CN114632998B - Robot flying arcing device and method in welding process - Google Patents
Robot flying arcing device and method in welding process Download PDFInfo
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- CN114632998B CN114632998B CN202210408921.6A CN202210408921A CN114632998B CN 114632998 B CN114632998 B CN 114632998B CN 202210408921 A CN202210408921 A CN 202210408921A CN 114632998 B CN114632998 B CN 114632998B
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- 238000003466 welding Methods 0.000 title claims abstract description 195
- 238000000034 method Methods 0.000 title claims abstract description 45
- 230000008569 process Effects 0.000 title claims abstract description 29
- 230000000149 penetrating effect Effects 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000003825 pressing Methods 0.000 claims 1
- 230000007547 defect Effects 0.000 abstract description 13
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 238000005299 abrasion Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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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
- B23K9/00—Arc welding or cutting
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Arc Welding In General (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of intelligent welding of robots, in particular to a robot flying arcing device and a method thereof in a welding process. The device comprises a constant force output conductive nozzle; the constant force output contact tip comprises a contact tip body and a spring piece; a wire guide hole for a welding wire to pass through is formed in the conductive nozzle body along the axis, and penetrating gaps are symmetrically formed in the side wall of the conductive nozzle body along the radial direction; the spring piece is inserted into the penetrating gaps at two sides of the contact tip body, and the spring piece elastically presses the welding wire accommodated in the wire guide hole. The invention adopts the servo controllable stable speed of the robot and the welding wire at the arc starting point position, reduces the probability of the problem that defects such as unfused, air holes, cracks and the like are easy to generate welding defects, and improves the quality of welding seams.
Description
Technical Field
The invention relates to the technical field of intelligent welding of robots, in particular to a robot flying arcing device and a method thereof in a welding process.
Background
In recent years, the market demand of the robot welding technology is continuously expanding, the software and hardware related to the robot welding technology are also rapidly developing to intelligent development, and the welding technology is also adaptively adjusted from the traditional mode to the automatic welding direction of the robot. With the continuous advancement of national intelligent manufacturing policies, the traditional manufacturing industry is facing the transformation and upgrading of intelligent manufacturing, and the market demand of intelligent manufacturing is increasing. The robot welding technology is gradually developed towards an intelligent welding technology integrating multiple robots, multiple welding methods and multiple sensing means, and the intelligent welding robot is optimized towards a robot control technology of a welding process.
For welding of welding lines with space complex structures, near arc starting, the track accuracy of welding wires and robots in the starting process is lower than the running accuracy of the welding wires and robots, so that defects such as unfused, air holes and cracks are easy to generate, and the quality of the welding lines at joints is poor. For space complex components, the traditional arc striking plate wastes materials, and is difficult to simulate the tangential position of space curve welding seams of space complex structures, in particular to multi-layer multi-channel welding.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a robot flying arcing device and a method thereof in a welding process, so as to solve the problems that the traditional arcing plate wastes materials for space complex components and is difficult to simulate the tangential position of a space curve welding line of a space complex structure.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the embodiment of the invention provides a robot flying arcing device in a welding process, which comprises a constant force output conductive nozzle;
the constant force output contact tip comprises a contact tip body and a spring piece;
a wire guide hole for a welding wire to pass through is formed in the conductive nozzle body along the axis, and penetrating gaps are symmetrically formed in the side wall of the conductive nozzle body along the radial direction;
the spring piece is inserted into the penetrating gaps at two sides of the contact tip body, and the spring piece elastically presses the welding wire accommodated in the wire guide hole.
In one possible implementation manner, the contact tip body includes a cone, a middle cylinder and a tail cylinder which are sequentially arranged along the axial direction, the diameter of the tail cylinder is smaller than that of the middle cylinder, and the penetrating slit is arranged on the middle cylinder.
In one possible implementation manner, a waist-shaped hole is axially arranged on the side wall of the middle column body, and the waist-shaped hole is communicated with the guide wire hole and perpendicular to the penetrating gap.
In one possible implementation, the wire guide hole includes a wire positioning slot and guide holes at two ends of the wire positioning slot, and the wire positioning slot is located in the middle column and corresponds to the waist-shaped hole.
In one possible implementation, the welding wire positioning groove is a semicircular groove, and the diameter of the welding wire positioning groove is smaller than that of the guide hole.
In one possible implementation manner, two through holes are respectively arranged at two ends of the through gap along the radial direction; the two ends of the spring piece are respectively provided with a positioning protruding part, and the two positioning protruding parts are respectively accommodated in the corresponding through holes.
In one possible implementation, the middle column body is provided with tightening planes on two opposite sides, and the waist-shaped holes are arranged on one tightening plane.
In one possible implementation manner, the robot flying arcing device in the welding process further comprises a robot, a welding gun and a wire feeding mechanism, wherein the welding gun is arranged at the execution tail end of the robot, and the constant force output conductive nozzle is arranged at the end part of the welding gun; the wire feeding mechanism is arranged on the robot and used for feeding welding wires to the welding gun.
In one possible implementation manner, the wire feeding mechanism includes a wire feeding disc, a first welding cable, a servo wire feeder and a second welding cable, wherein the wire feeding disc is arranged on an external fixture or a base of the robot, the servo wire feeder is arranged on the robot, a leading-out end of a welding wire on the wire feeding disc enters the servo wire feeder through the first welding cable, the servo wire feeder can feed the welding wire in a servo manner, and the welding wire enters the welding gun and the constant force output conductive nozzle through the second welding cable.
Another embodiment of the present invention provides a flying arcing method using the robot flying arcing device in the welding process, including the following steps:
1) The servo wire feeder controls the welding wire to retreat into the welding gun;
2) The constant force output conducting nozzle supplies power to the welding wire;
3) The robot drives the welding gun to move, so that a TCP point of the welding gun moves tangentially along a welding seam starting point of the welding seam starting point; meanwhile, the servo wire feeder forwards feeds welding wires, and the constant force output conductive nozzle at the front end of the welding gun enables the welding wires to be output in a constant force mode;
4) And the TCP point of the welding gun and the head of the welding wire reach the starting point of the welding line at the same time, and flying arc starting welding is carried out.
The invention has the advantages and beneficial effects that: according to the robot flying arcing device and the method thereof in the welding process, provided by the invention, the probability that defects such as unfused, air holes and cracks are easy to generate welding defects is reduced by adopting the servo controllable stable speed of the robot and the welding wire at the position of the arcing point, and the quality of welding seams is improved;
according to the robot flight arcing device and method in the welding process, an arc striking plate of a space curved surface is not required to be manufactured, and the economy and the production efficiency are improved;
according to the robot flying arcing device and method in the welding process, the constant-resistance conducting nozzle is adopted, so that the clamping phenomenon of the conducting nozzle on servo wire feeding is avoided, the probability of welding defects caused by defects such as unfused welding, air holes and cracks is further reduced, and the quality of welding seams is improved;
according to the robot flying arcing device and method in the welding process, the constant-resistance conducting nozzle is adopted, so that the self-compensation capability of abrasion is realized, the contact position is fixed and uniform, and the fault probability of burning the conducting nozzle is reduced; the service life of the contact tip is prolonged, and the welding precision of the welding wire TCP is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic view of a structure of a constant resistance contact tip in a robot flying arcing device in a welding process of the present invention;
FIG. 2 is a side view of FIG. 1;
FIG. 3 is a cross-sectional view A-A of FIG. 1;
FIG. 4 is a front view of the overall structure of the robot flying arcing device of the welding process of the present invention;
FIG. 5 is an isometric view of the overall structure of a robotic flying arcing device of the welding process of the present invention;
FIG. 6 is a schematic view of the operational state of the present invention in flight arcing;
in the figure: 1 is a robot, 2 is a welding gun, 3 is a first curved surface workpiece, 4 is a second curved surface workpiece, 5 is a space curve welding seam, 6 is a welding wire, 7 is a welding seam starting point tangent, 8 is a welding seam starting point, 9 is a constant force output conducting nozzle, 10 is a wire feeding disc, 11 is a first welding cable, 12 is a servo wire feeder, 13 is a second welding cable, 901 is a cone, 902 is a middle column, 903 is a tail column, 904 is a waist-shaped hole, 905 is a through hole, 906 is a through slot, 907 is a spring piece, 908 is a wire guiding hole, 909 is a tightening plane, 910 is a welding wire positioning groove, and 911 is a positioning protruding part.
Detailed Description
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The embodiment of the invention provides a robot flying arcing device in a welding process, which adopts a constant-resistance conducting nozzle, avoids the clamping phenomenon of the conducting nozzle on servo wire feeding, further reduces the probability of welding defects caused by defects such as unfused welding, air holes, cracks and the like, and improves the quality of welding seams. Referring to fig. 1 to 3, the robot flying arcing device for the welding process includes a constant force output contact tip 9; the constant force output contact tip 9 comprises a contact tip body and a spring piece 907, wherein a wire guide hole 908 for a welding wire 6 to pass through is arranged on the contact tip body along the axis, and a through slit 906 is symmetrically arranged on the side wall of the contact tip body along the radial direction; the spring piece 907 is inserted into the through slits 906 at both sides of the contact tip body, and the spring piece 907 elastically presses the welding wire 6 accommodated in the wire guide hole 908.
Referring to fig. 1, in the embodiment of the present invention, the contact tip body includes a cone 901, a middle cylinder 902 and a tail cylinder 903 sequentially disposed in an axial direction, the diameter of the tail cylinder 903 is smaller than that of the middle cylinder 902, and a through slit 906 is disposed on the middle cylinder 902.
Further, a waist-shaped hole 904 is provided in the side wall of the middle cylinder 902 in the axial direction, and the waist-shaped hole 904 is penetrated through the guide wire hole 908 and is perpendicular to the penetration slit 906. The waist-shaped hole 904 is used for chip removal, i.e. the detached scale of the welding wire 6 is discharged from the waist-shaped hole 904.
In an embodiment of the present invention, the wire guide hole 908 includes a wire positioning slot 910 and guide holes at both ends of the wire positioning slot 910, and the wire positioning slot 910 is located in the middle column 902 and corresponds to the waist-shaped hole 904. The welding wire positioning groove 910 is a semicircular groove, and the diameter is smaller than that of the guide hole, and the welding wire positioning groove 910 facilitates accurate positioning of the welding wire 6. The diameter of the guide hole is larger than that of the welding wire 6, and only plays a role in preliminary guiding. The diameter of the welding wire positioning groove 910 is equal to the diameter of the welding wire 6, and the welding wire 6 is accurately positioned.
Further, as shown in fig. 2, two through holes 905 are respectively provided at two ends of the through slot 906 along the radial direction; the two ends of the spring piece 907 are respectively provided with a positioning protruding part 911, and the two positioning protruding parts 911 are respectively accommodated in the corresponding through holes 905, so as to position the spring piece 907. Spring piece 907 elastically presses welding wire 6 into welding wire positioning slot 910, providing constant resistance to feeding of welding wire 6.
Further, a tightening plane 909 is provided on one opposite side of the middle cylinder 902, and the waist-shaped hole 904 is provided on one tightening plane 909, and the tightening plane 909 facilitates the operation of the wrench.
Specifically, the wire 6 is first cut to a beveled tip and the wire 6 is inserted through the wire guide hole 908. During the process that the welding wire 6 enters the welding wire positioning groove 910, the inclined tip of the welding wire 6 extrudes and deforms the spring piece 907 into a middle arch shape, the constant force of the spring piece 907 presses the welding wire 6 into the welding wire positioning groove 910, and the welding wire 6 is accurately positioned and electrically conducted under the deformation pressure of the spring piece 907.
Referring to fig. 4 and 5, on the basis of the above embodiment, the robot flying arcing device in the welding process provided by the invention further includes a robot 1, a welding gun 2 and a wire feeding mechanism, wherein the welding gun 2 is arranged at the execution end of the robot 1, and the constant force output conducting nozzle 9 is arranged at the end of the welding gun 2; a wire feeder is provided on the robot 1 for feeding welding wire 6 to the welding gun 2.
Specifically, the cone 901 at the front end of the constant force output contact tip 9 is used for flow field control of the gas flow as a shielding gas in cooperation with the nozzle. The tail cylinder 903 is externally threaded for attachment to gun 2, and the shoulders of the middle cylinder 902 and tail cylinder 903, which are of different diameters, are used to locate on gun 2.
Referring to fig. 4, in the embodiment of the invention, the wire feeding mechanism includes a wire feeding disc 10, a first welding cable 11, a servo wire feeder 12 and a second welding cable 13, wherein the wire feeding disc 10 is disposed on an external fixture or a base of the robot 1, the servo wire feeder 12 is disposed on the robot 1, a leading-out end of the welding wire 6 on the wire feeding disc 10 enters the servo wire feeder 12 through the first welding cable 11, the servo wire feeder 12 can servo-feed the welding wire 6, the welding wire 6 enters the welding gun 2 and the constant force output conductive nozzle 9 through the second welding cable 13, and the constant force output conductive nozzle 9 can impart charges to the welding wire 6. Preferably, the servo wire feeder 12 is mounted to the forearm shoulder of the robot 1.
According to the robot flying arcing device in the welding process, provided by the embodiment of the invention, the constant-resistance conducting nozzle is adopted, so that the clamping phenomenon of the conducting nozzle on the servo wire feeding is avoided, the probability of welding defects caused by defects such as unfused welding, air holes and cracks is further reduced, and the quality of welding seams is improved; the constant-resistance conducting nozzle has the abrasion self-compensation capability, the contact position is fixed and uniform, and the fault probability of the burning conducting nozzle is reduced; the service life of the contact tip is prolonged, and the welding precision of the welding wire TCP is improved.
On the basis of the above embodiments, another embodiment of the present invention provides a flying arcing method implemented using the robot flying arcing device of the welding process in any of the above embodiments. Referring to fig. 4 to 6, the arcing method includes the steps of:
1) The servo wire feeder 12 controls the welding wire 6 to retreat into the welding gun 2;
2) The constant force output conducting nozzle 9 supplies power to the welding wire 6;
3) The robot 1 drives the welding gun 2 to move, so that a TCP point (tool center point) of the welding gun 2 moves along a welding seam starting point tangent 7 of a welding seam starting point 8; simultaneously, the servo wire feeder 12 servo feeds the welding wire 6, and the constant force output conducting nozzle 9 at the front end of the welding gun 2 enables the welding wire 6 to output constant force;
4) The TCP point of the welding gun 2 and the head of the welding wire 6 reach the weld joint start point 8 at the same time, and flying arc starting welding is performed.
The present embodiment completes the welding of the space curve weld 5 between the first curved surface workpiece 3 and the second curved surface workpiece 4, the space curve weld 5 being a mathematical saddle-mouth space curve, also known as an intersecting line. Specifically, the first curved surface workpiece 3 and the second curved surface workpiece 4 are pipe pieces.
According to the robot flying arcing device and the method thereof in the welding process, provided by the invention, the probability that defects such as unfused, air holes and cracks are easy to generate welding defects is reduced by adopting the servo controllable stable speed of the robot and the welding wire at the position of the arcing point, and the quality of welding seams is improved; the invention does not need to manufacture the arc striking plate with a space curved surface, and improves the economy and the production efficiency.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (6)
1. A robot flying arcing device for a welding process, characterized by comprising a constant force output contact tip (9);
the constant force output contact tip (9) comprises a contact tip body and a spring piece (907);
a wire guide hole (908) for a welding wire (6) to pass through is formed in the conducting nozzle body along the axis, and a through gap (906) is symmetrically formed in the side wall of the conducting nozzle body along the radial direction;
the spring piece (907) is inserted into the penetrating gaps (906) at two sides of the contact tip body, and the spring piece (907) elastically presses the welding wire (6) accommodated in the wire guide hole (908);
the contact tip body comprises a cone (901), a middle column body (902) and a tail column body (903) which are sequentially arranged along the axial direction, the diameter of the tail column body (903) is smaller than that of the middle column body (902), and the penetrating gap (906) is formed in the middle column body (902);
a waist-shaped hole (904) is arranged on the side wall of the middle column body (902) along the axial direction, and the waist-shaped hole (904) is communicated with the thread guide hole (908) and is perpendicular to the through gap (906);
the wire guide hole (908) comprises a welding wire positioning groove (910) and guide holes positioned at two ends of the welding wire positioning groove (910), and the welding wire positioning groove (910) is positioned in the middle column body (902) and corresponds to the waist-shaped hole (904);
two through holes (905) are respectively formed in the two ends of the through gap (906) along the radial direction; positioning protruding parts (911) are respectively arranged at two ends of the spring piece (907), and the two positioning protruding parts (911) are respectively accommodated in corresponding through holes (905);
cutting the welding wire (6) into inclined tips, inserting the welding wire (6) into the wire guide hole (908), extruding and deforming the spring piece (907) into a middle arch shape by the inclined tips of the welding wire (6) in the process that the welding wire (6) enters the welding wire positioning groove (910), and pressing the welding wire (6) into the welding wire positioning groove (910) by the constant force of the spring piece (907), wherein the welding wire (6) is accurately positioned and conductive under the deformation pressure of the spring piece (907).
2. The robotic flying arcing device of the welding process of claim 1, wherein the wire positioning slot (910) is a semi-circular slot and has a diameter less than a diameter of the pilot hole.
3. The welding process robot fly arc starting device according to claim 1, wherein the middle cylinder (902) is provided with tightening planes (909) on one opposite sides, and the waist-shaped hole (904) is provided on one tightening plane (909).
4. A robot-flying arcing device for a welding process according to any of the claims 2-3, characterized in, that it further comprises a robot (1), a welding torch (2) and a wire feeding mechanism, wherein the welding torch (2) is arranged at the execution end of the robot (1), and the constant-force output contact tip (9) is arranged at the end of the welding torch (2); the wire feeding mechanism is arranged on the robot (1) and is used for feeding welding wires (6) to the welding gun (2).
5. The robot flying arcing device according to claim 4, characterized in that the wire feeding mechanism comprises a wire feeding disc (10), a first welding cable (11), a servo wire feeder (12) and a second welding cable (13), wherein the wire feeding disc (10) is arranged on an external fixture or a base of the robot (1), the servo wire feeder (12) is arranged on the robot (1), a leading-out end of a welding wire (6) on the wire feeding disc (10) enters the servo wire feeder (12) through the first welding cable (11), the servo wire feeder (12) can feed the welding wire (6) in a servo manner, and the welding wire (6) enters the welding gun (2) and the constant force output conductive nozzle (9) through the second welding cable (13).
6. A method of flying arcing using the robotic flying arcing device of the welding procedure of claim 5, comprising the steps of:
1) The servo wire feeder (12) controls the welding wire (6) to retreat into the welding gun (2);
2) The constant force output conducting nozzle (9) supplies power to the welding wire (6);
3) The robot (1) drives the welding gun (2) to move, so that a TCP point of the welding gun (2) moves along a welding seam starting point tangent line (7) of a welding seam starting point (8); meanwhile, the servo wire feeder (12) forwards feeds the welding wire (6), and the constant force output conductive nozzle (9) at the front end of the welding gun (2) enables the welding wire (6) to be output in a constant force mode;
4) And the TCP point of the welding gun (2) and the head of the welding wire (6) reach the welding line starting point (8) at the same time, so that flying arc starting welding is performed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210408921.6A CN114632998B (en) | 2022-04-19 | 2022-04-19 | Robot flying arcing device and method in welding process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210408921.6A CN114632998B (en) | 2022-04-19 | 2022-04-19 | Robot flying arcing device and method in welding process |
Publications (2)
| Publication Number | Publication Date |
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| CN114632998A CN114632998A (en) | 2022-06-17 |
| CN114632998B true CN114632998B (en) | 2023-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210408921.6A Active CN114632998B (en) | 2022-04-19 | 2022-04-19 | Robot flying arcing device and method in welding process |
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| CN (1) | CN114632998B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0726061U (en) * | 1993-10-15 | 1995-05-16 | 豊田鉄工株式会社 | Dummy tip for welding robot teaching |
| JPH1034341A (en) * | 1996-07-30 | 1998-02-10 | Katayama Kogyo Kk | Contact tip for welding equipment |
| JP2002292469A (en) * | 2001-03-30 | 2002-10-08 | Tsunemi Kuwabara | Torch joint for welding |
| CN101239417A (en) * | 2008-03-04 | 2008-08-13 | 王雁林 | Welding nozzle of gas shielded welding machine |
| CN111712347A (en) * | 2018-02-05 | 2020-09-25 | 松下知识产权经营株式会社 | Welding tip for welding |
-
2022
- 2022-04-19 CN CN202210408921.6A patent/CN114632998B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0726061U (en) * | 1993-10-15 | 1995-05-16 | 豊田鉄工株式会社 | Dummy tip for welding robot teaching |
| JPH1034341A (en) * | 1996-07-30 | 1998-02-10 | Katayama Kogyo Kk | Contact tip for welding equipment |
| JP2002292469A (en) * | 2001-03-30 | 2002-10-08 | Tsunemi Kuwabara | Torch joint for welding |
| CN101239417A (en) * | 2008-03-04 | 2008-08-13 | 王雁林 | Welding nozzle of gas shielded welding machine |
| CN111712347A (en) * | 2018-02-05 | 2020-09-25 | 松下知识产权经营株式会社 | Welding tip for welding |
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| Publication number | Publication date |
|---|---|
| CN114632998A (en) | 2022-06-17 |
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