CN208772727U - A kind of sink plate welding device - Google Patents
A kind of sink plate welding device Download PDFInfo
- Publication number
- CN208772727U CN208772727U CN201821533126.5U CN201821533126U CN208772727U CN 208772727 U CN208772727 U CN 208772727U CN 201821533126 U CN201821533126 U CN 201821533126U CN 208772727 U CN208772727 U CN 208772727U
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Abstract
The utility model discloses a kind of sink plate welding device, including clamp assembly, weld assembly and for clamp assembly to be sent to the transfer assembly at weld assembly, clamp assembly includes two mounting plates, the connecting plate for connecting two mounting plates, the first support board being arranged on connecting plate, the first limited block, the second limiting section, the third limited block being set on mounting plate, the 4th limiting section and the second support board being set on mounting plate；Mounting plate is set on transfer assembly；Second limiting section includes two the second limited blocks along the setting of mounting plate longitudinal direction；4th limiting section includes two the 4th limited blocks along the setting of mounting plate longitudinal direction, and the second support board is set between two the 4th limited blocks, and the loading surface of the loading surface of the second support board and the first support board is coplanar.When the utility model sink plate welding device welds, side plate and the close split of middle plate, weld seam is smaller, realizes the welding of single clamping bilateral by transfer assembly cross drive, welding efficiency is high.
Description
Technical field
The utility model relates to plate welding devices, specifically design a kind of sink plate welding device.
Background technique
In existing sink production process, generally by cutting plate according to predetermined shape, then plate is bent and welded
It connects, such production method causes the utilization rate of plate lower, and for the utilization rate for improving plate, plate correspondence cuts correspondingly-shaped
Middle plate and side plate, then by middle plate and plate-side plate welding.The each clamping of the welding device of the prior art can only realize unilateral welding, often
It all needs to dismantle and turn angle clamping again after the completion of secondary welding, welding efficiency is low, and weld seam is larger, causes following process tired
It is difficult.Therefore, need that a kind of split is close, the efficient sink plate welding device of welding.
Utility model content
For overcome the deficiencies in the prior art, the purpose of this utility model is to provide a kind of uniform sink plates of vaporization
Welding device.
The purpose of this utility model is implemented with the following technical solutions:
A kind of sink plate welding device, including clamp assembly, weld assembly and for clamp assembly to be sent to welding
Transfer assembly at component, clamp assembly include two mounting plates, the connecting plate for connecting two mounting plates, are arranged on connecting plate
The first support board, be set on mounting plate the first limited block, the second limiting section, be set on mounting plate third limit
Block, the 4th limiting section and the second support board；Mounting plate is set on transfer assembly；Second limiting section includes two vertical along mounting plate
The second limited block being arranged to direction；4th limiting section includes two the 4th limited blocks along the setting of mounting plate longitudinal direction, the
Two support boards are set between two the 4th limited blocks, and the loading surface of the loading surface of the second support board and the first support board is coplanar；
The distance between first limited block of two mounting plate corresponding positions is A, the second limited block of two mounting plate corresponding positions it
Between distance be B, the distance between third limited block of two mounting plate corresponding positions is C, two mounting plate corresponding positions
The distance between 4th limited block is D, C > D > A > B, closes on transverse side and the first limit of the mounting plate of the first limited block
The distance between block is a, close on the second limited block mounting plate transverse side and the distance between the second limited block be b, face
The distance between transverse side and third limited block of the mounting plate of nearly third limited block are c, close on the installation of the 4th limited block
The distance between the transverse side of plate and the 4th limited block are d, c > d > a > b.
Preferably, two transverse sides of mounting plate are equipped with sliding slot, and connecting plate is equipped with and sliding slot cooperation in transverse direction
Sliding block, sliding block both ends are located in two sliding slots of two mounting plate the same sides, and connecting plate is bolted with mounting plate.
Preferably, further include adjusting rod that one end is equipped with turntable, be respectively equipped with mounting base on two mounting plates, adjusting rod with
One of mounting base is connected by bearing, another mounting base is equipped with threaded hole, and adjusting rod corresponding position is equipped with and threaded hole
The screw thread of cooperation, the axis parallel of adjusting rod is in transverse direction.
Preferably, the first support board is T shape, and the side of the first support board is cascaded surface, the tyre tread of the first support board side
With connecting plate upper-end contact, riser and connecting plate the inside face contact of the first support board side.
It preferably, further include multi-directional ball, multi-directional ball includes being respectively arranged in the first support board upper surface, on the second support board
The ball seat on surface and the sphere being arranged in corresponding ball seat, sphere can roll in ball seat.
It preferably, further include that pedestal is set to above pedestal with holding down assembly for pedestal, transfer assembly is set to；Compression group
Part include the bracket for being fixed on pedestal, 2n first straight line reciprocating member for being set to bracket in transverse direction and one end with it is corresponding
The briquetting of first straight line reciprocating member connection；First straight line reciprocating member is by the column arrangement of n row two, and the briquetting other end is towards two first straight lines
The plane of symmetry of reciprocating member extends, and the distance of briquetting one end to transfer assembly transmission plane is greater than the briquetting other end and transmits to transfer assembly
The distance in face, there are welding gap between the other end of two briquettings, first straight line reciprocating member drives briquetting to move up and down.
Preferably, weld assembly is laser welding component.
Preferably, the first rotary cylinder is equipped in one of mounting plate, the output shaft of the first rotary cylinder is pacified with corresponding
The first limited block connection in loading board, the first rotary cylinder is for driving the rotation of the first limited block.
Preferably, mounting plate is equipped with the second rotary cylinder, the output shaft of the second rotary cylinder and one of them second limit
Block connection, the second rotary cylinder is for driving the rotation of the second limited block；Another second limited block can be along mounting plate longitudinal direction
It adjusts.
Preferably, in mounting plate be equipped with third rotary cylinder, the output shaft of third rotary cylinder on corresponding mounting plate
The connection of third limited block, third rotary cylinder is for driving third limited block to rotate.
Technical solutions of the utility model are equally applicable to other plate weldings.
Compared with prior art, the utility model has the beneficial effects that:
The middle plate of sink is placed on the first support board, and middle plate is carried out transverse direction side by the first limited block on two mounting plates
To limit, two the second longitudinally disposed limited block centering plates on mounting plate carry out longitudinal limit；Side plate passes through two
The 4th longitudinally disposed limited block is limited, and the longitudinal direction of side plate is limited by third limited block and middle plate, is saved
A lower limiting mechanism on side plate longitudinal direction, and side plate and the close split of middle plate, weld seam is smaller, passes through transfer assembly transverse direction
The welding of single clamping bilateral is realized in transmission, and welding efficiency is high.
Detailed description of the invention
Fig. 1 is the sink plate cutting schematic diagram of specific embodiment of the present utility model.
Fig. 2 is the sink plate welding device structural schematic diagram of specific embodiment of the present utility model.
Fig. 3 is the clamp assembly structural schematic diagram one of specific embodiment of the present utility model.
Fig. 4 is the clamp assembly structural schematic diagram two of specific embodiment of the present utility model.
The structural schematic diagram that holds down assembly of Fig. 5 specific embodiment of the present utility model.
First support board and multi-directional ball attachment structure schematic diagram of Fig. 6 specific embodiment of the present utility model.
Specific embodiment
Specific embodiment of the present utility model is described below in detail, the example of specific embodiment is shown in the accompanying drawings,
In which the same or similar labels are throughly indicated same or similar element or elements with the same or similar functions.Under
Face is exemplary by reference to the embodiment that attached drawing describes, and is only used for explaining the utility model, and should not be understood as to this reality
With novel limitation.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " suitable
The orientation or positional relationship of the instructions such as hour hands ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " is orientation based on the figure
Or positional relationship, be merely for convenience of describing the present invention and simplifying the description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as the limit to the utility model
System.In addition, defining " first ", the feature of " second " can explicitly or implicitly include one or more of the features.
In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
As shown in Figure 1, the top Fig. 1 is prior art sink plate cutting mode, the cutting mode of the prior art directly will
The 102 one cutting of middle plate 101 and side plate of sink, leftover bits are more；The lower part Fig. 1 is the sink plate cutting of the utility model
Mode separately cuts middle plate 101 and side plate 102, and through welding, leftover bits are less.
As shown in Figure 2-5, as one of specific embodiment of the present utility model, sink plate welding device, including folder
Have component, weld assembly and the transfer assembly 30 for being sent to clamp assembly at weld assembly, clamp assembly includes two
Mounting plate 201, the connecting plate 202 for connecting two mounting plates 201, the first support board 203 being arranged on connecting plate 202, setting
In the first limited block 204 on mounting plate 201, the second limiting section, the third limited block the 206, the 4th being set on mounting plate 201
Limiting section and the second support board 208；Mounting plate 201 is set on transfer assembly 30；Second limiting section includes two along mounting plate
Second limited block 205 of 201 longitudinal directions setting；4th limiting section includes two along the of the setting of 201 longitudinal direction of mounting plate
Four limited blocks 207, the second support board 208 are set between two the 4th limited blocks 207, the loading surface of the second support board 208 and
The loading surface of first support board 203 is coplanar；The distance between first limited block 204 of two 201 corresponding positions of mounting plate is A,
The distance between second limited block 205 of two 201 corresponding positions of mounting plate is B, the third of two 201 corresponding positions of mounting plate
The distance between limited block 206 is C, and the distance between the 4th limited block 207 of two 201 corresponding positions of mounting plate is D, C > D
> A > B, close on the distance between the transverse side of the mounting plate 201 of the first limited block 204 and the first limited block 204 for a, face
The distance between the transverse side of the mounting plate 201 of nearly second limited block 205 and the second limited block 205 are b, close on third limit
The distance between transverse side and third limited block 206 of the mounting plate 201 of block 206 are c, close on the peace of the 4th limited block 207
The distance between the transverse side of loading board 201 and the 4th limited block 207 are d, c > d > a > b.
First limited block 204, the second limited block 205 are for plate 101 in limiting, and centering plate 101 is positioned；Third limit
Position block 206, the 4th limited block 207 are to position for limiting side plate 102 to side plate 102.
Transfer assembly 30 is the prior art, such as belt transfer assembly 30.
Working principle: middle plate 101 is placed on the loading surface of the first support board 203, is located on two mounting plates 201
204 centering plate 101 of the first limited block carry out the limit of transverse direction, two the second limited blocks 205 on same mounting plate 201
Centering plate 101 carries out the limit of longitudinal direction, so that middle plate 101 is limited in the first support board 203,204 and of the first limited block
Between the region that second limited block 205 is formed；Side plate 102 is placed on the loading surface of the second support board 208, same mounting plate
Two the 4th limited blocks 207 on 201 carry out the limit of longitudinal direction to side plate 102；Third limited block 206 and middle plate 101 are right
Side plate 102 carries out the limit of transverse direction, so that side plate 102 is limited in the second support board 208, third limited block the 206, the 4th
Between the region that limited block 207 and middle plate 101 are formed, the loading surface of the loading surface of the first support board 203 and the second support board 208
Coplanar, plate 101 limits side plate 102 in, and middle plate 101 and the close split of side plate 102 are welded using weld assembly
When, weld seam is smaller, and the side plate 102 and middle plate 101 on 30 right side of transfer assembly are transmitted to weld assembly, and weld assembly is to side plate 102
It is welded with middle 101 junction of plate, after welding, transfer assembly 30 continues to transmitting to the right, and the side plate 102 in left side is in
Plate 101 is sent at weld assembly, and weld assembly welds the side plate 102 in left side and the junction of middle plate 101, is completed
The single clamping bilateral of plate welds, and middle plate 101 and side plate 102 are transmitted to the left, unloaded in soldered by transfer assembly 30
Plate 101 and side plate 102 carry out the clamping of next group plate.
To realize that the distance between two mounting plates 201 are adjustable, two transverse sides of mounting plate 201 are equipped with sliding slot
2011, connecting plate 202 is equipped with the sliding block 2021 cooperated with sliding slot 2011 in transverse direction, and 2021 both ends of sliding block are located at two
In two sliding slots 2011 of 201 the same side of mounting plate, connecting plate 202 is bolted with mounting plate 201.
The bolt between connecting plate 202 and one of mounting plate 201 is unclamped, the sliding block 2021 of connecting plate 202 is along correspondence
The sliding slot 2011 of mounting plate 201 slides, to carry out the adjusting of distance between two mounting plates 201, adjusting will even after finishing
Fishplate bar 202 and mounting plate 201 are bolted.
Further include the adjusting rod 209 that one end is equipped with turntable 210, be respectively equipped with mounting base 211 on two mounting plates 201, adjusts
Pole 209 is connect with one of mounting base 211 by bearing, another mounting base 211 is equipped with threaded hole, and adjusting rod 209 is right
Position is answered to be equipped with the screw thread cooperated with threaded hole, the axis parallel of adjusting rod 209 is in transverse direction.
The bolt between connecting plate 202 and one of mounting plate 201 is unclamped, two peaces can be realized in rotary turnplate 210
The adjustment of distance, simple and quick between loading board 201.
First support board 203 is T shape, and the side of the first support board 203 is cascaded surface, and 203 side of the first support board is stepped on
Face and 202 upper-end contact of connecting plate, the riser and 202 inside face contact of connecting plate of 203 side of the first support board.
In use, the first support board 203 can be mobile relative to 202 upper end of connecting plate, in moving process, to prevent side along longitudinal direction
It deflects and falls to the first support board 203 of setting, limited by two opposite medial surfaces of connecting plate 202.
As shown in fig. 6, further including multi-directional ball to prevent from scratching plate surface in plate moving process, multi-directional ball includes point
It is not installed on 203 upper surface of the first support board, the ball seat 212 of 208 upper surface of the second support board and setting in corresponding ball seat 212
Sphere 213, sphere 213 can roll in ball seat 212.
Plate prevent universal spherical at loading surface on, when mobile plate, sphere 213 rolls in ball seat 212, sphere
Rolling friction is generated between 213 and plate, relative to the sliding friction between plane and mobile plate, using universal spherical at
Loading surface, plate movement is smooth, and frictional force is small, not easy to scratch.
It further include that pedestal 40 is set to above pedestal 40 with holding down assembly for pedestal 40, transfer assembly 30 is set to；It compresses
Component include the bracket 501 for being fixed on pedestal 40, be set in transverse direction 6 first straight line reciprocating members 502 of bracket 501 with
And the briquetting 503 that one end is connected with corresponding first straight line reciprocating member 502；First straight line reciprocating member 502 is by the column arrangement of 3 rows two, pressure
The plane of symmetry of 503 other end of block towards two first straight line reciprocating members 502 extends, 503 one end of briquetting to 30 transmission plane of transfer assembly
Distance be greater than 503 other end of briquetting to the distance of 30 transmission plane of transfer assembly, there are welderings between the other end of two briquettings 503
Seam gap, first straight line reciprocating member 502 drive briquetting 503 to move up and down.
First straight line reciprocating member 502 is prior art construction, such as cylinder.
Briquetting 503 is driven to move downward by first straight line reciprocating member 502, two 503 other ends of briquetting compress to be welded
Middle plate 101 and side plate 102 near place, prevent 101 material temperature distortion of plate in welding process, influence welding effect.
Weld assembly is laser welding component, is specifically laser welding machinery hand.
Using laser welding components welding relative to argon arc welding, weld seam thermal deformation is small, is convenient for following process.
In one of mounting plate 201 be equipped with the first rotary cylinder 214, the output shaft of the first rotary cylinder 214 with it is corresponding
The first limited block 204 connection on mounting plate 201, the first rotary cylinder 214 is for driving the first limited block 204 along mounting plate
Plate 101 in 201 rotation clampings.
It is realized by the first rotary cylinder 214 and middle plate 101 is limited between two the first limited blocks 204, in conjunction with sliding slot
2011 and sliding block 2021 structure, thus suitable for different in width plate 101 limit.
Mounting plate 201 is equipped with the second rotary cylinder 215, the output shaft of the second rotary cylinder 215 and one of those the
The connection of two limited blocks 205, the second rotary cylinder 215 drive the rotation of the second limited block 205, another second limited block 205 can edge
The longitudinal direction of mounting plate 201 is adjusted.
The limit by middle plate 101 between two the second limited blocks 205 is realized by the second rotary cylinder 215, by another
The adjusting of one the second limited block 205, thus suitable for different length plate 101 limit.
Third rotary cylinder 216, the output shaft of third rotary cylinder 216 and corresponding mounting plate 201 are equipped in mounting plate 201
On third limited block 206 connect, third rotary cylinder 216 for drive third limited block 206 rotate.
It is realized by third rotary cylinder 216 and side plate 102 is limited between third limited block 206 and middle plate 101, in conjunction with
The structure of sliding slot 2011 and sliding block 2021, to be suitable for the restriction of different in width side plate 102.
Mounting plate 201 is equipped with the 4th rotary cylinder 217,217 output shaft of the 4th rotary cylinder and corresponding 4th limited block
207 connections, the 4th rotary cylinder 217 drive the rotation of the 4th limited block 207；Another the 4th limited block 207 can be along mounting plate 201
Longitudinal direction adjust.
Limit of the side plate 102 between two the 4th limited blocks 207 is realized by the 4th rotary cylinder 217, by another
The adjusting of a 4th limited block 207, to be suitable for the limit of different length side plate 102.
Above embodiment is only the certain preferred embodiments of the utility model, cannot limit the utility model with this
The range of protection, the variation and replacement of any unsubstantiality that those skilled in the art is done on the basis of the utility model
Belong to the utility model range claimed.
Claims (10)
1. a kind of sink plate welding device, which is characterized in that including clamp assembly, weld assembly and be used for the fixture group
Part is sent to the transfer assembly at the weld assembly, and the clamp assembly includes two two mounting plates, connection mounting plates
Connecting plate, the first support board being arranged on connecting plate, the first limited block being set on mounting plate, the second limiting section, setting
In third limited block, the 4th limiting section and the second support board on mounting plate；The mounting plate is set on the transfer assembly；
Second limiting section includes two the second limited blocks along mounting plate longitudinal direction setting；4th limiting section includes
Two the 4th limited blocks along mounting plate longitudinal direction setting, second support board are set to two the 4th limits
Between block, the loading surface of the loading surface of second support board and first support board is coplanar；Two mounting plates are corresponding
The distance between described first limited block of position is A, between second limited block of two mounting plate corresponding positions
Distance be B, the distance between described third limited block of two mounting plate corresponding positions be C, two mounting plates
The distance between described 4th limited block of corresponding position is D, and C > D > A > B closes on the installation of first limited block
The distance between the transverse side of plate and first limited block be a, close on second limited block the mounting plate cross
It is b to the distance between side and second limited block, closes on the transverse side of the mounting plate of the third limited block
The distance between described third limited block is c, close on the transverse side of the mounting plate of the 4th limited block with it is described
The distance between 4th limited block is d, c > d > a > b.
2. sink plate welding device according to claim 1, which is characterized in that two transverse sides of the mounting plate
Equipped with sliding slot, the connecting plate is equipped with the sliding block with sliding slot cooperation in transverse direction, and the sliding block both ends are located at two
In two sliding slots of a described mounting plate the same side, the connecting plate is bolted with the mounting plate.
3. sink plate welding device according to claim 2, which is characterized in that first support board is T shape, described
The side of first support board is cascaded surface, the tyre tread of first support board side and the connecting plate upper-end contact, described the
Face contact on the inside of the riser of one support board side and the connecting plate.
4. sink plate welding device according to claim 2, which is characterized in that further include the adjusting that one end is equipped with turntable
Bar is respectively equipped with mounting base on two mounting plates, and the adjusting rod is connect with one of mounting base by bearing, another
A mounting base is equipped with threaded hole, and the adjusting rod corresponding position is equipped with the screw thread cooperated with threaded hole, the axis of the adjusting rod
Line is parallel to transverse direction.
5. sink plate welding device according to claim 1, which is characterized in that it further include multi-directional ball, the multi-directional ball
Including the ball seat for being respectively arranged in first support board upper surface, second support board upper surface and setting described in the correspondence
Sphere in ball seat, the sphere can roll in the ball seat.
6. sink plate welding device according to claim 1, which is characterized in that further include pedestal and being set to the bottom
Seat holds down assembly, and the transfer assembly is set to above the pedestal；It is described to hold down assembly including being fixed on the pedestal
Bracket, 2n first straight line reciprocating member for being set to the bracket in transverse direction and one end and the corresponding first straight line are past
The briquetting of copy connection；For the first straight line reciprocating member by the column arrangement of n row two, the briquetting other end is straight towards two described first
The plane of symmetry of line reciprocating member extends, and the distance of described briquetting one end to the transfer assembly transmission plane is greater than the briquetting other end
To the distance of the transfer assembly transmission plane, there are welding gap, the first straight lines between the other end of two briquettings
Reciprocating member drives the briquetting to move up and down.
7. sink plate welding device according to claim 1, which is characterized in that the weld assembly is laser welding group
Part.
8. sink plate welding device according to claim 1, which is characterized in that be equipped in one of them described mounting plate
First rotary cylinder, the output shaft of first rotary cylinder are connected with first limited block on the corresponding mounting plate,
First rotary cylinder is for driving first limited block to rotate.
9. sink plate welding device according to claim 1, which is characterized in that the mounting plate is equipped with the second rotary pneumatic
The output shaft of cylinder, second rotary cylinder is connect with the second limited block described in one of them, and second rotary cylinder is used for
Second limited block is driven to rotate；Another described second limited block can be adjusted along the mounting plate longitudinal direction.
10. sink plate welding device according to claim 1, which is characterized in that be equipped with third in the mounting plate and revolve
Rotaring cylinder, the output shaft of the third rotary cylinder are connected with the third limited block on the corresponding mounting plate, and described the
Three rotary cylinders are for driving the third limited block to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821533126.5U CN208772727U (en) | 2018-09-19 | 2018-09-19 | A kind of sink plate welding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821533126.5U CN208772727U (en) | 2018-09-19 | 2018-09-19 | A kind of sink plate welding device |
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| Publication Number | Publication Date |
|---|---|
| CN208772727U true CN208772727U (en) | 2019-04-23 |
Family
ID=66161924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821533126.5U Active CN208772727U (en) | 2018-09-19 | 2018-09-19 | A kind of sink plate welding device |
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| Country | Link |
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| CN (1) | CN208772727U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394539A (en) * | 2019-07-26 | 2019-11-01 | 湖南大用智能科技有限公司 | Traffic sign welding system |
| CN110394541A (en) * | 2019-07-26 | 2019-11-01 | 湖南大用智能科技有限公司 | Robot welding system and traffic sign welding system |
| CN110756994A (en) * | 2019-10-09 | 2020-02-07 | 中国船舶重工集团公司第七一六研究所 | Flexible clamping system and clamping method for robot welding of large-scale component |
-
2018
- 2018-09-19 CN CN201821533126.5U patent/CN208772727U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110394539A (en) * | 2019-07-26 | 2019-11-01 | 湖南大用智能科技有限公司 | Traffic sign welding system |
| CN110394541A (en) * | 2019-07-26 | 2019-11-01 | 湖南大用智能科技有限公司 | Robot welding system and traffic sign welding system |
| CN110756994A (en) * | 2019-10-09 | 2020-02-07 | 中国船舶重工集团公司第七一六研究所 | Flexible clamping system and clamping method for robot welding of large-scale component |
| CN110756994B (en) * | 2019-10-09 | 2021-09-21 | 中国船舶重工集团公司第七一六研究所 | Flexible clamping system and clamping method for robot welding of large-scale component |
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