide rail seat, a guide sleeve is further arranged on the right guide rail seat, and the guide seat is connected with the right connecting plate.
Carry on many welding robots on the movable large-span truss girder apparatus of carrying on welding robot, two realize the full weld seam of stainless steel carbon steel composite sheet length direction flange limit in the middle, two robots at both ends realize that the steel sheet upset erects the flange limit full weld seam of back vertical direction. In order to complete the full-coverage welding of the edges of 4 rectangular plates, the composite plate needs to be erected after being turned over for 2 times by 90 degrees, and only half of the length of the two sides in the vertical direction and the total length of one side are welded after each turning; the movable large-span truss device carrying the welding robot can complete the movement in the vertical direction of the plate length, the moving stroke covers the composite plate for 90-degree turning center position twice, and the four carried welding robots move in the length direction of the steel plate to adapt to full-welding of the steel plates with different lengths.
Compared with the prior art, the welding robot has compact structural design and reasonable layout, realizes the linear movement of two coordinate axes in the horizontal direction, meets the requirement of welding the vertical four edges of two stations of a rectangular composite plate, has high automation degree, and greatly improves the welding precision, the moving positioning precision and the production rate.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a left side view of the present invention;
FIG. 4 is a cross-sectional view A-A of FIG. 1;
FIG. 5 is a cross-sectional view B-B of FIG. 1;
FIG. 6 is an enlarged view of portion I of FIG. 1;
fig. 7 is an enlarged view of section ii in fig. 1.
In the figure: 1. the device comprises a left beam, a 2 rear beam, a 3 linear rolling guide rail, a 4 carrier plate, a 5 transition sleeve, a 6 welding robot, a 7 right beam, a 8 jackscrew, a 9 screw, a 10 vertical leg, 11 machine tool adjusting sizing block, a 12 connecting beam, a 13 roller linear guide rail, a 14 moving carrier plate speed reducing motor, a 15 flat key, a 16 large gear, a 17 longitudinal rack, a 18 front beam, a 19 linear guide rail sliding block, a 20 matching grinding pad, a 21 speed reducing machine base, a 22 transverse moving speed reducing motor, a 23 synchronous belt tensioning mechanism, a 24 connecting base, a 25 transverse gear, a 26 transmission shaft, a 27 bearing, a 28 tensioning sleeve, a 29 large belt wheel, a 30 synchronous cog belt, a 31 small belt wheel, a 32 right connecting plate, a 33 guide sleeve, a 34 right guide rail base, a 35 linear roller sliding block, a 36 transverse rack, a 37 left guide base, 38. a left connecting plate.
Detailed Description
Example 1
A movable truss girder applied to a welding robot comprises a left girder 1 and a right girder 7 which are arranged in parallel, vertical legs 10 are vertically arranged below the left girder 1 and the right girder 7, a front girder 18 and a rear girder 2 are arranged between the left girder 1 and the right girder 7 in parallel, and the front girder 18 and the rear girder 2 are both vertical to the left girder 1 and the rear girder 7; the front beam 17 and the rear beam are fixedly provided with linear rolling guide rails 3; the two ends of the front beam 18 and the rear beam 2 are connected through a left connecting plate 38 and a right connecting plate 32; a left guide rail seat 37 is arranged below the left connecting plate 38, and a right guide rail seat 34 is arranged below the right connecting plate 32; the top ends of the left beam 1 and the right beam 7 are provided with linear guide rail sliding blocks 19, and the left guide rail seat 37 and the right guide rail seat 34 are connected with the linear guide rail sliding blocks 19; two ends of the back beam 2 are provided with transverse movement speed reducing motors 22, and the shaft ends of the transverse movement speed reducing motors 22 are provided with small belt wheels 31; the rear beam 2 is also provided with a connecting seat 24, the connecting seat 24 is connected with a transmission shaft 26 through a bearing, one end of the transmission shaft 26 is connected with a large belt wheel 29 through a tensioning sleeve 28, and the large belt wheel 29 is connected with a small belt wheel 31 through a synchronous toothed belt 30; the other end of the transmission shaft 26 is provided with a transverse gear 25 in a matching way through a shaft hole, and the transverse gear 25 is connected with the transmission shaft 26 through a flat key; a transverse rack 36 is also arranged between the left beam 1 and the right beam 7, and the transverse rack 36 is meshed with the transverse gear 25; a synchronous belt tensioning mechanism 23 is further arranged on the rear beam 2, and the synchronous belt tensioning mechanism 23 is matched with a synchronous cog belt 30; a carrier plate 4 is arranged on the linear guide rail slide block 19, a speed reducer base 21 is arranged below the carrier plate 4, a movable carrier plate speed reducing motor 14 is arranged on the speed reducer base 21, a large gear 16 is arranged on an output shaft of the movable carrier plate speed reducing motor 14, and the large gear 16 is matched with the output shaft of the movable carrier plate speed reducing motor 14 through a flat key; a longitudinal rack 17 is also arranged on the inner side of the upper part of the front beam 18, and the longitudinal rack 17 is meshed with the large gear 16; the carrier plate 4 is connected with a welding robot 6 through a transition sleeve 5.
A wear-matching pad is arranged between the quick base and the support plate, and a wear-matching pad is arranged between the connecting seat and the mounting surface of the rear beam; a connecting beam is arranged between the front beam and the rear beam, and the front beam and the rear beam are connected together through a screw by the connecting beam; the top ends of the vertical legs are provided with jackscrews, and the ground of the vertical legs is provided with a machine tool adjusting sizing block; the right guide rail seat is provided with a mounting hole in the shape of a long round hole, the right guide rail seat is also provided with a guide sleeve, and the guide seat is connected with the right connecting plate.
Example 2
A movable truss girder applied to a welding robot is disclosed, as shown in figures 1-7, a roller linear guide rail 13 is fixed on the upper plane of a left beam 1 and a right beam 7 through screws, the bottom planes of the two ends of the left beam 1 and the right beam 7 in the length direction are located on the upper plane of a vertical leg 10, the left beam 1, the right beam and the 7 vertical leg are connected together through a screw 9, the parallelism of the left beam 1 and the right beam 7 is adjusted through a jackscrew 8 on the two sides of the top of the vertical leg 10, and 4 machine tool adjusting iron pads 11 are installed on the bottom surface of each vertical leg 10 and used for carrying out micro adjustment on the height of the left beam 1 and the right beam 7 so as to ensure that the roller linear guide rails 13 installed on the two sides are equal in height; the top parts of the front beam 18 and the rear beam 2 are fixed with the linear rolling guide rail 3 through screws 9, the connecting beam 1 connects the two ends of the front beam 18 and the rear beam 2 in the length direction into a whole from the inside through the screws 9, the left connecting plate 38 and the right connecting plate 32 are tightly connected with the lower bottom surfaces of the two ends of the front beam 18 and the rear beam 2 in the length direction through the screws 9 and connect the front beam 18 and the rear beam 2 into a whole, the lower surfaces of the left connecting plate 38 and the right connecting plate 32 are provided with a left guide rail seat 37 and a right guide rail seat 34 through the screws 9, in order to compensate the dimension error along the total length direction of the front beam 18 and the rear beam 2, the mounting hole of the right guide rail seat 34 is a long round hole and is matched through a guide sleeve 33 to adapt to the change of the relative mounting position of the left beam 18 and the right beam 2, the guide sleeve 33 is matched and positioned on the right connecting plate 32 through the shaft of the guide sleeve, the screws 9 are tightly connected on the right connecting plate 32 through the guide rail seat 37 and the right, the left guide rail seat 37 is reliably positioned by screwing the matching of the jackscrew 8 on the left connecting plate 38 and the right end step, the speed reducing motor 22 is transversely moved by the screw 9 at the left end and the right end of the rear beam 2 in the length direction, the small belt wheel 31 is installed at the shaft end of the transversely moved speed reducing motor 22, and the connecting seat 24 is fixed on the rear beam 2 by the screw 9. A grinding pad 20 is arranged between the connecting seat 24 and the mounting bottom surface of the back beam 2, a transmission shaft 26 is supported on the connecting seat 24 through two groups of bearings 27, a large belt wheel 29 is tightly connected with the transmission shaft 26 through a tension sleeve 28, a synchronous cog belt 30 is connected on a small belt wheel 31 and the large belt wheel 29, a transverse gear 25 is arranged on the other side of the transmission shaft 26 in a matched mode through a shaft hole, the transverse gear 25 and the transmission shaft 26 transmit power through a flat key 15, a transverse rack 36 is connected to the inner side positions of the upper portions of the left beam 1 and the right beam 7 through a screw 9, the transverse rack 36 is meshed with the transverse gear 25, the meshing gap between the transverse rack 36 and the transverse gear 25 is adjusted by matching the thickness of the grinding pad 20, the synchronous belt tensioning mechanism 23 is fixed on the back beam 2 through a screw 9, the tightness of the synchronous cog belt 30 is adjusted by the synchronous belt tensioning mechanism 23, and the carrier plate 4 is connected with the linear guide rail slide block 19 through the upper screw 9. An abrasive pad 20 is arranged between a speed reducer base 21 at the lower part of the carrier plate 4 and is combined together through a screw 9, a movable carrier plate speed reduction motor 14 is fixed on the speed reducer base 21 through the screw 9, a large gear 16 is arranged on an output shaft of the movable carrier plate speed reduction motor 14 and transmits power through a flat key 15, a longitudinal rack 17 is arranged on the inner side of the upper part of a front beam 18 through the screw 9, the large gear 16 and the longitudinal rack 17 are meshed with each other, the meshing gap is adjusted through the thickness of the abrasive pad 20, and the upper part and the lower part of the transition sleeve 5 are respectively connected with the carrier plate 4 and the welding robot 6 through the screw 9.
Claims (5)
1. A movable truss girder applied to a welding robot is characterized by comprising a left girder and a right girder which are arranged in parallel, wherein vertical legs are vertically arranged below the left girder and the right girder, a front girder and a rear girder are arranged between the left girder and the right girder in parallel, and the front girder and the rear girder are perpendicular to the left girder and the rear girder; linear rolling guide rails are fixedly arranged on the front beam and the rear beam; the two ends of the front beam and the rear beam are connected through a left connecting plate and a right connecting plate; a left guide rail seat is arranged below the left connecting plate, and a right guide rail seat is arranged below the right connecting plate; the top ends of the left beam and the right beam are provided with linear guide rail sliding blocks, and the left guide rail seat and the right guide rail seat are connected with the linear guide rail sliding blocks; two ends of the back beam are provided with transverse movement speed reducing motors, and the shaft ends of the transverse movement speed reducing motors are provided with small belt wheels; the rear beam is also provided with a connecting seat, the connecting seat is connected with a transmission shaft through a bearing, one end of the transmission shaft is connected with a large belt wheel through a tensioning sleeve, and the large belt wheel is connected with a small belt wheel through a synchronous toothed belt; the other end of the transmission shaft is provided with a transverse gear in a matching way through a shaft hole, and the transverse gear is connected with the transmission shaft through a flat key; a transverse rack is also arranged between the left beam and the right beam and is meshed with a transverse gear; a synchronous belt tensioning mechanism is also arranged on the rear beam and matched with the synchronous cog belt; a carrier plate is arranged on the linear guide rail slide block, a speed reducing base is arranged below the carrier plate, a movable carrier plate speed reducing motor is arranged on the speed reducing base, and a large gear is arranged on an output shaft of the movable carrier plate speed reducing motor and matched with the output shaft of the movable carrier plate speed reducing motor through a flat key; the inner side of the upper part of the front beam is also provided with a longitudinal rack which is meshed with the large gear.
2. The movable truss girder applied to a welding robot as claimed in claim 1, wherein a wear pad is disposed between the deceleration base and the carrier plate, and a wear pad is disposed between the connecting base and the mounting surface of the back beam.
3. The movable truss girder applied to a welding robot as claimed in claim 1, wherein a connection beam is provided between the front girder and the rear girder, and the connection beam connects the front girder and the rear girder together by a screw.
4. The movable truss girder applied to a welding robot as claimed in claim 1, wherein the top end of the vertical leg is provided with a jackscrew, and the ground of the vertical leg is provided with a machine tool adjusting sizing block.
5. The movable truss girder applied to a welding robot as claimed in claim 1, wherein the right rail base is provided with a mounting hole in the shape of a long circular hole, and the right rail base is further provided with a guide sleeve, and the guide base is connected to the right connecting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011530956.4A CN112692477A (en) | 2020-12-22 | 2020-12-22 | Movable truss girder applied to welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011530956.4A CN112692477A (en) | 2020-12-22 | 2020-12-22 | Movable truss girder applied to welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112692477A true CN112692477A (en) | 2021-04-23 |
Family
ID=75510571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011530956.4A Pending CN112692477A (en) | 2020-12-22 | 2020-12-22 | Movable truss girder applied to welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112692477A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976065A (en) * | 2017-05-10 | 2017-07-25 | 广州协鸿工业机器人技术有限公司 | Truss robot guide assembly |
| CN211073574U (en) * | 2019-10-11 | 2020-07-24 | 宁波宝铂智能装备有限公司 | Truss manipulator |
| CN211662044U (en) * | 2019-12-30 | 2020-10-13 | 锎量(宁夏)自动化科技有限公司 | Robot moving device |
| CN211761505U (en) * | 2020-02-18 | 2020-10-27 | 宁波广博瑞数控设备有限公司 | Truss manipulator |
| CN112045666A (en) * | 2020-08-24 | 2020-12-08 | 湖北文理学院 | Double-transverse-moving truss manipulator for drum brake pad hot press molding production line |
| CN112091498A (en) * | 2020-10-21 | 2020-12-18 | 河南明玺智能装备有限公司 | Robot welding workstation for partially hanging inner seams of double main beams of crane |
-
2020
- 2020-12-22 CN CN202011530956.4A patent/CN112692477A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976065A (en) * | 2017-05-10 | 2017-07-25 | 广州协鸿工业机器人技术有限公司 | Truss robot guide assembly |
| CN211073574U (en) * | 2019-10-11 | 2020-07-24 | 宁波宝铂智能装备有限公司 | Truss manipulator |
| CN211662044U (en) * | 2019-12-30 | 2020-10-13 | 锎量(宁夏)自动化科技有限公司 | Robot moving device |
| CN211761505U (en) * | 2020-02-18 | 2020-10-27 | 宁波广博瑞数控设备有限公司 | Truss manipulator |
| CN112045666A (en) * | 2020-08-24 | 2020-12-08 | 湖北文理学院 | Double-transverse-moving truss manipulator for drum brake pad hot press molding production line |
| CN112091498A (en) * | 2020-10-21 | 2020-12-18 | 河南明玺智能装备有限公司 | Robot welding workstation for partially hanging inner seams of double main beams of crane |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210423 |
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| RJ01 | Rejection of invention patent application after publication |