CN116586850B - Two-axis semi-simple robot and working method thereof - Google Patents
Two-axis semi-simple robot and working method thereof Download PDFInfo
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- CN116586850B CN116586850B CN202310868760.3A CN202310868760A CN116586850B CN 116586850 B CN116586850 B CN 116586850B CN 202310868760 A CN202310868760 A CN 202310868760A CN 116586850 B CN116586850 B CN 116586850B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000003825 pressing Methods 0.000 claims abstract description 110
- 238000003466 welding Methods 0.000 claims abstract description 71
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims description 52
- 230000000903 blocking effect Effects 0.000 claims description 15
- 230000008569 process Effects 0.000 abstract description 11
- 230000000694 effects Effects 0.000 abstract description 9
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application belongs to the technical field of detection, and particularly relates to a two-axis semi-simple robot and a working method thereof, wherein the two-axis semi-simple robot comprises the following components: a support device adapted to support a pipe; the detection device is arranged above the supporting device and is suitable for detecting the state of the pipe; the pressing device is arranged above the supporting device and is suitable for pressing the pipe on the supporting device according to the detection result of the detection device; the welding device is arranged above the pressing device and is suitable for welding the pipe after the pressing device presses the pipe; the pipe is changed into and kept in a required shape by pressing in the pipe welding process, and the pipe is kept from moving in the welding process, so that the welding effect and the welding efficiency of the pipe are ensured.
Description
Technical Field
The application belongs to the technical field of detection, and particularly relates to a two-axis semi-simple robot and a working method thereof.
Background
The pipe can be bent into a pipe shape through materials such as iron sheets and the like in the production process, then the pipe is formed through welding, and the pipe is required to be pressed in the welding process, so that the shape of the pipe is kept, the reduction of the welding effect caused by movement of the pipe in the welding process is avoided, the pipe is pressed and kept in the required shape by pressing, and the required pipe is obtained after welding forming.
Therefore, based on the above technical problems, a new two-axis semi-simple robot and a working method thereof are needed to be designed.
Disclosure of Invention
The application aims to provide a two-axis semi-simple robot and a working method thereof.
In order to solve the technical problems, the application provides a two-axis semi-simple robot, comprising:
a support device adapted to support a pipe;
the detection device is arranged above the supporting device and is suitable for detecting the state of the pipe;
the pressing device is arranged above the supporting device and is suitable for pressing the pipe on the supporting device according to the detection result of the detection device;
and the welding device is arranged above the pressing device and is suitable for welding the pipe after the pressing device presses the pipe.
Further, the detection device includes: a camera;
the camera is arranged above the supporting device, the camera is suitable for shooting images of the pipe, and the pressing device is suitable for pressing the pipe according to the images.
Further, the support device includes: a support shaft and a blocking mechanism;
the support shaft is connected with the base;
the blocking mechanism is arranged on the base;
one end of the supporting shaft is connected with the base, and the blocking mechanism is suitable for blocking the other end of the supporting shaft;
the support shaft is suitable for being sleeved with a pipe.
Further, the blocking mechanism includes: the telescopic cylinder, the connecting piece, the rotating shaft and the stop block;
the telescopic cylinder is arranged on the base;
the telescopic end of the telescopic cylinder is connected with the connecting piece;
the rotating shaft is rotationally connected with the base;
one end of the rotating shaft is connected with the connecting piece, and the other end of the rotating shaft is connected with the stop block;
the stopper is disposed at the other end of the support shaft.
Further, the pressing device includes: a pair of pressing mechanisms;
the pressing mechanism is arranged above the supporting shaft along the length direction of the supporting shaft;
the two pressing mechanisms are arranged in parallel and are arranged oppositely;
the pressing mechanism is suitable for pressing the surface of the pipe;
the pressing mechanism is connected with the base.
Further, the pressing mechanism includes: a plurality of pressing blocks;
the pressing blocks are arranged along the length direction of the supporting tube, and two adjacent pressing blocks are in close contact;
the pressing block is rotationally connected with the base;
the upper part of the pressing block is provided with a corresponding air bag, and the air bag is connected with the base.
Further, the pressing block is connected with the base through a spring.
Further, the pressing mechanism further includes: a cover plate corresponding to the pressing mechanism;
the cover plate is connected with the base, and the cover plate is covered on the air bag.
Further, the welding device includes: a triaxial moving mechanism;
the triaxial moving mechanism is arranged on the base;
the triaxial moving mechanism is arranged above the pressing device;
the three-axis moving mechanism is provided with a welding gun;
the welding gun is suitable for welding on a pipe.
On the other hand, the application also provides a working method of the two-axis semi-simple robot, which comprises the following steps:
supporting the pipe by a supporting device;
detecting the state of the pipe by a detection device;
pressing the pipe on the supporting device by the pressing device according to the detection result of the detection device;
and welding the pipe after the pipe is pressed by the pressing device through the welding device.
The pipe supporting device has the beneficial effects that the pipe supporting device is suitable for supporting a pipe; the detection device is arranged above the supporting device and is suitable for detecting the state of the pipe; the pressing device is arranged above the supporting device and is suitable for pressing the pipe on the supporting device according to the detection result of the detection device; the welding device is arranged above the pressing device and is suitable for welding the pipe after the pressing device presses the pipe; the pipe is changed into and kept in a required shape by pressing in the pipe welding process, and the pipe is kept from moving in the welding process, so that the welding effect and the welding efficiency of the pipe are ensured.
Additional features and advantages of the application 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 application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a two-axis semi-simple robot according to the present application;
FIG. 2 is a schematic view of the structure of the support device of the present application;
fig. 3 is a schematic structural view of the pressing device of the present application;
fig. 4 is a schematic structural view of the welding device of the present application.
In the figure:
1 a supporting device, 11 a supporting shaft, 12 a telescopic cylinder, 13 a connecting piece, 14 a rotating shaft and 15 a stop block;
2 a pressing device, a 21 pressing block, a 22 air bag, a 23 spring and a 24 cover plate;
3 a welding device, a 31 three-axis moving mechanism and a 32 welding gun;
4, a camera;
and 5, a base.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Example 1
As shown in fig. 1 to 4, embodiment 1 provides a two-axis semi-simple robot, comprising: a supporting device 1, wherein the supporting device 1 is suitable for supporting a pipe (the pipe is formed by bending sheets such as iron sheets and the like); the detection device is arranged above the supporting device 1 and is suitable for detecting the state of the pipe; a pressing device 2, wherein the pressing device 2 is arranged above the supporting device 1, and the pressing device 2 is suitable for pressing the pipe on the supporting device 1 according to the detection result of the detection device; a welding device 3, wherein the welding device 3 is arranged above the pressing device 2, and the welding device 3 is suitable for welding the pipe after the pressing device 2 presses the pipe; the pipe is changed into and kept in a required shape by pressing in the pipe welding process, and the pipe is kept from moving in the welding process, so that the welding effect and the welding efficiency of the pipe are ensured.
In this embodiment, the detection device includes: a camera 4; the camera 4 is arranged above the supporting device 1, the camera 4 is suitable for shooting images of the pipe, and the pressing device 2 is suitable for pressing the pipe according to the images; the state of the pipe sleeved on the supporting shaft 11 can be shot through the camera 4, so that the position orientation of a gap for welding the pipe is ensured, and the welding gun 32 is convenient to weld; the state of the gap before welding the pipe can be detected through the image shot by the camera 4, for example, whether the edge of the gap is tilted, when the edge of the gap is tilted, the tilted part can be pressed down through the pressing device 2, so that the edge of the gap is kept flat, and the welding effect is ensured conveniently.
In this embodiment, the supporting device 1 includes: a support shaft 11 and a blocking mechanism; the support shaft 11 is connected with the base 5; the blocking mechanism is arranged on the base 5; one end of the supporting shaft 11 is connected with the base 5, and the blocking mechanism is suitable for blocking the other end of the supporting shaft 11; the support shaft 11 is suitable for sleeving a pipe; can support the pipe through back shaft 11, be convenient for press device 2 to press the pipe, can make the gap border level up again through the support of back shaft 11 and the press of press device 2 when the gap border perk, be convenient for ensure welded effect.
In this embodiment, the blocking mechanism includes: the telescopic cylinder 12, the connecting piece 13, the rotating shaft 14 and the stop block 15; the telescopic cylinder 12 is arranged on the base 5; the telescopic end of the telescopic cylinder 12 is connected with the connecting piece 13; the rotating shaft 14 is rotatably connected with the base 5; one end of the rotating shaft 14 is connected with the connecting piece 13, and the other end of the rotating shaft 14 is connected with the stop block 15; the stopper 15 is provided at the other end of the support shaft 11; the connecting piece 13 is driven to move through the telescopic end of the telescopic air cylinder 12, so that the rotating shaft 14 is rotated through the connecting piece 13 to drive the stop block 15 to rotate, when the pipe is sleeved on the supporting shaft 11, the stop block 15 can be rotated, so that the stop block 15 is positioned at the end part of the other end of the supporting shaft 11, and the pipe is prevented from falling off the supporting shaft 11 through the stop block 15; after the welding is finished, the stop block 15 can be rotated out of the other end of the supporting shaft 11, so that the welded pipe can be taken down from the supporting shaft 11, and the pipe to be welded can be replaced conveniently.
In this embodiment, the pressing device 2 includes: a pair of pressing mechanisms; the pressing mechanism is arranged above the supporting shaft 11 along the length direction of the supporting shaft 11; the two pressing mechanisms are arranged in parallel and are arranged oppositely; the pressing mechanism is suitable for pressing the surface of the pipe; the pressing mechanism is connected with the base 5; the pair of pressing mechanisms can press the pipe from two positions of the pipe, so that two slit edges of the pipe can be pressed to keep the shape, and the two edges of the slit are kept flat.
In this embodiment, the pressing mechanism includes: a plurality of pressing blocks 21; the pressing blocks 21 are arranged along the length direction of the support pipe, and two adjacent pressing blocks 21 are closely contacted; the pressing block 21 is rotationally connected with the base 5; a corresponding air bag 22 is arranged above the pressing block 21, and the air bag 22 is connected with the base 5; the position of the tilted gap edge can be judged through the camera 4, the pressing block corresponding to the position can be judged at the moment, the pressing block is pressed downwards by largely inflating the air bags 22 above the corresponding pressing block, the tilted gap edge part is flattened, the flattening of the gap edge can be realized by largely inflating the air bags 22 only at the corresponding position through detection, the condition that all the air bags 22 are inflated every time is avoided, the service life of each air bag 22 is prolonged, and the waste of resources is avoided; and each air bag 22 is inflated appropriately so that the pressing block is in contact with the pipe, the pipe is pressed tightly, the pipe is prevented from moving in the welding process, and the welding efficiency and the welding effect of the pipe are improved.
In this embodiment, the pressing block 21 is connected with the base 5 through a spring 23, after the air bag 22 is deflated, the air bag 22 is not contacted with the pressing block any more, and at this time, the pressing block can be reset through the reset of the spring 23, so that the next pipe can be conveniently sleeved on the supporting shaft 11.
In this embodiment, the pressing mechanism further includes: a cover plate 24 corresponding to the pressing mechanism; the cover plate 24 is connected with the base 5, and the cover plate 24 is covered on the air bag 22; the airbag 22 is protected by the cover plate 24 from damage to the airbag 22 during welding.
In this embodiment, the welding device 3 includes: a triaxial moving mechanism 31; the triaxial moving mechanism 31 is arranged on the base 5; the triaxial moving mechanism 31 is arranged above the pressing device 2; the three-axis moving mechanism 31 is provided with a welding gun 32; the welding gun 32 is adapted to weld on tubing; the triaxial moving mechanism 31 can drive the welding gun 32 to align with the gap and drive the welding gun 32 to move along the gap so as to weld the gap through the welding gun 32; the camera 4 may also be arranged on a three-axis movement mechanism 31, with the camera 4 moving during welding in order to determine the welding effect.
Example 2
On the basis of embodiment 1, this embodiment 2 also provides a working method of the two-axis semi-simple robot in embodiment 1, including: supporting the pipe by a supporting device 1; detecting the state of the pipe by a detection device; pressing the pipe on the supporting device 1 according to the detection result of the detection device by the pressing device 2; welding the pipe after the pipe is pressed by the pressing device 2 through the welding device 3; specific working methods have been described in detail in example 1 and will not be repeated.
In summary, the present application provides a supporting device 1, wherein the supporting device 1 is suitable for supporting a pipe; the detection device is arranged above the supporting device 1 and is suitable for detecting the state of the pipe; a pressing device 2, wherein the pressing device 2 is arranged above the supporting device 1, and the pressing device 2 is suitable for pressing the pipe on the supporting device 1 according to the detection result of the detection device; a welding device 3, wherein the welding device 3 is arranged above the pressing device 2, and the welding device 3 is suitable for welding the pipe after the pressing device 2 presses the pipe; the pipe is changed into and kept in a required shape by pressing in the pipe welding process, and the pipe is kept from moving in the welding process, so that the welding effect and the welding efficiency of the pipe are ensured.
The components (components not illustrating the specific structure) selected in the present application are common standard components or components known to those skilled in the art, and the structures and principles thereof are known to those skilled in the art through technical manuals or through routine experimental methods.
In the description of embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" 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 application will be understood in specific cases by those of ordinary skill in the art.
In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application 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 application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
With the above-described preferred embodiments according to the present application as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present application. The technical scope of the present application is not limited to the description, but must be determined according to the scope of claims.
Claims (6)
1. A two-axis semi-simple robot, comprising:
a support device adapted to support a pipe;
the detection device is arranged above the supporting device and is suitable for detecting the state of the pipe;
the pressing device is arranged above the supporting device and is suitable for pressing the pipe on the supporting device according to the detection result of the detection device;
the welding device is arranged above the pressing device and is suitable for welding the pipe after the pressing device presses the pipe;
the detection device includes: a camera;
the camera is arranged above the supporting device, the camera is suitable for shooting images of the pipe, and the pressing device is suitable for pressing the pipe according to the images;
the support device includes: a support shaft and a blocking mechanism;
the support shaft is connected with the base;
the blocking mechanism is arranged on the base;
one end of the supporting shaft is connected with the base, and the blocking mechanism is suitable for blocking the other end of the supporting shaft;
the support shaft is suitable for being sleeved with a pipe;
the blocking mechanism includes: the telescopic cylinder, the connecting piece, the rotating shaft and the stop block;
the telescopic cylinder is arranged on the base;
the telescopic end of the telescopic cylinder is connected with the connecting piece;
the rotating shaft is rotationally connected with the base;
one end of the rotating shaft is connected with the connecting piece, and the other end of the rotating shaft is connected with the stop block;
the stop block is arranged at the other end of the supporting shaft;
the pressing device includes: a pair of pressing mechanisms;
the pressing mechanism is arranged above the supporting shaft along the length direction of the supporting shaft;
the two pressing mechanisms are arranged in parallel and are arranged oppositely;
the pressing mechanism is suitable for pressing the surface of the pipe;
the pressing mechanism is connected with the base.
2. The two-axis semi-simple robot as recited in claim 1, wherein,
the pressing mechanism includes: a plurality of pressing blocks;
the pressing blocks are arranged along the length direction of the supporting tube, and two adjacent pressing blocks are in close contact;
the pressing block is rotationally connected with the base;
the upper part of the pressing block is provided with a corresponding air bag, and the air bag is connected with the base.
3. The two-axis semi-simple robot as defined in claim 2, wherein,
the pressing block is connected with the base through a spring.
4. The two-axis semi-simple robot as recited in claim 3, wherein,
the pressing mechanism further includes: a cover plate corresponding to the pressing mechanism;
the cover plate is connected with the base, and the cover plate is covered on the air bag.
5. The two-axis semi-simple robot as recited in claim 4, wherein,
the welding device includes: a triaxial moving mechanism;
the triaxial moving mechanism is arranged on the base;
the triaxial moving mechanism is arranged above the pressing device;
the three-axis moving mechanism is provided with a welding gun;
the welding gun is suitable for welding on a pipe.
6. A method of operating a two-axis semi-simple robot as defined in claim 1, comprising:
supporting the pipe by a supporting device;
detecting the state of the pipe by a detection device;
pressing the pipe on the supporting device by the pressing device according to the detection result of the detection device;
and welding the pipe after the pipe is pressed by the pressing device through the welding device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310868760.3A CN116586850B (en) | 2023-07-17 | 2023-07-17 | Two-axis semi-simple robot and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310868760.3A CN116586850B (en) | 2023-07-17 | 2023-07-17 | Two-axis semi-simple robot and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116586850A CN116586850A (en) | 2023-08-15 |
| CN116586850B true CN116586850B (en) | 2023-09-15 |
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ID=87601240
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310868760.3A Active CN116586850B (en) | 2023-07-17 | 2023-07-17 | Two-axis semi-simple robot and working method thereof |
Country Status (1)
| Country | Link |
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| CN (1) | CN116586850B (en) |
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| CN113857740A (en) * | 2021-10-27 | 2021-12-31 | 深圳市三维机电设备有限公司 | Automatic welding machine with robot automatic identification electronic component |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019153090A1 (en) * | 2018-02-08 | 2019-08-15 | Novarc Technologies Inc. | Systems and methods for seam tracking in pipe welding |
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|---|---|---|---|---|
| CN104551505A (en) * | 2014-12-31 | 2015-04-29 | 浙江盛达铁塔有限公司 | Conical pipe stitch welding pressing device |
| CN206029062U (en) * | 2016-08-26 | 2017-03-22 | 天津市爱德瑞博机械配件股份有限公司 | Welding seam automatic identification adjusts welding machine about tubulation |
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| CN112805113A (en) * | 2018-07-11 | 2021-05-14 | 吉斯通塔系统公司 | A system for flange assembly of a tubular structure; method of fitting a flange to a tubular section |
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| CN214417341U (en) * | 2021-01-10 | 2021-10-19 | 新疆领航管业科技有限公司 | Pipeline sizing device for pipe welding unit |
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Also Published As
| Publication number | Publication date |
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| CN116586850A (en) | 2023-08-15 |
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Denomination of invention: A Two Axis and Half Simplified Robot and Its Working Method Granted publication date: 20230915 Pledgee: Bank of China Co.,Ltd. Changzhou New North Branch Pledgor: CHANGZHOU KAITE INDUSTRIAL ROBOT Co.,Ltd. Registration number: Y2024980016546 |