CN206185294U - Arc welding robot - Google Patents
Arc welding robot Download PDFInfo
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- CN206185294U CN206185294U CN201621045566.7U CN201621045566U CN206185294U CN 206185294 U CN206185294 U CN 206185294U CN 201621045566 U CN201621045566 U CN 201621045566U CN 206185294 U CN206185294 U CN 206185294U
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- rotation drive
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- swing seat
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Abstract
The utility model belongs to the technical field of welding automation device technique and specifically relates to an arc welding robot. It includes robotic arm, welder and signal detection and collection system, signal detection and collection system including hoop sleeve on welder of the outer protective shell that has preceding port, suit, install the visor on the preceding port that laser sensor and infrared sensor and lid in outer protective shell fit outer protective shell, outer protective shell, hoop sleeve and visor are made by thermal insulation material, and thermal insulation material includes the base plate and constitute formed at the heat insulating coat of substrate surface, and the base plate be the surface through the 30CrMnSiA steel sheet of bonderizing, and the heat insulating coat is for using silicone resin, glass powder and gathering carbon silane by the adhesive and pass through the super set -retarding agent of interpolation al_2O_3, carborundum, zirconium dioxide, boron nitride, silica and carbon fiber formation. The utility model discloses an optimization to signal detection and collection system's shell structure and housing material makes it can have good temperature resistance behavior to it normally works to guarantee the sensor.
Description
Technical field
The utility model is related to Automation of Welding engineering device technique field, especially a kind of arc welding robot.
Background technology
Arc welding robot, as a kind of supermatic welding equipment, is to improve welding quality, reduces cost, improve work
Make one of important means of environment；At present, manual welding operation is substituted using arc welding robot and has become welding manufacture industry
Development trend, it is widely used in many technical fields such as automobile making, component of machine processing, engineering machinery.
At present, although existing arc welding robot has obtained rapid lifting and improvement in structure and function aspects,
Following drawback is still present：1st, it is lifting welding quality and welding precision, it will usually in robot body and near the position of welding gun
Sensor is installed, to realize to the tracking of weld seam and the detection of welding temperature and collection, however, because welding gun is being welded
When connecing work, high-temperature area can be formed in space around, sensor cannot normally perform inspection often because being scorched by high temperature
Survey and data acquisition function, or even frequently result in robot fault or the problems such as weld job is interrupted；2nd, robot is in idle
During state, sensor is easily subject to the interior more rugged environment factor of workshop (produced by during such as other robot operation
Welding slag splashes, temperature is high in workshop and dust is big etc.) invasion, so as to influence the service life and performance of sensor；3、
It is low that robot architecture constructs small relative complex, job area, very flexible, welding efficiency.
Utility model content
For the deficiency that above-mentioned prior art is present, the purpose of this utility model is to provide a kind of arc welding robot.
To achieve these goals, the utility model is adopted the following technical scheme that：
A kind of arc welding robot, it is including mechanical arm, the welding gun of the end for being installed in mechanical arm and is installed in weldering
On rifle and signal detection end and signal detection and harvester that the soldering tip of welding gun is in parallel distribution；
The signal detection and harvester include the outer containment vessel with front port, are installed on the bottom surface of outer containment vessel
And be set in the hoop sleeve on welding gun, be installed in outer containment vessel and play the laser sensor of weld seam tracking function, be installed in
Outer containment vessel is interior and play the infrared sensor of weld seam temperature detection function and laser sensor is covered with infrared sensor
Protection cap in outer containment vessel；
The protection cap includes the ceiling plate portion of a position relative with the front port of outer containment vessel and the left and right side by ceiling plate portion
Along wing plate portion is formed after bending backward, the upper end in each wing plate portion offers an axis hole, the left and right of the outer containment vessel
Contraposition sleeve is equiped with the wall of side in the rotating shaft in axis hole, in the left and right sidewall of the outer containment vessel and positioned at corresponding rotating shaft
Rear end side be equiped with the first pull bar, the middle part in the wing plate portion and be equiped with the second pull bar positioned at the front lower place of axis hole, it is described
First pull bar is connected by an extension spring with the second pull bar；
Ceiling plate portion contraposition is covered on when on the front port of outer containment vessel, the extended line of the extension spring and the soldering tip of welding gun
Extended line between angle be 30 ° -60 °；The signal detection end of the laser sensor and infrared sensor and the weldering of welding gun
Head is in parallel distribution；
The outer containment vessel, hoop sleeve and protection cap are made by heat-barrier material, and the heat-barrier material includes substrate and shape
Into in substrate surface heat insulating coat constitute, the substrate be surface by parkerized 30CrMnSiA steel plates, it is described heat-insulated
Coating is with organic siliconresin, glass dust and Polycarbosilane as adhesive and by adding alundum (Al2O3), carborundum, titanium dioxide
The mixing material that zirconium, boron nitride, silica and carbon fiber are formed.
Preferably, the thickness of the substrate is 1mm, and the thickness of the heat insulating coat is 900-1000 μm.
Preferably, the formula of heat insulating coat component meter by weight：10 parts of organic siliconresin, 20 parts of Polycarbosilane, glass
5-10 parts of glass powder, alundum (Al2O3) 0.1-5 parts, carborundum 0.1-5 parts, zirconium dioxide 0.1-8 parts, boron nitride 0.1-20 parts, two
0.5 part, carbon fiber 0.1-1 parts of silica.
Preferably, the preparation method of the heat-barrier material is：
S1, by organic siliconresin, glass dust, Polycarbosilane, addition alundum (Al2O3), carborundum, zirconium dioxide, nitridation
Boron, silica and carbon fiber form mixed slurry after mixing in proportion；
S2, mixed slurry is ground on skin grinder, so that the grain fineness of mixed slurry is between 40-50 μm；
S3, in air pressure it is that 0.4MPa and spray gun bore will grindings under conditions of 0.8-1mm using aerial spraying machine
Mixed slurry afterwards is sprayed on surface by parkerized 30CrMnSiA steel plates；
After S4, spraying are finished, 48h is placed at room temperature, then 2h is toasted at 200 DEG C, so that mixed slurry exists
Film-forming on 30CrMnSiA steel plates, that is, form the heat insulating coat being coated on substrate；
S5, substrate is positioned in Muffle furnace together with heat insulating coat be progressively heated at 600 DEG C by room temperature and protected at 600 DEG C
Warm 2h, is then cooled to room temperature with Muffle furnace.
Preferably, the mechanical arm includes：
One chuck；
One first rotation drive motor, the first rotation drive motor seat is on the upper surface of chuck and first rotates
A rotating disk is set with the line shaft of drive motor；
One first U-shaped swing seat, the first U-shaped swing seat is installed in rotating disk, and first rotation drive motor passes through
Rotating disk drives the first U-shaped swing seat to be rotated relative to chuck in X-Z axial planes；
One second rotation drive motor, second rotation drive motor is flush-mounted in the wall of the seat of the first U-shaped swing seat mouthful side
And second rotation drive motor line shaft through the first U-shaped swing seat seat mouthful distribution；
One second U-shaped swing seat, the bottom of the second U-shaped swing seat is formed with first axle joint arm, the first axle joint arm
Bottom be installed in the first U-shaped swing seat seat it is intraoral and be socketed the second rotation drive motor line shaft, second rotation driving
Motor drives the second U-shaped swing seat to make oscillating motion relative to the first U-shaped swing seat in X-Y axial planes by first axle joint arm；
One the 3rd rotation drive motor, the 3rd rotation drive motor is flush-mounted in the wall of the seat of the second U-shaped swing seat mouthful side
And the 3rd rotation drive motor line shaft through the second U-shaped swing seat seat mouthful distribution；
One the 4th rotation drive motor, the second axle joint arm is formed with the enclosure bottom of the 4th rotation drive motor,
The bottom of the second axle joint arm be installed in the second U-shaped swing seat seat it is intraoral and be socketed the 3rd rotation drive motor line shaft,
3rd rotation drive motor drives the 4th rotation drive motor in X-Y axial planes relative to second by the second axle joint arm
U-shaped swing seat makees oscillating motion；
One the 3rd U-shaped swing seat, the 3rd U-shaped swing seat is installed on the line shaft of the 4th rotation drive motor, and described
Four rotation drive motors drive the 3rd U-shaped swing seat to be rotated in Y-Z axial planes；
With
One the 5th rotation drive motor, the 5th rotation drive motor is flush-mounted in the wall of the seat of the 3rd U-shaped swing seat mouthful side
And the 5th rotation drive motor line shaft through the 3rd U-shaped swing seat seat mouthful distribution；
The end of the welding gun is provided with a fixed seat, and the fixed seating is intraoral in the seat of the 3rd U-shaped swing seat and is socketed
The line shaft of the 5th rotation drive motor, the 5th rotation drive motor drives welding gun and signal detection and adopts by fixed seat
Acquisition means synchronously carry out oscillating motion in X-Y axial planes relative to the 3rd U-shaped swing seat.
As a result of such scheme, the utility model is by the shell mechanism to signal detection and harvester and outward
The optimization of shell material, can have good heat resistance, to ensure that sensor carries out normal work.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the utility model embodiment；
Fig. 2 is the signal detection of the utility model embodiment and the structural representation of harvester.
Specific embodiment
Embodiment of the present utility model is described in detail below in conjunction with accompanying drawing, but the utility model can be by right
It is required that the multitude of different ways for limiting and covering is implemented.
As depicted in figs. 1 and 2, a kind of arc welding robot that the present embodiment is provided, it includes mechanical arm, is installed in machinery
The welding gun 10 of the end of arm and it is installed on welding gun 10 and the soldering tip of signal detection end and welding gun 10 is in parallel distribution
Signal detection and harvester；Wherein, signal detection and harvester include the outer containment vessel 20 with front port, are installed in
On the bottom surface of outer containment vessel 20 and be set on welding gun 10 hoop sleeve 30, be installed in outer containment vessel 20 and play weld seam tracking
The laser sensor 40 of function, the infrared sensor 50 for being installed in outer containment vessel 20 and playing weld seam temperature detection function and
Laser sensor 40 and infrared sensor 50 are covered on the protection cap 60 in outer containment vessel 20；The protection cap 60 of the present embodiment is wrapped
Include a position relative with the front port of outer containment vessel 20 ceiling plate portion 601 and by the left and right edge of ceiling plate portion 601 make backward 90 ° it is curved
Wing plate portion 602 is formed after folding, an axis hole (not marked in figure) is offered in the upper end in each wing plate portion 602, correspondingly outside
Contraposition sleeve is equiped with the left and right sidewall of containment vessel 20 in the rotating shaft (not marked in figure) in axis hole, on a left side for outer containment vessel 20
Rear end side on right side wall and positioned at corresponding rotating shaft is equiped with the first pull bar 201, at the middle part and position in each wing plate portion 602
The second pull bar 6021 is equiped with the front lower place of axis hole, the first pull bar 201 is connected by an extension spring 70 with the second pull bar 6021；When
The contraposition of ceiling plate portion 601 is covered on when on the front port of outer containment vessel 20, the extension of the extended line of extension spring 70 and the soldering tip of welding gun 10
Angle between line is 30 ° -60 °；And the signal detection end of laser sensor 40 and infrared sensor 50 then all the time with welding gun 10
Soldering tip be in parallel distribution；With this, when this TV station robot is in idle state, to avoid signal detection and harvester
Disturbed by welding place internal environment or other Work robots, using between protection cap 60 and outer containment vessel 20
Axle connects relation, and by pulling force produced by extension spring 70, (relative to outer containment vessel 20, now the direction of pulling force is front lower place on rear
Side) ceiling plate portion 601 is firmly covered on the front port of outer containment vessel 20, so as to by laser sensor 40 and infrared sensor
50 are packaged in outer containment vessel 20；And when this TV station robot is in weld job, then can be by protection cap 60 relative to outer containment vessel
20 upsets for carrying out certain angle, thus using produced by extension spring 70 pulling force (relative to outer containment vessel 20, the now side of pulling force
To being front upper place to the back lower place) protection cap 60 is remained on, being that infrared sensor 50 and laser sensor 40 are provided
Working space, when welding gun 10 carries out weld job, laser sensor 40 can synchronously carry out weld seam tracking and information gathering,
And infrared sensor 50 can also carry out the detection and collection of weld seam temperature.
Meanwhile, outer containment vessel 20, hoop sleeve 30 and protection cap 60 are made by heat-barrier material, can be played to sensor
The high temperature resistant protective effect of strength, to avoid sensor because being scorched by high temperature, and normally perform detection and data cannot adopt
Collection function, even results in robot fault or generation the problems such as weld job is interrupted, and the heat-barrier material of the present embodiment includes base
Plate is constituted with the heat insulating coat for being formed at substrate surface, wherein, substrate is using surface by parkerized 30CrMnSiA steel
Plate, and heat insulating coat is then with organic siliconresin, glass dust and Polycarbosilane as adhesive and by adding alundum (Al2O3), carbon
The mixing material that SiClx, zirconium dioxide, boron nitride, silica and carbon fiber are formed.By the material to heat insulating coat
The improvement of composition can make heat-barrier material possess good heat-proof quality；It is 1mm in the thickness of substrate through experimental test, it is heat-insulated
The thickness of coating is under conditions of 900-1000 μm, the effect of heat insulation of heat-barrier material can reach more than 1500 DEG C, and heat-insulated material
Boron nitride and carbon fiber in material can then be effectively improved the heat resistance of coating, reduce coating and ftractureed because being heated.
As a preferred scheme, the formula component meter by weight of the heat insulating coat of the present embodiment：10 parts of organic siliconresin,
20 parts of Polycarbosilane, glass dust 5-10 parts, alundum (Al2O3) 0.1-5 parts, carborundum 0.1-5 parts, zirconium dioxide 0.1-8 parts, nitrogen
Change 0.1-20 parts of boron, 0.5 part, carbon fiber 0.1-1 parts of silica.
Used as a preferred scheme, the preparation method of the heat-barrier material of the present embodiment is：
S1, by organic siliconresin, glass dust, Polycarbosilane, addition alundum (Al2O3), carborundum, zirconium dioxide, nitridation
Boron, silica and carbon fiber form mixed slurry after mixing in proportion；
S2, mixed slurry is ground on skin grinder, so that the grain fineness of mixed slurry is between 40-50 μm；
S3, in air pressure it is that 0.4MPa and spray gun bore will grindings under conditions of 0.8-1mm using aerial spraying machine
Mixed slurry afterwards is sprayed on surface by parkerized 30CrMnSiA steel plates；
After S4, spraying are finished, 48h is placed at room temperature, then 2h is toasted at 200 DEG C, so that mixed slurry exists
Film-forming on 30CrMnSiA steel plates, that is, form the heat insulating coat being coated on substrate；
S5, substrate is positioned in Muffle furnace together with heat insulating coat be progressively heated at 600 DEG C by room temperature and protected at 600 DEG C
Warm 2h, is then cooled to room temperature with Muffle furnace.
Use the adhesive force of cross-hatching testing coating and coating surface is observed to enter with to it using Stereo microscope
Row Performance Evaluation, then burns under oxy-acetylene again, observes the ablation pattern of coating after ablation 4s under different flame temperatures, finally
Resisting laser ablation test is carried out under laser beam irradiation to monitor the temperature rise process of coating, can be sent out by above-mentioned laboratory facilities
Existing, heat-barrier material temperature after laser irradiation rises more slowly, and peak temperature is relatively low (at 246 DEG C or so), with this, can be true
Determining heat-barrier material has the obvious effect of heat insulation of resistance to ablation.
To optimize the structure of whole robot to greatest extent, increase the flexibility of its job area and weld job,
The mechanical arm of the present embodiment includes：
One chuck 80；
The first rotation drive motor 90 on one upper surface located at chuck 80, and the first rotation drive motor 90 is dynamic
A rotating disk 100 is set with power axle；
One the first U-shaped swing seat 110 being installed in rotating disk 100, the first rotation drive motor 90 passes through the band of rotating disk 100
Dynamic first U-shaped swing seat 110 rotates in X-Z axial planes relative to chuck 80；
One is flush-mounted in the second rotation drive motor 120 in the wall of the seat of the first U-shaped swing seat 110 mouthful side, the second rotation driving
Seat mouthful distribution of the line shaft of motor 120 through the first U-shaped swing seat 110；
One bottom is formed with the second U-shaped swing seat 140 of first axle joint arm 130, and the bottom of first axle joint arm 130 is installed in
The seat of one U-shaped swing seat 110 is intraoral and is socketed the line shaft of the second rotation drive motor 120, and the second rotation drive motor 120 passes through
First axle joint arm 130 drives angle of the second U-shaped swing seat 140 in X-Y axial planes relative to the first U-shaped swing seat 140 at 180 °
In the range of make oscillating motion；
One is flush-mounted in the 3rd rotation drive motor 150 in the wall of the seat of the second U-shaped swing seat 140 mouthful side, the 3rd rotation driving
Seat mouthful distribution of the line shaft of motor 150 through the second U-shaped swing seat 140；
The 4th rotation drive motor 170 of the second axle joint arm 160 is formed with one enclosure bottom, the second axle joint arm 160
Bottom be installed in the second U-shaped swing seat 140 seat it is intraoral and be socketed the 3rd rotation drive motor 150 line shaft, the 3rd rotation drive
Dynamic motor 150 drives the 4th rotation drive motor 170 in X-Y axial planes relative to the second U-shaped pendulum by the second axle joint arm 160
Seat 140 makees oscillating motion in 180 ° of angular range；
One is installed in the 3rd U-shaped swing seat 180 on the line shaft of the 4th rotation drive motor 170, the 4th rotation driving horse
Rotated in Y-Z axial planes up to 170 the 3rd U-shaped swing seats 180 of driving；
With
One is flush-mounted in the 5th rotation drive motor 190 in the wall of the seat of the 3rd U-shaped swing seat 180 mouthful side, the 5th rotation driving
Seat mouthful distribution of the line shaft of motor 190 through the 3rd U-shaped swing seat 180；And the end of welding gun 10 is provided with a fixation
Seat 101, fixed seat 101 is intraoral positioned at the seat of the 3rd U-shaped swing seat 180 and is socketed the line shaft of the 5th rotation drive motor 190, the
Five rotation drive motors 190 drive welding gun 10 and signal detection and harvester relative in X-Y axial planes by fixed seat 101
Oscillating motion is synchronously being carried out in 180 ° of angular range in the 3rd U-shaped swing seat 180.
With this, may be such that welding gun 10 can realize the weld job of diverse location, different angles relative to chuck 80, greatly
The operating radius of the welding gun 10 of extension；By the centralized Control to each rotation drive motor, the spirit of whole robot can be strengthened
Activity.
Preferred embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited,
Equivalent structure or equivalent flow conversion that every utilization the utility model specification and accompanying drawing content are made, or directly or indirectly fortune
Used in other related technical fields, similarly it is included in scope of patent protection of the present utility model.
Claims (3)
1. a kind of arc welding robot, it is characterised in that：It include mechanical arm, be installed in mechanical arm end welding gun and
It is installed on welding gun and signal detection end and the signal detection and harvester that the soldering tip of welding gun is in parallel distribution；
The signal detection and harvester include the outer containment vessel with front port, are installed on the bottom surface of outer containment vessel and cover
Loaded on the hoop sleeve on welding gun, the laser sensor for being installed in outer containment vessel and playing weld seam tracking function, it is installed in outer guarantor
Protective case is interior and plays the infrared sensor of weld seam temperature detection function and is covered on laser sensor and infrared sensor outer
Protection cap in containment vessel；
The ceiling plate portion of the protection cap an including position relative with the front port of outer containment vessel and from the left and right edge of ceiling plate portion to
Wing plate portion is formed after bending afterwards, the upper end in each wing plate portion offers an axis hole, the left and right sidewall of the outer containment vessel
On be equiped with contraposition sleeve in the rotating shaft in axis hole, in the left and right sidewall of the outer containment vessel and after corresponding rotating shaft
Side is equiped with the first pull bar, the middle part in the wing plate portion and is equiped with the second pull bar, described first positioned at the front lower place of axis hole
Pull bar is connected by an extension spring with the second pull bar；
The ceiling plate portion contraposition is covered on when on the front port of outer containment vessel, and the extended line of the extension spring prolongs with the soldering tip of welding gun
Angle between line long is 30 ° -60 °；The signal detection end of the laser sensor and infrared sensor is in the soldering tip of welding gun
Parallel distribution；
The outer containment vessel, hoop sleeve and protection cap are made by heat-barrier material, and the heat-barrier material includes substrate and is formed at
The heat insulating coat of substrate surface is constituted, and the substrate is surface by parkerized 30CrMnSiA steel plates, the heat insulating coat
Be with organic siliconresin, glass dust and Polycarbosilane as adhesive and by add alundum (Al2O3), carborundum, zirconium dioxide,
The mixing material that boron nitride, silica and carbon fiber are formed.
2. a kind of arc welding robot as claimed in claim 1, it is characterised in that：The thickness of the substrate is 1mm, described heat-insulated
The thickness of coating is 900-1000 μm.
3. a kind of arc welding robot as claimed in claim 1 or 2, it is characterised in that：The mechanical arm includes：
One chuck；
One first rotation drive motor, the first rotation drive motor seat is located on the upper surface of chuck and the first rotation driving
A rotating disk is set with the line shaft of motor；
One first U-shaped swing seat, the first U-shaped swing seat is installed in rotating disk, and first rotation drive motor is by rotation
Disk drives the first U-shaped swing seat to be rotated relative to chuck in X-Z axial planes；
One second rotation drive motor, second rotation drive motor is flush-mounted in the seat mouthful side wall of the first U-shaped swing seat and the
Seat mouthful distribution of the line shaft of two rotation drive motors through the first U-shaped swing seat；
One second U-shaped swing seat, the bottom of the second U-shaped swing seat is formed with first axle joint arm, the bottom of the first axle joint arm
Be installed in the first U-shaped swing seat seat it is intraoral and be socketed the second rotation drive motor line shaft, second rotation drive motor
The second U-shaped swing seat is driven to make oscillating motion relative to the first U-shaped swing seat in X-Y axial planes by first axle joint arm；
One the 3rd rotation drive motor, the 3rd rotation drive motor is flush-mounted in the seat mouthful side wall of the second U-shaped swing seat and the
Seat mouthful distribution of the line shaft of three rotation drive motors through the second U-shaped swing seat；
One the 4th rotation drive motor, is formed with the second axle joint arm on the enclosure bottom of the 4th rotation drive motor, described
The bottom of the second axle joint arm be installed in the second U-shaped swing seat seat it is intraoral and be socketed the 3rd rotation drive motor line shaft, it is described
3rd rotation drive motor drives the 4th rotation drive motor U-shaped relative to second in X-Y axial planes by the second axle joint arm
Swing seat makees oscillating motion；
One the 3rd U-shaped swing seat, the 3rd U-shaped swing seat is installed on the line shaft of the 4th rotation drive motor, the 4th rotation
Turn the U-shaped swing seat of drive motor the 3rd to be rotated in Y-Z axial planes；
With
One the 5th rotation drive motor, the 5th rotation drive motor is flush-mounted in the seat mouthful side wall of the 3rd U-shaped swing seat and the
Seat mouthful distribution of the line shaft of five rotation drive motors through the 3rd U-shaped swing seat；
The end of the welding gun is provided with a fixed seat, and the fixed seating is intraoral in the seat of the 3rd U-shaped swing seat and is socketed the 5th
The line shaft of rotation drive motor, the 5th rotation drive motor drives welding gun and signal detection and collection dress by fixed seat
Put synchronously carries out oscillating motion in X-Y axial planes relative to the 3rd U-shaped swing seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621045566.7U CN206185294U (en) | 2016-09-08 | 2016-09-08 | Arc welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621045566.7U CN206185294U (en) | 2016-09-08 | 2016-09-08 | Arc welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206185294U true CN206185294U (en) | 2017-05-24 |
Family
ID=58728211
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621045566.7U Expired - Fee Related CN206185294U (en) | 2016-09-08 | 2016-09-08 | Arc welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206185294U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106216814A (en) * | 2016-09-08 | 2016-12-14 | 肇庆市小凡人科技有限公司 | A kind of arc welding robot |
| CN107378326A (en) * | 2017-09-04 | 2017-11-24 | 江西洪都航空工业集团有限责任公司 | A kind of welding gun controller for being directed to Irregular Boundary Surface and irregular weld seam |
| CN108015456A (en) * | 2017-11-28 | 2018-05-11 | 钟祥长富精密电子科技有限公司 | A kind of welding robot |
| CN108453445A (en) * | 2018-04-11 | 2018-08-28 | 马鞍山工蜂智能科技有限公司 | A kind of portable miniaturized welding robot |
-
2016
- 2016-09-08 CN CN201621045566.7U patent/CN206185294U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106216814A (en) * | 2016-09-08 | 2016-12-14 | 肇庆市小凡人科技有限公司 | A kind of arc welding robot |
| CN106216814B (en) * | 2016-09-08 | 2019-03-08 | 肇庆市小凡人科技有限公司 | A kind of arc welding robot |
| CN107378326A (en) * | 2017-09-04 | 2017-11-24 | 江西洪都航空工业集团有限责任公司 | A kind of welding gun controller for being directed to Irregular Boundary Surface and irregular weld seam |
| CN108015456A (en) * | 2017-11-28 | 2018-05-11 | 钟祥长富精密电子科技有限公司 | A kind of welding robot |
| CN108453445A (en) * | 2018-04-11 | 2018-08-28 | 马鞍山工蜂智能科技有限公司 | A kind of portable miniaturized welding robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170524 Termination date: 20210908 |
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| CF01 | Termination of patent right due to non-payment of annual fee |