CN206273467U - Welding robot - Google Patents
Welding robot Download PDFInfo
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- CN206273467U CN206273467U CN201621108673.XU CN201621108673U CN206273467U CN 206273467 U CN206273467 U CN 206273467U CN 201621108673 U CN201621108673 U CN 201621108673U CN 206273467 U CN206273467 U CN 206273467U
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- welding
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- welding gun
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Abstract
The utility model provides a kind of welding robot.The welding robot includes：Body and the welding gun, processor and the photoelectric detector that are arranged on body；Processor is connected with welding gun and photoelectric detector respectively；Processor is used to be controlled according to the detection signal of photoelectric detector the motion of body and welding gun.The welding robot that the utility model is provided, by setting photoelectric detector on body, speed and distance of the photoelectric detector detection machine body phase to actual welding environment, so that processor changes to the control signal that body and welding gun send according to the change of welding surroundings, so as to the automatic welding for realizing welding robot can be according to welding surroundings self-adaptative adjustment, it is ensured that welding effect.
Description
Technical field
The utility model is related to mechanical field, more particularly to a kind of welding robot.
Background technology
Welding robot is the industrial robot for carrying out automatic welding.Welding robot is widely used in weld job
In constantly repeat, the weld job scene of dull long working scene or high-risk adverse circumstances, with high production rate, high-quality
The features such as amount and high stability.
Usual welding robot is by teaching box, control panel, robot body and send welding wire device, source of welding current etc. automatically
Part constitutes.General welding robot is still in the teaching playback stage at present, with memory, store function, can be according to corresponding
Program is realized repeating operation.
But it is existing because welding robot only repeats operation according to corresponding program, therefore when welding condition changes
Having welding robot cannot carry out self-adaptative adjustment according to the change of welding condition, reduce welding effect.Existing welding robot
People has that intelligence degree is not high, running orbit is restricted, cannot carry out self adaptation welding.
Utility model content
The utility model provides a kind of welding robot, there is intelligence degree not for solving existing welding robot
High, running orbit is restricted, cannot carry out the problem of self adaptation welding.
The utility model provides a kind of welding robot, including body and welding gun, the processor being arranged on the body
And photoelectric detector；
The processor is connected with the welding gun and the photoelectric detector respectively；
The processor is used to be controlled according to the detection signal of the photoelectric detector fortune of the body and the welding gun
It is dynamic.
Welding robot as described above, is additionally provided with seam track identifier and the smooth scanning of solder side on the body
Device；
The processor is also connected with the seam track identifier and the smooth scanner of the solder side respectively；
The processor is additionally operable to when the seam track identifier recognizes weld seam, and the control solder side is smooth to be swept
Retouch device and scan the weld seam, the scanning information according to the weld seam adjusts the motion of the welding gun.
Welding robot as described above, also includes：Welding gun arm and welding gun arm tracking controller；Wherein
One end of the welding gun arm is arranged on the body, and the welding gun is arranged on the other end of the welding gun arm；Institute
Welding gun arm tracking controller is stated to be arranged on the body；
The processor is also connected with the welding gun arm tracking controller, and the processor is additionally operable to by the welding gun arm
Tracking controller controls the motion of the welding gun arm.
Welding robot as described above, the other end of the welding gun arm is provided with chucking device, the chucking device folder
The welding gun is held, welding gun inclination angle trimmer is provided with the chucking device；
The processor is also connected with the chucking device and welding gun inclination angle trimmer respectively, and the processor is also used
In the shape for controlling the chucking device, the angle of the welding gun is adjusted by welding gun inclination angle trimmer.
Welding robot as described above, is additionally provided with welding rod holder, inside the welding rod holder on the body
It is provided with welding rod ejector；
The processor is also connected with the welding rod ejector, controls the ejection of welding rod.
Welding robot as described above, also includes：Remote controllers；
Wireless signal transceiver is additionally provided with the body, the wireless signal transceiver is logical with the remote controllers
Letter connection, the wireless signal transceiver is also connected with the processor.
Welding robot as described above, is additionally provided with image acquisition device, described image collector and institute on the body
State processor connection；
Display is provided with the remote controllers.
Welding robot as described above, is additionally provided with obstacle avoidance sensor, the obstacle avoidance sensor and institute on the body
State processor connection.
Welding robot as described above, the bottom of the body is provided with the driving magnet-wheel of caterpillar belt structure.
Welding robot as described above, is additionally provided with stand-by power supply and driving trace restoring device on the body；
The processor is connected with the stand-by power supply and the driving trace restoring device；
The stand-by power supply is connected with the driving trace restoring device and the driving magnet-wheel respectively, for the traveling
Track restoring device and the driving magnet-wheel are powered；
The processor is used to cut off the device power supply (DPS) of the welding robot when failure is detected and start described standby
With power supply, the driving trace restoring device is used to be recorded in the processor normal work traveling rail of the driving magnet-wheel
Mark, when the processor detects failure, controls the driving magnet-wheel to be travelled by the track and returns.
The welding robot that the utility model is provided, including body and welding gun, processor and the photoelectricity being arranged on body
Detector, processor is connected with welding gun and photoelectric detector respectively, and processor is used for the detection signal control according to photoelectric detector
The motion of welding gun processed, by setting photoelectric detector on body, photoelectric detector detection machine body phase is to actual welding environment
Speed and distance so that processor changes to the control signal that body and welding gun send according to the change of welding surroundings, so that
Realize that the automatic welding of welding robot can be according to welding surroundings self-adaptative adjustment, it is ensured that welding effect.The utility model
The welding robot intelligence degree of offer is high, running orbit is unrestricted, can carry out self adaptation welding.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the utility model embodiment, below will be to being wanted needed for embodiment description
The accompanying drawing for using is briefly described, it should be apparent that, drawings in the following description are some embodiments of the present utility model,
For those of ordinary skill in the art, without having to pay creative labor, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
The structural representation of the welding robot embodiment one that Fig. 1 is provided for the utility model；
The structural representation of the welding robot embodiment two that Fig. 2 is provided for the utility model；
The structural representation of the welding robot embodiment three that Fig. 3 is provided for the utility model.
Reference：
10-body；11-welding gun；
12-processor；13-photoelectric detector；
14-seam track identifier；The smooth scanner of 15-solder side；
16-welding gun arm；17-welding gun arm tracking controller；
18-chucking device；19-welding gun inclination angle trimmer；
20-welding rod holder；21-welding rod ejector；
22-remote controllers；23-wireless signal transceiver；
24-display；25-drive magnet-wheel；
26-stand-by power supply；27-driving trace restoring device.
Specific embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, is clearly and completely described, it is clear that retouched to the technical scheme in the utility model embodiment
The embodiment stated is a part of embodiment of the utility model, rather than whole embodiments.Based on the implementation in the utility model
Example, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made is belonged to
The scope of the utility model protection.
The structural representation of the welding robot embodiment one that Fig. 1 is provided for the utility model, as shown in figure 1, bonding machine
Device people include：Body 10 and the welding gun 11, processor 12 and the photoelectric detector 13 that are arranged on body 10；
Processor 12 is connected with welding gun 11 and photoelectric detector 13 respectively；
Processor 12 is used to be controlled according to the detection signal of photoelectric detector 13 motion of body 10 and welding gun 11.
Exemplary, welding robot includes the body 10 that can be automatically moved, and processor 12 is provided with body 10, processes
Device 12 controls body 10 to be moved according to welding surroundings demand or rotation special angle.Welding gun 11 is additionally provided with body 10, it is optional
, welding gun 11 is arranged on the top of body 10, and processor 12 not only can control the motion of body 10, also can control the fortune of welding gun 11
It is dynamic, to realize welding.Optionally, welding robot can be used to realize arc-welding.
Processor 12 controls body 10 and welding gun 11 to be moved along corresponding track according to pre-set programs in the prior art, realizes weight
Multiple weld job.The welding robot that the utility model is provided also includes photoelectric detector 13, and photoelectric detector 13 is arranged on machine
On the outer surface of body 10, the distance of the speed of service and body 10 relative to workpiece to be welded for detecting body 10 can be real
The automatic identification of existing workpiece to be welded and the automatic tracing of workpiece surface track.Detection of the processor 12 according to photoelectric detector 13
The motion of signal controlling machine body 10 and welding gun 11, realizes automatic welding.Because the detection signal of photoelectric detector 13 is with welding
The change of environment and change, therefore processor 12 can be according to the motion of actual welding environmental Kuznets Curves body 10 and welding gun 11.
The welding robot that the utility model is provided, including body and welding gun, processor and the photoelectricity being arranged on body
Detector, processor is connected with welding gun and photoelectric detector respectively, and processor is used for the detection signal control according to photoelectric detector
The motion of welding gun processed, by setting photoelectric detector on body, photoelectric detector detection machine body phase is to actual welding environment
Speed and distance so that processor changes to the control signal that body and welding gun send according to the change of welding surroundings, so that
Realize that the automatic welding of welding robot can be according to welding surroundings self-adaptative adjustment, it is ensured that welding effect.The utility model
The welding robot intelligence degree of offer is high, running orbit is unrestricted, can carry out self adaptation welding.
Further, on the basis of welding robot shown in Fig. 1, the welding robot that Fig. 2 is provided for the utility model
The structural representation of embodiment two, as shown in Fig. 2 being additionally provided with seam track identifier 14 on body 10 and solder side is smooth sweeps
Retouch device 15；
Processor 12 is also connected with seam track identifier 14 and the smooth scanner 15 of solder side respectively；
Processor 12 is additionally operable to when seam track identifier 14 recognizes weld seam, and the control smooth scanner 15 of solder side is swept
Weld seam is retouched, the scanning information according to weld seam adjusts the motion of welding gun 11.
Exemplary, in order to further improve welding quality, weldquality can be exercised supervision while welding, and root
Welding optimization is carried out according to the quality of completed weld seam, so as to ensure welding quality.Specifically, weld seam can be set on body 10
Track identification device 14 and the smooth scanner 15 of solder side, seam track identifier 14 are used to recognize weld seam, the smooth scanning of solder side
Device 15 is used to scan weld seam, extracts the characteristic information in welding process, processor 12 respectively with seam track identifier 14 and weldering
The smooth scanner 15 of junction is connected, and receives the detection signal of seam track identifier 14 and the smooth scanner 15 of solder side.
When specifically used, when processor 12 receives the signal for recognizing weld seam of the transmission of seam track identifier 14
When, or processor 12 determines that seam track identifier 14 recognizes weld seam according to the signal that seam track identifier 14 sends
When, control smooth 15 pairs of weld seams for identifying of scanner of solder side are scanned, and obtain the characteristic information in welding process, treatment
Device 12 determines the welding quality of weld seam according to the characteristic information of weld seam.When welding quality is higher, can not be modified, work as welding
When quality is relatively low, such as precision is relatively low, and processor 12 adjusts the motion of welding gun 11 according to the gap of welding quality and prospective quality, with
Improve welding quality.
Further, as shown in Fig. 2 welding robot also includes：Welding gun arm 16 and welding gun arm tracking controller 17；Wherein
One end of welding gun arm 16 is arranged on body 10, and welding gun 11 is arranged on the other end of welding gun arm 16；Welding gun arm track
Controller 17 is arranged on body 10；
Processor 12 is connected with welding gun arm tracking controller 17, and processor 12 is used to be controlled by welding gun arm tracking controller 17
The motion of welding gun arm processed 16.
Exemplary, welding gun 11 is arranged on body 10 by welding gun arm 16.Welding gun arm 16 is made up of at least one connecting rod,
By set up can deformation welding gun arm 16, increase the range of movement of welding gun 11, improve the scope of application of welding robot,
Improve the flexibility of welding gun 11.Welding gun arm tracking controller 17 is arranged on body 10, is specifically as follows welding gun arm 16 and machine
The junction of body 10, welding gun arm tracking controller 17 is used to control the motion of welding gun arm 16.When implementing, welding gun arm track
The function of controller 17 can be also integrated in processor 12.Processor 12 according to the detection signal of photoelectric detector, while control
Welding gun arm 16 and welding gun 11, to facilitate welding gun 11 to realize welding.
Further, as shown in Fig. 2 the other end of welding gun arm 16 is provided with chucking device 18, the clamping weldering of chucking device 18
Rifle 11, is provided with welding gun inclination angle trimmer 19 on chucking device 18；
Processor 12 is also connected with chucking device 18 and welding gun inclination angle trimmer 19 respectively, and processor 12 is additionally operable to control folder
The shape of holding equipment 12, the angle of welding gun 11 is adjusted by welding gun inclination angle trimmer 19.
Exemplary, the on-fixed end that welding gun arm 16 is used to connect welding gun 11 clamps welding gun 11, folder by chucking device 18
Holding equipment 18 is that deformable welding gun clamps the mechanism that follows an example, and processor 12 is connected with chucking device 18, controls chucking device 18
Factually the welding surroundings on border are deformed, and facilitated the deeply complicated welding surroundings of welding gun 11, are improved the applicable surface of welding.
Optionally, it is the soldering angle of more flexible control welding gun 11 on chucking device 18, can be on chucking device 18
Welding gun inclination angle trimmer 19 is set.The effect of welding gun inclination angle trimmer 19 is the flatness for improving solder side, prevents from being moved through
The slope change caused in journey and the flatness that makes solder side are destroyed.
Optionally, as shown in Fig. 2 being additionally provided with welding rod holder 20 on the body 10 of welding robot, welding rod holder
20 are internally provided with welding rod ejector 21；
Processor 12 is also connected with welding rod ejector 21, controls the ejection of welding rod.
Exemplary, welding rod holder 20 is additionally provided with the body 10 of welding robot, welding rod holder 20 generally sets
Put in the upper surface of body 10, to facilitate welding gun 11 to take welding rod.Further, welding rod holder 20 is internally provided with welding rod bullet
Go out device 21, welding rod ejector 21 is connected with processor 12, processor 12 is additionally operable to according to actual welding situation, control welding rod oneself
Move out, to improve welding efficiency.
Further, on the basis of welding robot shown in Fig. 1 or Fig. 2, the bonding machine that Fig. 3 is provided for the utility model
The structural representation of device people embodiment three, as shown in figure 3, welding robot also includes remote controllers 22, also sets on body 10
Wireless signal transceiver 23 is equipped with, wireless signal transceiver 23 is communicated to connect with remote controllers 22, wireless signal transceiver 23
Also it is connected with processor 12.
Specifically, the scope of application further to improve welding robot, improves the flexibility of welding robot, can be in machine
Wireless signal transceiver 23 is set up on body 10, wireless signal transceiver 23 is connected with processor 12, wireless signal transceiver 23 with
Remote controllers 22 realize communication connection by mobile network's technology or Bluetooth technology.
User enters the operating instructions on remote controllers 22, and remote controllers 22 are by the operational order of user by wireless
Network is sent to wireless signal transceiver 23, and the operational order of user is sent to processor 12 by wireless signal transceiver 23, place
Reason device 12 controls the motion of body 10, welding gun arm 16, welding gun 11 according to the operational order of user.Specifically, remote controllers 22
It is upper that the devices such as control stick can be set to facilitate user input operational order.
Further, image acquisition device is additionally provided with body 10, image acquisition device is connected with processor 12；Remote control
Display 24 is provided with device 22.
When welding surroundings are severe, it has not been convenient to when technical staff observes, further can be set on body 10 or welding arm 16
Image acquisition device, image acquisition device is connected with processor 12, and the image that will be collected is sent to processor 12.Remote controllers
Display 24 is set on 22, and display 24 is used for the image that the image acquisition device of the transmission of video-stream processor 12 is collected.
Further, obstacle avoidance sensor is additionally provided with body 10, obstacle avoidance sensor is connected with processor 12.It is exemplary
, when in welding surroundings suddenly there is foreign matter when, obstacle avoidance sensor be used for detect may collide when, to processor 12
Send a warning message, processor 12 controls welding robot to suspend welding when warning information is received.Optionally, on body 10
Settable multiple obstacle avoidance sensor, obstacle avoidance sensor can also be provided on welding gun arm 16.
Optionally, as shown in figure 3, the bottom of body 10 is provided with the driving magnet-wheel 25 of caterpillar belt structure.
Exemplary, the inside of driving magnet-wheel 25 of caterpillar belt structure includes two magnet-wheels.Drive magnet-wheel has magnetic in itself, can
Absorption is on metal works to be welded, therefore welding machine robot can walk on the steel face of any angle, solves existing
The problem for having welding robot to be walked on the track for having designed, improves the mobility of welding robot, while
Track structure obstacle climbing ability is stronger, also further increases the flexibility of welding robot.
Optionally, as shown in figure 3, being additionally provided with stand-by power supply 26 and driving trace restoring device 27 on body 10；
Processor 12 is connected with stand-by power supply 26 and driving trace restoring device 27；
Stand-by power supply 26 is connected with driving trace restoring device 27 and driving magnet-wheel 25 respectively, for driving trace restoring device
27 power with driving magnet-wheel 25；
Processor 12 is used to cut off the device power supply (DPS) of welding robot when failure is detected and start stand-by power supply 26,
Driving trace restoring device 27 is used to record the driving trace for driving magnet-wheel 25 in 12 normal work of processor, is examined in processor 12
When measuring failure, control drives magnet-wheel 25 to be travelled by track and returns.
Specifically, being additionally provided with stand-by power supply 26 and driving trace restoring device 27 on body 10, it is contemplated that work as welding process
During middle failure, if welding robot exits welding chamber lattice not in time, it is understood that there may be welding robot is stuck in the lattice of cabin not side
Just the problem taken out, controls welding robot when failure occurs by backtracking by driving trace restoring device 27, exits welding
Cabin lattice.Exemplary, processor 12 is connected with stand-by power supply 26 and driving trace restoring device 27, when processor 12 detects failure
When, cut off the device power supply (DPS) of welding robot and start stand-by power supply 26.Exemplary, failure can be detected for obstacle avoidance sensor
To may collide, or processor 12 is true according to the scanning result of seam track identifier 14 and the smooth scanner 15 of solder side
Settled preceding welding quality is poor to be needed to check.Driving trace restoring device 27 is used to record driving magnetic in 12 normal work of processor
The driving trace of wheel 25, when processor 12 detects failure, control drives magnet-wheel 25 to be travelled by track and returns, so as to control weldering
Welding robot exits current welding surroundings, protects welding robot, facilitate maintenance, it is to avoid welding robot when failure occurs
People is stuck in the lattice of cabin the problem for being inconvenient to take out.
Finally it should be noted that：Various embodiments above is only used to illustrate the technical solution of the utility model, rather than it is limited
System；Although being described in detail to the utility model with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, or to which part or whole
Technical characteristic carries out equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
1. a kind of welding robot, it is characterised in that including：Body and the welding gun, processor and the light that are arranged on the body
Photodetector；
The processor is connected with the welding gun and the photoelectric detector respectively；
The processor is used to be controlled according to the detection signal of the photoelectric detector motion of the body and the welding gun.
2. welding robot according to claim 1, it is characterised in that seam track identification is additionally provided with the body
Device and the smooth scanner of solder side；
The processor is also connected with the seam track identifier and the smooth scanner of the solder side respectively；
The processor is additionally operable to, when the seam track identifier recognizes weld seam, control the smooth scanner of solder side
The weld seam is scanned, the scanning information according to the weld seam adjusts the motion of the welding gun.
3. welding robot according to claim 2, it is characterised in that also include：Welding gun arm and welding gun arm TRAJECTORY CONTROL
Device；Wherein
One end of the welding gun arm is arranged on the body, and the welding gun is arranged on the other end of the welding gun arm；The weldering
Rifle arm tracking controller is arranged on the body；
The processor is also connected with the welding gun arm tracking controller, and the processor is additionally operable to by the welding gun arm track
Controller controls the motion of the welding gun arm.
4. welding robot according to claim 3, it is characterised in that the other end of the welding gun arm is provided with clamping and sets
Standby, the chucking device clamps the welding gun, and welding gun inclination angle trimmer is provided with the chucking device；
The processor is also connected with the chucking device and welding gun inclination angle trimmer respectively, and the processor is additionally operable to control
The shape of the chucking device is made, the angle of the welding gun is adjusted by welding gun inclination angle trimmer.
5. welding robot according to claim 4, it is characterised in that welding rod holder is additionally provided with the body,
The welding rod holder is internally provided with welding rod ejector；
The processor is also connected with the welding rod ejector, controls the ejection of welding rod.
6. welding robot according to claim 5, it is characterised in that also include：Remote controllers；
Wireless signal transceiver, the wireless signal transceiver and the remote controllers communication link are additionally provided with the body
Connect, the wireless signal transceiver is also connected with the processor.
7. welding robot according to claim 6, it is characterised in that be additionally provided with image acquisition device on the body,
Described image collector is connected with the processor；
Display is provided with the remote controllers.
8. welding robot according to claim 7, it is characterised in that be additionally provided with obstacle avoidance sensor on the body,
The obstacle avoidance sensor is connected with the processor.
9. welding robot according to claim 8, it is characterised in that the bottom of the body is provided with caterpillar belt structure
Drive magnet-wheel.
10. welding robot according to claim 9, it is characterised in that be additionally provided with the body stand-by power supply and
Driving trace restoring device；
The processor is connected with the stand-by power supply and the driving trace restoring device；
The stand-by power supply is connected with the driving trace restoring device and the driving magnet-wheel respectively, for the driving trace
Restoring device and the driving magnet-wheel are powered；
The processor is used to cut off the device power supply (DPS) of the welding robot when failure is detected and start the standby electricity
Source, the driving trace restoring device is used to be recorded in the processor normal work driving trace of the driving magnet-wheel,
When the processor detects failure, control the driving magnet-wheel to be travelled by the track and return.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621108673.XU CN206273467U (en) | 2016-10-10 | 2016-10-10 | Welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621108673.XU CN206273467U (en) | 2016-10-10 | 2016-10-10 | Welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206273467U true CN206273467U (en) | 2017-06-23 |
Family
ID=59062450
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621108673.XU Withdrawn - After Issue CN206273467U (en) | 2016-10-10 | 2016-10-10 | Welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206273467U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106271285A (en) * | 2016-10-10 | 2017-01-04 | 山东科技大学 | Welding robot |
| CN108145348A (en) * | 2018-01-06 | 2018-06-12 | 佛山市三盟新能源有限公司 | A kind of automatic welding machine people |
| CN108971833A (en) * | 2018-08-16 | 2018-12-11 | 陈敏 | Automatic welding machinery hand |
| CN108971832A (en) * | 2018-08-16 | 2018-12-11 | 陈敏 | A kind of automatic welding machinery hand |
| CN113927190A (en) * | 2021-11-26 | 2022-01-14 | 深圳软动智能控制有限公司 | Laser axis motion control method and device, laser device and storage medium |
-
2016
- 2016-10-10 CN CN201621108673.XU patent/CN206273467U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106271285A (en) * | 2016-10-10 | 2017-01-04 | 山东科技大学 | Welding robot |
| CN108145348A (en) * | 2018-01-06 | 2018-06-12 | 佛山市三盟新能源有限公司 | A kind of automatic welding machine people |
| CN108971833A (en) * | 2018-08-16 | 2018-12-11 | 陈敏 | Automatic welding machinery hand |
| CN108971832A (en) * | 2018-08-16 | 2018-12-11 | 陈敏 | A kind of automatic welding machinery hand |
| CN108971833B (en) * | 2018-08-16 | 2020-05-26 | 浙江省工程咨询有限公司 | Automatic welding manipulator |
| CN113927190A (en) * | 2021-11-26 | 2022-01-14 | 深圳软动智能控制有限公司 | Laser axis motion control method and device, laser device and storage medium |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170623 Effective date of abandoning: 20180213 |