CN105081633B - Five-degree-of-freedom welding cutting robot - Google Patents
Five-degree-of-freedom welding cutting robot Download PDFInfo
- Publication number
- CN105081633B CN105081633B CN201510434953.3A CN201510434953A CN105081633B CN 105081633 B CN105081633 B CN 105081633B CN 201510434953 A CN201510434953 A CN 201510434953A CN 105081633 B CN105081633 B CN 105081633B
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- Prior art keywords
- swing arm
- robot
- degree
- column
- welding
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a five-degree-of-freedom welding cutting robot. The welding cutting robot comprises a base, a stand column and a robot body, wherein the stand column is fixed on the base; the robot body is connected to the stand column, and can vertically move in a direction perpendicular to the stand column; the robot body comprises a back swing arm base, a back swing arm and a front swing arm; the back swing arm base and the back swing arm are connected through a first transmission mechanism; the back swing arm and the front swing arm are connected through a second transmission mechanism; and the tail end of the front swing arm is connected with a machine head assembly component for adjusting gestures of a welding cutting tool. The machine head assembly component is provided with a set of differential revolving mechanisms for realizing independent adjustment of revolving and swing of the welding cutting tool and always keeping the overlap between point coordinates of the tool and the revolving axis. The welding cutting robot, provided by the invention, solves the problems of continuous and repeated revolving welding cutting of complex curved surfaces, no winding of cables and direct and simple adjustment of positions and gestures of the welding cutting tool; and the operation is simple.
Description
Technical field
The invention belongs to weld cutting technique field, more particularly to a kind of five degree of freedom welds cutting robot.
Background technology
Welding cutting robot, is a kind of automation equipment that can complete to weld cutting operation, typically using multiple passes
The mechanical arm of section, to realize the adjustment of optional position and attitude in working space.
At present, wu-zhi-shan pig version mainly has two kinds of cartesian co-ordinate type and joint coordinates type.The former positioning precision
Height, but in crawl space, such robotic movement is obstructed, it is impossible to accomplish masterly；Latter movement's speed is fast, but position
Together with attitude Degree-of-freedom Coupling, control is complicated.Closed curve continuous rotary based on spatial complex curve (such as intersection)
Welding cutting demand, the higher requirement to the frame for movement feature extraction of robot.
Welding robot typically also adopts general six jointed arm robot, and repetitive positioning accuracy is high, but operating space phase
To limited, it is adaptable to the welding cutting of middle-size and small-size parts, popularization application is at home and abroad obtained in industrial production.Existing tradition
There is mechanism singularity point in six section industrial machine robot mechanisms, it is impossible to realize the continuous cutting of occluding surface and narrow and small interval continuous weight
The needs of multiple revolution welding, and above-mentioned welding split requirement, are in the industrial production the industrial robot work(of generality presence
Demand can be changed.
The denomination of invention of application number 200710179406.0：Large-scale intelligent robot welding device, proposes a kind of view-based access control model
The robot device of control technology.The welding robot has nine kinematic axis, including three macroscopic translational motions axles, three it is micro-
Dynamic translational motion axle and three rotary motion axles.The invention is improve by visual sensing technology and intelligent vision control technology
The quality and efficiency of welding robot automatic welding.But because its structure and programming Control are complicated, need larger hardware with
The input of software, cost also can it is relatively expensive a lot.
The cable of existing industrial robot welding cutting be substantially all do not stop with the motion of robot it is dynamic, and
For some parametric curves, such as space-closed surface incising, branch pipe welding usually can cause weldering because of the winding of cable
Connecing cutting work can not be carried out continuously.The unreasonable attitude that can also limit welding cutting tool of robotic's structure design,
Working range under so as to affect specific weld cutting operating mode.When operating point attitude and position adjustment, each joint shaft of robot
Interrelated, robot location's teaching and programming need the personnel with certain skills training to realize operation.Robots arm
Bar structure design easily produces location conflicts in complicated Member Welding.
The content of the invention
For defect present in prior art, it is an object of the invention to provide a kind of five degree of freedom welding cutting machine
People, while conventional machines people welding cutting operation function is met, can solve the problem that the continuous cutting of spatial complex occluding surface
Welding is continuously repeated with complicated closed curve, instrument cable welds cutting tool point coordinates and transport with the mechanism of robot without winding
Moving point overlaps, not because instrument pose adjustment occurs change in location；Robot location, pose adjustment are intuitively simple；Each kinematic axis is only
Vertical operation, can realize the accessibility of six-DOF robot spatial attitude position, and the singular point without mechanism meets welding and cuts
Cut the application demand of production field versatility.
To reach object above, the technical solution used in the present invention is：A kind of five degree of freedom welding cutting robot is provided,
Including column and robot body, the robot body is arranged on the column and can be upper and lower along the vertical direction of column
It is mobile；It is characterized in that：The robot body includes being sequentially connected rear-swing arm seat, rear-swing arm, front swing arm and the head for connecing
Assembling assembly；One end of the rear-swing arm is rotatably coupled with rear-swing arm seat, is assembled by the rotational band motivation head of rear-swing arm
Component is moved in the horizontal plane；The other end of the rear-swing arm is rotatably coupled with front swing arm, by the rotational band of front swing arm
Motivation head assembling assembly realizes circular motion；The head assembling assembly is connected with the end of front swing arm；The head assembling
Component includes the 3rd transmission mechanism, helical gear extension bar, bevel gear set, seat swing arm and welding cutting tool component, wherein, welding
Cutting tool component fixes the free end of present swing arm, the 3rd transmission mechanism by the central shaft that passes through from helical gear extension bar with
Bevel gear set connects, and the bevel gear set drives seat swing arm welding cutting tool component is freely turned round along own axes, the company of realization
Connect discharging without winding for cable；And, the 3rd transmission mechanism also directly drives helical gear extension bar so that helical gear extension bar is justified
Week swings.
Further, the 3rd transmission mechanism includes worm gear box assembly, the second profile of tooth belt wheel group, power transmission shaft and swings back
Swivel base；The worm gear box assembly includes intermeshing second worm gear and the second worm screw；The second profile of tooth belt wheel group includes the
Two driving wheels and the second driven pulley, both are connected by the second cog belt；Second worm gear is by the second rotating shaft and the second active
Wheel is connected, and second driven pulley is rotatably sleeved on the power transmission shaft；The lower end of the second driven pulley with it is described
Swing revolving bed is affixed, and the lower end for swinging revolving bed is affixed with helical gear extension bar.
Further, the 3rd transmission mechanism also includes the first profile of tooth belt wheel group and the 3rd profile of tooth belt wheel group；The snail
Wheel box assembly also includes intermeshing first worm gear and the first worm screw；The first profile of tooth belt wheel group include the first driving wheel and
First driven pulley, both are connected by the first cog belt；3rd profile of tooth belt wheel group includes the 3rd driving wheel and the 3rd driven pulley,
Both are connected by the 3rd cog belt；First worm gear is connected with the first driving wheel by first rotating shaft, and first is driven
Wheel is respectively and fixedly installed to the two ends of the power transmission shaft with the 3rd driving wheel；The center of the 3rd driven pulley and helical gear extension bar
Axle Joint.
Further, the welding cutting tool component includes welding cutting tool rifle, revolution gun platform, seat swing arm, deep-groove ball
Bearing and revolution gun platform axle；Welding cutting tool rifle is arranged in revolution gun platform axle, and revolution gun platform axle is installed on deep-groove ball axle
Inner ring is held, deep groove ball bearing outer ring is fixed in revolution gun platform, in the present swing arm of revolution gun platform clamping.
Further, the welding cutting tool component also includes clamp nut, and the clamp nut is fastened on deep-groove ball axle
Hold, for preventing the loosening of deep groove ball bearing.
Further, the five degree of freedom welding cutting robot also includes lathe bed, and the column is arranged on lathe bed and energy
Enough to move horizontally along lathe bed, the column is provided with ball screw framework, and the robot body is arranged on the ball-screw machine
On structure.
Further, the column is provided with ball screw framework, and the robot body is arranged on the ball screw framework
On, the column has been fixed on the pedestal of fixation.
Further, the robot body is articulated on the column, and ball screw framework, institute are additionally provided with the column
State ball screw framework to be connected with pedestal.
Further, the pedestal is fixed on portal frame, and the portal frame is arranged on the lathe bed with guide rail and can lead
Move on rail.
The beneficial effects of the present invention is：
1) five degree of freedom of the present invention welds cutting robot, real because head assembling assembly adopts one group of differential slew gear
Now weld cutting tool revolution and swing independent adjustment, and remain that instrument point coordinates overlaps with axis of rotation, solve sky
Between complex-curved revolution welding cutting, the cable of continuously repeating without winding and weld cutting tool position and attitude adjustment letter directly perceived
Single problem；
2) each kinematic axis independent operation, can realize the accessibility of six-DOF robot spatial attitude position, without machine
The singular point of structure, meets the application demand of welding cutting production field versatility；
3) it is simple to operate, it is applied widely.
Description of the drawings
Fig. 1 is the robot general structure schematic diagram that the side formula that the present invention is provided is installed；
Fig. 2 is the structural representation of head assembling assembly in Fig. 1；
Fig. 3 is the axonometric drawing of worm gear box assembly in Fig. 2；
Fig. 4 is the front view of Fig. 3；
Fig. 5 is the robot worm gear box assembly assembling structure sectional view that the present invention is provided；
Fig. 6 is the robotic gun cutting tool modular construction schematic diagram that the present invention is provided；
Fig. 7 is the robot general structure schematic diagram that the column that the present invention is provided is installed；
Fig. 8 is the robot general structure schematic diagram that the reversely hung Yong that the present invention is provided is installed；
Fig. 9 is the robot general structure schematic diagram that the planer-type that the present invention is provided is installed.
Specific embodiment
With reference to the accompanying drawings and detailed description the invention will be further described.
As shown in figure 1, being the five degree of freedom welding cutting robot of the employing side formula mounting means that the present invention is provided
Structural representation.The welding cutting robot includes the lathe bed 1 with guide rail, the column 2 with ball screw framework 3 and machine
Device human body.Column 2 is arranged on the guide rail of lathe bed 1 and can move horizontally along guide rail, for the welding cutting behaviour of long range
Make；Robot body is connected with ball screw framework 3, and can move up and down along ball screw framework 3, for vertical direction weldering
Connect the adjustment of operation.Wherein, ball screw framework 3 is driven by the first servomotor 4.Robot body include rear-swing arm seat 5, after
Swing arm 7, front swing arm 9 and head assembling assembly 10；The one end of rear-swing arm 7 is rotatable by the first transmission mechanism 6 with rear-swing arm seat 5
Ground connection, the other end of rear-swing arm 7 is rotatably coupled by the second transmission mechanism 8 with front swing arm 9.In such manner, it is possible to realize machine
People's swing arm movement in the horizontal plane；Head assembling assembly 10 is connected with the end of front swing arm 9.
Shown in Fig. 2-5, head assembling assembly 10 include the 3rd transmission mechanism, helical gear extension bar 24, bevel gear set 26,25,
Seat swing arm 27 and welding cutting tool component 28.Wherein, the free end that cutting tool component 28 connects present swing arm 27 is welded,
3rd transmission mechanism is connected by the central shaft passed through from helical gear extension bar 24 with bevel gear set.
3rd transmission mechanism is one group of differential slew gear.It includes two transmission chain systems, wherein a transmission linkwork
System can be realized welding the circle swing of cutting tool component, and concrete scheme is as follows：
3rd transmission mechanism include the second servomotor 11, the second profile of tooth belt wheel group, worm gear box assembly 13, power transmission shaft 16 with
And swing revolving bed 44；Worm gear box assembly 13 includes the worm screw 31 of intermeshing second worm gear 33 and second；Second profile of tooth belt wheel
Group includes the second driving wheel 21 and the second driven pulley 18, and the second driving wheel 21 and the second driven pulley 18 pass through the phase of the second cog belt 22
Connection；Second worm screw 31 is connected with the second servomotor 11 by deep groove ball bearing, and by the second servomotor 11 second is driven
Worm screw 31 rotates, and the second worm gear 33 is connected by the second rotating shaft 35 with the second driving wheel 21, and the second driven pulley 18 can freely turn
Be sleeved on dynamicly on power transmission shaft 16, and with power transmission shaft 16 on bearing Joint；The lower end of the second driven pulley 18 is turned round with swinging
Seat 44 is affixed, and the lower end for swinging revolving bed 44 is affixed with the overcoat of helical gear extension bar 24.Thus, above-mentioned transmission mechanism can be realized tiltedly
The axis centered on power transmission shaft 16 under the drive for swinging revolving bed 44 of gear extension bar 24 does circle swing, so as to drive welding to cut
Cut tool assembly and do circle swing.
3rd transmission mechanism also includes other one article of transmission chain system, and the transmission chain system can be realized welding cutting tool
Component is freely turned round along own axes, and concrete scheme is as follows：
3rd transmission mechanism also includes the 3rd servomotor 12, the first profile of tooth belt wheel group, the 3rd profile of tooth belt wheel group, worm gear case
Component 13；Worm gear box assembly 13 includes the worm screw 30 of intermeshing first worm gear 32 and first；First profile of tooth belt wheel group includes the
One driving wheel 14 and the first driven pulley 17, both are connected by the first cog belt 15；3rd profile of tooth belt wheel group includes the 3rd master
The driven pulley 23 of driving wheel 19 and the 3rd, both are connected by the 3rd cog belt 20；First worm screw 30 by deep groove ball bearing 29 with
3rd servomotor 12 is connected, and the first worm gear 32 is connected with the first driving wheel 14 by first rotating shaft 34, the first driven pulley
17 and the 3rd driving wheel 19 be respectively and fixedly installed to the two ends of power transmission shaft；The central shaft of the 3rd driven pulley 23 and helical gear extension bar 24
Joint.So, the 3rd transmission mechanism can be realized welding the adjustment of cutting tool module position attitude.
As shown in fig. 6, welding cutting tool component include welding cutting tool rifle 36, clamp nut 37, revolution gun platform 38,
Deep groove ball bearing 39, revolution gun platform axle 40 and welding cutting head 41.Welding cutting head 41 is arranged on welding cutting tool rifle 36
On, welding cutting tool rifle 36 is arranged in revolution gun platform axle 40；Revolution gun platform axle 40 is installed on the inner ring of deep groove ball bearing 39, deep
The outer ring of ditch ball bearing 39 is fixed in revolution gun platform 38；In the present swing arm 27 of revolution gun platform 38 clamping；Clamp nut 37 is arranged on
On revolution gun platform axle 40, for preventing deep groove ball bearing 39 from loosening.Welding gun cutting assembly itself is caused using this structure design
An isolated degree of freedom is provided with, when welding cutting tool rifle cable because the continuous rotary of welding cutting tool rifle is moved
Occur to be automatically reverted to without winding state during winding, so as to smoothly solve welding torch cable line winding problem；Avoid welding
Break down during cutting, improve welding robot human reriability.
Power transmission shaft 16 be hollow-core construction, welding cutting cable passed through from hollow-core construction by hose bundle, and with machinery
Body is closely integrated, and arranges that cable is capable of the service life of Elongated cable wire using which, realizes performance with efficiency most
Optimization.
The five degree of freedom welding robot of the present invention, in addition to using above-mentioned side formula mounting means, can also be using vertical
The typical robot mounting means such as pillar, reversely hung Yong, planer-type.
As shown in fig. 7, being the column mounting means that the present invention is adopted.Column 2 has been fixed in the pedestal 42 of fixation
On, it is fixed on robot body on ball screw framework 3.Using this kind of mounting means, robot body can be along ball-screw
Mechanism 3 moves up and down.
As shown in figure 8, being that the present invention adopts reversely hung Yong mounting means.Robot body is articulated on column 2, ball-screw
Mechanism 3 has been connected on the pedestal 42 of fixation.Using this kind of mounting means, robot body can be with column along base
Seat 42 is moved up and down.
As shown in figure 9, being the planer-type mounting means that the present invention is adopted.Pedestal 42 is fixed on portal frame 43, the gantry
Frame 43 is arranged on the lathe bed 1 with guide rail and can move on guide rail.Using this kind of mounting means, robot body and column
It is not only able to lower movement in vertical direction, it is also possible to move in the horizontal direction.
In sum, the five degree of freedom welding robot that the present invention is provided, by being provided with one group of differential attachment, realizes welding
The independent adjustment that cutting tool is turned round and swung, and remain that instrument point coordinates overlaps with axis of rotation；Solve space to answer
Miscellaneous curved surface continuously repeats revolution welding cutting, cable and intuitively simply asks without winding and the position and attitude adjustment of welding cutting tool
Topic.
, simply to the illustration of the present invention, the present invention can also be with other ad hoc fashions or other for above-described embodiment
Particular form is implemented, without departing from idea of the invention or substantive characteristics.Therefore, from the point of view of the embodiment of description is in terms of any
It is regarded as illustrative rather than determinate.The scope of the present invention should illustrate by appended claims, any and claim
Intention and the equivalent change of scope also should be within the scope of the present invention.
Claims (9)
1. a kind of five degree of freedom welds cutting robot, including column (2) and robot body, and the robot body is arranged on
Can move up and down on the column (2) and along the vertical direction of column (2)；It is characterized in that：The robot body includes
It is sequentially connected rear-swing arm seat (5), rear-swing arm (7), front swing arm (9) and the head assembling assembly (10) for connecing；The rear-swing arm (7)
One end be rotatably coupled with rear-swing arm seat (5), by rotational band motivation head assembling assembly (10) of rear-swing arm (7) in level
Move in face；The other end of the rear-swing arm (7) is rotatably coupled with front swing arm (9), is driven by the rotation of front swing arm (9)
Head assembling assembly (10) realizes circular motion；The head assembling assembly (10) is connected with the end of front swing arm (9)；It is described
Head assembling assembly (10) is cut including the 3rd transmission mechanism, helical gear extension bar (24), bevel gear set, seat swing arm (27) and welding
Tool assembly (28) is cut, wherein, weld the free end of the fixed present swing arm (27) of cutting tool component (28), the 3rd transmission mechanism
It is connected with bevel gear set by the central shaft passed through from helical gear extension bar (24), the bevel gear set drives seat swing arm (27) to make weldering
Axis free rotation of the cutting tool component (28) along bevel gear set driven pulley is connect, discharging without winding for connection cable is realized；And
And, the 3rd transmission mechanism also directly drives helical gear extension bar (24) so that helical gear extension bar (24) is in the band for swinging revolving bed (44)
Axis carries out circle swing centered on the power transmission shaft (16) of the 3rd transmission mechanism under dynamic.
2. five degree of freedom according to claim 1 welds cutting robot, it is characterised in that：The 3rd transmission mechanism bag
Include worm gear box assembly (13), the second profile of tooth belt wheel group, power transmission shaft (16) and swing revolving bed (44)；The worm gear box assembly
(13) including intermeshing second worm gear (33) and the second worm screw (31)；The second profile of tooth belt wheel group includes the second driving wheel
(21) and the second driven pulley (18), both are connected by the second cog belt (22)；Second worm gear (33) is by the second rotating shaft
(35) it is connected with the second driving wheel (21), second driven pulley (18) is rotatably sleeved on the power transmission shaft (16)
On；The lower end of the second driven pulley (18) with it is described swing revolving bed (44) it is affixed, it is described swing revolving bed (44) lower end with it is oblique
Gear extension bar (24) is affixed.
3. five degree of freedom according to claim 2 welds cutting robot, it is characterised in that：3rd transmission mechanism is also
Including the first profile of tooth belt wheel group and the 3rd profile of tooth belt wheel group；The worm gear box assembly (13) also includes intermeshing first snail
Wheel (32) and the first worm screw (30)；The first profile of tooth belt wheel group includes the first driving wheel (14) and the first driven pulley (17), two
Person is connected by the first cog belt (15)；3rd profile of tooth belt wheel group includes the 3rd driving wheel (19) and the 3rd driven pulley (23),
Both are connected by the 3rd cog belt (20)；First worm gear (32) is with the first driving wheel (14) by first rotating shaft (34)
It is connected, the first driven pulley (17) is respectively and fixedly installed to the two ends of the power transmission shaft (16) with the 3rd driving wheel (19)；3rd
The central shaft Joint of driven pulley (23) and helical gear extension bar (24).
4. five degree of freedom according to claim 3 welds cutting robot, it is characterised in that：The welding cutting tool group
Part (28) includes welding cutting tool rifle (36), revolution gun platform (38), deep groove ball bearing (39) and revolution gun platform axle (40)；Weldering
Cutting tool rifle (36) is connect in revolution gun platform axle (40), revolution gun platform axle (40) is installed in deep groove ball bearing (39)
Circle, deep groove ball bearing (39) outer ring is fixed in revolution gun platform (38), in the present swing arm (27) of revolution gun platform (38) clamping.
5. five degree of freedom according to claim 4 welds cutting robot, it is characterised in that：The welding cutting tool group
Part (28) also includes clamp nut (37), and the clamp nut (37) is fastened on deep groove ball bearing (39), for preventing zanjon
The loosening of ball bearing (39).
6. the five degree of freedom according to any one of claim 1-5 welds cutting robot, it is characterised in that：Also include lathe bed
(1), the column (2) is on lathe bed (1) and can move horizontally along lathe bed (1), and the column (2) is provided with ball wire
Thick stick mechanism (3), the robot body is arranged on the ball screw framework (3).
7. the five degree of freedom according to any one of claim 1-5 welds cutting robot, it is characterised in that：The column
(2) ball screw framework (3) is provided with, the robot body is arranged on the ball screw framework (3), the column (2)
It has been fixed on the pedestal of fixation (42).
8. the five degree of freedom according to any one of claim 1-5 welds cutting robot, it is characterised in that：The robot
Body is articulated on the column (2), and on the column (2) ball screw framework (3), the ball screw framework are additionally provided with
(3) it is connected with pedestal (42).
9. five degree of freedom according to claim 8 welds cutting robot, it is characterised in that：The pedestal (42) is fixed in
On portal frame (43), the portal frame (43) is on the lathe bed with guide rail (1) and can move on guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510434953.3A CN105081633B (en) | 2015-07-22 | 2015-07-22 | Five-degree-of-freedom welding cutting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510434953.3A CN105081633B (en) | 2015-07-22 | 2015-07-22 | Five-degree-of-freedom welding cutting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105081633A CN105081633A (en) | 2015-11-25 |
| CN105081633B true CN105081633B (en) | 2017-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510434953.3A Expired - Fee Related CN105081633B (en) | 2015-07-22 | 2015-07-22 | Five-degree-of-freedom welding cutting robot |
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| CN103111777B (en) * | 2013-02-04 | 2015-08-19 | 张家港市永发机器人科技有限公司 | Rectangular coordinate system welding robot device |
| CN204431246U (en) * | 2015-02-06 | 2015-07-01 | 上海宜功焊接科技有限公司 | A kind of horizontal five-axle linkage industrial robot |
| CN204913115U (en) * | 2015-07-22 | 2015-12-30 | 北京中电华强焊接工程技术有限公司 | Five degrees of freedom welding cutting machine people |
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2015
- 2015-07-22 CN CN201510434953.3A patent/CN105081633B/en not_active Expired - Fee Related
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