CN204053477U - Large-scale steel structure robot automatic charging welding grinding and polishing detection system - Google Patents

Large-scale steel structure robot automatic charging welding grinding and polishing detection system Download PDF

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Publication number
CN204053477U
CN204053477U CN201420484680.4U CN201420484680U CN204053477U CN 204053477 U CN204053477 U CN 204053477U CN 201420484680 U CN201420484680 U CN 201420484680U CN 204053477 U CN204053477 U CN 204053477U
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China
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steel
welding
horn
robot
mechanical arm
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CN201420484680.4U
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Chinese (zh)
Inventor
冀世军
刘雷雷
赵继
纪瑞星
周淑红
张雷
胡志清
王晓晖
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Jilin University
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Jilin University
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Abstract

The utility model relates to a kind of large-scale steel structure robot automatic charging welding grinding and polishing detection system, belongs to mechanical manufacturing field.Large-scale I-steel self-centering flip module is fixedly connected with workbench, welding grinding and polishing Robot Visual Servoing module is connected with the slide on workbench, the accurate pusher module of ox horn and workbench are slidably connected, and swash plate feed pusher module is fixedly connected with workbench and is positioned at the side of large-scale I-steel self-centering flip module.The utility model, from globality, for the I-steel of different size specification, realizes the automation material loading of ox horn and swash plate, accurately locates, the automatic identification, welding, post processing etc. of welding grinding and polishing robot butt welded seam.Based on theoretical cad model, control the concrete size positions of material loading and weld seam, visual servo, form closed-loop system, precision is high, consuming time few, welded steel structure part excellent performance, reduces cost.

Description

Large-scale steel structure robot automatic charging welding grinding and polishing detection system
Technical field
The utility model belongs to mechanical manufacturing field, refers in particular to a kind of steel construction piece system of processing.
Background technology
Current China has become the maximum steel production and consumption state in the whole world, and steel construction is more and more extensive in the application of China, as the buildings such as factory building, bridge, house, warehouse, gymnasium, exhibition center, supermarket are all extensively using steel construction.Steel construction ductility is good, plasticity, good toughness, has excellent antidetonation and bearing load ability, substantially increases the security reliability of steel building.Steel building is from heavy and light, and foundation cost is low, and construction period is short, has very strong competitive advantage in today that the price of labour power goes up gradually.In addition, the industrialization degree of steel construction is high, and manufacturing cycle is shorter, and precision controlling is good, can meet the requirement of hypervelocity and super span in addition, and improve space availability ratio, steel construction obtains tremendous development in building trade.Integrated steel-structure framework is combined by certain requirement by mechanical connections such as bolts by steel construction piece, and each steel construction piece comprises I-steel, ox horn, swash plate, the concrete structure such as base angle, purlin, wherein the connected mode of I-steel and ox horn, swash plate is mainly welding.In order to realize the great-leap-forward development of steel construction, meeting the wilderness demand of steel construction piece, realizing the automatic charging of large-scale steel structure ox horn and swash plate, welding and post processing, to reach outward appearance and requirement functionally, become particularly important.
Welding method mainly manual electric arc welding and the CO of current steel construction 2protection weldering, the application of welding industry robot is also more prevalent.In course of industrialization, along with surplus rural labor is to the progressively transfer of non-agricultural industries, surplus rural labor reduces gradually.After long working, workman's degree of fatigue is deepened, and welding grinding and polishing efficiency reduces, and weldquality is uneven, compare human cost, the cost of robot constantly declines in recent years, and performance is also progressively promoting, and can ensure welding machine grinding and polishing quality, the superiority of effectiveness of robot highlights day by day.A kind of remote manual control welding robot of present existence, although the welding to concrete fixing steel construction piece also can be realized, but job area is limited, be difficult to the efficient quick realizing steel construction piece welding, more cannot be definite by ad-hoc location on I-steel of ox horn and swash plate feed and the comprehensive welding realizing positive and negative weld seam, welding scope is subject to serious restriction.When welding end and not having post processing, pore, splashing etc. that welding produces cannot effectively be cleared up, and weldquality cannot be protected, and then has an impact to the performance of steel construction.Adopt Liang Zhong robot according to welding and grinding and polishing two operations, cost is large, and efficiency is low, and low precision timely and effectively can not meet the wilderness demand of building field to high-quality steel construction.
Summary of the invention
The utility model provides a kind of large-scale steel structure robot automatic charging welding grinding and polishing detection system, object is to provide a kind of large-scale steel structure robot automatic charging based on theoretical cad model, welding, grinding and polishing detection system, this system is from globality, for the I-steel of different size specification, realize the automation material loading of ox horn and swash plate, accurately locate, the automatic identification, welding, post processing etc. of welding grinding and polishing robot butt welded seam.Based on theoretical cad model, control the concrete size positions of material loading and weld seam, visual servo, form closed-loop system, precision is high, consuming time few, welded steel structure part excellent performance, reduces cost.
The technical scheme that the utility model is taked is: large-scale I-steel self-centering flip module is fixedly connected with workbench, welding grinding and polishing Robot Visual Servoing module is connected with the slide on workbench, the accurate pusher module of ox horn and workbench are slidably connected, and swash plate feed pusher module is fixedly connected with workbench and is positioned at the side of large-scale I-steel self-centering flip module;
Described welding grinding and polishing Robot Visual Servoing modular structure is: bonding machine mechanical arm and polished machine mechanical arm are independent separately, connection arranged side by side on a spinstand, each independently mechanical arm comprises level Four mechanical arm, connected by servomotor between every two-stage mechanical arm, vision sensor one is fixed on bonding machine mechanical arm, vision sensor two is fixed on polished machine mechanical arm, described bonding machine mechanical arm end connects servo torch, described grinding and polishing mechanical arm tail end connects servo polished machine, two driving wheels are connected with robot body, this driving wheel is gear, guide rail is tooth bar, driving wheel and rack guide rail are connected with a joggle, limit switch is distributed in the two ends of described rack guide rail, guide rail two ends are fixedly connected with fixed head, power line drag chain is connected with servomotor on power pack and robot body respectively,
The structure of described large-scale I-steel self-centering flip module is: centralizer is fixedly connected with the turntable rotating lathe, the inner ring center of rolling bearing is square opening, described square opening edge extends flange, positioning and locking screw rod is threaded connection and is evenly distributed on flange, housing washer is arranged in the support of bearing, rolling bearing end cap is fixedly connected with the turntable rotating lathe, and the described support of bearing is connected with slide;
The structure of described centralizer is: every root two-way left-hand thread screw rod both sides are respectively left-handed and right-handed thread, described two-way left-hand thread screw rod two ends connect two clamps, adjacent two two-way left-hand thread screw rods are mutually vertical, each clamp connects two two-way left-hand thread screw rods, described two-way left-hand thread screw rod and clamp combine formation empty quadrilateral in turn, the two ends of described two-way left-hand thread screw rod are multidiameter, by roller bearings, bearing block is fixedly connected with rolling bearing, described bearing block is bolted on slide block, guide rail is bolted on base plate, described slide block is connected with slide, outside described clamp, two mutually perpendicular directions connect two threaded rods, described threaded rod extends base plate spacing hole, locking nut with shaft fits tightly at described base plate spacing hole place,
The accurate pusher modular structure of described ox horn is: hoistable platform is connected by lowering or hoisting gear with lifting platform truck, ox horn pushes away pincers front opening and ox horn outer rim is coincide, and there is certain pattern draft, ox horn pushes away pincers rear end and connects cylinder, described ox horn pushes away pincers bottom two slideways, and the gathering sill in this slideway and hoistable platform is slidably connected;
Described swash plate feed pusher modular structure is: swash plate plywood is fixedly connected with hydraulic clamp, this swash plate plywood there is swash plate groove, this hydraulic clamp is fixedly connected with cylinder, cylinder is fixedly connected with the turntable rotating lathe, rotate lathe to be connected with slide, slideway is fixedly connected with feed turntable, and revotating card is fixedly connected with feed turntable.
The utility model provides a kind of large-scale steel structure robot automatic charging based on theoretical cad model, welding, grinding and polishing detection system, and this system is applicable to the fully automatic feeding of ox horn, swash plate needed for sizes gauge steel structural member, welding and grinding and polishing testing.Based on theoretical cad model, visual servo, realizes automatic charging generally in a closed loop manner, accurately locates pusher, weld seam and automatically to identify and to weld grinding and polishing integrated.Based on theoretical cad model, weld seam and grinding and polishing position are accurately located by visual servo, and the straight angle welds, and ensure welding quality, improve welding efficiency.Robot body adopts single servo motor to drive, by transmission mechanism, single motion is passed to two driving wheels simultaneously, guarantee the synchronism that two driving wheels run, walking adopts rack and pinion engagement mode, the kiss the earth of walking using gear as wheel, using tooth bar as wheel, this walking manner can improve positioning precision, guarantees welding grinding and polishing precision.I-steel self-centering fixture realizes the accurate centering of I-steel, ensures that I-steel can accurately rotate about the axis when welding sealing run.The steel construction piece of sizes specification is can be applicable to based on the large-scale steel structure robot automatic charging of theoretical cad model, welding, grinding and polishing detection system, there is automaticity high, adaptive capacity to environment is strong, labor strength is little, human cost is low, weld seam uniformity is good, welding quality high.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the utility model welding grinding and polishing Robot Visual Servoing module diagram;
Fig. 3 is the utility model large-scale I-steel self-centering flip module schematic diagram;
Fig. 4 is the utility model centralizer structural representation;
Fig. 5 is the accurate pusher module diagram of the utility model ox horn;
Fig. 6 is the utility model swash plate feed pusher module diagram;
Fig. 7 is the utility model system material loading, welding, grinding and polishing process chart.
Detailed description of the invention
Large-scale I-steel self-centering flip module 2 is fixedly connected with workbench, welding grinding and polishing Robot Visual Servoing module 1 is connected with the slide on workbench, the accurate pusher module 3 of ox horn is slidably connected with workbench, and swash plate feed pusher module 6 is fixedly connected with workbench and is positioned at the side of large-scale I-steel self-centering flip module 2;
Described welding grinding and polishing Robot Visual Servoing module 1 structure is: bonding machine mechanical arm 102 and polished machine mechanical arm 109 are independent separately, be connected on turntable 103 side by side, each independently mechanical arm comprises level Four mechanical arm, connected by servomotor between every two-stage mechanical arm, relatively rotating of both control, wherein third level mechanical arm is provided with the servomotor rotated around its axis, vision sensor 1 is fixed on bonding machine mechanical arm 102, vision sensor 2 108 is fixed on polished machine mechanical arm 109, described bonding machine mechanical arm end connects servo torch 105, described grinding and polishing mechanical arm tail end connects servo polished machine 106, rotary rail on described turntable and robot body matches formation rotary motion pair, described robot body is controlled by Central Control Module, servomotor connected with differential, two driving wheels 107 are connected with robot body 1, this driving wheel 107 is gear, guide rail 110 is tooth bar, driving wheel 107 and rack guide rail 110 are connected with a joggle, limit switch 114 is distributed in the two ends of described rack guide rail 110, guide rail 110 two ends are fixedly connected with fixed head 111, power line drag chain 112 is connected with servomotor on power pack 113 and robot body respectively,
The structure of described large-scale I-steel self-centering flip module 2 is: centralizer 203 is fixedly connected with the turntable 202 rotating lathe, inner ring 209 center of rolling bearing 210 is square opening, described square opening edge extends flange 207, positioning and locking screw rod 208 is threaded connection and is evenly distributed on flange 207, housing washer 204 is arranged in the support of bearing 206, rolling bearing end cap 201 is fixedly connected with the turntable rotating lathe, and the described support of bearing 206 is slidably connected with guide rail 205;
The structure of described centralizer 203 is: every root two-way left-hand thread screw rod 2009 both sides are respectively left-handed and right-handed thread, described two-way left-hand thread screw rod 2009 two ends connect two clamps 2002, adjacent two two-way left-hand thread screw rods are mutually vertical, each clamp 2002 connects two two-way left-hand thread screw rods 2009, described two-way left-hand thread screw rod and clamp combine formation empty quadrilateral in turn, the two ends of described two-way left-hand thread screw rod are multidiameter, supported by rolling bearing 2004, bearing block 2010 is fixedly connected with rolling bearing, described bearing block is bolted on slide block 2005, guide rail 2006 is bolted on base plate 2007, described slide block 2005 is slidably connected with guide rail 2006, outside described clamp 2002, two mutually perpendicular directions connect two threaded rods 2003, described threaded rod 2003 extends base plate spacing hole 2008, the locking nut 2001 coordinated with threaded rod 2003 fits tightly at described base plate spacing hole 2008 place,
Described ox horn accurate pusher module 3 structure is: hoistable platform 302 is connected by lowering or hoisting gear with lifting platform truck 301, ox horn pushes away pincers 303 front opening and ox horn outer rim is coincide, and there is certain pattern draft, ox horn pushes away pincers 303 rear end and connects cylinder, it is inner that cylinder is connected in welding grinding and polishing robot body, control ox horn and push away the flexible of pincers 303, described ox horn pushes away pincers 303 bottom two slideways 304, gathering sill 305 in this slideway and hoistable platform 302 is slidably connected, described lifting platform truck 301 rectilinear motion below I-steel 5, hoistable platform 302 rises at ox horn weld, support I-steel 5, ox horn 4 simultaneously for skidding off in the loader from overhead traveling crane traction provides platform,
Described swash plate feed pusher module 6 structure is: swash plate plywood 601 is fixedly connected with hydraulic clamp 603, this swash plate plywood there is swash plate groove 602, this hydraulic clamp 603 is fixedly connected with cylinder 609, cylinder 609 is fixedly connected with the turntable 608 rotating lathe, rotate lathe 604 to be slidably connected with guide rail 205, slideway 606 is fixedly connected with feed turntable 605, revotating card 607 is fixedly connected with feed turntable 605, described feed turntable 605 is clamped by the swash plate of revotating card 607 by landing in certain direction from slideway 606, feed turntable 605 revolves turnback, treat that swash plate 7 clamps by hydraulic clamp 603, cylinder 609 bounces back, turntable 608 90-degree rotation, cylinder 609 promotes hydraulic clamp 603 and withstands on I-steel 5 end face.Be swash plate groove inside swash plate plywood 601 before described hydraulic clamp 603, because swash plate ratio is professional standard part, described swash plate clamp specially is applicable to clamping sizes swash plate 7.
The utility model and the course of work thereof is further illustrated below in conjunction with accompanying drawing.
In the existing CAD drawing of computer, the lathe drawn, welding grinding and polishing robot be equal to lathe in actual place, welding grinding and polishing robot the information such as position consistent, in scene, I-steel is according to the corresponding clamping of I-steel theoretical position fixed in same drawing, so just obtain and the identical theoretical cad models of processing procedure such as actual welding, in cad model, the coordinate system such as stipulated standard coordinate system, large-scale I-steel self-centering flip module coordinate system, just obtains theoretical initial point and the terminal point coordinate of weld seam according to the welding requirements of ox horn, swash plate.The error of the theoretical and physical location of visual servo identification weld seam is also adjusted to certain accuracy rating, the defect such as pore, splashing of visual servo process welding process appearance in addition.The foundation of coordinate system is as follows:
As shown in Figure 1, different coordinates is adopted based on the large-scale steel structure robot automatic charging of theoretical cad model, welding, grinding and polishing detection system, take earth-fixed axis system as benchmark, different coordinates is adopted between disparate modules, such as large-scale I-steel self-centering flip module 2 place coordinate system, using base plate 2007 inner surface as its coordinate system coordinate starting point, be X along I-steel 5 direction 1axle positive direction, determines other diaxons according to the right-hand rule, and welding grinding and polishing robot position is Y 1axle positive direction is Z straight up 1axle positive direction.Large-scale I-steel self-centering flip module coordinate system, welding grinding and polishing robot coordinate system, lifting platform truck coordinate system set up contact with the frame of reference.Under the positional information of point is based upon the frame of reference, welding grinding and polishing robot coordinate system, lifting platform truck coordinate system or the point coordinates of large-scale I-steel self-centering flip module coordinate system is (x n, y n, z n) be transformed into (x, y, z) under the frame of reference.Coordinate conversion matrix is:
x y z 1 = R zn T R yn T R xn T P T x n y n z n 1
N=1 in formula, 2,3;
P---translation matrix;
R xn---around X naxis rotation matrix;
R yn---around Y naxis rotation matrix;
R zn---around Z naxis rotation matrix;
(x, y, z)---put the coordinate under the frame of reference;
(x n, y n, z n)---put the coordinate under welding grinding and polishing robot coordinate system waits other non-referenced coordinate systems;
Concrete operations flow process is as follows:
As shown in Figure 2, large-scale I-steel 5 to enter to feel relieved rotary module 2 at the clamping of slinging of overhead traveling crane, can direct clamping for the good I-steel of surface quality, and the poor I-steel of surface quality carries out suitable correction of the flank shape.As shown in Figure 4, rotate the left and right centering that upper and lower screw rod 203 realizes large-scale I-steel 5 simultaneously, rotate the centering up and down that left and right screw rod 203 realizes large-scale I-steel 5 simultaneously, the each locking nut 2001 of rotating bottom board spacing hole 2008 inwall, make each locking nut 2001 withstand on base plate 2007, I-steel 5 is locked.Supporting component moves forward under the driving of servomotor, I-steel 5 is passed from rolling bearing inner ring 209, adjust each positioning and locking screw rod 208 and lock I-steel 5, the other end realizing large-scale I-steel 5 supports, and rotates lathe 202 and just can control the 360 degree of rotations in centering rotary module 2 of large-scale I-steel 5.
When I-steel 5 is in position shown in Fig. 3, because the weight of ox horn 4 is excessive, welding grinding and polishing robot 101 cannot direct traction, overhead traveling crane transfers ox horn hopper to the predetermined welding position of cad model, lifting platform truck center processor is according to the coordinate of setting, drive to large-scale I-steel 5 times, platform 302 is risen, withstand large-scale I-steel 5.Ox horn 4 is slipped on hoistable platform 302 according to certain orientation from hopper.Welding grinding and polishing robot 101 runs to theoretical cad model welding position, use visual sensing that present position is fed back to central processing unit, welding grinding and polishing robot central processing unit contrasts both gross data and visual feedback data, according to accuracy requirement, drive welding grinding and polishing robot to walk on, make welding grinding and polishing robot 101 run to elaborate position more.The cylinder promotion ox horn of welding grinding and polishing robot body inside pushes away pincers 303 and moves to I-steel 5 direction, as shown in Figure 5, hoistable platform 302 supports the weight of ox horn 4, the gathering sill 305 of hoistable platform 302 retrains the linear pushing that ox horn pushes away pincers 303, the positional precision of welding machine grinding and polishing robot 101 is higher than lifting platform truck 301, the openend of gathering sill 305 is Y shape, the site error being convenient to produce between lifting platform truck 301 pairs of lifting platform trucks 301 and welding grinding and polishing robot compensates, and makes ox horn push away pincers 303 and accurately ox horn is shifted onto I-steel appointment welding position.
Welding polished machine mechanical arm requires adjustment servo torch 105 position according to straight angle during welding.Although known ox horn welding position, and seam track has been planned in theoretical cad model, but can certain error be there is in actual motion, actual measured value is delivered to central processing unit by vision sensor, actual value and theoretical cad model data compare, and carry out positional error compensation.In welding process, occur deviation or incomplete welded seam, vision sensor can communicate information to central processing unit, carries out welding and compensates, and promotes the welding degree of accuracy, optimizes welding quality.After treating fillet in normal shear all to weld, rotate lathe 202 and drive large-scale I-steel 5 to rotate to an angle, meet the requirement of straight angle welding, sealing run is progressively welded complete.Pore and splashing is unavoidably produced in the process of welding, the particular location of the pore produced in welding process and splashing can be delivered to central processing unit by vision sensor, central processing unit sends instruction to polished machine mechanical arm 109, servo polished machine 106 will carry out grinding and polishing post-treatment procedures to fault location, can carry out secondary welding if desired.
After each ox horn 4 is welded to I-steel 5 according to assigned address, I-steel 5 rotates back to initial position, as shown in Figure 3.Swash plate 7 slides into the groove of feed turntable by regulation order from slideway 606, revotating card 607 clamps swash plate, feed turntable 605 90-degree rotation, as shown in Figure 6.The hydraulic clamp 603 opened arrives assigned address under the promotion of cylinder 609, and hydraulic clamp 603 clamps swash plate 7, treats that cylinder rod reclaims, and turntable 608 drives swash plate clamp 90-degree rotation.Cylinder 609 promotes hydraulic clamp 603 and withstands on I-steel end face.Welding grinding and polishing robot completes the front welding job to swash plate 7 according to welding requirements, and hydraulic clamp 603 opens rear withdrawal, rotates lathe 202 and drives I-steel 5 to rotate, weld swash plate 7 back side, by steel construction piece removal complete for welding after completing.

Claims (2)

1. a large-scale steel structure robot automatic charging welding grinding and polishing detection system, it is characterized in that: large-scale I-steel self-centering flip module is fixedly connected with workbench, welding grinding and polishing Robot Visual Servoing module is connected with the slide on workbench, the accurate pusher module of ox horn and workbench are slidably connected, and swash plate feed pusher module is fixedly connected with workbench and is positioned at the side of large-scale I-steel self-centering flip module;
Described welding grinding and polishing Robot Visual Servoing modular structure is: bonding machine mechanical arm and polished machine mechanical arm are independent separately, connection arranged side by side on a spinstand, each independently mechanical arm comprises level Four mechanical arm, connected by servomotor between every two-stage mechanical arm, vision sensor one is fixed on bonding machine mechanical arm, vision sensor two is fixed on polished machine mechanical arm, described bonding machine mechanical arm end connects servo torch, described grinding and polishing mechanical arm tail end connects servo polished machine, two driving wheels are connected with robot body, this driving wheel is gear, guide rail is tooth bar, driving wheel and rack guide rail are connected with a joggle, limit switch is distributed in the two ends of described rack guide rail, guide rail two ends are fixedly connected with fixed head, power line drag chain is connected with servomotor on power pack and robot body respectively,
The structure of described large-scale I-steel self-centering flip module is: centralizer is fixedly connected with the turntable rotating lathe, the inner ring center of rolling bearing is square opening, described square opening edge extends flange, positioning and locking screw rod is threaded connection and is evenly distributed on flange, housing washer is arranged in the support of bearing, rolling bearing end cap is fixedly connected with the turntable rotating lathe, and the described support of bearing is connected with slide;
The accurate pusher modular structure of described ox horn is: hoistable platform is connected by lowering or hoisting gear with lifting platform truck, ox horn pushes away pincers front opening and ox horn outer rim is coincide, and there is certain pattern draft, ox horn pushes away pincers rear end and connects cylinder, described ox horn pushes away pincers bottom two slideways, and the gathering sill in this slideway and hoistable platform is slidably connected;
Described swash plate feed pusher modular structure is: swash plate plywood is fixedly connected with hydraulic clamp, this swash plate plywood there is swash plate groove, this hydraulic clamp is fixedly connected with cylinder, cylinder is fixedly connected with the turntable rotating lathe, rotate lathe to be connected with slide, slideway is fixedly connected with feed turntable, and revotating card is fixedly connected with feed turntable.
2. large-scale steel structure robot according to claim 1 automatic charging welding grinding and polishing detection system, it is characterized in that: the structure of described centralizer is: every root two-way left-hand thread screw rod both sides are respectively left-handed and right-handed thread, described two-way left-hand thread screw rod two ends connect two clamps, adjacent two two-way left-hand thread screw rods are mutually vertical, each clamp connects two two-way left-hand thread screw rods, described two-way left-hand thread screw rod and clamp combine formation empty quadrilateral in turn, the two ends of described two-way left-hand thread screw rod are multidiameter, by roller bearings, bearing block is fixedly connected with rolling bearing, described bearing block is bolted on slide block, guide rail is bolted on base plate, described slide block is connected with slide, outside described clamp, two mutually perpendicular directions connect two threaded rods, described threaded rod extends base plate spacing hole, locking nut with shaft fits tightly at described base plate spacing hole place.
CN201420484680.4U 2014-08-24 2014-08-24 Large-scale steel structure robot automatic charging welding grinding and polishing detection system Withdrawn - After Issue CN204053477U (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104191245A (en) * 2014-08-24 2014-12-10 吉林大学 Robot automatic feeding, welding and grinding detection system for large steel structure
CN108594766A (en) * 2017-12-31 2018-09-28 芜湖哈特机器人产业技术研究院有限公司 A kind of horizontal boring and milling intelligent machine tool control system and method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104191245A (en) * 2014-08-24 2014-12-10 吉林大学 Robot automatic feeding, welding and grinding detection system for large steel structure
CN108594766A (en) * 2017-12-31 2018-09-28 芜湖哈特机器人产业技术研究院有限公司 A kind of horizontal boring and milling intelligent machine tool control system and method

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Granted publication date: 20141231

Effective date of abandoning: 20160518