CN110977263A - Manifold welding device with traveling mechanism - Google Patents
Manifold welding device with traveling mechanism Download PDFInfo
- Publication number
- CN110977263A CN110977263A CN201911399327.XA CN201911399327A CN110977263A CN 110977263 A CN110977263 A CN 110977263A CN 201911399327 A CN201911399327 A CN 201911399327A CN 110977263 A CN110977263 A CN 110977263A
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- Prior art keywords
- fixed
- robot
- positioning
- manifold
- bottom plate
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- 238000003466 welding Methods 0.000 title claims abstract description 54
- 239000000463 material Substances 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000000758 substrate Substances 0.000 claims description 6
- RKTYLMNFRDHKIL-UHFFFAOYSA-N copper;5,10,15,20-tetraphenylporphyrin-22,24-diide Chemical compound [Cu+2].C1=CC(C(=C2C=CC([N-]2)=C(C=2C=CC=CC=2)C=2C=CC(N=2)=C(C=2C=CC=CC=2)C2=CC=C3[N-]2)C=2C=CC=CC=2)=NC1=C3C1=CC=CC=C1 RKTYLMNFRDHKIL-UHFFFAOYSA-N 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000001681 protective effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
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
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manifold welding device with a traveling mechanism, which comprises a traveling track and a bottom plate paved on the traveling track, wherein the traveling track comprises a linear guide rail paved in the horizontal direction and a rack arranged on the inner side wall of the track; a welding robot and a carrying robot are fixed on the bottom plate; a welding gun and a laser tracker are fixedly connected to a sixth shaft of the welding robot, and a robot gripper is fixedly connected to a sixth shaft of the carrying robot; and the bottom plate is also provided with a material frame positioning component and a secondary positioning device. When the manifold is welded on the pipeline, the welding device can grab and weld the manifold at the same time, and can also walk on the walking track, so that the welding device moves relative to the pipeline to be welded, and the manifold at different positions on the pipeline is welded.
Description
Technical Field
The invention relates to a manifold welding device with a traveling mechanism.
Background
In the prior art, there is currently no integral welding scheme for welding manifolds on pipes.
Disclosure of Invention
The invention aims to solve the technical problem of providing a manifold welding device with a travelling mechanism, which can grab and weld a manifold simultaneously when the manifold is welded on a pipeline, and can travel (move left and right) on a travelling track, so that the manifold can move relative to the pipeline and be welded at different positions on the pipeline.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a manifold welding device with a traveling mechanism comprises a traveling track and a bottom plate paved on the traveling track, wherein the traveling track comprises a linear guide rail paved in the horizontal direction and a rack arranged on the inner side wall of the track; a welding robot and a carrying robot are fixed on the bottom plate; a welding gun and a laser tracker are fixedly connected to a sixth shaft of the welding robot, and a robot gripper is fixedly connected to a sixth shaft of the carrying robot; and the bottom plate is also provided with a material frame positioning component and a secondary positioning device.
The robot gripper comprises a mounting plate fixedly connected with a sixth shaft of the transfer robot, a first transfer plate, a vision system, a clamping jaw air cylinder, a clamping jaw fixedly connected with the driving end of the clamping jaw air cylinder and an electromagnet fixed at the lower end of the clamping jaw through a connecting piece I; the mounting plate is fixed on the first adapter plate through a connecting piece II, the vision system is fixed on the first adapter plate through the second adapter plate, and the fixed end of the clamping jaw air cylinder is fixed on the first adapter plate.
The material frame positioning assembly is composed of four positioning frames, the four positioning frames are arranged on the base in a quadrilateral mode, and the four positioning frames are located at four vertex angles of the quadrilateral mode respectively; each locating rack comprises a square cavity with an opening at the top, wherein two adjacent sides of the square cavity extend upwards, and the top end of the extending part is turned out towards the outside of the cavity.
Wherein, two adjacent sides that have the extension of every locating rack are located tetragonal periphery, and the tip of extension is 45 ~ 60 towards the contained angle of the portion of turning out and the horizontal plane of turning out outside the cavity.
Wherein, the locating rack bottom is equipped with the bolt hole, and the locating rack passes through the bolt fastening on the base.
The secondary positioning device comprises a support, a plurality of support frames fixed on the support and a placing area fixed on the support frames, wherein the placing area is provided with a first hollow grabbing area and a second hollow grabbing area, one end of the placing area is provided with a baffle, and the baffle is provided with a through hole; the positioning sensor is fixed on the outer side of the baffle plate relative to the placing area through a connecting piece, and a probe of the positioning sensor is placed at the position of the through hole of the baffle plate.
Wherein, the height of a plurality of support frames increases progressively from left to right in proper order.
Wherein, the cross section of placing the district is V type or U type, and the hypotenuse of placing the district is 20 ~ 30 with the contained angle of horizontal plane.
The walking driving mechanism comprises a driving motor I and a gear I in transmission connection with an output shaft of the driving motor I, and the gear I is in transmission connection with the rack; the driving motor I is fixed on the mounting substrate, the mounting substrate is fixedly connected with the bottom plate, a sliding block structure is further arranged at the bottom of the bottom plate, and the sliding block structure and the linear guide rail are connected in a matched mode.
Has the advantages that: when the welding device is used for welding the manifold on the pipeline, the manifold can be grabbed and welded at the same time, and the welding device can also walk (move left and right) on the walking track; therefore, the welding device moves relative to the pipeline to be welded, and the manifolds at different positions on the pipeline are welded.
A robot gripper in the device firstly performs magnetic absorption on a workpiece to be welded (a manifold) in a material frame through an electromagnet positioned below a clamping jaw, and after the workpiece to be welded is secondarily positioned through a secondary positioning device, the robot gripper grips and places the workpiece to be welded at a position to be welded by using two pairs of clamping jaws of the robot gripper;
the secondary positioning device can realize that when the gripper of the gripping robot is used for gripping a workpiece to be welded on the gripping device, the gripping position on the workpiece is fixed, but not any position on the workpiece;
the material frame positioning assembly extends upwards through the peripheral adjacent edge of the positioning frame, and an outward-turning edge is designed at the top end of the extending position, so that the material frame placed on the positioning assembly can automatically slide to the corresponding position according to self weight, and the material frame can be placed on a required placing position without performing extra positioning or angle adjustment on a placing point of the material frame.
Drawings
FIG. 1 is a schematic view of a welding apparatus according to the present invention;
FIG. 2 is a schematic structural view after a protective fence is arranged;
FIG. 3 is a schematic view of a welding gun assembly connected to a sixth axis of a welding robot in the apparatus;
FIG. 4 is a schematic view of a welding device of the present invention laid on a traveling rail;
FIG. 5 is a schematic diagram of a robot gripper;
FIG. 6 is a schematic view of the robot gripper attached to a sixth axis of the transfer robot;
FIG. 7 is a schematic structural diagram of a robot gripper for gripping a workpiece to be welded on a secondary positioning device;
FIG. 8 is a schematic structural diagram I of the secondary positioning device;
FIG. 9 is a schematic structural diagram II of the secondary positioning device;
FIG. 10 is a schematic structural diagram III of the secondary positioning device;
FIG. 11 is a schematic structural view of a secondary positioning device on which a workpiece to be welded is placed;
FIG. 12 is a schematic structural view of a frame positioning assembly;
FIG. 13 is a schematic view of the positioning frame;
FIG. 14 is a schematic structural view of the frame placed on the frame positioning assembly;
FIG. 15 is a top view of the carriage on the carriage positioning assembly;
FIG. 16 is a schematic structural diagram of a travel drive mechanism;
FIG. 17 is a schematic structural view of a baseplate laid on a running rail in the manifold welding device with a running mechanism according to the present invention;
fig. 18 is a schematic structural view of an uninstalled base plate laid on a running rail.
Detailed Description
The invention will be better understood from the following examples. However, those skilled in the art will readily appreciate that the description of the embodiments is only for illustrating the present invention and should not be taken as limiting the invention as detailed in the claims.
As shown in fig. 1 to 18, the manifold welding device with a traveling mechanism according to the present invention includes a traveling rail 142 and a bottom plate 128 laid on the traveling rail 142, wherein the traveling rail 142 includes a linear guide 153 laid in a horizontal direction and a rack 155 provided on an inner side wall of the rail 142; a welding robot 122 and a transfer robot 124 are fixed on the bottom plate 128, and the welding robot 122 and the transfer robot 124 are respectively fixed on the bottom plate 128 through lifting seats (130, 129) (the bottom plate 128 is provided with a plurality of bolt holes 160 for installation); a welding gun assembly 123 is fixedly connected to the sixth shaft 132 of the welding robot 122, wherein the welding gun assembly 123 comprises a welding gun 133 and a laser tracker 135, the welding gun 133 is fixedly connected with the sixth shaft 132 of the welding robot 122, and the laser tracker 135 is fixedly connected with the sixth shaft 132 of the welding robot 122 through an adapter plate 134; the sixth shaft 20 of the transfer robot 124 is fixedly connected with a robot gripper 125; the bottom plate 128 is also provided with a material frame positioning component 127 and a secondary positioning device 126.
The robot gripper 125 comprises a mounting plate 8 fixedly connected with a sixth shaft 20 of the transfer robot 124, a first transfer plate 10, a vision system 11, a clamping jaw air cylinder (13, 14), a clamping jaw (17, 15) fixedly connected with the driving end of the clamping jaw air cylinder (13, 14) and an electromagnet 16 fixed at the lower end of the clamping jaw through a connecting piece 190; the mounting plate 8 is fixed on the upper base plate of the first adapter plate 10 through a triangular connecting piece 119, the vision system 11 is fixed on the side of the first adapter plate 10 through a second adapter plate 12, and the fixed ends of the clamping jaw cylinders (13, 14) are fixed on the lower base plate of the first adapter plate 10. The two clamping jaw air cylinders (13, 14) are respectively a clamping jaw air cylinder 13 and a clamping jaw air cylinder 14, and the clamping jaw air cylinders 13 and the clamping jaw air cylinders 14 are arranged side by side along the horizontal direction; the clamping jaw air cylinder 13 is correspondingly connected with the clamping jaw pair 15, the clamping jaw air cylinder 14 is correspondingly connected with the clamping jaw pair 17, and an electromagnet 16 is fixedly connected below the clamping jaw pair 17 through a connecting piece 190.
The secondary positioning device 126 comprises a bracket 22 fixed on the bottom plate 128, a plurality of support frames 21 fixed on the bracket 22, and a placing area 25 fixed on the support frames 21, wherein the plurality of support frames 21 are all fixed on the bracket 22 through a positioning plate 29; the placing area 25 is provided with a first hollow grabbing area 23 and a second hollow grabbing area 24, one end (lower end) of the placing area 25 is provided with a baffle 30, and the baffle 30 is provided with a through hole 26; the secondary positioning device 126 further comprises an in-place sensor 27, the in-place sensor 27 is fixed on the outer side of the baffle 30 relative to the placing area 25 through a connecting piece 28, a probe of the in-place sensor 27 faces the through hole 26 of the baffle 30, and the in-place sensor 27 can be a laser ranging sensor; the heights of the support frames 21 are sequentially increased from left to right, so that the included angle A between the inclined edge of the placing area 25 and the horizontal plane is 20-30 degrees, the cross section of the placing area 25 is V-shaped or U-shaped, and the workpiece 19 to be welded is placed on the placing area 25.
The robot gripper 125 sucks up the workpiece 19 (manifold) to be welded in the material frame 5 through the electromagnet 16 (electrifying) below the robot gripper 125 (sucking positions are random, namely the position sucked by the electromagnet is any position on the workpiece), then the workpiece is placed on the placing area 25 of the secondary positioning device 126, after the electromagnet 16 is powered off, the in-position sensor 27 of the secondary positioning device 126 detects that the workpiece 19 to be welded is placed in the placing area 25 and slides to the lower end part of the placing area 25, and the two pairs of clamping jaws (15, 17) of the robot gripper 125 of the handling robot 124 are respectively placed in the first grabbing area 23 and the second grabbing area 24 to grab the workpiece 19 to be welded, so that the grabbing position of the robot gripper 125 on the workpiece is fixed when grabbing the workpiece 19 to be welded, and is not any position on the workpiece.
The material frame positioning assembly 127 is composed of four positioning frames 1, the four positioning frames 1 are arranged on the base 6 in a quadrilateral mode, bolt holes are formed in the bottoms of the positioning frames 1, and the positioning frames 1 are fixed on the base 128 through bolts; the four positioning frames 1 are respectively positioned at four top corners of the quadrangle; each positioning frame 1 comprises a square cavity 7 with an opening at the top, wherein two adjacent sides of the square cavity 7 extend upwards, and the top end of the extension part 2 is turned out towards the cavity 7; every locating rack 1 has two adjacent sides of extension 2 and is located tetragonal periphery, and the tip of extension 2 is 45 ~ 60 towards the contained angle of the portion of turning out 3 and the horizontal plane that the cavity was evaginated. The locating rack 1 is made of steel. When the material frame 5 is hung above the material frame positioning component 127, the material frame 5 placing point does not need to be additionally positioned or the angle of the material frame 5 placing point is adjusted, and the material frame 5 automatically slides into the material frame positioning component 127 through the self weight of the material frame 5.
The welding device further comprises a walking driving mechanism, wherein the walking driving mechanism comprises a driving motor I131 and a gear I154 in transmission connection with an output shaft of the driving motor I131, the driving motor I131 is fixed on a mounting substrate 141, the mounting substrate 141 is fixedly connected with the bottom plate 128, and the bottom of the bottom plate 128 is further connected with a sliding block structure 152 through a transfer block 151. The sliding block structure 152 is matched and connected with a guide rail I153 laid on the walking track 142; the gear I154 is in transmission connection with the rack 155; the driving motor I131 rotates to drive the gear I154 to rotate, so that the bottom plate 128 is connected to the traveling rail 142 through the mutual matching of the sliding block structure 152 and the guide rail I153 and moves left and right relative to the traveling rail 142, and the manifold at different positions on the pipeline is welded by the welding device.
The bottom plate 128 of the welding device is also provided with a welding power supply 138, a protective gas cylinder 137 and a dust suction device 139, wherein the periphery of the bottom plate 128 is also provided with a protective guard 136, the welding device further comprises a drag chain 140 in which electric wires and gas pipes which need to walk are placed, and the drag chain 140 is connected with the welding robot 122 and moves together with the welding robot 122.
Claims (9)
1. The utility model provides a take running gear's manifold welding set which characterized in that: the device comprises a walking track and a bottom plate paved on the walking track, wherein the walking track comprises a linear guide rail paved along the horizontal direction and a rack arranged on the inner side wall of the track; a welding robot and a carrying robot are fixed on the bottom plate; a welding gun and a laser tracker are fixedly connected to a sixth shaft of the welding robot, and a robot gripper is fixedly connected to a sixth shaft of the carrying robot; and the bottom plate is also provided with a material frame positioning component and a secondary positioning device.
2. The manifold welding apparatus with running gear according to claim 1, wherein: the robot gripper comprises a mounting plate fixedly connected with a sixth shaft of the transfer robot, a first transfer plate, a vision system, a clamping jaw air cylinder, a clamping jaw fixedly connected with the driving end of the clamping jaw air cylinder and an electromagnet fixed at the lower end of the clamping jaw through a connecting piece I; the mounting plate is fixed on the first adapter plate through a connecting piece II, the vision system is fixed on the first adapter plate through the second adapter plate, and the fixed end of the clamping jaw air cylinder is fixed on the first adapter plate.
3. The manifold welding apparatus with running gear according to claim 1, wherein: the material frame positioning assembly consists of four positioning frames, the four positioning frames are arranged on the base in a quadrilateral mode, and the four positioning frames are respectively positioned at four vertex angles of the quadrilateral; each locating rack comprises a square cavity with an opening at the top, wherein two adjacent sides of the square cavity extend upwards, and the top end of the extending part is turned out towards the outside of the cavity.
4. The walking mechanism manifold welding apparatus according to claim 3, wherein: two adjacent sides of every locating rack that have extension portion are located tetragonal periphery, and the tip of extension portion is 45 ~ 60 towards the contained angle of the portion of turning out and the horizontal plane of turning out outside the cavity.
5. The walking mechanism manifold welding apparatus according to claim 3, wherein: the bottom of the positioning frame is provided with a bolt hole, and the positioning frame is fixed on the bottom plate through a bolt.
6. The manifold welding apparatus with running gear according to claim 1, wherein: the secondary positioning device comprises a support, a plurality of support frames fixed on the support and a placing area fixed on the support frames, wherein the placing area is provided with a first hollow grabbing area and a second hollow grabbing area, one end of the placing area is provided with a baffle, and the baffle is provided with a through hole; the positioning sensor is fixed on the outer side of the baffle plate relative to the placing area through a connecting piece, and a probe of the positioning sensor is placed at the position of the through hole of the baffle plate.
7. The walking mechanism manifold welding apparatus according to claim 6, wherein: the heights of the support frames are sequentially increased from left to right.
8. The walking mechanism manifold welding apparatus according to claim 6, wherein: the cross section of the placing area is V-shaped or U-shaped, and the included angle between the inclined edge of the placing area and the horizontal plane is 20-30 degrees.
9. The manifold welding apparatus with running gear according to claim 1, wherein: the walking driving mechanism comprises a driving motor I and a gear I in transmission connection with an output shaft of the driving motor I, and the gear I is in transmission connection with the rack; the driving motor I is fixed on the mounting substrate, the mounting substrate is fixedly connected with the bottom plate, a sliding block structure is further arranged at the bottom of the bottom plate, and the sliding block structure and the linear guide rail are connected in a matched mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911399327.XA CN110977263A (en) | 2019-12-30 | 2019-12-30 | Manifold welding device with traveling mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911399327.XA CN110977263A (en) | 2019-12-30 | 2019-12-30 | Manifold welding device with traveling mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN110977263A true CN110977263A (en) | 2020-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911399327.XA Pending CN110977263A (en) | 2019-12-30 | 2019-12-30 | Manifold welding device with traveling mechanism |
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| CN (1) | CN110977263A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590619A (en) * | 2020-06-19 | 2020-08-28 | 昆山华恒机器人有限公司 | Multifunctional robot tail end execution device |
| CN112551155A (en) * | 2020-11-27 | 2021-03-26 | 北京石油化工学院 | Laser and vision integrated base plate carrying joint robot device and positioning method |
| CN112894105A (en) * | 2021-01-27 | 2021-06-04 | 一汽解放汽车有限公司 | Vehicle crossbeam projection welding system |
| CN113857734A (en) * | 2021-11-03 | 2021-12-31 | 上海城建隧道装备科技发展有限公司 | Subway tunnel seam automatic welder |
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| JP2008279495A (en) * | 2007-05-14 | 2008-11-20 | Universal Shipbuilding Corp | Automatic welding robot for longitudinal butt joint |
| CN105129187A (en) * | 2015-09-24 | 2015-12-09 | 湖北文理学院 | Light-source-provided automatic lifting material frame suitable for vision robot |
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| CN208879963U (en) * | 2018-08-08 | 2019-05-21 | 电子科技大学中山学院 | Feeding device applied to long pipe full-automatic intelligent welding equipment |
| CN110560942A (en) * | 2019-09-16 | 2019-12-13 | 河北省机电一体化中试基地 | Automatic welding system for tower tube of steel tube tower and control method of automatic welding system |
| CN211589006U (en) * | 2019-12-30 | 2020-09-29 | 南京英尼格玛工业自动化技术有限公司 | Manifold welding device with traveling mechanism |
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2019
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| JP2008279495A (en) * | 2007-05-14 | 2008-11-20 | Universal Shipbuilding Corp | Automatic welding robot for longitudinal butt joint |
| CN105129187A (en) * | 2015-09-24 | 2015-12-09 | 湖北文理学院 | Light-source-provided automatic lifting material frame suitable for vision robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590619A (en) * | 2020-06-19 | 2020-08-28 | 昆山华恒机器人有限公司 | Multifunctional robot tail end execution device |
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| CN112551155B (en) * | 2020-11-27 | 2023-02-21 | 北京石油化工学院 | Laser and vision integrated base plate carrying joint robot device and positioning method |
| CN112894105A (en) * | 2021-01-27 | 2021-06-04 | 一汽解放汽车有限公司 | Vehicle crossbeam projection welding system |
| CN113857734A (en) * | 2021-11-03 | 2021-12-31 | 上海城建隧道装备科技发展有限公司 | Subway tunnel seam automatic welder |
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