CN215747343U - Welding head quick-change structure and welding robot - Google Patents
Welding head quick-change structure and welding robot Download PDFInfo
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- CN215747343U CN215747343U CN202121684895.7U CN202121684895U CN215747343U CN 215747343 U CN215747343 U CN 215747343U CN 202121684895 U CN202121684895 U CN 202121684895U CN 215747343 U CN215747343 U CN 215747343U
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Abstract
The application discloses a welding head quick-change structure which is applied to installation of a robot body and a welding head, and comprises a main connecting part and an auxiliary connecting part, wherein the main connecting part is arranged on the surface of the welding head, and a connecting piece is arranged on the surface of the main connecting part; the auxiliary connecting part is arranged on the surface of the robot body, a mounting groove is formed in the surface, close to the main connecting part, of the auxiliary connecting part, the main connecting part is inserted into the mounting groove, a sliding groove is formed in the inner wall of the mounting groove, the connecting piece is arranged in the sliding groove in a sliding mode, a limiting part used for limiting the connecting piece to move along the sliding groove is arranged on the inner wall of the mounting groove, when the welding head needs to be replaced, the welding head is moved to drive the main connecting part to move until the connecting piece is separated from the sliding groove, and the old welding head is detached; the new welding head is moved to drive the connecting piece to move along the sliding groove, the limiting piece cannot move along the sliding groove under the action of the limiting portion, the welding head is connected with the robot body, the replacement time of the welding head can be shortened, and the replacement efficiency of the welding head is improved.
Description
Technical Field
The application relates to the field of welding devices, in particular to a welding head quick-change structure and a welding robot.
Background
In relevant technical field, the bonding tool of welding robot tip and welding robot's being connected are chuck joint usually, when needing to change the bonding tool, need repeated many times to adjust the chuck, just can dismantle old bonding tool, then repeated adjustment installs new bonding tool many times, still need make bonding tool counterpoint again in the installation, just can continue weldment work, seriously influences welding efficiency.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application provides a welding head quick-change structure which is applied to installation of a robot body and a welding head, the quick-change structure comprises a main connecting part and an auxiliary connecting part, the main connecting part is arranged on the surface, close to the robot body, of the welding head, and a connecting piece is arranged on the surface of the main connecting part; the auxiliary connecting portion are arranged on the surface, close to the welding head, of the robot body, the mounting groove is formed in the surface, close to the main connecting portion, of the auxiliary connecting portion, the main connecting portion is inserted into the mounting groove in an inserting mode, the sliding groove is formed in the inner wall of the mounting groove, the connecting piece is arranged in the sliding groove in a sliding mode, and the inner wall of the mounting groove is provided with a limiting portion used for limiting the connecting piece to move along the sliding groove.
Based on the embodiment, when the welding head needs to be replaced, the welding head is moved, the welding head drives the main connecting part to rotate, the main connecting part drives the connecting piece to move in the sliding groove until the connecting piece is separated from the sliding groove, and the old welding head is disassembled; remove new bonding tool, drive main connecting portion and connecting piece motion, align with the mounting groove when main connecting portion, when connecting piece aligns with the spout simultaneously, remove the bonding tool along the spout, until the inner wall butt of connecting piece and spout, under the effect of spacing portion, the locating part can't be followed the spout motion, restricts the bonding tool promptly and breaks away from the robot, accomplishes being connected of bonding tool and robot, can shorten the change time of bonding tool, improves the change efficiency of bonding tool.
In some embodiments, the limiting portion is provided as an annular groove, the annular groove is opened on the inner wall of the mounting groove, the annular groove is communicated with the sliding groove, and the connecting piece is slidably disposed in the annular groove.
Based on the embodiment, when the welding head is disassembled, the welding head is rotated, the welding head and the driving main connecting part move in the mounting groove, the main connecting part drives the connecting piece to move in the annular groove until the connecting piece moves into the sliding groove, at the moment, the main connecting part is moved along the sliding groove in the direction away from the auxiliary connecting part until the main connecting part is separated from the mounting groove, and the disassembly of the welding head is completed; when a new welding head needs to be installed, the worker drives the welding head to drive the main connecting portion to drive the connecting piece to be connected in the sliding groove in a sliding mode until the connecting piece abuts against the bottom wall of the sliding groove, the connecting piece is located in the annular groove at the moment, the rotating welding head drives the connecting piece to be connected in the annular groove in a sliding mode, the annular groove is used for limiting the movement of the connecting piece in the sliding groove, and the purpose of connecting the welding head and the robot body is achieved.
In some embodiments, the quick-change structure further comprises a limiting mechanism, and the limiting mechanism is arranged in the annular groove and used for limiting the connecting piece to move along the annular groove.
Based on the embodiment, the annular groove is provided with the limiting mechanism, so that the connecting piece is further limited to move in the annular groove, the connection between the robot body and the welding head is more stable, and the robot body drives the welding head to perform welding work conveniently.
In some embodiments, a limiting groove is formed in a surface of the secondary connecting portion, the limiting groove is communicated with the annular groove, the limiting mechanism includes a limiting member, the limiting member is slidably connected in the limiting groove, a surface of the connecting member abuts against a surface of the limiting member extending into the annular groove, and a surface of the connecting member away from the limiting member abuts against an inner wall of the annular groove.
Based on the above embodiment, when the welding head is installed, the welding head is moved to drive the connecting piece to move into the annular groove, the limiting part is moved to the direction away from the auxiliary connecting portion along the limiting groove until one end, close to the auxiliary connecting portion, of the limiting part is located in the limiting groove, the welding head continues to rotate until the connecting piece abuts against the inner wall of the annular groove, the limiting part is driven to move to the direction close to the auxiliary connecting portion along the limiting groove at the moment, until the limiting part abuts against the inner wall of the annular groove, the surface of the limiting part abuts against the surface of the connecting piece at the moment, the connecting piece is limited to move along the annular groove, and therefore the welding head is stably connected with the robot body.
In some embodiments, the limiting mechanism further includes a first driving member disposed between the limiting member and the wall of the limiting groove for driving the limiting member to move along the limiting groove.
Based on the above embodiment, the first driving piece is utilized to drive the limiting piece to move so as to limit the movement of the connecting piece, and the operation is convenient and fast.
In some embodiments, the first driving element is an elastic piece, a connecting groove is formed through the surface of the limiting member, the elastic piece is inserted into the connecting groove, and two ends of the elastic piece are respectively fixedly connected with the two inner walls of the limiting groove.
Based on above-mentioned embodiment, when the bonding tool when the installation, drive locating part drives the motion of flexure strip for the flexure strip produces deformation, and after the locating part was crossed to the connecting piece, the power of release drive locating part motion, the elastic drive locating part of flexure strip reconversion moves to the annular, until the inner wall butt of locating part and annular, with the motion of restriction connecting piece, and then the bonding tool that makes is connected with robot stably.
In some embodiments, the limiting mechanism includes a first boosting portion disposed on a surface of the limiting member, so that the connecting member can push the limiting member to move in a direction away from the secondary connecting portion.
Based on the above embodiment, by using the first boosting portion arranged on the surface of the limiting part, when the welding head is installed, the connecting part can directly push the first boosting portion to push the limiting part to move along the limiting groove, so as to reduce the acting force for driving the limiting part to move, and reduce labor intensity.
In some embodiments, the limiting mechanism further comprises a second boosting portion, and the second boosting portion is arranged on the surface of the connecting piece and facilitates the connecting piece to push the first boosting portion to move.
Based on the above embodiment, the second boosting part is matched with the first boosting part, so that the acting force applied to the welding head is further reduced, the connecting piece can conveniently push the limiting part to move during installation, and the operation is convenient and fast.
In some embodiments, the limiting mechanism further includes a second driving element, and the second driving element is disposed on a side surface of the limiting element away from the main connecting portion, and is used for driving the limiting element to move.
Based on the above embodiment, when dismantling the bonding tool, utilize the second driving piece drive locating part to move along the spacing groove to the direction of keeping away from the annular, return to the spacing inslot completely until the locating part is close to the one end of annular, rotatory bonding tool drives the connecting piece at the annular internal motion this moment, after the connecting piece moved to the spout in, draw away from the bonding tool along the spout, and then dismantle the bonding tool, convenient and fast.
The embodiment of the application also provides a welding robot, which comprises a robot body and a welding head, wherein a welding head quick-change structure is arranged between the welding head and the robot body.
Based on above-mentioned embodiment, utilize the quick change structure to make the dismouting between robot body and the bonding tool more convenient, shorten the change time of bonding tool, improve the change efficiency of bonding tool.
The welding head quick-change structure based on the application is applied to installation of a robot body and a welding head, and comprises a main connecting part and an auxiliary connecting part, wherein the main connecting part is arranged on the surface, close to the robot body, of the welding head, and a connecting piece is arranged on the surface of the main connecting part; the auxiliary connecting part is arranged on the surface of the robot body, which is close to the welding head, the surface of the auxiliary connecting part, which is close to the main connecting part, is provided with a mounting groove, the main connecting part is inserted in the mounting groove, the inner wall of the mounting groove is provided with a sliding groove, the connecting part is arranged in the sliding groove in a sliding manner, the inner wall of the mounting groove is provided with a limiting part for limiting the movement of the connecting part along the sliding groove, when the welding head needs to be replaced, the welding head is moved, the welding head drives the main connecting part to move, the main connecting part drives the connecting part to move in the sliding groove until the connecting part is separated from the sliding groove, and the old welding head is disassembled; remove new bonding tool, drive main connecting portion and connecting piece motion, align with the mounting groove when main connecting portion, when connecting piece aligns with the spout simultaneously, remove the bonding tool along the spout, until the inner wall butt of connecting piece and spout, under the effect of spacing portion, the locating part can't be followed the spout motion, restricts the bonding tool promptly and breaks away from the robot, accomplishes being connected of bonding tool and robot, can shorten the change time of bonding tool, improves the change efficiency of bonding tool.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an overall configuration of a welder robot in an embodiment of the present application;
fig. 2 is an exploded view of a robot body and a welding head according to an embodiment of the present disclosure;
FIG. 3 is an enlarged view of FIG. 2;
FIG. 4 is a cross-sectional view taken along line B-B of FIG. 1;
fig. 5 is an enlarged schematic view of the structure at C in fig. 4 of the present application.
Reference numerals: 1. a welding robot; 2. a robot body; 3. a welding head; 4. a quick-change structure; 41. a secondary connecting portion; 412. mounting grooves; 413. a chute; 414. a ring groove; 42. a main connection portion; 421. a connecting member; 43. a limiting mechanism; 431. a limiting groove; 432. a limiting member; 433. a first driving member; 434. a first boosting section; 435. a second boosting section; 436. a second driving member.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Referring to fig. 1 to 3, the present application provides a quick change structure 4 for a welding head 3, which is applied to the installation of a robot body 2 and the welding head 3, the quick change structure 4 includes a main connecting portion 42 and an auxiliary connecting portion 41, the main connecting portion 42 is disposed on the surface of the welding head 3 close to the robot body 2, and a connecting member 421 is disposed on the surface of the main connecting portion 42; the auxiliary connecting portion 41 is arranged on the surface of the robot body 2 close to the welding head 3, the mounting groove 412 is formed in the surface of the auxiliary connecting portion 41 close to the main connecting portion 42, the main connecting portion 42 is inserted into the mounting groove 412, the inner wall of the mounting groove 412 is provided with a sliding groove 413, the connecting piece 421 is slidably arranged in the sliding groove 413, and the inner wall of the mounting groove 412 is provided with a limiting portion used for limiting the connecting piece 421 to move along the sliding groove 413.
The main connecting portion 42 may be provided as a portion of the welding head 3 extending outward, the material of the main connecting portion 42 may be, but is not limited to, metal, and the shape of the main connecting portion 42 may be a cylinder.
The connection member 421 may be disposed on the periphery of the main connection portion 42, the connection manner may be, but is not limited to, clamping, gluing, screwing, or integrally forming, and the connection member 421 may be square.
The secondary connection portion 41 may be a portion of the robot body 2 extending outward, and the material of the secondary connection portion 41 may be, but is not limited to, metal.
When the welding head 3 needs to be replaced, the welding head 3 is moved, the welding head 3 drives the main connecting part 42 to rotate, the main connecting part 42 drives the connecting piece 421 to move in the sliding groove 413 until the connecting piece 421 is separated from the sliding groove 413, and the old welding head 3 is disassembled; remove new bonding tool 3, drive main connecting portion 42 and the motion of connecting piece 421, align with mounting groove 412 as main connecting portion 42, connecting piece 421 aligns with spout 413 simultaneously, move bonding tool 3 along spout 413, until the inner wall butt of connecting piece 421 and spout 413, under the effect of spacing portion, locating part 432 can't move along spout 413, restrict bonding tool 3 promptly and break away from robot body 2, accomplish bonding tool 3 and robot body 2's being connected, can shorten bonding tool 3's change time, improve bonding tool 3's change efficiency.
Referring to fig. 1 to 3, in a specific embodiment, the limiting portion is configured as an annular groove 414, the annular groove 414 is opened on an inner wall of the mounting groove 412, the annular groove 414 is communicated with the sliding groove 413, the connecting member 421 is slidably disposed in the annular groove 414, when the welding head 3 is disassembled, the welding head 3 is rotated, the welding head 3 drives the main connecting portion 42 to move in the mounting groove 412, the main connecting portion 42 drives the connecting member 421 to move in the annular groove 414 until the connecting member 421 moves into the sliding groove 413, and at this time, the main connecting portion 42 is moved in a direction away from the auxiliary connecting portion 41 along the sliding groove 413 until the main connecting portion 42 is separated from the mounting groove 412, so as to complete the disassembly of the welding head 3; when a new welding head 3 needs to be installed, a worker drives the welding head 3 to drive the main connecting portion 42 to drive the connecting piece 421 to be slidably connected into the sliding groove 413 until the connecting piece 421 abuts against the bottom wall of the sliding groove 413, at the moment, the connecting piece 421 is located in the annular groove 414, the rotating welding head 3 drives the connecting piece 421 to be slidably connected into the annular groove 414, the annular groove 414 is used for limiting the movement of the connecting piece 421 in the sliding groove 413, and the purpose of connecting the welding head 3 with the robot body 2 is achieved.
Referring to fig. 1 to 3, in a specific embodiment, the quick-change structure 4 further includes a limiting mechanism 43, the limiting mechanism 43 is disposed in the ring groove 414, and further limits the movement of the connecting member 421 in the ring groove 414, so that the connection between the robot body 2 and the welding head 3 is more stable, and the robot drives the welding head 3 to perform welding work.
Referring to fig. 1, fig. 2 and fig. 5, referring to fig. 1 to fig. 3, in a specific embodiment, a limiting groove 431 is formed on a surface of the secondary connecting portion 41, the limiting groove 431 is communicated with the ring groove 414, the limiting mechanism 43 includes a limiting member 432, the limiting member 432 may be configured in a plate shape, the limiting member 432 may be made of plastic or metal, the limiting member 432 is slidably connected in the limiting groove 431, a surface of the connecting member 421 abuts against a surface of the limiting member 432 extending into the ring groove 414, and a surface of the connecting member 421 away from the limiting member 432 abuts against an inner wall of the ring groove 414; when the welding head 3 is installed, the welding head 3 is moved to drive the connecting piece 421 to move into the ring groove 414, the limiting piece 432 is moved along the limiting groove 431 to a position far away from the auxiliary connecting portion 41 until one end of the limiting piece 432 close to the auxiliary connecting portion 41 is located in the limiting groove 431, the welding head 3 is continuously rotated until the connecting piece 421 abuts against the inner wall of the ring groove 414, the limiting piece 432 is driven to move along the limiting groove 431 to a position close to the auxiliary connecting portion 41 at the moment until the limiting piece 432 abuts against the inner wall of the ring groove 414, the surface of the limiting piece 432 abuts against the surface of the connecting piece 421 at the moment, so that the connecting piece 421 is limited to move along the ring groove 414, and the welding head 3 is stably connected with the robot body 2.
Referring to fig. 1, fig. 2 and fig. 5, in a specific embodiment, the limiting mechanism 43 further includes a first driving member 433, and the first driving member 433 is disposed between the limiting member 432 and a groove wall of the limiting groove 431, and is used for driving the limiting member 432 to move along the limiting groove 431; the first driving member 433 is used for driving the limiting member 432 to move so as to limit the movement of the connecting member 421, which is convenient and fast.
Referring to fig. 1, fig. 2 and fig. 5, in another specific embodiment, the first driving member 433 may be an elastic sheet, the elastic sheet may be made of plastic or metal, a connecting groove is formed through the surface of the limiting member 432, the elastic sheet is inserted into the connecting groove, and two ends of the elastic sheet are respectively fixedly connected to two inner walls of the limiting groove 431; when the welding head 3 is installed, the limiting part 432 is driven to drive the elastic sheet to move, so that the elastic sheet deforms, after the connecting piece 421 passes over the limiting part 432, the force for driving the limiting part 432 to move is released, the elastic driving limiting part 432, which is restored to the original state, of the elastic sheet moves towards the annular groove 414 until the limiting part 432 is abutted against the inner wall of the annular groove 414, so that the movement of the connecting piece 421 is limited, and further, the connection between the welding head 3 and the robot body 2 is stable.
Referring to fig. 1, fig. 2 and fig. 5, in a specific embodiment, the limiting mechanism 43 includes a first boosting portion 434, the first boosting portion 434 may be configured as a semicircular block, a surface of the first boosting portion 434 is connected with a surface of the limiting member 432, the connection manner includes but is not limited to a screwing manner, a clamping manner, an adhering manner or an integral forming manner, and an arc surface of the first boosting portion 434 faces into the annular groove 414, so that the connecting member 421 can push the limiting member 432 to move in a direction away from the secondary connecting portion 41; by using the first boosting portion 434 disposed on the surface of the limiting member 432, when the welding head 3 is installed, the connecting member 421 can directly push the first boosting portion 434 to push the limiting member 432 to move along the limiting groove 431, so as to reduce the acting force for driving the limiting member 432 to move, and reduce labor intensity.
Referring to fig. 1, fig. 2 and fig. 5, in a specific embodiment, the limiting mechanism 43 further includes a second boosting portion 435, the second boosting portion 435 may be an inclined block, the second boosting portion 435 is connected to the surface of the connecting member 421, the connection manner includes but is not limited to clamping, gluing, screwing or integral forming, and the inclined plane of the second boosting portion 435 faces away from the connecting member 421; the second boosting part 435 is matched with the first boosting part 434, so that the acting force applied to the welding head 3 is further reduced, the connecting piece 421 pushes the limiting piece 432 to move when the welding head 3 is installed, and the operation is convenient and fast.
Referring to fig. 1, fig. 2 and fig. 5, in a specific embodiment, the limiting mechanism 43 further includes a second driving member 436, the second driving member 436 may be configured as a pull ring, the second driving member 436 is disposed on a side surface of the limiting member 432 away from the main connecting portion 42, and is used for driving the limiting member 432 to move toward the direction close to the ring groove 414; when the welding head 3 is disassembled, the second driving member 436 is used for driving the limiting member 432 to move along the limiting groove 431 in the direction away from the ring groove 414, until the end, close to the ring groove 414, of the limiting member 432 is completely retracted into the limiting groove 431, the welding head 3 is rotated to drive the connecting member 421 to move in the ring groove 414, and after the connecting member 421 moves into the sliding groove 413, the connecting member is pulled away from the welding head 3 along the sliding groove 413, so that the welding head 3 is disassembled, the welding head 3 is replaced, and convenience and rapidness are realized.
Referring to fig. 1, 2 and 5, the present application further provides a welding robot 1, which includes a robot body 2 and a welding head 3, wherein a welding head 3 quick-change structure 4 is disposed between the welding head 3 and the robot body 2; the quick change structure 4 is utilized to facilitate the disassembly and assembly between the robot body 2 and the welding head 3, shorten the replacement time of the welding head 3 and improve the replacement efficiency of the welding head 3.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar parts; in the description of the present application, it is to be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the above terms may be understood by those skilled in the art according to specific situations.
The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.
Claims (10)
1. The utility model provides a bonding tool quick change structure, is applied to the installation of robot body and bonding tool, its characterized in that, quick change structure includes:
the main connecting part is arranged on the surface of the welding head close to the robot body, and a connecting piece is arranged on the surface of the main connecting part;
the auxiliary connecting portion is arranged on the surface, close to the welding head, of the robot body, a mounting groove is formed in the surface, close to the main connecting portion, of the auxiliary connecting portion, the main connecting portion is inserted into the mounting groove in an inserting mode, a sliding groove is formed in the inner wall of the mounting groove, the connecting piece is arranged in the sliding groove in a sliding mode, and a limiting portion used for limiting the connecting piece to move along the sliding groove is arranged on the inner wall of the mounting groove.
2. The welding head quick-change structure according to claim 1, wherein the limiting portion is provided as an annular groove, the annular groove is opened on an inner wall of the mounting groove, the annular groove is communicated with the sliding groove, and the connecting member is slidably disposed in the annular groove.
3. The horn quick-change structure of claim 2, further comprising:
and the limiting mechanism is arranged on the annular groove and is used for limiting the connecting piece to move along the annular groove.
4. The welding head quick-change structure according to claim 3, wherein a limiting groove is formed in the surface of the secondary connecting portion, the limiting groove is communicated with the annular groove, and the limiting mechanism comprises:
the locating part, locating part sliding connection in the spacing inslot, the surface of connecting piece with the locating part extends to the surperficial butt in the annular, the connecting piece is kept away from the surface of locating part with the inner wall butt of annular.
5. The welding head quick-change structure according to claim 4, wherein the limiting mechanism further comprises:
the first driving piece is arranged between the limiting piece and the wall of the limiting groove and used for driving the limiting piece to move along the limiting groove.
6. The rapid-change structure for a welding head according to claim 5, wherein the first driving member is configured as an elastic piece, a connecting groove is formed through the surface of the limiting member, the elastic piece is inserted into the connecting groove, and two ends of the elastic piece are respectively fixedly connected to two inner walls of the limiting groove.
7. The welding head quick-change structure according to claim 5, wherein the limiting mechanism comprises:
the first boosting part is arranged on the surface of the limiting part, so that the connecting piece can push the limiting part to move in the direction away from the auxiliary connecting part.
8. The bonding tool quick-change structure according to claim 7, wherein the limiting mechanism further comprises:
and the second boosting part is arranged on the surface of the connecting piece, so that the connecting piece can push the first boosting part to move.
9. The welding head quick-change structure according to claim 5, wherein the limiting mechanism further comprises:
the second driving piece is arranged on the side face, far away from the main connecting portion, of the limiting piece and used for driving the limiting piece to move.
10. A welding robot, comprising:
a robot body;
a welding head, wherein a welding head quick-change structure according to any one of claims 1-9 is arranged between the welding head and the robot body.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121684895.7U CN215747343U (en) | 2021-07-23 | 2021-07-23 | Welding head quick-change structure and welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121684895.7U CN215747343U (en) | 2021-07-23 | 2021-07-23 | Welding head quick-change structure and welding robot |
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| CN215747343U true CN215747343U (en) | 2022-02-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115319786A (en) * | 2022-10-11 | 2022-11-11 | 国网瑞嘉(天津)智能机器人有限公司 | Quick change device for end tool of live working robot |
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2021
- 2021-07-23 CN CN202121684895.7U patent/CN215747343U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115319786A (en) * | 2022-10-11 | 2022-11-11 | 国网瑞嘉(天津)智能机器人有限公司 | Quick change device for end tool of live working robot |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Welding head quick change structure and welding robot Effective date of registration: 20230509 Granted publication date: 20220208 Pledgee: Bank of China Limited Ezhou branch Pledgor: Wuhan Xinyangguang precision stamping parts Co.,Ltd. Registration number: Y2023420000199 |
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