CN212552196U - Full position appearance transform system of welding workpiece - Google Patents
Full position appearance transform system of welding workpiece Download PDFInfo
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- CN212552196U CN212552196U CN202021473068.9U CN202021473068U CN212552196U CN 212552196 U CN212552196 U CN 212552196U CN 202021473068 U CN202021473068 U CN 202021473068U CN 212552196 U CN212552196 U CN 212552196U
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Abstract
The utility model relates to a full posture changing system of a welding workpiece, which comprises a frame; the first rotating shaft is horizontally arranged and is rotatably connected to the rack; the first driving device is fixedly connected to the rack, is connected with the first rotating shaft and drives the first rotating shaft to rotate; the overturning platform is fixedly connected to the first rotating shaft; the second rotating shaft is rotatably connected to the overturning platform and is vertical to the surface of the overturning platform; the second driving device is fixedly connected to the overturning platform, is connected with the second rotating shaft and drives the second rotating shaft to rotate; and the mounting plate is used for mounting a welding workpiece and fixedly connected to the second rotating shaft. Different positions and poses of a welding workpiece can be changed through the swinging of the overturning platform and the rotation of the mounting plate, the omnibearing welding position is provided for a welding robot, the position and pose requirements of the welding workpiece under different welding conditions are met, the K-TIG welding test can be popularized from horizontal position welding to horizontal position welding and vertical position welding, the pose can be changed in the welding process, and the effect of simulating all-position welding of the spherical tank by using a plane plate is achieved.
Description
Technical Field
The utility model relates to a material welding technology field especially relates to a welding workpiece's full position appearance transform system.
Background
The lockhole deep-melting TIG welding (K-TIG welding) is a novel high-efficiency welding method for realizing large penetration depth by utilizing the lockhole effect in the welding process, can realize one-step penetration welding without a groove, single-side welding and double-side forming, has good double-side welding seam forming and high welding quality, and has great application prospect in the welding scene of medium-thickness plates. However, in order to maintain the stability of the lockhole, a balance among surface tension, arc pressure and gravity is required, so that the lockhole is only stably applied to flat welding and quasi-flat welding positions temporarily, and the lockhole is generally used for automatic welding due to the fact that a welding gun is large and the requirement on controlling the distance between a tungsten needle and the surface of a workpiece is high.
The prior art discloses a welding workstation is with upset machine of shifting comprises ground base, hoist mechanism, upset anchor clamps, welding machine robot, wherein through hinged joint between hoist mechanism and the upset anchor clamps, hoist mechanism rises or descends and drives the upset anchor clamps upset, provides the welding robot with the welding seam of welding workpiece different positions department. However, the structure is complex, the workpiece can only be turned over within 0-90 degrees, more positions and poses of the welding workpiece cannot be provided, and user experience is poor.
SUMMERY OF THE UTILITY MODEL
To the technical problem who exists among the prior art, the utility model aims at: the full-pose transformation system for the welding workpiece can transform different positions and poses of the welding workpiece in a three-dimensional angle, provides more welding positions for a welding robot, and is good in user experience.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a full position and posture changing system for welding workpiece comprises
A frame;
the first rotating shaft is horizontally arranged and is rotatably connected to the rack;
the first driving device is fixedly connected to the rack, is connected with the first rotating shaft and drives the first rotating shaft to rotate;
the overturning platform is fixedly connected to the first rotating shaft;
the second rotating shaft is rotatably connected to the overturning platform and is vertical to the surface of the overturning platform;
the second driving device is fixedly connected to the overturning platform, is connected with the second rotating shaft and drives the second rotating shaft to rotate;
and the mounting plate is used for mounting a welding workpiece and fixedly connected to the second rotating shaft.
Furthermore, the first driving device comprises a first motor and a first reduction gearbox, the input end of the first reduction gearbox is connected with the motor shaft of the first motor, and the output end of the first reduction gearbox is connected with one end of the first rotating shaft.
Furthermore, the second driving device comprises a second motor and a second reduction gearbox, the input end of the second reduction gearbox is connected with the motor shaft of the second motor, and the output end of the second reduction gearbox is connected with one end of a second rotating shaft.
Further, a table plate is arranged between the overturning platform and the mounting plate and fixedly connected to the second rotating shaft, a support column is arranged between the table plate and the mounting plate, two ends of the support column are respectively connected to the table plate and the mounting plate, a camera is arranged on the table plate, a first through hole is formed in the middle of the mounting plate, and the camera is arranged towards the first through hole.
Further, the camera is slidably connected to the platen.
Further, the camera is connected with an angle conversion device, and the angle conversion device is connected with the bedplate in a sliding mode.
Furthermore, the angle conversion device comprises a first manual angle table and a second manual angle table, the first manual angle table is connected to the bedplate in a sliding mode, the lower end of the second manual angle table is fixedly connected to the upper end of the first manual angle table, the first manual angle table and the second manual angle table are arranged in a staggered mode, and the camera is fixedly connected to the upper end of the second manual angle table.
Further, the frame includes first support and the second support of vertical setting, and the roll-over table below is equipped with first horizontal stand and second horizontal stand, and second horizontal stand one side is located to first horizontal stand, and first horizontal stand is on a parallel with the second horizontal stand, and first support is connected fixedly through first horizontal stand and second horizontal stand with the second support.
Furthermore, a centering device is arranged on the mounting plate, and the centering device comprises
The positive and negative thread lead screw is provided with a base, a screw, a first nut and a second nut, the two ends of the base are respectively clamped at the two ends of the mounting plate, the screw is rotationally connected to the base, the screw comprises a first thread section provided with positive threads and a second thread section provided with negative threads, the first nut is in threaded connection with the first thread section, and the second nut is in threaded connection with the second thread section;
the linear guide rail is arranged on one side of the screw rod, fixedly connected to the base and parallel to the screw rod;
the first sliding block is connected with the linear guide rail in a sliding manner and fixedly connected with the outer wall of the first nut;
the second sliding block is connected with the linear guide rail in a sliding manner and fixedly connected with the outer wall of the second nut;
the hand wheel is fixedly connected with the screw rod;
the fixture is connected to the mounting plate in a sliding mode and provided with a clamp and a fixing device, the fixing device is used for fixing the fixture to the mounting plate, and the clamp is used for fixing a welding workpiece;
when the hand wheel rotates along the first rotation direction, the first nut and the second nut on the driving screw rod move in opposite directions simultaneously, when the hand wheel rotates along the second rotation direction, the first nut and the second nut on the driving screw rod move in opposite directions simultaneously, and the first rotation direction is opposite to the second rotation direction.
Further, the base both ends are equipped with the draw-in groove respectively, and the mounting panel periphery is equipped with the skeleton, and the draw-in groove width matches with the skeleton width, and the draw-in groove joint is in the skeleton.
In general, the utility model has the advantages as follows:
when the first driving device drives the first rotating shaft to rotate, the overturning platform rotates around the first rotating shaft, and when the second driving device drives the second rotating shaft to rotate, the mounting plate rotates around the second rotating shaft. Different positions and poses of a welding workpiece can be changed in a three-dimensional angle through the large-amplitude swing of the overturning platform and the rotation of the mounting plate, an omnibearing welding position is provided for a welding robot, the requirements of the position and the pose of the welding workpiece under different experimental conditions are met, the K-TIG welding test can be popularized to a horizontal welding position and a vertical welding position from a horizontal position or a near horizontal position, the pose can be changed in the welding process, and the effect of simulating the all-position welding of the spherical tank by using a plane plate is achieved.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention;
fig. 2 is a schematic perspective view of the embodiment of the present invention in another state (the screw with positive and negative teeth and the camera are not installed);
fig. 3 is a schematic perspective view of the camera, the first manual angle table and the second manual angle table of the embodiment of the present invention.
Fig. 4 is a schematic perspective view of the frame, the flipping table and the platen according to the embodiment of the present invention.
Fig. 5 is a schematic perspective view of a screw with positive and negative teeth.
Description of reference numerals:
11-a first bracket, 12-a second bracket, 13-a first transverse bracket, 14-a second transverse bracket;
21-overturning platform, 22-bedplate;
31-a first motor, 32-a first reduction box;
41-a second motor, 42-a second reduction gearbox;
51-a first manual angular position table, 52-a second manual angular position table, 53-a clamping plate, 54-a camera;
61-mounting plate, 62-bottom plate;
7-positive and negative teeth screw rod, 71-first nut, 72-second nut, 73-screw rod, 74-base;
81-a first slide block, 82-a second slide block, 83-a linear guide rail, 84-a hand wheel;
91-clamp, 92-weld workpiece.
Detailed Description
The present invention will be described in further detail below.
As shown in fig. 1 to 5, an all-position posture changing system for a welding workpiece comprises a frame; the first rotating shaft is horizontally arranged and is rotatably connected to the rack; the first driving device is fixedly connected to the rack, is connected with the first rotating shaft and drives the first rotating shaft to rotate; the overturning platform 21 is fixedly connected to the first rotating shaft; the second rotating shaft is rotatably connected to the overturning platform 21 and is vertical to the table surface of the overturning platform 21; the second driving device is fixedly connected to the overturning platform 21, is connected with the second rotating shaft and drives the second rotating shaft to rotate; the mounting plate 61 is used for mounting the welding workpiece 92 and is fixedly connected to the second rotating shaft.
When the first driving device drives the first rotating shaft to rotate, the overturning platform 21 rotates around the first rotating shaft, and when the second driving device drives the second rotating shaft to rotate, the mounting plate 61 rotates around the second rotating shaft. Different positions and poses of the welding workpiece 92 can be changed in a three-dimensional angle through the large-amplitude swing of the overturning platform 21 and the rotation of the mounting plate 61, an omnibearing welding position is provided for a welding robot, the requirements of the positions and the poses of different welding workpieces 92 under different welding conditions are met, the K-TIG welding test can be popularized to a transverse welding position and a vertical welding position from a horizontal position or a near horizontal position, the poses can be changed in the welding process, and the effect of simulating the all-position welding of the spherical tank by using a plane plate is achieved.
The first driving device comprises a first motor 31 and a first reduction gearbox 32, the input end of the first reduction gearbox 32 is connected with the motor shaft of the first motor 31, and the output end of the first reduction gearbox 32 is connected with one end of a first rotating shaft.
The second driving device comprises a second motor 41 and a second reduction gearbox 42, the input end of the second reduction gearbox 42 is connected with the motor shaft of the second motor 41, and the output end of the second reduction gearbox 42 is connected with one end of a second rotating shaft.
Specifically, the first reduction gearbox 32 and the second reduction gearbox 42 both use worm gear reducers, and under the condition that the precision requirement is not high, the worm gear reducers provide certain self-locking performance and larger reduction ratio, so that the overturning platform 21 and the mounting plate 61 can be kept at any angle for convenient welding, and meanwhile, the welding machine has better economical efficiency.
A bedplate 22 is arranged between the overturning platform 21 and the mounting plate 61, the bedplate 22 is fixedly connected to the second rotating shaft, a support is arranged between the bedplate 22 and the mounting plate 61, two ends of the support are respectively connected to the bedplate 22 and the mounting plate 61, a camera 54 is arranged on the bedplate 22, a first through hole is formed in the middle of the mounting plate 61, and the camera 54 is arranged towards the first through hole.
The K-TIG welding is through-hole welding, and a first through hole is formed in the middle of the mounting plate 61, so that the K-TIG welding is conveniently performed on the welding workpiece 92. In order to realize the all-position welding of K-TIG and carry out more in-depth research on the shapes of the lockhole and the molten pool and the performance of the joint in different welding poses, the camera 54 is arranged below the mounting plate 61, and the shapes of the lockhole and the molten pool formed on the welding workpiece 92 can be more carefully observed and researched through the camera 54.
The camera 54 is slidably connected to the platen 22.
By sliding on the platen 22, the camera 54 can adjust different viewing positions, which is beneficial for better viewing the keyhole and the weld pool formed on the welding workpiece 92, and studying the keyhole formation and maintenance mechanism.
Specifically, the mounting plate 61 is provided on a rectangular parallelepiped structure. The mounting plate 61 is a rectangular parallelepiped panel made of metal to communicate with the circuit of the welding workpiece 92 at the time of welding. A rectangular parallelepiped base plate 62 is fixedly attached to the platen 22. The rectangular parallelepiped base plate 62 is connected with the framework around the base plate 62 through the reinforcement of the thickened corner connector. The cuboid can follow the rotation of the platen 22. The camera 54 is provided in the rectangular parallelepiped.
The bedplate 22 is provided with a clamping plate 53, and the clamping plate 53 is clamped on the bedplate 22. The card board 53 is provided with a slide rail on which the camera 54 can slide.
An angle conversion device is connected to the camera 54 and is slidably connected to the platen 22.
By the angle conversion means, the camera 54 can obtain a better viewing angle.
The angle conversion device comprises a first manual angle table 51 and a second manual angle table 52, the first manual angle table 51 is connected to the bedplate 22 in a sliding mode, the lower end of the second manual angle table 52 is fixedly connected to the upper end of the first manual angle table 51, the first manual angle table 51 and the second manual angle table 52 are arranged in a staggered mode, and a camera 54 is fixedly connected to the upper end of the second manual angle table 52.
Specifically, the first manual angular stage 51 is fixed to the chucking plate 53. The second manual angular stage 52 is provided on the first manual angular stage 51. The first manual angular table 51 and the second manual angular table 52 are arranged by being shifted by 90 degrees. By adjusting the first manual angular table 51 and the second manual angular table 52 and adding appropriate gaskets to the first manual angular table 51 and the second manual angular table 52, the camera 54 can obtain more observation positions and observation angles.
The frame includes first support 11 and the second support 12 of vertical setting, and the roll-over table 21 below is equipped with first cross support 13 and second cross support 14, and second cross support 14 one side is located to first cross support 13, and first cross support 13 is on a parallel with second cross support 14, and first support 11 is connected fixedly through first cross support 13 and second cross support 14 with second support 12.
Specifically, a first rotating shaft penetrates through the turning table 21, and two ends of the first rotating shaft are respectively rotatably connected to the first bracket 11 and the second bracket 12. Both ends of the first cross bracket 13 and both ends of the second cross bracket 14 are connected to the first bracket 11 and the second bracket 12, respectively. The first cross bracket 13 and the second cross bracket 14 are used not only to connect and fix the first bracket 11 and the second bracket 12, but also to limit the tilting angle of the tilting table 21.
The mounting plate 61 is provided with a centering device, the centering device comprises a positive and negative screw rod 7, the positive and negative screw rod 7 is provided with a base 74, a screw rod 73, a first nut 71 and a second nut 72, two ends of the base 74 are respectively clamped at two ends of the mounting plate 61, the screw rod 73 is rotatably connected to the base 74, the screw rod 73 comprises a first thread section provided with positive threads and a second thread section provided with negative threads, the first nut 71 is in threaded connection with the first thread section, and the second nut 72 is in threaded connection with the second thread section; the linear guide rail 83 is arranged on one side of the screw rod 73, fixedly connected to the base 74 and parallel to the screw rod 73; the first sliding block 81 is connected to the linear guide rail 83 in a sliding manner and fixedly connected with the outer wall of the first nut 71; the second sliding block 82 is connected with the linear guide rail 83 in a sliding mode and fixedly connected with the outer wall of the second nut 72; a hand wheel 84 fixedly connected to the screw 73; the clamp 91 is connected to the mounting plate 61 in a sliding mode and is provided with a clamp and a fixing device, the fixing device is used for fixing the clamp 91 to the mounting plate 61, and the clamp is used for fixing the welding workpiece 92; when the handwheel 84 rotates along a first rotation direction, the first nut 71 and the second nut 72 on the driving screw 73 simultaneously move towards each other, and when the handwheel 84 rotates along a second rotation direction, the first nut 71 and the second nut 72 on the driving screw 73 simultaneously move back towards each other, and the first rotation direction is opposite to the second rotation direction.
Specifically, the base 74 is provided with a second through hole, and the screw 73 is inserted into the second through hole and can rotate in the second through hole. The length of the first and second screw flights is half of the total screw flight of the screw 73. Two welding workpieces 92 to be welded are placed between the first slider 81 and the second slider 82, and the hand wheel 84 is rotated in a first rotational direction (e.g., clockwise direction), and the screw 73 is rotated accordingly. Because the linear guide rail 83 is parallel to the screw rod 73, the first sliding block 81 and the second sliding block 82 are slidably connected to the linear guide rail 83 and are respectively connected to the outer wall of the first nut 71 and the outer wall of the second nut 72, so that the first nut 71 and the second nut 72 on the screw rod 73 respectively move oppositely on the first thread section and the second thread section, and the welding workpiece 92 is pushed to the middle of the positive and negative thread lead screw 7 in the process that the first sliding block 81 and the second sliding block 82 move oppositely on the linear guide rail 83 until the welding workpieces 92 are mutually abutted, thereby completing the automatic centering process of the welding workpiece 92.
After the automatic centering is completed, the clamp 91 on the mounting plate 61 is moved to the side of the welding workpiece 92, the welding workpiece 92 is fixed by using the clamp on the clamp 91, and the clamp 91 is fixed on the mounting plate 61 by the fixing device, so that the clamp 91 and the welding workpiece 92 are not loosened. Then, the angles of the first and second rotating shafts are adjusted by using an external control program or a switch, and after coordinate conversion or teaching, the welding robot is used to weld the welding workpiece 92. After the welding is finished, a reset command is executed to return the posture of the jig 91 to the initial position.
The mounting plate 61 is provided with a plurality of sliding grooves, the clamp 91 can slide in different sliding grooves, and the centering requirements of the welding workpieces 92 with different widths can be met. The jig 91 is provided with 1 or more clamps to accommodate different shapes of the welding workpiece 92.
The fixing device comprises a bolt and a nut, the bolt penetrates through the mounting hole of the clamp 91 and the chute on the mounting plate 61, and the clamp 91 can be fixed on the mounting plate 61 through locking of the nut.
After the welding workpiece 92 is fixed by the fixture 91, the hand wheel 84 is rotated in a second rotation direction (e.g., counterclockwise), and the screw 73 is rotated to drive the first nut 71 and the second nut 72 to move back to back, so that the first slider 81 and the second slider 82 release the clamping of the welding workpiece 92. The base 74 can now be released from the mounting plate 61 and the positive and negative lead screws 7 can be removed.
In the prior art, a positioning hole is usually formed in a welding workpiece 92, and the welding workpiece 92 is centered by using different positioning blocks for auxiliary positioning, so that when the welding workpiece 92 with different sizes faces, the positioning hole needs to be formed again and different positioning blocks need to be manufactured, and the steps are complicated and error is easy to make. After the centering is completed, the positioning blocks still need to remain on the mounting plate 61 together with the clamp 91 to continue the subsequent welding operation, and the positioning blocks inevitably affect or interfere with the welding operation, so that the user experience is poor.
The embodiment of the utility model provides a separate centering location and clamp tightly, can remove the positive and negative tooth lead screw 7 that is used for the centering location after the centering location is accomplished, only remain anchor clamps 91 and press from both sides tight weldment 92, the structure has been simplified to the at utmost on guaranteeing positioning accuracy and the basis of pressing from both sides tight reliability, the cost is saved, the motion that probably exists is interfered in having avoided welding process, can alternate weldment 92 positions and position appearance, the clamping process is simple, weldment 92 can follow mounting panel 61 and remove in welding process, the welding is interfered for a short time, user experience is better.
The base 74 both ends are equipped with the draw-in groove respectively, and the mounting panel 61 periphery is equipped with the skeleton, and the draw-in groove width matches with the skeleton width, and the draw-in groove joint is in the skeleton.
Specifically, the framework around the mounting plate 61 is made of industrial sectional materials, the width of the clamping groove is matched with that of the industrial sectional materials, and the screw rod 7 with the positive and negative teeth can be conveniently fixed on the mounting plate 61.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (10)
1. The utility model provides a full position appearance transform system of welding workpiece which characterized in that: comprises that
A frame;
the first rotating shaft is horizontally arranged and is rotatably connected to the rack;
the first driving device is fixedly connected to the rack, is connected with the first rotating shaft and drives the first rotating shaft to rotate;
the overturning platform is fixedly connected to the first rotating shaft;
the second rotating shaft is rotatably connected to the overturning platform and is vertical to the surface of the overturning platform;
the second driving device is fixedly connected to the overturning platform, is connected with the second rotating shaft and drives the second rotating shaft to rotate;
and the mounting plate is used for mounting a welding workpiece and fixedly connected to the second rotating shaft.
2. A system for full pose transformation of a welded workpiece as defined in claim 1 wherein: the first driving device comprises a first motor and a first reduction gearbox, the input end of the first reduction gearbox is connected with a motor shaft of the first motor, and the output end of the first reduction gearbox is connected with one end of a first rotating shaft.
3. A system for full pose transformation of a welded workpiece as defined in claim 2 wherein: the second driving device comprises a second motor and a second reduction gearbox, the input end of the second reduction gearbox is connected with a motor shaft of the second motor, and the output end of the second reduction gearbox is connected with one end of a second rotating shaft.
4. A system for full pose transformation of a welded workpiece as defined in claim 1 wherein: a platen is arranged between the overturning platform and the mounting plate, the platen is fixedly connected to the second rotating shaft, a support column is arranged between the platen and the mounting plate, two ends of the support column are respectively connected to the platen and the mounting plate, a camera is arranged on the platen, a first through hole is formed in the middle of the mounting plate, and the camera is arranged towards the first through hole.
5. A system for full pose transformation of a welded workpiece as defined in claim 4 wherein: the camera is connected with the bedplate in a sliding mode.
6. A system for full pose transformation of a welded workpiece as defined in claim 4 wherein: the camera is connected with an angle conversion device, and the angle conversion device is connected to the bedplate in a sliding mode.
7. A system for changing the attitude of a welded workpiece according to claim 6, wherein: the angle conversion device comprises a first manual angle table and a second manual angle table, the first manual angle table is connected to the bedplate in a sliding mode, the lower end of the second manual angle table is fixedly connected to the upper end of the first manual angle table, the first manual angle table and the second manual angle table are arranged in a staggered mode, and the camera is fixedly connected to the upper end of the second manual angle table.
8. A system for full pose transformation of a welded workpiece as defined in claim 1 wherein: the frame includes first support and the second support of vertical setting, and the roll-over table below is equipped with first horizontal stand and second horizontal stand, and second horizontal stand one side is located to first horizontal stand, and first horizontal stand is on a parallel with the second horizontal stand, and first support is fixed through first horizontal stand and second horizontal leg joint with the second support.
9. A system for full pose transformation of a welded workpiece according to any one of claims 1 to 8, wherein: the mounting plate is provided with a centering device which comprises
The positive and negative thread lead screw is provided with a base, a screw, a first nut and a second nut, the two ends of the base are respectively clamped at the two ends of the mounting plate, the screw is rotationally connected to the base, the screw comprises a first thread section provided with positive threads and a second thread section provided with negative threads, the first nut is in threaded connection with the first thread section, and the second nut is in threaded connection with the second thread section;
the linear guide rail is arranged on one side of the screw rod, fixedly connected to the base and parallel to the screw rod;
the first sliding block is connected with the linear guide rail in a sliding manner and fixedly connected with the outer wall of the first nut;
the second sliding block is connected with the linear guide rail in a sliding manner and fixedly connected with the outer wall of the second nut;
the hand wheel is fixedly connected with the screw rod;
the fixture is connected to the mounting plate in a sliding mode and provided with a clamp and a fixing device, the fixing device is used for fixing the fixture to the mounting plate, and the clamp is used for fixing a welding workpiece;
when the hand wheel rotates along the first rotation direction, the first nut and the second nut on the driving screw rod move in opposite directions simultaneously, when the hand wheel rotates along the second rotation direction, the first nut and the second nut on the driving screw rod move in opposite directions simultaneously, and the first rotation direction is opposite to the second rotation direction.
10. A system for full pose transformation of a welded workpiece as recited in claim 9, wherein: the base both ends are equipped with the draw-in groove respectively, and the mounting panel periphery is equipped with the skeleton, and the draw-in groove width matches with the skeleton width, and the draw-in groove joint is in the skeleton.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021473068.9U CN212552196U (en) | 2020-07-23 | 2020-07-23 | Full position appearance transform system of welding workpiece |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021473068.9U CN212552196U (en) | 2020-07-23 | 2020-07-23 | Full position appearance transform system of welding workpiece |
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| CN212552196U true CN212552196U (en) | 2021-02-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111872515A (en) * | 2020-07-23 | 2020-11-03 | 华南理工大学 | Full position appearance transform system of welding workpiece |
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2020
- 2020-07-23 CN CN202021473068.9U patent/CN212552196U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111872515A (en) * | 2020-07-23 | 2020-11-03 | 华南理工大学 | Full position appearance transform system of welding workpiece |
| CN111872515B (en) * | 2020-07-23 | 2024-03-12 | 广东福维德焊接股份有限公司 | Full pose transformation system for welding workpiece |
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