CN202684290U - Autonomous mobile double-wire welding robot system for welding medium plate - Google Patents
Autonomous mobile double-wire welding robot system for welding medium plate Download PDFInfo
- Publication number
- CN202684290U CN202684290U CN 201220265981 CN201220265981U CN202684290U CN 202684290 U CN202684290 U CN 202684290U CN 201220265981 CN201220265981 CN 201220265981 CN 201220265981 U CN201220265981 U CN 201220265981U CN 202684290 U CN202684290 U CN 202684290U
- Authority
- CN
- China
- Prior art keywords
- welding
- wheel
- double
- robot
- wire welding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000003466 welding Methods 0.000 title claims abstract description 234
- 230000007246 mechanism Effects 0.000 claims abstract description 96
- 238000012544 monitoring process Methods 0.000 claims abstract description 39
- 238000000034 method Methods 0.000 claims abstract description 15
- 230000008569 process Effects 0.000 claims abstract description 8
- 238000001816 cooling Methods 0.000 claims abstract description 7
- 230000009194 climbing Effects 0.000 claims description 36
- 230000005389 magnetism Effects 0.000 claims description 22
- 239000003463 adsorbent Substances 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 15
- 230000007613 environmental effect Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000000758 substrate Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000009193 crawling Effects 0.000 abstract description 2
- 230000001360 synchronised effect Effects 0.000 description 12
- 238000010521 absorption reaction Methods 0.000 description 8
- 239000011324 bead Substances 0.000 description 7
- 239000002184 metal Substances 0.000 description 7
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000003475 lamination Methods 0.000 description 4
- 238000001179 sorption measurement Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 229910001209 Low-carbon steel Inorganic materials 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 229910001172 neodymium magnet Inorganic materials 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000010891 electric arc Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 238000001746 injection moulding Methods 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- MFRCZYUUKMFJQJ-UHFFFAOYSA-N 1,4-dioxane-2,5-dione;1,3-dioxan-2-one Chemical compound O=C1OCCCO1.O=C1COC(=O)CO1 MFRCZYUUKMFJQJ-UHFFFAOYSA-N 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 210000004513 dentition Anatomy 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000036346 tooth eruption Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model belongs to the technical field of welding of a robot, and particularly relates to an autonomous mobile double-wire welding robot system for welding a medium plate. The autonomous mobile double-wire welding robot system comprises a robot body, a control system and a double-wire welding system; the robot body comprises a crawling mechanism and an operating mechanism; the control system comprises a sensing system, a robot body control box and a robot master control system, and the double-wire welding system comprises a double-wire welding gun, a double-wire welding power supply, a double-wire feeder, shielding gas and a welding cooling system. The autonomous mobile double-wire welding robot system for welding the medium plate has the advantages that a welded joint can be autonomously identified; the autonomous mobile double-wire welding robot system has the functions of setting a remote welding parameter and adjusting the remote welding parameter on line; a groove center point can be autonomously identified; environment monitoring of a work-piece can be achieved by a multi-freedom holder; macro operation of an initial point before welding is finished; intelligentized welding is achieved, and gesture adjustment of the double-wire welding gun and molten pool monitoring in the welding process, namely microcosmic independence, are achieved by a molten pool monitoring sensor.
Description
Technical field
The utility model belongs to the robotic welding technology field, is a kind of autonomous formula Double Wire Welding robot system for the cut deal welding specifically.
Background technology
For the welding of cut deal, double wire welding can improve welding efficiency and welding quality, but the structure of large-scale cut deal no longer is fit to welder's manual operations, needs exploitation to be used for the robot system of the welding of autonomous formula.Double wire welding is suitable for the large scale structure thick plates, also can reduce the welding sermon when being applied to multi-layer multi-pass welding.For large scale structure, this body structure of parts, weight impact are not suitable for rotation or rotate, and existing special for automatic welding tractor need to be laid track mostly, and the track flexibility is limited in scope, and the laying operation is loaded down with trivial details; On the other hand, the double wire welding automation of large-scale component can't be used the stationary machine hand, the utility model proposes a kind of autonomous formula double wire welding robot system.
Welding robot system is generally by welding load carrier, welding system, composition of the control system.Load carrier is divided into again fixed industry mechanical arm, rail mounted dolly, autonomous formula mechanism; Welding system is comprised of the source of welding current, welding gun, protection gas, wire feeder etc.; Control system is responsible for motion, tracking, welding quality control of load carrier etc.
That be usually used at present the large-scale precision structure welding is the rail mounted robot welding system, this system is comprised of robot orbit, robot and welding system, need to carry out in advance track laying during use, be only applicable to lay the straight weld of track, and the flexibility of track within the specific limits, can't adapt to the conversion of weld seam form.
The double wire welding robot can adapt to all position welding seam form of large-scale steel structure, adopt the absorption type climbing mechanism, motion flexibly, adopt the laser seam tracking sensor, possess macro environment and monitor and the molten bath monitoring system, when large slab all-position welding, can satisfy to swing requiring, controlling requirement and motion requirement.
Be 201010180754.1 such as number of patent application, the applying date is on May 14th, 2010, name is called the patent of invention of " welding setting device, welding robot system and welding establishing method ", its main technical schemes is: a kind of while multiple-bead deposit setting device, possess: the lamination pattern determination portion, it determines the lamination pattern of the welding bead corresponding with the joint of object based on each input data and lamination pattern data base value; Individual operation welding bead determination portion, it is in the lamination pattern of two joints of object, when the difference of the area of section of the deposited metal amount when expression is made up welding bead surpasses predetermined threshold value, the side's that the area of section is large welding bead is determined the simultaneously combination of welding after getting rid of with welding bead as individual operation; Weld all condition determination portions, it determines to comprise each welding bead welding condition of giving the corresponding current value of speed and seam formation position with the welding wire of calculating based on the input welding condition; The operation program generating unit, it generates the robot motion programs based on the welding condition of determining, and is set in the robot controller.The welding robot system of above-mentioned patent adopts rail mounted to arrange, can't realize soldering joint automatic tracking identification and autonomous function, and this welding system is fit to the welding of streamline form and is not suitable for large-scale steel structure members is carried out autonomous welding, and the weld seam type difference is larger.
And for example number of patent application is 201019063009.6, the applying date is on February 5th, 2010, name is called the patent of invention of " a kind of welding robot workstation system for injection molding machine frame ", comprise welding robot, welder, robot Mobile Slide, welding gun cooling device, intelligent locating tracking means and robot control cabinet, welding robot is installed on the robot Mobile Slide; Welder is connected with the welding gun cooling device with welding robot respectively; The robot control cabinet links to each other with welding robot, robot Mobile Slide, welder and intelligent locating tracking means respectively, is used for movement and the welding of control welding robot.The welding robot system of above-mentioned patent adopts the rail mounted robot welding system, can't realize that robot body automatic tracking welding seam moves freely and finish welding and this robot welds for injection molding machine frame, and weld seam type scope is very limited.
Tsing-Hua University has developed the attached autonomous welding robot of crawler type magnetic, and crawler type absorption travel mechanism absorption reliability is good but steering behaviour is poor, causes robot motion's very flexible, job position to adjust difficulty.The Beijing Institute of Petrochemical Technology has developed magnetic wheel type autonomous welding robot, and magnetic wheel type absorption travel mechanism kinematic dexterity is good but adsorption capacity is poor, and the robot absorption reliability is low.So problem that existing autonomous formula welding robot exists kinematic dexterity and adsorption capacity not to have concurrently.
The utility model content
The problem that exists kinematic dexterity and adsorption capacity not to have concurrently in order to overcome existing Double Wire Welding robot, now special proposition can satisfy the cut deal welding, have flexibility and adsorption capacity concurrently, a kind of autonomous formula Double Wire Welding robot system for the cut deal welding of high-effect high-quality Intelligent welding.
For achieving the above object, the technical solution of the utility model is as follows:
A kind of autonomous formula Double Wire Welding robot system for the cut deal welding comprises robot body, control system and double wire welding system, it is characterized in that:
Robot body comprises that climbing mechanism is connected described climbing mechanism and comprises the front-wheel module, the trailing wheel module that adopts permanent magnetism gap adsorbent equipment that adopt to drive steering integrated magnet-wheel, connect the vehicle frame of front and back wheel and be installed in motor drive controller on the vehicle frame with operating mechanism; Described operating mechanism comprises crosshead shoe and swing mechanism, swing mechanism front end clamping double-wire welding gun, the free degree of horizontal and vertical directions is realized that by the crosshead shoe that two lead screw guide rails assembled units combine swing mechanism adopts stepper motor collocation worm type of reduction gearing;
Control system comprises sensor-based system, robot body control cabinet and robot master control system;
The double wire welding system comprises double-wire welding gun, double wire welding power supply, mariages wire-feed motor, protection gas and welding cooling system;
The annexation of the annexation between double-wire welding gun, double wire welding power supply and the double wire welding system and welding gun, the source of welding current and the welding system of other welding systems exists obviously different, but above-mentioned difference and specifically how connecting is that those skilled in the art then know.
Robot body, control system are connected cable with the three of double wire welding system and are connected.
Described front-wheel module and trailing wheel module are installed in respectively the vehicle frame two ends, and the place is provided with the trailing wheel chassis in the trailing wheel module, and trailing wheel is provided with permanent magnet on the chassis;
The front-wheel module comprises permanent magnet and wheel for driving steering integrated magnet-wheel, and the permanent magnet of front-wheel adopts the magnetized annular permanent magnet of through-thickness; The trailing wheel module adopts permanent magnetism gap suction type, comprise permanent magnetism gap adsorbent equipment and wheel, permanent magnetism gap adsorbent equipment comprises around wheel and is installed in permanent magnet on the trailing wheel chassis, permanent magnetism gap adsorbent equipment is installed on the chassis around trailing wheel, non-contacting between described permanent magnetism gap adsorbent equipment and magnetic conduction wall, by the distance setting permanent magnetic adhesion device between adjusting chassis and the magnetic conduction wall and the air gap between the magnetic conduction wall;
Described climbing mechanism adopts tricycle structure, and each wheel is driving wheel, relies on the differential of two trailing wheels and the controlled steering angle of front-wheel to be implemented in turning to and rectilinear motion on the magnetic conduction wall.
Described operating mechanism comprises crosshead shoe transverse axis, the crosshead shoe longitudinal axis, linking arm, weld seam tracking sensor connector and wig-wag connector, crosshead shoe transverse axis and the crosshead shoe longitudinal axis are to comprise respectively stepper motor and precision ball screw guide rail, weld seam tracking sensor is installed in the front end of connector, the wig-wag connector is installed in the end of linking arm, swing mechanism is installed on the wig-wag connector, swing mechanism front end clamping double-wire welding gun, double-wire welding gun clamping and attitude-adjusting system.
Described sensor-based system comprises laser tracking transducer, environmental monitoring sensor and molten bath monitoring sensor, operating mechanism and environmental monitoring installation of sensors are on climbing mechanism, terminal laser tracking transducer, molten bath monitoring sensor and the double-wire welding gun installed of operating mechanism, the robot body control cabinet is installed on the climbing mechanism, and the robot control cabinet links to each other by cable with master control system; The welding gun of part links to each other by cable on described welding system double wire welding power supply, mariages wire-feed motor, protection gas and the machine.
The working method of described robot control system is: the operator utilizes remote control handheld box control to move near the starting the arc position, finished again the adjustment of initial point position by robot sensing's control system, follow the tracks of weld seam by autonomous classification at last and realize the tracking of weld groove center position, robot control system adopts PCC or Industrial PC as master control system, the groove central point deviation signal control body that the laser Method Seam Tracking Sensing System gathers and operating mechanism motion; The control of double wire welding system comprises switching value control, technological parameter setting.
Described robot control system adopts the multiple degrees of freedom The Cloud Terrace to realize the monitoring of macroscopical welding surroundings, finishes the front starting point macrotechnique of weldering; Adopt the molten bath monitoring sensor to realize the attitude adjustment of microcosmic double-wire welding gun, the molten bath monitoring of welding process.
Described robot system main control system carries out communication by Device net and the source of welding current, and by finishing the welding parameter setting and welding parameter is adjusted online in the host computer control interface, the control welding starts and stops.
The steering integrated magnet-wheel concrete structure of described driving is: roll rotating shaft one end and be installed on the car body fixed frame, other end turntable lower supporting plate connects, the turntable upper backup pad, the turret supports column is connected with the turntable lower supporting plate, the turntable cover plate is connected with the turntable upper backup pad, taper roll bearing is installed on two gripper shoes, steering spindle is bearing on the taper roll bearing, steering spindle is connected with 60 tooth straight-tooth gears, angular transducer power shaft and steering spindle are affixed, the angular transducer support bar is connected with the turntable upper backup pad, angular transducer is connected with the angular transducer support bar, the steer motor installing plate is connected with the turntable upper backup pad, turn to reducing motor to be connected with the steer motor installing plate, 20 tooth straight bevel gears are fixed in and turn on the reducing motor output shaft, the 40 tooth straight bevel gears that are meshed with it are mounted on the bevel gear shaft, bevel gear shaft is by the first deep groove ball bearing supporting that is installed in the turntable upper backup pad, the opposite side of bevel gear shaft connects by flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering spindle is connected with turning to substrate, wheel left side installing plate, wheel right side installing plate, the drive motors installing plate is connected with turning to substrate, driving reducing motor is connected with the drive motors installing plate, the small synchronous pulley axle is affixed with the output shaft that drives reducing motor, small synchronous pulley is installed on the small synchronous pulley axle by the flat key connection, front-wheel module permanent magnet and wheel yoke are installed on the axletree by the flat key connection, axletree is bearing between wheel left side installing plate and the wheel right side installing plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley connects the opposite side that is installed in axletree by flat key, connected by Timing Belt between large synchronous pulley and the small synchronous pulley, be connected by screw between tensioning running roller and the tensioning running roller support bar, tensioning running roller support bar is installed on the installing plate of wheel left side by screw, drive between reducing motor and the axletree and pass through toothed belt transmission, steering driving mechanism also comprises steering spindle, the steering spindle bottom is equipped with drive mechanism for wheel and roller, described steer axis and wheel axis perpendicular quadrature.
The utility model has the advantage of:
1, the utility model climbing mechanism system adopts complex method and the full drive-type move mode of three-wheel of the absorption of contact magnet-wheel and non-contact gap absorption, robot can move, reliably adsorb and implement to tremble in full position, large-scale steel structure surface independent and flexible and implement mariages all-position welding operation, and overall system performance is good.
2, the utility model adopts the control mode of " macroscopical remote control, microcosmic autonomous ", but weld seam is followed the tracks of in autonomous classification, and possess the setting of remote welding parameter and adjust function online, but autonomous classification groove central point; Adopt the multiple degrees of freedom The Cloud Terrace to realize the workpiece environmental monitoring, finish the front starting point macrotechnique of weldering, realized intelligent welding; Adopt the molten bath monitoring sensor to realize the attitude adjustment of double-wire welding gun, the molten bath monitoring of welding process, namely microcosmic is autonomous.
3, the utility model can adapt to all position welding seam form of large-scale steel structure, adopt the absorption type climbing mechanism, motion flexibly, adopt the laser seam tracking sensor, possess macro environment and monitor and the molten bath monitoring system, when large slab all-position welding, can satisfy to swing requiring, controlling requirement and motion requirement.
4, operation described in the utility model and swing mechanism are applicable to the creeping-type welding robot, crosshead shoe by operating mechanism provides Y-axis and two frees degree of Z axis, realizes oscillating function by swing mechanism for the shake heating wire TIG welding gun of leading portion clamping provides a rotary freedom around X-axis.Crosshead shoe adopts the high precision ball lead screw guide rails to cooperate the stepper motor combination to form, and positioning accuracy can reach 0.02mm, follows the tracks of the craft precision requirement of weld seam to guarantee welding gun.Swing mechanism provides rotary freedom by worm and gear collocation stepper motor for welding gun, and output torque is not less than 10Nm, can make welding gun realize swinging welding centered by any swing angle.
But 5, the linking arm arm of operating mechanism described in the utility model exhibition manual adjustments, maximum arm exhibition can reach 450mm.The clamping device clip position of weld seam tracking sensor can manual adjustments, X-axis adjustable extent 120mm, the maximum adjustable extent 350mm of Y-axis, Z axis adjustable extent 100mm, larger adjustable space scope guarantees that the weld seam tracking sensor position can adapt to the various attitude demands of shaking heating wire TIG welding gun under the multiple welding procedure.
6, pass through toothed belt transmission between driving reducing motor and the axletree, can obtain larger installing space by regulating transmission centre-to-centre spacing, thereby the driving reducing motor that relatively high power is installed improves driving moment.
7, be provided with and independently turn to the free degree and make steer axis and the wheel axis perpendicular quadrature, can realize the independent steering of wheel, improve the climbing robot kinematic dexterity.
8, be provided with passive banking degree of freedom and by rolling confinement block constrained side tilt angle in positive and negative 10 degree, make climbing robot have preferably curved surface adaptive capacity.
9, roll confinement block is realized the constrained side degree of tilt by mechanical position limitation function.
10, described steering structure and wheel rolling all are provided with independently driving mechanism.
11, the advantage that autonomous formula robot is combined with double-wire welding gun is that whole welding robot system can realize double wire welding in autonomous, because during the monofilament weldering, if speed of welding is higher, the heat of electric arc does not spread to mother metal fully, the molten bath that forms is little, mother metal thermograde on every side is large, and weld pool solidifies is fast, and the deposite metal has little time fully to fuse with mother metal, produce easily undercut, and the Double Wire Welding electric current is larger, is conducive to form larger fusion penetration, and two root wires heat each other, take full advantage of the energy of electric arc, realize larger deposition rate, making has sufficient motlten metal and mother metal fully to fuse in the molten bath, and appearance of weld is attractive in appearance.
Description of drawings
Fig. 1 is the utility model structure chart.
Fig. 2 is the utility model robot body figure.
Fig. 3 is the utility model climbing mechanism structural representation.
Fig. 4 is the utility model climbing mechanism trailing wheel module diagram.
Fig. 5 is the utility model operating mechanism schematic diagram.
Fig. 6 is permanent magnetism gap adsorbent equipment structural representation.
Fig. 7 is for driving steering integrated magnet-wheel structural representation.
Fig. 8 is the cutaway view that front-wheel is crossed steering spindle and bevel gear shaft.
Fig. 9 is the magnet-wheel cutaway view.
1 operating mechanism in the accompanying drawing, 2 molten bath sensors, 3 double-wire welding guns, 4 laser tracking transducers, 5 weld seams, 6 climbing mechanisms, 7 multiple degrees of freedom The Cloud Terraces, 8 robot body control cabinets, 9 cables, 10 welding objects, 11 mariages wire-feed motor, 12 double wire welding power supplys, 13 protection gas, 14 welding cooling systems, 15 robot master control systems, 16 remote control operation boxes;
17 front-wheel modules, 18 vehicle frames, 19 motor drive controllers, 20 trailing wheel modules;
21 permanent magnets, 22 chassis, 23 wheels, 24 turbine and worm decelerators, 25 planetary reducers, 26 motors;
27 Timing Belts, 28 decelerators, 29 turn to soleplate, 30 .20 tooth straight bevel gears;
31 steering spindles, 32.60 tooth roller gears, 33 tooth roller gears, 34 bevel gear shafts, 35.40 tooth straight bevel gears.
36 front-wheel module permanent magnets, 37 yokes.
41 crosshead shoe transverse axis, the 42 crosshead shoe longitudinal axis, 43 linking arms, 44 weld seam tracking sensor connectors, 45 wig-wag connectors, 46 swing mechanisms, 47 welding guns, 48 weld seam tracking sensors.
The specific embodiment
A kind of autonomous formula Double Wire Welding robot system for the cut deal welding comprises robot body, control system and double wire welding system, it is characterized in that:
Robot body comprises that climbing mechanism is connected described climbing mechanism and comprises the front-wheel module, the trailing wheel module that adopts permanent magnetism gap adsorbent equipment that adopt to drive steering integrated magnet-wheel, connect the vehicle frame of front and back wheel and be installed in motor drive controller on the vehicle frame with operating mechanism; Described operating mechanism comprises crosshead shoe and swing mechanism, swing mechanism front end clamping double-wire welding gun, the free degree of horizontal and vertical directions is realized that by the crosshead shoe that two lead screw guide rails assembled units combine swing mechanism adopts stepper motor collocation worm type of reduction gearing;
Control system comprises sensor-based system, robot body control cabinet and robot master control system;
The double wire welding system comprises double-wire welding gun, double wire welding power supply, mariages wire-feed motor, protection gas and welding cooling system;
Robot body, control system are connected cable with the three of double wire welding system and are connected.
Described front-wheel module and trailing wheel module are installed in respectively the vehicle frame two ends, and the place is provided with the trailing wheel chassis in the trailing wheel module, and trailing wheel is provided with permanent magnet on the chassis;
The front-wheel module comprises permanent magnet and wheel for driving steering integrated magnet-wheel, and the permanent magnet of front-wheel adopts the magnetized annular permanent magnet of through-thickness; The trailing wheel module adopts permanent magnetism gap suction type, comprises
Permanent magnetism gap adsorbent equipmentAnd wheel,
Permanent magnetism gap adsorbent equipment comprisesBe installed in permanent magnet on the trailing wheel chassis around wheel, permanent magnetism gap adsorbent equipment is installed on the chassis around trailing wheel, non-contacting between described permanent magnetism gap adsorbent equipment and magnetic conduction wall, by the distance setting permanent magnetic adhesion device between adjusting chassis and the magnetic conduction wall and the air gap between the magnetic conduction wall;
Described climbing mechanism adopts tricycle structure, and each wheel is driving wheel, relies on the differential of two trailing wheels and the controlled steering angle of front-wheel to be implemented in turning to and rectilinear motion on the magnetic conduction wall.
Described operating mechanism comprises crosshead shoe transverse axis, the crosshead shoe longitudinal axis, linking arm, weld seam tracking sensor connector and wig-wag connector, crosshead shoe transverse axis and the crosshead shoe longitudinal axis are to comprise respectively stepper motor and precision ball screw guide rail, weld seam tracking sensor is installed in the front end of connector, the wig-wag connector is installed in the end of linking arm, swing mechanism is installed on the wig-wag connector, swing mechanism front end clamping double-wire welding gun, double-wire welding gun clamping and attitude-adjusting system.
Described sensor-based system comprises laser tracking transducer, environmental monitoring sensor and molten bath monitoring sensor, operating mechanism and environmental monitoring installation of sensors are on climbing mechanism, terminal laser tracking transducer, molten bath monitoring sensor and the double-wire welding gun installed of operating mechanism, the robot body control cabinet is installed on the climbing mechanism, and the robot control cabinet links to each other by cable with master control system; The welding gun of part links to each other by cable on described welding system double wire welding power supply, mariages wire-feed motor, protection gas and the machine.
The working method of described robot control system is: the operator utilizes remote control handheld box control to move near the starting the arc position, finished again the adjustment of initial point position by robot sensing's control system, follow the tracks of weld seam by autonomous classification at last and realize the tracking of weld groove center position, robot control system adopts PCC or Industrial PC as master control system, the groove central point deviation signal control body that the laser Method Seam Tracking Sensing System gathers and operating mechanism motion; The control of double wire welding system comprises switching value control, technological parameter setting.
Described robot control system adopts the multiple degrees of freedom The Cloud Terrace to realize the monitoring of macroscopical welding surroundings, finishes the front starting point macrotechnique of weldering; Adopt the molten bath monitoring sensor to realize the attitude adjustment of microcosmic double-wire welding gun, the molten bath monitoring of welding process.
Described robot system main control system carries out communication by Device net and the source of welding current, and by finishing the welding parameter setting and welding parameter is adjusted online in the host computer control interface, the control welding starts and stops.
Below in conjunction with accompanying drawing the utility model is described further.
As shown in Figure 1, autonomous formula double wire welding robot system is comprised of robot body, control system, double wire welding system.Robot body comprises operating mechanism and climbing mechanism; control system comprises sensor-based system (multiple degrees of freedom The Cloud Terrace, laser tracking transducer and molten bath monitoring sensor), robot body control cabinet and robot master control system, and the double wire welding system comprises double-wire welding gun, double wire welding power supply, wire-feed motor, protection gas.
The device robot system can be divided into walking from the space in " part on the machine " on the operation workpiece and be installed on " part under the machine " outside the operation workpiece.Machine top is divided and is comprised robot body, robot body control cabinet, sensor-based system, Double Wire Welding special welding gun, the terminal operating mechanism that welding gun, oscillator of welding gun and sensing device are installed is installed on the climbing mechanism, robot body control cabinet, macroscopical supervising device are installed on the climbing mechanism, and oscillator of welding gun is used for realizing that welding process month dentition formula swings; Part is comprising main control system, straighforward operation input equipment, double wire welding power supply, mariages wire feeder and mariages special welding gun under the machine; Part welding power source system, robot engine control system link to each other by cable under part welding gun on the machine, robot body control cabinet and the machine, and cable comprises forceful electric power, light current, tracheae.
Part on the machine: comprise robot body (operating mechanism, climbing mechanism), robot body control cabinet, sensor-based system (multiple degrees of freedom The Cloud Terrace, laser tracking transducer and molten bath monitoring sensor), double-wire welding gun.Operating mechanism and multiple degrees of freedom The Cloud Terrace are installed on the climbing mechanism, terminal laser tracking transducer, molten bath monitoring sensor, the welding gun installed of operating mechanism, and the robot body control cabinet is installed on the climbing mechanism.Wherein climbing mechanism is collectively referred to as robot body with the operating mechanism that is installed on the climbing mechanism.
Part under the machine: comprise robot master control system, remote control operation box, double wire welding power supply, Plasma Welding power supply, mariages wire-feed motor, protection gas.On the machine under robot body control cabinet and the machine of part the robot master control system of part link to each other by cable, partly welding gun links to each other by cable on double wire welding power supply, mariages wire-feed motor, protection gas and the machine.Cable comprises fulgurite, water pipe, tracheae and holding wire.
As shown in Figure 2, robot body comprises climbing mechanism and operating mechanism.
As shown in Figure 3 and Figure 4, climbing mechanism comprises the front-wheel module, the trailing wheel module that adopts permanent magnetism gap adsorbent equipment that adopt to drive steering integrated magnet-wheel, connects the vehicle frame of front and back wheel and is installed in motor drive controller on the vehicle frame.Wherein, mild steel (such as Q235) manufacturing is adopted on the trailing wheel chassis, except as the function that supports rear-wheel structure, also as yoke with a part that is installed in permanent magnet on the trailing wheel chassis around wheel and consists of magnetic circuit.Connect two stage reducer band motor car wheel behind the motor, the first order is planetary reducer, and the second level is the turbine and worm decelerator, and the turbine and worm decelerator is connected by screw and is installed on the trailing wheel chassis.Magnet-wheel is made of 1 permanent magnet and 2 yokes.Described permanent magnet adopts the magnetized annular permanent magnet of through-thickness, and permanent magnet can adopt the manufacturings such as high performance permanent magnetic materials such as NdFeB, and yoke adopts mild steel (such as Q235 etc.) to make.
As shown in Figure 5, operating mechanism mainly is comprised of crosshead shoe transverse axis, the crosshead shoe longitudinal axis, linking arm, weld seam tracking sensor connector, wig-wag connector.Crosshead shoe transverse axis and the crosshead shoe longitudinal axis are to be comprised of stepper motor and precision ball screw guide rail respectively.Transverse axis 4-1 is installed on the mobile platform by support, and the longitudinal axis is installed on the transverse axis slide block.Transverse axis provides the Y-axis free degree, working range 90mm; The longitudinal axis provides the Z axis free degree, working range 75mm.Crosshead shoe single shaft positioning accuracy 0.02mm.Linking arm is installed on the longitudinal axis slide block by fixture block, the maximum arm exhibition of linking arm 450mm, and can carry out manual adjustments by regulating the fixture block clip position.The weld seam tracking sensor connector is clamped on the linking arm, and the clip position of manual adjustments connector can provide for weld seam tracking sensor the position range of 350mm.Weld seam tracking sensor is installed in the front end of connector, to weld seam Emission Lasers bundle and scan weld seam, instructs the action of crosshead shoe and mobile platform during work.The wig-wag connector is installed in the end of linking arm, and the height of connector can manual adjustments, and the adjusting range of Z-axis direction 80mm is provided for swing mechanism.Swing mechanism is installed on the connector, front end clamping welding gun.
The robot control system sequential: control system adopts PCC or Industrial PC as master control system, and each function plate is modularized design.Utilize the FEEDBACK CONTROL robot body climbing mechanism of laser tracking transducer and the motion of operating mechanism; Utilize the actions such as switching value control welding starts, stops; Possess the setting of remote welding parameter and the online function of adjusting; Tool adopts the multiple degrees of freedom The Cloud Terrace to realize the monitoring of macroscopical welding surroundings, adopts the molten bath monitoring sensor to realize the monitoring of microcosmic welding pool; During operation, start the double wire welding power supply, and open the robot feed motion; Receive in the arc process, double wire welding power supply and robot system are closed simultaneously.Supervisory control comuter by Ethernet 1. 2. connection the parameter of programmed computer controller is set, and accept the video data of video server.3. programmable computer controller is connected with handheld box, driver by the CAN bus.Driver control the executing agency of creeping, 4. operation executing agency programmable computer controller carries out the setting of welding machine adapter by the RS485 bus, 9. 7. reads the status information that laser is followed sensor and position switch with IO by the RS232 bus.Video server is by the 8. 10. video information of environment of accepting monitoring head, environmental monitoring video camera, molten bath rig camera of video interface.
The double wire welding power supply connects with control system by Devicenet, utilizes distinctive mariages wire-feed motor and double-wire welding gun to weld.
Supervisory control comuter adopts the PC104 industrial computer to realize that 2 Ethernet interfaces are wherein arranged: one be used for connecting with programmable computer controller, one for connecting with video server.
The environmental monitoring video camera adopts SONY The Cloud Terrace rig camera, can be to the profile of workpiece, and robot is monitored.The operation field rig camera has been equipped with the optical filter of speciality and has finished in the welding process, the monitoring in molten bath.
The climbing mechanism drive system of robot has adopted two MAXON direct current generators, and operating structure is crosshead shoe, and drive motors is selected stepper motor.Motor driver adopts the ELMO driver.
The robot alignment sensor adopts the laser seam tracking sensor, carries out determining of welding seam position information.The operation adapter is source of welding current adapter, by adapter can control welding electric current, voltage, start, stop.Limit switch is installed on the crosshead shoe, finishes limit function.
When welding, the laser seam tracking sensor passes to programmable computer controller in real time with welding seam position information, and programmable computer controller carries out first signal filtering, and according to position deviation, crosshead shoe can be followed the tracks of accurately.And programmable computer controller utilizes filtered positional information to carry out the location estimation of robot crawling mechanism, and according to position deviation, climbing mechanism carries out rough tracking.
Permanent magnetism gap adsorbent equipment as shown in Figure 6, the Nd-Fe-B permanent magnet that is magnetized by 12 thickness directions forms, each trailing wheel is respectively arranged 6 permanent magnets, the N utmost point and the S utmost point formation magnetic circuit that is staggered, be installed on the chassis around trailing wheel, non-contacting between described permanent magnetism gap adsorbent equipment and magnetic conduction wall, by the distance described permanent magnetic adhesion device of setting between adjusting chassis and the magnetic conduction wall and the air gap between the magnetic conduction wall.
Fig. 7 is the three-dimensional model diagram of front-wheel, and Fig. 8 is the cutaway view that front-wheel is crossed steering spindle and bevel gear shaft, and Fig. 9 was the cutaway view of front-wheel axletree.Wherein, dc brushless motor and planetary reducer drive the bevel gear shaft rotation through 20 tooth straight bevel gears and 40 tooth Straight Bevel Gear Drive, bevel gear shaft drives the steering spindle rotation by 19 tooth roller gears and 60 tooth column gear transmission again, steering spindle with turn to soleplate to fix by screw attachment.Front-wheel drive motor and decelerator adopt brush direct current motor and planetary reducer, drive front-wheel by toothed belt transmission.Front-wheel is magnet-wheel, and structure is seen Fig. 9.Magnet-wheel is made of 1 front-wheel module permanent magnet and 2 yokes.Described permanent magnet adopts the magnetized annular permanent magnet of through-thickness, and permanent magnet can adopt the manufacturings such as high performance permanent magnetic materials such as NdFeB, and yoke adopts mild steel (such as Q235 etc.) to make.
A kind of embodiment that drives steering integrated magnet-wheel is, roll rotating shaft one end by the sliding supported condition that is installed on the car body fixed frame, the other end and turntable lower supporting plate are affixed by thread connection, the turntable upper backup pad, turret supports column and turntable lower supporting plate are connected by screw, turntable cover plate and turntable upper backup pad are connected by screw, two taper roll bearings are installed on two gripper shoes face-to-face, steering spindle is bearing on these two taper roll bearings, steering spindle is connected by flat key with 60 tooth straight-tooth gears, angular transducer power shaft and steering spindle are affixed, angular transducer support bar and turntable upper backup pad are connected by screw, angular transducer and angular transducer support bar are connected by screw, steer motor installing plate and turntable upper backup pad are connected by screw, turn to reducing motor and steer motor installing plate to be connected by screw, 20 tooth straight bevel gears are fixed in and turn on the reducing motor output shaft, the 40 tooth straight bevel gears that are meshed with it are installed on the bevel gear shaft by the flat key connection, bevel gear shaft is by the first deep groove ball bearing supporting that is installed in the turntable upper backup pad, the opposite side of bevel gear shaft connects by flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering spindle with turn to substrate to be connected by screw, wheel left side installing plate, wheel right side installing plate, the drive motors installing plate with turn to substrate to be connected by screw, driving reducing motor and drive motors installing plate is connected by screw, the small synchronous pulley axle is affixed with the output shaft that drives reducing motor, small synchronous pulley is installed on the small synchronous pulley axle by the flat key connection, front-wheel module permanent magnet and wheel yoke are installed on the axletree by the flat key connection, axletree is bearing between wheel left side installing plate and the wheel right side installing plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley connects the opposite side that is installed in axletree by flat key, connected by Timing Belt between large synchronous pulley and the small synchronous pulley, be connected by screw between tensioning running roller and the tensioning running roller support bar, tensioning running roller support bar is installed on the installing plate of wheel left side by screw.Magnet-wheel comprises front-wheel module permanent magnet and wheel yoke.
Programmable computer controller is called for short PCC(programmable computer controller), be a kind of programmable computer controller of new generation.
Devicenet is grow up the mid-90 a kind of based on CAN(Controller Area Network) style of opening of technology, the low cost that meets global industrial standard, high performance communication network, at first by U.S. Rockwell company Application and Development.Devicenet has now become international standard IEC62026-3 " low voltage switch equipment and control appliance Control Unit Device Interface ", and has been listed in European standard, also is the facility network standard in actual Asia and America.
Double-wire welding gun among the application refers in the prior art, that those skilled in the art know, as to be applicable to double wire welding welding gun.
Claims (6)
1. an autonomous formula Double Wire Welding robot system that is used for the cut deal welding comprises robot body, control system and double wire welding system, it is characterized in that:
Robot body comprises that climbing mechanism (6) is connected 1 with operating mechanism): described climbing mechanism (6) comprises and adopts the front-wheel module (17), the trailing wheel module (20) that adopts permanent magnetism gap adsorbent equipment that drive steering integrated magnet-wheel, connects the vehicle frame (18) of front and back wheel and be installed in motor drive controller (19) on the vehicle frame (18); Described operating mechanism (1) comprises crosshead shoe and swing mechanism (46), swing mechanism (46) front end clamping double-wire welding gun (3), the free degree of horizontal and vertical directions is realized that by the crosshead shoe that two lead screw guide rails assembled units combine swing mechanism (46) adopts stepper motor collocation worm type of reduction gearing (28);
Control system comprises sensor-based system, robot body control cabinet (8) and robot master control system (15);
The double wire welding system comprises double-wire welding gun (3), double wire welding power supply (12), mariages wire-feed motor (11), protection gas (13) and welding cooling system (14);
Robot body, control system and the three of double wire welding system are connected cable (9) and connect.
2. a kind of autonomous formula Double Wire Welding robot system for cut deal welding according to claim 1, it is characterized in that: described front-wheel module (17) and trailing wheel module (20) are installed in respectively vehicle frame (18) two ends, locate to be provided with trailing wheel chassis (22) in trailing wheel module (20), be provided with permanent magnet (21) on trailing wheel chassis (22);
Front-wheel module (17) comprises permanent magnet (21) and wheel (23) for driving steering integrated magnet-wheel, and the permanent magnet of front-wheel (21) adopts the magnetized annular permanent magnet of through-thickness (21); Trailing wheel module (20) adopts permanent magnetism gap suction type, comprise permanent magnetism gap adsorbent equipment and wheel (23), permanent magnetism gap adsorbent equipment comprises around wheel (23) and is installed in permanent magnet (21) on the trailing wheel chassis (22), permanent magnetism gap adsorbent equipment is installed on the chassis (22) around trailing wheel, non-contacting between described permanent magnetism gap adsorbent equipment and magnetic conduction wall, by the distance setting permanent magnetic adhesion device between adjusting chassis (22) and the magnetic conduction wall and the air gap between the magnetic conduction wall;
Described climbing mechanism (6) adopts tricycle structure, and each wheel (23) is driving wheel, relies on the differential of two trailing wheels and the controlled steering angle of front-wheel to be implemented in turning to and rectilinear motion on the magnetic conduction wall.
3. a kind of autonomous formula Double Wire Welding robot system for cut deal welding according to claim 2, it is characterized in that: described operating mechanism (1) comprises crosshead shoe transverse axis (41), the crosshead shoe longitudinal axis (42), linking arm (43), weld seam tracking sensor (48) connector (44) and wig-wag connector (45), crosshead shoe transverse axis (41) is to comprise respectively stepper motor and precision ball screw guide rail with the crosshead shoe longitudinal axis (42), weld seam tracking sensor (48) is installed in the front end of connector, wig-wag connector (45) is installed in the end of linking arm (43), swing mechanism (46) is installed on the wig-wag connector (45), swing mechanism (46) front end clamping double-wire welding gun (3), double-wire welding gun (3) clamping and attitude-adjusting system.
4. a kind of autonomous formula Double Wire Welding robot system for cut deal welding according to claim 3, it is characterized in that: described sensor-based system comprises laser tracking transducer (4), environmental monitoring sensor and molten bath monitoring sensor (2), operating mechanism (1) and environmental monitoring installation of sensors are on climbing mechanism (6), the terminal laser tracking transducer (4) of installing of operating mechanism (1), molten bath monitoring sensor (2) and double-wire welding gun (3), robot body control cabinet (8) is installed on the climbing mechanism (6), and the robot control cabinet links to each other by cable with master control system; Partly welding gun links to each other by cable (9) on described welding system double wire welding power supply (12), wire-feed motor (11), protection gas (13) and the machine.
5. a kind of autonomous formula Double Wire Welding robot system for cut deal welding according to claim 4, it is characterized in that: described robot control system adopts multiple degrees of freedom The Cloud Terrace (7) to realize the monitoring of macroscopical welding surroundings, finishes the front starting point macrotechnique of weldering; Adopt molten bath monitoring sensor (2) to realize the attitude adjustment of microcosmic double-wire welding gun, the molten bath monitoring of welding process.
6. a kind of autonomous formula Double Wire Welding robot system for cut deal welding according to claim 2, it is characterized in that: the steering integrated magnet-wheel concrete structure of described driving is: roll rotating shaft one end and be installed on the car body fixed frame, other end turntable lower supporting plate connects, the turntable upper backup pad, the turret supports column is connected with the turntable lower supporting plate, the turntable cover plate is connected with the turntable upper backup pad, taper roll bearing is installed on two gripper shoes, steering spindle (31) is bearing on the taper roll bearing, steering spindle (31) is connected with 60 tooth straight-tooth gears, angular transducer power shaft and steering spindle (31) are affixed, the angular transducer support bar is connected with the turntable upper backup pad, angular transducer is connected with the angular transducer support bar, the steer motor installing plate is connected with the turntable upper backup pad, turn to reducing motor (26) to be connected with the steer motor installing plate, 20 tooth straight bevel gears (30) are fixed in and turn on reducing motor (26) output shaft, the 40 tooth straight bevel gears (35) that are meshed with it are mounted on the bevel gear shaft (34), bevel gear shaft (34) is by the first deep groove ball bearing supporting that is installed in the turntable upper backup pad, the opposite side of bevel gear shaft (34) connects by flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering spindle (31) is connected with turning to substrate, wheel left side installing plate, wheel right side installing plate, the drive motors installing plate is connected with turning to substrate, driving reducing motor (26) is connected with the drive motors installing plate, little Timing Belt (27) wheel shaft is affixed with the output shaft that drives reducing motor (26), little Timing Belt (27) wheel is installed on little Timing Belt (27) wheel shaft by the flat key connection, front-wheel module permanent magnet (21) and wheel yoke (37) are installed on the axletree by the flat key connection, axletree is bearing between wheel left side installing plate and the wheel right side installing plate by the first deep groove ball bearing and the second deep groove ball bearing, large Timing Belt (27) wheel connects the opposite side that is installed in axletree by flat key, connected by Timing Belt (27) between large Timing Belt (27) wheel and little Timing Belt (27) wheel, be connected by screw between tensioning running roller and the tensioning running roller support bar, tensioning running roller support bar is installed on the installing plate of wheel left side by screw, drive between reducing motor (26) and the axletree by Timing Belt (27) transmission, steering driving mechanism also comprises steering spindle (31), steering spindle (31) bottom is equipped with drive mechanism for wheel and roller, described steering spindle (31) line and wheel axis perpendicular quadrature.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220265981 CN202684290U (en) | 2012-06-07 | 2012-06-07 | Autonomous mobile double-wire welding robot system for welding medium plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220265981 CN202684290U (en) | 2012-06-07 | 2012-06-07 | Autonomous mobile double-wire welding robot system for welding medium plate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202684290U true CN202684290U (en) | 2013-01-23 |
Family
ID=47539961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220265981 Expired - Lifetime CN202684290U (en) | 2012-06-07 | 2012-06-07 | Autonomous mobile double-wire welding robot system for welding medium plate |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202684290U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102672316A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Autonomous movable type double-wire welding robot system for welding medium plates |
| CN110814472A (en) * | 2019-10-22 | 2020-02-21 | 清华大学 | Master-slave type wall climbing welding robot system suitable for large steel structural member |
-
2012
- 2012-06-07 CN CN 201220265981 patent/CN202684290U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102672316A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Autonomous movable type double-wire welding robot system for welding medium plates |
| CN102672316B (en) * | 2012-06-07 | 2015-08-26 | 中国东方电气集团有限公司 | A kind of autonomous formula Double Wire Welding robot system for cut deal welding |
| CN110814472A (en) * | 2019-10-22 | 2020-02-21 | 清华大学 | Master-slave type wall climbing welding robot system suitable for large steel structural member |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102689085B (en) | Autonomous mobile dithering hot wire tungsten-inert-gas (TIG) welding robot system for welding large-sized precision equipment | |
| CN102689100B (en) | Autonomous mobile robot system for plasma metal-inert-gas (MIG) composite welding | |
| CN102672315B (en) | Autonomous mobile double-sided double-arc welding robot system | |
| CN102672311B (en) | Electro-gas vertical welding automatic moving type robot system | |
| CN102689083B (en) | Autonomous mobile robot system for metal-inert-gas (MIG)/metal-active-gas (MAG) multilayer multipass welding of large thick plate | |
| CN202622192U (en) | Autonomous mobile robot system for plasma metal-inert gas welding (MIG) hybrid welding | |
| CN102672316B (en) | A kind of autonomous formula Double Wire Welding robot system for cut deal welding | |
| CN202752729U (en) | Autonomous moving type two-sided two-arc welding robot system | |
| CN202752728U (en) | Autonomous mobile robot system for electro-gas welding | |
| CN101456182B (en) | Intelligent robot welding device using large-scale workpiece | |
| CN202752771U (en) | Operation and swing mechanism for crawl type welding robot | |
| CN109396700A (en) | It creeps welding robot and its control method | |
| CN110814472B (en) | Master-slave type wall climbing welding robot system suitable for large steel structural member | |
| CN103286494B (en) | Rail type all-position welding robot for box-type steel structures | |
| CN104708204B (en) | A kind of Laser-Arc Hybrid Welding rifle | |
| CN205271144U (en) | Four -axis linkage laser welding device | |
| CN108620782A (en) | The box shape steel structure scene all-position welding machine of view-based access control model servo | |
| CN106238969A (en) | Non-standard part automatic welding processing system based on structured light vision | |
| CN205650975U (en) | Non-standard part automatic welding processing system based on structured light vision | |
| CN104999188A (en) | Robot automatic welding workstation for large tank and welding method using robot automatic welding workstation for large tank | |
| CN104400188A (en) | Three-dimensional automatic welding system and welding control method thereof | |
| CN102489839A (en) | Fully-automatic gas-shielded welding robot with single gun, double wires and high speed | |
| CN102699920B (en) | Control system of fully driven compound adsorption type crawling robot | |
| CN202804455U (en) | Dithering hot wire tungsten-inert-gas (TIG) welding robot system for welding large-sized precision equipment | |
| CN104942497A (en) | Large barrel all-position efficient welding method and welding device thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130123 Effective date of abandoning: 20150826 |
|
| RGAV | Abandon patent right to avoid regrant |