CN210080984U - Multifunctional wall climbing welding robot system - Google Patents
Multifunctional wall climbing welding robot system Download PDFInfo
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- CN210080984U CN210080984U CN201920216530.8U CN201920216530U CN210080984U CN 210080984 U CN210080984 U CN 210080984U CN 201920216530 U CN201920216530 U CN 201920216530U CN 210080984 U CN210080984 U CN 210080984U
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Abstract
The utility model discloses a multi-functional wall climbing robot system belongs to the technical field of automation equipment, including robot and switch board, the robot includes wheel, automobile body, slip table mechanism and operating device, and the wheel setting is in the both sides of automobile body, and automobile body, slip table mechanism and operating device connect gradually, and slip table mechanism is used for adjusting operating device's position, and operating device is used for realizing wasing, trails in real time the welding and the slagging-off of polishing, and the switch board is used for controlling the robot and with robot signal connection. The control cabinet is separated from the robot, the weight of the car body is effectively reduced, the carrying weight of the trolley is improved, the real-time tracking system can accurately and synchronously recognize the size, the shape and the depth of a welding seam, the welding gun realizes vision and welding integration, multifunctional operation is realized, and the robot can efficiently complete the operations of cleaning, real-time tracking welding, polishing and deslagging through one-time walking.
Description
Technical Field
The utility model belongs to the technical field of automation equipment, in particular to multi-functional wall welding robot system that climbs.
Background
At present, two ways are available for welding or other operations of the inner wall of a pipeline, the surface of a ship and a steel structure bridge, wherein one way is that the inner wall of the pipeline, the surface of the ship and the steel structure bridge move along the circumferential direction of the pipe wall of a boiler to carry out second welding operation after one-time welding is completed along the axial direction of a small-caliber pipeline, and the second welding operation is carried out in a circulating mode, so that the welding operation of the whole pipeline-shaped boiler pipe wall is completed, but the labor intensity is too high by utilizing manual welding, the welding accuracy cannot be guaranteed, and; the other type is to adopt the welding robot to carry out welding operation, when carrying out welding operation with the welding robot, need the welding robot to have along the function of pipeline shape boiler pipe wall circumference tangential direction and pipeline axis direction both way movement, when the welding robot welds the side by side small-bore pipeline promptly, at first need accomplish along pipeline axis direction linear motion, then move one section distance along pipeline shape boiler pipe wall circumference tangential direction and accomplish the weldment work of another small-bore pipeline, the circulation goes on, thereby accomplish the weldment work of whole pipeline shape boiler pipe wall. But most magnetism adsorbs climbing wall welding robot structure complicacy, function singleness.
In view of the above-mentioned defects, the inventor of the present invention has proposed the present invention through long-time research and practice.
SUMMERY OF THE UTILITY MODEL
For solving above-mentioned technical defect, the utility model discloses a technical scheme lie in, provide a multi-functional wall welding robot that climbs and include wheel, automobile body, slip table mechanism and operating device, the wheel sets up the both sides of automobile body, the automobile body slip table mechanism with operating device connects gradually, slip table mechanism is used for the adjustment operating device's position, operating device is used for realizing wasing, trails in real time the welding and the slagging-off of polishing.
Further, the sliding table mechanism comprises an X-direction sliding table and a Y-direction sliding table, the X-direction sliding table is fixedly connected with the upper portion of the vehicle body, and the Y-direction sliding table is slidably connected with the X-direction sliding table.
Furthermore, Y direction slip table sliding connection has the Z direction slip table, the Z direction slip table with operating device sliding connection, the Z direction slip table is including setting gradually first slip table, second slip table, third slip table and fourth slip table on the Y direction slip table.
Further, operating device includes laser dust collector, welding set, real-time tracking system and laser grinding device, laser grinding device with first slip table sliding connection, welding set with second slip table sliding connection, real-time tracking system with third slip table sliding connection, laser grinding device with fourth slip table sliding connection.
Further, real-time tracking system includes the casing, inside laser generator and the light filter of being equipped with of casing, laser generator pass through clamping device with the casing is connected, the casing lower part is provided with the hole, the light filter sets up in the hole.
Further, the casing further comprises a CMOS camera, and the CMOS camera is arranged above the optical filter and fixedly connected with the upper part of the casing.
Furthermore, the welding device comprises a swing arc device and a welding gun, the swing arc device is connected with the second sliding table in a sliding mode, and the welding gun is fixedly connected with the swing arc device.
Further, the inside drive arrangement that is provided with of automobile body, drive arrangement includes motor, planetary reducer, drive sprocket, driven sprocket and conveying chain, the motor planetary reducer with drive sprocket connects gradually, the conveying chain both ends respectively with drive sprocket with driven sprocket connects. The wheels comprise driving wheels and driven wheels, the driving wheels are connected with the planetary speed reducer, and the driven wheels are connected with the driven chain wheels.
The utility model discloses an another technical scheme lie in, provide a multi-functional wall welding robot system that climbs, include multi-functional wall welding robot and the switch board of climbing, the switch board with multi-functional wall welding robot signal connection that climbs is used for control multi-functional wall welding robot that climbs.
Further, the switch board includes host computer, driver, controller and switching power supply, switching power supply is used for control the host computer starts, the host computer is used for control the driver with the controller, the driver is used for the drive arrangement, the controller is used for controlling slip table mechanism with operating device.
Compared with the prior art, the beneficial effects of the utility model reside in that:
1. multifunctional wall welding robot system that climbs adopts the magnetism to adsorb the form, the wheel adopts permanent magnetism magnetic wheel, can lead on the magnetism face at complicacy such as plane, curved surface, large-scale steel body the walking of climbing wall and turn to the motion that remain stable to the carrying capacity is strong, can carry on various types welding set.
2. The control cabinet with the robot adopts the separation design for control the robot work effectively alleviates automobile body weight, improves the carrying capacity of robot.
3. The arc swinging device is used for adjusting the angle of the welding gun, increasing the extension amplitude of the welding gun, increasing the width of the welding arc, and effectively solving the problems of inconsistent size of the welding seam, complex path of the welding seam and the like. The sliding table mechanism and the operating mechanism can realize the welding without dead angles at all positions in the movement of the robot.
4. The real-time tracking system can accurately and synchronously identify the size, shape and depth of the welding line, so that the welding gun realizes the integration of vision and welding.
5. Multifunctional climbing wall welding robot has multi-functional operating device, can realize multi-functional operation simultaneously, the robot just can high-efficiently accomplish the operation of washing, real-time tracking welding, the slagging-off of polishing through once walking.
Drawings
FIG. 1 is a front view of the multifunctional climbing welding robot of the present invention;
fig. 2 is a schematic structural diagram of the operating mechanism of the present invention;
fig. 3 is a schematic structural view of the sliding table mechanism of the present invention;
fig. 4 is a schematic structural diagram of the real-time tracking device of the present invention;
fig. 5 is a schematic structural view of the vehicle body of the present invention;
fig. 6 is a rear view of the control cabinet of the present invention;
fig. 7 is a front view of the control cabinet of the present invention;
fig. 8 is a system block diagram of the present invention.
Description of reference numerals:
1-vehicle wheels; 11-a driving wheel; 12-a driven wheel; 2-a vehicle body; 21-upper plate; 22-side plate; 23-a base plate; 3-a slide table mechanism; a 31-X direction slide; a 32-Y direction slide; a 33-Z direction slide table; 331-a first slide; 332-a second ramp; 333-third sliding table; 334-fourth ramp; 4-an operating mechanism; 41-laser dust removal device; 42-a welding device; 421-a swing arc device; 422-a welding gun; 43-real-time tracking system; 431-a housing; 432-a laser generator; 433-a clamping device; 434-CMOS camera; 435-optical filter; 44-laser polishing device; 5-a drive device; 51-a motor; 52-planetary reduction gear; 53-a drive sprocket; 54-a passive sprocket; 55-a conveyor chain; 6-a control cabinet; 61-a driver; 62-a controller; 63-a switching power supply; 64-host.
Detailed Description
Example 1
Following combines attached drawing 1-7, the utility model provides a multi-functional wall climbing welding robot includes wheel 1, automobile body 2, slip table mechanism 3 and operating device 4, wheel 1 install respectively in the 2 left and right sides of automobile body, automobile body 2 includes upper plate 21, bottom plate 23 and curb plate 22, upper plate 21 with bottom plate 23 passes through curb plate 22 welds, slip table mechanism 3 with upper plate 21 fixed connection. The sliding table mechanism 3 comprises an X-direction sliding table 31 and a Y-direction sliding table 32, the X-direction sliding table 31 is fixedly connected with the upper plate 21, and the Y-direction sliding table 32 is slidably connected with the X-direction sliding table 31. Y direction slip table 32 can move on the X direction slip table 31, Y direction slip table 32 and Z direction slip table 33 sliding connection, Z direction slip table 33 can Y direction slip table removes, Z direction slip table 33 includes first slip table 331, second slip table 332, third slip table 333 and fourth slip table 334, first slip table 331 second slip table 332 third slip table 333 with fourth slip table 334 sets gradually on the Y direction slip table 32. Operating device 4 with Z direction slip table 33 sliding connection, operating device 4 can move on the Z direction slip table 33, operating device 4 can realize multi-functional operation simultaneously, the robot just can accomplish the operation of washing, real-time tracking welding, the slagging-off of polishing in high efficiency through once walking.
The operating mechanism 4 comprises a laser dust removal device 41, a welding device 42, a real-time tracking system 43 and a laser polishing device 44, the laser polishing device 44 is connected with the first sliding table 331 in a sliding manner, the welding device 42 is connected with the second sliding table 332 in a sliding manner, the real-time tracking system 43 is connected with the third sliding table 333 in a sliding manner, and the laser polishing device 44 is connected with the fourth sliding table 334 in a sliding manner. The welding device 42 comprises a swing arc device 421 and a welding gun 422, the swing arc device 421 is connected with the second sliding table 332 in a sliding manner, and the welding gun 422 is arranged on the swing arc device 421. The arc swinging device 42 is used for adjusting the angle of the welding gun 422, increasing the extension amplitude of the welding gun 422, increasing the welding arc width, and effectively solving the problems of inconsistent welding seam size, complex welding seam path and the like. The laser dust removal device 41 adopts a 4500W high-power laser cleaning machine, the power of laser is 500W, the laser wavelength is 1064nm, and the scanning width is 100mm, so that the impurities such as oil stains, paint, an oxidation layer, dust and the like on the surface of the metal to be welded can be rapidly removed, the welding line to be welded is completely cleaned, and the subsequent welding precision is ensured; the laser polishing device 44 adopts a 2000W power laser cleaning machine, the laser power is 300W, the laser wavelength is 1064nm, the scanning width is 100mm, and the welded oxide skin can be cleaned, the appearance of the polished weld joint can be repaired, and the weld joint surface with the molded appearance can be obtained.
The real-time tracking system 43 is connected with the third sliding table 333 in a sliding manner, and the real-time tracking system 43 can accurately and synchronously identify the size, shape and depth of a welding seam, so that the vision and welding integration of the welding gun is realized. The real-time tracking system 43 includes: the real-time tracking system 43 comprises a shell 431, wherein a laser generator 432 and an optical filter 435 are arranged inside the shell 431, the laser generator 432 is connected with the shell 431 through a clamping device 433, a hole is formed in the lower portion of the shell 431, and the optical filter 435 is arranged in the hole. The housing 431 further includes a CMOS camera 434 therein, and the CMOS camera 434 is disposed above the optical filter 435 and fixedly connected to the upper portion of the housing 431. The laser generator 432 is mainly used to generate structured light with specific wavelength, and the finer the structured light stripe is, the more concentrated the energy is, and the more beneficial the image processing is. A red laser with a wavelength of 650nm is therefore chosen. The laser has small volume, light weight and stable performance, and can be used as an active light source to make the identification of the weld joint characteristics easier. In conjunction with the use of filter 435 to filter out ambient noise interference, the weld is more easily identified. The sensor inside the CMOS camera 434 converts the charge into an electronic signal, which is low in noise and good in performance. The CMOS camera 434 recognizes the characteristics and position of the weld by photographing a line of structured light projected onto the weld by the laser generator 432, and then converts the information about the weld into an electronic signal to be transmitted to the host computer 64. The host 64 obtains position information of a welding seam through an algorithm, so as to guide the sliding table mechanism 3 to drive the welding device 42 to move, and the welding gun 422 is matched with the swing arc device 421 to accurately realize all-position welding operation, so that vision-welding integration is realized.
The vehicle body 2 comprises an upper plate 21, a bottom plate 23 and a side plate 22, the upper plate 21 and the bottom plate 23 are welded through the side plate 22, and the sliding table mechanism 3 is arranged on the upper surface of the upper plate 21. The base plate 23 is provided with a driving device 5, the driving device 5 comprises a first driving device and a second driving device, the first driving device and the second driving device are arranged on the base plate 23 in an inverted manner, the driving device 5 comprises a motor 51, a planetary reducer 52, a driving sprocket 53, a driven sprocket 54 and a transmission chain 55, the motor 51, the planetary reducer 52 and the driving sprocket 53 are connected in sequence, and two ends of the transmission chain 55 are connected with the driving sprocket 53 and the driven sprocket 54. The wheel 1 comprises a driving wheel 11 and a driven wheel 12, wherein the driving wheel 11 is connected with the planetary reducer 52, and the driven wheel 12 is connected with the driven chain wheel 54. The planetary reducer 52 includes: sun gear, ring gear and planet carrier, sun gear the planet carrier with the ring gear connects gradually, planetary reducer 52's reduction ratio is 1: 50. the planetary reducer 52 can increase its output torque while reducing the speed, the torque output ratio is based on the output multiplication and reduction ratio of the motor 51, the torque output is output, the driver 61 is controlled by the host 64, the driver 61 controls the motor 51 in the driving device 5 to rotate, the motor 51 rotates to drive the planetary reducer 52 to move, so as to drive the driving wheel 11 and the driving sprocket 53 to move, and then the transmission chain 55 drives the driven sprocket 54 to rotate, and further drives the driven wheel 12 to rotate, and the reduction ratio does not exceed the rated torque of the planetary reducer 52. The planetary reducer 52 reduces its load inertia while reducing its speed, the inertia being reduced by the square of the reduction ratio. The planetary reduction gear 52 is structurally characterized by compactness, small return clearance, high precision, long service life and large rated output torque.
When the first driving device and the second driving device rotate forwards in the same direction, the wheel 1 moves forwards, namely the robot moves forwards; when the first driving device and the second driving device rotate at the same speed and move in a backward direction, the wheel 1 moves backward, that is, the robot moves backward. When the rotating speed of the first driving device is greater than that of the second driving device, the robot moves leftwards; and when the rotating speed of the first driving device is less than that of the second driving device, the robot moves to the right.
Example 2
This embodiment provides a multi-functional wall welding robot that climbs includes upper plate 21, bottom plate 23 and curb plate 22, upper plate 21 with bottom plate 23 passes through curb plate 22 welding, slip table mechanism 3 with upper plate 21 fixed connection, the front wheel sets up bottom plate 23 below is anterior, the front wheel is the universal wheel. The bottom plate 23 is provided with a driving device, the driving device includes a first driving device and a second driving device, and the first driving device and the second driving device respectively control one of the rear wheels. And wheel bases are arranged on two sides of the bottom plate 23, and the rear wheels are arranged on the wheel bases. The driving device includes: the device comprises a motor, a harmonic reducer, a driving belt wheel, a driven belt wheel and a synchronous belt. The motor is fixedly installed on the bottom plate 23, the end of a motor rotating shaft is connected with the driving belt wheel, the driven belt wheel is connected with the rear wheel through a shaft, the driving belt wheel is connected with the driven belt wheel through the synchronous belt, one end of the harmonic reducer is fixedly connected with the wheel base, and the other end of the harmonic reducer is connected with the rear wheel. The harmonic reducer ware includes internal tooth rigid wheel, flexbile gear and wave generator, wave generator the flexbile gear with the internal tooth rigid wheel cup joints the setting in proper order. The harmonic reducer utilizes a flexible gear to generate controllable elastic deformation waves to cause relative staggered teeth between the teeth of the internal gear and the flexible gear to transmit power and movement. The transmission ratio of the harmonic reducer can reach 1: 100, that is to say the output torque of the motor 51 is 0.4n.m, the output torque of the rear wheel output by the harmonic reducer reaches 40n.m, the robot is provided with 2 harmonic reducers, and the total output torque reaches 80n.m, thereby completely meeting the motion requirement. The harmonic reducer has the advantages of simple structure, small mass, small volume, high transmission precision, high transmission efficiency and stable motion, and can greatly improve the carrying capacity of the robot. The control cabinet 6 comprises a host 64, a driver 61, a controller 62 and a switch power supply 63, the switch power supply 63 is used for controlling the host 64 to be started, the host 64 is used for controlling the driver 61 and a driving system, the driving system controls a driving device, when the rotating speeds of the motors in the first driving device and the second driving device are the same, and the direction is forward, the rear wheels move forward, namely, the robot moves forward, and when the rotating speeds of the motors in the first driving device and the second driving device are the same, and the direction is backward, the rear wheels move backward, namely, the robot moves backward. When the rotation speed of the motor in the first driving device is larger than that of the motor in the second driving device, the robot turns left; when the rotation speed of the motor in the first driving device is smaller than that of the motor in the second driving device, the robot turns to the right.
The sliding table mechanism 3 comprises an X-direction sliding table 31 and a Y-direction sliding table 32, the X-direction sliding table 31 is fixedly connected with the upper plate 21, and the Y-direction sliding table 32 is slidably connected with the X-direction sliding table 31. The Y-direction sliding table 32 is provided with a Z-direction sliding table 33, the Z-direction sliding table 33 includes a first sliding table 331, a second sliding table 332, a third sliding table 333 and a fourth sliding table 334, the first sliding table 331, the second sliding table 332, the third sliding table 333 and the fourth sliding table 334 are sequentially arranged on the Y-direction sliding table 32, and the Z-direction sliding table can move along the Y-direction sliding table 32. Operating device 4 with Z direction slip table 33 sliding connection, operating device 4 can move along the Z direction on the Z direction slip table 33, operating device 4 includes laser dust collector 41, welding set 42, real-time tracking system 43 and laser grinding device 44, laser grinding device 44 with first slip table 331 sliding connection, welding set 42 with second slip table 332 sliding connection, real-time tracking system 43 with third slip table 333 sliding connection, laser grinding device 44 with fourth slip table 334 sliding connection. The welding device 42 comprises a swing arc device 421 and a welding gun 422, the swing arc device 421 is connected with the second sliding table 332 in a sliding manner, and the welding gun 422 is arranged on the swing arc device 421.
Real-time tracking system 43 with third slip table 333 fixed connection, real-time tracking system 43 includes casing 431, inside laser generator 432 and the light filter 435 of being equipped with of casing 431, laser generator 432 pass through clamping device 433 with the casing 431 is connected, casing 431 lower part is provided with the hole, light filter 435 sets up in the hole. The housing 431 further includes a CMOS camera 434 therein, and the CMOS camera 434 is disposed above the optical filter 435 and fixedly connected to the upper portion of the housing 431. The laser generator 432 is mainly used to generate structured light with specific wavelength, and the finer the structured light stripe is, the more concentrated the energy is, and the more beneficial the image processing is. A red laser with a wavelength of 650nm is therefore chosen. The laser has small volume, light weight and stable performance, and can be used as an active light source to make the identification of the weld joint characteristics easier. In conjunction with the use of filter 435 to filter out ambient noise interference, the weld is more easily identified. The sensor inside the CMOS camera 434 converts the charge into an electronic signal, which is low in noise and good in performance. The CMOS camera 434 recognizes the characteristics and the position of the weld by photographing a line of structured light of the laser generator 432 that strikes the weld. The weld-related information is then converted into an electronic signal that is transmitted to the host 64. The host 64 obtains position information of a welding seam through an algorithm, so as to guide the sliding table mechanism 3 to drive the welding device 42 to move, and the welding gun 422 is matched with the swing arc device 421 to accurately realize all-position welding operation, so that vision-welding integration is realized.
Example 3
Following combines fig. 1-8, the utility model provides a multi-functional wall welding robot system that climbs includes robot and switch board 6, switch board 6 includes host computer 64, driver 61, controller 62 and switching power supply 63, opens switch starts host computer 64, and is right the parameter of robot is set for, host computer 64 is used for control driver 61 with controller 62, driver 61 is used for the drive arrangement 5, controller 62 is used for control slip table mechanism 3 with operating device 4, wheel 1 is the permanent magnet. The device can keep stable wall climbing walking and steering motion on complex magnetic conducting surfaces such as planes, curved surfaces, large steel bodies and the like, has strong carrying capacity, and can carry various types of devices. The control cabinet 6 and the robot adopt a separation design to control the robot to work, so that the weight of the vehicle body 2 is effectively reduced, and the carrying capacity of the vehicle body 2 is improved.
The foregoing is only a preferred embodiment of the present invention, which is illustrative, not limiting. Those skilled in the art will appreciate that many variations, modifications, and equivalents may be made thereto without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides a multi-functional wall climbing welding robot, its characterized in that, includes wheel (1), automobile body (2), slip table mechanism (3) and operating device (4), wheel (1) sets up the both sides of automobile body (2), slip table mechanism (3) with operating device (4) connect gradually, slip table mechanism (3) are used for adjusting the position of operating device (4), operating device (4) are used for realizing wasing, tracking welding in real time and the slagging-off of polishing, slip table mechanism (3) include X direction slip table (31) and Y direction slip table (32), X direction slip table (31) with the upper portion fixed connection of automobile body (2), just Y direction slip table (32) with X direction slip table (31) sliding connection, Y direction slip table (32) sliding connection has Z direction slip table (33), z direction slip table (33) with operating device (4) sliding connection, Z direction slip table (33) is including setting gradually first slip table (331), second slip table (332), third slip table (333) and fourth slip table (334) on Y direction slip table (32), operating device (4) are including laser dust collector (41), welding set (42), real-time tracking system (43) and laser grinding device (44), laser grinding device (44) with first slip table (331) sliding connection, welding set (42) with second slip table (332) sliding connection, real-time tracking system (43) with third slip table (333) sliding connection, laser grinding device (44) with fourth slip table (334) sliding connection.
2. The multifunctional climbing welding robot according to claim 1, wherein the real-time tracking system (43) comprises a housing (431), a laser generator (432) and an optical filter (435) are arranged inside the housing (431), the laser generator (432) is connected with the housing (431) through a clamping device (433), a hole is formed in the lower portion of the housing (431), and the optical filter (435) is arranged in the hole.
3. The multifunctional climbing welding robot according to claim 2, characterized in that the housing (431) further comprises a CMOS camera (434), wherein the CMOS camera (434) is arranged above the optical filter (435) and is fixedly connected with the upper part of the housing (431).
4. The multifunctional climbing welding robot according to claim 3, characterized in that the welding device (42) comprises a swing arc device (421) and a welding gun (422), the swing arc device (421) is connected with the second sliding table (332) in a sliding manner, and the welding gun (422) is fixedly connected with the swing arc device (421).
5. The multifunctional climbing welding robot according to claim 4, characterized in that a driving device (5) is arranged inside the vehicle body (2), the driving device (5) comprises a motor (51), a planetary reducer (52), a driving chain wheel (53), a driven chain wheel (54) and a transmission chain (55), the motor (51), the planetary reducer (52) and the driving chain wheel (53) are sequentially connected, two ends of the transmission chain (55) are respectively connected with the driving chain wheel (53) and the driven chain wheel (54), the wheel (1) comprises a driving wheel (11) and a driven wheel (12), the driving wheel (11) is connected with the planetary reducer (52), and the driven wheel (12) is connected with the driven chain wheel (54).
6. A multifunctional climbing welding robot system, which is characterized by comprising the multifunctional climbing welding robot and a control cabinet as claimed in any one of claims 1 to 5, wherein the control cabinet is in signal connection with the multifunctional climbing welding robot and is used for controlling the multifunctional climbing welding robot.
7. The multifunctional climbing welding robot system according to claim 6, characterized in that the control cabinet (6) comprises a host (64), a driver (61), a controller (62) and a switching power supply (63), wherein the switching power supply (63) is used for controlling the host (64) to be started, the host (64) is used for controlling the driver (61) and the controller (62), the driver (61) is used for driving the driving device (5), and the controller (62) is used for controlling the sliding table mechanism (3) and the operating mechanism (4).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920216530.8U CN210080984U (en) | 2019-02-20 | 2019-02-20 | Multifunctional wall climbing welding robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920216530.8U CN210080984U (en) | 2019-02-20 | 2019-02-20 | Multifunctional wall climbing welding robot system |
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| CN210080984U true CN210080984U (en) | 2020-02-18 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111922557A (en) * | 2020-06-29 | 2020-11-13 | 福建省气柜设备安装有限公司 | Novel construction equipment for welding wall plate by using climbing column robot |
| CN112475767A (en) * | 2020-11-11 | 2021-03-12 | 国家能源集团谏壁发电厂 | Water-cooled wall on-site repairing method based on automatic surfacing technology |
| CN112475538A (en) * | 2020-11-11 | 2021-03-12 | 苏州热工研究院有限公司 | Water-cooled wall on-site automatic surfacing device based on self-adaptive principle |
| CN112578523A (en) * | 2020-12-30 | 2021-03-30 | 中国科学院长春光学精密机械与物理研究所 | Optical filter switching device |
| CN113681920A (en) * | 2021-07-30 | 2021-11-23 | 南京冠石科技股份有限公司 | Automatic SUS steel sheet pasting machine |
-
2019
- 2019-02-20 CN CN201920216530.8U patent/CN210080984U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111922557A (en) * | 2020-06-29 | 2020-11-13 | 福建省气柜设备安装有限公司 | Novel construction equipment for welding wall plate by using climbing column robot |
| CN111922557B (en) * | 2020-06-29 | 2022-04-29 | 中琉科技有限公司 | Novel construction equipment for welding wall plate by using climbing column robot |
| CN112475767A (en) * | 2020-11-11 | 2021-03-12 | 国家能源集团谏壁发电厂 | Water-cooled wall on-site repairing method based on automatic surfacing technology |
| CN112475538A (en) * | 2020-11-11 | 2021-03-12 | 苏州热工研究院有限公司 | Water-cooled wall on-site automatic surfacing device based on self-adaptive principle |
| CN112578523A (en) * | 2020-12-30 | 2021-03-30 | 中国科学院长春光学精密机械与物理研究所 | Optical filter switching device |
| CN113681920A (en) * | 2021-07-30 | 2021-11-23 | 南京冠石科技股份有限公司 | Automatic SUS steel sheet pasting machine |
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