CN114055042A - Special automatic welding device for wave-shaped plate of thin film type liquid cargo containment system - Google Patents
Special automatic welding device for wave-shaped plate of thin film type liquid cargo containment system Download PDFInfo
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- CN114055042A CN114055042A CN202111569963.XA CN202111569963A CN114055042A CN 114055042 A CN114055042 A CN 114055042A CN 202111569963 A CN202111569963 A CN 202111569963A CN 114055042 A CN114055042 A CN 114055042A
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- 229920000915 polyvinyl chloride Polymers 0.000 description 2
- 239000004800 polyvinyl chloride Substances 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
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- 229910052782 aluminium Inorganic materials 0.000 description 1
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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
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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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
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Abstract
The invention relates to an automatic welding device for a special film type liquid cargo containment system wave-shaped plate, which comprises: the wave-shaped plate holder is used for fixing a guide rail; the driving device is arranged on the guide rail and can move linearly along the guide rail; the welding head lifting adjusting device is arranged on the driving device and is carried by the driving device to move linearly so as to adjust the height position of the welding head; and the welding gun position adjusting device is arranged on the welding head lifting adjusting device and comprises a welding gun rotation adjusting device, a welding gun lifting adjusting device and a welding gun transverse adjusting device, and the welding gun rotation adjusting device, the welding gun lifting adjusting device and the welding gun transverse adjusting device are matched to control the welding precision within a deviation range of 0.1 mm. The guide rail is arranged on the surface of the corrugated plate through the clamp, the welding head is arranged on the guide rail through the driving device and is driven to move along the guide rail, the height of the welding head is integrally controlled through the lifting adjusting device, and the position of the welding gun is controlled through the welding gun position adjusting device.
Description
Technical Field
The invention belongs to the field of welding of wave-shaped plates of film type liquid cargo containment systems, and particularly relates to an automatic welding device for special wave-shaped plates of a film type liquid cargo containment system.
Background
In order to optimize the urban gas structure, improve the gas supply quality and improve the environment, natural gas is taken as clean energy and must become the preferred fuel of modern cities. The thin film type liquid cargo containment system is a low-temperature liquid cargo transportation and storage system invented by France GTT company, and is widely applied to LNG transport ships, LNG power ships and LNG onshore storage tanks.
The MKIII/GST film containment system is a special construction installed on the inner wall of a ship cabin or an onshore storage tank. In the design, the adaptability of the cryogenic medium is mainly considered, so the requirement on the internal structure of the membrane tank/tank is very high. In the LNG ship cargo tank and the land storage tank, a metal shielding layer is widely adopted, and the metal shielding layer is a corrugated plate which is installed on the inner wall through welding and is made of a low-temperature stainless steel plate (304L) material with the thickness of 1.2 mm. Therefore, in the construction process of the film type enclosure system, the stainless steel corrugated plate splicing automatic welding technology for absorbing the thermal stress is a key factor in the construction process.
The welding forms of the wave-shaped plates in the liquid cargo tank/storage tank include transverse welding, overhead welding, vertical welding, oblique welding, corner welding and the like, the installation modes are multiple, in the welding process, a welding gun needs to be always kept in a vertical state with a wave-shaped plate surface of a welding point, the stable arc length below 1mm needs to be kept, particularly, the corrugated part of the wave-shaped plate is easy to weld through at a too close distance in the welding operation process, the defects of welding missing or unfirm welding and the like are easy to occur at a too far distance, the welding precision requirement is high, the manual operation efficiency is low, the defect rate is high, and therefore people begin to research an automatic welding device to finish automatic welding of the wave-shaped plate.
The wave-shaped plate of the enclosure system has an undulating wave crest surface, and for automatic welding, various factors need to be considered, the position of a welding head needs to be controlled besides the moving track, and the position of a welding gun also needs to be controlled to adapt to the shape of the wave crest surface.
Disclosure of Invention
The invention provides an automatic welding device for a special wave-shaped plate of a thin film type liquid cargo containment system, which is characterized in that a guide rail is arranged on the surface of the wave-shaped plate through a clamp holder, a welding head is arranged on the guide rail through a driving device and drives the welding head to move along the guide rail, the height of the welding head is integrally controlled by the welding head provided with a lifting adjusting device, the position of a welding gun is controlled by a welding gun position adjusting device, the height of the gun head of the welding gun is always kept at the same distance with the surface of the wave-shaped plate, and the automatic welding of the wave-shaped plate of the containment system is finally completed.
The specific technical scheme of the invention is as follows: the utility model provides a special film type liquid cargo containment system wave plate automatic welder, includes:
the wave-shaped plate holder is used for holding the wave-shaped plate and fixing a guide rail on the wave-shaped plate;
the driving device is arranged on the guide rail and can move linearly along the guide rail;
the welding head lifting adjusting device is arranged on the driving device and is carried by the driving device to move linearly so as to adjust the height position of the welding head;
the welding gun position adjusting device is arranged on the welding head lifting adjusting device and comprises a welding gun rotation adjusting device, a welding gun lifting adjusting device and a welding gun transverse adjusting device, and the welding gun rotation adjusting device, the welding gun lifting adjusting device and the welding gun transverse adjusting device are matched to control the welding precision within a deviation range of 0.1 mm;
and the welding gun is connected to the welding gun position adjusting device.
The wave-shaped plate holder takes the nodes of the wave-shaped plate as holding fixed positions, and after the wave-shaped plate holder is held on the wave-shaped plate, the guide rail is fixed on the wave-shaped plate holder, so that the guide rail is connected with the wave-shaped plate, the guide rail is convenient to mount, and the surface of the wave-shaped plate is not damaged; the position of the guide rail is consistent with the edge position of the wave-shaped plate, so that the welding head follows the edge track of the wave-shaped plate in the moving process; the welding head is driven by the driving device to move linearly along the guide rail, and the movement is controllable; and then, performing position adjustment control on the gun head of the welding gun through the welding head lifting adjusting device and the welding gun position adjusting device, controlling welding condition parameters at different positions, controlling and keeping the posture of the welding gun vertical to the welding surface and stabilizing the distance between the welding gun and the welding surface in the whole welding process, and controlling the welding precision within a deviation range of 0.1 mm.
Preferably, the wave-shaped plate holder comprises a fixed clamping block, a movable clamping block and an operating handle for controlling the movable clamping block to move relative to the fixed clamping block through a connecting rod mechanism, and a self-locking structure is arranged between the connecting rod mechanism and the operating handle; the opposite parts of the two clamping blocks are provided with clamping heads clamped into the large concave parts on the side surfaces of the corrugated plate nodules, the gap between the two opposite clamping heads is in a variable shape, and the gap between the two clamping heads deviated to the openings of the two clamping blocks is the minimum. The two clamping blocks are adopted to oppositely clamp the corrugated plate nodules, the gaps between the parts, contacted with the side faces of the corrugated plate nodules, on the two clamping blocks are in a changing shape, so that the clamp holder is prevented from falling out, an operating handle in the clamping process of the clamping blocks is controlled to have a self-locking structure, the self-locking of the clamp holder is realized, the automatic loosening is prevented, and the welding precision is influenced.
Preferably, the guide rail comprises a rail main body and a rack fixed on the rail main body, the rail main body comprises a middle plate body and clamping edges positioned at two sides of the middle plate body, two symmetrical clamping surfaces are arranged at the outer side parts of the clamping edges, the two clamping surfaces are an upper clamping surface and a lower clamping surface respectively, and the symmetrical surfaces are parallel to the surface of the middle plate body; the length direction of the rack is parallel to the length direction of the clamping edge. The rack is matched with the form driving device, and the tooth surface of the rack is utilized to ensure the moving precision of the welding head.
Preferably, the driving device comprises a moving platform arranged on the guide rail and a driving motor arranged on the moving platform and matched with the guide rail; and the movable platform is provided with a butt-clamping roller mechanism matched with the guide rail.
Preferably, the mobile platform is further provided with a manual clutch device, the manual clutch device is used for manually controlling the clutch between the driving motor and the guide rail, and the manual clutch device adopts an eccentric rotating structure. The engaging and disengaging of the gear and the rack are realized through the clutch device, the gear and the rack can run along the track after being engaged, the gear and the rack are separated, and the movement of the automatic welding device is not limited by the rack; the clutch device adopts an eccentric rotating type structure, and the eccentric rotation drives the gear and the rack to separate a gap, so that the gear and the rack are separated, the clutch device is released, and the operation is convenient and fast.
Preferably, the welding head lifting adjusting device adopts a screw and nut mechanism and comprises a slide rail mounting rack fixed on the driving device, a slide rail fixed on the slide rail mounting rack, a screw rod arranged on the slide rail mounting rack and parallel to the slide rail, a driving device for driving the screw rod to rotate, a nut component sleeved on the screw rod and in threaded connection with the screw rod, and a mounting plate for connecting the welding head, wherein the mounting plate is arranged on the slide rail and can move along the slide rail, and the mounting plate and the nut component are fixed and lift synchronously along with the nut component.
Preferably, the welding gun rotation adjusting device adopts a parallelogram translation principle and comprises a driving rotating rod and a driven rotating rod which are arranged in parallel, and a first connecting plate and a second connecting plate which are hinged to the driving rotating rod and the driven rotating rod together, wherein the hinged part between the first connecting plate and the driving rotating rod and the hinged part between the first connecting plate and the driven rotating rod are parallel to the hinged part between the second connecting plate and the driving rotating rod and the hinged part between the second connecting plate and the driven rotating rod, and the first connecting plate and the second connecting plate form a symmetrical left-right swinging structure. The welding gun is symmetrical by taking the vertical central line as a symmetry through the combined parallelogram structure, and the left and right inclination of the welding gun is adjusted, so that the welding requirements of forming a left wave crest surface and a right wave crest surface by the fluctuation of the wave-shaped plate are met.
Preferably, the first connecting plate and the second connecting plate are parallel, and a connecting line between a first connecting hole of the welding gun mounted on the first connecting plate and a second connecting hole of the welding gun mounted on the second connecting plate is parallel to the driving rotating rod and the driven rotating rod.
Preferably, the welding gun lifting adjusting device and the welding gun transverse adjusting device are arranged on the welding gun rotation adjusting device, the welding gun transverse adjusting device is arranged on the welding gun lifting adjusting device, the welding gun lifting adjusting device and the welding gun transverse adjusting device both adopt screw nut mechanisms driven by servo motors, and the adjusting direction of the welding gun transverse adjusting device is perpendicular to the adjusting direction of the welding gun lifting adjusting device.
Preferably, the welding gun is provided with an angle sensor for measuring a welding inclination, a position sensor for sensing a shape of the wave plate, and a shape sensor for sensing an unevenness of the wave plate. The welding track is sensed through a sensor, and the position and the distance between the gun head of the welding gun and the welding position are ensured.
The invention has the beneficial effects that: the guide rail is arranged on the surface of the corrugated plate through the clamp, the welding head is arranged on the guide rail through the driving device and is driven to move along the guide rail, the welding head is provided with the lifting adjusting device to integrally control the height of the welding head, the position of the welding gun is controlled through the welding gun position adjusting device, the gun head of the welding gun is enabled to be always kept at the height which is the same as the distance from the surface of the corrugated plate, and finally automatic welding of the corrugated plate of the enclosure system is completed.
Drawings
FIG. 1 is a schematic diagram of one configuration of the present invention;
FIG. 2 is a schematic view of an exposed structure of the present invention;
FIG. 3 is a schematic view of a guide rail structure of the present invention;
FIG. 4 is a schematic view of a wave plate holder installation of the present invention;
FIG. 5 is a schematic view of a wave plate holder according to the present invention;
FIG. 6 is a top view of the wave plate holder of FIG. 5 in accordance with the present invention;
FIG. 7 is a perspective view of a contoured plate holder of the present invention;
FIG. 8 is a schematic structural view of a travel drive apparatus of the present invention;
FIG. 9 is a sectional view showing the mounting of a travel drive unit according to the present invention;
FIG. 10 is a schematic structural view of a manual clutch device according to the present invention;
FIG. 11 is a cross-sectional view of the manual clutch apparatus of FIG. 10 in accordance with the present invention;
FIG. 12 is a schematic view of the eccentric configuration of the manual clutch apparatus of FIG. 10 in accordance with the present invention;
FIG. 13 is a schematic structural view of a welding head lifting adjusting device according to the present invention;
FIG. 14 is a schematic view of a lateral adjustment mechanism for a welding gun according to the present invention;
FIG. 15 is a schematic structural view of a welding gun lift adjustment device of the present invention;
FIG. 16 is a schematic view of a gun rotation adjustment assembly of the present invention;
FIG. 17 is an exploded view of the gun rotation adjustment assembly of FIG. 16 in accordance with the present invention;
FIG. 18 is a schematic view of a left-hand oblique position of a welding gun according to the present invention;
FIG. 19 is a schematic view of a vertical position of a welding gun according to the present invention;
FIG. 20 is a schematic view of a right-oblique position of a welding gun according to the present invention;
in the figure: 1. welding gun, 2, welding gun upper cover, 3, welding gun rotation adjusting device, 4, hood, 5, guide rail, 6, driving device, 7, welding gun transverse adjusting device, 8, welding gun lifting adjusting device, 9, welding head lifting adjusting device, 10, driving motor, 11, manual clutch device, 12, middle plate body, 13, groove, 14, clamping edge, 15, clamping surface, 16, rack, 17, corrugated plate clamp, 18, corrugated plate, 19, fixed clamping block, 20, fixed connecting block, 21, guide plate, 22, connecting long plate, 23, connecting block, 24, seat plate, 25, connecting rod mechanism, 26, rocker, 27, crank rod, 28, telescopic shaft, 29, stud, 30, guide seat, 31, movable clamping block, 32, clamping head, 33, limiting part, 34, operating handle, 35, corrugated groove, 36, sliding groove, 37, moving platform, 38, fixed block, 39. a roller 40, a long shaft 41, a pin seat 42, a long rod 43, a sliding sleeve 44, an adjusting groove 45, a gear 46, a compression spring 47, a washer 48, a limit plate 49, a rotation handle 50, an arc plate 51, a cover plate 52, a fixing pin 53, a return spring 54, a round hole 55, a matching part 56, a connecting flat plate 57, a fixing plate 58, a rotation pin 59, an eccentric hole 60, a movable hole 61, a slide rail mounting bracket 62, a slide rail 63, a mounting plate 64, a connecting member 65, a slide block 66, a belt pulley 67, a synchronous toothed belt 68, an upper fixing seat 69, a lead screw 70, a nut 71, a connecting piece 72, a left support plate 76, a limiter 77, a notch 78, a stroke rod 80, a connecting part 81, a nut part 83, a right support plate 84, a mounting bracket 77, a notch 85, a servo motor 86, an upper support plate, 87. seat board, 88, connecting plate, 89, lower supporting plate, 90, first connecting plate, 91, second connecting plate, 92, initiative rotary rod, 93, servo motor, 94, backing plate, 95, driven rotary rod, 96, welder first connecting hole, 97, welder second connecting hole, 98, mounting panel, 99, angle sensor.
Detailed Description
The invention is further described by the following specific embodiments in conjunction with the accompanying drawings.
Example (b):
as shown in fig. 1 and fig. 2, an automatic welding device for a corrugated plate of a special thin film type liquid cargo containment system comprises: the wave-shaped plate holder 17 is used for holding the wave-shaped plate 18 and fixing the guide rail 5 on the wave-shaped plate; a travel driving device 6 mounted on the guide rail and linearly movable along the guide rail; the welding head lifting adjusting device 9 is arranged on the driving device and is carried by the driving device to move linearly so as to adjust the height position of the welding head; and the welding gun position adjusting device is arranged on the welding head lifting adjusting device and comprises a welding gun rotation adjusting device 3, a welding gun lifting adjusting device 8 and a welding gun transverse adjusting device 7, and the welding gun rotation adjusting device, the welding gun lifting adjusting device and the welding gun transverse adjusting device are matched to control the welding precision within a deviation range of 0.1 mm. A welding head lifting adjusting device is externally fixed with a machine cover 4, and a welding gun lifting adjusting device and a welding gun transverse adjusting device are externally fixed with a welding gun upper cover 2. The welding gun transverse adjusting device is connected with a welding gun 1.
As shown in fig. 3, the guide rail includes a rail main body and a rack 16 fixed on the rail main body, the rail main body is made of aluminum profile integrally, and is integrally in a groove-shaped structure, and the rack is fixed in the groove of the rail main body. The track main part includes middle plate body 12, is in the contained side 14 of middle plate body both sides, and the outside position on contained side sets up two clamp surfaces 15 of longitudinal symmetry, and two clamp surfaces divide into clamp surface and clamp surface down, and the contained angle between the last clamp surface of same contained side and the clamp surface down is 90, and the symmetry plane of going up clamp surface and clamp surface down parallels with middle plate body surface, and this symmetry plane is in the position of middle plate body top. The height of the clamping edge is greater than the thickness of the middle plate body, the upper surface of the clamping edge is higher than the upper plane of the middle plate body, and a right-angle shape is formed between the clamping edge and the upper surface of the middle plate body. The upper surface of the middle plate body is provided with a groove 13 which is square and concave, and the rack is embedded into the groove and fixed through a screw. The cross section of the rack is square, and after the rack is fixed with the middle plate body, the tooth surface of the rack is positioned at the side position. The teeth on the rack are straight teeth which are vertical to the upper surface of the middle plate body.
As shown in fig. 4, 5, 6 and 7, the wave-shaped plate holder comprises a fixed clamping block 19, a movable clamping block 31, an operating handle 34 for controlling the movable clamping block to move relative to the fixed clamping block through a link mechanism 25, and a self-locking structure between the link mechanism and the operating handle. The opposite parts of the two clamping blocks are provided with clamping heads 32 which are clamped into the large concave parts on the sides of the nodules of the corrugated plate 18, the opposite surfaces of the two clamping heads are convex cambered surfaces, the gap between the two clamping heads is in a changing shape, the gap between the two clamping heads, which is deviated to the opening of the two clamping blocks, is the minimum, and when seen from the direction of figure 5, the gap between the two clamping heads is gradually reduced from the upper part to the lower part and then gradually increased. The fixed clamping block is provided with a connecting long plate 22 which extends transversely, the movable clamping block is provided with a sliding groove 36 matched with the connecting long plate, the sliding groove is matched with the connecting long plate and can move along the connecting long plate relative to the fixed clamping block, so that the two clamping heads are close to or far away from each other. The fixed clamping blocks are fixed with the connecting long plate and are made of polyvinyl chloride materials. The movable clamping block comprises a clamping block body and two guide seats 30 fixed with the clamping block body, and the sliding groove is formed in each guide seat. The two sides of the long plate are connected to form a guide plate 21, the sliding grooves are in an open C shape, the two guide seats are fixed with the clamping block body, the openings of the two sliding grooves are opposite, and the guide plates are matched with the sliding grooves. The chuck of movable type clamp splice is on the clamp splice body, and the back position that is equipped with the connecting hole back to the chuck on the clamp splice body. The fixed clamping block and the movable clamping block are both provided with corrugated grooves 35 matched with the small corrugations of the corrugated plate, and the top positions of the chucks are flush with the bottom positions of the corrugated grooves. The two sides of the fixed clamping block and the movable clamping block are provided with side parts, the side parts correspond to the V-shaped concave parts of the wave-shaped plate nodules, the opposite side parts of the two clamping blocks are kept flush, and the top surfaces of the opposite side parts are located at the same V-shaped concave part of the nodules. The clamping block body of the movable clamping block is made of polyvinyl chloride materials. The end part of the connecting long plate is connected with a support, the support comprises a C-shaped seat plate 24 and a connecting block 23 fixed with the connecting long plate, the connecting block is fixed with the seat plate, the connecting block and the end part of the connecting long plate are fixed through screws, and a connecting rod mechanism is arranged in a groove formed by the seat plate. The notch of the groove formed by the seat plate faces to the side position of the clamping block. One end of the seat board corresponding to the movable clamping block is provided with a round hole, and the other end of the seat board forms a rotary seat. The connecting rod mechanism comprises a telescopic shaft 28 connected with the movable clamping block, a curved rod 27 hinged with the telescopic shaft and a rocker 33 hinged with the curved rod, the rocker is fixed with an operating handle 34, and a hinge hole is formed in the end part of the rocker. The telescopic shaft penetrates through a round hole at one end of the seat plate, one end of the telescopic shaft, which is positioned outside the seat plate, is fixed with the movable clamping block through a stud 29 and a nut, and the other end of the telescopic shaft is radially grooved. The bent lever is V-shaped, and the end part of the bent lever is inserted into the groove of the telescopic shaft and is hinged through a pin shaft. The rocker is formed by two plates which are arranged in parallel, a connecting groove is formed between the two plates, the other end of the curved rod is inserted into the connecting groove and hinged with the middle position of the rocker, and the end where the hinge hole of the rocker is located is matched and hinged with the swivel mount of the seat plate. The end part of the operating handle is inserted into the connecting groove and is fixedly connected with the end part of the rocker through two pin shafts. The front end of the operating handle is a flat fixing part, the rear end of the operating handle is a cylindrical handle part, the side edge of the fixing part is a limiting part 33, the plane of the limiting part is parallel to the axis of the operating handle, the plane is positioned outside the handle part of the operating handle, and the connecting line of the operating handle and the rocker fixing the two pin shafts deviates from the axis of the operating handle. In this embodiment, the hinge point of the rocker and the rotation seat is located outside the axis of the telescopic shaft and is deviated to one side of the operating handle. The curved bar forms three pin joint with the rocker articulated back, and these three pin joint are obtuse triangle-shaped, and during the relaxation, operating handle is outside obtuse triangle-shaped, and when operating handle rotated, this obtuse angle increase to cross the locking dead point of three-point line, then obtuse angle reduces, is reverse obtuse angle, and operating handle is in the obtuse angle this moment, and until spacing portion and link mechanism's curved bar side laminate mutually, link mechanism accomplishes the auto-lock this moment. The clamp holder is also provided with a fixed connecting block 20 which is used for being fixed with the guide rail, the fixed connecting block is fixed with the connecting long plate, and the upper part of the fixed connecting block is provided with an avoiding ladder. As shown in fig. 4, the fixed connection block is fixed to the lower surface of the rail, the upper surface of the rail is fixed with the rack, and the two sides of the rail are provided with the protruding portions, so that the avoiding steps of the fixed connection block correspond to the protruding portions of the side edges of the rail in consideration of interference.
As shown in fig. 8 and 9, the driving device includes a moving platform 37 mounted on the guide rail, and a driving motor 10 disposed on the moving platform and engaged with the guide rail, and the moving platform is provided with a pinch roller mechanism engaged with the guide rail. The butt-clamping roller mechanism is divided into a fixed roller mechanism and a movable roller mechanism, and the movable roller mechanism and the fixed roller mechanism correspond to each other. The movable platform is square, the periphery of the movable platform is provided with flanges, the left side and the right side of the movable platform form high flanges, the front side and the rear side of the movable platform form low flanges, the height of the high flanges is larger than that of the low flanges, and the fixed roller mechanism and the movable roller mechanism are arranged on the high flanges. The fixed rollers are divided into two groups, and the movable roller mechanisms are divided into two groups. The fixed roller mechanism comprises a fixed block 38, two vertical mounting surfaces are arranged on the side surfaces of the fixed block, a roller shaft is fixed on each mounting surface, a roller 39 is arranged on each roller shaft, and the fixed roller mechanism is provided with two rollers. The fixed blocks of the two groups of fixed roller mechanisms are fixed on the inner side of the high flanging on the left side of the frame body through screws. The two mounting surfaces of the fixed block are symmetrical, the two rollers are symmetrical, the symmetrical surfaces of the rollers of the two groups of fixed roller mechanisms are positioned on the same plane, and the symmetrical surfaces are parallel to the surface of the middle part of the moving platform. The movable roller mechanism comprises a fixed block 38, 4 rollers arranged on the fixed block and an elastic telescopic device which is arranged on the moving platform and connected with the fixed block, wherein the 4 rollers are divided into an upper group and a lower group, and the axes of the two rollers in the same group are vertical. The side of fixed block is provided with two perpendicular installation faces, and 2 gyro wheel axles are fixed respectively to the installation face, and the gyro wheel sets up on the gyro wheel axle. The elastic telescopic device comprises a pin boss 41 fixedly connected with the moving platform, a long shaft 40 arranged in the pin boss and capable of moving along the axial direction of the pin boss, and a sliding sleeve 43 penetrating through the tail part of the pin boss, wherein one end of the long shaft is connected with the fixed block, the other end of the long shaft is sleeved with a compression spring 46 and inserted into the sliding sleeve, and the position between the sliding sleeve and the tail end of the long shaft is limited by a limiting plate 48. The pin seat is of a stepped tubular structure, vertically penetrates through and is fixed on the high flanging on the right side of the moving platform, and two ends of the pin seat extend out of the high flanging. One end of the long shaft is fixed on the fixing block through a screw, the other end of the long shaft is reduced in diameter to form a thin part, and the thin part extends into the pin seat. The thin part is also sleeved with a gasket 47, the gasket is positioned between the compression spring and the sliding sleeve, one end of the compression spring is abutted with the shoulder part of the thin part, the other end of the compression spring is abutted with one side surface of the gasket, and the other side surface of the gasket is abutted with the end surface of the sliding sleeve. A stepped hole is formed in the pin boss, the outer diameter of the gasket is matched with the large diameter of the stepped hole, and the sliding sleeve is matched with the large diameter of the stepped hole. The sliding sleeve is provided with a stepped inner hole, the limiting plate is fixed at the end part of the long shaft through a screw, and the outer diameter of the limiting plate is matched with the large diameter of the stepped inner hole of the sliding sleeve. The sliding sleeve is provided with two radial connecting holes with internal threads, the two connecting holes are coaxial, and a long rod 42 is fixed on the connecting holes. The tail part of the pin seat is provided with two spiral adjusting grooves 44, the opening ends of the adjusting grooves are positioned at the tail end of the pin seat and keep an opening in the axial direction, the two adjusting grooves are symmetrical relative to the axis of the pin seat, and the long rod is matched with the adjusting grooves. The long rod is clamped into the adjusting groove, the sliding sleeve is rotated, the long rod slides along the spiral direction of the adjusting groove and enables the sliding sleeve to generate axial propulsion, and the fixed block drives the roller to move towards one side of the fixed roller mechanism under the action of the gasket and the compression spring, so that the rail is just clamped at the moment. The driving motor drives the rack to move, the output shaft of the driving motor extends to the lower part of the moving platform, the gear is located in a gap between the moving platform and the track, the tooth surface of the rack on the track faces the side, and the tooth surface of the rack is meshed with the outer teeth of the gear.
As shown in fig. 10, 11 and 12, the mobile platform is further provided with a manual clutch device, the manual clutch device is used for manually controlling the clutch between the driving motor and the guide rail, and the manual clutch device adopts an eccentric rotation structure. The manual clutch device comprises a fixed plate 57 hinged on the movable platform and fixed with the driving motor, a connecting flat plate 56 connected with the fixed plate, an eccentric mechanism matched with the connecting flat plate and capable of eccentrically rotating, and a reset mechanism connected with the fixed plate. One end of the fixed plate is provided with a through hole, a hinge pin shaft penetrates into the through hole, and the fixed plate is hinged on the movable platform through the hinge pin shaft. The other end of the fixing plate is fixed with a driving motor, the driving motor is vertical to the fixing plate, the fixing plate can rotate around a hinge pin shaft, and the axis of the driving motor is parallel to the hinge pin shaft. The connecting flat plate is perpendicular to the fixing plate and is fixedly connected to the side edge of the fixing plate, a movable hole 60 is formed in the connecting flat plate, the movable hole is in a runway shape, and the length direction of the runway is parallel to the length direction of the fixing plate. The eccentric mechanism includes a cover plate 51, a rotation handle 49 connected to the cover plate, and a fitting portion 55. The middle part of the cover plate is provided with an avoiding groove, one end of the cover plate is fixed with the matching part, the other end of the cover plate is provided with a threaded hole, the end part of the rotating handle is screwed into the threaded hole, and the axis of the rotating handle is parallel to the cover plate. The rotating handle core is provided with a telescopic shaft, and the telescopic shaft can be stretched by pulling the rotating handle. The cooperation portion is cylindrical, is provided with eccentric hole 59 in the cooperation portion, and the rotating pin 58 penetrates in the eccentric hole, and the cooperation portion can revolute rotating pin eccentric rotation. The rotating pin is fixed on the moving platform. The matching part extends into the movable hole to be matched with the movable hole, the outer diameter of the matching part is matched with the width of the movable hole, and the length of the movable hole is larger than the outer diameter of the matching part. The position of the rotating pin eccentrically arranged on the matching part is far away from the mounting plate, and the rotating pin is eccentric relative to the movable hole. An arc plate 50 is fixed on the moving platform corresponding to the cover plate, the arc plate is matched with the avoiding groove of the cover plate, the circle center of the arc plate is coincided with the axis position of the rotating pin, and a radial round hole 54 is formed in the arc plate. The reset mechanism and the eccentric mechanism are respectively arranged on two sides of the fixing plate, the reset mechanism comprises a fixing pin 52 and a reset spring 53 connected with the fixing pin, and the reset spring is connected with the fixing plate. The reset direction of the reset mechanism is the meshing direction of the gear and the rack on the driving motor.
As shown in fig. 13, the welding head lifting adjusting device adopts a screw and nut mechanism, and includes a slide rail mounting bracket 61 fixed to the driving device, a slide rail 62 fixed to the slide rail mounting bracket, a screw 69 provided on the slide rail mounting bracket and parallel to the slide rail, a driving device for driving the screw to rotate, a nut member 81 sleeved on the screw and connected to the screw by a screw thread, and an installation plate 63 for connecting the welding head. The slide rail mounting bracket is vertically fixed on the upper plane of the mobile platform, the two slide rails are parallel to each other, the two parallel slide rails are vertically fixed on the front surface of the slide rail mounting bracket, the slide rails are perpendicular to the upper plane of the mobile platform, and the upper ends of the slide rails extend out of the upper edge of the slide rail mounting bracket. The slide rail is square form, and the both sides of slide rail have the concave surface, and the concave surface extends along slide rail length direction. Each slide rail is provided with an upper slide block 65 and a lower slide block 65, each slide block is provided with a notch, two sides of each notch are provided with convex parts which protrude relatively, and the convex parts are matched with the concave surfaces at two sides of each slide rail. The mounting plate is fixed on the sliding block. Slide rail mounting bracket upper portion side extends has last fixing base 68, goes up the middle vertical through-hole that is provided with of fixing base, is provided with the bearing in the vertical through-hole, and the lead screw passes vertical through-hole, and on the upper end of lead screw stretched out vertical through-hole, should stretch out to serve and be fixed with belt pulley 66 of lead screw, the lower extreme of lead screw dangles and stretches into to moving platform in. The driving device comprises a motor fixing frame fixed on the slide rail mounting frame, a servo motor fixed on the motor fixing frame and a belt pulley fixed on an output shaft of the servo motor, and the two belt pulleys are connected through a synchronous toothed belt 67. The motor fixing frame and the sliding rail are located on two sides of the sliding rail mounting frame, and the synchronous toothed belt is located on the sliding rail mounting frame and stretches across the sliding rail mounting frame. The mounting panel is square form, and one side of mounting panel is provided with the evagination and is used for connecting the connecting elements 64 of soldered connection, and connecting elements are square form, are provided with four connecting holes on the connecting elements. Two sinking platforms are arranged on the side edge of the mounting plate facing the screw rod, the two sinking platforms are respectively positioned on the front surface and the rear surface of the mounting plate, and two connecting holes penetrating through the mounting plate are arranged between the two sinking platforms. The nut component comprises a nut 70 matched with the screw rod and a connecting piece 71 fixed on the nut, the connecting piece is Z-shaped, the extending end of the connecting piece is provided with two connecting forks extending transversely, a groove is formed between the two connecting forks, and the two connecting forks are provided with two connecting holes penetrating through the groove. The width of the groove is matched with the distance between the two sinking platforms of the mounting plate, the connecting fork is laterally inserted into the sinking platforms, the connecting hole in the connecting fork is aligned with the connecting hole in the sinking platforms, and the connecting bolt penetrates into the connecting hole and fixes the connecting piece and the mounting plate. The welding head is fixedly arranged on a connecting component of the mounting plate, the servo motor drives the screw rod to rotate through the belt pulley and the synchronous toothed belt, the nut drives the connecting piece to lift, the connecting piece drives the mounting plate to lift on the sliding rail, and therefore accurate adjustment of the height of the welding head is achieved.
As shown in fig. 14, the welding gun lateral adjusting device 7 comprises a horizontal mounting frame 84, a left support plate 72 is arranged on the left side of the mounting frame, a right support plate 83 is arranged on the right side of the mounting frame, the left support plate and the right support plate are parallel and perpendicular to the mounting frame, and the upper side of the left support plate is higher than the mounting frame and is used for mounting a servo motor 85. The upper portion of left branch fagging is provided with decurrent recess, and servo motor is fixed in on the mounting panel, and the mounting panel inserts to the recess in and fixed, and servo motor's output shaft stretches out outside the left branch fagging, stretches out to serve and is fixed with the belt pulley. The side of the mounting frame is provided with a notch 77, and two ends of the notch on the mounting frame are fixed with a stopper 76. The lower surface of mounting bracket is fixed with slide rail 62, is furnished with slider 65 on the slide rail, and the slide rail is square, and the both sides of slide rail are provided with the concave surface, and the slider has the recess, and the recess is detained on the slide rail, is provided with the ball in the recess, and the ball cooperatees with the concave surface. And a screw rod 69 is arranged between the left support plate and the right support plate, bearings are sleeved at two ends of the screw rod, the axis of the screw rod is parallel to the axis of the slide rail, and the axis of an output shaft of the servo motor is parallel to the axis of the screw rod. The left end of the screw rod extends out of the left supporting plate, the end of the screw rod extends out to fix the belt pulley, a synchronous toothed belt is connected between the belt pulley and the belt pulley on the output shaft of the servo motor, the servo motor rotates, and the screw rod is driven to rotate through the synchronous toothed belt. The screw rod is sleeved with a nut part 81 which comprises a nut 70 and a shell, the side edge of the shell is connected with a vertically arranged stroke rod 78, and the stroke rod extends into the gap. Two connecting parts 80 are fixed below the shell, connecting holes are formed in the connecting parts, the two connecting parts are separated from each other left and right and are kept parallel, and a welding gun mounting position is formed between the two connecting parts. The right supporting plate is provided with a connecting hole and is connected with the height adjusting device through the connecting hole.
As shown in fig. 15, the height adjusting device includes a mounting frame, on which an upper supporting plate 86 and a lower supporting plate 89 are disposed, the upper supporting plate and the lower supporting plate being parallel to each other and perpendicular to the mounting frame. A screw rod is arranged between the upper supporting plate and the lower supporting plate, and bearings are sleeved at two ends of the screw rod. A seat plate 87 is fixed on the upper supporting plate, and the seat plate is vertical to the upper supporting plate and is parallel to the mounting frame. Be provided with servo motor on the bedplate, in servo motor's output shaft stretched into the position between bedplate and the mounting bracket, servo motor's the axis of output shaft was mutually perpendicular with the axis of lead screw. The screw rod is in transmission connection with the servo motor through a worm gear mechanism (not shown in the figure), a worm wheel is fixed on the screw rod, a worm is fixed on an output shaft of the servo motor, and the worm is meshed with the worm wheel. An angle sensor is also arranged on the seat board. The screw rod is sleeved with a nut component, and the nut component comprises a nut in threaded connection with the screw rod and a connecting plate 88 fixed with the nut. The mounting frame is fixed with a slide rail 62, the slide rail is parallel to the screw rod, the slide rail is provided with two slide blocks 65, and the connecting plate is fixed with the two slide blocks. The slide rail is square, concave surfaces are arranged on two sides of the slide rail, the slide block is provided with a groove, the groove is buckled on the slide rail, and balls are arranged in the groove and matched with the concave surfaces. The connecting plate is provided with 4 connecting holes, and the 4 connecting holes correspond to the positions of the connecting holes in the right supporting plate of the transverse adjusting device.
As shown in fig. 16 and 17, the welding gun rotation adjusting device adopts the parallelogram translation principle, and comprises a driving rotating rod 92 and a driven rotating rod 95 which are arranged in parallel, and a first connecting plate 90 and a second connecting plate 91 which are hinged on the driving rotating rod and the driven rotating rod together, wherein the driving rotating rod is connected with a driving device, and the driving rotating rod and the driven rotating rod are hinged on a mounting plate 98 together. First connecting plate is the triangle-shaped shape of invering, and triangular three position is provided with the hinge hole respectively, and wherein the first hinge hole and the second hinge hole of top are articulated with initiative rotary rod and driven rotary rod respectively, and the hinge hole of below is the first connecting hole 96 of welder that is connected with welder, and the distance between first hinge hole and the second hinge hole equals with the hole pitch of being connected initiative rotary rod and driven rotary rod on the mounting panel. The second connecting plate is the triangle-shaped shape of invering, and triangular three position is provided with the hinge hole respectively, and wherein the first hinge hole and the second hinge hole of top are articulated with initiative rotary rod and driven rotary rod respectively, and the hinge hole of below is the welder second connecting hole 97 that is connected with welder, and the distance between first hinge hole and the second hinge hole equals with the hole pitch of being connected initiative rotary rod and driven rotary rod on the mounting panel. The middle position of the second connecting plate is in a step shape, so that the lower part of the second connecting plate is away from the rotating position of the first connecting hole of the welding gun of the first connecting plate. The first connecting plate and the second connecting plate are located in two parallel surfaces, a base plate 94 is arranged at the hinged position between the first connecting plate and the driving rotating rod and between the first connecting plate and the driven rotating rod, the thickness of the base plate is larger than that of the second connecting plate, and an installation space of the second connecting plate is formed between the first connecting plate and the driving rotating rod and between the first connecting plate and the driven rotating rod. The distance between the first hinge hole and the second hinge hole on the first connecting plate is equal to the distance between the first hinge hole and the second hinge hole on the second connecting plate. The driving rotary rod is provided with three connecting holes which are an upper connecting hole, a middle connecting hole and a lower connecting hole respectively, the driven rotary rod is provided with three connecting holes which are an upper connecting hole, a middle connecting hole and a lower connecting hole respectively, the three connecting holes on the driving rotary rod and the three connecting holes on the driven rotary rod correspond to each other in position, and the two lower connecting holes are hinged with the mounting plate. Two hinge holes above the first connecting plate are respectively hinged with an upper connecting hole of the driving rotating rod and an upper connecting hole of the driven rotating rod, and two hinge holes above the second connecting plate are respectively hinged with a middle connecting hole of the driving rotating rod and a middle connecting hole of the driven rotating rod. Initiative rotary rod, driven rotary rod, a parallelogram is constituteed to mounting panel and first connecting plate, and initiative rotary rod, driven rotary rod, a parallelogram is constituteed again to mounting panel and second connecting plate, and the lower part of initiative rotary rod is provided with the seam mouth, connecting hole under the seam mouth intercommunication, and the lower part of initiative rotary rod is provided with the through-hole, and the through-hole runs through the seam mouth, penetrates the retaining member in the through-hole. The driving device adopts a servo motor, the servo motor is fixed on the mounting plate, an output shaft of the servo motor is connected and fixed with a lower connecting hole of the active rotating rod, and the servo motor drives the active rotating rod to rotate. An angle sensor 99 is attached to the mounting plate.
As shown in fig. 19, the driving rotating rod and the driven rotating rod are maintained in a vertical state, and the welding gun first connecting hole and the welding gun second connecting hole are in a vertical state, so that the welding gun is maintained in a vertical state.
As shown in fig. 18, servo motor rotates, and initiative rotary rod is oblique on the left, drives the synchronous oblique on the left of driven rotary rod through first connecting plate and second connecting plate, and this in-process, first connecting plate and second connecting plate do not produce the rotation, just take place the position change, and the left side position of first connecting plate partial to second connecting plate, the first connecting hole of welder is in the left side position of welder second connecting hole this moment, is equivalent to welder and is the left oblique form.
As shown in fig. 20, the servo motor rotates, the driving rotary rod inclines to the right, the driven rotary rod is driven to rotate synchronously through the first connecting plate and the second connecting plate, in the process, the first connecting plate and the second connecting plate do not rotate and only change positions, the first connecting plate is deviated to the right position of the second connecting plate, and at the moment, the first connecting hole of the welding gun is positioned at the right position of the second connecting hole of the welding gun, which is equivalent to that the welding gun is in a right inclined shape.
As shown in fig. 1, the welding gun is provided with an angle sensor for measuring the welding inclination, a position sensor for sensing the shape of the wave plate, and a shape sensor for sensing the unevenness of the wave plate. The automatic welding device is characterized in that a sensor is mounted on the basis of detection measurement values such as the shape of the wave-shaped plate, the distance between the welding gun and the wave-shaped plate, the angle formed by the welding gun and the wave-shaped plate and the like, the welding device keeps the posture of the welding gun perpendicular to the welding surface and stabilizes the distance between the welding gun and the welding surface in the whole welding process through each adjusting device, and welding condition parameters at different positions are controlled and output to realize the automatic welding of the curved wave-shaped plate.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, alterations and equivalents of the above embodiments according to the technical spirit of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides a special film type liquid cargo containment system wave plate automatic welder which characterized in that includes:
the wave-shaped plate holder is used for holding the wave-shaped plate and fixing a guide rail on the wave-shaped plate;
the driving device is arranged on the guide rail and can move linearly along the guide rail;
the welding head lifting adjusting device is arranged on the driving device and is carried by the driving device to move linearly so as to adjust the height position of the welding head;
the welding gun position adjusting device is arranged on the welding head lifting adjusting device and comprises a welding gun rotation adjusting device, a welding gun lifting adjusting device and a welding gun transverse adjusting device, and the welding gun rotation adjusting device, the welding gun lifting adjusting device and the welding gun transverse adjusting device are matched to control the welding precision within a deviation range of 0.1 mm;
and the welding gun is connected to the welding gun position adjusting device.
2. The automatic welding device for the wave-shaped plate of the special film type liquid cargo containment system according to claim 1, wherein the wave-shaped plate holder comprises a fixed clamping block, a movable clamping block and an operating handle for controlling the movable clamping block to move relative to the fixed clamping block through a link mechanism, and a self-locking structure is arranged between the link mechanism and the operating handle; the opposite parts of the two clamping blocks are provided with clamping heads clamped into the large concave parts on the side surfaces of the corrugated plate nodules, the gap between the two opposite clamping heads is in a variable shape, and the gap between the two clamping heads deviated to the openings of the two clamping blocks is the minimum.
3. The automatic welding device for the corrugated plate of the special film type liquid cargo containment system according to claim 1, wherein the guide rail comprises a rail body and a rack fixed on the rail body, the rail body comprises a middle plate body and clamping edges positioned at two sides of the middle plate body, two symmetrical clamping surfaces are arranged at the outer side parts of the clamping edges, the two clamping surfaces are an upper clamping surface and a lower clamping surface respectively, and the symmetrical surfaces are parallel to the surface of the middle plate body; the length direction of the rack is parallel to the length direction of the clamping edge.
4. The automatic welding device for the special corrugated plate of the thin film type liquid cargo containment system according to claim 1, 2 or 3, wherein the driving device comprises a moving platform arranged on the guide rail, and a driving motor arranged on the moving platform and matched with the guide rail; and the movable platform is provided with a butt-clamping roller mechanism matched with the guide rail.
5. The automatic welding device for the special wave-shaped plate of the film-shaped liquid cargo containment system according to claim 4, wherein a manual clutch device is further arranged on the moving platform, the manual clutch device is used for manually controlling the clutch between the driving motor and the guide rail, and the manual clutch device adopts an eccentric rotating structure.
6. The automatic welding device for the wave-shaped plate of the special thin-film type liquid cargo containment system according to claim 1, wherein the welding head lifting adjusting device adopts a screw-nut mechanism, and comprises a slide rail mounting rack fixed on the driving device, a slide rail fixed on the slide rail mounting rack, a screw rod arranged on the slide rail mounting rack and parallel to the slide rail, a driving device for driving the screw rod to rotate, a nut component sleeved on the screw rod and in threaded connection with the screw rod, and a mounting plate for connecting the welding head, wherein the mounting plate is arranged on the slide rail and can move along the slide rail, and the mounting plate and the nut component are fixed and lift synchronously along with the nut component.
7. The automatic welding device for the wave-shaped plate of the special film type liquid cargo containment system according to claim 1, wherein the welding gun rotation adjusting device adopts a parallelogram translation principle and comprises a driving rotating rod and a driven rotating rod which are arranged in parallel, and a first connecting plate and a second connecting plate which are jointly hinged on the driving rotating rod and the driven rotating rod, wherein the hinged part between the first connecting plate and the driving rotating rod and between the first connecting plate and the driven rotating rod is parallel to the hinged part between the second connecting plate and the driving rotating rod and between the first connecting plate and the driven rotating rod, and the first connecting plate and the second connecting plate form a symmetrical left-right swinging structure.
8. The apparatus of claim 7, wherein the first connecting plate and the second connecting plate are parallel, and a connection line between the first connecting hole of the first connecting plate for mounting the welding gun and the second connecting hole of the second connecting plate for mounting the welding gun is parallel to the driving rotating rod and the driven rotating rod.
9. The automatic welding device for the wave-shaped plate of the special film-type liquid cargo containment system according to claim 1, 6 or 7, wherein the welding gun lifting adjusting device and the welding gun transverse adjusting device are arranged on the welding gun rotation adjusting device, the welding gun transverse adjusting device is arranged on the welding gun lifting adjusting device, the welding gun lifting adjusting device and the welding gun transverse adjusting device both adopt a screw-nut mechanism driven by a servo motor, and the adjusting direction of the welding gun transverse adjusting device is perpendicular to the adjusting direction of the welding gun lifting adjusting device.
10. The apparatus for automatically welding the corrugated plate of the special film type liquid cargo containment system according to claim 1, 2, 3, 6, 7 or 8, wherein an angle sensor for measuring the welding inclination, a position sensor for sensing the shape of the corrugated plate and a shape sensor for sensing the unevenness of the corrugated plate are arranged on the welding gun.
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| CN202111569963.XA CN114055042A (en) | 2021-12-21 | 2021-12-21 | Special automatic welding device for wave-shaped plate of thin film type liquid cargo containment system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111569963.XA CN114055042A (en) | 2021-12-21 | 2021-12-21 | Special automatic welding device for wave-shaped plate of thin film type liquid cargo containment system |
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| KR20000003353U (en) * | 1998-07-22 | 2000-02-15 | 조선묵 | Corrugated board automatic welding device |
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| KR20170127951A (en) * | 2016-05-13 | 2017-11-22 | 현대중공업 주식회사 | Auto welding apparatus for corrugation plate |
| CN110722259A (en) * | 2019-10-21 | 2020-01-24 | 浙江金华巨能电子科技有限公司 | Plasma welding robot |
| CN211072381U (en) * | 2019-09-25 | 2020-07-24 | 浙江金华巨能电子科技有限公司 | Clamp for supporting welding track |
| CN113333926A (en) * | 2021-07-09 | 2021-09-03 | 南京顶瑞科技有限公司 | A intelligent welding machine for LNG boats and ships bunker inner wall |
| CN113649741A (en) * | 2021-08-19 | 2021-11-16 | 江南大学 | Corrugated plate automatic welding machine and control system thereof |
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- 2021-12-21 CN CN202111569963.XA patent/CN114055042A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000003353U (en) * | 1998-07-22 | 2000-02-15 | 조선묵 | Corrugated board automatic welding device |
| KR100732311B1 (en) * | 2006-09-18 | 2007-06-25 | 주식회사 한진중공업 | Automatic welding apparatus that weld ship membrane for lng and operating method thereof |
| KR20170127951A (en) * | 2016-05-13 | 2017-11-22 | 현대중공업 주식회사 | Auto welding apparatus for corrugation plate |
| CN211072381U (en) * | 2019-09-25 | 2020-07-24 | 浙江金华巨能电子科技有限公司 | Clamp for supporting welding track |
| CN110722259A (en) * | 2019-10-21 | 2020-01-24 | 浙江金华巨能电子科技有限公司 | Plasma welding robot |
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Application publication date: 20220218 |