CN204893261U - Five welding manipulators - Google Patents
Five welding manipulators Download PDFInfo
- Publication number
- CN204893261U CN204893261U CN201520593686.XU CN201520593686U CN204893261U CN 204893261 U CN204893261 U CN 204893261U CN 201520593686 U CN201520593686 U CN 201520593686U CN 204893261 U CN204893261 U CN 204893261U
- Authority
- CN
- China
- Prior art keywords
- axis
- plate
- fixed
- translation mechanism
- servomotor
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a five welding manipulators, including organism fixing base, electric cabinet, electric welder rifle head, X axle translation mechanism, Y axle translation mechanism, Z axle translation mechanism, horizontal rotation axle mechanism, vertical rotation axis mechanism, the X axle translation mechanism install on the organism fixing base, the connection of Z axle translation mechanism is fixed on X axle translation mechanism, and the connection of Y axle translation mechanism is fixed on Z axle translation mechanism, horizontal rotation axle mechanism connects to be fixed on Y axle translation mechanism, and vertical rotation axis mechanism connects to be fixed in horizontal rotation axle mechanism, electricity welder rifle head is fixed in through the fixed chuck of welder in the vertical rotation axis mechanism. The utility model discloses a five welding manipulators can the work of effectual replacement manpower, improves production efficiency, and reduction in production cost reduces the casualties accident, avoids personnel to be radiated by electric arc.
Description
Technical field
The utility model relates to automatic welding device technical field, is specifically related to a kind of five axle welding manipulators.
Background technology
Welding manipulator is the one of automation equipment, and wherein arm is the basic element of character in robot manipulator, can carry out rotation and shuttle motion, be equipped with fixing welding gun at the end of welding manipulator, can realize the function of automatic welding; Welding manipulator working stability; welding quality can be improved; ensure its uniformity, and can raise labour productivity, one day can 24 hours continuous seepage; improve workman's working condition; can work under hostile environment, reduce the requirement to operative's technology, shorten the preparatory period that product changes the shape replacement; reduce corresponding equipment investment, the Automation of Welding of be pilot can be realized; But still there is complicated structure in welding manipulator of the prior art, heavier, rigidity is good not, cost is higher, flexibility is strong not, the profile defect such as unsightly.
Summary of the invention
For the above-mentioned problems in the prior art, the utility model discloses a kind of five axle welding manipulators, effectively can replace manual work, enhance productivity, reduce production cost, reduce personnel casualty accidents, avoid personnel by arc radiation.
The technical solution of the utility model is as follows:
A kind of five axle welding manipulators, comprise body holder, electric cabinet, electric torch rifle head, X-axis translation mechanism, Y-axis translation mechanism, Z axis translation mechanism, horizontally rotate axis mechanism, vertical rotating shaft mechanism; Described X-axis translation mechanism is arranged on described body holder, Z axis translation mechanism is fastened on X-axis translation mechanism, Y-axis translation mechanism is fastened on Z axis translation mechanism, the described axis mechanism that horizontally rotates is fastened on Y-axis translation mechanism, and vertical rotating shaft mechanism is fastened on and horizontally rotates on axis mechanism; Described electric torch rifle head is fixed on described vertical rotating shaft mechanism by welding gun fixed chuck;
Described X-axis translation mechanism by the first driven by servomotor, and is in transmission connection by the first synchronous belt mechanism and described Z axis translation mechanism;
Described Z axis translation mechanism by the second driven by servomotor, and is in transmission connection by the first screw body and described Y-axis translation mechanism;
Described Y-axis translation mechanism by the 3rd driven by servomotor, and is connected with described feathering axis mechanism driving by the second synchronous belt mechanism;
The described axis mechanism that horizontally rotates by the 4th driven by servomotor, and is in transmission connection by the 3rd synchronous belt mechanism and described vertical rotating shaft mechanism;
Described vertical rotating shaft mechanism is by the 5th driven by servomotor, and described 5th servomotor is in transmission connection by the second screw body and the 4th synchronous belt mechanism and welding gun fixed chuck.
As preferably, described X-axis translation mechanism is installed on first mechanism's plate by the first railroad, first mechanism's plate and body holder are fixed, described first railroad comprises and is arranged on the X-axis slide rail on described first mechanism's plate, the first slide block be arranged on X-axis slide rail, and described X-axis translation mechanism is installed on described first slide block by X-axis slider plate; Described X-axis slider plate and described first synchronous belt mechanism are in transmission connection.
Further, described first synchronous belt mechanism comprises first driving wheel co-axially fixed with the output shaft of the first servomotor, the first driven pulley be installed on described first mechanism's plate, be connected the first Timing Belt of described first driving wheel and the first driven pulley, and described X-axis slider plate is fixed on described first Timing Belt.
As preferably, Z axis translation mechanism is arranged on second mechanism's plate by the second railroad, and described second mechanism's plate is fixedly connected with described X-axis slider plate; Described second railroad comprises and is arranged on the Z axis slide rail on described second mechanism's plate, the second slide block be arranged on Z axis slide rail, and described Z axis translation mechanism is installed on described second slide block by Z axis slider plate; Described Z axis slider plate and described first screw body are in transmission connection.
Further, the second servomotor is fixed on described second mechanism's plate top; Described first screw body comprises the first screw mandrel, first feed screw nut of being fixed in described Z axis slider plate, the clutch shaft bearing seat being separately fixed at second mechanism's plate two ends and the second bearing block; The output shaft of the second servomotor is connected with the first screw mandrel by the first shaft coupling.
As preferably, Y-axis translation mechanism is arranged on the 3rd mechanism's plate by the 3rd railroad, and described 3rd mechanism's plate is fixedly connected with described Z axis slider plate; Described 3rd railroad comprises the Y-axis slide rail be arranged on described 3rd mechanism's plate, the 3rd slide block be arranged on Y-axis slide rail, and described Y-axis translation mechanism is installed on described 3rd slide block by Y-axis slider plate; Described Y-axis slider plate and described second synchronous belt mechanism are in transmission connection.
Further, described second synchronous belt mechanism comprises with co-axially fixed second driving wheel of the output shaft of the 3rd servomotor, the second driven pulley be installed on described 3rd mechanism's plate, is connected the second Timing Belt of described second driving wheel and the second driven pulley, and described Y-axis slider plate is fixed on described second Timing Belt.
As preferably, horizontally rotate axis mechanism and be fixedly connected with described Y-axis slider plate by connecting plate, the 4th servomotor is fixed on described connecting plate; The output shaft of described 4th servomotor is connected with the 3rd driving wheel of the 3rd synchronous belt mechanism, and the 3rd driven pulley is arranged in the bearing on described connecting plate; Described 3rd driving wheel, the 3rd driven pulley are connected by the 3rd Timing Belt.
As preferably, vertical rotating shaft mechanism is fixed on described 3rd driven pulley by the 4th mechanism's plate; 5th servomotor is fixed on described 4th mechanism's plate, and the output shaft of the 5th servomotor is connected with the second screw mandrel of the second screw body by the second shaft coupling, and described second screw body and the 4th synchronous belt mechanism are in transmission connection.
Further, described second screw mandrel one end and the second shaft coupling are fixed, coaxially be connected with the 4th driving wheel of described 4th synchronous belt mechanism by the second feed screw nut in the bearing that the other end is fixed on the 4th mechanism's plate, welding gun fixed chuck is fixed in the 4th driven pulley rotating shaft of the 4th synchronous belt mechanism, and described 4th driving wheel, the 4th driven pulley are connected by the 4th Timing Belt.
Disclosed in the utility model, five axle welding manipulators realize the conversion of rectilinear motion, circular motion by screw body, synchronous belt mechanism, achieve the interlock of X, Y, the translation of Z-direction and the rotation of horizontal direction, the rotation of vertical direction, provide a kind of five axle welding manipulators, effectively can replace manual work, enhance productivity, reduce production cost, reduce personnel casualty accidents, avoid personnel by arc radiation.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation in one embodiment;
Fig. 2 is the plan view at Fig. 1 mono-visual angle;
Fig. 3 is that the A-A of Fig. 2 is to sectional view;
Fig. 4 is the upward view of Fig. 2;
Fig. 5 is the top view of Fig. 2.
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is elaborated.
As shown in Figures 1 to 5, five axle welding manipulators disclosed in the utility model comprise body holder 1, electric cabinet 2, electric torch rifle head 8, X-axis translation mechanism 3, Y-axis translation mechanism 5, Z axis translation mechanism 4, horizontally rotate axis mechanism 6, vertical rotating shaft mechanism 7; Described X-axis translation mechanism 3 is arranged on described body holder 1, Z axis translation mechanism 4 is fastened on X-axis translation mechanism 3, Y-axis translation mechanism 5 is fastened on Z axis translation mechanism 4, the described axis mechanism 6 that horizontally rotates is fastened on Y-axis translation mechanism 5, and vertical rotating shaft mechanism 7 is fastened on and horizontally rotates on axis mechanism 6; Described electric torch rifle head 8 is fixed on described vertical rotating shaft mechanism 7 by welding gun fixed chuck 41, thus realizes X, Y, the translation of Z-direction and level to rotation, vertically to rotation;
Described X-axis translation mechanism 3 is driven by the first servomotor 9, and is in transmission connection by the first synchronous belt mechanism and described Z axis translation mechanism 4;
Described Z axis translation mechanism 4 is driven by the second servomotor 15, and is in transmission connection by the first screw body and described Y-axis translation mechanism 5;
Described Y-axis translation mechanism 5 is driven by the 3rd servomotor 23, and is in transmission connection by the second synchronous belt mechanism and the described axis mechanism 6 that horizontally rotates;
The described axis mechanism 6 that horizontally rotates is driven by the 4th servomotor 30, and is in transmission connection by the 3rd synchronous belt mechanism and described vertical rotating shaft mechanism 7;
Described vertical rotating shaft mechanism 7 is driven by the 5th servomotor 34, and described 5th servomotor 34 is in transmission connection by the second screw body and the 4th synchronous belt mechanism and welding gun fixed chuck 41;
By above-mentioned driving and transmission process, the translation of X, Y, Z-direction and the rotation of horizontal direction, the welding gun fixed chuck 41 that is rotated through of vertical direction are passed to electric torch rifle head, the track of adjustment welding, direction.
In a preferred embodiment, described X-axis translation mechanism 3 is installed on first mechanism's plate by the first railroad, first mechanism's plate and body holder 1 are fixed, described first railroad comprises and is arranged on the X-axis slide rail 13 on described first mechanism's plate, the first slide block be arranged on X-axis slide rail 13, and described X-axis translation mechanism is installed on described first slide block by X-axis slider plate 14; Described X-axis slider plate 14 is in transmission connection with described first synchronous belt mechanism; Described first synchronous belt mechanism comprises first driving wheel 10 co-axially fixed with the output shaft of the first servomotor 9, the first driven pulley 12 be installed on described first mechanism's plate, be connected the first Timing Belt 11 of described first driving wheel 10 and the first driven pulley 12, described X-axis slider plate 14 is fixed on described first Timing Belt 11, can drag X-axis slider plate 14 move along X-axis by the first Timing Belt 11;
Z axis translation mechanism 4 is arranged on second mechanism's plate by the second railroad, and described second mechanism's plate is fixedly connected with described X-axis slider plate 14, makes Z axis translation mechanism 4 can follow X-axis slider plate 14 and moves along X-axis; Described second railroad comprises and is arranged on the Z axis slide rail 21 on described second mechanism's plate, the second slide block be arranged on Z axis slide rail 21, and described Z axis translation mechanism is installed on described second slide block by Z axis slider plate 22; Described Z axis slider plate 22 is in transmission connection with described first screw body; Second servomotor 15 is fixed on described second mechanism's plate top; Described first screw body comprises the first screw mandrel 18, first feed screw nut 20 of being fixed in described Z axis slider plate 22, the clutch shaft bearing seat 17 being separately fixed at second mechanism's plate two ends and the second bearing block 19; The output shaft of the second servomotor is connected with the first screw mandrel 18 by the first shaft coupling 16, thus makes the first screw mandrel 18 that Z axis slider plate 22 can be driven along Z axis translation;
Y-axis translation mechanism 5 is arranged on the 3rd mechanism's plate by the 3rd railroad, and described 3rd mechanism's plate is fixedly connected with described Z axis slider plate 22, thus drives Y-axis translation mechanism along Z axis translation; Described 3rd railroad comprises the Y-axis slide rail 26 be arranged on described 3rd mechanism's plate, the 3rd slide block be arranged on Y-axis slide rail 26, and described Y-axis translation mechanism 5 is installed on described 3rd slide block by Y-axis slider plate 27; Described Y-axis slider plate 27 is in transmission connection with described second synchronous belt mechanism; Described second synchronous belt mechanism comprises second driving wheel 24 co-axially fixed with the output shaft of the 3rd servomotor 23, the second driven pulley 28 be installed on described 3rd mechanism's plate, be connected the second Timing Belt 25 of described second driving wheel 24 and the second driven pulley 28, described Y-axis slider plate 27 is fixed on described second Timing Belt 25, makes it can with the second Timing Belt 25 along Y-axis translation;
Horizontally rotate axis mechanism 6 to be fixedly connected with described Y-axis slider plate 27 by connecting plate 29, make it can with Y-axis slider plate 27 along Y-axis translation; 4th servomotor 30 is fixed on described connecting plate 29; The output shaft of described 4th servomotor 30 is connected with the 3rd driving wheel 31 of the 3rd synchronous belt mechanism, and the 3rd driven pulley 33 is arranged in the bearing on described connecting plate 29; Described 3rd driving wheel 31, the 3rd driven pulley 33 are connected by the 3rd Timing Belt 32; Vertical rotating shaft mechanism 7 is fixed on described 3rd driven pulley 33 by the 4th mechanism's plate, makes it can rotate in the horizontal direction with the 3rd driven pulley 33;
5th servomotor 34 is fixed on described 4th mechanism's plate, and the output shaft of the 5th servomotor 34 is connected with the second screw mandrel 36 of the second screw body by the second shaft coupling 35, and described second screw body and the 4th synchronous belt mechanism are in transmission connection, described second screw mandrel 36 one end and the second shaft coupling 35 are fixed, coaxially be connected with the 4th driving wheel 38 of described 4th synchronous belt mechanism by the second feed screw nut 37 in the bearing that the other end is fixed on the 4th mechanism's plate, welding gun fixed chuck is fixed in the rotating shaft of the 4th driven pulley 40 of the 4th synchronous belt mechanism, described 4th driving wheel 38, 4th driven pulley 40 is connected by the 4th Timing Belt 39, thus make the second screw mandrel 36 will promote the 4th synchronous belt mechanism motion, 4th synchronous belt mechanism drives again its 4th driven pulley 40 vertically to rotate, thus drive welding gun fixed chuck vertically to rotate,
By above-mentioned transmission process, achieve the interlock of X, Y, the translation of Z-direction and the rotation of horizontal direction, the rotation of vertical direction, provide a kind of five axle welding manipulators, effectively can replace manual work, enhance productivity, reduce production cost, reduce personnel casualty accidents, avoid personnel by arc radiation.
Above-described embodiment of the present invention, does not form limiting the scope of the present invention.Any amendment done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within claims of the present invention.
Claims (10)
1. five axle welding manipulators, is characterized in that: comprise body holder, electric cabinet, electric torch rifle head, X-axis translation mechanism, Y-axis translation mechanism, Z axis translation mechanism, horizontally rotate axis mechanism, vertical rotating shaft mechanism; Described X-axis translation mechanism is arranged on described body holder, Z axis translation mechanism is fastened on X-axis translation mechanism, Y-axis translation mechanism is fastened on Z axis translation mechanism, the described axis mechanism that horizontally rotates is fastened on Y-axis translation mechanism, and vertical rotating shaft mechanism is fastened on and horizontally rotates on axis mechanism; Described electric torch rifle head is fixed on described vertical rotating shaft mechanism by welding gun fixed chuck;
Described X-axis translation mechanism by the first driven by servomotor, and is in transmission connection by the first synchronous belt mechanism and described Z axis translation mechanism;
Described Z axis translation mechanism by the second driven by servomotor, and is in transmission connection by the first screw body and described Y-axis translation mechanism;
Described Y-axis translation mechanism by the 3rd driven by servomotor, and is connected with described feathering axis mechanism driving by the second synchronous belt mechanism;
The described axis mechanism that horizontally rotates by the 4th driven by servomotor, and is in transmission connection by the 3rd synchronous belt mechanism and described vertical rotating shaft mechanism;
Described vertical rotating shaft mechanism is by the 5th driven by servomotor, and described 5th servomotor is in transmission connection by the second screw body and the 4th synchronous belt mechanism and welding gun fixed chuck.
2. five axle welding manipulators as claimed in claim 1, it is characterized in that: described X-axis translation mechanism is installed on first mechanism's plate by the first railroad, first mechanism's plate and body holder are fixed, described first railroad comprises and is arranged on the X-axis slide rail on described first mechanism's plate, the first slide block be arranged on X-axis slide rail, and described X-axis translation mechanism is installed on described first slide block by X-axis slider plate; Described X-axis slider plate and described first synchronous belt mechanism are in transmission connection.
3. five axle welding manipulators as claimed in claim 2, it is characterized in that: described first synchronous belt mechanism comprises first driving wheel co-axially fixed with the output shaft of the first servomotor, the first driven pulley be installed on described first mechanism's plate, be connected the first Timing Belt of described first driving wheel and the first driven pulley, and described X-axis slider plate is fixed on described first Timing Belt.
4. five axle welding manipulators as claimed in claim 2, is characterized in that: Z axis translation mechanism is arranged on second mechanism's plate by the second railroad, and described second mechanism's plate is fixedly connected with described X-axis slider plate; Described second railroad comprises and is arranged on the Z axis slide rail on described second mechanism's plate, the second slide block be arranged on Z axis slide rail, and described Z axis translation mechanism is installed on described second slide block by Z axis slider plate; Described Z axis slider plate and described first screw body are in transmission connection.
5. five axle welding manipulators as claimed in claim 4, is characterized in that: the second servomotor is fixed on described second mechanism's plate top; Described first screw body comprises the first screw mandrel, first feed screw nut of being fixed in described Z axis slider plate, the clutch shaft bearing seat being separately fixed at second mechanism's plate two ends and the second bearing block; The output shaft of the second servomotor is connected with the first screw mandrel by the first shaft coupling.
6. five axle welding manipulators as claimed in claim 4, is characterized in that: Y-axis translation mechanism is arranged on the 3rd mechanism's plate by the 3rd railroad, and described 3rd mechanism's plate is fixedly connected with described Z axis slider plate; Described 3rd railroad comprises the Y-axis slide rail be arranged on described 3rd mechanism's plate, the 3rd slide block be arranged on Y-axis slide rail, and described Y-axis translation mechanism is installed on described 3rd slide block by Y-axis slider plate; Described Y-axis slider plate and described second synchronous belt mechanism are in transmission connection.
7. five axle welding manipulators as claimed in claim 6, it is characterized in that: described second synchronous belt mechanism comprises with co-axially fixed second driving wheel of the output shaft of the 3rd servomotor, the second driven pulley be installed on described 3rd mechanism's plate, is connected the second Timing Belt of described second driving wheel and the second driven pulley, and described Y-axis slider plate is fixed on described second Timing Belt.
8. five axle welding manipulators as claimed in claim 6, is characterized in that: horizontally rotate axis mechanism and be fixedly connected with described Y-axis slider plate by connecting plate, the 4th servomotor is fixed on described connecting plate; The output shaft of described 4th servomotor is connected with the 3rd driving wheel of the 3rd synchronous belt mechanism, and the 3rd driven pulley is arranged in the bearing on described connecting plate; Described 3rd driving wheel, the 3rd driven pulley are connected by the 3rd Timing Belt.
9. five axle welding manipulators as claimed in claim 8, is characterized in that: vertically rotating shaft mechanism is fixed on described 3rd driven pulley by the 4th mechanism's plate; 5th servomotor is fixed on described 4th mechanism's plate, and the output shaft of the 5th servomotor is connected with the second screw mandrel of the second screw body by the second shaft coupling, and described second screw body and the 4th synchronous belt mechanism are in transmission connection.
10. five axle welding manipulators as claimed in claim 9, it is characterized in that: described second screw mandrel one end and the second shaft coupling are fixed, coaxially be connected with the 4th driving wheel of described 4th synchronous belt mechanism by the second feed screw nut in the bearing that the other end is fixed on the 4th mechanism's plate, welding gun fixed chuck is fixed in the 4th driven pulley rotating shaft of the 4th synchronous belt mechanism, and described 4th driving wheel, the 4th driven pulley are connected by the 4th Timing Belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520593686.XU CN204893261U (en) | 2015-08-10 | 2015-08-10 | Five welding manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520593686.XU CN204893261U (en) | 2015-08-10 | 2015-08-10 | Five welding manipulators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204893261U true CN204893261U (en) | 2015-12-23 |
Family
ID=54915473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520593686.XU Active CN204893261U (en) | 2015-08-10 | 2015-08-10 | Five welding manipulators |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204893261U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041260A (en) * | 2016-06-21 | 2016-10-26 | 天津大学 | Lightweight rail-mounted five-axis welding robot |
| CN107470812A (en) * | 2017-09-14 | 2017-12-15 | 常熟凯博智能装备有限公司 | Five degree-of-freedom manipulator automatic soldering device |
| CN108673000A (en) * | 2018-05-21 | 2018-10-19 | 众宏（上海）自动化股份有限公司 | Three-dimensional welding robot |
| CN108994464A (en) * | 2018-08-14 | 2018-12-14 | 苏州库瑞奇自动化有限公司 | A kind of bonding machine comprising adjust automatically walking rail type mobile mould group |
| CN113369782A (en) * | 2021-08-13 | 2021-09-10 | 佛山市腾翱科技有限公司 | Welding equipment |
-
2015
- 2015-08-10 CN CN201520593686.XU patent/CN204893261U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041260A (en) * | 2016-06-21 | 2016-10-26 | 天津大学 | Lightweight rail-mounted five-axis welding robot |
| CN106041260B (en) * | 2016-06-21 | 2019-01-22 | 天津大学 | A kind of five axis welding robot of light-weighted rail mounted |
| CN107470812A (en) * | 2017-09-14 | 2017-12-15 | 常熟凯博智能装备有限公司 | Five degree-of-freedom manipulator automatic soldering device |
| CN108673000A (en) * | 2018-05-21 | 2018-10-19 | 众宏（上海）自动化股份有限公司 | Three-dimensional welding robot |
| CN108994464A (en) * | 2018-08-14 | 2018-12-14 | 苏州库瑞奇自动化有限公司 | A kind of bonding machine comprising adjust automatically walking rail type mobile mould group |
| CN113369782A (en) * | 2021-08-13 | 2021-09-10 | 佛山市腾翱科技有限公司 | Welding equipment |
| CN113369782B (en) * | 2021-08-13 | 2021-10-29 | 佛山市腾翱科技有限公司 | Welding equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204893261U (en) | Five welding manipulators | |
| CN203664964U (en) | Efficient automatic cutting device for metallic square and rectangular pipes | |
| CN205650933U (en) | 8 axle automatic weld robot | |
| CN203956365U (en) | Oil platform leg welding equipment | |
| CN106002026A (en) | Automatic five-axis welding manipulator | |
| CN203292684U (en) | Automatic welding device for automobile body-in-white vertical surface curve | |
| CN104014900B (en) | Joist robot welding special plane | |
| CN205798769U (en) | A kind of five axle automatic welding machinery handss | |
| CN107984495A (en) | Scalable grabbing device and multiaxis transportation robot | |
| CN203992878U (en) | Four axle welding manipulators | |
| CN102133696A (en) | Tank body circular seam welding machine | |
| CN102205378B (en) | Automatic wafer feeding mechanism | |
| CN204308460U (en) | A kind of numerical control bonding machine | |
| CN204621458U (en) | Ripple Sternum assembly and welding integrated machine | |
| CN104526692A (en) | Full-automatic numerical control mechanical arm | |
| CN203992229U (en) | Hinge automatic riveting machine | |
| CN207464415U (en) | The shifting function frame of automatic submerged arc welding equipment | |
| CN104139149A (en) | Automatic hinge riveting machine | |
| CN204431249U (en) | Full-automatic numerical control manipulator | |
| CN210935585U (en) | Device for spraying cabinet body | |
| CN102166681A (en) | Automatic overhead welding system for external horizontal fillet welds between end wall and end beam of gondola car | |
| CN202129538U (en) | Automatic welding equipment | |
| CN101982289A (en) | Novel coal machine middle groove cantilever welding equipment | |
| CN204431246U (en) | A kind of horizontal five-axle linkage industrial robot | |
| CN203945054U (en) | A kind of station is adjustable welding tooling |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 518000 Shenzhen Province, Longgang District, Ping Street, the community of the union of the six communities in the West Ridge Road, No. 6-12 Patentee after: Shenzhen Xin Ming Ming intelligent equipment Limited by Share Ltd Address before: 518000 Shenzhen Province, Longgang District, Ping Street, the community of the union of the six communities in the West Ridge Road, No. 6-12 Patentee before: Shenzhen Xintaiming Machienry Equipment Co., Ltd. |
|
| CP01 | Change in the name or title of a patent holder |