CN208895437U - Welding robot and automatic assembly welding system with the welding robot - Google Patents
Welding robot and automatic assembly welding system with the welding robot Download PDFInfo
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- CN208895437U CN208895437U CN201821587379.0U CN201821587379U CN208895437U CN 208895437 U CN208895437 U CN 208895437U CN 201821587379 U CN201821587379 U CN 201821587379U CN 208895437 U CN208895437 U CN 208895437U
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Abstract
The utility model discloses a kind of welding robot and the automatic assembly welding system with the robot, welding robot involved in it includes fuselage, the lever arm for being connected to the fuselage and the welding mechanism for being connected to the lever arm, and the fuselage includes ontology and the adjustable flexible neck of the relatively described body height；The lever arm includes sequentially connected translation arms, the first pivoted arm and the second pivoted arm, before and after the translation arms towards and be set on the flexible neck along what its own length direction moved, first pivoted arm is around the front end for being set to the translation arms of the first transverse axes, second pivoted arm is set to the one end of the first pivoted arm far from the translation arms around the second transverse axes, and the welding mechanism is connected to the one end of the second pivoted arm far from first pivoted arm and has the welding gun for welding；Welding robot provided by the utility model can substitute manually, can reduce artificial participation in the welding process, improve weldment integral solder quality.
Description
Technical field
The utility model relates to welding field more particularly to a kind of welding robot and with the automatic of the welding robot
Group weldering system.
Background technique
In the prior art, it is usually wrapped for realizing the equipment welded between pipeline and pipe fitting (flange, elbow and threeway etc.)
Two stations are included, i.e., group is to station and welding post.Specifically in the welding process, it is general first in group to station to the pipe after positioning
(Tungsten Inert Gas Welding, i.e. non-melt pole inert gas tungsten electrode are protected using artificial T IG weldering for road and pipe fitting
Weldering) spot welding to complete group to fixed step, then by drive a vehicle etc. transfer equipments by group to pipeline, the pipe fitting after fixation lift to
Welding post further uses artificial T IG weldering to carry out the bottoming, filling, cosmetic welding of weld seam to complete comprehensive welding of weld seam.
The right prior art has the following problems: corresponding to two stations, needs to be equipped with two welding personnels, personnel cost disappears
Consumption is big；It is artificial to participate in excessively, not ensureing welding quality；Weldment circulation between two stations needs hanging device to be turned
It moves, time-consuming and reduces the safety coefficient of entire welding process.
In view of this, it is necessary to provide a kind of improved technology schemes to solve the above problems.
Utility model content
The utility model aims to solve at least one of technical problem of the existing technology, to realize above-mentioned utility model mesh
, the utility model provides a kind of welding robot, and specific design method is as follows.
A kind of welding robot including fuselage, is connected to the lever arm of the fuselage and is connected to the lever arm
Welding mechanism, the fuselage include ontology and the adjustable flexible neck of the relatively described body height；The lever arm includes successively connecting
Translation arms, the first pivoted arm and the second pivoted arm connect, before and after the translation arms towards and the setting moved along its own length direction
In on the flexible neck, first pivoted arm is around the front end for being set to the translation arms of the first transverse axes, and described second
Pivoted arm is set to the one end of the first pivoted arm far from the translation arms around the second transverse axes, and the welding mechanism is connected to
The one end of two pivoted arms far from first pivoted arm and have for welding welding gun.
Further, the welding mechanism is connected to second pivoted arm around third transverse axes.
Further, the fuselage also has the pedestal for being fixedly attached to the body bottom portion, and the welding robot also wraps
It includes and is equipped with the first track laterally moved for the pedestal with the pedestal.
The utility model additionally provides a kind of automatic assembly welding system, group pair of the automatic assembly welding system for pipeline, pipe fitting
And welding, with above-described welding robot.
Further, the automatic assembly welding system also has the group being set on front side of the welding robot to equipment, described
Group includes for carrying the pipeline and limiting the pipeline in pipeline bogey laterally toward and positioned at institute to equipment
State pipeline bogey side has described in adjusting for carrying the pipe fitting bogey of the pipe fitting, the pipe fitting bogey
Pipe fitting position is so that pipe fitting end positioning is docked to the pipe end to form the pipe fitting position adjusting mechanism of weld seam；Institute
It states welding robot and is moved to the weld seam different location with welding gun pipette tips and the pipeline and the pipe fitting are connected with spot welding
Standby weldering state.
Further, the pipeline bogey includes the first support frame and the second support frame being horizontally arranged at interval, described
The drive that there is first support frame pipeline clamping device, the driving pipeline clamping device for gripping the pipeline to rotate
Motivation structure and the adjustment pipeline clamping device are so that the axial line of the clamped pipeline and the pipeline clamping device
The concentric regulating mechanism that pivot center is overlapped, second support frame, which has, cooperates first support frame to carry the pipeline
Cooperate support portion；The welding robot have welding gun pipette tips be moved at setting position with the pipeline rotation when to described
The welded condition that weld seam is continuously welded.
Further, first support frame and the second support frame horizontal spacing are adjustable.
Further, the pipe fitting bogey includes the plummer for carrying the pipe fitting, and the plummer, which has, to be used
In the first loading part for loading elbow or threeway and the second loading part for loading flange, first loading part with it is described
Second loading station is not in the ipsilateral of the plummer, and the plummer rotation setting is for first loading part and described the
Two loading parts are selectively turned to towards the pipeline bogey side.
Further, also have to equipment and be equipped with the pipe fitting bogey for the pipe fitting bogey for described group
It laterally moves with the second track close to or far from the pipeline bogey.
Further, the welding robot also have the relatively described welding gun fixed setting for obtain the pipeline with it is described
The sweep mechanism of tube surface data and determine whether the pipeline and the pipe fitting are concentric according to acquired scan data
Decision mechanism.
The beneficial effects of the utility model are: welding robot provided by the utility model can substitute manually, welding
Artificial participation can be reduced in termination process, improve weldment integral solder quality；Welding is solid between specific implementation pipeline and pipe fitting
Periodically, the composition structure based on welding robot, the spot welding that can be thus achieved by a welding robot in the utility model
And comprehensive welding of weld seam, this provides possibility to realize pipeline, pipe fitting automation group pair in same station and welding.
Detailed description of the invention
Fig. 1 show the overall structure diagram of automatic assembly welding system；
Fig. 2 show the schematic diagram that automatic assembly welding system pipeline, pipe fitting is grouped welding；
Fig. 3 show the enlarged diagram of the part a in Fig. 2；
Fig. 4 show the first angle schematic diagram of welding robot；
Fig. 5 show the second angle schematic diagram of welding robot；
Fig. 6 show a kind of implementation structure chart of pipeline bogey；
Fig. 7 show a kind of implementation structure chart of pipe fitting bogey；
Fig. 8 show the schematic diagram that pipe fitting bogey installs elbow and flange；
Fig. 9 show section when welding is grouped to pipeline, pipe fitting in automatic assembly welding system and passes through weld seam place plane
The first status diagram；
Figure 10 show the enlarged diagram of the part b in Fig. 9；
It is flat by weld seam place that Figure 11 show section section when welding is grouped to pipeline, pipe fitting in automatic assembly welding system
Second of status diagram in face；
Figure 12 show section when welding is grouped to pipeline, pipe fitting in automatic assembly welding system and passes through weld seam place plane
The third status diagram.
Specific embodiment
The utility model is described in detail below with reference to each implementation structure shown in the drawings, please refers to Fig. 1 to figure
It is some better embodiments of the utility model shown in 12.
With reference to shown in Fig. 4, Fig. 5, welding robot 100 involved in the utility model includes fuselage 11, is connected to fuselage
11 lever arm 12 and the welding mechanism 13 for being connected to lever arm 12.It can refer to and be described below in more detail.
Fuselage 11 includes ontology 111 and the height-adjustable flexible neck 112 of opposing body 111, in illustrated embodiment, ontology
111 be in hollow pillar stand shape, and flexible neck 112 is in the shape of a rod and is embedded inside ontology 111, and is formed between the two for flexible neck
112 move along the vertical direction to change the first guiding mechanism (not identifying in figure) of flexible 112 extension elongation of neck.It is being embodied
In the process, welding robot 100 also has the telescopic drive motor 141 for driving flexible 112 opposing body 111 of neck flexible.
Lever arm 12 in the utility model includes sequentially connected translation arms 121, the first pivoted arm 122 and the second pivoted arm
123。
Wherein, the front and back of translation arms 121 towards and be set on flexible neck 112 along what its own length direction moved, specifically
In this present embodiment, translation arms 121 are set to the top of flexible neck 112, are provided with confession between translation arms 121 and flexible neck 112
The second guiding mechanism (not identified in figure) that translation arms 121 move along the longitudinal direction.In the specific implementation process, welding robot
100 have the pan drive motor (not shown) of driving 121 relative telescopic neck of translation arms, 112 anterior-posterior translation.
First pivoted arm 122 is around the front end for being set to translation arms 121 of the first transverse axes, and the second pivoted arm 123 is around second
Transverse axes are set to first one end of pivoted arm 122 far from translation arms 121.With reference to as shown in the figure, in this present embodiment,
One lateral shaft and the second lateral shaft refer respectively to two shafts laterally toward, tool the first pivoted arm of driving of welding robot 100
122 around the first transverse axes the first rotational drive motor 142 and driving the second pivoted arm 123 around the second transverse axes
Second rotational drive motor 143.
Welding mechanism 13 in the utility model is connected to the one end of the second pivoted arm 123 far from the first pivoted arm 122 and has
Welding gun 131 for welding.In this specific embodiment, welding robot 100 also has for providing the reel 16 of welding wire.
Welding robot 100 provided by the utility model can substitute manually, can reduce in the welding process artificial
It participates in, improves weldment integral solder quality.Specifically in the welding application scenarios of pipeline and pipe fitting, based on fuselage 11 and live
The specific structure of swing arm 12, the welding gun 131 for being set to bonding machine mechanism 13 on lever arm 12 can be relatively easy to abut to annular
The different location of weld seam, the spot welding connection that can be so easy to implement between pipeline and pipe fitting.
As a kind of preferred embodiment of the utility model, welding mechanism 13 involved in the utility model is around third
Transverse axes are connected to the second pivoted arm 123, and the position that such welding robot 100 adjusts welding gun 131 is more smoothly.At this
In the other embodiments of utility model, welding mechanism 13 can also be directly fixed on the second pivoted arm 123.
In addition, the fuselage 11 in this specific embodiment, which also has, is fixedly attached to 111 bottom of ontology in conjunction with shown in Fig. 2, Fig. 3
The pedestal 113 in portion, welding robot 100 further include that the first rail laterally moved for pedestal 113 is equipped with pedestal 113
Road 15.Based on the setting of the first track 15, the mobility of welding robot 100 is stronger, can be moved in a lateral direction not
Welding movement is carried out with position.
The extending direction of the first track 15 is defined in the utility model as laterally, on horizontal plane perpendicular to the first track 15
Direction be front-rear direction.
Automatic assembly welding system provided by the utility model for pipeline 41, pipe fitting 42 group pair and welding, have with
On welding robot 100.
With reference to shown in Fig. 1, Fig. 2, automatic assembly welding system also has the group for being set to 100 front side of welding robot to equipment
200.It specifically combines shown in Fig. 3, Fig. 6, group includes for carrying pipeline 41 and limiting pipeline 41 in laterally toward to equipment 200
Pipeline bogey and the pipe fitting bogey 23 for being used to carry pipe fitting 42 positioned at pipeline bogey side, pipe fitting carrying
Device 23, which has, adjusts 42 position of pipe fitting so that the positioning of 42 end of pipe fitting is docked to 41 end of pipeline to form the pipe fitting position of weld seam
Set regulating mechanism；There are welding robot 100 131 pipette tips of welding gun to be moved to weld seam different location with spot welding connecting pipe 41 and pipe
The standby weldering state of part 42.
With reference to shown in Fig. 9, Figure 10, Figure 11 and Figure 12, when welding robot 100 is in standby weldering state.The pipette tips of welding gun 131
It can be moved along 41 outer wall of pipeline on circumferential in fuselage 11 under the cooperation of lever arm 12, to be moved to the different positions of weld seam
Set: as shown in Fig. 9, Figure 10 4 o'clock position, shown in Figure 11 8 o'clock position and Figure 12 shown in 12 o'clock position
It sets.Based on this, before welded pipe line 41 and pipe fitting 42, can first pass through welding robot 100 can to pipeline 41 and pipe fitting 42 it
Between weld seam carry out local spot welding, to realize pipeline 41 and 42 positioning group pre-fixing to after of pipe fitting.
Refering to what is shown in Fig. 6, the pipeline bogey in the present embodiment include the first support frame 21 being horizontally arranged at interval and
Second support frame 22.
Wherein, the first support frame 21 has pipeline clamping device 212, driving pipeline clamping machine for gripping pipeline
The driving mechanism (not shown) that structure 212 rotates.Specifically in this present embodiment, the first support frame 21 has the first pedestal 211,
Driving mechanism is set to drive pipeline clamping device 212 to rotate relative to the first pedestal 211 on the first pedestal 211, pipeline clamping
Mechanism 212 is that a circumferential distribution has the turntables of several claws 2120, is formed among several claws 2120 and passes through for pipeline 41
Space.
The first support frame 21 in the present embodiment also has concentric regulating mechanism (not shown), the concentric regulating mechanism
For adjust pipeline clamping device 212 so that clamped pipeline 41 axial line and 212 pivot center weight of pipeline clamping device
It closes, in specific implementation process, several claws 2120 all have the clamp (not identifying in figure) for abutting pipeline 41, adjust with one heart
Mechanism is by adjusting the 2120 clamp position of several claws of pipeline clamping device 212 to cooperate the position for realizing 41 axial line of pipeline
It adjusts.
Since the weld seam that is formed between pipeline 41 and pipe fitting 42 is circular weld, in the rotation process of Yu Guandao 41, if by
The axial line of the pipeline 41 of clamping is overlapped with 212 pivot center of pipeline clamping device, and welding gun 131 both may be used under the premise of not moving
Smoothly to realize comprehensive welding to weld seam.With reference to shown in Figure 12, after the completion of pipeline 41,42 spot welding of pipe fitting, driving mechanism is driven
Dynamic pipeline clamping device 212 rotates, at this point, pipeline 41, pipe fitting 42 are rotated along the axial line of pipeline 41, welding gun 131 is maintained at 12
O-clock position can butt welding slit at comprehensive welding；In other words, there are welding robot 131 pipette tips of welding gun to be moved to setting
Welded condition at position continuously to be welded when pipeline 41 is rotated to weld seam.In the other embodiments of the utility model
In, when welding gun 131 continuously welds weld seam, welding gun 131 also may remain in 4 o'clock as shown in Figure 9 position, Figure 11
Shown in 8 o'clock position or other setting positions.It is understood that welding refers to comprehensively involved in the utility model
Be that bottoming, filling and cosmetic welding are carried out so that pipe fitting 42 is completely secured on pipeline 41 to weld seam by welding gun；For bottoming,
In filling and cosmetic welding for each welding process, generally continuously implement, so each process is referred to as
Continuous welding.
The second support frame 22 in the present embodiment has the cooperation support portion of cooperation the first support frame 21 carrying pipeline 41.Ginseng
It examines shown in Fig. 6, in specific implementation process, the second support frame 22 includes the second pedestal 222, and cooperation support portion is to be set to second
Opposite support wheel 221 before and after 222 top pair of pedestal, support wheel 221 are respectively arranged around a transverse axes.In this way, a pair
Support wheel 221 can form pipeline 41 and support, and cooperate pipeline 41 to rotate in the rotation process of pipeline 41.
In a preferred embodiment, the first support frame 21 in the utility model and 22 horizontal spacing of the second support frame can
It adjusts, to realize the support of different length pipeline 41.Specifically in this present embodiment, group, which has equipment 200, is parallel to the first rail
Second track 24 of road setting, the first support frame 21 and the second support frame 22 are all set on the second track 24, the second support frame
22 can be close to or far from the first support frame 21 along the second track 24.
With reference to shown in Fig. 7, Fig. 8, pipe fitting bogey 23 includes the plummer for carrying pipe fitting 42 in the utility model
230.Pipe fitting 42 involved in this specific embodiment includes elbow 421, threeway (not shown) and flange 422；Plummer
230 have the second loading part for loading the first loading part 231 of elbow 421 or threeway and for loading flange 422
232, i.e., the carrying of different type pipe fitting may be implemented in same bogey 23.
With reference to as shown in the figure, the first loading part 231 and the second loading part 232 in the present embodiment are located at plummer 230
Not ipsilateral, the rotation of plummer 230 setting turns to for the first loading part 231 and 232 selectivity of the second loading part towards pipeline
Bogey side.Specifically, pipe fitting bogey 23 has third pedestal 233, plummer 230 turns around a vertical axes
Dynamic is set to 233 top of pedestal, and in the side of plummer 230, the first loading part 231 includes several location holes 2311 and tears open
Unload the positioning plate 2312 for being matched with and adapting to different model bend pipe 421 or threeway positioning in location hole 2311；In plummer 230
The other side, the second loading part 232 include a pair of slide plate 2321 adjustable in pitch, and two slide plates 2321, which protrude outward to be equipped with, to be used for
The support rod 2320 cooperated with flange 422 lateral opening 4220.Since 2321 spacing of a pair of slide is adjustable, which can
To realize the loading to different size flanges 422.
As preferred embodiment, support rod 2320 is removably assemblied on slide plate 2321, on each slide plate 2321
It is provided with several position differences fixation hole fixed for support rod 2320, such second loading part 232 also may be implemented to not
With the loading of size flange 422.In further embodiments, the second loading part 232 support different equipped with several pairs of outer diameters
Bar 2320, to adapt to the support with lateral opening 4220 flange 422 of different pore size.
In the present embodiment, pipe fitting bogey 23 is located at side of first plummer 21 far from the second plummer 22.When
When needing elbow 421 or three-way welding being fixed to one end of pipeline 41, then 230 to the first loading part of plummer, 231 institute is rotated
In side close to the first support frame 21；When needing flange 422 being welded and fixed to one end of pipeline 41, then plummer is rotated
230 to the second loading part, 232 side is close to the first support frame 21.
In this present embodiment, the pipe fitting position adjusting mechanism in pipe fitting bogey 23 includes for adjusting 42 height of pipe fitting
Height adjusting unit, adjust 42 front-rear position of pipe fitting front-rear position adjust unit and adjust 42 lateral position of pipe fitting cross
To position regulating unit.
In conjunction with shown in Fig. 2, Fig. 3, pipe fitting bogey 23 involved in this embodiment is matched with by third pedestal
On second track 24, such pipe fitting bogey 23 can be along 24 transverse shifting of the second track close to or far from pipeline bogey
The first carrier 21.In this present embodiment, the second track 24 constitutes one that 23 lateral position of pipe fitting bogey adjusts unit
Part, for realizing the coarse adjustment of pipe fitting bogey 23 and pipeline bogey lateral distance.Lateral position adjusts unit and may be used also
To include the trimming assembly (not shown in figure) for finely tuning pipe fitting bogey 23 Yu pipeline bogey lateral distance.
In the specific implementation process of the utility model, for the automatic welding function of realizing automatic assembly welding system, bonding machine
Device people 100 also have the opposite fixed setting of welding gun 131 for obtain pipeline 41 and 42 surface data of pipe fitting sweep mechanism 132,
And the decision mechanism whether concentric with pipe fitting 42 of pipeline 41 is determined according to acquired scan data.
Specifically, needing to adjust the positional relationship of pipe fitting 42 Yu pipeline 41 before pipeline 41 and the weldering of 42 group to point of pipe fitting
Both so that the two is concentric, in the process, need to obtain pipeline 41 and 42 surface data of pipe fitting by sweep mechanism to confirm
Whether with one heart.In specific implementation process, if the decentraction of both pipeline 41 and pipe fitting 42, pipe fitting position adjusting mechanism is according to sweeping
It retouches data feedback and adjusts pipe fitting position until the two is concentric；If both pipeline 41 and pipe fitting 42 are concentric, welding robot 100 is transported
Row is to realize that pipeline 41 is connect with the spot welding of pipe fitting 42 between the two.
With reference to shown in Fig. 1, Fig. 2, also there is the control mechanism of control automatic assembly welding system operation in the utility model, wherein
Control mechanism includes control panel 300.
Automatic assembly welding equipment provided by the utility model on same station in can be realized between pipeline 41 and pipe fitting 42
Group to, spot welding and put bottoming, the filling, cosmetic welding of postwelding, relatively traditional two stations are more to save space, and reduce row
The use of vehicle is conducive to the general safety coefficient for improving weld job.
It should be appreciated that although this specification is described in terms of embodiments, but not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art can for bright book
With the other embodiments of understanding.
Tool of the series of detailed descriptions listed above only for the feasible embodiment of the utility model
Body explanation, they are all without departing from made by the utility model skill spirit not to limit the protection scope of the utility model
Equivalent implementations or change should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of welding robot including fuselage, is connected to the lever arm of the fuselage and is connected to the weldering of the lever arm
Connection mechanism, which is characterized in that the fuselage includes ontology and the adjustable flexible neck of the relatively described body height；The lever arm packet
It includes sequentially connected translation arms, the first pivoted arm and the second pivoted arm, moves before and after the translation arms towards and along its own length direction
Dynamic is set on the flexible neck, first pivoted arm around the front end for being set to the translation arms of the first transverse axes,
Second pivoted arm is set to the one end of the first pivoted arm far from the translation arms, the welding mechanism around the second transverse axes
It is connected to the one end of the second pivoted arm far from first pivoted arm and there is the welding gun for welding.
2. welding robot according to claim 1, which is characterized in that the welding mechanism is around third transverse axes
It is connected to second pivoted arm.
3. welding robot according to claim 1 or 2, which is characterized in that the fuselage, which also has, is fixedly attached to institute
The pedestal of body bottom portion is stated, the welding robot further includes being equipped with the pedestal so that the pedestal laterally moves
The first track.
4. a kind of automatic assembly welding system, group pair and welding for pipeline, pipe fitting, which is characterized in that the automatic assembly welding system
With welding robot described in claim 1-3 any one.
5. automatic assembly welding system according to claim 4, which is characterized in that the automatic assembly welding system, which also has, to be set to
For group on front side of the welding robot to equipment, described group includes being in for carrying the pipeline and limiting the pipeline to equipment
Pipeline bogey laterally toward and the pipe fitting carrying for being used to carry the pipe fitting positioned at pipeline bogey side
Device, the pipe fitting bogey, which has, adjusts the pipe fitting position so that pipe fitting end positioning is docked to the pipe end
Portion is to form the pipe fitting position adjusting mechanism of weld seam；There are the welding robot welding gun pipette tips to be moved to weld seam difference position
Set the standby weldering state that the pipeline Yu the pipe fitting are connected with spot welding.
6. automatic assembly welding system according to claim 5, which is characterized in that the pipeline bogey includes lateral separation
There is the pipeline for gripping the pipeline to clamp for the first support frame and the second support frame being arranged, first support frame
Mechanism, the driving mechanism of the driving pipeline clamping device rotation and the adjustment pipeline clamping device are so that clamped
The concentric regulating mechanism that the axial line of the pipeline is overlapped with the pipeline clamping device pivot center, the second support frame tool
There is the cooperation support portion for cooperating first support frame to carry the pipeline；The welding robot is moved to welding gun pipette tips
Welded condition at setting position continuously to be welded in pipeline rotation to the weld seam.
7. automatic assembly welding system according to claim 6, which is characterized in that first support frame and second support
Frame horizontal spacing is adjustable.
8. according to automatic assembly welding system described in claim 5,6 or 7, which is characterized in that the pipe fitting bogey includes using
In the plummer for carrying the pipe fitting, the plummer has for loading the first loading part of elbow or threeway and for filling
Carry flange the second loading part, first loading part with second loading station in the not ipsilateral of the plummer, it is described
Plummer rotation setting is selectively turned to towards the pipeline and is carried for first loading part and second loading part
Device side.
9. according to automatic assembly welding system described in claim 5,6 or 7, which is characterized in that described group also has equipment and institute
State pipe fitting bogey be equipped with for the pipe fitting bogey laterally move with close to or far from the pipeline carry fill
The second track set.
10. automatic assembly welding system according to claim 5, which is characterized in that the welding robot also has opposite institute
Welding gun fixed setting is stated for obtaining the sweep mechanism of the pipeline and the tube surface data and sweeping according to acquired
Retouch the decision mechanism whether concentric with the pipe fitting of pipeline described in data judging.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821587379.0U CN208895437U (en) | 2018-09-28 | 2018-09-28 | Welding robot and automatic assembly welding system with the welding robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821587379.0U CN208895437U (en) | 2018-09-28 | 2018-09-28 | Welding robot and automatic assembly welding system with the welding robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109093304A (en) * | 2018-09-28 | 2018-12-28 | 昆山华恒焊接股份有限公司 | Welding robot and automatic assembly welding system with the welding robot |
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2018
- 2018-09-28 CN CN201821587379.0U patent/CN208895437U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109093304A (en) * | 2018-09-28 | 2018-12-28 | 昆山华恒焊接股份有限公司 | Welding robot and automatic assembly welding system with the welding robot |
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