WO2019227561A1 - Robot de soudage de μailles - Google Patents

Robot de soudage de μailles Download PDF

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Publication number
WO2019227561A1
WO2019227561A1 PCT/CN2018/093398 CN2018093398W WO2019227561A1 WO 2019227561 A1 WO2019227561 A1 WO 2019227561A1 CN 2018093398 W CN2018093398 W CN 2018093398W WO 2019227561 A1 WO2019227561 A1 WO 2019227561A1
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WO
WIPO (PCT)
Prior art keywords
feeding
welding
frame
sprocket
fixed
Prior art date
Application number
PCT/CN2018/093398
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English (en)
Chinese (zh)
Inventor
陈振东
Original Assignee
建科机械（天津）股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 建科机械（天津）股份有限公司 filed Critical 建科机械（天津）股份有限公司
Priority to SG11202010302TA priority Critical patent/SG11202010302TA/en
Priority to KR1020197039026A priority patent/KR102290099B1/ko
Priority to JP2020536792A priority patent/JP7034297B2/ja
Publication of WO2019227561A1 publication Critical patent/WO2019227561A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/002—Resistance welding; Severing by resistance heating specially adapted for particular articles or work
    • B23K11/008—Manufacturing of metallic grids or mats by spot welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/36—Auxiliary equipment

Definitions

  • the present disclosure relates to the field of mesh welding technology, for example, to a mesh welding robot.
  • Reinforced mesh is a mesh with both transverse and longitudinal reinforcements, and is widely used in bridge construction, high-speed railways, and construction.
  • the mesh cost is high, which is not conducive to transportation.
  • Related technology welding mesh robots include: a longitudinal rib pay-off rack that holds longitudinal ribs in the form of wire rods, a wire straightening mechanism set to straighten longitudinal ribs, a traction mechanism for pulling longitudinal ribs, and Advancing stepping mechanism, welding mechanism for welding longitudinal bars and transverse bars, net shears for cutting nets, and net turning mechanism for turning nets.
  • a rolled mesh device In order to obtain the rolled reinforcing mesh, it is necessary to add a rolled mesh device.
  • the above welding mesh robot has the following defects: complex structure, high equipment cost, and low production efficiency, which cannot meet the development needs of the steel bar processing industry.
  • the present application provides a welding mesh robot capable of making a steel strip mesh, simplifying the structure of the machine, reducing costs, and improving production efficiency.
  • the present application provides a welding mesh robot, including:
  • a steel belt feeding mechanism includes a first frame, a first guide rail, a limiting portion, and a feeding portion.
  • the first guide rail is provided on the first frame along a feeding direction of the steel belt, and the limit position
  • the feeding section is fixed on the first guide rail and is arranged to restrict the steel strip from moving in the feeding direction when the feeding section has not arrived;
  • the feeding section is slidably provided on the first guide rail and is provided To fix the steel strip and drive the steel strip to move in the feeding direction;
  • a blanking mechanism configured to receive the transverse ribs and transport the transverse ribs to the welding mechanism
  • a welding mechanism is provided on the first frame and is configured to weld the steel strip and the transverse ribs into a mesh;
  • the net rolling mechanism includes a fixed base, a main shaft, a movable base, and a transmission component.
  • the fixed base is fixedly disposed relative to the ground; the main shaft is rotatably disposed on the fixed base; and the movable base is connected to the main shaft.
  • the transmission assembly is disposed on the fixed base and the movable base, and is arranged to drive the mesh sheet from an end of the fixed base away from the movable base toward Move towards the movable base to wind the mesh.
  • the feeding portion includes a feeding frame, the feeding frame is straddled on the first guide rail, and reciprocates in a feeding direction of the first guide rail; and the feeding frame is provided on the feeding frame.
  • the first locking structure includes a support plate and a first driving device provided on the support plate; the first driving device is connected with a compression block, and the compression block is disposed on the support.
  • the inside of the plate is arranged to press the steel strip against the feeding frame under the driving of the first driving device.
  • the steel belt feeding mechanism further includes a driving part, and the driving part includes a link assembly, a first transmission shaft, and a second driving device;
  • a first end of the link assembly is connected to the feed portion; a second end of the link assembly is connected to a first end of the first transmission shaft, and the first transmission shaft is fixed to the first machine. A second end of the first transmission shaft is connected to the second driving device fixed on the first frame;
  • the second driving device drives the first transmission shaft to rotate for reciprocating movement in the circumferential direction, and drives the link assembly to make the feeding portion perform linear reciprocating movement along the first guide rail.
  • the link assembly includes: a feed beam, an intermediate link, and a swing arm;
  • a first end of the feed beam is fixed to the feed portion, and a second end of the feed beam remote from the feed portion is hinged to a first end of the intermediate link, and the intermediate link A second end remote from the feed beam is hinged with the swing arm, and the swing arm is fixed on the first transmission shaft;
  • the first transmission shaft drives the swing arm to swing, so that the swing arm drives the feed beam and the feed beam connected by the feed beam through the intermediate link.
  • the advancing portion performs a linear reciprocating motion along the first guide rail.
  • the limiting portion includes a base fixed on the first guide rail and a second locking structure provided on the base;
  • the second locking structure is configured to fix the steel belt on the base.
  • the blanking mechanism includes: a horizontal storage device, a step feeding device, and a blanking device;
  • the step feeding device is configured to receive the cross bars conveyed by the horizontal storage device, and convey the cross bars to the top of the step feeding device step by step;
  • a first end of the blanking device is provided near the stepped feeding device, and a second end of the blanking device is provided near the welding mechanism.
  • the second end is set to receive transverse ribs from the top of the stepped feeding device and place The transverse ribs are conveyed to the welding mechanism.
  • the blanking mechanism further includes a blanking chute, which is located between the stepped feeding device and the blanking device, and the transverse ribs at the top of the stepped feeding device can slide down to all positions.
  • the blanking chute is near one end of the blanking device.
  • the blanking device includes a plurality of support slides disposed side by side, a driving shaft passing through the same end of the plurality of support slides, and one side of each of the support slides is driven by the active Transmission components driven by the shaft;
  • transverse ribs on the blanking slide fall on the conveying component and are conveyed to the welding mechanism by the conveying component.
  • the horizontal storage device includes a plurality of horizontal conveying components arranged side by side, the transverse ribs are placed on the horizontal conveying component, and are conveyed to the stepwise feeding device through the horizontal conveying component.
  • the blanking mechanism further includes a second frame
  • the horizontal conveying assembly includes a storage body installed on the second frame and configured to store the transverse ribs, and storage sprocket wheels installed at both ends in the length direction of the storage body, The storage sprocket at one end in the length direction is sleeved on a second transmission shaft, and is driven by the second transmission shaft to rotate, so that the plurality of horizontal transmission components transport the transverse ribs.
  • the transmission assembly includes a driving wheel driven by the driving shaft, a driven wheel provided on the support slide and rotatable about its own axis, and a driving wheel connecting the driving wheel and the driven wheel.
  • the transmission chain is provided with a hook with an opening upward and configured to receive the transverse ribs on the transmission chain.
  • the welding mechanism includes a plurality of welding components, the plurality of welding components are set at a set distance, and the plurality of welding components are movably mounted on the first frame, and the welding components include :
  • a fixed bar is movably placed on the first frame
  • a guide block located on the fixed bar, configured to pass through the steel belt and guide the steel belt limit;
  • a lower electrode located on one side of the guide block and configured to support a lower end surface of the steel strip
  • the upper electrode is disposed on the upper end side of the steel strip with respect to the lower electrode, and is disposed close to the lower electrode when welding the steel strip and the cross bar, and the welding of the steel strip and the cross bar is completed. After, away from the lower electrode;
  • a transformer with two ends of the transformer connected to the upper electrode and the lower electrode, respectively.
  • both ends of the fixed bar are provided with gears, and the two gears are connected by a gear shaft;
  • two sides of the first frame are provided with racks that mesh with the gears, and The meshing of the gear and the rack causes the fixed bar to move relative to the first frame;
  • both ends of the fixed bar are provided with walking frames, and both sides of the first frame are provided with walking A trough, the walking frame is placed in the walking trough and slides along the walking trough.
  • the transmission assembly includes a first sprocket, a second sprocket, a third sprocket, a first chain, and a second chain;
  • the first sprocket is a double sprocket and is sleeved on the main shaft
  • the main shaft is driven to rotate by a driving device, the second sprocket is rotatably disposed at an end of the fixed base away from the main shaft, and the third sprocket is rotatably disposed at a distance from the movable base.
  • the second sprocket and the third sprocket are connected to the first sprocket through the first chain and the second chain, respectively.
  • the welding mesh robot proposed in this application includes a steel belt feeding mechanism, a blanking mechanism, a welding mechanism, and a rolling mesh mechanism suitable for producing a steel strip mesh, which can meet the requirements for welding the steel strip mesh and the development needs of the reinforcing steel processing industry.
  • the welded mesh is directly wound and packed into a roll.
  • the steel strip mesh is low in cost and easy to transport.
  • the corresponding welding mesh robot has a simple structure, low cost, easy operation, reduced man-hours, labor savings, and improved production efficiency.
  • FIG. 1 is a schematic structural diagram of a welding mesh robot according to an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of a steel belt feeding mechanism according to an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of a feeding unit according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a connection relationship between a feeding portion and a feeding beam according to an embodiment of the present application
  • FIG. 5 is a schematic structural diagram of a steel belt feeding mechanism according to an embodiment of the present application when feeding a steel belt;
  • FIG. 6 is a schematic structural diagram of a steel belt feeding mechanism according to an embodiment of the present application when a feeding portion of the steel belt feeding mechanism moves in a direction close to a limiting portion;
  • FIG. 7 is a schematic structural diagram of another welding robot according to an embodiment of the present application.
  • FIG. 8 is a front view of a welding robot according to an embodiment of the present application.
  • FIG. 9 is a front view of a blanking mechanism according to an embodiment of the present application.
  • FIG. 10 is a top view of a blanking mechanism according to an embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of a step feeding device provided by an embodiment of the present application.
  • FIG. 12 is a partially enlarged view of A in FIG. 9 of the present application.
  • FIG. 13 is an enlarged view of part B of FIG. 9 of the present application.
  • FIG. 14 is a front view of a welding mechanism according to an embodiment of the present application.
  • 15 is a side view of a welding mechanism provided by an embodiment of the present application.
  • 16 is a top view of a welding mechanism provided by an embodiment of the present application.
  • FIG. 17 is a schematic structural diagram of a welding component of a welding mechanism according to an embodiment of the present application.
  • FIG. 18 is a partially enlarged view of the place C in FIG. 17 of the present application.
  • FIG. 19 is a schematic structural diagram of a rolling network mechanism according to an embodiment of the present application.
  • FIG. 20 is a schematic structural diagram of another rolling network mechanism according to an embodiment of the present application.
  • 21 is a side view of a welding robot according to an embodiment of the present application.
  • FIG. 22 is a partially enlarged view at D in FIG. 21 of the present application.
  • FIG. 23 is a top view of FIG. 21 of the present application.
  • FIG. 24 is a partially enlarged view at E in FIG. 23 of the present application.
  • 1000 steel belt feeding mechanism; 1100, first frame; 1200, first guide rail; 1300, feeding section; 1400, limit section; 1500, drive section; 1600, guide section; 1700, steel belt;
  • Base 1420. Second locking structure
  • 3000 welding mechanism; 3100, welding components; 3110, fixed bar; 3120, guide block; 3130, lower electrode; 3140, upper electrode; 3150, transformer; 3160, gear; 3170, gear shaft; 3180, rack; 3190, Walking frame; 3200, lower electrode holder connection plate; 3210, lower electrode holder; 3220, electrode pressing block; 3230, first cylinder; 3240, first cylinder fixed seat; 3250, pin; 3260, upper electrode welding arm; 3270 3, Upper electrode holder connection plate; 3280, Upper electrode holder; 3290, Transformer fixing plate; 3300, Upper electrode lead; 3310, Lower electrode lead;
  • 4000 net rolling mechanism; 4100, third frame; 4200, fixed base; 4300, main shaft; 4400, movable base; 4500, transmission assembly; 4600, second cylinder; 4700, motor; 4800, net roll;
  • the welding mesh robot includes a steel belt feeding mechanism 1000, a blanking mechanism 2000, a welding mechanism 3000, a net rolling mechanism 4000, and a trolley 5000.
  • the trolley 5000 is set to hold the steel belt 1700, and sends the steel belt 1700 to the steel belt feeding mechanism 1000.
  • the steel belt feeding mechanism 1000 includes a first frame 1100, a first guide rail 1200, a limiting portion 1400, and a feeding portion 1300.
  • the first guide rail 1200 is provided on the frame along the feeding direction of the steel belt 1700, and the limiting portion 1400 It is fixed on the first guide rail 1200, and can limit the movement of the steel strip 1700 in the feeding direction when the feeding part 1300 does not arrive; the feeding part 1300 is slidably provided on the first guide rail 1200, and the steel strip 1700 can be fixed on the feeding part.
  • the feeding part 1300 is moved along with the feeding part 1300.
  • the welding mechanism 3000 is disposed on the first frame 1100 and is located at the front end of the steel strip feeding mechanism 1000, and includes an upper electrode 3140 and a lower electrode 3130.
  • the welding mechanism 3000 is configured to weld the steel strip 1700 and the cross bar 2600 into a mesh.
  • the blanking mechanism 2000 is disposed above the steel belt feeding mechanism 1000 and the welding mechanism 3000, and is configured to receive the straightened transverse ribs 2600 and transport the transverse ribs 2600 to the lower electrode 3130.
  • the net rolling mechanism 4000 is provided at the front end of the welding mechanism 3000, and includes a fixed base 4200, a main shaft 4300, a movable base 4400, and a transmission assembly 4500.
  • the fixed base 4200 is fixed relative to the ground;
  • the main shaft 4300 is rotatably installed on the fixed base.
  • the movable base 4400 is connected to the main shaft 4300, and the movable base 4400 can rotate around the main shaft 4300;
  • the transmission assembly 4500 is arranged on the fixed base 4200 and the movable base 4400, which can drive the mesh plate away from the activity by the fixed base 4200
  • One end of the base 4400 is moved toward the movable base 4400 to wind the mesh.
  • the steel belt feeding mechanism 1000 includes a first frame 1100, a first guide rail 1200, a feeding portion 1300, a limiting portion 1400, and a driving portion 1500, and can automatically transfer the steel belt 1700.
  • the first guide rail 1200 is provided on the first frame 1100 along the feeding direction of the steel belt 1700;
  • the limiting portion 1400 is fixed on the first guide rail 1200 and can restrict the steel belt 1700 from moving in the feeding direction;
  • the feeding portion 1300 is slidably disposed on the first guide rail 1200, and the steel belt 1700 can be fixed on the feeding portion 1300 and move with the feeding portion 1300. Because the steel belt 1700 is relatively soft, the steel belt 1700 cannot be transmitted by pushing the steel belt 1700.
  • the cooperation of the limiting portion 1400 and the feeding portion 1300 can realize the progressive transfer of the steel belt 1700.
  • the limiting part 1400 fixes the steel belt 1700
  • the feeding part 1300 slides in a direction close to the limiting part 1400, and then the feeding part 1300 fixes the steel belt 1700, and the limiting part 1400 releases the steel belt 1700, and the steel belt 1700 can be fed in the feeding direction along with the feeding portion 1300 to realize the transmission of the steel belt 1700.
  • the feeding portion 1300 includes a feeding frame 1310, and the feeding frame 1310 is straddled on the first guide rail 1200 and can reciprocate along the feeding direction of the first guide rail 1200.
  • the feeding frame 1310 is provided with a rotatable traveling wheel 1320, and the traveling wheel 1320 is in rolling contact with the first guide rail 1200.
  • the plurality of traveling wheels 1320 are arranged in two layers. The first traveling wheel 1320 is in contact with the upper surface of the first guide rail 1200, and the second traveling wheel 1320 is in contact with the lower surface of the first guide 1200.
  • the arrangement of the walking wheels 1320 can ensure the stable movement of the feeding frame 1310 along the first guide rail 1200.
  • the feeding frame 1310 is provided with a first locking structure 1330.
  • the first locking structure 1330 can fix the steel strip 1700 on the feeding frame 1310.
  • the first locking structure 1330 includes a support plate 1331 and a first driving device 1332 disposed on the support plate 1331.
  • the first driving device 1332 is connected to a pressing block 1333.
  • the pressing block 1333 can connect a steel belt. 1700 is pressed against the feeding frame 1310.
  • the first driving device 1332 is an air cylinder.
  • the expansion and contraction of the piston rod of the first driving device 1332 can control the pressing block 1333 to approach or move away from the position of the steel belt 1700.
  • the support plate 1331 described above is in the shape of a hollow sleeve.
  • the main body of the first drive device 1332 is fixed on the top of the support plate 1331.
  • the piston of the first drive device 1332 can penetrate into the hollow position of the support plate 1331.
  • the pressing block 1333 is provided on the support.
  • the inside of the plate 1331 is connected to the piston rod, and the inside of the support plate 1331 can also guide the reciprocating movement of the pressing block 1333.
  • the pressing surface of the pressing block 1333 is provided with a raised texture, which can increase the maximum static friction between the steel belt 1700 and the pressing block 1333, and can better press the steel belt 1700.
  • the support plate 1331 is provided with a through groove on a surface thereof in contact with the feeding frame 1310, and is used for accommodating a steel belt 1700, and the steel belt 1700 can pass through the through groove.
  • the limiting portion 1400 includes a base 1410 fixed on the first guide rail 1200 and a second locking structure 1420 provided on the base 1410.
  • the steel strip 1700 can pass through the base 1410.
  • the second locking structure 1420 can fix the steel belt 1700 on the base 1410.
  • the structure of the second locking structure 1420 in this embodiment is the same as that of the first locking structure 1330, except that the installation position is different.
  • the second locking structure 1420 includes a support plate 1331 and a first driving device 1332 provided on the support plate 1331.
  • the first driving device 1332 is connected to a pressing block 1333.
  • the pressing block 1333 can press the steel belt 1700 to the base. 1410 on.
  • the structures of the support plate 1331, the first driving device 1332, and the pressing block 1333 are as described above.
  • the driving section 1500 includes a link assembly 1510, a first transmission shaft 1520, and a second driving device 1530.
  • the first end of the link assembly 1510 is connected to the feeding portion 1300, and the second end of the link assembly 1510 is connected to the first end of the first transmission shaft 1520.
  • the second driving device 1530 is connected to the first transmission shaft 1520 and drives the first transmission shaft 1520 to rotate.
  • the first transmission shaft 1520 is fixed on the first frame 1100 through a seat bearing.
  • the second end of the first transmission shaft 1520 is connected to the second driving device 1530 fixed on the first frame 1100.
  • the first transmission shaft 1520 is capable of reciprocating in the circumferential direction under the driving of the second driving device 1530, and the feeding part 1300 connected to the link assembly 1510 can perform a linear reciprocating movement along the first guide rail 1200 under the transmission of the link assembly 1510.
  • the link assembly 1510 includes a feeding beam 1511 fixed on the feeding part 1300, and an end of the feeding beam 1511 away from the feeding part 1300 is hinged with an intermediate link 1512
  • a swing arm 1513 is hinged to one end of the intermediate link 1512 away from the feed beam 1511, and the swing arm 1513 is fixed on the first transmission shaft 1520.
  • the first transmission shaft 1520 can realize forward and reverse rotation under the action of the second driving device 1530, and the angle of the positive and negative rotation of the first transmission shaft 1520 can also be controlled by the second driving device 1530.
  • the swing arm 1513 is driven to swing, so that the swing arm 1513 can drive the feed beam 1511 forward and backward in the direction of the first guide rail 1200 through the intermediate link 1512.
  • the second driving device 1530 in this embodiment is a motor, and can also be selected according to specific conditions, which is not described again here.
  • the steel belt feeding mechanism 1000 of this embodiment further includes a guide portion 1600.
  • the guide portion 1600 is disposed on the first guide rail 1200 and includes a mounting seat 1610 and a plurality of bearings 1620.
  • the bearings 1620 are distributed in Steel strip 1700 above, below and on both sides.
  • the guide portion 1600, the limiting portion 1400, and the feeding portion 1300 are sequentially arranged along the feeding direction of the steel strip 1700.
  • the steel belt 1700 first reaches the limiting portion 1400 through the guide portion 1600, then passes through the limiting portion 1400 and then passes through the feeding portion 1300, and finally reaches between the upper electrode 3140 and the lower electrode 3130. , Weld the transverse bars 2600 and the steel strip 1700 by electrodes.
  • the first driving device 1332 on the stopper 1400 drives the pressing block 1333 to press the steel belt 1700 on the base 1410.
  • the second driving The device 1530 drives the first transmission shaft 1520 to rotate, and drives the feeding part 1300 to move on the first guide rail 1200 in a direction close to the limiting part 1400 through the link assembly 1510.
  • the first driving device 1332 on the feeding part 1300 drives compaction
  • the block 1333 presses the steel strip 1700 on the feeding frame 1310; at the same time, the first driving device 1332 of the limiting portion 1400 drives the pressing block 1333 to move up, and the steel strip 1700 is not restricted by the position 1400; finally
  • the feeding part 1300 is pushed by the swing arm 1513 to move away from the position-limiting part 1400.
  • the steel strip 1700 is fed to the electrode by a preset distance, which is the two adjacent steel bars of the mesh. the distance between.
  • the blanking mechanism 2000 includes a horizontal storage device 2100, a stepped feeding device 2200, a blanking slide 2300, a blanking device 2400, and a second frame 2500, of which:
  • the above-mentioned horizontal storage device 2100 includes a plurality of horizontal conveying components arranged side by side.
  • the plurality of horizontal conveying components are connected to the driving member through a second transmission shaft 2110, and the transverse rib 2600 is placed on the horizontal conveying component, and The horizontal conveying component is conveyed to the step feeding device 2200.
  • the horizontal conveying assembly includes a storage body 2120 installed on the second frame 2500 and configured to store transverse ribs 2600, and a storage sprocket 2130 installed at both ends of the storage body 2120 in a length direction is rotated, one of which The storage sprocket 2130 is sleeved on the second transmission shaft 2110, and is driven to rotate by the second transmission shaft 2110.
  • the two storage sprocket wheels 2130 are connected by a storage chain 2140.
  • the driving member is a motor, and a hydraulic driving structure may also be adopted to drive the second transmission shaft 2110 to rotate.
  • the storage bodies 2120 of the multiple horizontal transfer components of this embodiment store and store the transverse ribs 2600 at the same time, and the storage sprocket 2130 at the same end of the multiple horizontal transfer components are driven by the second transmission shaft 2110 to rotate synchronously, thereby making multiple The horizontal conveying assembly simultaneously conveys the horizontal ribs 2600.
  • the structures of the storage sprocket 2130 and the storage chain 2140 described above may also be replaced by the structure of a timing belt pulley and a timing belt, which can satisfy the transportation of the cross bars 2600.
  • storage material alignment plates 2150 are symmetrically provided on both sides of the horizontal storage device 2100. Both ends of the plurality of cross bars 2600 on the horizontal storage device 2100 can be aligned by the storage alignment plate 2150 to facilitate the alignment of the cross bars. 2600 delivery.
  • the position of the above-mentioned storage alignment plate 2150 is adjustable and installed on the second frame 2500, which can adjust the position according to the length of the cross bar 2600 so as to align the cross bar 2600.
  • the step feeding device 2200 is disposed on one side of the horizontal storage device 2100, and is configured to receive the cross bars 2600 conveyed by the horizontal storage device 2100, and the step feeding device 2200 can transport the received cross bars 2600 to the top step by step.
  • the above-mentioned stepped feeding device 2200 includes a plurality of stepped feeding components arranged side by side, and the stepped feeding components are arranged one-to-one corresponding to the horizontal conveying components. As shown in FIG. 11, the stepped feeding components include fixed-spaced The two fixed plates 2210 and the movable plate 2220 located between the two fixed plates 2210.
  • Each of the fixed plate 2210 and the movable plate 2220 is provided with a stepped surface inclined toward the transverse rib 2600 conveying direction, and the stepped surface and the movable plate 2210 are movable.
  • the direction and structure of the stepped surface of the plate 2220 are the same.
  • the horizontal ribs 2600 conveyed through the horizontal storage device 2100 can be placed on the steps of the stepped surfaces at the lower end of the fixed plate 2210 and the movable plate 2220.
  • the movable plate 2220 can reciprocate along the conveying direction of the transverse ribs 2600.
  • a second rail 2230 is installed on the second frame 2500.
  • the movable plate 2220 can slide along the second rail 2230.
  • the second guide rail 2230 is slidably connected to the connection plate 2270, and the movable plate 2220 and the connection plate 2270 are fixedly connected.
  • a plurality of movable wheels 2240 are installed at the bottom of the movable plate 2220, and an eccentric wheel 2250 tangent to the movable wheel 2240 is installed below each movable wheel 2240.
  • the eccentric wheel 2250 is installed on the feeding shaft 2260 and is provided by The loading shaft 2260 is driven to rotate, and the loading shaft 2260 is installed on the second frame 2500 to be rotated and driven by the loading motor.
  • the feeding motor drives the feeding shaft 2260 to rotate.
  • the feeding shaft 2260 drives the eccentric wheel 2250 to rotate.
  • the eccentric wheel 2250 drives the movable wheel 2240 to reciprocate.
  • the movable wheel 2240 drives the movable plate 2220 along the second guide rail 2230 in the transverse rib 2600 conveying direction. Back and forth. Through the reciprocating motion of the movable plate 2220, the cross bars 2600 on the stepped surface can be conveyed upward step by step, and finally conveyed to the top.
  • the blanking chute 2300 is located between the step feeding device 2200 and the blanking device 2400.
  • the cross bar 2600 at the top of the step feeding device 2200 can slide down to the end of the blanking chute 2300 near the blanking device 2400.
  • the blanking slide 2300 has an inclined blanking surface 2310, and one end of the blanking slide 2300 is connected to the top of the step feeding device 2200 to facilitate the step feeding device 2200.
  • the top cross bar 2600 can slide on the blanking slide 2300.
  • a stopper 2320 is provided at one end of the blanking slide 2300 near the blanking device 2400. When the cross bar 2600 slides to this end, the stopper 2320 can block the cross bar 2600 and prevent the cross bar 2600 from directly falling. Chute 2300 falls off.
  • the end of the blanking slide 2300 near the blanking device 2400 is further provided with a material distribution device 2330.
  • the material distribution device 2330 can eject the transverse ribs 2600 on the blanking slide 2300 one by one.
  • the cross bar 2600 ejected by the device 2330 falls on the blanking device 2400.
  • an air cylinder, an oil cylinder, or a linear motor may be used to drive the ejection rod, and the cross bar 2600 is ejected from the falling slide 2300 through the ejection rod.
  • the blanking device 2400 includes a plurality of support slides 2410 arranged side by side and all mounted on the second frame 2500.
  • the driving shaft 2420 at the same end of multiple supporting slides 2410 is a transmission component located on the side of each supporting slide 2410 and driven by the driving shaft 2420.
  • the cross bars 2600 on the blanking slide 2300 can fall on the transmission component. And it is transported to the lower electrode 3130 by the transfer assembly.
  • the above-mentioned multiple support slides 2410 and the conveying components in this embodiment all operate synchronously, that is, they work together to transport the transverse ribs 2600 from the blanking slide 2300 to the lower electrode 3130.
  • the end of the support slideway 2410 near the lower electrode 3130 is provided with an arc-shaped surface 2411.
  • the crossbar 2600 on the transmission assembly is transferred to the lower end of the support slideway 2410, the crossbar 2600 will fall on the arc-shaped surface 2411 and eventually The curved surface 2411 falls to the lower electrode 3130.
  • the transmission assembly includes a driving wheel 2430 driven by a driving shaft 2420, a driven wheel 2440 provided on the support slide 2410 and rotatable about its own axis, and a connection driving
  • the transmission chain 2450 of the wheel 2430 and the driven wheel 2440 is provided on the transmission chain 2450 with a hook 2460 which is spaced upwardly and is configured to receive the cross bar 2600.
  • the driving shaft 2420 can be driven by the transmission motor 2470, and the driving shaft 2420 can be driven by the transmission motor 2470.
  • the driving shaft 2420 drives the driving wheel 2430 to rotate, so that the transmission chain 2450 rotates with the driving wheel 2430 and the driven wheel 2440.
  • the movement of 2450, the hook 2460 and the cross bar 2600 on the hook 2460 are also driven to move, and finally land on the curved surface 2411 of the support slide 2410 and are transported to the lower electrode 3130.
  • an extension 2412 is provided at one end of the support slide 2410 near the blanking slide 2300.
  • a channel is formed between the extension 2412 and the blanking slide 2300, and a transverse rib sliding down from the blanking slide 2300 is provided. 2600 will enter the channel and slide down to the stop 2320 of the blanking slide 2300.
  • the blanking mechanism 2000 When the blanking mechanism 2000 is used, firstly, a certain number of pre-straightened transverse ribs 2600 are stored on the storage main body 2120 according to the requirements of the mesh of different specifications, and the transverse ribs 2600 are forwarded and finally transmitted by the horizontal conveying assembly.
  • the eccentric wheel 2250 To the stepped surface of the movable plate 2220 and the fixed plate 2210 of the step feeding device, the eccentric wheel 2250 is used to drive the movable plate 2220 up and down to separate a plurality of transverse ribs 2600 and transfer them step by step, and then the transverse ribs 2600 fall into the blanking.
  • the material distribution device 2330 on the blanking slideway 2300 ejects the cross bars 2600 one by one. The cross bars 2600 fall into the hook 2460 of the running transmission chain 2450 and are then driven to the support slide 2410. The lower end of the wire finally falls into the lower electrode 3130 and is welded to the steel strip 1700.
  • the welding mechanism has more than 3,000 welding assemblies 3100 arranged at intervals. Among them, multiple welding assemblies 3100 can be movably installed on the first frame 1100. By adjusting the position of the welding assembly 3100, different positions can be achieved. Welding of meshes with grid spacing.
  • the welding assembly 3100 includes a fixed rod 3110, a guide block 3120, a lower electrode 3130, an upper electrode 3140, and a transformer 3150. Among them:
  • the fixed rod 3110 is movably disposed on the first frame 1100.
  • gears 3160 are provided at both ends of the fixed rod 3110, and the two gears 3160 are connected through a gear shaft 3170.
  • Racks 3180 that mesh with the gear 3160 are provided on both sides of the first frame 1100.
  • a screwing part is provided at an end of the gear shaft 3170, and the operator rotates the screwing part with a wrench, so that the gear shaft 3170 rotates, and then the fixed rod 3110 is rotated. mobile.
  • the above-mentioned gear shaft 3170 may also be driven in an electric manner, for example, the gear shaft 3170 is driven to rotate by a motor.
  • the gear 3160 and the rack 3180 in this embodiment may also be replaced by sprocket wheels and chains, and the movement of the fixed rod 3110 relative to the first frame 1100 can also be realized.
  • This embodiment is further provided with a walking frame 3190 at both ends of the fixed bar 3110, and correspondingly provided with a walking slot (not shown in the figure) on both sides of the first frame 1100.
  • the above walking frame 3190 is placed in the walking slot and Ability to slide along the walking groove.
  • the fixed rod 3110 can play a supporting and guiding role, which is beneficial to the position adjustment of the fixed rod 3110.
  • a lower electrode holder connection plate 3200 is fixedly provided on the fixed rod 3110, a lower electrode holder 3210 is installed on the lower electrode holder connection plate 3200, and the lower electrode holder 3210 and the lower electrode
  • the base connecting plates 3200 are insulated from each other.
  • the lower electrode 3130 is mounted on the lower electrode base 3210.
  • the above lower electrode 3130 is detachably mounted on the lower electrode holder 3210, and the lower electrode 3130 can be pressed and fixed on the lower electrode holder 3210 through the electrode pressing block 3220 to facilitate replacement of the lower electrode 3130.
  • the guide block 3120 is mounted on the lower electrode holder 3210. In one embodiment, the guide block 3120 is disposed adjacent to the lower electrode 3130. The guide block 3120 is provided for the steel belt 1700 to pass through and guide the steel belt 1700 at a limit. In one embodiment, the guide block 3120 is provided with a bell-shaped groove, and the steel belt 1700 passes through the groove and the steel belt. The lower end face of 1700 is placed on the lower electrode 3130. When the mesh is welded, the transverse ribs 2600 are placed on the steel strip 1700.
  • the upper electrode 3140 and the lower electrode 3130 are provided together, that is, the upper electrode 3140 is disposed on the upper end side of the steel strip 1700 with respect to the lower electrode 3130.
  • the cooperation between the upper electrode 3140 and the lower electrode 3130 can realize the steel strip 1700 and the transverse ribs. 2600 welding.
  • a first cylinder fixing seat 3240 is fixedly installed on the fixing rod 3110, and a first cylinder 3230 is installed on the first cylinder fixing seat 3240.
  • the output end is rotatably connected to the upper electrode welding arm 3260 through the pin 3250.
  • the two ends of the upper electrode welding arm 3260 are rotatably connected to the fixed rod 3110 through the pin 3250.
  • the upper electrode welding arm 3260 is not connected to the output end of the first cylinder 3230.
  • An upper electrode holder connection plate 3270 is fixedly installed.
  • An upper electrode holder 3280 is installed on the upper electrode holder connection plate 3270.
  • the upper electrode holder 3280 and the upper electrode holder connection plate 3270 are insulated.
  • the upper electrode 3140 is installed on the upper electrode holder.
  • On 3280, in an embodiment, the upper electrode 3140 is tightly fixed on the upper electrode holder 3280 through the electrode pressing block 3220 to facilitate replacement of the upper electrode 3140.
  • the upper electrode welding arm 3260 is driven down by the first air cylinder 3230 to drive the upper electrode 3140 and the lower electrode 3130 to approach, so as to realize welding of the transverse rib 2600 and the steel strip 1700.
  • the upper electrode welding arm 3260 is driven to be lifted by the first cylinder 3230 to drive the upper electrode 3140 away from the lower electrode 3130, which can facilitate the transportation and transportation of the mesh after the welding is completed.
  • a transformer fixing plate 3290 is installed on the fixing rod 3110, the transformer 3150 is fixed on the transformer fixing plate 3290, and a first end of the transformer 3150 is connected to the upper electrode 3140 through an upper electrode wire 3300. The two ends are connected to the lower electrode 3130 through the lower electrode lead 3310 to form the entire welding circuit, and the welding of the steel strip 1700 and the cross bar 2600 is realized.
  • an independent transformer 3150 is provided on each welding component 3100.
  • the transformer 3150 can walk with the welding component 3100, which is convenient for adjusting the position of the welding component 3100.
  • an independent transformer 3150 is used, which has high solder joint quality and small deformation, and the upper electrode lead 3300 and the lower electrode lead 3310 are relatively short, which can effectively reduce shunting, reduce electrical loss, and save electricity.
  • the entire mesh is welded by a plurality of steel strips 1700 and transverse ribs 2600.
  • the steel strip 1700 corresponds to a group of welding components 3100.
  • the steel strip 1700 passes through the guide block 3120 and is placed above the lower electrode 3130.
  • the first cylinder 3230 is extended so that the upper electrode welding arm 3260 rotates around the pin 3250.
  • the electrode welding arm 3260 rotates, the upper electrode 3140 is pushed down and cooperates with the lower electrode 3130 to weld the transverse rib 2600 and the steel strip 1700 together.
  • the net rolling mechanism 4000 includes a third frame 4100, a fixed base 4200, a main shaft 4300, a movable base 4400, a transmission assembly 4500, a third driving device, and a fourth driving device.
  • the third frame 4100 is disposed at the bottom and fixed on the ground.
  • the fixed base 4200 is arranged on the third frame 4100; the main shaft 4300 is rotatably provided on the fixed base 4200; the movable base 4400 is connected to the main shaft 4300, and the movable base 4400 can rotate around the main shaft 4300; the transmission assembly 4500 It is arranged on the fixed base 4200 and the movable base 4400, and can drive the mesh from the end of the fixed base 4200 away from the movable base 4400 toward the movable base 4400.
  • the third driving device is arranged to drive the movable base 4400. Rotating around the main shaft 4300, the fourth driving device is configured to drive the transmission assembly 4500.
  • the mesh can be transferred from one end of the fixed base 4200 to the movable base 4400 through the transmission assembly 4500.
  • the mesh is soft Bending occurs at an included angle formed by the movable base 4400 and the fixed base 4200, and is continuously rotated to form a net roll 4800 under the friction of the transmission assembly 4500.
  • the transmission assembly 4500 includes a first sprocket 4510, a second sprocket 4520, a third sprocket 4530, a first chain 4540, a second chain 4550, and a first sprocket.
  • 4510 is a double sprocket and is sleeved on the main shaft 4300.
  • the main shaft 4300 drives the first sprocket 4510 to rotate through a fourth driving device, and the second sprocket 4520 is rotatably disposed at an end of the fixed base 4200 away from the main shaft 4300.
  • a sprocket 4530 is rotatably disposed at an end of the movable base 4400 away from the main shaft 4300, and the second sprocket 4520 and the third sprocket 4530 are connected to the first sprocket 4510 through the first chain 4540 and the second chain 4550, respectively.
  • the fourth driving device drives the main shaft 4300 to rotate, the first sprocket 4510 rotates, and the second sprocket 4520 and the third sprocket 4530 are rotated by the first chain 4540 and the second chain 4550.
  • the mesh is moved by the friction between the first chain 4540 and the second chain 4700.
  • a third driving device is connected to the movable base 4400, and the third driving device drives the movable base 4400 to reciprocate around the main shaft 4300.
  • the third driving device is a second cylinder 4600.
  • the second cylinder 4600 includes a second cylinder body 4610 and a piston rod 4620.
  • the second cylinder body 4610 is hinged to the third frame 4100, and the piston rod 4620 and the movable base are articulated.
  • Seat 4400 is articulated.
  • a connecting ear is provided on the movable base 4400, and the connecting ear is hinged with the piston rod 4620 of the second cylinder 4600.
  • the second cylinder 4600 drives the movable base 4400 to swing within a certain angle relative to the main shaft 4300.
  • the included angle between the movable base 4400 and the fixed base 4200 also changes, so that the included angle between the first chain 4540 and the second chain 4550 and the surface in contact with the steel strip 1700 After the change, the outer diameter of the mesh after rolling is correspondingly different. Therefore, if different sizes of net rolls 4800 are to be obtained, the angle between the movable base 4400 and the fixed base 4200 can be changed accordingly.
  • the first sprocket 4510 and the main shaft 4300 are connected by a key.
  • the fourth driving device is a motor 4700, the motor shaft coincides with the axis of the main shaft 4300, and the motor 4700 is disposed on the third frame 4100.
  • the motor 4700 can also be replaced by a hydraulic system.
  • the second sprocket 4520 is connected to the fixed base 4200 through a first sprocket shaft 4560, and a tension sleeve is provided between the second sprocket 4520 and the first sprocket shaft 4560.
  • the third sprocket 4530 is connected to the movable base 4400 through a second sprocket shaft 4570, and a tension sleeve is provided between the third sprocket 4530 and the second sprocket shaft 4570.
  • a tension sleeve is provided between the third sprocket 4530 and the second sprocket shaft 4570.
  • the fixed base 4200 is provided with a cross-shaped through hole, and the first sprocket shaft 4560 is penetrated in the cross-shaped through hole and can be fixed at different positions of the cross-shaped through hole, thereby realizing the adjustment of the first sprocket shaft 4560 and the main shaft.
  • the tension of the chain between 4300, or the angle between the first chain 4540 and the second chain 4550 can be adjusted, and the size of the net roll 4800 can be adjusted.
  • the cross-shaped through hole includes a horizontal hole and a vertical hole, which can adjust the position of the first sprocket shaft 4560 in the vertical direction and the horizontal direction.
  • This embodiment further provides a welding robot.
  • the welding robot includes a welding electrode and at least one group of the net rolling mechanism 4000 described above, and the net rolling mechanism 4000 is located downstream of the welding electrode. Since the mesh has a certain width, a plurality of mesh rolling mechanisms 4000 can be arranged side by side to realize stable transmission of the mesh.
  • the process of rolling the net by the welding robot is:
  • the steel strip 1700 and steel bars that make up the mesh are welded to the first chain 4540 after being welded by welding electrodes.
  • the first chain 4540 drives the mesh to move by friction with the steel strip 1700; the tube is welded at the front end of the mesh
  • the mesh plate contacts the tube frame and reaches the angle between the first chain 4540 and the second chain 4550, as shown in FIG. 19, as the chain rotates, the tube frame rotates at this angle. It is soft, and is continuously wound on the pipe frame during the conveyance of the mesh sheet to form a mesh roll 4800.
  • the mesh sheet is cut off and the piston of the second cylinder 4600 is adjusted by The lever 4620 makes the movable base 4400 rotate until the free end of the movable base 4400 faces obliquely downward, as shown in FIG. 20, the net roll 4800 rolls out of the movable base 4400 to complete the winding of a net roll 4800.
  • the disc-shaped steel strip 1700 stored in the trolley 5000 is fed to the electrode of the welding mechanism 3000 through the steel strip feeding mechanism 1000.
  • the feeding section 1300 drives the steel belt 1700 to reciprocate to realize the progressive feeding of the steel belt 1700.
  • the first driving device 1332 on the limiting portion 1400 is first used to drive the pressing block 1333 to press the steel belt 1700 on the base 1410; then, the second driving device 1530 is used to drive the first transmission
  • the shaft 1520 rotates, and the feeding part 1300 is driven on the first guide rail 1200 toward the limiter part 1400 by the link assembly 1510.
  • the first driving device 1332 on the feeding part 1300 drives the pressing block 1333 to bring the steel band 1700.
  • the first driving device 1332 of the limiting portion 1400 drives the pressing block 1333 to move up, and the steel belt 1700 is not restricted by the limiting portion 1400;
  • the feeding part 1300 is pushed by the swing arm 1513 to move away from the limiting part 1400.
  • the steel strip 1700 is fed into the upper electrode 3140 and the lower electrode 3130 by a preset distance;
  • a certain number of pre-straightened cross bars 2600 are placed, and the cross bars 2600 are forwarded through the horizontal transfer assembly and finally to the stepped surface of the movable plate 2220 and the fixed plate 2210 of the step feeding device, and then driven by the eccentric wheel 2250.
  • the board 2220 moves up and down to move multiple The ribs 2600 are separated and passed upward step by step. After that, the transverse ribs 2600 fall on the blanking slide 2300.
  • the material distribution device 2330 on the blanking slide 2300 ejects the transverse ribs 2600 one by one.
  • the transverse ribs 2600 fall into the running state.
  • the hook 2460 of the transmission chain 2450 is then driven to the lower end of the support slide 2410, and finally falls into the lower electrode 3130 of the welding mechanism 3000, and the steel strip 1700 and the cross bar 2600 are welded by the welding mechanism 3000.
  • the welded mesh is transferred to the first chain 4540.
  • the first chain 4540 drives the mesh to move by the friction between the steel strip 1700; the pipe frame is welded at the front end of the mesh; At the angle between the first chain 4540 and the second chain 4550, as shown in FIG. 19, as the chain rotates, the pipe frame rotates at this angle. Because the mesh is soft, the mesh is continuously transported during the mesh. It is wound on the pipe frame to form a mesh roll 4800. After the steel strip 1700 is wound on the pipe frame for a certain length, the mesh is cut off, and the movable base 4400 is rotated by adjusting the piston rod 4620 of the second cylinder 4600 until it is moved. When the free end of the base 4400 faces obliquely downward, as shown in FIG. 20, the net roll 4800 is rolled out of the movable base 4400, manually packed, and the net roll 4800 is unloaded.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Automatic Assembly (AREA)
  • Laser Beam Processing (AREA)
  • Resistance Welding (AREA)

Abstract

La présente invention concerne un robot de soudage de mailles, comprenant un mécanisme d'alimentation de bande d'acier (1000), un mécanisme de soudage (3000), un mécanisme de découpage (2000) et un mécanisme d'enroulement de maille (4000). Le mécanisme d'alimentation de bande d'acier (1000) comprend une première crémaillère (1100), un premier rail de guidage (1200), une partie de limitation (1400) et une partie d'alimentation (1300), et la partie d'alimentation (1300) est disposée de manière coulissante sur le premier rail de guidage (1200) et est configurée pour fixer une bande d'acier (1700) et entraîner la bande d'acier (1700) à se déplacer ; le mécanisme de soudage (3000) est disposé sur la première crémaillère (1100) et est configuré pour souder la bande d'acier (1700) et une barre transversale (2600) en tant que feuille à mailles ; le mécanisme de découpage (2000) est configuré pour porter la barre transversale (2600) et transporter la barre transversale (2600) jusqu'au mécanisme de soudage (3000) ; un ensemble de transmission du mécanisme d'enroulement de maille (4000) est disposé sur une base fixe (4200) et une base mobile (4400), de façon à entraîner la feuille à mailles à se déplacer le long d'une direction depuis l'extrémité de la base fixe (4200) à l'opposé de la base mobile (4400) jusqu'à la base mobile (4400).
PCT/CN2018/093398 2018-05-28 2018-06-28 Robot de soudage de μailles WO2019227561A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SG11202010302TA SG11202010302TA (en) 2018-05-28 2018-06-28 Mesh welding robot
KR1020197039026A KR102290099B1 (ko) 2018-05-28 2018-06-28 메시 용접 로봇
JP2020536792A JP7034297B2 (ja) 2018-05-28 2018-06-28 メッシュ溶接ロボット

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CN201810522459.6A CN108608100B (zh) 2018-05-28 2018-05-28 一种焊网机器人
CN201810522459.6 2018-05-28

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CN111570681A (zh) * 2020-04-29 2020-08-25 建科机械（天津）股份有限公司 一种开孔钢筋落料机构及焊网机落料系统
CN112757650A (zh) * 2020-12-24 2021-05-07 安徽骄阳软门有限责任公司 一种门帘logo焊接装置
CN113059092A (zh) * 2021-03-30 2021-07-02 优博络客新型建材(天津)有限公司 一种加气混凝土板材钢筋网片焊接设备
CN113752022A (zh) * 2021-08-16 2021-12-07 广东碧品居建筑工业化有限公司 钢筋骨架成型设备
CN114850770A (zh) * 2022-05-26 2022-08-05 山东智迈德智能科技有限公司 钢梁附件焊接用变位系统
CN114871649A (zh) * 2022-05-26 2022-08-09 山东智迈德智能科技有限公司 钢梁附件焊接用翻转传送装置
CN115026399A (zh) * 2022-06-16 2022-09-09 徐州威博工贸有限公司 一种输送与点焊精准配合的钢丝网点焊装置及工艺
CN115255745A (zh) * 2022-09-27 2022-11-01 山东世基环境技术有限公司 垃圾运输车体内部连接处焊接装置
CN116372400A (zh) * 2023-03-10 2023-07-04 中机精密成形产业技术研究院（安徽）股份有限公司 一种适用于三维五轴激光切割设备的机械手组件

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CN111570681A (zh) * 2020-04-29 2020-08-25 建科机械（天津）股份有限公司 一种开孔钢筋落料机构及焊网机落料系统
CN112757650B (zh) * 2020-12-24 2023-01-13 安徽骄阳软门有限责任公司 一种门帘logo焊接装置
CN112757650A (zh) * 2020-12-24 2021-05-07 安徽骄阳软门有限责任公司 一种门帘logo焊接装置
CN113059092A (zh) * 2021-03-30 2021-07-02 优博络客新型建材(天津)有限公司 一种加气混凝土板材钢筋网片焊接设备
CN113059092B (zh) * 2021-03-30 2022-08-23 优博络客新型建材(天津)有限公司 一种加气混凝土板材钢筋网片焊接设备
CN113752022A (zh) * 2021-08-16 2021-12-07 广东碧品居建筑工业化有限公司 钢筋骨架成型设备
CN114871649B (zh) * 2022-05-26 2024-02-06 山东智迈德智能科技有限公司 钢梁附件焊接用翻转传送装置
CN114871649A (zh) * 2022-05-26 2022-08-09 山东智迈德智能科技有限公司 钢梁附件焊接用翻转传送装置
CN114850770B (zh) * 2022-05-26 2024-02-06 山东智迈德智能科技有限公司 钢梁附件焊接用变位系统
CN114850770A (zh) * 2022-05-26 2022-08-05 山东智迈德智能科技有限公司 钢梁附件焊接用变位系统
CN115026399A (zh) * 2022-06-16 2022-09-09 徐州威博工贸有限公司 一种输送与点焊精准配合的钢丝网点焊装置及工艺
CN115255745A (zh) * 2022-09-27 2022-11-01 山东世基环境技术有限公司 垃圾运输车体内部连接处焊接装置
CN115255745B (zh) * 2022-09-27 2022-12-13 山东世基环境技术有限公司 垃圾运输车体内部连接处焊接装置
CN116372400A (zh) * 2023-03-10 2023-07-04 中机精密成形产业技术研究院（安徽）股份有限公司 一种适用于三维五轴激光切割设备的机械手组件
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SG11202010302TA (en) 2020-11-27
JP2021508603A (ja) 2021-03-11
JP7034297B2 (ja) 2022-03-11
CN108608100B (zh) 2019-10-22
CN108608100A (zh) 2018-10-02

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