CN209599893U - A kind of automatic fusion welding system of auto sunroof framework nut robot - Google Patents
A kind of automatic fusion welding system of auto sunroof framework nut robot Download PDFInfo
- Publication number
- CN209599893U CN209599893U CN201822190446.1U CN201822190446U CN209599893U CN 209599893 U CN209599893 U CN 209599893U CN 201822190446 U CN201822190446 U CN 201822190446U CN 209599893 U CN209599893 U CN 209599893U
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- nut
- robot
- face
- workpiece
- hot melt
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- 238000003466 welding Methods 0.000 title claims abstract description 36
- 230000004927 fusion Effects 0.000 title claims abstract description 15
- 239000012943 hotmelt Substances 0.000 claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000010438 heat treatment Methods 0.000 claims abstract description 10
- 239000000463 material Substances 0.000 claims description 101
- 238000002844 melting Methods 0.000 claims description 30
- 230000008018 melting Effects 0.000 claims description 29
- 238000010521 absorption reaction Methods 0.000 claims description 21
- 238000009826 distribution Methods 0.000 claims description 16
- 238000001179 sorption measurement Methods 0.000 claims description 11
- 238000007599 discharging Methods 0.000 claims description 2
- 230000006641 stabilisation Effects 0.000 abstract description 4
- 238000011105 stabilization Methods 0.000 abstract description 4
- 238000013024 troubleshooting Methods 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000155 melt Substances 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Abstract
The utility model discloses a kind of automatic fusion welding systems of auto sunroof framework nut robot, it send including hot melt press mechanism, in the horizontal direction by workpiece to the workpiece jig below hot melt press mechanism and send nut to the robot of workpiece, hot melt press mechanism includes several hot melt driving sources, and the motion end lower end surface of each hot melt driving source is disposed with several heated beams.After nut is placed into the upper surface of workpiece by robot by the utility model, workpiece jig in the horizontal direction send workpiece to hot melt press mechanism, first passes through heated beam and heats nut, then is melted nut pressure in workpiece by hot melt driving source.Robot load reduces, and is only responsible for picking and placing nut, no additional heating system, stability significant increase；Placing nut separates the operation on 2 stations with heating nut, and structure is clearly demarcated, and trouble shooting excludes simply, to improve stabilization of equipment performance and maintainability.
Description
Technical field
The utility model relates to one of auto parts and components PRODUCTION TRAITS field fusion welding device, especially a kind of automobile day
The automatic fusion welding system of window frame nut robot.
Background technique
In injecting products, some is using hot-melting nut in mould, but the method is high to mold and handgrip design requirement, technique
It is complicated.And auto sunroof framework size is larger, and nut has a very wide distribution, so embedded nut in not applicable mould.It is existing at present
The two schemes realized.
Scheme one: nut is conveyed using vibrating tray, charging tray tail track heats nut, and it is same that robot gripper grabs nut
Shi Baowen, the nut of heat preservation is accurately pressed into opposite position in skylight sash by robot later.
One disadvantage of scheme:
1. robot load is big.Due to being integrated with nut crawl and Heat preservation function on robot gripper, structure is complicated,
Weight is big.It needs robot force that nut is pressed into product simultaneously, also increases load, cause robot type selecting huge.
2. nut conveys unstable, high failure rate.Since the track end use feeling of vibrating tray answers device detection in place, essence
Degree cannot be suitable with robot, causes robot often occur to take nut that cannot get alarm.
3. handgrip clamping nut easily falls.It is extremely easy to drop after only having 1.7mm, collet to clamp due to nut flange thickness, it makes
It is frequent at shutting down.
4. heating device and clamp device are integrated, failure is more.Since robot head tooling has heating and heat preserving function, high temperature
Influence nearby part service life and robot precision.
Scheme two: nut is conveyed using vibrating tray, the charging tray end heats nut, and 2 directions plane X/Y use servo
Electric cylinders drive can the mobile handgrip of Z-direction, the nut after crawl heating is moved to skylight sash accurate location, and handgrip is pushed spiral shell
Mother is fused into.
Two disadvantage of scheme:
1. two sides are controlled using double electric cylinders, operation is frequent, and line fault is more.Since entire XY electric cylinders automatic structure is non-
Design and assembly, high failure rate are marked, plant maintenance requires high.
2. nut conveys unstable, high failure rate.Since the track end use feeling of vibrating tray answers device detection in place, essence
Degree cannot be suitable with electric cylinder hand grab, causes often occur taking nut fault alarm.Compared with one disadvantage of scheme.
3. handgrip clamping nut easily falls.It is extremely easy to drop after only having 1.7mm, collet to clamp due to nut flange thickness, it makes
It is frequent at shutting down.
Utility model content
The purpose of this utility model is to provide a kind of auto sunroof framework nut robot automatic fusion welding system, separate
Nut heating function and nut grab function, improve stabilization of equipment performance, reduce plant maintenance difficulty.
The solution that the utility model solves its technical problem is: a kind of auto sunroof framework nut robot melts automatically
Weldering system is sent to the workpiece jig below hot melt press mechanism and is incited somebody to action including hot melt press mechanism, in the horizontal direction by workpiece
Nut is sent to the robot of workpiece, and the hot melt press mechanism includes several hot melt driving sources, and each hot melt driving source is moved
Make end lower end surface and is disposed with several heated beams.
It as a further improvement of the above technical scheme, further include the face B screw nut hot melting mechanism, the face B nut hot-melt machine
Structure includes the face B nut feeding unit, working end melting welding guide post upward and send the nut of the face B nut feeding unit output end
Turn material unit to melting welding guide post.
As a further improvement of the above technical scheme, the material unit that turns includes sliding cylinder, is mounted on sliding cylinder
Placement cylinder and be mounted on place cylinder movement end turn material block, the motion end of the sliding cylinder drive place cylinder edge
Horizontal direction moves back and forth, and places cylinder and a turn material block is driven to move back and forth along the vertical direction, be provided with one on turn material block and turn to expect
Chamber.
As a further improvement of the above technical scheme, it is disposed on the face the B nut feeding unit output end and turns to expect to draw
Guide block is disposed on described turn of material bootstrap block and turns a material guiding channel, and axis and the face the B nut feeding unit for turning material guiding channel are defeated
Outlet is vertical, and it further includes by the face B nut edge that one end of described turn of material guiding channel is connected to the face B nut feeding unit output end
Turn material guiding channel to be pushed into turn the side push cylinder of material chamber.
As a further improvement of the above technical scheme, the robot includes robot body and is mounted on robot sheet
The turntable of body actuating station, the circumference of the turntable have multiple absorption bars, and the end face of each absorption bar is disposed with multiple suctions
Attached hole, the adsorption hole are connected to by the channel in absorption bar and turntable with vacuum source.
As a further improvement of the above technical scheme, locating rod, the absorption are equipped in the middle part of the end face of the absorption bar
Hole is located on the outside of locating rod.
It as a further improvement of the above technical scheme, further include nut feeding unit material for nut to robot, it is described
Nut feeding unit material includes vibrating disk, the delivery track being mounted on vibrating disk and the sub-material for being mounted on delivery track end
Device, the tripper include sub-material track, distribution block and the material splitting cylinder for driving distribution block to move back and forth along sub-material track, institute
It states and is disposed with the first sub-material chamber and the second sub-material chamber in distribution block, the side in the mobile direction of the distribution block and delivery track discharging
To vertical.
It as a further improvement of the above technical scheme, further include sub-material sensor, the sub-material sensor is located at sub-material
Above block and delivery track intersection.
The beneficial effects of the utility model are: nut is placed into the upper surface of workpiece by robot by the utility model
Afterwards, workpiece jig in the horizontal direction send workpiece to hot melt press mechanism, first passes through heated beam and heats nut, then passes through
Hot melt driving source melts nut pressure in workpiece.In addition it is provided with the face B screw nut hot melting mechanism, to workpiece by way of jacking
Lower end surface carries out nut feeding and hot melt.In the utility model, robot load reduces, and responsible pick-and-place nut adds without additional
Heat structure, stability significant increase；Placing nut separates the operation on 2 stations with heating nut, and structure is clearly demarcated, trouble shooting
It excludes simply, to improve stabilization of equipment performance and maintainability；Robot uses vacsorb nut, solves mechanical grip crawl not
Surely, the problems such as nut appearance scratch；Tripper makes to pick and place nut precision and robot gripper precision matches, and takes nut failure rate
It substantially reduces.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described.Obviously, described attached drawing is a part of the embodiment of the utility model, rather than complete
Portion's embodiment, those skilled in the art without creative efforts, can also be obtained according to these attached drawings it
His design scheme and attached drawing.
Fig. 1 is the front view of the utility model；
Fig. 2 is the side view of the utility model；
Fig. 3 is the top view of the utility model；
Fig. 4 is the structural schematic diagram of the face B screw nut hot melting mechanism in the utility model；
Fig. 5 is the structural schematic diagram that press mechanism is heated in the utility model；
Fig. 6 is the structural schematic diagram of nut feeding unit material in the utility model；
Fig. 7 is the structural schematic diagram of robot in the utility model
Fig. 8 is the partial enlarged view that bar is adsorbed in the utility model.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to the design of the utility model, specific structure and generation
It clearly and completely describes, to be completely understood by the purpose of this utility model, feature and effect.Obviously, described embodiment
It is a part of the embodiment of the utility model, rather than whole embodiments, it is based on the embodiments of the present invention, the skill of this field
Art personnel other embodiments obtained without creative efforts belong to the model of the utility model protection
It encloses.In addition, all connection/connection relationships being previously mentioned in text, not singly refer to that component directly connects, and referring to can be according to specific reality
Situation is applied, by adding or reducing couple auxiliary, Lai Zucheng more preferably coupling structure.
Referring to Fig.1~Fig. 8, a kind of automatic fusion welding system of auto sunroof framework nut robot, including hot melt press mechanism
3, workpiece is sent to the workpiece jig 4 of 3 lower section of hot melt press mechanism in the horizontal direction and send nut to the robot of workpiece
1, the hot melt press mechanism 3 includes several hot melt driving sources 31, the motion end lower end surface arrangement of each hot melt driving source 31
There are several heated beams 30, the motion end of hot melt driving source 31 moves back and forth along the vertical direction, and each heated beam 30 configures one
Independent temperature control system.Each temperature control system includes the temperature control panel of temperature sensor and temperature sensor feedback digital, is added
The heated condition of plume 30 is controlled by temperature control panel.Workpiece jig 4 is mounted on jig sliding block, and jig sliding block is mounted on jig
It drives on cylinder.Workpiece upper surface, the also referred to as face A of workpiece, workpiece lower end surface, the also referred to as face B of workpiece.Heat press mechanism 3
The main melting welding for completing the face workpiece A nut.
After nut is placed into the upper surface of workpiece by robot 1, workpiece jig 4 in the horizontal direction send workpiece to hot melt
Press mechanism 3, hot melt press mechanism 3 push, and each heated beam 30 contacts holding position after nut, heats nut.Temperature control panel monitoring
After temperature reaches requirement, hot melt press mechanism 3 continues to push, and nut is fused into workpiece.Meanwhile robot 1 draws spiral shell successively
Mother, the lower subjob of preparation.Hot melt press mechanism 3 divides the hot melt driving source 31 independently pushed for 4 parts, caused by eliminating large scale
Precision fluctuation.Hot melt driving source 31 is servo motor, and the motion end of servo motor connects lower lock block by screw rod, and heated beam 30 is pacified
Mounted in the lower end surface of lower lock block.Servo motor accurately controls hovering heated height and compression distance.In the utility model, robot
1 load reduces, and is only responsible for picking and placing nut, no additional heating system, stability significant increase；Placing nut is separated with heating nut
The operation on 2 stations, structure is clearly demarcated, and trouble shooting excludes simply, to improve stabilization of equipment performance and maintainability.
It further include the nut feeding unit material 2 for nut to robot 1, the nut feeding unit material 2 includes vibrating disk 20, peace
Delivery track on vibrating disk 20 and the tripper for being mounted on delivery track end, the tripper includes sub-material rail
Road, distribution block 21 and the material splitting cylinder 25 for driving distribution block 21 to move back and forth along sub-material track are arranged in the distribution block 21
There are the first sub-material chamber 22 and the second sub-material chamber 23, the direction that the mobile direction of the distribution block 21 and delivery track discharge is vertical.
It further include sub-material sensor 24, the sub-material sensor 24 is located above distribution block 21 and delivery track intersection.Sub-material sensing
Whether device 24 is mainly for detection of being placed with nut in the first sub-material chamber 22 and the second sub-material chamber 23.Robot 1 is mounted on
The inner top surface of rack, nut feeding unit material 2 are mounted on the lower section of robot 1.
When work, for the first sub-material chamber 22 against the end of delivery track, sub-material sensor 24 senses the first sub-material chamber 22
In whether be connected to nut, the nut of delivery track is dropped under the vibration of vibrating disk 20 in first sub-material chamber 22, sub-material induction
After device detects that the first sub-material chamber 22 is connected to nut, material splitting cylinder 25 drives distribution block 21 mobile, so that the second sub-material chamber 23 is right
The end of delivery track, sub-material sensor 24 sense in the first sub-material chamber 22 whether be connected to nut, at the same time, robot
1 by locating rod pass through the first sub-material chamber 22 in nut centre bore, by adsorption hole by nut vacuum suction absorption bar in.
After sub-material inductor detects that the second sub-material chamber 23 is connected to nut, material splitting cylinder 25 drives distribution block 21 to reset, and robot 1 rotates
Absorption bar is moved to 23 top of the second sub-material chamber by turntable, and locating rod passes through the centre bore of nut in the first sub-material chamber 22, passes through
Adsorption hole is by nut vacuum suction in absorption bar.So circulation, until the absorption bar on turntable is adsorbed onto a nut.Machine
Nut is placed on workpiece by device people 1 along presetting track.
Liang Tai robot 1 is configured in rack, every robot 1 configures two nut feeding unit materials 2.One robot 1
Nut is placed into one end of workpiece, nut is placed into the other end of workpiece by a remaining robot 1, and Liang Tai robot 1 matches
It closes, the placement efficiency of nut can be improved.
In order to which the lower end surface to workpiece carries out screw nut hot melting, it is provided with the face B screw nut hot melting mechanism, the face B screw nut hot melting
Mechanism includes the face B nut feeding unit, working end melting welding guide post 56 upward and by the spiral shell of the face B nut feeding unit output end
Mother, which send to melting welding guide post 56, turns material unit.Melting welding guide post 56 is mounted on the motion end of jacking cylinder 57, and jacking cylinder 57 is moved
Make end vertically upward.After jig driving cylinder drives workpiece jig 4 to enter 3 lower section of hot melt press mechanism, turn material unit for the face B
Nut is sent to melting welding guide post 56, and melting welding guide post 56 heats the face B nut, after melting welding guide post 56 jacks along the vertical direction,
The face B nut is pressed into workpiece.
The material unit that turns includes sliding cylinder 50, the placement cylinder 51 for being mounted on sliding cylinder 50 and is mounted on placement
51 motion end of cylinder turns material block 52, and the motion end of the sliding cylinder 50, which drives, places the reciprocal shifting in the horizontal direction of cylinder 51
It is dynamic, it places cylinder 51 and a turn material block 52 is driven to move back and forth along the vertical direction, be provided with one on turn material block 52 and turn to expect chamber.Turn material chamber
It is open with one, the face B nut feeding unit send the face B nut to after turning material chamber, and the motion end of sliding cylinder 50 retracts, and drives
Turn after expecting that block 52 moves horizontally, so that the face B nut is located at 56 top of melting welding guide post, places cylinder 51 and drive turn material 52 downlink of block,
The face B nut is placed on melting welding guide post 56, sliding cylinder 50 continues to retract, and the face B nut is detached from from the opening for turning material chamber, stays in
On melting welding guide post 56, and the space of the jacking of melting welding guide post 56 is conceded, melting welding guide post 56 heats the face B nut, melting welding guide post
After 56 jack along the vertical direction, the face B nut is pressed into workpiece.Sliding cylinder 50 resets, and places cylinder 51 and resets, and turns material block 52 etc.
Next face B nut to be transferred.
It is disposed on the face the B nut feeding unit output end and turns material bootstrap block 53, arranged on described turn of material bootstrap block 53
Have and turn material guiding channel 54, the axis for turning material guiding channel 54 is vertical with the face B nut feeding unit output end, described turn of material guidance
The one end in channel 54 is connected to the face B nut feeding unit output end, further includes being pushed into turn along material guiding channel 54 is turned by the face B nut
Expect the side push cylinder 55 of chamber.After turning material block 52 in place, side push cylinder 55 pushes away the face the B nut of the face B nut feeding unit output end
Enter to turn material guiding channel 54 in, and drive the face B nut with turn material a guiding channel 54 enter turn material chamber in, the face B nut from
Turn material chamber opening enter turn material a chamber, the face B nut in place after, side push cylinder 55 reset.The motion end of sliding cylinder 50 retracts, and drives
Make after turning to expect that block 52 moves horizontally, so that the face B nut is located at 56 top of melting welding guide post, places cylinder 51 and drive under turn material block 52
Row, the face B nut is placed on melting welding guide post 56, and sliding cylinder 50 continues to retract, and the face B nut is detached from from the opening for turning material chamber,
It stays on melting welding guide post 56, and concedes the space of the jacking of melting welding guide post 56, place cylinder 51 and reset, sliding cylinder 50 resets, and turns
Expect next face B nuts to be transferred such as block 52.
The robot 1 includes 1 ontology of robot and the turntable 10 for being mounted on 1 ontology actuating station of robot, the turntable
10 circumference has multiple absorption bars 11, and the end face of each absorption bar 11 is disposed with multiple adsorption holes 13, the adsorption hole
13 are connected to by the channel in absorption bar 11 and turntable 10 with vacuum source.12 absorption bars 11, turntable 10 are provided on turntable 10
12 nuts can be adsorbed in advance.
Locating rod 12 is equipped in the middle part of the end face of the absorption bar 11, the adsorption hole 13 is located at 12 outside of locating rod.Absorption
The center of circle that hole 13 is surrounded is overlapped with the center of circle of 12 section of locating rod circle.
When robot 1 grabs nut, the centre bore of nut is passed through by locating rod 12, vacuum source work generates vacuum, leads to
Cross the end face that nut is adsorbed on absorption bar 11 by adsorption hole 13.After completing a nut crawl, turntable 10 rotates, the suction more renewed
Faller 11 draws nut.Adsorption hole 13 in the turntable 10 in each absorption bar 11 is individually controlled by vacuum valve valve group.Vacuum
After the starting of valve valve group, air is extracted by the channel passage in connection tracheae and absorption bar 11 and turntable 10, vacuum is formed, draws
Nut.
Be above the better embodiment of the utility model is illustrated, but the utility model create and it is unlimited
In the embodiment, those skilled in the art can also make various without departing from the spirit of the present invention
Equivalent modifications or replacement, these equivalent variation or replacement are all included in the scope defined by the claims of the present application.
Claims (8)
1. a kind of automatic fusion welding system of auto sunroof framework nut robot, it is characterised in that: including heating press mechanism, Yan Shui
Square to workpiece is sent to the workpiece jig below hot melt press mechanism and send nut to the robot of workpiece, the hot melt
Press mechanism includes several hot melt driving sources, and the motion end lower end surface of each hot melt driving source is disposed with several heated beams.
2. the automatic fusion welding system of auto sunroof framework nut according to claim 1 robot, it is characterised in that: further include
The face B screw nut hot melting mechanism, the face the B screw nut hot melting mechanism include the melting welding guide post of the face B nut feeding unit, working end upward with
And the nut of the face B nut feeding unit output end is sent to melting welding guide post and turns material unit.
3. the automatic fusion welding system of auto sunroof framework nut according to claim 2 robot, it is characterised in that: described turn
Material unit include sliding cylinder, the placement cylinder for being mounted on sliding cylinder and be mounted on place cylinder movement end turn material block,
The motion end of the sliding cylinder drives placement cylinder to move back and forth in the horizontal direction, places cylinder and drives turn material block along side vertically
To reciprocating movement, turn to be provided with one turn of material chamber on material block.
4. the automatic fusion welding system of auto sunroof framework nut according to claim 3 robot, it is characterised in that: the B
It is disposed on the nut feeding unit output end of face and turns material bootstrap block, be disposed on described turn of material bootstrap block and turn material guiding channel, turned
Expect that the axis of guiding channel is vertical with the face B nut feeding unit output end, one end of described turn of material guiding channel is sent with the face B nut
The connection of material unit output end further includes being pushed into turn the side push cylinder of material chamber along material guiding channel is turned by the face B nut.
5. the automatic fusion welding system of auto sunroof framework nut according to claim 1 robot, it is characterised in that: the machine
Device people includes robot body and the turntable for being mounted on robot body actuating station, and the circumference of the turntable has multiple absorption
Bar, the end face of each absorption bar are disposed with multiple adsorption holes, and the adsorption hole is by the channel in absorption bar and turntable and very
Empty source connection.
6. the automatic fusion welding system of auto sunroof framework nut according to claim 5 robot, it is characterised in that: the suction
Locating rod is equipped in the middle part of the end face of faller, the adsorption hole is located on the outside of locating rod.
7. the automatic fusion welding system of auto sunroof framework nut according to claim 1 robot, it is characterised in that: further include
For nut to the nut feeding unit material of robot, the nut feeding unit material includes vibrating disk, the conveying that is mounted on vibrating disk
Track and the tripper for being mounted on delivery track end, the tripper include sub-material track, distribution block and drive sub-material
The material splitting cylinder that block is moved back and forth along sub-material track is disposed with the first sub-material chamber and the second sub-material chamber in the distribution block, described
The mobile direction of distribution block and the direction of delivery track discharging are vertical.
8. the automatic fusion welding system of auto sunroof framework nut according to claim 7 robot, it is characterised in that: further include
Sub-material sensor, the sub-material sensor are located above distribution block and delivery track intersection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822190446.1U CN209599893U (en) | 2018-12-25 | 2018-12-25 | A kind of automatic fusion welding system of auto sunroof framework nut robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822190446.1U CN209599893U (en) | 2018-12-25 | 2018-12-25 | A kind of automatic fusion welding system of auto sunroof framework nut robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209599893U true CN209599893U (en) | 2019-11-08 |
Family
ID=68398384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822190446.1U Expired - Fee Related CN209599893U (en) | 2018-12-25 | 2018-12-25 | A kind of automatic fusion welding system of auto sunroof framework nut robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209599893U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591301A (en) * | 2018-12-25 | 2019-04-09 | 广州敏瑞汽车零部件有限公司 | A kind of automatic fusion welding system of auto sunroof framework nut robot |
-
2018
- 2018-12-25 CN CN201822190446.1U patent/CN209599893U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591301A (en) * | 2018-12-25 | 2019-04-09 | 广州敏瑞汽车零部件有限公司 | A kind of automatic fusion welding system of auto sunroof framework nut robot |
| CN109591301B (en) * | 2018-12-25 | 2023-09-05 | 清远敏实汽车零部件有限公司 | Automatic fusion welding system of automobile skylight frame nut robot |
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Granted publication date: 20191108 |