CN204269610U - A kind of intersection welding seam detects dolly automatically - Google Patents
A kind of intersection welding seam detects dolly automatically Download PDFInfo
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- CN204269610U CN204269610U CN201420679411.3U CN201420679411U CN204269610U CN 204269610 U CN204269610 U CN 204269610U CN 201420679411 U CN201420679411 U CN 201420679411U CN 204269610 U CN204269610 U CN 204269610U
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- 238000003466 welding Methods 0.000 title claims abstract description 69
- 239000000523 sample Substances 0.000 claims abstract description 91
- 239000000758 substrate Substances 0.000 claims abstract description 36
- 238000000034 method Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 11
- 230000008878 coupling Effects 0.000 claims abstract description 7
- 238000010168 coupling process Methods 0.000 claims abstract description 7
- 238000005859 coupling reaction Methods 0.000 claims abstract description 7
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 description 11
- 230000009471 action Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 4
- 239000012634 fragment Substances 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The utility model discloses a kind of intersection welding seam and automatically detect dolly, comprise the substrate that can walk in tube surface to be measured, substrate is connected with and is coupled with tube surface and pops one's head in the image of intersection welding seam to obtain the camera head of distance between the two for the probe that detects intersection welding seam and for catching, apparatus for adjusting position is provided with between probe and substrate, substrate is provided with control device, and probe, camera head and apparatus for adjusting position are all connected with control device; In testing process, control device receives and the coupling information of the range information obtained according to camera head, probe feedback, output drive signal to apparatus for adjusting position make its drive probe with adjust probe relative to intersection welding seam distance, pop one's head in and being coupled of tube surface; It detects for intersection welding seam and automaticity is high, accuracy is high.
Description
Technical field
The utility model relates to weld seam detection technical field, particularly relates to a kind of intersection welding seam and automatically detects dolly.
Background technology
When tube and tube connects, the junction between two pipes forms intersection.Due to the space curve that intersection is constantly change, groove, the space of same intersecting mouth also change thereupon, and therefore, the form of the intersection welding seam of intersecting mouth is also in change, and this just causes the welding difficulty of intersecting mouth comparatively large, not easily ensures weldquality.So, in the operation of reality, intersection welding seam is needed to detect, to ensure weldquality.And be part the most difficult in UT (Ultrasonic Testing) testing process for the detection carrying out flaw detection of pipe fitting intersection welding seam always.
Utility model content
The purpose of this utility model be propose a kind of for intersection welding seam detect and the intersection welding seam that automaticity is high, accuracy is high detects dolly automatically.
For reaching this object, the utility model by the following technical solutions:
A kind of intersection welding seam detects dolly automatically, comprise the substrate that can walk in tube surface to be measured, described substrate be connected with to be coupled with described tube surface and for the probe that detects intersection welding seam and for catch described probe and intersection welding seam image to obtain the camera head of distance between the two, apparatus for adjusting position is provided with between described probe and described substrate, described substrate is provided with control device, and described probe, described camera head and described apparatus for adjusting position are all connected with described control device;
In testing process, described control device receives and the coupling information of the range information obtained according to described camera head, described probe feedback, and output drive signal to described apparatus for adjusting position makes it drive described probe to be coupled with described tube surface relative to the distance of intersection welding seam, described probe to adjust described probe.
Wherein, described apparatus for adjusting position comprises the first governor motion for regulating the distance between described probe and intersection welding seam, and the second governor motion be coupled for regulating described probe and described tube surface be arranged on described first governor motion, described second governor motion connects described probe.
Wherein, described first governor motion comprises the screw mandrel pickup groove being positioned at described B.B.P, axis being parallel is provided with in the first screw mandrel of the vertical line of the central point of described probe and intersection welding seam in described screw mandrel pickup groove, one end of described first screw mandrel is connected with the outside being arranged at described screw mandrel pickup groove and the first lead screw motor be connected with described control device, described first screw mandrel is arranged with can with the described rotation of the first screw mandrel the first slide block of movement, described first slide block connect described second governor motion.
Wherein, described first slide block is connected with adaptor, described adaptor is connected with the U-shaped and opening fixed head towards described substrate, the first side being positioned at the bottom of described substrate of described fixed head is connected with described adaptor, the top of described substrate is provided with the second slide rail, the second side being positioned at the top of described substrate of described fixed head is connected with the 3rd slide block, and described 3rd slide block is arranged in described second slide rail, and described second governor motion is positioned at the base of described fixed head.
Wherein, described screw mandrel pickup groove one inside be provided with first slide rail parallel with described first screw mandrel, described adaptor is connected with the second slide block, and described second slide block button is located on described first slide rail, and can along described first slide rail slide.
Wherein, described second governor motion comprises the motor fixing frame on the base being arranged at described fixed head, described motor fixing frame is provided with the second lead screw motor be connected with described control device, the bottom of described second lead screw motor is connected with the second screw mandrel, described second screw mandrel is connected with and can rotates and the Four-slider of rectilinear motion with described second screw mandrel, described Four-slider is connected with the first web joint, described first web joint is connected with flat board, the arranged outside on the base of described fixed head has the 3rd slide rail, described flat board is connected with the 5th slide block, described 5th slide block is detained slidably and is located on described 3rd slide rail, described flat board connects described probe.
Wherein, described flat board is connected with micro-adjusting mechanism, described micro-adjusting mechanism comprises spring prepressing device and microswitch, described spring prepressing device comprises the body be arranged on described flat board, described body is connected with the 4th slide rail, the 6th slide block is provided with in described 4th slide rail, the bottom of described 6th slide block is connected with described probe, be connected with pre-compressed spring between the top of described 6th slide block and the bottom of described body, the top of described 6th slide block is provided with the limited post for avoiding described 6th slide block to drop out described 4th slide rail; Described microswitch is connected with described flat board by the second web joint, and the top of described 6th slide block is provided with contact, and described contact coordinates with described microswitch, and described microswitch is connected with described control device.
Wherein, described second governor motion is connected with linking arm, and described linking arm is connected with probe and described camera head.
Wherein, described linking arm is L-type structure, and the first limit of described linking arm is connected with the bottom of described 6th slide block, and the Second Edge of described linking arm is positioned at the opposite side of described first lead screw motor and is connected with described probe, described camera head.
Wherein, described camera head comprises camera, 3D camera or line-structured light; Described camera head is positioned at the top of described probe.
The beneficial effects of the utility model are:
Intersection welding seam of the present utility model detects dolly automatically, the image of probe and intersection welding seam is caught in real time to obtain distance between the two by camera head, and then in the process judging to drive all parts on it to walk at tube surface at substrate, whether probe remains on and can accurately detect in the distance range of intersection welding seam, and the range information of acquisition is fed back to control device in time, utilize the regulating device action of control device control position, and then adjustment probe positions, simultaneously, according to the characteristic of intersection itself, pop one's head in along in the process of intersection welding seam walking, the surface smoothness of each position is all variant, in order to adapt to this species diversity, ensure that probe is normal with being coupled of tube surface, control device utilizes the coupling information of probe feedback to control apparatus for adjusting position, its operating process automaticity is high, regulate more accurate, accuracy is high, and then guarantee accuracy of detection, for the problem of intersection welding seam detection difficult in effective solution prior art.
Accompanying drawing explanation
Fig. 1 is the perspective view one that intersection welding seam of the present utility model detects dolly automatically.
Fig. 2 is the perspective view two that intersection welding seam in Fig. 1 detects dolly automatically.
Fig. 3 is the partial enlargement structural representation of the first governor motion in Fig. 2.
Fig. 4 is the perspective view three that intersection welding seam in Fig. 1 detects dolly automatically.
Fig. 5 is that the intersection welding seam in Fig. 1 detects the perspective view of dolly when linking arm is removed automatically.
Fig. 6 is the partial enlargement structural representation of the second governor motion in Fig. 5.
Fig. 7 is that intersection welding seam of the present utility model detects dolly automatically at tube surface detected state schematic diagram.
In figure: 1-intersection welding seam detects dolly automatically; 2-is responsible for; 3-arm; 4-intersection welding seam;
100-substrate; 200-linking arm; 300-pops one's head in; 400-camera head;
10-screw mandrel pickup groove; 11-first lead screw motor; 12-first screw mandrel; 13-first slide block; 14-adaptor; 15-fixed head; 16-second slide block; 17-first slide rail; 18-second slide rail; 19-the 3rd slide block;
20-second lead screw motor; 21-motor fixing frame; 22-first web joint; 23-Four-slider; 24-second screw mandrel; 25-is dull and stereotyped; 26-the 3rd slide rail; 27-the 5th slide block;
30-second web joint; 31-microswitch; 32-contact; 33-the 6th slide block; 34-limited post; 35-the 4th slide rail; 36-body; 37-pre-compressed spring.
Embodiment
The technical solution of the utility model is further illustrated by embodiment below in conjunction with accompanying drawing.
As shown in Fig. 1 to 7, a kind of intersection welding seam detects dolly automatically, comprise the substrate 100 that can walk in tube surface, substrate 100 be connected with to be coupled with tube surface and for the probe 300 that detects intersection welding seam and for catch probe 300 and intersection welding seam image to obtain the camera head 400 of distance between the two, apparatus for adjusting position is provided with between probe 300 and substrate 100, substrate 100 is provided with control device, and probe 300, camera head 400 and apparatus for adjusting position are all connected with control device;
Control device receives and the coupling informations of the range information obtained according to camera head 400, probe 300 feedback, and control position regulating device drives probe 300 to adjust probe 300 relative to the distance of intersection welding seam, probe 300 and being coupled of tube surface.
It should be noted that, in the present embodiment, supervisor 2 is connected with arm 3, intersection connecting line is formed in junction, also be intersection welding seam 4, intersection welding seam detects dolly 1 automatically in the walking of the surface of supervisor 2, and probe 300 is walked, to detect the welding situation of intersection welding seam 4 round intersection welding seam 4.
Intersection welding seam of the present utility model detects dolly automatically, the image of probe 300 and intersection welding seam is caught in real time to obtain distance between the two by camera head 400, and then in the process judging to drive all parts on it to walk at tube surface at substrate 100, whether probe 300 remains on and can accurately detect in the distance range of intersection welding seam, and the range information of acquisition is fed back to control device in time, utilize the regulating device action of control device control position, and then the position of adjustment probe 300, simultaneously, according to the characteristic of intersection itself, probe 300 is along in the process of intersection welding seam walking, the surface smoothness of each position is all variant, in order to adapt to this species diversity, ensure that probe 300 is normal with being coupled of tube surface, the coupling information that control device utilizes probe 300 to feed back controls apparatus for adjusting position, its operating process automaticity is high, regulate more accurate, accuracy is high, and then guarantee accuracy of detection, for the problem of intersection welding seam detection difficult in effective solution prior art.
In the present embodiment, the process that Image Acquisition distance taken by camera head 400 adopts known measurement of the prior art and trigonometric function conversion mode to obtain, and thus repeats no more herein.
In the present embodiment, apparatus for adjusting position comprises the first governor motion for regulating the distance between probe 300 and intersection welding seam, and the second governor motion be coupled for regulating probe 300 and tube surface be arranged on the first governor motion, the second governor motion connects probe 300.It utilizes the first governor motion to drive the second governor motion first to realize the adjustment of distance on the whole, recycling the second governor motion drives probe 300 to carry out the adjustment of short transverse, namely the second governor motion mainly regulates the laminating tightness of probe 300 and tube surface, also be degree of coupling, and the first governor motion mainly regulates the vertical range being in tube surface between probe 300 and intersection welding seam, from the adjustment of both direction, and then the degree of registration of probe 300 and intersection welding seam can be ensured well, and then ensure accuracy of detection.
Particularly, first governor motion comprises the screw mandrel pickup groove 10 be positioned at bottom substrate 100, axis being parallel is provided with in the first screw mandrel 12 of the vertical line of the central point of probe 300 and intersection welding seam in screw mandrel pickup groove 10, one end of first screw mandrel 12 is connected with the outside being arranged at screw mandrel pickup groove 10 and the first lead screw motor 11 be connected with control device, first screw mandrel 12 is arranged with can the first slide block 13, the first slide block 13 of movement connects the second governor motion with the rotation of the first screw mandrel 12.Especially, screw mandrel pickup groove 10 is positioned at the bottom of substrate 100, and thus the first screw mandrel 12 and the drive disk assembly that is connected are positioned at the bottom of substrate 100, so just can save lateral space well, and then reduces the length and width size automatically detecting dolly, reduces volume.And, when real work, camera head 400 catches in real time the image of probe 300 and intersection welding seam to obtain vertical range information between the two, range information is fed back to control device, according to range information, control device judges that whether the position of probe 300 is accurate, then the first lead screw motor 11 action is controlled again according to judged result, and then drive the first screw mandrel 12 to rotate by the first lead screw motor 11, first screw mandrel 12 drives the first slide block 13 along the axial linear movement of the first screw mandrel 12, and then probe 300 rectilinear motion driving the second governor motion and be connected with the second governor motion, realize the position adjustment of probe 300.
Further, first slide block 13 is connected with adaptor 14, adaptor 14 is connected with the U-shaped and opening fixed head 15 towards substrate 100, the first side being positioned at the bottom of substrate 100 of fixed head 15 is connected with adaptor 14, the top of substrate 100 is provided with the second slide rail 18, the second side being positioned at the top of substrate 100 of fixed head 15 is connected with the 3rd slide block the 19, three slide block 19 and is arranged in the second slide rail 18, and the second governor motion is positioned at the base of fixed head 15.With further, screw mandrel pickup groove 10 one inside be provided with first slide rail 17 parallel with the first screw mandrel 12, adaptor 14 is connected with the second slide block 16, second slide block 16 button and is located on the first slide rail 17, and can slide along the first slide rail 17.
Because the second governor motion is positioned at the base of fixed head 15, thus probe 300 is also positioned at the base of fixed head 15, also namely probe 300 is positioned at all sides of substrate 100, therefore, need the rectilinear motion of the first slide block 13 to pass to probe 300, when making probe 300 also carry out corresponding rectilinear motion, utilize the cooperation of adaptor 14 and U-shaped fixed head 15, realize the change in direction, its structure is simple, realizes easily.And, namely fixed head 15 relies on upper and lower two groups of guide rail structures: the 3rd slide block 19 coordinates with the two-way support of the first slide rail 17 with the second slide rail 18 and the second slide block 16, make the unsettled setting in the base of fixed head 15, stressed concentrating can be avoided, ensure that motion is smooth and easy.
Particularly, second governor motion comprises the motor fixing frame 21 on the base being arranged at fixed head 15, motor fixing frame 21 is provided with the second lead screw motor 20 be connected with control device, the bottom of the second lead screw motor 20 is connected with the second screw mandrel 24, second screw mandrel 24 is connected with and can rotates with the second screw mandrel 24 and the Four-slider 23 of rectilinear motion, Four-slider 23 is connected with the first web joint 22, first web joint 22 is connected with dull and stereotyped 25, the arranged outside on the base of fixed head 15 has the 3rd slide rail 26, dull and stereotyped 25 are connected with the 5th slide block 27, 5th slide block 27 is detained slidably and is located on the 3rd slide rail 26, dull and stereotyped 25 connect probe 300.During initial installation, probe 300 does not contact tube surface, now, control device controls the second lead screw motor 20 action, and then drives the second screw mandrel 24 to rotate, second screw mandrel 24 drives Four-slider 23 to carry out rectilinear motion downwards in the height direction, and then driving the first web joint 22, dull and stereotyped 25 actions, the final probe that drives moves downward, until when probe 300 is close to tube surface, second lead screw motor 20 stops action, also namely achieves coarse adjustment.
Preferably, in the present embodiment, after the coarse adjustment carrying out above-mentioned short transverse, because the flatness of tube surface is different, the moment is needed to finely tune, therefore, dull and stereotyped 25 are connected with micro-adjusting mechanism, micro-adjusting mechanism comprises spring prepressing device and microswitch 31, spring prepressing device comprises the body 36 be arranged on dull and stereotyped 25, body 36 is connected with the 4th slide rail 35, the 6th slide block 33 is provided with in 4th slide rail 35, the bottom of the 6th slide block 33 is connected with probe 300, pre-compressed spring 37 is connected with between the top of the 6th slide block 33 and the bottom of body 36, the top of the 6th slide block 33 is provided with the limited post 34 for avoiding the 6th slide block 33 to drop out the 4th slide rail 35, microswitch 31 is connected with dull and stereotyped 25 by the second web joint 30, and the top of the 6th slide block 33 is provided with contact 32, and contact 32 coordinates with microswitch 31, and microswitch 31 is connected with control device.
When reality detects, through the 3rd slide rail 26 and the drive lower slider of the 5th slide block 27 matched at flat board 25, and then drive probe 300 to move to and be coupled with tube surface, probe 300 is reached and being coupled in advance of tube surface at initial position, now, pipe fitting plays the effect of support to probe 300, this acting force upwards supported will give the anchorage force of dull and stereotyped 25 together with the second screw mandrel 24 present position, the 6th slide block 33 is driven to be in an initial position in the 4th slide rail 35, that is, pre-compressed spring 37 is in a settling position, when trolley travelling is to another location, if the flatness of the tube surface of another position is different from initial position, then pop one's head in and 300 can drive the 6th slide block 33 in the 4th slide rail 35 upwards or slide downward, and then make the top of pre-compressed spring 37 upwards be tightened up or be relaxed downwards, simultaneously, contact 32 follows the upper shell fragment that the 6th slide block 33 upwards touches microswitch 31, or touch the lower shell fragment of microswitch 31 downwards, after the upper shell fragment of microswitch 31 or lower shell fragment are touched, microswitch will feed back signal to control device, control device controls the second lead screw motor 20 and again carries out action, drive the second screw mandrel 24 action, realize probe 300 to adjust with being coupled of tube surface.
Therefore, utilize the auxiliary detection of microswitch 31, probe 300 can be made to avoid damaging, the accuracy in detection of probe 300 can be controlled again further.
In the present embodiment, in order to avoid popping one's head in, 300 and fixed head 15 and the second governor motion on it are in the same side of probe 300 and cause volume to increase, preferably, the second governor motion is connected with linking arm 200, and linking arm 200 is connected with probe 300 and camera head 400.Further, linking arm 200 is L-type structure, and the first limit of linking arm 200 is connected with the bottom of the 6th slide block 33, and the Second Edge of linking arm 200 is positioned at the opposite side of the first lead screw motor 11 and is connected with probe 300, camera head 400.
Preferably, camera head 400 comprises camera, 3D camera or line-structured light; Camera head 400 is positioned at the top of probe 300.
In sum, this intersection welding seam detects dolly automatically can not only adapt to intersection welding seam detection, and its volume is little, and automaticity is high, detects accurately, solves in prior art the problem that cannot adapt to intersection welding seam and detect well.
Below know-why of the present utility model is described in conjunction with specific embodiments.These describe just in order to explain principle of the present utility model, and can not be interpreted as the restriction to the utility model protection domain by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other embodiment of the present utility model, and these modes all will fall within protection domain of the present utility model.
Claims (10)
1. an intersection welding seam detects dolly automatically, it is characterized in that, comprise the substrate (100) that can walk in tube surface to be measured, described substrate (100) is connected with and is coupled with described tube surface and probe (300) for detecting intersection welding seam, and for catch described probe (300) and intersection welding seam image to obtain the camera head (400) of distance between the two, apparatus for adjusting position is provided with between described probe (300) and described substrate (100), (100) are provided with control device with described substrate, described probe (300), described camera head (400), and described apparatus for adjusting position is all connected with described control device,
In testing process, described control device receives and the coupling information that feeds back of the range information obtained according to described camera head (400), described probe (300), and output drive signal to described apparatus for adjusting position makes it drive described probe (300) to be coupled with described tube surface relative to the distance of intersection welding seam, described probe (300) to adjust described probe (300).
2. intersection welding seam according to claim 1 detects dolly automatically, it is characterized in that, described apparatus for adjusting position comprises the first governor motion for regulating the distance between described probe (300) and intersection welding seam, and the second governor motion be coupled for regulating described probe (300) and described tube surface be arranged on described first governor motion, described second governor motion connects described probe (300).
3. intersection welding seam according to claim 2 detects dolly automatically, it is characterized in that, described first governor motion comprises the screw mandrel pickup groove (10) being positioned at described substrate (100) bottom, axis being parallel is provided with in first screw mandrel (12) of the vertical line of the central point of described probe (300) and intersection welding seam in described screw mandrel pickup groove (10), one end of described first screw mandrel (12) is connected with the outside being arranged at described screw mandrel pickup groove (10) and the first lead screw motor (11) be connected with described control device, described first screw mandrel (12) is arranged with can with the described rotation of the first screw mandrel (12) first slide block (13) of movement, described first slide block (13) connects described second governor motion.
4. intersection welding seam according to claim 3 detects dolly automatically, it is characterized in that, described first slide block (13) is connected with adaptor (14), described adaptor (14) is connected with the U-shaped and opening fixed head (15) towards described substrate (100), the first side being positioned at the bottom of described substrate (100) of described fixed head (15) is connected with described adaptor (14), the top of described substrate (100) is provided with the second slide rail (18), the second side being positioned at the top of described substrate (100) of described fixed head (15) is connected with the 3rd slide block (19), described 3rd slide block (19) is arranged in described second slide rail (18), described second governor motion is positioned at the base of described fixed head (15).
5. intersection welding seam according to claim 4 detects dolly automatically, it is characterized in that, described screw mandrel pickup groove (10) one inside be provided with first slide rail (17) parallel with described first screw mandrel (12), described adaptor (14) is connected with the second slide block (16), described second slide block (16) button is located on described first slide rail (17), and can slide along described first slide rail (17).
6. intersection welding seam according to claim 4 detects dolly automatically, it is characterized in that, described second governor motion comprises the motor fixing frame (21) on the base being arranged at described fixed head (15), described motor fixing frame (21) is provided with the second lead screw motor (20) be connected with described control device, the bottom of described second lead screw motor (20) is connected with the second screw mandrel (24), described second screw mandrel (24) is connected with can be rotated and the Four-slider (23) of rectilinear motion with described second screw mandrel (24), described Four-slider (23) is connected with the first web joint (22), described first web joint (22) is connected with flat board (25), the arranged outside on the base of described fixed head (15) has the 3rd slide rail (26), described flat board (25) is connected with the 5th slide block (27), described 5th slide block (27) is detained slidably and is located on described 3rd slide rail (26), described flat board (25) connects described probe (300).
7. intersection welding seam according to claim 6 detects dolly automatically, it is characterized in that, described flat board (25) is connected with micro-adjusting mechanism, described micro-adjusting mechanism comprises spring prepressing device and microswitch (31), described spring prepressing device comprises the body (36) be arranged on described flat board (25), described body (36) is connected with the 4th slide rail (35), the 6th slide block (33) is provided with in described 4th slide rail (35), the bottom of described 6th slide block (33) is connected with described probe (300), pre-compressed spring (37) is connected with between the top of described 6th slide block (33) and the bottom of described body (36), the top of described 6th slide block (33) is provided with the limited post (34) for avoiding described 6th slide block (33) to drop out described 4th slide rail (35), described microswitch (31) is connected with described flat board (25) by the second web joint (30), the top of described 6th slide block (33) is provided with contact (32), described contact (32) coordinates with described microswitch (31), and described microswitch (31) is connected with described control device.
8. intersection welding seam according to claim 7 detects dolly automatically, it is characterized in that, described second governor motion is connected with linking arm (200), and described linking arm (200) is connected with probe (300) and described camera head (400).
9. intersection welding seam according to claim 8 detects dolly automatically, it is characterized in that, described linking arm (200) is L-type structure, first limit of described linking arm (200) is connected with the bottom of described 6th slide block (33), and the Second Edge of described linking arm (200) is positioned at the opposite side of described first lead screw motor (11) and is connected with described probe (300), described camera head (400).
10. the intersection welding seam according to any one of claim 1 to 9 detects dolly automatically, it is characterized in that, described camera head (400) comprises camera, 3D camera or line-structured light; Described camera head (400) is positioned at the top of described probe (300).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420679411.3U CN204269610U (en) | 2014-11-14 | 2014-11-14 | A kind of intersection welding seam detects dolly automatically |
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| CN201420679411.3U CN204269610U (en) | 2014-11-14 | 2014-11-14 | A kind of intersection welding seam detects dolly automatically |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105699496A (en) * | 2016-03-03 | 2016-06-22 | 汪月银 | Collecting vehicle for detecting small-angle intersecting-line weld seam |
| CN109387569A (en) * | 2017-08-11 | 2019-02-26 | 上汽通用五菱汽车股份有限公司 | A kind of quality of welding spot automatic checkout system |
-
2014
- 2014-11-14 CN CN201420679411.3U patent/CN204269610U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105699496A (en) * | 2016-03-03 | 2016-06-22 | 汪月银 | Collecting vehicle for detecting small-angle intersecting-line weld seam |
| CN105699496B (en) * | 2016-03-03 | 2018-10-09 | 汪月银 | A kind of collecting vehicle of low-angle intersection welding seam detection |
| CN109387569A (en) * | 2017-08-11 | 2019-02-26 | 上汽通用五菱汽车股份有限公司 | A kind of quality of welding spot automatic checkout system |
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