CN205834452U - A kind of container general assembly cross joint Intelligent welding equipment of band weld seam recognition - Google Patents
A kind of container general assembly cross joint Intelligent welding equipment of band weld seam recognition Download PDFInfo
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- CN205834452U CN205834452U CN201620706918.2U CN201620706918U CN205834452U CN 205834452 U CN205834452 U CN 205834452U CN 201620706918 U CN201620706918 U CN 201620706918U CN 205834452 U CN205834452 U CN 205834452U
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Abstract
This utility model relates to the container general assembly cross joint Intelligent welding equipment of a kind of band weld seam recognition, belongs to welding technology field.Including column, riser guide, welding slide block and scanning slide block, described riser guide is positioned on column, and welding slide block and scanning slide block are then separately mounted on riser guide；Welding slide block is driven by welding lifting motor, and it is provided with before and after's motor, left and right motor and welding gun, and scanning slide block is driven by scanning lifting motor, it is provided with sensor.Utility model is applied to the welding of the article such as container, there is welding blind area, realize the advantages such as the automatic welding of lifting weldering, real time recognition and tracking, saving working time.
Description
Technical field
This utility model relates to the container general assembly cross joint Intelligent welding equipment of a kind of band weld seam recognition, belongs to welding skill
Art field.
Background technology
Container general assembly lifting weldering, is the cross joint that side plate is formed with door pillar (corner post) overlap joint.Side plate thickness is about
For 0.8mm, height is about 2.4m (high case) or 2.1m (low case)；In welding procedure, fast speed is used to carry out from top to bottom
Welding, speed of welding is the fastest up to about 2.5m/min.Current welding method, after container puts in place, workman takes lifting
Machine rises, and after arriving welding vertex position, starts hand torch and carries out welding (or using direct copy mode to weld), weldering
In termination process, elevator automatic uniform speed declines.
Current this welding manner, need before manually welding to rifle, and move back rifle after having welded.This
Outward, when using direct copy mode to weld, there is the welding blind area of about about 200mm in bottom.This welding is blind
District, needs to carry out artificial repair welding again, and the welding bead of artificial repair welding often bends, welding bead is uneven, deposits with the welding bead of automatic welding
In obvious difference.
Based on this, make the application.
Utility model content
In order to overcome the drawbacks described above existing for existing welding, the application provides a kind of full-automation, can realize without seam welding
The container general assembly cross joint Intelligent welding equipment of the band weld seam recognition connect.
For achieving the above object, the technical scheme that the application takes is as follows:
The container general assembly cross joint Intelligent welding equipment of a kind of band weld seam recognition, slides including column, riser guide, welding
Block and scanning slide block, described riser guide is positioned on column, and welding slide block and scanning slide block are then separately mounted to riser guide
On；Described welding slide block is driven by welding lifting motor, and it is provided with before and after's motor, left and right motor and welding gun, Qian Hou electricity
Machine, left and right motor drive welding gun front, rear, left and right to move；Described scanning slide block is driven by scanning lifting motor, and it is installed
Having sensor, sensor is then connected with front and back motor, left and right motor respectively by assembly, with motor, left and right motor before and after control
Operating, and then the signal that sensor detects is converted into the displacement of welding gun.
Further, as preferably:
Being also associated with on described welding gun turning rifle motor, this turns rifle motor and is connected with sensor, controls turning to of welding gun.Turn
Rifle motor realizes the change of angle of welding gun.After welding starts, at welding gun before bottom side beams also has 100-300mm, welding gun is always
Weld with 20-45 ° of angle attitude upward, so ensure that weld seam top does not exist blind area, and have preferable molding.When
Be welded to when bottom side beams also has 100-300mm distance, start to weld and turn rifle, until angle be 20-45 ° down
Attitude, then completes follow-up whole welding with this attitude.So ensure to there is not blind area bottom weld seam；Turn setting of gunlock structure
Meter so that weld non-blind area, welding is uninterrupted, need not artificial repair welding.But then can be not provided with for ice chest general assembly lifting weldering
Turn rifle motor.
Described welding slide block by welding slide plate be arranged on riser guide, this welding slide plate with weld lifting motor it
Between connected by chain, welding lifting motor drive chain rotate, and then drive welding slide block move up and down along riser guide.More
Preferably, described before and after motor, left and right motor and welding gun be installed on welding slide plate, this welding slide plate is also equipped with sending
Silk machine.Front and back motor, left and right motor and drive mechanism thereof realize welding gun front and back (from the vertical dimension of weld seam) with two, left and right
Automatically the automatic adjustment adjusted in direction, by front and back, (left and right) driven by motor leading screw rotates, then is driven slide plate to move by nut,
The parts such as welding gun are fixed on the movable block of outer layer cross balladeur train.The precision of this adjusting apparatus reaches 0.01mm.
Described scanning slide block is arranged on riser guide by scanning slide plate, between scanning slide plate and scanning lifting motor
Being connected by tooth bar, scanning lifting motor drives racks turn, drives scanning slide block to move up and down along riser guide.More preferably
, described sensor is positioned on scanning slide plate.Sensor is constantly scanned on weld seam both sides by driven by servomotor, then system
The left-right deviation of weld seam is extracted and apart from change according to collecting initial data.
Being provided with balance weight mechanism on described column, this balance weight mechanism coordinates with welding lifting motor, to reduce load, changes
The duty of kind welding lifting motor.
It is provided with presser foot device, it is furthermore preferred that this presser foot device uses pneumatic presser feet, to guarantee that plate pastes on described column
Tight doorframe.But for dry case general assembly lifting weldering, presser foot device can be set.
In the application, the double-slider design of welding slide block and scanning slide block, contribute to realizing quickly scanning, shorten work week
Phase；And column is arranged on casing both sides, then realize the up and down motion of welding gun and guiding mechanism, wire-feed motor etc..Said apparatus enters
Row seamless welding technique, welding slide block and scanning slide block are respectively positioned on column top, and are in holding state, and scanning lifting motor opens
Dynamic, while driving scanning slide block to move along riser guide, sensor detects welding casing top beam of laterally position in real time, it is thus achieved that weldering
The starting altitude of seam and position；And go out the right position of weld seam at the start position scanning recognition of weld seam, and welding gun and weld seam
Vertical dimension；Welding slide plate moves downward, and when arriving weld seam start position, according to the information detected, enters rifle, the starting the arc；
During welding slide plate moves downward, scanning slide plate continues to move downward scanning recognition weld seam, and inspection
The information measured preserves；Welding proceeds, and carries out the adjustment of welding gun according to the weld information detected；Sweep simultaneously
Retouch and be also carried out, constantly new information is preserved；When bottom side beams position being detected, determine the terminal height of weld seam；Welding
Complete, automatic arc extinguishing, move back rifle；Welding slide plate moves upwardly together with scanning slide plate, arrives system reset, waits that the next one follows
Ring.
The problem that usually there will be following several respects in welding process:
1) the own mismachining tolerance of side plate: preferable side board edge is straight line；And actual edge sees existence song from details
Line.When welding, need to follow the tracks of actual side board edge curve.
2) position error of side plate；
3) container position error: ideally, container should be vertical, but under practical situation, container meeting
Due to the out-of-flatness of transport guide rails, or transporting wheels problem, cause container tilt.In the case of container tilt, welding gun
Distance from weld seam can change, and, weld seam position in the vertical direction also can change.
4) alignment error of elevator: ideally, elevator should be vertically arranged, but under practical situation, rises
Fall chance has certain inclination.Under elevator inclination conditions, welding gun can change from the distance of weld seam.
The accumulation of above error, can cause welding precision to reduce, and in the application, when welding upper part, welding gun with
Weld seam is 20-45 ° and welds obliquely；When welding lower part, welding gun is 20-45 ° with weld seam and welds obliquely；
The not current interruption of whole welding process, and while welding, carry out the identification of weld seam left and right deviation and weld seam from welding gun distance change
Identify, and in welding process, carry out the regulation of welding gun.
A) location recognition on side plate above-below direction, it is ensured that welding non-blind area；
B) in welding process, weld seam, from welding gun distance, the identification of weld seam right position, is also real time recognition and tracking,
Save the working time；
C) realize automatically entering rifle and moving back rifle, it is not necessary to artificial and then elevator is upper and lower, can realize the automatic welding of lifting weldering；
D) realizing the continuous welding of whole piece weld seam, do not pause in centre, welding blind area；
The application can arrange touch screen, assembly, it is achieved the setting of Multiple Type welding procedure, selects (the highest case and short
Case), soldering angle and the setting etc. of speed.
Accompanying drawing explanation
Fig. 1 is the perspective view of the application；
Fig. 2 is the perspective view at another visual angle of the application；
Fig. 3 is the left side schematic diagram of Fig. 1；
Fig. 4 is the right side schematic view of Fig. 1；
Fig. 5 is the front schematic view of Fig. 1.
Wherein label: 1. column；2. riser guide；3. welding slide plate；4. scanning slide plate；5. welding lifting motor；6. before
Rear motor；7. motor about；8. welding gun；9. scanning lifting motor；10. sensor；11. turns of rifle motors；12. balance weight mechanisms.
Detailed description of the invention
Embodiment 1
The container general assembly cross joint Intelligent welding equipment of the present embodiment a kind of band weld seam recognition, in conjunction with Fig. 1, Fig. 2, Fig. 3,
Fig. 4 and Fig. 5, including column 1, riser guide 2, welding slide block and scanning slide block, riser guide 2 is positioned on column 1, welds slide block
It is arranged on riser guide 2 by welding slide plate 3 and scanning slide plate 4 the most respectively with scanning slide block；Welding slide plate 4 is lifted by welding
Motor 5 drives, and it is provided with wire-feed motor, front and back motor 6, left and right motor 7 and welding gun 8, and front and back motor 6, left and right motor 7 drive
Welding gun 8 front, rear, left and right are moved；Scanning slide block 4 is driven by scanning lifting motor 9, and it is provided with sensor 10, sensor 10
Then it is connected with front and back motor 6, left and right motor 7 respectively by assembly, with motor 6, the operating of left and right motor 7 before and after controlling, and then
The signal that sensor 10 detects is converted into the displacement of welding gun 8.
Specific in the present embodiment, being connected by sprocket wheel chain between welding slide plate 3 with welding lifting motor 5, welding rises
Fall motor 5 drive sprocket chain rotates, and then drives welding slide plate 3 to move up and down along riser guide 2.Motor 6, left and right electricity front and back
Machine 7 and drive mechanism thereof realize welding gun front and back (from the vertical dimension of weld seam) and left and right both direction automatically adjust automatic
Adjusting, by front and back, (left and right) driven by motor leading screw rotates, then is driven slide plate to move, at the movable block of outer layer cross balladeur train by nut
Upper fixing welding gun 8 parts such as grade.The precision of this adjusting apparatus reaches 0.01mm.
It is connected by rack-and-pinion between scanning slide plate 4 with scanning lifting motor 9, scans lifting motor 9 drive gear teeth
Bar rotate, drive scanning slide block 4 move up and down along riser guide 2, sensor 10 be positioned at scanning slide plate 4 on, sensor 10 by
Driven by servomotor constantly scans on weld seam both sides, and then system is according to the left-right deviation collecting initial data and extracting weld seam
With distance change.
In the application, the double-slider design of welding slide block and scanning slide block, contribute to realizing quickly scanning, shorten work week
Phase；And column 1 is arranged on casing both sides, then realize the up and down motion of welding gun 8 and guiding mechanism, wire-feed motor etc..
The problem that usually there will be following several respects in welding process:
1) the own mismachining tolerance of side plate: preferable side board edge is straight line；And actual edge sees existence song from details
Line.When welding, need to follow the tracks of actual side board edge curve.
2) position error of side plate；
3) container position error: ideally, container should be vertical, but under practical situation, container meeting
Due to the out-of-flatness of transport guide rails, or transporting wheels problem, cause container tilt.In the case of container tilt, welding gun 8
Distance from weld seam can change, and, weld seam position in the vertical direction also can change.
4) alignment error of elevator: ideally, elevator should be vertically arranged, but under practical situation, rises
Fall chance has certain inclination.Under elevator inclination conditions, welding gun can change from the distance of weld seam.
The accumulation of above error, can cause welding precision to reduce, and in the application, when welding upper part, welding gun 8 with
Weld seam is about 30 ° and welds obliquely；When welding lower part, welding gun 8 and weld seam are about 30 ° and weld obliquely
Connect；The not current interruption of whole welding process, and while welding, carry out the identification of weld seam left and right deviation and weld seam become from welding gun distance
The identification changed, and in welding process, carry out the regulation of welding gun 8.
A) location recognition on side plate above-below direction, it is ensured that welding non-blind area；
B) in welding process, weld seam, from welding gun distance, the identification of weld seam right position, is also real time recognition and tracking,
Save the working time；
C) realize automatically entering rifle and moving back rifle, it is not necessary to artificial and then elevator is upper and lower, can realize the automatic welding of lifting weldering；
D) realizing the continuous welding of whole piece weld seam, do not pause in centre, welding blind area；
The application can arrange touch screen, assembly, it is achieved the setting of Multiple Type welding procedure, selects (the highest case and short
Case), soldering angle and the setting etc. of speed.
Whole workflow is as follows:
A) system is in work ready state, and now welding slide plate 3 and scanning slide plate 4 are all at the top of elevating mechanism；And
Height beyond container；
B) container puts in place, and workman presses " beginning " button, starts work；
C) scanning slide plate 4 drives sweep mechanism sharp downward movement, detects top beam of laterally position during moving downward in real time
Put, after top beam of laterally position being detected, and then know the starting altitude of weld seam；
D) start position of weld seam is gone out from the top beam of laterally position judgment detected；Then, sweep mechanism is in the starting point of weld seam
Position scanning recognition goes out the right position of weld seam, and the vertical dimension of welding gun 8 and weld seam；
E) welding slide plate 3 starts to move downward, and when arriving weld seam start position, according to the information detected, (weld seam is left
The vertical dimension of right position and welding gun 8 and weld seam), enter rifle, then the starting the arc；During welding slide plate 3 moves downward, scanning
Slide plate 4 continues to move downward while scanning recognition weld seam, and the information detected is preserved；
F) welding proceeds, and carries out the adjustment of welding gun 8 according to the weld information detected；Scan also to enter simultaneously
OK, constantly new information is preserved；When bottom side beams position being detected, the position of bottom side beams is also preserved, detection
Behind bottom side beams position, and then know the terminal height of weld seam；
G) welded, automatic arc extinguishing, moved back rifle；
H) welding slide plate 3 moves upwardly together with scanning slide plate 4, arrives system reset, waits next one circulation.
Embodiment 2
The present embodiment is identical with the setting of embodiment 1 and operation principle, and difference is: be provided with balance weight mechanism on column 1
12, this balance weight mechanism 12 coordinates with welding lifting motor 5, to reduce load, improves the duty of welding lifting motor.
Embodiment 3
The present embodiment is identical with the setting of embodiment 1 and operation principle, and difference is: be provided with presser foot device on column 1,
This presser foot device uses pneumatic presser feet, to guarantee that plate is adjacent to doorframe.But for dry case general assembly lifting weldering, presser feet machine can be set
Structure.
Embodiment 4
The present embodiment is identical with the setting of embodiment 1 and operation principle, and difference is: be provided with balance weight mechanism on column 1
12, this balance weight mechanism 12 coordinates with welding lifting motor 5, to reduce load, improves the duty of welding lifting motor；Column
Being provided with presser foot device on 1, this presser foot device uses pneumatic presser feet, to guarantee that plate is adjacent to doorframe.But dry case general assembly is lifted
Weldering, can arrange presser foot device.
Embodiment 5
The present embodiment is identical with the setting of embodiment 1 and operation principle, and difference is: be also associated with on welding gun 8 turning rifle electricity
Machine 11, this turns rifle motor 11 and is connected with sensor 10, controls turning to of welding gun 8.Turn rifle motor 11 and realize the change of welding gun 8 angle
Change.After welding starts, at welding gun 8 before bottom side beams also has 200mm, welding gun welds with 30 ° of angles attitude upward always
Connect, so ensure that weld seam top does not exist blind area, and have preferable molding.When being welded to also have 200mm distance from bottom side beams
Time, start to weld and turn rifle, be 30 ° of attitudes down until angle, then complete with this attitude follow-up whole
Welding.So ensure to there is not blind area bottom weld seam；Turn the design of gunlock structure so that welding non-blind area, welding is uninterrupted, be not required to
Want artificial repair welding.
Whole workflow is as follows:
A) system is in work ready state, and now welding slide plate 3 and scanning slide plate 4 are all at the top of elevating mechanism；And
Height beyond container；
B) container puts in place, and workman presses " beginning " button, starts work；
C) scanning slide plate 4 drives sweep mechanism sharp downward movement, detects top beam of laterally position during moving downward in real time
Put, after top beam of laterally position being detected, and then know the starting altitude of weld seam；
D) start position of weld seam is gone out from the top beam of laterally position judgment detected；Then, sweep mechanism is in the starting point of weld seam
Position scanning recognition goes out the right position of weld seam, and the vertical dimension of welding gun 8 and weld seam；
E) welding slide plate 3 starts to move downward, and when arriving weld seam start position, according to the information detected, (weld seam is left
The vertical dimension of right position and welding gun 8 and weld seam), enter rifle, then the starting the arc；During welding slide plate 3 moves downward, scanning
Slide plate 4 continues to move downward while scanning recognition weld seam, and the information detected is preserved；
F) welding proceeds, and carries out the adjustment of welding gun 8 according to the weld information detected；Scan also to enter simultaneously
OK, constantly new information is preserved；When bottom side beams position being detected, the position of bottom side beams is also preserved, detection
Behind bottom side beams position, and then know the terminal height of weld seam；
G) when be welded to be about 200mm from bottom side beams position time, start weld turn rifle (for ice chest, can
Can need not turn rifle)；
H) welded, automatic arc extinguishing, moved back rifle；
I) welding slide plate 3 moves upwardly together with scanning slide plate 4, arrives system reset, waits next one circulation.
Embodiment 6
The present embodiment is identical with the setting of embodiment 1 and operation principle, and difference is: be also associated with on welding gun 8 turning rifle electricity
Machine 11, this turns rifle motor 11 and is connected with sensor 10, controls turning to of welding gun 8.Turn rifle motor 11 and realize the change of welding gun 8 angle
Change.After welding starts, at welding gun 8 before bottom side beams also has 200mm, welding gun welds with 30 ° of angles attitude upward always
Connect, so ensure that weld seam top does not exist blind area, and have preferable molding.When being welded to also have 200mm distance from bottom side beams
Time, start to weld and turn rifle, be 30 ° of attitudes down until angle, then complete with this attitude follow-up whole
Welding.So ensure to there is not blind area bottom weld seam；Turn the design of gunlock structure so that welding non-blind area, welding is uninterrupted, be not required to
Want artificial repair welding；Being provided with balance weight mechanism 12 on column 1, this balance weight mechanism 12 coordinates with welding lifting motor 5, negative to reduce
Carry, improve the duty of welding lifting motor.
Embodiment 7
The present embodiment is identical with the setting of embodiment 1 and operation principle, and difference is: be also associated with on welding gun 8 turning rifle electricity
Machine 11, this turns rifle motor 11 and is connected with sensor 10, controls turning to of welding gun 8.Turn rifle motor 11 and realize the change of welding gun 8 angle
Change.After welding starts, at welding gun 8 before bottom side beams also has 200mm, welding gun welds with 30 ° of angles attitude upward always
Connect, so ensure that weld seam top does not exist blind area, and have preferable molding.When being welded to also have 200mm distance from bottom side beams
Time, start to weld and turn rifle, be 30 ° of attitudes down until angle, then complete with this attitude follow-up whole
Welding.So ensure to there is not blind area bottom weld seam；Turn the design of gunlock structure so that welding non-blind area, welding is uninterrupted, be not required to
Want artificial repair welding；Being provided with presser foot device on column 1, this presser foot device uses pneumatic presser feet, to guarantee that plate is adjacent to doorframe.But it is right
In dry case general assembly lifting weldering, presser foot device can be set.
Embodiment 8
The present embodiment is identical with the setting of embodiment 1 and operation principle, and difference is: be also associated with on welding gun 8 turning rifle electricity
Machine 11, this turns rifle motor 11 and is connected with sensor 10, controls turning to of welding gun 8.Turn rifle motor 11 and realize the change of welding gun 8 angle
Change.After welding starts, at welding gun 8 before bottom side beams also has 200mm, welding gun welds with 30 ° of angles attitude upward always
Connect, so ensure that weld seam top does not exist blind area, and have preferable molding.When being welded to also have 200mm distance from bottom side beams
Time, start to weld and turn rifle, be 30 ° of attitudes down until angle, then complete with this attitude follow-up whole
Welding.So ensure to there is not blind area bottom weld seam；Turn the design of gunlock structure so that welding non-blind area, welding is uninterrupted, be not required to
Want artificial repair welding；Being provided with balance weight mechanism 12 on column 1, this balance weight mechanism 12 coordinates with welding lifting motor 5, negative to reduce
Carry, improve the duty of welding lifting motor；Being provided with presser foot device on column 1, this presser foot device uses pneumatic presser feet, with
Guarantee that plate is adjacent to doorframe.But for dry case general assembly lifting weldering, presser foot device can be set.
The various embodiments described above complete weld seam welding total time be 93 seconds.
Table 1 welding process table
The application is applied to the welding of the article such as container, have welding blind area, realize lifting weldering automatic welding,
The advantages such as real time recognition and tracking, saving working time.
Above content is that the preferred implementation combining this utility model creation is entered one to what provided technical scheme made
Step describes in detail, it is impossible to assert that this utility model is created and is embodied as being confined to these explanations above-mentioned, for this utility model
For creating person of an ordinary skill in the technical field, on the premise of creating design without departing from this utility model, it is also possible to
Make some simple deduction or replace, all should be considered as belonging to the protection domain that this utility model is created.
Claims (9)
1. the container general assembly cross joint Intelligent welding equipment of a band weld seam recognition, it is characterised in that: include that column, lifting are led
Rail, welding slide block and scanning slide block, described riser guide is positioned on column, and welding slide block and scanning slide block are then separately mounted to
On riser guide；Described welding slide block is driven by welding lifting motor, and it is provided with before and after's motor, left and right motor and weldering
Rifle, front and back motor, left and right motor drive welding gun front, rear, left and right to move；Described scanning slide block is driven by scanning lifting motor,
Being provided with sensor on it, sensor is then connected with front and back motor, left and right motor respectively by assembly, with motor before and after control,
The operating of left and right motor, and then the signal that sensor detects is converted into the displacement of welding gun.
The container general assembly cross joint Intelligent welding equipment of a kind of band weld seam recognition the most as claimed in claim 1, its feature exists
In: being also associated with on described welding gun turning rifle motor, this turns rifle motor and is connected with sensor, controls turning to of welding gun.
The container general assembly cross joint Intelligent welding equipment of a kind of band weld seam recognition the most as claimed in claim 1, its feature exists
In: described welding slide block is arranged on riser guide by welding slide plate, and this welding slide plate leads between lifting motor with welding
Crossing chain to connect, welding lifting motor drives chain to rotate, and then drives welding slide block to move up and down along riser guide.
The container general assembly cross joint Intelligent welding equipment of a kind of band weld seam recognition the most as claimed in claim 3, its feature exists
In: it is also equipped with wire-feed motor, front and back motor, left and right motor and welding gun on described welding slide plate.
The container general assembly cross joint Intelligent welding equipment of a kind of band weld seam recognition the most as claimed in claim 1, its feature exists
In: described scanning slide block is arranged on riser guide by scanning slide plate, passes through between scanning slide plate and scanning lifting motor
Tooth bar connects, and scanning lifting motor drives racks turn, drives scanning slide block to move up and down along riser guide.
The container general assembly cross joint Intelligent welding equipment of a kind of band weld seam recognition the most as claimed in claim 5, its feature exists
In: described sensor is positioned on scanning slide plate, and sensor is constantly scanned on weld seam both sides by driven by servomotor, then system
The left-right deviation of weld seam is extracted and apart from change according to collecting initial data.
The container general assembly cross joint Intelligent welding equipment of a kind of band weld seam recognition the most as claimed in claim 1, its feature exists
In: it is provided with balance weight mechanism on described column.
The container general assembly cross joint Intelligent welding equipment of a kind of band weld seam recognition the most as claimed in claim 1, its feature exists
In: it is provided with presser foot device on described column.
9. the container general assembly cross joint Intelligent welding equipment of band weld seam recognition, its feature as described in any one of claim 1-8
It is: described welding gun is before the bottom side beams of welding casing also has 100-300mm, and welding gun is always with 20-45 ° of angle court
On attitude weld；Described welding gun, when the bottom side beams of welding casing also has 100-300mm distance, starts weldering
Connecing while turning rifle, until angle is 20-45 ° of attitude down, then completing follow-up whole welding with this attitude.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620706918.2U CN205834452U (en) | 2016-07-01 | 2016-07-01 | A kind of container general assembly cross joint Intelligent welding equipment of band weld seam recognition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620706918.2U CN205834452U (en) | 2016-07-01 | 2016-07-01 | A kind of container general assembly cross joint Intelligent welding equipment of band weld seam recognition |
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| Publication Number | Publication Date |
|---|---|
| CN205834452U true CN205834452U (en) | 2016-12-28 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106077905A (en) * | 2016-07-01 | 2016-11-09 | 绍兴汉立工业自动化科技有限公司 | Container cross joint Intelligent welding equipment with weld seam recognition and technique |
| CN107825016A (en) * | 2017-10-20 | 2018-03-23 | 中船黄埔文冲船舶有限公司 | A kind of building berth closes up greatly vertical weld automatic soldering device |
-
2016
- 2016-07-01 CN CN201620706918.2U patent/CN205834452U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106077905A (en) * | 2016-07-01 | 2016-11-09 | 绍兴汉立工业自动化科技有限公司 | Container cross joint Intelligent welding equipment with weld seam recognition and technique |
| CN107825016A (en) * | 2017-10-20 | 2018-03-23 | 中船黄埔文冲船舶有限公司 | A kind of building berth closes up greatly vertical weld automatic soldering device |
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