CN207577643U - A kind of robot welding system of achievable automatically walk control - Google Patents
A kind of robot welding system of achievable automatically walk control Download PDFInfo
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- CN207577643U CN207577643U CN201721648473.8U CN201721648473U CN207577643U CN 207577643 U CN207577643 U CN 207577643U CN 201721648473 U CN201721648473 U CN 201721648473U CN 207577643 U CN207577643 U CN 207577643U
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Abstract
The utility model belongs to welding technology field, more particularly to a kind of robot welding system of achievable automatically walk control.Including automated guided vehicle and the switch board being set on automated guided vehicle, automatic winding control system, automatic cathode adsorbent equipment, robot and welding machine, wherein automated guided vehicle and machine is connect per capita with switch board, the actuating station of robot is equipped with the welding gun being connect with welding machine, automatic cathode adsorbent equipment and automatic winding control system are respectively arranged at the front and back ends of automated guided vehicle, automatic cathode adsorbent equipment is used to the cable of welding machine cathode being adsorbed onto workpiece, and automatic winding control system is used for the folding and unfolding of cable.The utility model is accurately positioned mode using what laser range sensor and laser sought that level sensor is combined, is communicated with robot, achievees the purpose that accurate welding workpiece.
Description
Technical field
The utility model belongs to welding technology field, more particularly to a kind of robot welding of achievable automatically walk control
System.
Background technology
In the prior art, composite machine people (AGV+ robots) is in outdoor or office operation, by ground environment, room
The influence of UV light causes AGV vehicles (automated guided vehicle) stopping accuracy there are error, so as to affect the weldering of robot
Connect efficiency.AGV is the abbreviation of Automated Guided Vehicle, implies that " automated guided vehicle ", is referred to equipped with electricity
Homing guidances device is magnetically or optically waited, it can be travelled along defined guide path, have safeguard protection and various transfer work(
The transport vehicle of energy.The walking path of composite machine people is not known, and is caused take-up and unwrapping wire to power cable and gas circuit and is improved
Difficulty.In addition, before due to welding, need to contact the cathode of welding machine with workpiece, be manual operation form at present.It is existing
Field is due to the arrangement of workpiece or place, it is impossible to which flexible shift position carries out weld job.
Utility model content
In order to overcome above-mentioned deficiency, the purpose of this utility model is to provide a kind of robot of achievable automatically walk control
Welding system, the welding system is versatile, high degree of automation.
To achieve these goals, the utility model uses following technical scheme：
A kind of robot welding system of achievable automatically walk control, including automated guided vehicle and is set to described
Switch board, automatic winding control system, automatic cathode adsorbent equipment, robot and welding machine on automated guided vehicle, wherein
Automated guided vehicle and machine are connect per capita with the switch board, and the actuating station of the robot is equipped with to be connect with the welding machine
Welding gun, the automatic cathode adsorbent equipment and automatic winding control system are respectively arranged at the automated guided vehicle
Front and back ends, the automatic cathode adsorbent equipment are used to the cable of welding machine cathode being adsorbed onto workpiece, the automatic winding control
System is used for the folding and unfolding of cable.
The welding gun seeks level sensor and laser range sensor equipped with laser, and the laser range sensor is for thick
Position while welding is found, the laser seeks tracking of the level sensor for weld seam in accurate searching position while welding and welding process.
The laser is sought level sensor and is connect with the robot, in the laser range sensor and the switch board
PLC connections.
The automatic cathode adsorbent equipment includes from top to bottom sequentially connected upper link block, zero curve block and lower connecting block,
Magnet and lower magnet are embedded in the upper link block and the lower connecting block respectively, the outside of the upper link block, which is equipped with, to be used
In the upper microswitch for controlling the upper magnet power on/off, the outside of the lower connecting block is equipped with that the lower magnet is controlled to lead to
The lower microswitch of power-off, the cathode cable connection that the zero curve block passes through copper coin and the welding machine.
The automated guided vehicle is equipped with zero curve storing board, and the zero curve storing board is equipped with guiding axis, under described
Link block is equipped with the guide ring being located by connecting with the guiding axis.
The welding gun is equipped with for the iron plate with the automatic cathode adsorbent equipment magnetic absorption.
The automatic winding control system includes motor, magnetic hysteresis shaft coupling, reduction box, collector ring transmission of electricity case, reel, cable
And pedestal, wherein motor is mounted on pedestal and output shaft is by the input axis connection of magnetic hysteresis shaft coupling and reduction box, described
Collector ring transmission of electricity case and the reel are located at the both sides of the reduction box and connect respectively with the output shaft of the reduction box both sides
It connects, one end of the cable passes through the center of reel and the output shaft of the reduction box to be connect with collector ring transmission of electricity case, separately
One ends wound is on the reel.
The side of the reel is equipped with cable-remover, and the cable-remover includes screw, screw, transmission device and guide wheel group,
Wherein screw is rotatably installed on pedestal and by the output axis connection of transmission device and the reduction box, the screw with
The screw cooperatively forms screw thread pair, and the guide wheel group connect with the screw and can be moved with the screw, the electricity
The retractable cable of cable is oriented to by the guide wheel group.
The automated guided vehicle is connect with the PLC in the switch board and the robot.
The front and back ends of the automated guided vehicle are equipped with anticollision laser head and laser bumper block.
The advantages of the utility model and advantageous effect are：
1. the utility model high degree of automation.The utility model seeks level sensor using laser range sensor and laser
What is be combined is accurately positioned mode, is communicated with robot, achievees the purpose that accurate welding workpiece.
2. the utility model is adaptable.Suitable for indoor and outdoor and bad environments field settings.To cut deal and
Different welding point forms is all applicable in；Automatic cathode adsorbent equipment and automatic wire winding device can be adapted for external special
Environment.
4. the utility model protectiveness is good.Since the camera lens of sensor is frangible portions, each sensor forepart is pacified
Equipped with protection valve, valve is opened when working sensor, when sensor is idle, closes valve.Automatic winding
Device cable has abrasionproof, moisture-proof and corrosion-resistant function.
5. the utility model industry prospect is good.At present, the equipment and heavy steel structure of some major ports, using artificial or
Person's special plane carries out weld job, and labor intensity is big, and working efficiency is low.Using the system, the labor intensity of personnel is substantially increased,
Improve efficiency.
6. the utility model is not interfered (flue dust, splashing, temperature etc.) by arc process, do not influenced by ambient lighting conditions,
Tracking can be realized on all welding materials, welding gun track controls in real time；Compressed air flow nozzle designs, and protection can be more
Eyeglass is changed, resists flue dust with splashing；High-speed figure laser sensor realizes quick and reliable weld seam recognition, welds geometry
The accurate 3D laser measurements of size.
Description of the drawings
Fig. 1 is the structure diagram of the utility model；
Fig. 2 is the vertical view of Fig. 1；
Fig. 3 is the axonometric drawing of the utility model；
Fig. 4 is the structure diagram of the automatic cathode adsorbent equipment of the utility model；
Fig. 5 is the structure diagram of the utility model welding gun；
Fig. 6 is the structure diagram of the utility model automatic winding control system；
Fig. 7 is the vertical view of Fig. 6；
Fig. 8 is the right view of Fig. 6.
In figure：1 is automated guided vehicle, and 2 be laser head I, and 3 be laser bumper block I, and 4 be welding gun, 5 cabinets in order to control, 6
It is cable tail for automatic winding control system, 61,62 be motor, and 63 be magnetic hysteresis shaft coupling, and 64 be reduction box, and 65 slide for transmission of electricity
Ring, 66 be collector ring transmission of electricity case, and 67 be double gas circuit rotary joints, and 68 be spool shaft, and 69 be reel, and 610 be cable, and 611 be base
Seat, 612 be leading screw, and 613 be transmission device, and 614 be guide wheel group, and 7 be laser head II, and 8 be laser bumper block II, and 9 be automatic
Cathode adsorbent equipment, 91 be zero curve block, and 92 be lower microswitch, and 93 be lower connecting block, and 94 be lower magnet, and 95 be guide ring, 96
For copper coin, 97 be limited post, and 98 be upper link block, and 99 be upper microswitch, and 10 be welding gun cleaning device, and 11 be robot, 12
Level sensor is sought for laser, 13 be laser range sensor, and 14 be iron plate.
Specific embodiment
In order to make the purpose of this utility model, technical solution and advantage clearer, below in conjunction with the accompanying drawings and it is embodied
The utility model is described in detail in example.
As shown in Figs. 1-3, the purpose of this utility model is to provide a kind of robot welderings of achievable automatically walk control
Welding system, including automated guided vehicle 1 and the switch board being set on automated guided vehicle 15, automatic winding control system
6th, automatic cathode adsorbent equipment 9, robot 11 and welding machine, wherein automated guided vehicle 1 and robot 11 connect with switch board 5
It connects, the actuating station of robot 11 is equipped with the welding gun 4 being connect with welding machine, automatic cathode adsorbent equipment 9 and automatic winding control system 6
The front and back ends of automated guided vehicle 1 are respectively arranged at, automatic cathode adsorbent equipment 9 is used to adsorb on the cable of welding machine cathode
Onto workpiece, automatic winding control system 6 is used for the folding and unfolding of cable.
As shown in figure 5, welding gun 4 seeks level sensor 12 and laser range sensor 13, laser ranging sensing equipped with laser
Device 13 is connect with the PLC in switch board 5, and for slightly finding position while welding, laser is sought level sensor 12 and connect with robot 11, is used
In the tracking for accurately finding weld seam in position while welding and welding process.During robot welding, laser seeks level sensor 12
It can be communicated with robot 11, communication modes are ethernet IP；Laser range sensor 13 can be led to PLC
News, communication modes are Profibus net.
Laser range sensor 13 is made of sensor, mounting bracket and communication cable, by identifying because of target workpiece table
The variation of surface state and the CMOS that generates enters the difference of waveform, and carry out best waveform processing automatically.
Laser is sought level sensor 12 and is made of sensor, mounting bracket and communication cable, passes through the automatic localization to weld seam
And the weld joint tracking in welding process, workpiece is welded.System employs the veneer electronic technology controlled in real time, is suitable for
High speed weld seam seeks position, wide-measuring range, the identification of process monitoring and feature.Equipment is equipped with ethernet module, is convenient for and machine
The communication of people.
Further, the lower section of welding gun 4 is additionally provided with for the iron plate 14 with automatic 9 magnetic absorption of cathode adsorbent equipment.
As shown in figure 4, automatic cathode adsorbent equipment 9 includes from top to bottom sequentially connected upper link block 98, zero curve block 91
And lower connecting block 93, it is embedded with magnet and lower magnet 94 respectively in upper link block 98 and lower connecting block 93, upper link block 98
Outside is equipped with the upper microswitch 99 for controlling upper magnet power on/off, and the outside of lower connecting block 93 is equipped with to control lower magnet
The lower microswitch 92 of 94 power on/off, the cathode cable connection that zero curve block 91 passes through copper coin 96 and welding machine.
Further, the front end of automated guided vehicle 1 is equipped with zero curve storing board, and zero curve storing board is equipped with guiding axis,
Lower connecting block 93 is equipped with the guide ring 95 being located by connecting with guiding axis.
The cathode cable connector of welding machine is is fixed at magnet positions by automatic cathode adsorbent equipment 9.Shown by robot
After religion, after six axis automatic absorbing devices of robot 11, the cable of welding machine cathode is adsorbed onto by workpiece following table by electromagnet
Face.Specially：
1. when starting to work, robot 11 arrives the top of zero curve block 91, and (two have letter simultaneously by upper microswitch 99
Number) after, upper electromagnet is powered, and robot 11 is sucked in zero curve block 91.
2. zero curve block 91 is put into and wants at welding steel by robot 11, after 94 alignment pieces of lower electromagnet, fine motion is pressed
92 are switched, the two lower microswitches 92 in lower section act simultaneously at this time, and lower electromagnet 94 is powered.Workpiece, machine is sucked in zero curve block 91
People 11 carries out welding job.
Action returns to zero curve storing board after 3. robot 11 completes welding job, during placement, two guide rings
95 can correct the minor shifts of zero curve block in this task with guiding axis.
As shown in figs 6-8, automatic winding control system 6 includes motor 62, magnetic hysteresis shaft coupling 63, reduction box 64, collector ring
Transmission of electricity case 66, reel 69, cable 610 and pedestal 611, wherein motor 62 are mounted on pedestal 611 and output shaft passes through magnetic hysteresis
The input axis connection of shaft coupling 63 and reduction box 64, collector ring transmission of electricity case 66 and reel 69 be located at the both sides of reduction box 64 and
Respectively with the output axis connection of 64 both sides of reduction box, one end of cable 610 passes through the center of reel 69 and the output of reduction box 64
Axis is connect with collector ring transmission of electricity case 66, and the other end is wound on reel 69.
The side of reel 69 is equipped with cable-remover, and cable-remover includes screw 612, screw, transmission device 613 and guide wheel group
614, wherein screw 612 is rotatably installed on pedestal 611 and is connected by the output shaft of transmission device 613 and reduction box 64
It connects, screw cooperatively forms screw thread pair with screw 612, and guide wheel group 614 connect with screw and can be moved with screw, cable
610 retractable cable is oriented to by guide wheel group 614.
Automatic winding control system 6 has the function of automatic unwrapping wire, and cable 610 is power, three and of compressed air and protection gas
One integrated cable, the unwrapping wire of cable 610 can carry out communication control with PLC.When equipment drives towards cable anchor position, motor 62 obtains electric
It rotates forward, reel 69 is driven actively to wind cable after 63 speed governing of magnetic hysteresis shaft coupling；When equipment sails out of cable anchor position, in cable
Under 610 dragging, reel 69 overcomes " magnetic connection " resistance of magnetic hysteresis shaft coupling 63, passively releases cable；When equipment stops or sets
During standby power-off, 62 delay cut-off of motor, due to the rotation stop of magnetic hysteresis shaft coupling unilateral bearing and " magnetic connection " resistance, actuator cable volume
Disk ensures that cable does not slip.
Automatic winding control system 6 has that compact-sized, convenient to install and maintain, control mode is simple, reliable etc. excellent
Point starts steadily, and the process of folding and unfolding cable is soft, permanent torque output, extends the service life of cable.In equipment running process
In, variation of the magnetic hysteresis shaft coupling energy according to the traveling speed and coil diameter and cable tension of host equipment, adjust automatically output speed,
The linear velocity of folding and unfolding cable and the traveling speed of equipment is made to keep synchronous regime.
Automated guided vehicle 1 is connect with the PLC in switch board 5 and robot 11, automated guided vehicle 1 it is forward and backward
End is equipped with anticollision laser head and laser bumper block.The characteristics of automated guided vehicle 1 passes through product and position while welding, can be certainly
Dynamic planning map and walking path, the position for ensureing parking are the position of the optimum posture of welding, and control accuracy is good, safety
Height, stopping accuracy is within ± 10mm.Automated guided vehicle 1 charges automatically, can be carried out with PLC and robot system
Communication.The wheel of automated guided vehicle 1 is suitable for indoor and outdoors environment, and wear-resisting, anti-corrosion is moisture-proof.Automated guided vehicle 1
Safe fan sweeping is installed, ensures the safety and stability of its traveling.
Automated guided vehicle 1 includes system design, path planning, AGV bicycles, AGV control systems, automatic charging system
System, communication system, navigation system and other related ancillary equipment cable, charging valve and cablings as needed for AGV system itself
Deng.During 1 on-line operation of automated guided vehicle, can on AGV monitoring system screens real-time display system working condition, be included in
Quantity, position, state of line AGV etc. can carry out 1 operation task of automated guided vehicle real time monitoring and rationally intervene, event
Barrier prompting etc..AGV Control management systems can be distributed the conveying task of AGV trolleies, monitoring system and scene automatically by nearby principle
Situation is consistent, and picture is beautiful.AGV Control management systems have the reception and distribution of task, provide the interface with system integrator,
Have the functions such as more AGV status inquiries, AGV traffic administrations, Charge Management, manual intervention.AGV traffic administrations have anti-traffic
Blocking function.AGV Control management systems and the communication of AGV units use wireless mode, and communication robust, there is no blind areas.It is vehicle-mounted
Display and operation panel can check AGV working conditions, prompting operating procedure and fault message, can manually set or modification portion
Divide unit control parameter (needing rights management).Automated guided vehicle 1 uses automatic charging, and automated guided vehicle 1, which performs, appoints
When charge requirement is generated during business, it need to treat that its task is completed, charging operations could be carried out.Automated guided vehicle 1, which performs, appoints
During business, shortest path is automatically selected.
In equipment running process, after automated guided vehicle 1 is parked at welding position, passed first by laser ranging
Sensor 13 slightly finds position while welding, and the initial point position of weld seam is found by tri- directions of XYZ.Then it is sought by laser
Level sensor 12 seeks position to search out weld seam by line, feeds back information to robot 11, carries out the operation of welding workpiece.Its
For middle laser range sensor 13 during weld seam is measured, the numerical value of measurement can feed back to PLC and robot system, pass through calculating
The accurate location of weld seam starting point is obtained, positioning accuracy can be within ± 5mm.Laser seek level sensor 12 be by line laser come
The weld seam that two faces of reflection are intersected, so that robot can accurately be welded to weld seam, can reach precision ± 0.1mm.
The electrical source of power of composite machine people provides, gas circuit is provided using automatic deploying and retracting line apparatus, can meet straight line or
The needs of person's curved path walking displacement.The cathode of the source of welding current uses automatic absorbing workpiece, eliminates the mode of manual work.Automatically
Guide transport lorry 1 with automatic path planning and can be accurately positioned.This system is suitable for major port, and steel structure and cut deal welding should
In.
Workpiece size changes and rigging error is that weld defect, poor efficiency and robot system is caused to be shut down is most important
One of factor.Laser vision system has well solved these problems, realizes substantially carrying for welding quality and production efficiency
Height, and substantially reduce the downtime of robot system.
The critical piece of system includes PowerCam laser sensors and PowerBox controllers.PowerCam is current
Smallest size of laser sensor, it but provides 3D visions based on aser triangulation principle and is internally integrated simultaneously
2D video monitoring cameras.3D visions are for the accurate measurement to welding line joint position and geometry.2D video monitorings are then just
In long-range process monitoring and robotic programming.
Compact PowerBox controllers then simplify the installation of system, and only need the installation space of very little.
PowerBox receives the data from sensor, generates weld joint tracking size and position data, realizes and corrects robot in real time
Track and adaptive modulation parameter, system man-machine interface is friendly, and easily programmable, fast response time is easy to use.
The utility model has many advantages, such as that compact-sized, convenient to install and maintain, control mode is simple, reliable.This reality
It can be adapted in a variety of steel constructions, deck etc. under back plate welding occasion with novel, applicable corner connection, docking, overlap joint, cross joint,
Downhand weld, fillet weld and fillet weld seam.The system, which can also be used as, is installed to mobile equipment, convenient for finding weldering to the accurate of weld seam
It connects.
The foregoing is merely the embodiments of the utility model, are not intended to limit the scope of protection of the utility model.It is all
Any modification, equivalent substitution and improvements made within spirit of the present utility model and principle, extension etc., are all contained in this reality
With in novel protection domain.
Claims (10)
1. a kind of robot welding system of achievable automatically walk control, which is characterized in that including automated guided vehicle (1)
And it is set to switch board (5), automatic winding control system (6), automatic cathode absorption dress on the automated guided vehicle (1)
(9), robot (11) and welding machine are put, wherein automated guided vehicle (1) and robot (11) connects with the switch board (5)
It connects, the actuating station of the robot (11) is equipped with the welding gun (4) being connect with the welding machine, the automatic cathode adsorbent equipment (9)
The front and back ends of the automated guided vehicle (1) are respectively arranged at automatic winding control system (6), the automatic cathode is inhaled
Adsorption device (9) for the cable of welding machine cathode to be adsorbed onto workpiece, the automatic winding control system (6) for cable receipts
It puts.
2. the robot welding system of achievable automatically walk control according to claim 1, which is characterized in that the weldering
Rifle (4) seeks level sensor (12) and laser range sensor (13) equipped with laser, and the laser range sensor (13) is used for
It is thick to find position while welding, the laser seek level sensor (12) for accurately find weld seam in position while welding and welding process with
Track.
3. the robot welding system of achievable automatically walk control according to claim 2, which is characterized in that described to swash
Light is sought level sensor (12) and is connect with the robot (11), and the laser range sensor (13) is interior with the switch board (5)
PLC connections.
4. the robot welding system of achievable automatically walk control according to claim 1, which is characterized in that it is described from
Dynamic cathode adsorbent equipment (9) includes from top to bottom sequentially connected upper link block (98), zero curve block (91) and lower connecting block (93),
It is embedded with magnet and lower magnet (94), the upper link block respectively in the upper link block (98) and the lower connecting block (93)
(98) outside is equipped with the upper microswitch (99) for controlling the upper magnet power on/off, the outside of the lower connecting block (93)
Equipped with for controlling the lower microswitch (92) of lower magnet (94) power on/off, the zero curve block (91) by copper coin (96) with
The cathode cable connection of the welding machine.
5. the robot welding system of achievable automatically walk control according to claim 4, which is characterized in that it is described from
Dynamic guide transport lorry (1) is equipped with zero curve storing board, and the zero curve storing board is equipped with guiding axis, on the lower connecting block (93)
Equipped with the guide ring (95) being located by connecting with the guiding axis.
6. the robot welding system of achievable automatically walk control according to claim 1, which is characterized in that the weldering
Rifle (4) is equipped with for the iron plate (14) with automatic cathode adsorbent equipment (9) magnetic absorption.
7. the robot welding system of achievable automatically walk control according to claim 1, which is characterized in that it is described from
Dynamic spiral control system (6) includes motor (62), magnetic hysteresis shaft coupling (63), reduction box (64), collector ring transmission of electricity case (66), reel
(69), cable (610) and pedestal (611), wherein motor (62) are on pedestal (611) and output shaft is joined by magnetic hysteresis
The input axis connection of axis device (63) and reduction box (64), the collector ring transmission of electricity case (66) and the reel (69) subtract positioned at described
The both sides of fast case (64) and respectively the output axis connection with the reduction box (64) both sides, one end of the cable (610) are worn
It crosses the center of reel (69) and the output shaft of the reduction box (64) to connect with collector ring transmission of electricity case (66), other end winding
In on the reel (69).
8. the robot welding system of achievable automatically walk control according to claim 7, which is characterized in that the volume
The side of disk (69) is equipped with cable-remover, and the cable-remover includes screw (612), screw, transmission device (613) and guide wheel group
(614), wherein screw (612) is rotatably installed on pedestal (611) and by transmission device (613) and the reduction box
(64) output axis connection, the screw cooperatively form screw thread pair, the guide wheel group (614) and institute with the screw (612)
It states screw to connect and can move with the screw, the retractable cable of the cable (610) is oriented to by the guide wheel group (614).
9. the robot welding system of achievable automatically walk control according to claim 1, which is characterized in that it is described from
Dynamic guide transport lorry (1) is connect with the PLC in the switch board (5) and the robot (11).
10. the robot welding system of achievable automatically walk control according to claim 1, which is characterized in that described
The front and back ends of automated guided vehicle (1) are equipped with anticollision laser head and laser bumper block.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721648473.8U CN207577643U (en) | 2017-11-30 | 2017-11-30 | A kind of robot welding system of achievable automatically walk control |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721648473.8U CN207577643U (en) | 2017-11-30 | 2017-11-30 | A kind of robot welding system of achievable automatically walk control |
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| CN207577643U true CN207577643U (en) | 2018-07-06 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795921A (en) * | 2018-12-14 | 2019-05-24 | 上海航天设备制造总厂有限公司 | Self routing cable reel |
| CN110508982A (en) * | 2019-10-28 | 2019-11-29 | 遨博（江苏）机器人有限公司 | Intelligent mobile cooperation robot welding workstation and its working method |
| CN111299755A (en) * | 2018-12-11 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | Composite robot system capable of realizing automatic walking |
-
2017
- 2017-11-30 CN CN201721648473.8U patent/CN207577643U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111299755A (en) * | 2018-12-11 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | Composite robot system capable of realizing automatic walking |
| CN109795921A (en) * | 2018-12-14 | 2019-05-24 | 上海航天设备制造总厂有限公司 | Self routing cable reel |
| CN110508982A (en) * | 2019-10-28 | 2019-11-29 | 遨博（江苏）机器人有限公司 | Intelligent mobile cooperation robot welding workstation and its working method |
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