CN115070163A - Automatic welding device for electric heating element - Google Patents
Automatic welding device for electric heating element Download PDFInfo
- Publication number
- CN115070163A CN115070163A CN202210857251.6A CN202210857251A CN115070163A CN 115070163 A CN115070163 A CN 115070163A CN 202210857251 A CN202210857251 A CN 202210857251A CN 115070163 A CN115070163 A CN 115070163A
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- electric heating
- welding
- driving module
- heating element
- avc
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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
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses an automatic welding device for an electric heating element, which comprises an AVC driving module, a yaw driving module, a transmission module, a wire feeder, a clamping mechanism, a welding tool, a cushion block, a connecting mechanism and a rotating disk, wherein the AVC driving module is connected with the horizontal swing driving module; the clamping mechanism is used for clamping and fixing the electric heating element to realize the fixation of the whole device; the rotating disc rotates around the electric heating element under the driving of the transmission module; the AVC driving module and the yaw driving module are both detachably arranged on the rotating disk or arranged on the rotating disk through a cushion block; the welding tool is connected with an AVC driving module and a yaw driving module, and the AVC driving module and the yaw driving module are respectively used for adjusting the radial displacement and the axial displacement of the welding tool; the connecting mechanism is used for fixing the transmission module and the wire feeder, and the wire feeder conveys the welding wire to the molten pool through the wire feeding pipe. The automatic welding device can realize all welding including pitch welding, overhead welding and butt welding of the electric heating element at the bottom of the voltage stabilizer.
Description
Technical Field
The invention relates to the technical field of welding, in particular to an automatic welding device for an electric heating element.
Background
The minimum distance between the electric heating element of stabiliser bottom each other is only 110mm, and the space is narrow and small, has that the welding maintenance space is special, visual condition is poor, the high characteristics of space restraint degree to the welding seam kind that needs the welding includes pitch welding, and pitch welding and butt weld are three kinds.
The current common welding head can not meet the welding of all welding seams under the condition. Therefore, a multifunctional welding head is needed to meet the requirement of automatic welding of the electric heating element under the voltage stabilizer.
Disclosure of Invention
The invention aims to provide an automatic welding device for an electric heating element, which can realize all welding including downward welding, upward welding and butt welding of the electric heating element at the bottom of a voltage stabilizer.
The invention is realized by the following technical scheme:
the automatic welding device for the electric heating element comprises an AVC driving module, a horizontal swing driving module, a transmission module, a wire feeder, a clamping mechanism, a welding tool, a cushion block, a connecting mechanism and a rotating disc;
the clamping mechanism and the rotating disk are respectively arranged on two sides of the transmission module, and the clamping mechanism is used for clamping and fixing the electric heating element to realize the fixation of the whole device;
the rotating disc rotates around the electric heating element under the driving of the transmission module;
the AVC driving module and the yaw driving module are both detachably arranged on the rotating disk or arranged on the rotating disk through a cushion block;
the welding tool is connected with an AVC driving module and a yaw driving module, and the AVC driving module and the yaw driving module are respectively used for adjusting the radial displacement and the axial displacement of the welding tool;
the connecting mechanism is used for fixing the transmission module and the wire feeder, and the wire feeder conveys the welding wire to the molten pool through the wire feeding pipe.
The AVC driving module, the yaw driving module, the transmission module, the wire feeder and the welding tool are all in the prior art, wherein the AVC driving module and the yaw driving module are used for adjusting the position of the welding tool, the transmission module is used for driving the welding tool to rotate, the wire feeder is used for feeding welding wires into a molten pool, and the welding tool is used for realizing welding seam welding.
The automatic welding device is designed with a plurality of cushion blocks with different angles in actual use, so that the welding tool can present overhead welding, flat welding or overhead welding relative to a welding line.
The whole structure of the automatic welding device is reasonably designed based on the welding environment (narrow space and radiation) of a welding object (an electric heating element at the bottom of a voltage stabilizer), so that the welding and wire feeding integration is realized, and the dip fillet welding, the tilt fillet welding and the butt welding can be realized by using cushion blocks with different angles, so that the automatic welding of various welding seams in the replacement and maintenance processes of electric heating elements of different types (M310 type, 320MWe type and AP1000 type) is ensured.
Further, the transmission module comprises a shell, a transmission structure used for driving the rotating disc to rotate is arranged in the shell, and the shell and the rotating disc are both provided with through holes used for penetrating through the electric heating elements.
Further, the transmission structure comprises a motor and a gear assembly, wherein the gear assembly comprises a driving wheel connected with an output shaft of the motor and a driven wheel arranged on the rotating disc and meshed with the driving wheel.
Further, the clamping mechanism comprises a fixing plate, and the fixing plate is arranged on the transmission module;
two clamping rods are symmetrically arranged on the fixed plate, one end of each clamping rod is provided with a jack post, the other end of each clamping rod is movably connected, the two clamping rods are opened and closed through a clamping wrench, and the radial positions of the jack posts are adjustable;
the fixing plate is also detachably provided with a gasket matched with the top column, and the electric heating element is clamped through the gasket and the top column.
Furthermore, a limiting plate is arranged on the fixing plate, the limiting plate is an arc-shaped plate, and the gasket is detachably fixed on the inner wall of the limiting plate.
The clamping mechanism clamps the outer diameter of the fixed electric heating element according to the requirement, the thickness of a gasket of the clamping mechanism is changed, and the clamping wrench is adjusted to enable the two support columns to be tightly attached to the section to be clamped of the electric heating element, so that the fixed clamping of the device is realized.
Furthermore, a positioning cylinder is arranged at one end of the clamping rod, and the top column is in threaded connection with the positioning cylinder.
Furthermore, the AVC driving module and the yaw driving module are fixed on the installation seat, and the installation seat is detachably arranged on the rotating disk or arranged on the rotating disk through a cushion block.
The installation seat can realize synchronous installation of the AVC driving module and the yaw driving module.
Further, coupling mechanism includes first spliced pole and second spliced pole, connect through the screw rod between first spliced pole and the second spliced pole, adjust the interval between first spliced pole and the second spliced pole through the screw rod, drive module and send a machine to install respectively on first spliced pole and second spliced pole.
Through set up the screw rod between first spliced pole and second spliced pole, the interval between accessible screw rod regulation first spliced pole and the second spliced pole realizes sending the position of silk machine adjustable.
Furthermore, all be provided with the connecting plate on first spliced pole and the second spliced pole, wear to be equipped with the reference column between two connecting plates.
Furthermore, the cushion block is a wedge-shaped block or a hollowed triangular frame body.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the automatic welding device for the electric heating element is applied to the automatic welding device for the electric heating element at the lower part of the voltage stabilizer of the nuclear power station, and can be used for welding the specific forms (including overhead welding, flat welding and overhead welding) of the welding line according to requirements, replacing the cushion blocks at different angles or adjusting the assembling direction of the cushion blocks, so that the welding tool presents overhead welding, flat welding or overhead welding relative to the welding line.
2. The centering degree of the welding tool and the pipeline is ensured by using the cushion blocks with different diameters and the positioning of the clamping mechanism, so that the center of the electric heating element is superposed with the rotation center of the welding tool, the stability of automatic welding is ensured, and the quality and the efficiency are improved.
3. The automatic welding device for the electric heating element realizes the integration of welding and wire feeding, has reasonable structural design of the whole device, and can realize multiple purposes of one machine.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of an automatic welding apparatus according to the present invention;
FIG. 2 is a schematic diagram of a rotating disk for fixing an AVC driving module and a yaw driving module;
fig. 3 is a schematic structural diagram of the clamping mechanism.
Reference numbers and corresponding part names in the drawings:
the automatic welding device comprises a 1-AVC driving module, a 2-yaw driving module, a 3-transmission module, a 4-wire feeder, a 5-clamping mechanism, a 6-welding tool, a 7-cushion block, an 8-connecting mechanism, a 9-rotating disk, a 10-mounting seat, a 51-fixing plate, a 52-clamping wrench, a 53-clamping rod, a 54-top column, a 55-gasket, a 56-limiting plate, a 81-first connecting column, a 82-second connecting column, a 83-screw rod, a 84-connecting plate and an 85-positioning column.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1:
as shown in fig. 1-3, the automatic welding device for the electric heating element comprises an AVC drive module 1, a yaw drive module 2, a transmission module 3, a wire feeder 4, a clamping mechanism 5, a welding tool 6, a cushion block 7, a connecting mechanism 8 and a rotating disk 9;
the transmission module 3 comprises a housing in which a transmission structure for driving the rotation of the rotating disc 9 is arranged, the housing is provided with a through hole for passing through the electric heating element, one specific structure of the housing can be a flat plate with a "U" shaped opening or a "C" shaped opening as shown in fig. 1, and the flat plate is provided with a cavity for installing the transmission structure.
Wherein, transmission structure includes motor and gear assembly, the gear assembly includes the action wheel of being connected with the output shaft of motor and installs on rotary disk 9 and with the driven wheel of action wheel meshing, the output shaft one end of motor stretches into the cavity inside and is connected with the motor, and the other end stretches out the cavity, and the action wheel setting stretches out the one end tip of cavity at the output shaft.
The rotating disc 9 is integrally a disc, a through hole for passing through the electric heating element is formed in the disc, preferably, an opening with the same shape as the shell is formed in the disc, a driven wheel is installed on the inner side of the opening or the through hole, the output power of the motor is transmitted to the rotating disc 9 through gear transmission, and the rotating disc 9 rotates around the electric heating element in the welding process.
The AVC drive module 1 is detachably mounted on the rotating disk 9 or mounted on the rotating disk 9 through a cushion block 7, namely, the AVC drive module 1 is detachably mounted on the cushion block 7, the cushion block 7 is detachably mounted on the rotating disk 9, the detachable connection can be through bolt connection, and the AVC drive module 1 is used for adjusting the radial displacement of the welding tool 6.
The yaw driving module 2 is detachably arranged on the rotating disk 9 or is arranged on the rotating disk 9 through a cushion block 7, namely, the yaw driving module 2 is detachably arranged on the cushion block 7, the cushion block 7 is detachably arranged on the rotating disk 9, and the detachable connection can be realized through bolts; the yaw drive module 2 is used to adjust the axial displacement of the bonding tool 6.
In the present embodiment, preferably, the AVC drive module 1 and the yaw drive module 2 are fixed to the mount 10, and the mount 10 is mounted on the rotary disk 9 by bolts or mounted on the rotary disk 9 by the spacer 7.
In the embodiment, the welding tool 6 is mechanically connected with the AVC drive module 1 and the yaw drive module 2, and the mounting seat 10 is connected with the cushion block 7 or the rotating disk 9 through a sliding rail, so that the axial displacement of the welding tool 6 can be adjusted, the overall radial sliding of the welding tool 6 can be realized when the AVC drive module 1 adjusts the radial distance of the welding tool 6, and the position adjustment of the welding tool 6 is realized through the AVC drive module 1 and the yaw drive module 2.
The cushion blocks 7 with different angles are arranged in a matched mode on the same automatic welding device, the cushion blocks 7 are wedge-shaped blocks or hollowed triangular frame bodies, the cushion blocks 7 are detachably connected with the rotating disk 9, the AVC driving module 1 and the transverse swing driving module 2, the specific form of a welding seam can be welded as required, the cushion blocks 7 with different angles are replaced or the assembling direction of the cushion blocks 7 is adjusted, and then the welding tool 6 is enabled to present overhead welding, flat welding or overhead welding relative to the welding seam.
The clamping mechanisms 5 are respectively arranged on the shell of the transmission module 3, the clamping mechanisms 5 and the rotating disk 9 are respectively arranged on two sides of the shell, and the clamping mechanisms 5 are used for clamping and fixing on the electric heating element to realize the fixation of the whole device;
specifically, the clamping mechanism 5 includes a fixing plate 51, and the fixing plate 51 is mounted on the housing of the transmission module 3, and may be fixedly connected or connected through a bolt;
the fixing plate 51 is provided with a cavity, two clamping rods 53 are symmetrically installed in the cavity, one end of each clamping rod 53 extends out of the cavity and is provided with a positioning barrel, a top column 54 is arranged in each positioning barrel, the radial position of each top column 54 can be adjusted, namely the position of each top column 54 in each positioning barrel can be adjusted, the top columns 54 can be in threaded connection in the positioning barrels, the other ends of the two clamping rods 53 are movably connected and can be hinged, the two clamping rods 53 can be opened and closed through a clamping wrench 52, and specifically, the clamping wrench 52 is connected with a lever of the middle column of the clamping rods 53; the clamping wrench 52 and the clamping lever act on a principle similar to scissors.
One side that fixed plate 51 and fore-set 54 are relative is provided with the arc wall, is provided with limiting plate 56 in the arc wall, and limiting plate 56 is the arc, and the detachable gasket 55 that is provided with in limiting plate 56, gasket 55 and limiting plate 56 adopt clearance fit.
The same automatic welding device is provided with a plurality of gaskets 55 with different thicknesses in a matching way, the outer diameter of the electric heating element is clamped and fixed as required, the thickness of the gaskets 55 of the clamping mechanism 5 is changed, and the clamping wrench 52 is adjusted to enable the two support pillars 54 and the electric heating element to be tightly attached to the clamping section, so that the device is fixed and clamped.
The connecting mechanism 8 is used for fixing the transmission module 3 and the wire feeder 4, and the wire feeder 4 feeds the welding wire to the molten pool through the wire feeding pipe.
Specifically, the connecting mechanism 8 comprises a first connecting column 81 and a second connecting column 82, the first connecting column 81 and the second connecting column 82 are connected through a screw 83, the distance between the first connecting column 81 and the second connecting column 82 is adjusted through the screw 83, and the transmission module 3 and the wire feeder 4 are respectively installed on the first connecting column 81 and the second connecting column 82; connecting plates 84 are arranged on the first connecting column 81 and the second connecting column 82, and a positioning column 85 is arranged between the two connecting plates 84 in a penetrating mode.
The working process of the embodiment is as follows:
step one, selecting a gasket 55 with proper thickness, and clamping the electric heating element by using a clamping mechanism 5 to realize the fixation of the whole automatic welding device;
and step two, after the device is fixed, adjusting the telescopic lengths of the AVC driving module 1 and the yaw driving module 2 to adjust the welding tool 6 to a proper position, so that the relative position between the part to be welded and the welding tool 6 meets the welding condition. Before a welding machine starts to weld, the position between a wire feeding nozzle and a welding tool tungsten electrode is adjusted, and a welding wire can be stably conveyed into a molten pool in the welding process;
step three, when the welding is started, the transmission module 3 in the device drives the rotating disc 9 to rotate through gear transmission under the driving of the motor, and further the whole welding mechanism (the welding mechanism comprises an AVC driving module 1, a yaw driving module 2, a welding tool 6 and a cushion block 7) can stably rotate around the electric heating element and is synchronously welded;
and step four, after welding is finished, the whole welding mechanism automatically rotates to the initial position under the control of a welding program.
In the embodiment, annular fillet welds at different angles are welded by adopting an automatic welding method, and in order to ensure that an automatic arc length tracking function can be realized in the welding process, the key point is that the direction of a welding gun is consistent with the control direction of the AVC driving module 1, so that the AVC driving module 1 can control the height of an electric arc at any time, and the electric arc is ensured not to deviate from a to-be-welded point in the welding process. Therefore, the cushion blocks 7 with different angles are innovatively designed, the directions of the welding tool 6 or the AVC driving module 1 are not changed independently, the angles of the welding tool 6 and the AVC driving module 1 are integrally adjusted, the AVC driving module 1 can also play a good role in regulating and controlling when fillet welds are welded, and the automatic welding function of the welding tool is realized.
In this embodiment, the centering degree of the soldering set 6 and the electric heating element is ensured by using the spacers 55 with different diameters or thicknesses and the positioning of the clamping mechanism 5, so that the center of the electric heating element coincides with the rotation center of the soldering set 6, thereby ensuring the stability of automatic welding and further improving the quality and efficiency.
The automatic welding device of the embodiment needs to have the function of welding electric heating elements of voltage stabilizers of various models of nuclear power stations, including 320MWe model, M310 model and AP1000 model nuclear power generating units, the electric heating elements of different units have different structural forms, the welding seam types needing to be welded are also different, and the allowed welding space positions are also different. Accordingly, there is a need for an automatic welding apparatus that is capable of performing weld welds of a variety of different configurations, and that has a high degree of automation and remote handling capabilities. Therefore, the requirements of multiple functions are integrated, the delicate, small and convenient structure of multiple module integration is designed, the complex and diverse welding requirements are finally realized, and the welding accessibility of the actual working condition is met.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
It should be noted that the structures, ratios, sizes, and the like shown in the drawings attached to the present specification are only used for matching the disclosure of the present specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions of the present invention, so that the present invention has no technical essence, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the function and the achievable purpose of the present invention. In addition, the terms such as "upper", "lower", "left", "right" and "middle" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship may be made without substantial technical changes.
Claims (10)
1. The automatic welding device for the electric heating element is characterized by comprising an AVC driving module (1), a yaw driving module (2), a transmission module (3), a wire feeder (4), a clamping mechanism (5), a welding tool (6), a cushion block (7), a connecting mechanism (8) and a rotating disc (9);
the clamping mechanism (5) and the rotating disk (9) are respectively arranged on two sides of the transmission module (3), and the clamping mechanism (5) is used for clamping and fixing on the electric heating element to realize the fixation of the whole device;
the rotating disc (9) rotates around the electric heating element under the driving of the transmission module (3);
the AVC driving module (1) and the yaw driving module (2) are both detachably arranged on the rotating disk (9) or arranged on the rotating disk (9) through a cushion block (7);
the welding tool (6) is connected with an AVC driving module (1) and a yaw driving module (2), and the AVC driving module (1) and the yaw driving module (2) are respectively used for adjusting the radial displacement and the axial displacement of the welding tool (6);
the connecting mechanism (8) is used for fixing the transmission module (3) and the wire feeder (4), and the wire feeder (4) conveys a welding wire to a molten pool through a wire feeding pipe.
2. The automatic welding device of electric heating elements according to claim 1, characterized in that said transmission module (3) comprises a casing inside which a transmission structure for driving a rotating disc (9) in rotation is provided, said casing and rotating disc (9) each being provided with a through hole for passing through an electric heating element.
3. The automatic welding device of electric heating elements according to claim 2, characterized in that said transmission structure comprises a motor and a gear assembly comprising a driving wheel connected to the output shaft of the motor and a driven wheel mounted on the rotating disc (9) and meshing with the driving wheel.
4. Automatic welding device for electric heating elements according to claim 1, characterized in that said clamping means (5) comprise a fixed plate (51), said fixed plate (51) being mounted on a transmission module (3);
two clamping rods (53) are symmetrically arranged on the fixed plate (51), one end of each clamping rod (53) is provided with a top column (54), the other end of each clamping rod (53) is movably connected, the two clamping rods (53) are opened and closed through a clamping wrench (52), and the radial position of each top column (54) is adjustable;
the fixing plate (51) is also detachably provided with a gasket (55) matched with the top column (54), and the electric heating element is clamped through the gasket (55) and the top column (54).
5. The automatic welding device for the electric heating element according to claim 4, characterized in that a limiting plate (56) is arranged on the fixing plate (51), the limiting plate (56) is an arc-shaped plate, and the gasket (55) is detachably fixed on the inner wall of the limiting plate (56).
6. The automatic welding device for electric heating elements according to claim 4, characterized in that one end of the clamping rod (53) is provided with a positioning cylinder, and the top column (54) is screwed in the positioning cylinder.
7. The automatic welding device of the electric heating element according to claim 1, characterized by further comprising a mounting seat (10), wherein the AVC driving module (1) and the yaw driving module (2) are fixed on the mounting seat (10), and the mounting seat (10) is detachably mounted on the rotating disk (9) or is mounted on the rotating disk (9) through a cushion block (7).
8. The automatic welding device for electric heating elements according to claim 1, characterized in that the connecting mechanism (8) comprises a first connecting column (81) and a second connecting column (82), the first connecting column (81) and the second connecting column (82) are connected through a screw (83), the distance between the first connecting column (81) and the second connecting column (82) is adjusted through the screw (83), and the transmission module (3) and the wire feeder (4) are respectively installed on the first connecting column (81) and the second connecting column (82).
9. The automatic welding device for the electric heating elements according to claim 8, characterized in that the first connecting column (81) and the second connecting column (82) are provided with connecting plates (84), and a positioning column (85) is arranged between the two connecting plates (84) in a penetrating way.
10. The automatic welding device for electric heating elements according to any one of claims 1 to 9, characterized in that the spacer block (7) is a wedge-shaped block or an openwork triangular frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210857251.6A CN115070163B (en) | 2022-07-20 | 2022-07-20 | Automatic welding device for electric heating element |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210857251.6A CN115070163B (en) | 2022-07-20 | 2022-07-20 | Automatic welding device for electric heating element |
Publications (2)
| Publication Number | Publication Date |
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| CN115070163A true CN115070163A (en) | 2022-09-20 |
| CN115070163B CN115070163B (en) | 2023-05-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210857251.6A Active CN115070163B (en) | 2022-07-20 | 2022-07-20 | Automatic welding device for electric heating element |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070297556A1 (en) * | 2006-05-24 | 2007-12-27 | Keith Spencer | Full function precision welding system |
| CN107900577A (en) * | 2017-12-28 | 2018-04-13 | 昆山华恒焊接股份有限公司 | A kind of pipe pipe welding head |
| CN109332850A (en) * | 2018-11-30 | 2019-02-15 | 宣城市安工大工业技术研究院有限公司 | A kind of all positon pipe-pipe intersection robot welding system and welding method |
| CN110935995A (en) * | 2019-11-19 | 2020-03-31 | 中核核电运行管理有限公司 | Online repair automatic welding device and method for valve seat sealing ring of nuclear-grade gate valve |
| CN211804317U (en) * | 2019-12-16 | 2020-10-30 | 欧米尼自动化科技（苏州）有限公司 | Full-automatic pipe welding head |
-
2022
- 2022-07-20 CN CN202210857251.6A patent/CN115070163B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070297556A1 (en) * | 2006-05-24 | 2007-12-27 | Keith Spencer | Full function precision welding system |
| CN107900577A (en) * | 2017-12-28 | 2018-04-13 | 昆山华恒焊接股份有限公司 | A kind of pipe pipe welding head |
| CN109332850A (en) * | 2018-11-30 | 2019-02-15 | 宣城市安工大工业技术研究院有限公司 | A kind of all positon pipe-pipe intersection robot welding system and welding method |
| CN110935995A (en) * | 2019-11-19 | 2020-03-31 | 中核核电运行管理有限公司 | Online repair automatic welding device and method for valve seat sealing ring of nuclear-grade gate valve |
| CN211804317U (en) * | 2019-12-16 | 2020-10-30 | 欧米尼自动化科技（苏州）有限公司 | Full-automatic pipe welding head |
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| CN115070163B (en) | 2023-05-16 |
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