CN217371334U - Equipment for repairing welding seam - Google Patents
Equipment for repairing welding seam Download PDFInfo
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- CN217371334U CN217371334U CN202221105946.0U CN202221105946U CN217371334U CN 217371334 U CN217371334 U CN 217371334U CN 202221105946 U CN202221105946 U CN 202221105946U CN 217371334 U CN217371334 U CN 217371334U
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Abstract
The utility model relates to the technical field of steel structure weld defect cleaning, in particular to a device for weld repair, which comprises a manipulator external shaft, a welding device and a back chipping and polishing device; the back chipping and polishing device comprises a No. 1 six-shaft manipulator, a No. 1 extension bar and a quick-change connector which are sequentially connected; the welding device comprises a 2# six-shaft manipulator, a 2# extension bar and a welding gun which are connected in sequence; the base of the No. 1 six-axis manipulator is also provided with a back chipping quick-change seat and a polishing quick-change seat, the back chipping quick-change seat is provided with a back chipping mechanism, the polishing quick-change seat is provided with a polishing mechanism, and the back chipping mechanism and the polishing mechanism are respectively used for being connected with a quick-change connector; the manipulator is characterized in that a track is arranged on an external shaft of the manipulator, and the 1# six-shaft manipulator and the 2# six-shaft manipulator can move along the track. Through this equipment, can effectively solve current narrow space welding seam and reprocess the problem of quality low and inefficiency.
Description
Technical Field
The utility model relates to a steel construction welding seam defect clearance technical field especially relates to an equipment for welding seam is reprocessed.
Background
In the current market, many enterprises continue to weld the welding workpiece by manual work, so that the labor intensity is high, the efficiency is low, and the welding quality cannot be guaranteed, which varies from person to person. When in operation, the welding rod is improper, the welding current is unstable, the welding speed is not uniform, the height change of the welding arc is too large, the welding seam defects are possibly caused by the conditions of the welding material, such as self reasons, and the like, and the conventional welding seam defects comprise undercut, slag inclusion, air holes, arc pits and welding penetration. Once a weld defect is detected, the conventional method is to repair the weld manually according to the position, depth, length and other information of the detected weld defect mark. In the process of manual repair, due to the reasons of detection equipment or manual work and the like, the same weld defects can be repaired for many times, so that the strength of the base metal is influenced, and the workpiece can be directly scrapped.
As the robot technology has become mature, robots are increasingly being widely used in various fields of industrial manufacturing. Because the robot has the functions of multi-axis linkage and program intelligent control, the robot has high action repetition precision, stable product quality and high production efficiency, and is suitable for being applied to flow lines, such as industries with programmed and standardized characteristics, such as automobile manufacturing, medical instruments, chemical production, packaging and the like.
In water conservancy water and electricity steel structure, like arc door and frame etc. mainly adopt the manual work to handle the welding seam defect at present, operation intensity of labour is big, and the dust is big to the artifical healthy influence, and production efficiency is low, can not guarantee the one-time pass to the welding seam of defect yet. The welded parts have the characteristics of complex structure, more change of welding directions, narrow space, first-grade weld quality grade, 100 percent UT and the like. In particular to a multi-cavity steel component, each cavity has the minimum dimension of 175 mmx200mm, the depth of 1900 mm, the plate thickness of 50mm and a groove combination weld joint. Because of the small space, it is difficult to access the cavity to rework a defective weld.
Disclosure of Invention
In order to solve the technical problem, the utility model provides an equipment for welding seam is reprocessed can effectively solve current narrow space welding seam and reprocess the problem of quality low and inefficiency.
The utility model discloses a realize through adopting following technical scheme:
an apparatus for weld repair, characterized by: comprises a manipulator external shaft, a welding device and a back chipping and polishing device; the back chipping and polishing device comprises a No. 1 six-shaft manipulator, a No. 1 extension bar and a quick-change connector which are sequentially connected; the welding device comprises a 2# six-shaft manipulator, a 2# extension bar and a welding gun which are connected in sequence; the base of the No. 1 six-axis manipulator is also provided with a back chipping quick-change seat and a polishing quick-change seat, the back chipping quick-change seat is provided with a back chipping mechanism, the polishing quick-change seat is provided with a polishing mechanism, and the back chipping mechanism and the polishing mechanism are respectively used for being connected with a quick-change connector; the manipulator is characterized in that a track is arranged on an external shaft of the manipulator, and the 1# six-shaft manipulator and the 2# six-shaft manipulator can move along the track.
The back chipping mechanism comprises a back chipping quick-change connector, a back chipping pneumatic motor, a cutter clamping mechanism and a back chipping cutter which are sequentially connected; the back chipping quick-change connector is used for being connected with the quick-change connector, and a back chipping air vent is further arranged on the back chipping quick-change connector and used for ventilating and providing power for a back chipping pneumatic motor.
The polishing mechanism comprises a polishing quick-change connector, a polishing pneumatic motor, a polishing head clamping mechanism and a polishing head which are sequentially connected, wherein the polishing quick-change connector is used for being connected with the quick-change connector, a polishing air vent is further arranged on the polishing quick-change connector, and the polishing air vent is used for ventilating and provides power for the polishing pneumatic motor.
The tail end of the 1# extension bar is further connected with a visual identification device, and the visual identification device comprises a 1# camera and a 1# line laser sensor.
Still include the bumper, the bumper is connected the postfix at the end of 2# extension bar with welder, be equipped with elastic mechanism in the bumper.
And the gun rod of the welding gun is also connected with a 2# camera and a 2# line laser sensor.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses in, welding set and back chipping, grinding device can realize back chipping, polish and welding in proper order at the epaxial removal of manipulator outside, and the operating efficiency is higher. Grinding machanism and back chipping mechanism adorn respectively on the six manipulators of 1#, compare artifical handheld, have improved back chipping and the precision of polishing, can be accurate clear away the welding seam defect, also can let the defect position after the back chipping make things convenient for the welding more, improve welded quality, have reduced artificial participation, have practiced thrift the cost. The setting of 1# extension bar and 2# extension bar, increase grinding machanism, back chipping mechanism and welder's removal range has solved the unable welded problem in little space, can carry out back chipping, polish and maintenance welding to the welding seam defect position of multi-chamber steel member, realizes the automatic welding operation of robot.
The back chipping and polishing work can be completed by a No. 1 six-axis manipulator, and a back chipping mechanism or a polishing mechanism is grabbed on a back chipping quick-change seat or a polishing quick-change seat respectively in a quick-change mode according to a quick-change connector connected to the No. 1 six-axis manipulator, so that a defective welding seam is back chipped and polished, and the multifunctional hand grabbing effect of one machine is realized.
The setting of the outside axle of manipulator that has the track can increase the operating range of 1# six manipulators and 2# six manipulators, according to the size of work piece, adjusts the size of the outside axle of manipulator, makes the welding that can satisfy multiple multiclass work piece, realizes the welding operation of flexibility on a large scale.
2. The setting of 1# camera and 1# line laser sensor can carry out automatic identification to the position that marks the welding seam defect, and the accurate welding seam defect position of finding is convenient for the back chipping in later stage and the work of polishing.
3. The bumper is connected the after-fixing with welder at the terminal of 2# extension bar, can prevent to cause welder striking work piece and damage because of personnel's operating error or robot trouble. The built-in elastic mechanism of the anti-collision device can protect the welding gun and ensure that the tool coordinate of the equipment is not changed.
4. The 2# camera and the 2# line laser sensor are arranged, so that the 2# six-axis manipulator can be automatically guided to align the welding gun to the specified position of the defective welding line according to the position of the welding line scanned by the laser and the camera, the tracking precision of the defective welding line is kept to meet the requirement of a welding process, and the online programming difficulty and the workload can be reduced.
Drawings
The invention will be described in further detail with reference to the following description taken in conjunction with the accompanying drawings and detailed description, in which:
fig. 1 is a schematic view of the connection between the external shaft of the manipulator and the back chipping and polishing device of the present invention;
fig. 2 is a schematic view of the connection between the external shaft of the manipulator and the welding device according to the present invention;
FIG. 3 is a schematic perspective view of the back chipping mechanism of the present invention;
FIG. 4 is a schematic view of the vertical structure of the back chipping mechanism of the present invention;
fig. 5 is a schematic perspective view of the polishing mechanism of the present invention;
fig. 6 is a schematic view of a vertical structure of the polishing mechanism of the present invention;
the labels in the figure are:
1. the manipulator external shaft, 2, six manipulators of 1#, 3, extension bar of 1#, 4, quick change coupler, 5, six manipulators of 2#, 6, extension bar of 2#, 7, welding gun, 8, back chipping quick change seat, 9, polish quick change seat, 10, back chipping mechanism, 11, polishing mechanism, 12, back chipping quick change coupler, 13, back chipping pneumatic motor, 14, cutter clamping mechanism, 15, back chipping cutter, 16, back chipping vent, 17, polish quick change coupler, 18, polish pneumatic motor, 19, polish head clamping mechanism, 20, polish head, 21, polish vent, 22, visual identification device, 23, bumper, 24, 2# camera, 25, 2# line laser sensor.
Detailed Description
Example 1
As the utility model discloses basic embodiment, the utility model discloses an equipment for welding seam is reprocessed, including manipulator outside axle 1, welding set and back chipping, grinding device. A track is arranged on the manipulator outer shaft 1, and the 1# six-shaft manipulator 2 and the 2# six-shaft manipulator 5 can move along the track. Back chipping, grinding device include consecutive 1# six-shaft mechanical hand 2, 1# extension bar 3 and quick change coupler 4. Still be equipped with back chipping quick change seat 8 and quick change seat 9 of polishing on the base of the six manipulators of 1#, be equipped with back chipping mechanism 10 on the back chipping quick change seat 8, be equipped with grinding machanism 11 on the quick change seat 9 of polishing, back chipping mechanism 10 and grinding machanism 11 all are used for being connected with quick change coupler 4 respectively.
When the back chipping mechanism 10 and the polishing mechanism 11 are not used at ordinary times, the back chipping quick-change seats 8 and the polishing quick-change seats 9 are respectively placed on the base of the No. 1 six-axis manipulator 2 and correspond to each other one by one. During back gouging, the quick-change connector 4 on the 1# six-axis manipulator 2 is used for grabbing the back gouging mechanism 10 to process a defective welding line, after the defective welding line is processed, the 1# six-axis manipulator 2 is used for placing the back gouging mechanism 10 on the back gouging quick-change seat 8, then the quick-change connector 4 on the 1# six-axis manipulator 2 is used for grabbing the polishing mechanism 11, and polishing processing is carried out on the multi-defective welding line.
The welding device comprises a 2# six-axis manipulator 5, a 2# extension bar 6 and a welding gun 7 which are connected in sequence.
Example 2
As a preferred embodiment of the utility model, the utility model discloses an equipment for welding seam is reprocessed, including manipulator outside axle 1, welding set and back chipping, grinding device. A track is arranged on the manipulator outer shaft 1, and the 1# six-shaft manipulator 2 and the 2# six-shaft manipulator 5 can move along the track.
Back chipping, grinding device include consecutive 1# six-shaft mechanical hand 2, 1# extension bar 3 and quick change coupler 4. Still be equipped with back chipping quick change seat 8 and quick change seat 9 of polishing on the base of the six-axis manipulator 2 of 1#, be equipped with back chipping mechanism 10 on the back chipping quick change seat 8, be equipped with grinding machanism 11 on the quick change seat 9 of polishing. The back chipping mechanism 10 and the grinding mechanism 11 are respectively used for being connected with the quick-change connector 4.
More specifically, the back chipping mechanism 10 comprises a back chipping quick-change connector 12, a back chipping pneumatic motor 13, a cutter clamping mechanism 14 and a back chipping cutter 15 which are connected in sequence; the back gouging quick-change connector 12 is used for being connected with the quick-change connector 4, a back gouging air port 16 is further arranged on the back gouging quick-change connector 12, and the back gouging air port 16 is ventilated to provide power for the back gouging pneumatic motor 13.
The polishing mechanism 11 comprises a polishing quick-change connector 17, a polishing pneumatic motor 18, a polishing head clamping mechanism 19 and a polishing head 20 which are sequentially connected, the polishing quick-change connector 17 is used for being connected with the quick-change connector 4, a polishing air port 21 is further arranged on the polishing quick-change connector 17, and the polishing air port 21 is ventilated to provide power for the polishing pneumatic motor 18.
The welding device comprises a 2# six-axis manipulator 5, a 2# extension bar 6 and a welding gun 7 which are connected in sequence.
Example 3
As another preferred embodiment of the present invention, the present invention includes an apparatus for repairing welding seams, which comprises a manipulator external shaft 1, a welding device, a back chipping device, and a polishing device. Back chipping, grinding device include consecutive 1# six-shaft mechanical hand 2, 1# extension bar 3 and quick change coupler 4. The welding device comprises a 2# six-axis manipulator 5, a 2# extension bar 6 and a welding gun 7 which are connected in sequence. A track is arranged on the manipulator outer shaft 1, and the 1# six-shaft manipulator 2 and the 2# six-shaft manipulator 5 can move along the track. Still be equipped with back chipping quick change seat 8 and quick change seat 9 of polishing on the base of the six manipulators of 1#, be equipped with back chipping mechanism 10 on the back chipping quick change seat 8, be equipped with grinding machanism 11 on the quick change seat 9 of polishing, back chipping mechanism 10 and grinding machanism 11 all are used for being connected with quick change coupler 4 respectively.
In order to facilitate identification, the back chipping, the grinding and the welding are more accurate. The tail end of the 1# extension bar 3 is also connected with a visual recognition device 22, and the visual recognition device 22 comprises a 1# camera and a 1# line laser sensor. When the device is used, the guide plate is manually placed or a defect position mark is made in advance, and before back chipping and grinding, the vision recognition device 22 automatically recognizes the calibration plate or the defect mark, so that the accuracy of back chipping and grinding is ensured.
The gun rod of the welding gun 7 is also connected with a 2# camera 24 and a 2# line laser sensor 25. And (4) carrying out accurate identification on the defective welding seam under the automatic tracking action of the 2# camera 24 and the 2# line laser sensor 25, and then carrying out automatic welding.
Example 4
As the utility model discloses the best mode, the utility model discloses an equipment for welding seam is reprocessed, including manipulator outside axle 1, welding set and back chipping, grinding device. A track is arranged on the manipulator outer shaft 1, and the 1# six-shaft manipulator 2 and the 2# six-shaft manipulator 5 can move along the track.
Referring to the attached figure 1 of the specification, the back chipping and grinding device comprises a No. 1 six-axis manipulator 2, a No. 1 extension bar 3 and a quick-change connector 4 which are connected in sequence. The 1# extension bar 3 is directly connected to a flange of the 1# six-axis manipulator 2, and the quick-change connector 4 is connected to the tail end of the 1# extension bar 3. A back chipping quick-change seat 8 and a polishing quick-change seat 9 can be further fixed on the base of the No. 1 six-axis manipulator 2 through bolts. Be equipped with back chipping mechanism 10 on back chipping quick change seat 8, be equipped with grinding machanism 11 on the quick change seat of polishing 9, specifically can be: the back chipping quick change seat 8 and the polishing quick change seat 9 are provided with holes, and the back chipping mechanism 10 and the polishing mechanism 11 are respectively placed in the holes of the back chipping quick change seat 8 and the polishing quick change seat 9 in a bolt mode, so that the 1# six-axis manipulator 2 can be conveniently taken.
Referring to the accompanying drawings 3 and 4, the back chipping mechanism 10 comprises a back chipping quick-change connector 12, a back chipping pneumatic motor 13, a cutter clamping mechanism 14 and a back chipping cutter 15 which are connected in sequence. The method specifically comprises the following steps: the back chipping quick-change connector 12 is connected with a back chipping pneumatic motor 13 through a bolt, the back chipping pneumatic motor 13 and a cutter clamping mechanism 14 are fixed through a bolt, and a back chipping cutter 15 is fixed by the cutter clamping mechanism 14. The back chipping quick-change connector 12 is used for being connected with the quick-change connector 4, and the connection mode can be specifically a threaded connection mode or a pneumatic clamping connection mode. The quick back-chipping joint 12 is also provided with a back-chipping air port 16, and the back-chipping air port 16 is ventilated and provides power for the back-chipping pneumatic motor 13.
When the 1# six-shaft manipulator 2 needs to grab the back chipping mechanism 10, the 1# six-shaft manipulator 2 moves the joint, the thread mechanism or the pneumatic clamp on the 1# six-shaft manipulator 2 is clamped to the position of placing the back chipping mechanism 10, the back chipping mechanism 10 is firmly fixed on the 1# six-shaft manipulator 2 in a threaded connection mode or a pneumatic clamp mode, then the 1# six-shaft manipulator 2 takes the back chipping mechanism 10 to the position with the specified defect for back chipping, and the defective welding seam is cleared away.
With reference to the accompanying drawings 5 and 6 in the specification, the polishing mechanism 11 includes a polishing quick-change connector 17, a polishing pneumatic motor 18, a polishing head clamping mechanism 19 and a polishing head 20, which are connected in sequence, and may specifically be: the polishing quick-change connector 17 is connected with a polishing pneumatic motor 18 through a bolt, the polishing pneumatic motor 18 and a polishing head clamping mechanism 19 are fixed through a bolt, and a polishing head 20 is fixed by the polishing head clamping mechanism 19. The grinding quick-change connector 17 is used for being connected with the quick-change connector 4, and the connection mode can be specifically threaded connection or pneumatic clamping connection. And a grinding air vent 21 is also arranged on the grinding quick-change connector 17, and the grinding air vent 21 is ventilated to provide power for the grinding air motor 18.
When six manipulators 2 of 1# need snatch grinding machanism 11, six manipulators 2 of 1# place the back chipping mechanism 10 in the former position of placing back chipping mechanism 10 earlier to the back chipping after the back chipping is accomplished, put into back chipping quick change seat 8 through the pinhole mode can, then six manipulators 2 removal joints of 1# 2, the screw mechanism of installation or the pneumatic armful clamp to the position of placing grinding machanism 11 on the six manipulators of 1# 2, fix firmly grinding machanism 11 on six manipulators of 1# 2 through threaded connection's mode or the pneumatic armful mode of pressing from both sides, then six manipulators of 1# 2 take grinding machanism 11 to the position after the back chipping to polish the processing, guarantee that back chipping department satisfies the welding condition, make things convenient for follow-up welding.
In order to ensure the accuracy of back chipping and grinding, the tail end of the 1# extension rod 3 is also connected with a visual recognition device 22, and the visual recognition device 22 comprises a 1# camera and a 1# line laser sensor.
Referring to fig. 2 of the specification, the welding apparatus includes a # 2 six-axis robot 5, a # 2 extension bar 6, a welding gun 7, a bumper 23, a # 2 camera 24, and a # 2 line laser sensor 25. The 2# extension bar 6 is directly connected to a flange of the 2# six-axis manipulator 5, and the anti-collision device 23 is connected with the welding gun 7 and then fixed to the tail end of the 2# extension bar 6. The 2# camera 24 and the 2# line laser sensor 25 are directly attached to the gun shaft of the welding gun 7 in a clamp-on manner. The bumper 23 can prevent the welding gun 7 from colliding with a workpiece to be damaged due to a human operation error or a robot failure. The main structure of the bumper 23 comprises a built-in elastic mechanism, protects the welding gun 7 and ensures that the tool coordinate of the equipment is not changed.
The equipment can be matched with an additional intelligent control program to achieve the purpose of automatic repair of the welding line, wherein the specific method for automatic repair of the welding line comprises the following steps:
flaw detection marking: and (4) hoisting the workpiece with the weld defects in the flaw detection to a repair designated area, and manually marking the positions of the defective welds in advance.
Back chipping and polishing: a No. 1 six-axis manipulator 2 in the back gouging and polishing device moves to a No. 1 six back gouging quick-change seat 8 according to the control of an intelligent control process, a back gouging mechanism 10 is grabbed in a quick-change mode, then the No. 1 six-axis manipulator 2 drives the back gouging mechanism 10 to extend into a narrow space under the action of a visual recognition device 22, the marked defective welding seams are automatically recognized and then are cleared until the back gouging of the defective welding seams in a certain range is completed, the No. 1 six-axis manipulator 2 moves on a manipulator external shaft 1 until the back gouging of the defective welding seams of all marks of a workpiece is completed, the No. 1 six-axis manipulator 2 exits from the narrow space, moves to the seat position of the No. 1 six-axis manipulator 2, the back gouging mechanism 10 is placed on the back gouging quick-change seat 8 on the seat, and then the back gouging mechanism 11 is grabbed on an adjacent back gouging quick-change seat 9 in a quick-change mode, six manipulators of 1# 2 take grinding machanism 11 to stretch into in the narrow space, carry out automatic discernment scanning to the defect welding seam of back chipping, then polish the processing with grinding machanism 11 to the welding seam, and six manipulators of 1# 2 move on manipulator outside axle 1, and the welding seam that until the back chipping is polished and is accomplished, six manipulators of 1# 2 return the initial point.
Automatic maintenance welding: after relevant welding process parameters corresponding to welding seams are collected, relevant process programs are automatically called by an intelligent control process, a 2# six-axis manipulator 5 rotates a corresponding axis according to the control of the intelligent control program to adjust the posture of a welding gun 7, a defective welding seam is accurately identified and then automatically welded under the automatic tracking action of a 2# camera 24 and a 2# line laser sensor 25, a corresponding repairing program is called according to the depth, the length and the identification condition of the defective welding seam, the defective welding seam is accurately repaired and welded by adopting multilayer multi-pass welding, one welding seam is finished by welding each time, the welding gun 7 automatically calls the welding process parameters of the number of layers used according to software control except for adjusting the corresponding height and the corresponding posture until all welding seams in the range are welded. After the welding of the defective welding seam within a certain range is finished, the 2# six-shaft manipulator 5 moves to the next repair welding area on the manipulator external shaft 1 according to the control of an intelligent control program, the defective welding seam is found, and then corresponding welding operation is carried out until the repair of the workpiece to be repaired is finished.
By adopting the equipment, full-automatic repair operation is carried out on the welding line with the inner cavity size of 175 mmx200mm, the depth of 1900 mm, the plate thickness of 50mm and the defective groove combination, the quality grade of the repaired welding line is one grade, 100% UT, and the ultrasonic I-grade requirement in GB/T11345-2013 is met.
In conclusion, after the ordinary skilled in the art reads the document of the present invention, the technical solution and technical idea of the present invention do not need creative mental labor and make other various corresponding transformation schemes, which all belong to the protection scope of the present invention.
Claims (6)
1. An apparatus for weld repair, characterized by: comprises a manipulator external shaft (1), a welding device and a back chipping and polishing device; the back chipping and polishing device comprises a No. 1 six-shaft manipulator (2), a No. 1 extension bar (3) and a quick-change connector (4) which are sequentially connected; the welding device comprises a 2# six-axis manipulator (5), a 2# extension bar (6) and a welding gun (7) which are connected in sequence; the base of the No. 1 six-axis manipulator (2) is also provided with a back chipping quick-change seat (8) and a polishing quick-change seat (9), the back chipping quick-change seat (8) is provided with a back chipping mechanism (10), the polishing quick-change seat (9) is provided with a polishing mechanism (11), and the back chipping mechanism (10) and the polishing mechanism (11) are respectively used for being connected with a quick-change connector (4); the manipulator is characterized in that a track is arranged on the manipulator outer shaft (1), and the 1# six-shaft manipulator (2) and the 2# six-shaft manipulator (5) can move along the track.
2. The apparatus for weld repair according to claim 1, wherein: the back chipping mechanism (10) comprises a back chipping quick-change connector (12), a back chipping pneumatic motor (13), a cutter clamping mechanism (14) and a back chipping cutter (15) which are sequentially connected; the back chipping quick-change connector (12) is used for being connected with the quick-change connector (4), a back chipping air vent (16) is further arranged on the back chipping quick-change connector (12), and the back chipping air vent (16) is used for ventilating and provides power for a back chipping pneumatic motor (13).
3. The apparatus for weld repair according to claim 1, wherein: grinding machanism (11) are including consecutive quick-change coupler (17) of polishing, the pneumatic motor (18) of polishing, polish head fixture (19) and polish head (20), quick-change coupler (17) of polishing is used for linking to each other with quick-change coupler (4), still is equipped with on the quick-change coupler (17) of polishing and polishes blow vent (21), the blow vent (21) of polishing is used for ventilating, provides power for polishing pneumatic motor (18).
4. The apparatus for weld repair according to claim 1, wherein: the tail end of the 1# extension bar (3) is further connected with a visual recognition device (22), and the visual recognition device (22) comprises a 1# camera and a 1# line laser sensor.
5. The apparatus for weld repair according to claim 1, wherein: still include bumper (23), bumper (23) are connected the postfix with welder (7) and are at the end of 2# extension bar (6), be equipped with elastic mechanism in bumper (23).
6. The apparatus for weld repair according to claim 1, wherein: and a gun rod of the welding gun (7) is also connected with a 2# camera (24) and a 2# line laser sensor (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221105946.0U CN217371334U (en) | 2022-05-10 | 2022-05-10 | Equipment for repairing welding seam |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221105946.0U CN217371334U (en) | 2022-05-10 | 2022-05-10 | Equipment for repairing welding seam |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217371334U true CN217371334U (en) | 2022-09-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221105946.0U Active CN217371334U (en) | 2022-05-10 | 2022-05-10 | Equipment for repairing welding seam |
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| Country | Link |
|---|---|
| CN (1) | CN217371334U (en) |
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2022
- 2022-05-10 CN CN202221105946.0U patent/CN217371334U/en active Active
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