CN106271285A - Welding robot - Google Patents
Welding robot Download PDFInfo
- Publication number
- CN106271285A CN106271285A CN201610882325.6A CN201610882325A CN106271285A CN 106271285 A CN106271285 A CN 106271285A CN 201610882325 A CN201610882325 A CN 201610882325A CN 106271285 A CN106271285 A CN 106271285A
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- welding
- processor
- welding gun
- welding robot
- robot
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Classifications
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- 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
- B23K37/0252—Steering means
-
- 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
-
- 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
- B23K37/0294—Transport carriages or vehicles
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of welding robot.This welding robot includes: body and the welding gun, processor and the photoelectric detector that are arranged on body；Processor is connected with welding gun and photoelectric detector respectively；Processor is for the detection signal controlling machine body according to photoelectric detector and the motion of welding gun.The welding robot that the present invention provides, by arranging photoelectric detector on body, photoelectric detector detection body is relative to the speed of actual welding environment and distance, the control signal that processor is sent to body and welding gun changes according to the change of welding surroundings, thus the automatic welding realizing welding robot can be according to welding surroundings self-adaptative adjustment, it is ensured that welding effect.
Description
Technical field
The present invention relates to mechanical field, particularly relate to a kind of welding robot.
Background technology
Welding robot is the industrial robot for carrying out automatic welding.Welding robot is widely used in weld job
In constantly repeat, dull long working scene or the weld job scene of high-risk adverse circumstances, there is high production rate, high-quality
The features such as amount and high stability.
Generally welding robot is by teaching box, control dish, robot body and automatically to send welding wire device, the source of welding current etc.
Part composition.The most general welding robot, still in the teaching playback stage, has memory, storage function, can be according to accordingly
Program realizes repeating operation.
But it is owing to welding robot only repeats operation according to corresponding program, therefore when welding condition changes, existing
There is welding robot cannot carry out self-adaptative adjustment according to the change of welding condition, reduce welding effect.Existing welding robot
There is the problem that intelligence degree is the highest, running orbit is restricted, cannot be carried out self adaptation welding in people.
Summary of the invention
The present invention provides a kind of welding robot, is used for solving existing welding robot and has that intelligence degree is the highest, fortune
The problem that row track is restricted, cannot be carried out self adaptation welding.
The present invention provides a kind of welding robot, including body and welding gun, processor and the light being arranged on described body
Photodetector；
Described processor is connected with described welding gun and described photoelectric detector respectively；
Described processor controls described body and the fortune of described welding gun for the detection signal according to described photoelectric detector
Dynamic.
Welding robot as above, described body is additionally provided with seam track evaluator and the smooth scanning of solder side
Device；
Described processor is connected with described seam track evaluator and the smooth scanning device of described solder side the most respectively；
Described processor is additionally operable to when described seam track evaluator recognizes weld seam, controls that described solder side is smooth to be swept
Retouch device and scan described weld seam, adjust the motion of described welding gun according to the scanning information of described weld seam.
Welding robot as above, also includes: welding gun arm and welding gun arm tracking controller；Wherein
One end of described welding gun arm is arranged on described body, and described welding gun is arranged on the other end of described welding gun arm；Institute
State welding gun tracking controller to be arranged on described body；
Described processor is also connected with described welding gun tracking controller, and described processor is additionally operable to by described welding gun track
Controller controls the motion of described welding gun arm.
Welding robot as above, the other end of described welding gun arm is provided with chucking device, and described chucking device presss from both sides
Hold described welding gun, described chucking device is provided with welding gun inclination angle dresser；
Described processor is connected with described chucking device and described welding gun inclination angle dresser the most respectively, and described processor is also used
In the shape of the described chucking device of control, adjusted the angle of described welding gun by described welding gun inclination angle dresser.
Welding robot as above, described body is additionally provided with welding rod bin, inside described welding rod bin
It is provided with welding rod ejector；
Described processor is also connected with described welding rod ejector, controls the ejection of welding rod.
Welding robot as above, also includes: remote controllers；
Being additionally provided with wireless signal transceiver on described body, described wireless signal transceiver leads to described remote controllers
Letter connects, and described wireless signal transceiver is also connected with described processor.
Welding robot as above, described body is additionally provided with image acquisition device, described image acquisition device and institute
State processor to connect；
It is provided with display on described remote controllers.
Welding robot as above, described body is additionally provided with obstacle avoidance sensor, described obstacle avoidance sensor and institute
State processor to connect.
Welding robot as above, the bottom of described body is provided with the driving magnet-wheel of caterpillar belt structure.
Welding robot as above, described body is additionally provided with stand-by power supply and driving trace restoring device；
Described processor is connected with described stand-by power supply and described driving trace restoring device；
Described stand-by power supply is connected with described driving trace restoring device and described driving magnet-wheel respectively, for described traveling
Track restoring device and described driving magnet-wheel are powered；
Described processor, for when fault being detected, cuts off the device power supply (DPS) of described welding robot and starts described standby
With power supply, described driving trace restoring device for recording the traveling rail of described driving magnet-wheel when described processor normally works
Mark, when described processor detects fault, controls described driving magnet-wheel and travels return by described track.
The welding robot that the present invention provides, including body and welding gun, processor and the Photoelectric Detection being arranged on body
Device, processor is connected with welding gun and photoelectric detector respectively, and processor controls weldering for the detection signal according to photoelectric detector
The motion of rifle, by arranging photoelectric detector on body, photoelectric detector detection body is relative to the speed of actual welding environment
And distance so that the control signal that processor sends to body and welding gun changes according to the change of welding surroundings, thus realizes
The automatic welding of welding robot can be according to welding surroundings self-adaptative adjustment, it is ensured that welding effect.The weldering that the present invention provides
Welding robot intelligence degree is high, running orbit is unrestricted, can carry out self adaptation welding.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, required use in embodiment being described below
Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be some embodiments of the present invention, for ability
From the point of view of the those of ordinary skill of territory, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing.
The structural representation of the welding robot embodiment one that Fig. 1 provides for the present invention；
The structural representation of the welding robot embodiment two that Fig. 2 provides for the present invention；
The structural representation of the welding robot embodiment three that Fig. 3 provides for the present invention.
Reference:
10 bodies；11 welding guns；
12 processors；13 photoelectric detectors；
14 seam track evaluators；The 15 smooth scanning devices of solder side；
16 welding gun arms；17 welding gun arm tracking controllers；
18 chucking devices；19 welding gun inclination angle dressers；
20 welding rod bins；21 welding rod ejectors；
22 remote controllers；23 wireless signal transceivers；
24 display；25 drive magnet-wheel；
26 stand-by power supplies；27 driving trace restoring devices.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
The structural representation of the welding robot embodiment one that Fig. 1 provides for the present invention, as it is shown in figure 1, welding robot
Including: body 10 and the welding gun 11, processor 12 and the photoelectric detector 13 that are arranged on body 10；
Processor 12 is connected with welding gun 11 and photoelectric detector 13 respectively；
Processor 12 is for the detection signal controlling machine body 10 according to photoelectric detector 13 and the motion of welding gun 11.
Exemplary, welding robot includes the body 10 that can automatically move, and body 10 is provided with processor 12, processes
Device 12 controls body 10 and moves according to welding surroundings demand or rotate special angle.Welding gun 11 it is additionally provided with on body 10, optional
, welding gun 11 is arranged on the top of body 10, and processor 12 not only can control the motion of body 10, also can control the fortune of welding gun 11
Dynamic, to realize welding.Optionally, welding robot can be used for realizing arc-welding.
In prior art, processor 12 controls body 10 and welding gun 11 along corresponding orbiting motion according to pre-set programs, it is achieved weight
Multiple weld job.The welding robot that the present invention provides also includes that photoelectric detector 13, photoelectric detector 13 are arranged on body 10
Outer surface on, for detecting the speed of service of body 10 and body 10 relative to the distance of workpiece to be welded, can realize treating
Automatically identifying and the automatic tracing of surface of the work track of welding workpiece.Processor 12 is according to the detection signal of photoelectric detector 13
Control body 10 and the motion of welding gun 11, it is achieved automatic welding.Owing to the detection signal of photoelectric detector 13 is along with welding surroundings
Change and change, therefore processor 12 can be according to actual welding environmental Kuznets Curves body 10 and the motion of welding gun 11.
The welding robot that the present invention provides, including body and welding gun, processor and the Photoelectric Detection being arranged on body
Device, processor is connected with welding gun and photoelectric detector respectively, and processor controls weldering for the detection signal according to photoelectric detector
The motion of rifle, by arranging photoelectric detector on body, photoelectric detector detection body is relative to the speed of actual welding environment
And distance so that the control signal that processor sends to body and welding gun changes according to the change of welding surroundings, thus realizes
The automatic welding of welding robot can be according to welding surroundings self-adaptative adjustment, it is ensured that welding effect.The weldering that the present invention provides
Welding robot intelligence degree is high, running orbit is unrestricted, can carry out self adaptation welding.
Further, on the basis of welding robot shown in Fig. 1, the welding robot that Fig. 2 provides for the present invention is implemented
The structural representation of example two, as in figure 2 it is shown, be additionally provided with seam track evaluator 14 and the smooth scanning device of solder side on body 10
15；
Processor 12 scanning device 15 smooth with seam track evaluator 14 and solder side the most respectively is connected；
Processor 12 is additionally operable to when seam track evaluator 14 recognizes weld seam, controls the smooth scanning device of solder side 15 and sweeps
Retouch weld seam, adjust the motion of welding gun 11 according to the scanning information of weld seam.
Exemplary, in order to improve welding quality further, butt welded seam quality can exercise supervision while welding, and root
Carry out welding according to the quality of completed weld seam to optimize, thus ensure welding quality.Concrete, weld seam can be set on body 10
Track identification device 14 and the smooth scanning device of solder side 15, seam track evaluator 14 is used for identifying weld seam, the smooth scanning of solder side
Device 15 is used for scanning weld seam, extracts the characteristic information in welding process, processor 12 respectively with seam track evaluator 14 and weldering
The smooth scanning device of junction 15 connects, and receives seam track evaluator 14 and the detection signal of the smooth scanning device of solder side 15.
When specifically used, when processor 12 receives the signal recognizing weld seam that seam track evaluator 14 sends
Time, or according to the signal that seam track evaluator 14 sends, processor 12 determines that seam track evaluator 14 recognizes weld seam
Time, control the smooth scanning device of solder side 15 weld seam to identifying and be scanned, obtain the characteristic information in welding process, process
Device 12 determines the welding quality of weld seam according to the characteristic information of weld seam.When welding quality is higher, can not be modified, work as welding
When quality is relatively low, as precision is relatively low, processor 12 adjusts the motion of welding gun 11 according to the gap of welding quality with prospective quality, with
Improve welding quality.
Further, as in figure 2 it is shown, welding robot also includes: welding gun arm 16 and welding gun arm tracking controller 17；Wherein
One end of welding gun arm 16 is arranged on body 10, and welding gun 11 is arranged on the other end of welding gun arm 16；Welding gun track control
Device 17 processed is arranged on body 10；
Processor 12 is connected with welding gun tracking controller 17, and processor 12 is for controlling weldering by welding gun tracking controller 17
The motion of rifle arm 16.
Exemplary, welding gun 11 is arranged on body 10 by welding gun arm 16.Welding gun arm 16 is made up of at least one connecting rod,
By set up can the welding gun arm 16 of deformation, increase the range of movement of welding gun 11, improve the scope of application of welding robot, also
Improve the motility of welding gun 11.Welding gun tracking controller 17 is arranged on body 10, is specifically as follows welding gun arm 16 and body
The junction of 10, welding gun tracking controller 17 is for controlling the motion of welding gun arm 16.When implementing, welding gun tracking controller
The function of 17 also can be integrated in processor 12.Processor 12, according to the detection signal of photoelectric detector, controls welding gun arm simultaneously
16 and welding gun 11, to facilitate welding gun 11 to realize welding.
Further, as in figure 2 it is shown, the other end of welding gun arm 16 is provided with chucking device 18, chucking device 18 clamping weldering
Rifle 11, chucking device 18 is provided with welding gun inclination angle dresser 19；
Processor 12 is connected with chucking device 18 and welding gun inclination angle dresser 19 the most respectively, and processor 12 is additionally operable to control folder
The shape of holding equipment 12, adjusts the angle of welding gun 11 by welding gun inclination angle dresser 19.
Exemplary, welding gun arm 16 clamps welding gun 11 for the on-fixed end connecting welding gun 11 by chucking device 18, folder
Holding equipment 18 clamps, for deformable welding gun, the mechanism that follows an example, and processor 12 is connected with chucking device 18, controls chucking device 18
The welding surroundings on border deforms factually, facilitates the most complicated welding surroundings of welding gun 11, improves the applicable surface welded.
Optionally, on chucking device 18, for the more flexible soldering angle controlling welding gun 11, can be on chucking device 18
Welding gun inclination angle dresser 19 is set.The effect of welding gun inclination angle dresser 19 is to improve the flatness of solder side, prevents from being moved through
The slope change caused in journey and the flatness making solder side is destroyed.
Optionally, as in figure 2 it is shown, be additionally provided with welding rod bin 20, welding rod bin on the body 10 of welding robot
20 are internally provided with welding rod ejector 21；
Processor 12 is also connected with welding rod ejector 21, controls the ejection of welding rod.
Exemplary, the body 10 of welding robot is additionally provided with welding rod bin 20, welding rod bin 20 generally sets
Put the upper surface at body 10, to facilitate welding gun 11 to take welding rod.Further, welding rod bin 20 is internally provided with welding rod bullet
Going out device 21, welding rod ejector 21 is connected with processor 12, and processor 12 is additionally operable to according to actual welding situation, control welding rod from
Move out, to improve welding efficiency.
Further, on the basis of welding robot shown in Fig. 1 or Fig. 2, the welding robot that Fig. 3 provides for the present invention
The structural representation of embodiment three, as it is shown on figure 3, welding robot also includes remote controllers 22, body 10 is additionally provided with
Wireless signal transceiver 23, wireless signal transceiver 23 communicates to connect with remote controllers 22, wireless signal transceiver 23 also with
Processor 12 connects.
Concrete, for improving the scope of application of welding robot further, improve the motility of welding robot, can be at machine
Setting up wireless signal transceiver 23 on body 10, wireless signal transceiver 23 is connected with processor 12, wireless signal transceiver 23 with
Remote controllers 22 realize communication connection by mobile network's technology or Bluetooth technology.
User enters the operating instructions on remote controllers 22, and the operational order of user is passed through wireless by remote controllers 22
Network is sent to wireless signal transceiver 23, and the operational order of user is sent to processor 12 by wireless signal transceiver 23, place
Reason device 12 controls body 10, welding gun arm 16, the motion of welding gun 11 according to the operational order of user.Concrete, remote controllers 22
On the devices such as stick can be set to facilitate user to enter the operating instructions.
Further, body 10 being additionally provided with image acquisition device, image acquisition device is connected with processor 12；Remotely control
Display 24 it is provided with on device 22.
When welding surroundings is severe, it has not been convenient to when technical staff observes, can arrange on body 10 or welding arm 16 further
Image acquisition device, image acquisition device is connected with processor 12, and the image collected is sent to processor 12.Remote controllers
Display 24, the image that the image acquisition device that display 24 sends for video-stream processor 12 collects are set on 22.
Further, body 10 being additionally provided with obstacle avoidance sensor, obstacle avoidance sensor is connected with processor 12.Exemplary
, when there is foreign body suddenly in welding surroundings, obstacle avoidance sensor is for when detecting it may happen that collide, to processor 12
Sending a warning message, processor 12 controls welding robot and suspends welding when receiving warning information.Optionally, on body 10
Can arrange multiple obstacle avoidance sensor, obstacle avoidance sensor can also be provided on welding gun arm 16.
Optionally, as it is shown on figure 3, the bottom of body 10 is provided with the driving magnet-wheel 25 of caterpillar belt structure.
Exemplary, the driving magnet-wheel 25 of caterpillar belt structure is internal comprises two magnet-wheels.Magnet-wheel itself is driven to have magnetic, can
Absorption is on metal works to be welded, and therefore welding machine robot can walk on the iron and steel face of any angle, solves existing
The problem having welding robot can only walk on the track designed, improves the mobility of welding robot, simultaneously
Track structure obstacle climbing ability is relatively strong, also further increases the motility of welding robot.
Optionally, as it is shown on figure 3, be additionally provided with stand-by power supply 26 and driving trace restoring device 27 on body 10；
Processor 12 is connected with stand-by power supply 26 and driving trace restoring device 27；
Stand-by power supply 26 is connected with driving trace restoring device 27 and driving magnet-wheel 25 respectively, for driving trace restoring device
27 power with driving magnet-wheel 25；
Processor 12, for when fault being detected, cuts off the device power supply (DPS) of welding robot and starts stand-by power supply 26,
Driving trace restoring device 27 drives the driving trace of magnet-wheel 25 for the record when processor 12 normally works, and examines at processor 12
When measuring fault, control to drive magnet-wheel 25 to press track and travel return.
Concrete, body 10 is additionally provided with stand-by power supply 26 and driving trace restoring device 27, it is contemplated that work as welding process
In when breaking down, if welding robot exits welding chamber lattice not in time, it is understood that there may be welding robot is stuck in the lattice of cabin side
Just the problem taken out, is controlled welding robot when fault occurs by backtracking by driving trace restoring device 27, exits welding
Cabin lattice.Exemplary, processor 12 is connected with stand-by power supply 26 and driving trace restoring device 27, when processor 12 detects fault
Time, cut off the device power supply (DPS) of welding robot and start stand-by power supply 26.Exemplary, fault can be obstacle avoidance sensor detection
Arrive it may happen that collide, or processor 12 is true according to the scanning result of the smooth scanning device of seam track evaluator 14 and solder side 15
The poor needs of settled front welding quality checks.Driving trace restoring device 27 drives magnetic for the record when processor 12 normally works
The driving trace of wheel 25, when processor 12 detects fault, controls to drive magnet-wheel 25 to press track and travels return, thus control weldering
Welding robot exits current welding surroundings, protects welding robot, facilitate maintenance, it is to avoid welding robot when fault occurs
The problem that people is inconvenient in being stuck in cabin lattice take out.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；To the greatest extent
The present invention has been described in detail by pipe with reference to foregoing embodiments, it will be understood by those within the art that: it depends on
So the technical scheme described in foregoing embodiments can be modified, or the most some or all of technical characteristic is entered
Row equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a welding robot, it is characterised in that including: body and the welding gun, processor and the light that are arranged on described body
Photodetector；
Described processor is connected with described welding gun and described photoelectric detector respectively；
Described processor controls described body and the motion of described welding gun for the detection signal according to described photoelectric detector.
Welding robot the most according to claim 1, it is characterised in that be additionally provided with seam track identification on described body
Device and the smooth scanning device of solder side；
Described processor is connected with described seam track evaluator and the smooth scanning device of described solder side the most respectively；
Described processor is additionally operable to, when described seam track evaluator recognizes weld seam, control the smooth scanning device of described solder side
Scan described weld seam, adjust the motion of described welding gun according to the scanning information of described weld seam.
Welding robot the most according to claim 2, it is characterised in that also include: welding gun arm and welding gun arm TRAJECTORY CONTROL
Device；Wherein
One end of described welding gun arm is arranged on described body, and described welding gun is arranged on the other end of described welding gun arm；Described weldering
Rifle tracking controller is arranged on described body；
Described processor is also connected with described welding gun tracking controller, and described processor is additionally operable to by described welding gun TRAJECTORY CONTROL
Device controls the motion of described welding gun arm.
Welding robot the most according to claim 3, it is characterised in that the other end of described welding gun arm is provided with clamping and sets
Standby, described chucking device clamps described welding gun, and described chucking device is provided with welding gun inclination angle dresser；
Described processor is connected with described chucking device and described welding gun inclination angle dresser the most respectively, and described processor is additionally operable to control
Make the shape of described chucking device, adjusted the angle of described welding gun by described welding gun inclination angle dresser.
Welding robot the most according to claim 4, it is characterised in that be additionally provided with welding rod bin on described body,
Described welding rod bin is internally provided with welding rod ejector；
Described processor is also connected with described welding rod ejector, controls the ejection of welding rod.
Welding robot the most according to claim 5, it is characterised in that also include: remote controllers；
Wireless signal transceiver, described wireless signal transceiver and described remote controllers communication link it is additionally provided with on described body
Connecing, described wireless signal transceiver is also connected with described processor.
Welding robot the most according to claim 6, it is characterised in that be additionally provided with image acquisition device on described body,
Described image acquisition device is connected with described processor；
It is provided with display on described remote controllers.
Welding robot the most according to claim 7, it is characterised in that be additionally provided with obstacle avoidance sensor on described body,
Described obstacle avoidance sensor is connected with described processor.
Welding robot the most according to claim 8, it is characterised in that the bottom of described body is provided with caterpillar belt structure
Drive magnet-wheel.
Welding robot the most according to claim 9, it is characterised in that be additionally provided with on described body stand-by power supply and
Driving trace restoring device；
Described processor is connected with described stand-by power supply and described driving trace restoring device；
Described stand-by power supply is connected with described driving trace restoring device and described driving magnet-wheel respectively, for described driving trace
Restoring device and described driving magnet-wheel are powered；
Described processor, for when fault being detected, cuts off the device power supply (DPS) of described welding robot and starts described standby electricity
Source, described driving trace restoring device is used for recording the driving trace of described driving magnet-wheel when described processor normally works,
When described processor detects fault, control described driving magnet-wheel and travel return by described track.
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| CN201610882325.6A CN106271285B (en) | 2016-10-10 | 2016-10-10 | Welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610882325.6A CN106271285B (en) | 2016-10-10 | 2016-10-10 | Welding robot |
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| CN106271285B CN106271285B (en) | 2018-02-13 |
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| CN201610882325.6A Expired - Fee Related CN106271285B (en) | 2016-10-10 | 2016-10-10 | Welding robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107855704A (en) * | 2017-12-01 | 2018-03-30 | 河南宝盛精密机械有限公司 | Rush-harvesting and rush-planting coordinate welding robot |
| CN109986251A (en) * | 2019-05-16 | 2019-07-09 | 董青文 | A kind of multi-functional automatic stabilisation welding robot |
| CN111037174A (en) * | 2019-12-09 | 2020-04-21 | 中建钢构有限公司 | Welding control method and welding control system |
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| CN104588838A (en) * | 2015-02-07 | 2015-05-06 | 芜湖安普机器人产业技术研究院有限公司 | Automatic tracking control and online correction system with welding gun and control method thereof |
| CN206273467U (en) * | 2016-10-10 | 2017-06-23 | 山东科技大学 | Welding robot |
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| CN107855704A (en) * | 2017-12-01 | 2018-03-30 | 河南宝盛精密机械有限公司 | Rush-harvesting and rush-planting coordinate welding robot |
| CN109986251A (en) * | 2019-05-16 | 2019-07-09 | 董青文 | A kind of multi-functional automatic stabilisation welding robot |
| CN109986251B (en) * | 2019-05-16 | 2020-10-16 | 南京勒佳电气有限公司 | Multifunctional automatic stable welding robot |
| CN111037174A (en) * | 2019-12-09 | 2020-04-21 | 中建钢构有限公司 | Welding control method and welding control system |
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