CN109676253B - Automatic laser welding machine for electric connector and multi-core cable - Google Patents
Automatic laser welding machine for electric connector and multi-core cable Download PDFInfo
- Publication number
- CN109676253B CN109676253B CN201910117156.0A CN201910117156A CN109676253B CN 109676253 B CN109676253 B CN 109676253B CN 201910117156 A CN201910117156 A CN 201910117156A CN 109676253 B CN109676253 B CN 109676253B
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- electric connector
- conveyor belt
- welding
- electromagnetic chuck
- wire
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Laser Beam Processing (AREA)
- Manufacturing Of Electrical Connectors (AREA)
Abstract
The invention belongs to the technical field of electromechanics, and particularly discloses an automatic laser welding machine for an electric connector and a multi-core cable. The executing elements are cylinders, linear modules, servo motors, manipulators and the like. The equipment is provided with an electric connector conveying mechanism, one side of the conveying mechanism is provided with an electric connector feeding mechanism, and a welding position changing mechanism is arranged below the electric connector feeding mechanism; one side of the displacement mechanism is provided with a wire pressing table; and a wire clamping mechanical hand is arranged between the wire pressing table and the displacement mechanism. Aiming at the welding of the electric connector and the multi-wire cable which are distributed in a circular shape, the automatic welding between the electric connector and the multi-wire cable can be realized, so that the further automation is realized, and the problems of low efficiency and high error rate of the traditional manual welding between the electric connector and the multi-wire cable are solved.
Description
Technical Field
The invention belongs to the technical field of electromechanics, and particularly relates to an automatic laser welding machine for an electric connector and a multi-core cable.
Background
The electric connector has strong anti-interference capability and good insulation; the conductive coating has good environmental adaptability, can be used in various severe environments, and has good conductive performance; firm in connection, dismantle convenient and fast, can prevent advantages such as wrong plug pin. Along with the progress of science and technology and the continuous improvement of precision requirements of various technical fields, the application of the electric connector is more and more popular, and the electric connector gradually changes from aerospace to industrial fields and civil fields. The large market represents a large demand, and today's electrical connectors require a large amount of work, and the efficiency and accuracy of conventional hand-tooling has not been able to meet the increasing demand. As known from field examination in the factory and communication with the skilled person, soldering of electrical connectors and multi-core cables is done manually at the present stage: manually welding the electric connector welding cups together by using the electric soldering iron with the tin materials according to the wire numbers on the inner core wires of the multi-core cable and the electric connector welding cups corresponding to the welding cup numbers. The manual processing mode has the defects of low processing efficiency, poor quality, high production cost, great harm to the health of workers and the like. The development of an automatic soldering apparatus between an electrical connector and a multi-core cable is imperative because of the large market demand and the disadvantages of manual processing, which cause great resistance to the improvement of production efficiency and the popularization of the electrical connector.
The equipment has the advantages of high production efficiency, high processing precision and the like, and the automation of the process is particularly important under the trend that the electric connectors are used in more and more occasions. Based on the technical background, the invention provides a mechanical structure of an electric connector and automatic welding equipment of a multi-wire cable.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an automatic laser welding machine for an electric connector and a multi-core cable.
The invention adopts the following technical scheme:
the invention relates to an automatic laser welding machine for an electric connector and a multi-core cable, which comprises a line pressing platform, an electromagnetic chuck arranged at one end of the line pressing platform, an electric connector feeding chain plate type conveyor belt mechanism arranged at one side of the electromagnetic chuck and used for conveying the electric connector, a laser welding machine arranged above the electromagnetic chuck and a feeding sliding cylinder used for conveying the electric connector from the electric connector feeding chain plate type conveyor belt mechanism into the electromagnetic chuck, wherein a finger cylinder is arranged on the feeding sliding cylinder; and a CCD industrial camera for shooting the section of the electric connector is arranged above the welding positioner.
Preferably, the welding positioner comprises a displacement servo motor and a rotary servo motor arranged on the displacement servo motor, and the electromagnetic chuck is arranged on an output shaft of the rotary servo motor.
Preferably, the electric connector feeding chain plate type conveyor belt mechanism comprises a conveyor belt stepping motor, positioning holes, a chain plate type conveyor belt and a conveyor belt support, the conveyor belt stepping motor is located on the left side of the electric connector feeding chain plate type conveyor belt mechanism, the positioning holes are uniformly distributed on the chain plate type conveyor belt, and the conveyor belt support is arranged below the chain plate type conveyor belt.
Preferably, the laser welding machine is arranged on the movable support base, the movable support base comprises a transverse straight line module arranged on the left side of the welding positioner and a longitudinal straight line module arranged on the transverse straight line module, and the laser welding machine is fixed on the longitudinal straight line module.
Preferably, the welding positioner is arranged 20mm away from the right end face of the transverse linear module, and the line pressing platform is arranged 30mm away from the right end face of the welding positioner.
Preferably, the central lines of the laser welding machine, the transverse linear module, the longitudinal linear module, the welding positioner, the line pressing platform, the CCD industrial camera and the multi-core line positioning groove in the moving direction of the conveyor belt are all in a vertical plane.
Preferably, the CCD industrial camera is arranged on the left side of the line pressing platform, and the installation angle of the CCD industrial camera is 30 degrees; the distance between the wire clamping mechanical arm and the wire pressing platform is 53 mm.
Preferably, the material loading sliding cylinder is arranged right above the welding positioner, and the finger cylinder is arranged on the material loading sliding cylinder, so that the finger cylinder can slide on the material loading sliding cylinder.
Preferably, the finger cylinder can grab the electric connector on the conveyor belt and can reach the position of the electromagnetic chuck through the feeding sliding cylinder, and the electric connector is placed in the opened electromagnetic chuck.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention realizes the automatic welding of the cable and the circularly distributed electric connector (also known as an aviation plug), and improves the production efficiency and the processing precision.
2. The invention can reduce the number of workers and the labor intensity. And can be continuously and automatically produced in large batch.
3. The invention has scientific and reasonable layout, greatly improves the production efficiency, has convenient and flexible operation and is beneficial to popularization and application.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the present invention showing the loading and positioning of the electrical connector;
FIG. 3 is a schematic diagram of a secondary positioning position of the electromagnetic chuck according to the present invention;
FIG. 4 is a schematic view illustrating the welding effect of the electromagnetic chuck according to the present invention;
FIG. 5 is a diagram of the operating position of the automatic laser welder of the present invention;
fig. 6 is a structural view of a thread clamping robot according to the present invention.
In the figure: 1. the electric connector feeding chain plate type conveying belt mechanism; 2. a conveyor belt support; 3. a finger cylinder; 4. a feeding sliding cylinder; 5. a transverse straight line module; 6. a longitudinal straight line module; 7. laser welding machine; 8. welding a positioner; 9. an electromagnetic chuck; 10. a CCD industrial camera; 11. a multi-core wire positioning groove; 12. a first wire pressing cylinder; 13. a wire clamping manipulator; 14. a wire pressing platform; 15. a second wire pressing cylinder; 101. a conveyor belt stepper motor; 102. positioning holes; 103. a chain slat conveyor; 104. an electrical connector; 801. a position-changing servo motor; 802. rotating the servo motor; 1301. the waist of the manipulator controls a servo motor; 1302. the elbow of the manipulator controls a servo motor; 1303. the mechanical wrist part controls a servo motor; 1304. the thread clamping finger cylinder.
Detailed Description
The following describes in detail a specific embodiment of the present invention with reference to the drawings.
See fig. 1-6.
The invention relates to an automatic laser welding machine for an electric connector and a multi-core cable, which comprises a wire pressing platform 14, an electromagnetic chuck 9 arranged at one end of the wire pressing platform 14, an electric connector feeding chain plate type conveyor belt mechanism 1 arranged at one side of the electromagnetic chuck 9 and used for conveying the electric connector, a laser welding machine 7 arranged above the electromagnetic chuck 9 and a feeding sliding cylinder 4 used for conveying the electric connector from the electric connector feeding chain plate type conveyor belt mechanism 1 into the electromagnetic chuck 9, wherein a finger cylinder 3 is arranged on the feeding sliding cylinder 4, a wire clamping manipulator 13 for clamping the inner core wire and welding the inner core wire with the electric connector is arranged on one side of the wire pressing platform 14, a first wire pressing cylinder 12 and a second wire pressing cylinder 15 are arranged on a wire pressing platform 14, a multi-core wire positioning groove 11 is arranged at one end, close to an electromagnetic chuck 9, of the wire pressing platform 14, and the electromagnetic chuck 9 is arranged on a welding positioner 8; and a CCD industrial camera 10 for shooting the section of the electric connector is arranged above the welding positioner 8.
Preferably, the welding positioner 8 includes a displacement servo motor 801 and a rotation servo motor 802 disposed on the displacement servo motor 801, and the electromagnetic chuck 9 is disposed on an output shaft of the rotation servo motor 802.
Preferably, the electric connector feeding chain plate type conveyor belt mechanism 1 comprises a conveyor belt stepping motor 101, a positioning hole 102, a chain plate type conveyor belt 103 and a conveyor belt support 2, the conveyor belt stepping motor 101 is located on the left side of the electric connector feeding chain plate type conveyor belt mechanism 1, the positioning hole 102 is uniformly distributed on the chain plate type conveyor belt 103, and the conveyor belt support 2 is arranged below the chain plate type conveyor belt 103.
Preferably, the laser welding machine 7 is arranged on a movable support seat, the movable support seat comprises a transverse straight line module 5 arranged on the left side of the welding positioner 8 and a longitudinal straight line module 6 arranged on the transverse straight line module 5, and the laser welding machine 7 is fixed on the longitudinal straight line module 6.
Preferably, the welding positioner 8 is arranged 20mm away from the right end face of the transverse linear module 5, and the line pressing platform 14 is arranged 30mm away from the right end face of the welding positioner 8.
Preferably, the central lines of the mechanisms of the laser welding machine 7, the transverse linear module 5, the longitudinal linear module 6, the welding positioner 8, the line pressing platform 14, the CCD industrial camera 10 and the multi-core line positioning groove 11 in the moving direction of the conveyor belt are all in a vertical plane.
Preferably, the CCD industrial camera 10 is arranged at the left side of the line pressing platform 14, and the installation angle of the CCD industrial camera 10 is 30 °; the distance between the wire clamping manipulator 13 and the wire pressing platform 14 is 53 mm.
Preferably, the feeding sliding cylinder 4 is arranged right above the welding positioner 8, and the finger cylinder 3 is mounted on the feeding sliding cylinder 4, so that the finger cylinder 3 can slide on the feeding sliding cylinder 4.
Preferably, the finger cylinder 3 can grab the electric connector on the conveyor belt and can also reach the position of the electromagnetic chuck 9 through the feeding sliding cylinder 4 to place the electric connector into the opened electromagnetic chuck 9.
The working principle is as follows: the electric connector is manually and initially positioned in a feeding mode as shown in figure 2. The conveyor belt is a chain plate type conveyor belt 103, a positioning hole 102 is formed in the chain plate type conveyor belt 103, an electric connector 104 is arranged in a mode shown in figure 2, a welding opening of a welding cup of the electric connector 104 faces upwards, and the welding opening faces towards one side of the conveyor belt stepping motor 101. The electrical connectors are placed in the belt positioning holes 102 in the above-described placement manner, and the initial positioning of the electrical connectors is performed in this manner. The conveyor stepper motor 101 drives the conveyor forward and the electrical connector 104 moves inward. When the electrical connector 104 reaches the loading position, the movement of the conveyor belt is stopped after the photoelectric sensor detects the electrical connector 104. The finger cylinder 3 clamps the electric connector, after clamping, the electric connector feeding cylinder 4 moves to move the finger cylinder 3 and the electric connector clamped by the finger cylinder 3 to a position where the center of the electric connector is aligned with the center of the electromagnetic chuck 9, the finger cylinder 3 is loosened, the electric connector is placed into the opened electromagnetic chuck 9, and the electromagnetic chuck 9 clamps the electric connector. The electromagnetic chuck 9 is now in the dotted line position of figure 3.
The welding positioner 8 is composed of a displacement servo motor 801, a rotary servo motor 802 and an electromagnetic chuck 9. The electromagnetic chuck 9 can be switched to different working positions around the axis of the displacement servo motor 801, and the rotation servo motor 802 can drive the electromagnetic chuck to rotate under the condition of different positions. After the electric connector 21 is loaded, the servo motor 801 for displacement works, when the position of the electromagnetic chuck 9 is changed to the position as shown by the solid line in fig. 3, an included angle of 30 degrees is formed between the position and the welding position, and at the moment, the electric connector is positioned for the second time, and the purpose of positioning is to enable the welding cup to be accurately and vertically upwards welded. The cross section of the electrical connector at this position is parallel to the lens of the CCD industrial camera 10. The CCD industrial camera 10 shoots the section of the electric connector, transmits the shot picture to a PC for processing and identification operation, and identifies and fits the circle center of the welding cup in the shot picture through MATLAB software to compare with a world coordinate system, thereby calculating the deviation angle. The deviation angle obtained by MATLAB is transmitted to PLC, and the rotary servo motor 802 is controlled by PLC to drive the electromagnetic chuck 9 to rotate for angle compensation, so that the second accurate positioning is automatically realized. After the second positioning is finished, the position changing motor drives the electromagnetic chuck 9 to change to the position of the solid line in the welding position figure 4.
Fig. 6 is a structural view of the wire clamping robot 13. The movement of the waist of the manipulator is realized by controlling the servo motor 1301 by the waist of the manipulator, so that the whole rotation of the manipulator can be realized; the motion of the elbow of the manipulator is achieved by a manipulator elbow control servo motor 1302. The large arm of the manipulator can reciprocate around the elbow joint; the wrist movement is realized by controlling the rotation of the servo motor 1303 by the wrist of the mechanical hand, and the rotation movement of the wire clamping finger cylinder 1304 around the center line of the forearm can be realized. The wire clamping mechanical arm 13 is used for clamping the inner core wire by the wire clamping finger cylinder 1304. The four parts are mutually matched to realize that the inner core wires are sequentially clamped from the multi-core wire positioning groove, and the clamped inner core wires are sent to the welding openings of the welding cups. In order to ensure that each joint works accurately, all motors adopt servo motors. The cable that leaks the interior heart yearn that will shell is put into the multicore line constant head tank 11 on line ball platform 14 in proper order, realizes a groove one line, and first line ball cylinder 12 and the work of second line ball cylinder 15 compress tightly the cable.
After the electric connector is ready for welding, the automatic laser welding machine 7 is fixed on the longitudinal linear module 6 through bolts during welding, and the longitudinal linear module 6 moves to the electromagnetic chuck 9 on the transverse linear module 5 and moves to the position shown in fig. 5. The dotted line in fig. 5 is simulated as the welding laser irradiation light. The transverse linear module 5 and the longitudinal linear module 6 drive the welding working position of the automatic laser welding machine 7 as shown in figure 5, and the emitted laser can be ensured to directly irradiate the mouth of the welding cup. B in fig. 5 is a partial two-dimensional view of the electrical connector solder cup at a partial magnification of 5. The wire clamping mechanical arm 13 clamps the inner core wire with the wire number corresponding to the current electric connector welding cup number, and the laser welding machine 7 works to weld the inner core wire and the welding cup number together when the inner core wire reaches the welding cup opening. After the welding of the welding cup is finished, the rotary servo motor 802 drives the electromagnetic chuck 9 to rotate, so that the electric connector also rotates along with the electromagnetic chuck, and the cup mouth of the next welding cup faces vertically upwards; the wire clamping manipulator 13 clamps the inner core wire corresponding to the number of the next welding cup, the stripped port of the inner core wire is placed in the welding cup, and the laser welding machine 7 works to weld the inner core wire and the welding cup together. Because the distribution positions of the welding cups are uniformly distributed in 360 degrees, and the electric connector is positioned for the second time, the mouth of the first welding cup is ensured to be vertically upward, so that the next welding cup can be welded by rotating the servo motor 802 for a fixed angle every time, and the welding mouth of the next welding cup is also ensured to be vertically upward. And the wire clamping manipulator 13 sequentially clamps the inner core wires to be welded with the inner core wires until all the welding cups of the electric connectors are welded, and one-time welding is finished.
Claims (1)
1. An automatic laser welding machine for an electric connector and a multi-core cable is characterized by comprising a wire pressing platform (14), an electromagnetic chuck (9) arranged at one end of the wire pressing platform (14), an electric connector feeding chain plate type conveyor belt mechanism (1) arranged on one side of the electromagnetic chuck (9) and used for conveying the electric connector, a laser welding machine (7) arranged above the electromagnetic chuck (9) and a feeding sliding cylinder (4) used for conveying the electric connector from the electric connector feeding chain plate type conveyor belt mechanism (1) into the electromagnetic chuck (9), a finger cylinder (3) is arranged on the feeding sliding cylinder (4), a wire clamping manipulator (13) used for clamping an inner core wire and welding the electric connector is arranged on one side of the wire pressing platform (14), a first wire pressing cylinder (12) and a second wire pressing cylinder (15) are arranged on the wire pressing platform (14), a multi-core wire positioning groove (11) is formed in one end, close to the electromagnetic chuck (9), of the wire pressing platform (14), and the electromagnetic chuck (9) is arranged on the welding positioner (8); a CCD industrial camera (10) for shooting the section of the electric connector is arranged above the welding positioner (8);
the welding positioner (8) comprises a displacement servo motor (801) and a rotary servo motor (802) arranged on the displacement servo motor (801), and the electromagnetic chuck (9) is arranged on an output shaft of the rotary servo motor (802);
the electric connector feeding chain plate type conveyor belt mechanism (1) comprises a conveyor belt stepping motor (101), positioning holes (102), a chain plate type conveyor belt (103) and a conveyor belt support (2), wherein the conveyor belt stepping motor (101) is located on the left side of the electric connector feeding chain plate type conveyor belt mechanism (1), the positioning holes (102) are uniformly distributed on the chain plate type conveyor belt (103), and the conveyor belt support (2) is arranged below the chain plate type conveyor belt (103);
the laser welding machine (7) is arranged on a movable supporting seat, the movable supporting seat comprises a transverse linear module (5) arranged on the left side of the welding positioner (8) and a longitudinal linear module (6) arranged on the transverse linear module (5), and the laser welding machine (7) is fixed on the longitudinal linear module (6);
the welding positioner (8) is arranged 20mm away from the right end face of the transverse linear module (5), and the line pressing platform (14) is arranged 30mm away from the right end face of the welding positioner (8);
the symmetrical central lines of the laser welding machine (7), the transverse linear module (5), the longitudinal linear module (6), the welding positioner (8), the line pressing platform (14), the CCD industrial camera (10) and the multi-core line positioning groove (11) are all in a vertical plane;
the CCD industrial camera (10) is arranged on the left side of the line pressing platform (14), and the installation angle of the CCD industrial camera (10) is 30 degrees; the distance between the wire clamping manipulator (13) and the wire pressing platform (14) is 53 mm;
the feeding sliding cylinder (4) is arranged right above the welding positioner (8), and the finger cylinder (3) is mounted on the feeding sliding cylinder (4) so that the finger cylinder (3) can slide on the feeding sliding cylinder (4);
the finger cylinder (3) can grab the electric connector on the conveyor belt and can reach the position of the electromagnetic chuck (9) through the feeding sliding cylinder (4), and the electric connector is placed in the opened electromagnetic chuck (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910117156.0A CN109676253B (en) | 2019-02-13 | 2019-02-13 | Automatic laser welding machine for electric connector and multi-core cable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910117156.0A CN109676253B (en) | 2019-02-13 | 2019-02-13 | Automatic laser welding machine for electric connector and multi-core cable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109676253A CN109676253A (en) | 2019-04-26 |
| CN109676253B true CN109676253B (en) | 2021-02-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910117156.0A Expired - Fee Related CN109676253B (en) | 2019-02-13 | 2019-02-13 | Automatic laser welding machine for electric connector and multi-core cable |
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| Country | Link |
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| CN (1) | CN109676253B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110355469A (en) * | 2019-07-26 | 2019-10-22 | 湖南大学 | A kind of the Nonopaque type welder and welding method of micro- spacing metal pin and core wire |
| CN110491690A (en) * | 2019-09-23 | 2019-11-22 | 台州市柯奇自动化科技有限公司 | A kind of capacitor core welding cap all-in-one machine |
| CN110977308B (en) * | 2020-01-02 | 2020-11-06 | 浙江劳士顿科技股份有限公司 | Coaxial cable shielding layer welding machine |
| AT525466B1 (en) * | 2021-09-27 | 2023-11-15 | Andritz Soutec Ag | DEVICE AND METHOD FOR LASER WELDING STEEL PLATES |
| CN117961367B (en) * | 2023-12-15 | 2024-05-28 | 天津市三鑫阳光工贸有限公司 | Metal casing welding set |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11214412A (en) * | 1998-01-22 | 1999-08-06 | Mitsubishi Electric Corp | Frame welding device and method |
| CN200944422Y (en) * | 2006-09-08 | 2007-09-05 | 惠州市德赛电池有限公司 | Equipment for packaging electric core |
| CN201493580U (en) * | 2009-09-27 | 2010-06-02 | 张美强 | Infrared connector welder |
| CN204685919U (en) * | 2015-02-02 | 2015-10-07 | 深圳市联欣科技有限公司 | A kind of USB welding equipment |
| CN205414825U (en) * | 2016-03-23 | 2016-08-03 | 广州市聚维专用汽车零部件有限公司 | Welding positioner |
| CN105772943B (en) * | 2016-05-11 | 2018-02-13 | 温州职业技术学院 | Multistation laser welding automates outfit |
| CN105798493B (en) * | 2016-05-16 | 2018-09-04 | 石河子大学 | A kind of feed mechanism for seed waist belt assembly flexible welding work station |
| CN205650945U (en) * | 2016-05-25 | 2016-10-19 | 广州兴铼激光科技有限公司 | Robot manipulator laser -beam welding machine |
| CN107627069A (en) * | 2016-07-18 | 2018-01-26 | 太仓力山机械设备有限公司 | A kind of positioner |
| CN106346187A (en) * | 2016-11-17 | 2017-01-25 | 苏州澳冠智能装备股份有限公司 | Multi-station universal type robot welding positioner |
| CN106785777B (en) * | 2016-12-05 | 2019-04-30 | 东莞市三信精密机械有限公司 | A kind of automatic bonding equipment of connector |
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2019
- 2019-02-13 CN CN201910117156.0A patent/CN109676253B/en not_active Expired - Fee Related
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