CN113560722B - Welding equipment for six-axis robot with calibration structure - Google Patents
Welding equipment for six-axis robot with calibration structure Download PDFInfo
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- CN113560722B CN113560722B CN202110921251.3A CN202110921251A CN113560722B CN 113560722 B CN113560722 B CN 113560722B CN 202110921251 A CN202110921251 A CN 202110921251A CN 113560722 B CN113560722 B CN 113560722B
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/14—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor
- B23K26/142—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor for the removal of by-products
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
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Abstract
The invention discloses welding equipment with a calibration structure for a six-axis robot, which comprises a bottom plate, a detector, a clamping disc and protective grooves, wherein the detector is installed at the top of the bottom plate, the clamping disc is installed at the top of a ball bearing, a receiver is installed at the top of the clamping disc, two groups of clamping devices are installed at the top of the clamping disc, two groups of protective grooves are installed at the top of the bottom plate, and a sweeper is installed at the top of the bottom plate. The automatic calibration device can automatically calibrate through the trigger and the detector, when calibration is carried out, the detector and the receiver are not in the same plane, the detector transmits signals to the piezoelectric ceramics, the piezoelectric ceramics drive the trigger rod to extrude the movable rod, the insulating block moves, the rotating rod is driven by the first spring to rotate downwards, the rotating rod is contacted with the movable rod, a circuit is communicated, the electric telescopic rod is lifted or contracted, the angle of the clamping disc is adjusted, and the calibration function is realized.
Description
Technical Field
The invention relates to the technical field of welding equipment, in particular to welding equipment for a six-axis robot with a calibration structure.
Background
The welding machine is of various types, the welding machine has single-point single function, single-point double function and single-point multiple function, the welding machine uses an electric energy source, the electric energy is converted into heat energy instantly, the electricity is common, the welding machine is suitable for working in a dry environment, the requirements are not too much, the welding machine is simple in size, convenient to use, high in speed, the welded seam is firm, and the like, the welding machine is widely applied to various fields, is particularly practical for workpieces with high required strength, can connect metal materials of the same kind (or dissimilar metals, only different welding methods) permanently in the moment, the welded seam has the same strength with a base metal after heat treatment, the sealing is good, and the problems of sealing and strength are solved for the manufacture of gas storage containers and liquid containers.
The existing welding equipment has the defects that:
1. the reference document CN108340063A discloses an XY-axis dual-mode automatic exchange welding machine, wherein the right item of protection "includes a welding machine, a welding platform and two frames, the welding platform is provided with a welding station, the welding machine is located in the welding station for welding, the welding platform is located in a first frame device which is provided with a movable frame in the X direction and the Y direction, the other end of the welding platform is provided with a second frame device which is movable in the Y direction, the first frame device and the second frame device can grab/place the frames, the first frame device and the second frame device both grab the frames, and the first frame device and the second frame device can exchange the frames with each other. According to the mesh welding device, the first die frame device and the second die frame device are arranged, the first die frame device and the second die frame device can grab a die frame, and the die frames between the first die frame device and the second die frame device can be exchanged, so that after the mesh in one die frame is welded, the mesh in the other die frame can be welded immediately, the processing speed is greatly improved, but the device lacks a calibration structure, the welding machine needs to ensure the stability of welding in the welding process, and when the angle changes, the welding position can also be changed, so that a related calibration structure is needed;
2. the reference CN111055049AFPC discloses a welder, the right of protection "includes a body; a door-shaped frame is arranged at the rear part of the top of the body, and a welding device is connected on the door-shaped frame in a sliding way; a sliding table is connected to a sliding rail fixedly connected to the top of the body in a sliding manner and used for mounting a piece to be welded; the bottom of the sliding table is provided with a driving device for driving the sliding table to slide back and forth; a group of negative pressure holes are uniformly formed in the sliding table, air suction holes are connected to the bottoms of the negative pressure holes, and the air suction holes are communicated with an air extractor through hoses; according to the invention, the to-be-welded part is flexibly fixed through the negative pressure hole, so that the damage to the to-be-welded part during rigid clamping is reduced, but the device is lack of a chip cleaning structure and a chip collecting structure, and chips are generated in the welding process, so that the welding quality is influenced;
3. the reference CN212885708U discloses a six-axis linkage laser-beam welding machine, and the right item of protection "includes base and bull stick, the inside swing joint of base has the mount pad, and the top fixedly connected with main motor of mount pad, the bull stick is located the top of main motor, and the top fixedly connected with revolving stage of bull stick, the top fixedly connected with branch of base, and the right side fixedly connected with horizontal pole of branch, the below swing joint of horizontal pole has the connection pad. Compared with the existing common six-axis linkage laser welding machine, the six-axis linkage laser welding machine has the advantages that the six-axis linkage laser welding machine is wide in application range, any three-dimensional space welding posture can be realized, the six-axis linkage laser welding machine is convenient to operate and high in applicability, meanwhile, the size and the position of a workpiece can be more accurate due to the six-axis linkage, the automation degree of the six-axis linkage laser welding machine is realized, the traditional manual welding mode is replaced, the damage to operators is reduced, and the labor use cost is reduced, but the six-axis linkage laser welding machine is short of a structure for protecting the operators, and strong light is generated by laser welding, so that the glasses of the operators can be stimulated, and a corresponding eye protection structure is needed;
4. the reference CN212286293U discloses a laser welding device, the right item of protection "includes a workbench, a three-axis linkage device is arranged on the workbench, a fixture base and a six-axis manipulator capable of mounting a laser welding head or a fixture, the three-axis linkage device includes a first translation stage arranged along an X axis, and a second translation stage slidably fitted with the first translation stage and arranged along a Z axis, a third translation stage slidably fitted on the second translation stage and arranged along a Y axis, and a first driving member and a second driving member, a laser welding head is arranged on the third translation stage, the fixture base includes a base fixed on the workbench, a first motor is arranged on the base, a mounting base is mounted on a rotating head of the first motor, a second motor for mounting the fixture is fixedly mounted on the mounting base, and the first motor and the second motor are arranged perpendicular to each other. Adopt above-mentioned technical scheme, it is not high to have solved current laser-beam welding machine precision, consumes time and increase cost very much, can not satisfy the problem of current welding market demand "but its device lacks automatic clamping structure, adopts artificial mode to carry out the centre gripping mostly during the welding, has increased staff's work burden.
Disclosure of Invention
The invention aims to provide welding equipment for a six-axis robot with a calibration structure, which solves the problems of lack of the calibration structure, lack of a debris cleaning and collecting structure, lack of an eye protection structure and lack of an automatic clamping structure in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: the welding equipment with the calibration structure for the six-axis robot comprises a bottom plate, a detector, a clamping disc and a protective groove, wherein the detector is arranged at the top of the bottom plate;
the bottom plate is characterized in that an electric telescopic rod is arranged on the inner bottom wall of the bottom plate, the top of the electric telescopic rod extends out of the top of the bottom plate, a ball bearing is arranged on the top of the electric telescopic rod, a trigger is arranged on the inner bottom wall of the bottom plate, piezoelectric ceramics are arranged on the inner wall of the trigger, and a trigger rod is arranged on the outer wall of the piezoelectric ceramics;
the clamping disc is installed at the top of the ball bearing, the receiver is installed at the top of the clamping disc, two groups of holders are installed at the top of the clamping disc, two groups of protective grooves are installed at the top of the bottom plate, the protective grooves are located on one side of the detector, the sweeper is installed at the top of the bottom plate, and the sweeper is located on one side of the detector.
Preferably, the fixed plate is installed to the inner wall of trigger, and the fixed plate is located one side of piezoceramics, the outer wall of fixed plate runs through and installs the carriage release lever, reset spring is installed around the outer wall of carriage release lever, the insulating block is installed to the outer wall of carriage release lever, the dwang is installed to the inside back wall of trigger, a spring is installed at the top of dwang, and the top of a spring is connected with the inside roof of trigger, there is the conducting rod one end of dwang through cable junction, and the outer wall that the trigger was extended to the one end of conducting rod and electric telescopic handle's outer wall connection.
Preferably, a sweeping fan is installed on the inner wall of the sweeper, an air blowing port is formed in the outer wall of the sweeper, a collector is installed on the outer wall of the bottom plate, and a plurality of inclined baffles are installed on the inner wall of the collector in a staggered mode.
Preferably, driving motor is installed to the inside diapire of protective housing, and reciprocal lead screw is installed to driving motor's output, and solid fixed ring is installed to the outer wall of reciprocal lead screw, and the lifting tank is installed at the top of protective housing, and the top of lifting tank is run through and is installed the elevator, and the outer wall of elevator passes through the connecting rod with solid fixed ring to be connected, and the hinge is installed to the inside diapire of protective housing, is connected with the protection network between the hinge, and the top of hinge is connected with the bottom of elevator.
Preferably, the inner wall of the holder is provided with a first groove, the inner wall of the first groove is provided with an infrared emitter, the inner wall of the other holder is provided with a second groove, the inner wall of the second groove is provided with an infrared receiver, the inner wall of the holder is provided with an oil cavity, the outer wall of the oil cavity is provided with a first water pump, the inner wall of the holder is provided with a telescopic cylinder, the input end of the first water pump is provided with a water inlet pipe, one end of the water inlet pipe extends into the oil cavity, the output end of the first water pump is provided with a water outlet pipe, one end of the water outlet pipe extends into the telescopic cylinder, the outer wall of the oil cavity is provided with a second water pump, the second water pump is positioned on one side of the first water pump, the input end of the second water pump is provided with a water inlet pipe, one end of the water inlet pipe extends into the telescopic cylinder, the output end of the second water pump is provided with a water outlet pipe, one end of the water outlet pipe extends into the oil cavity, the outer wall of the telescopic cylinder is provided with a telescopic rod in a penetrating manner, one end of the telescopic rod is connected with a clamping plate through a bearing, and the inner wall of the clamping plate is provided with a telescopic device.
Preferably, the hydraulic stem is installed to the inside diapire of expansion bend, and movable gag lever post is installed to the both sides inner wall of expansion bend, and is connected through the connecting rod between activity gag lever post and the hydraulic stem, and No. two springs are installed to the inside diapire of expansion bend, and the supporting rod is installed at the top of No. two springs, and the top of supporting rod extends the top of expansion bend, and the limiting lever is installed to the outer wall of supporting rod.
Preferably, the outer wall of the clamping disc is provided with a driving box, the inner wall of the driving box is provided with a motor, the output end of the motor extends into the clamping disc, the outer wall of the clamping disc is provided with an annular groove, the bottom wall of the inner part of the clamping disc is provided with a fixed gear, the output end of the motor is provided with a bevel gear, and the bevel gear is meshed with the fixed gear.
Preferably, a driving groove is installed at the top of the bottom plate, an L-shaped X-axis moving plate is installed at the top of the driving groove, a driving groove is arranged at the top of the X-axis moving plate, an L-shaped Y-axis moving plate is installed at the top of the driving groove, a lifting slide bar is installed on the front face of the Y-axis moving plate, a lifting plate is installed on the outer wall of the lifting slide bar, a lifting shaft is installed on the front face of the lifting plate, and a laser welding device is installed on the outer wall of the lifting shaft.
Preferably, the welding device comprises the following working steps:
s1, during welding, an X-axis moving plate can move in a first driving groove, a Y-axis moving plate can move in a second driving groove, a laser welder can move up and down on the outer wall of a lifting slide bar along with a lifting plate, and in addition, the X-axis moving plate, the Y-axis moving plate and the lifting shaft are connected through cylinders, so that the X-axis moving plate and the Y-axis moving plate can move, and the lifting shaft can rotate, so that the multi-angle welding function is realized;
s2, during calibration, a detector is started, the detector and a receiver are not in the same plane, the detector transmits signals to piezoelectric ceramics, the piezoelectric ceramics drive a trigger rod to extrude a movable rod, the movable rod moves to drive a reset spring to contract, the movable rod drives an insulating block to move, the insulating block moves, the rotary rod is driven by a spring to rotate downwards, the rotary rod is in contact with the movable rod, a circuit is communicated, an electric telescopic rod is lifted or contracted, the angle of a clamping disc is adjusted, the clamping disc is in a horizontal state, and a calibration function is achieved;
s3, when debris is cleaned, a cleaning fan is started, the cleaning fan drives air to flow, then the air blows welding debris to move, due to the fact that a protective groove exists, the debris moves towards the outer wall of the bottom plate and then enters the collector, and the baffle plates which are installed in a staggered mode can effectively prevent the debris from moving outwards, so that the function of collecting the debris is achieved;
s4, when welding is carried out, a driving motor is started, the driving motor drives a reciprocating screw rod to rotate, the reciprocating screw rod drives a fixing ring to ascend or descend, then the fixing ring drives a connecting rod to move, the connecting rod drives a lifting block to ascend, the lifting block drives a hinge to extend, a protective net connected with the hinge extends to protect the periphery, laser is prevented from stimulating glasses of workers, and an eye protection function is achieved;
s5. when carrying out the centre gripping to the article, the article shelters from infrared signal, a water pump carries hydraulic oil to the inside of telescoping cylinder, the telescopic link extension drives the grip block and rotates, the grip block and article contact, afterwards, the supporting rod is extruded by the article, the supporting rod moves to the inside of expansion bend, the supporting rod drives the gag lever post downstream, afterwards the gag lever post crosses movable gag lever post, the activity gag lever post forms the restriction to the gag lever post, fix the article, realize the clamping function to the article, when cancelling the centre gripping, start up the hydraulic stem, the hydraulic stem shrink drives movable gag lever post and rotates downwards, thereby make movable gag lever post no longer restrict the gag lever post, under the effect of No. two springs, the initial position is got back to the supporting rod, No. two water pumps take hydraulic oil out from the telescoping cylinder afterwards, the grip block no longer carries out the centre gripping to the article.
Compared with the prior art, the invention has the beneficial effects that:
1. the automatic calibration device can automatically calibrate through the trigger and the detector, when calibration is carried out, the detector and the receiver are not in the same plane, the detector transmits signals to the piezoelectric ceramics, the piezoelectric ceramics drives the trigger rod to extrude the movable rod, the movable rod moves to drive the reset spring to contract, the movable rod drives the insulating block to move, the insulating block moves, the rotating rod is driven by the spring to rotate downwards, the rotating rod is contacted with the movable rod, a circuit is communicated, the electric telescopic rod is lifted or contracted, the angle of the clamping disc is adjusted, the clamping disc is in a horizontal state, and the calibration function is realized;
2. the cleaner and the collector are arranged, so that welding slag can be cleaned and collected, when chips are cleaned, the cleaning fan drives air to flow, then the air blows the welding chips to move, due to the existence of the protective groove, the chips move to the outer wall of the bottom plate and then enter the collector, and the baffle plates which are arranged in a staggered mode can effectively prevent the chips from moving outwards, so that the function of collecting the chips is realized;
3. the eye protection device can protect eyes of workers by mounting the protection groove, when welding is carried out, the driving motor drives the reciprocating screw rod to rotate, the reciprocating screw rod drives the fixing ring to ascend or descend, then the fixing ring drives the connecting rod to move, the connecting rod drives the lifting block to ascend, the lifting block drives the hinge to extend, the protective net connected with the hinge extends to protect the periphery, the laser is prevented from stimulating glasses of the workers, and the eye protection function is realized;
4. the invention can automatically clamp the object by installing the clamp holder, when clamping the object, the object blocks the infrared signal, the first water pump conveys the hydraulic oil to the inside of the telescopic cylinder, the telescopic rod extends to drive the clamping plate to rotate, the clamping plate is contacted with the object, and then, the clamping rod is extruded by the object, the clamping rod moves towards the interior of the expansion piece, the clamping rod drives the limiting rod to move downwards, then the limiting rod passes over the movable limiting rod, the movable limiting rod limits the limiting rod, the object is fixed, the clamping function of the object is realized, when the clamping is cancelled, the hydraulic rod contracts to drive the movable limiting rod to rotate downwards, so that the movable limiting rod does not limit the limiting rod any more, under the effect of No. two springs, the clamping rod returns to initial position, and No. two water pumps are taken hydraulic oil out from the telescoping cylinder afterwards, and the grip block is no longer to the centre gripping article.
Drawings
FIG. 1 is a schematic view of the external structure of the present invention;
FIG. 2 is a schematic view of the structure of the electric telescopic rod part of the present invention;
FIG. 3 is a schematic diagram of a flip-flop according to the present invention;
FIG. 4 is a schematic view of a portion of the sweeper of the present invention;
FIG. 5 is a schematic view of the collector portion of the present invention;
FIG. 6 is a schematic view of the structure of the protective slot portion of the present invention;
FIG. 7 is a schematic top view of a portion of the drive housing of the present invention;
FIG. 8 is a schematic view of a partial structure of the holder of the present invention;
fig. 9 is a schematic view of a portion of the retractor of the present invention.
In the figure: 1. a base plate; 101. moving the plate along the X axis; 102. moving the plate along the Y axis; 103. lifting the sliding rod; 104. a lifting plate; 105. a laser welder; 2. a detector; 201. an electric telescopic rod; 202. a trigger; 203. piezoelectric ceramics; 204. a trigger lever; 205. a travel bar; 206. a return spring; 207. an insulating block; 208. rotating the rod; 209. a first spring; 210. a conductive rod; 211. a receiver; 3. a clamping plate; 301. a drive box; 302. a motor; 303. a bevel gear; 304. fixing a gear; 4. a holder; 401. a first groove; 402. an infrared emitter; 403. an oil chamber; 404. a water pump I; 405. a telescopic cylinder; 406. a telescopic rod; 407. a clamping plate; 5. a retractor; 501. a hydraulic lever; 502. a movable limiting rod; 503. a second spring; 504. a clamping rod; 505. a restraining bar; 6. a protective bath; 601. a drive motor; 602. a reciprocating screw rod; 603. a fixing ring; 604. a hinge; 605. a lifting block; 7. a sweeper; 701. cleaning a fan; 702. an air blowing port; 703. a collector; 704. and a baffle plate.
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1: referring to fig. 1, an embodiment of the present invention: a six-axis robot welding device with a calibration structure comprises a bottom plate 1, a detector 2, a clamping disc 3 and a protective groove 6, wherein the detector 2 is installed at the top of the bottom plate 1, a first driving groove is installed at the top of the bottom plate 1, an L-shaped X-axis moving plate 101 is installed at the top of the first driving groove, a second driving groove is arranged at the top of the X-axis moving plate 101, an L-shaped Y-axis moving plate 102 is installed at the top of the second driving groove, a lifting slide bar 103 is installed on the front surface of the Y-axis moving plate 102, a lifting plate 104 is installed on the outer wall of the lifting slide bar 103, a lifting shaft is installed on the front surface of the lifting plate 104, a laser welding device 105 is installed on the outer wall of the lifting shaft, the clamping disc 3 is installed at the top of a ball bearing, a receiver 211 is installed at the top of the clamping disc 3, two groups of clamping devices 4 are installed at the top of the clamping disc 3, two groups of protective grooves 6 are installed at the top of the bottom plate 1, and the protective groove 6 is positioned on one side of the detector 2, sweeper 7 is installed at the top of bottom plate 1, and sweeper 7 is located one side of detector 2, during the welding, X axle movable plate 101 can remove in the inside of drive groove No. one, Y axle movable plate 102 can remove in the inside of drive groove No. two, laser welding ware 105 can reciprocate at the outer wall of lift slide bar 103 along with lifter plate 104, X axle movable plate 101 in addition, Y axle movable plate 102 and lift axle all pass through the cylinder connection, make X axle movable plate 101, Y axle movable plate 102 can remove, the lift axle can rotate, realize multi-angle welded function, the article can conveniently be placed to grip disc 3, holder 4 can carry out the centre gripping to the article, realize clamping function, protective housing 6 can protect the staff, sweeper 7 can clear up the welding slag.
Example 2: referring to fig. 2 and 3, an embodiment of the present invention: a six-axis robot welding device with a calibration structure is disclosed, an electric telescopic rod 201 is installed on the inner bottom wall of a bottom plate 1, the top of the electric telescopic rod 201 extends out of the top of the bottom plate 1, a ball bearing is installed on the top of the electric telescopic rod 201, a trigger 202 is installed on the inner bottom wall of the bottom plate 1, piezoelectric ceramics 203 are installed on the inner wall of the trigger 202, a trigger rod 204 is installed on the outer wall of the piezoelectric ceramics 203, a fixing plate is installed on the inner wall of the trigger 202 and located on one side of the piezoelectric ceramics 203, a moving rod 205 is installed on the outer wall of the fixing plate in a penetrating mode, a reset spring 206 is installed around the outer wall of the moving rod 205, an insulating block 207 is installed on the outer wall of the moving rod 205, a rotating rod 208 is installed on the inner rear wall of the trigger 202, a first spring 209 is installed on the top of the rotating rod 208, the top of the first spring 209 is connected with the top wall of the trigger 202, and one end of the rotating rod 208 is connected with a conductive rod 210 through a cable, and one end of the conducting rod 210 extends out of the outer wall of the trigger 202 to be connected with the outer wall of the electric telescopic rod 201, when calibration is performed, the detector 2 is started, the detector 2 and the receiver 211 are not in the same plane, the detector 2 transmits a signal to the piezoelectric ceramic 203, the piezoelectric ceramic 203 drives the trigger rod 204 to extrude the moving rod 205, the moving rod 205 moves to drive the reset spring 206 to contract, the moving rod 205 drives the insulating block 207 to move, the insulating block 207 moves, the rotating rod 208 is driven by the first spring 209 to rotate downwards, the rotating rod 208 is in contact with the moving rod 205, so that the circuit is communicated, the electric telescopic rod 201 rises or contracts, the clamping disk 3 is subjected to angle adjustment, the clamping disk 3 is in a horizontal state, and the calibration function is realized.
Example 3: referring to fig. 4 and 5, an embodiment of the present invention: the utility model provides a welding equipment for six axis robot with calibration structure, cleaning fan 701 is installed to the inner wall of sweeper 7, cleaning fan 7's outer wall is equipped with blowing port 702, collector 703 is installed to the outer wall of bottom plate 1, the crisscross baffle 704 of installing a plurality of slopes of inner wall of collector 703, when clearing up the piece, start cleaning fan 701, cleaning fan 701 drives the air flow, the air blows the welding piece removal afterwards, owing to there is guard slot 6, the piece moves to the outer wall of bottom plate 1, get into the inside of collector 703 afterwards, the baffle 704 of crisscross installation can effectually block the piece and outwards remove, realize collecting clastic function.
Example 4: referring to fig. 6, an embodiment of the present invention: a six-axis robot welding device with a calibration structure is disclosed, a driving motor 601 is installed on the inner bottom wall of a protection groove 6, a reciprocating screw rod 602 is installed at the output end of the driving motor 601, a fixing ring 603 is installed on the outer wall of the reciprocating screw rod 602, a lifting groove is installed on the top of the protection groove 6, a lifting block 605 is installed on the top of the lifting groove in a penetrating mode, the outer wall of the lifting block 605 is connected with the fixing ring 603 through a connecting rod, hinges 604 are installed on the inner bottom wall of the protection groove 6, a protective net is connected between the hinges 604, the top of the hinges 604 is connected with the bottom of the lifting block 605, when welding is conducted, the driving motor 601 is started, the driving motor 601 drives the reciprocating screw rod 602 to rotate, the reciprocating screw rod 602 drives the fixing ring 603 to ascend or descend, then the fixing ring 603 drives the connecting rod to move, the connecting rod drives the lifting block 605 to ascend, the lifting block 605 drives the hinges 604 to expand, the protective net connected with the hinges 604 to expand, the periphery is protected, the glasses of workers are prevented from being stimulated by laser, and the eye protection function is achieved.
Example 5: referring to fig. 8 and 9, an embodiment of the present invention: a six-axis robot welding device with a calibration structure is disclosed, wherein a first groove 401 is installed on the inner wall of a clamp holder 4, an infrared emitter 402 is installed on the inner wall of the first groove 401, a second groove is installed on the inner wall of another clamp holder 4, an infrared receiver is installed on the inner wall of the second groove, an oil cavity 403 is installed on the inner wall of the clamp holder 4, a first water pump 404 is installed on the outer wall of the oil cavity 403, a telescopic cylinder 405 is installed on the inner wall of the clamp holder 4, a water inlet pipe is installed at the input end of the first water pump 404, one end of the water inlet pipe extends into the inside of the oil cavity 403, a water outlet pipe is installed at the output end of the first water pump 404, one end of the water outlet pipe extends into the telescopic cylinder 405, a second water pump is installed on the outer wall of the oil cavity 403, the second water pump is located on one side of the first water pump 404, a water inlet pipe is installed at the input end of the second water pump, and one end of the water inlet pipe extends into the telescopic cylinder 405, the output end of the second water pump is provided with a water outlet pipe, one end of the water outlet pipe extends into the oil inlet cavity 403, the outer wall of the telescopic cylinder 405 is provided with a telescopic rod 406 in a penetrating manner, one end of the telescopic rod 406 is connected with a clamping plate 407 through a bearing, the inner wall of the clamping plate 407 is provided with a telescopic device 5, the inner bottom wall of the telescopic device 5 is provided with a hydraulic rod 501, the inner walls of two sides of the telescopic device 5 are provided with movable limiting rods 502, the movable limiting rods 502 are connected with the hydraulic rod 501 through a connecting rod, the inner bottom wall of the telescopic device 5 is provided with a second spring 503, the top of the second spring 503 is provided with a clamping rod 504, the top of the clamping rod 504 extends out of the top of the telescopic device 5, the outer wall of the clamping rod 504 is provided with a limiting rod 505, when an object is clamped, the object blocks infrared signals, the first water pump 404 conveys hydraulic oil into the telescopic cylinder 405, the telescopic rod 406 extends to drive the clamping plate 407 to rotate, clamping plate 407 and article contact, afterwards, clamping rod 504 is extruded by the article, clamping rod 504 moves to the inside of expansion bend 5, clamping rod 504 drives restriction lever 505 and moves down, restriction lever 505 crosses activity gag lever post 502 afterwards, activity gag lever post 502 forms the restriction to restriction lever 505, fix the article, realize the clamping function to the article, when cancelling the centre gripping, start hydraulic stem 501, hydraulic stem 501 contracts and drives activity gag lever post 502 and rotate downwards, thereby make activity gag lever post 502 no longer to the restriction of restriction lever 505, under No. two spring 503's effect, clamping rod 504 gets back to initial position, No. two water pump take hydraulic oil out from telescoping cylinder 405 afterwards, clamping plate 407 no longer carries out the centre gripping to the article.
Example 6: referring to fig. 7, an embodiment of the present invention: the utility model provides a six axis welding equipment for robot with calibration structure, drive box 301 is installed to the outer wall of grip slipper 3, motor 302 is installed to the inner wall of drive box 301, and the output of motor 302 extends into the inside of grip slipper 3, the outer wall of grip slipper 3 is equipped with the ring channel, fixed gear 304 is installed to the inside diapire of grip slipper 3, bevel gear 303 is installed to the output of motor 302, and bevel gear 303 meshes with fixed gear 304 mutually, starter motor 302, motor 302 drives bevel gear 303 and rotates, bevel gear 303 drives fixed gear 304 and rotates, fixed gear 304 drives grip slipper 3 and rotates, make things convenient for rotatory article, so that weld other parts to the article.
Further, the working steps of the welding equipment are as follows:
s1, during welding, the X-axis moving plate 101 can move in a first driving groove, the Y-axis moving plate 102 can move in a second driving groove, the laser welding device 105 can move up and down on the outer wall of the lifting slide rod 103 along with the lifting plate 104, and in addition, the X-axis moving plate 101, the Y-axis moving plate 102 and the lifting shaft are connected through cylinders, so that the X-axis moving plate 101 and the Y-axis moving plate 102 can move, and the lifting shaft can rotate, and the multi-angle welding function is realized;
s2, during calibration, the detector 2 is started, the space between the detector 2 and the receiver 211 is not in the same plane, the detector 2 transmits signals to the piezoelectric ceramics 203, the piezoelectric ceramics 203 drives the trigger rod 204 to extrude the moving rod 205, the moving rod 205 moves to drive the reset spring 206 to contract, the moving rod 205 drives the insulating block 207 to move, the insulating block 207 moves, the rotating rod 208 is driven by the first spring 209 to rotate downwards, the rotating rod 208 is in contact with the moving rod 205, a circuit is communicated, the electric telescopic rod 201 is lifted or contracted, the angle of the clamping disk 3 is adjusted, the clamping disk 3 is in a horizontal state, and the calibration function is realized;
s3, when debris is cleaned, the sweeping fan 701 is started, the sweeping fan 701 drives air to flow, then the air blows welding debris to move, due to the fact that the protective groove 6 exists, the debris moves towards the outer wall of the bottom plate 1 and then enters the collector 703, the baffle plates 704 installed in a staggered mode can effectively prevent the debris from moving outwards, and the function of collecting the debris is achieved;
s4, when welding is carried out, a driving motor 601 is started, the driving motor 601 drives a reciprocating screw rod 602 to rotate, the reciprocating screw rod 602 drives a fixing ring 603 to ascend or descend, then the fixing ring 603 drives a connecting rod to move, the connecting rod drives a lifting block 605 to ascend, the lifting block 605 drives a hinge 604 to extend, a protective net connected with the hinge 604 extends to protect the periphery, the glasses of workers are prevented from being stimulated by laser, and an eye protection function is achieved;
s5, when the object is clamped, the object blocks the infrared signal, the first water pump 404 conveys hydraulic oil to the interior of the telescopic cylinder 405, the telescopic rod 406 extends to drive the clamping plate 407 to rotate, the clamping plate 407 is contacted with the object, and then, the holding rod 504 is pressed by the object, the holding rod 504 moves towards the inside of the telescopic device 5, the holding rod 504 drives the limiting rod 505 to move downwards, then the limiting rod 505 passes over the movable limiting rod 502, the movable limiting rod 502 limits the limiting rod 505, the object is fixed to realize the clamping function of the object, when the clamping is cancelled, the hydraulic rod 501 is started, the hydraulic rod 501 contracts to drive the movable limiting rod 502 to rotate downwards, so that the movable limiting rod 502 does not limit the limiting rod 505 any more, under the action of the second spring 503, the clamping rod 504 returns to the initial position, and then the second water pump pumps the hydraulic oil out of the telescopic cylinder 405, and the clamping plate 407 no longer clamps the object.
The working principle is that during welding, the X-axis moving plate 101 can move in the first driving groove, the Y-axis moving plate 102 can move in the second driving groove, the laser welding device 105 can move up and down along with the lifting plate 104 on the outer wall of the lifting slide bar 103, in addition, the X-axis moving plate 101, the Y-axis moving plate 102 and the lifting shaft are connected through the air cylinder, so that the X-axis moving plate 101 and the Y-axis moving plate 102 can move, the lifting shaft can rotate, the multi-angle welding function is realized, when calibration is carried out, the detector 2 is started, the detector 2 and the receiver 211 are not in the same plane, the detector 2 transmits signals to the piezoelectric ceramics 203, the piezoelectric ceramics 203 drives the trigger rod 204 to extrude the moving rod 205, the moving rod 205 moves to drive the reset spring 206 to shrink, the moving rod 205 drives the insulating block 207 to move, the insulating block 207 moves, so that the rotating rod 208 rotates downwards under the drive of the first spring 209, the rotating rod 208 is in contact with the moving rod 205, so that the circuit is communicated, the electric telescopic rod 201 is lifted or contracted, the angle of the clamping disc 3 is adjusted, the clamping disc 3 is in a horizontal state, the calibration function is realized, when chips are cleaned, the cleaning fan 701 is started, the cleaning fan 701 drives air to flow, then air blows welding chips to move, due to the existence of the protective groove 6, the chips move to the outer wall of the bottom plate 1 and then enter the collector 703, the staggered baffle 704 can effectively block the chips from moving outwards, the function of collecting the chips is realized, when welding is carried out, the driving motor 601 is started, the driving motor 601 drives the reciprocating screw rod 602 to rotate, the reciprocating screw rod 602 drives the fixing ring 603 to ascend or descend, then the fixing ring 603 drives the connecting rod to move, the connecting rod drives the lifting block 605 to ascend, the lifting block 605 drives the hinge 604 to expand, the protective net connected with the hinge 604 extends to protect the periphery, and prevents laser from stimulating glasses of workers, so that an eye protection function is realized, when an object is clamped, the object blocks infrared signals, the first water pump 404 conveys hydraulic oil to the inside of the telescopic cylinder 405, the telescopic rod 406 extends to drive the clamping plate 407 to rotate, the clamping plate 407 is contacted with the object, then the clamping rod 504 is extruded by the object, the clamping rod 504 moves towards the inside of the telescopic device 5, the clamping rod 504 drives the limiting rod 505 to move downwards, then the limiting rod 505 passes over the movable limiting rod 502, the movable limiting rod 502 limits the limiting rod 505, the object is fixed, so that the clamping function of the object is realized, when the clamping is cancelled, the hydraulic rod 501 is started, the hydraulic rod 501 contracts to drive the movable limiting rod 502 to rotate downwards, so that the movable limiting rod 502 does not limit the limiting rod 505 any more, under the action of the second spring 503, the gripping rod 504 returns to the initial position, and then the second water pump pumps the hydraulic oil out of the telescopic cylinder 405, and the gripping plate 407 no longer grips the object.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (2)
1. The utility model provides a welding equipment for six axis robot with calibration structure, includes bottom plate (1), detector (2), grip disc (3) and protective housing (6), its characterized in that: the detector (2) is arranged at the top of the bottom plate (1);
electric telescopic handle (201) is installed to the inside diapire of bottom plate (1), and the top of electric telescopic handle (201) extends the top of bottom plate (1), ball bearing is installed at the top of electric telescopic handle (201), trigger (202) is installed to the inside diapire of bottom plate (1), piezoceramics (203) are installed to the inner wall of trigger (202), trigger bar (204) are installed to the outer wall of piezoceramics (203), the fixed plate is installed to the inner wall of trigger (202), and the fixed plate is located one side of piezoceramics (203), the outer wall of fixed plate runs through and installs carriage release lever (205), reset spring (206) is installed around to the outer wall of carriage release lever (205), insulating block (207) are installed to the outer wall of carriage release lever (205), dwang (208) are installed to the inside back wall of trigger (202), a first spring (209) is installed at the top of the rotating rod (208), the top of the first spring (209) is connected with the inner top wall of the trigger (202), one end of the rotating rod (208) is connected with a conductive rod (210) through a cable, and one end of the conductive rod (210) extends out of the outer wall of the trigger (202) to be connected with the outer wall of the electric telescopic rod (201);
the clamp plate is installed at the top of the ball bearing, the receiver (211) is installed at the top of the clamp plate (3), two sets of clamps (4) are installed at the top of the clamp plate (3), two sets of protective grooves (6) are installed at the top of the bottom plate (1), the protective grooves (6) are located on one side of the detector (2), the sweeper (7) is installed at the top of the bottom plate (1), the sweeper (7) is located on one side of the detector (2), the first groove (401) is installed on the inner wall of the clamp holder (4), the infrared emitter (402) is installed on the inner wall of the first groove (401), the second groove is installed on the inner wall of the other clamp holder (4), the infrared receiver is installed on the inner wall of the second groove, the oil cavity (403) is installed on the inner wall of the clamp holder (4), the first water pump (404) is installed on the outer wall of the oil cavity (403), and the telescopic cylinder (405) is installed on the inner wall of the clamp holder (4), the water inlet pipe is installed at the input end of the first water pump (404), one end of the water inlet pipe extends into the interior of the oil inlet cavity (403), the water outlet pipe is installed at the output end of the first water pump (404), one end of the water outlet pipe extends into the interior of the telescopic cylinder (405), the second water pump is installed on the outer wall of the oil cavity (403), the second water pump is located on one side of the first water pump (404), the water inlet pipe is installed at the input end of the second water pump, one end of the water inlet pipe extends into the interior of the telescopic cylinder (405), the water outlet pipe is installed at the output end of the second water pump, one end of the water outlet pipe extends into the interior of the oil inlet cavity (403), the outer wall of the telescopic cylinder (405) is provided with a telescopic rod (406) in a penetrating mode, one end of the telescopic rod (406) is connected with a clamping plate (407) through a bearing, and a telescopic device (5) is installed on the inner wall of the clamping plate (407);
a sweeping fan (701) is installed on the inner wall of the sweeper (7), a blowing port (702) is formed in the outer wall of the sweeper (7), a collector (703) is installed on the outer wall of the bottom plate (1), and a plurality of inclined baffles (704) are installed on the inner wall of the collector (703) in a staggered mode;
the protection device is characterized in that a driving motor (601) is installed on the bottom wall inside the protection groove (6), a reciprocating screw rod (602) is installed at the output end of the driving motor (601), a fixing ring (603) is installed on the outer wall of the reciprocating screw rod (602), a lifting groove is installed at the top of the protection groove (6), a lifting block (605) is installed at the top of the lifting groove in a penetrating mode, the outer wall of the lifting block (605) is connected with the fixing ring (603) through a connecting rod, a hinge (604) is installed on the bottom wall inside the protection groove (6), a protective net is connected between the hinges (604), and the top of the hinge (604) is connected with the bottom of the lifting block (605);
a hydraulic rod (501) is installed on the bottom wall inside the telescopic device (5), movable limiting rods (502) are installed on the inner walls of the two sides of the telescopic device (5), the movable limiting rods (502) are connected with the hydraulic rod (501) through connecting rods, a second spring (503) is installed on the bottom wall inside the telescopic device (5), a clamping rod (504) is installed at the top of the second spring (503), the top of the clamping rod (504) extends out of the top of the telescopic device (5), and a limiting rod (505) is installed on the outer wall of the clamping rod (504);
the outer wall of the clamping disc (3) is provided with a driving box (301), the inner wall of the driving box (301) is provided with a motor (302), the output end of the motor (302) extends into the clamping disc (3), the outer wall of the clamping disc (3) is provided with an annular groove, the bottom wall of the interior of the clamping disc (3) is provided with a fixed gear (304), the output end of the motor (302) is provided with a bevel gear (303), and the bevel gear (303) is meshed with the fixed gear (304);
a driving groove is installed at the top of the bottom plate (1), an L-shaped X-axis moving plate (101) is installed at the top of the driving groove, a driving groove II is arranged at the top of the X-axis moving plate (101), an L-shaped Y-axis moving plate (102) is installed at the top of the driving groove II, a lifting slide bar (103) is installed on the front face of the Y-axis moving plate (102), a lifting plate (104) is installed on the outer wall of the lifting slide bar (103), a lifting shaft is installed on the front face of the lifting plate (104), and a laser welding device (105) is installed on the outer wall of the lifting shaft.
2. The welding equipment with the calibration structure for the six-axis robot in accordance with claim 1, wherein the welding equipment is operated by the following steps:
s1, during welding, an X-axis moving plate (101) can move in a first driving groove, a Y-axis moving plate (102) can move in a second driving groove, a laser welder (105) can move up and down along with a lifting plate (104) on the outer wall of a lifting slide bar (103), and the X-axis moving plate (101), the Y-axis moving plate (102) and the lifting shaft are connected through cylinders, so that the X-axis moving plate (101) and the Y-axis moving plate (102) can move, the lifting shaft can rotate, and the multi-angle welding function is realized;
s2, during calibration, the detector (2) is started, the detector (2) and the receiver (211) are not in the same plane, the detector (2) transmits signals to the piezoelectric ceramics (203), the piezoelectric ceramics (203) drive the trigger rod (204) to extrude the movable rod (205), the movable rod (205) moves to drive the reset spring (206) to contract, the movable rod (205) drives the insulating block (207) to move, the insulating block (207) moves, the rotating rod (208) is driven by the spring (209) to rotate downwards, the rotating rod (208) is in contact with the movable rod (205), the circuit is communicated, the electric telescopic rod (201) is lifted or contracted, the clamping disc (3) is subjected to angle adjustment, the clamping disc (3) is in a horizontal state, and a calibration function is realized;
s3, when debris is cleaned, a sweeping fan (701) is started, the sweeping fan (701) drives air to flow, then the air blows welding debris to move, due to the fact that a protective groove (6) exists, the debris moves towards the outer wall of the bottom plate (1) and then enters the collector (703), and the baffle plates (704) installed in a staggered mode can effectively block the debris from moving outwards, and the function of collecting the debris is achieved;
s4, when welding is carried out, a driving motor (601) is started, the driving motor (601) drives a reciprocating screw rod (602) to rotate, the reciprocating screw rod (602) drives a fixing ring (603) to ascend or descend, then the fixing ring (603) drives a connecting rod to move, the connecting rod drives a lifting block (605) to ascend, the lifting block (605) drives a hinge (604) to extend, a protective net connected with the hinge (604) extends to protect the periphery, glasses of workers are prevented from being stimulated by laser, and an eye protection function is achieved;
s5, when an object is clamped, the object blocks infrared signals, a first water pump (404) conveys hydraulic oil to the inside of a telescopic cylinder (405), a telescopic rod (406) extends to drive a clamping plate (407) to rotate, the clamping plate (407) is in contact with the object, then, a clamping rod (504) is extruded by the object, the clamping rod (504) moves towards the inside of a telescopic device (5), the clamping rod (504) drives a limiting rod (505) to move downwards, then the limiting rod (505) crosses a movable limiting rod (502), the movable limiting rod (502) limits the limiting rod (505), the object is fixed, the clamping function of the object is realized, when the clamping is cancelled, a hydraulic rod (501) is started, the hydraulic rod (501) contracts to drive the movable limiting rod (502) to rotate downwards, so that the movable limiting rod (505) is not limited by the movable limiting rod (502), under the action of a second spring (503), the clamping rod (504) returns to the initial position, then the second water pump pumps the hydraulic oil out of the telescopic cylinder (405), and the clamping plate (407) does not clamp the object any more.
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| CN114852672B (en) * | 2022-05-20 | 2023-08-01 | 江苏洛柳精密科技有限公司 | Robot clamp with anti-drop protection |
| CN114799506B (en) * | 2022-05-20 | 2024-02-23 | 江苏涯角智能装备有限公司 | Laser welding equipment capable of realizing bending welding |
| CN114769871A (en) * | 2022-06-17 | 2022-07-22 | 江苏四达重工有限公司 | Welding equipment for sheet metal working |
| CN116214008A (en) * | 2023-04-27 | 2023-06-06 | 无锡康柏斯机械科技有限公司 | Intelligent tool clamp system capable of being switched rapidly and control method thereof |
| CN116406089B (en) * | 2023-05-11 | 2023-09-19 | 江苏贺鸿智能科技有限公司 | Equipment paster check out test set convenient to maintain |
| CN117123975B (en) * | 2023-09-21 | 2024-05-10 | 南通博洋机电制造有限公司 | Automatic welding equipment |
| CN117139942B (en) * | 2023-10-30 | 2023-12-26 | 南通英赛智能装备有限公司 | Welding equipment for boxing and stacking support |
| CN117644283B (en) * | 2024-01-30 | 2024-04-09 | 广东原点智能技术有限公司 | Laser processing device |
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| CN108673021A (en) * | 2018-06-28 | 2018-10-19 | 长兴捷陆科技有限公司 | A kind of automobile welding and assembling clamp |
| CN208961986U (en) * | 2018-11-01 | 2019-06-11 | 洪阳 | A kind of electric power installation maintenance platform |
| CN209954032U (en) * | 2019-05-06 | 2020-01-17 | 东莞市恒腾工业自动化配件有限公司 | Dust removal protection device for laser processing equipment unit |
| CN110666364A (en) * | 2019-10-02 | 2020-01-10 | 刘博� | Foot edge cutting and crushing device for clothing waste fabric |
| CN212885785U (en) * | 2020-04-17 | 2021-04-06 | 佛山市顺德区和信达激光加工制品有限公司 | Laser welding tool |
| CN112222691A (en) * | 2020-10-04 | 2021-01-15 | 西安致开工业自动化工程有限公司 | Automatic welding equipment with fixed clamping structure |
| CN213531441U (en) * | 2020-11-18 | 2021-06-25 | 佛山市合玉鑫五金机械制造有限公司 | But height-adjusting level's base welding set |
| CN112621050A (en) * | 2020-11-28 | 2021-04-09 | 李素梅 | Automatic alignment infrared device of stainless steel plate welding equipment |
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Address after: 226600 169 Li Fa FA Road, Chengdong Town, Haian City, Nantong, Jiangsu. Patentee after: Jiangsu Keti Robot Co.,Ltd. Address before: 226600 169 Li Fa FA Road, Chengdong Town, Haian City, Nantong, Jiangsu. Patentee before: NANTONG COTEK ROBOTICS Co.,Ltd. |
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