CN114523179A - Intelligent welding mechanical arm for new energy automobile door - Google Patents
Intelligent welding mechanical arm for new energy automobile door Download PDFInfo
- Publication number
- CN114523179A CN114523179A CN202210085846.4A CN202210085846A CN114523179A CN 114523179 A CN114523179 A CN 114523179A CN 202210085846 A CN202210085846 A CN 202210085846A CN 114523179 A CN114523179 A CN 114523179A
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- China
- Prior art keywords
- sleeve
- sliding connection
- mechanical arm
- arm
- welding wire
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
-
- 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
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Robotics (AREA)
- Vibration Dampers (AREA)
Abstract
The invention discloses an intelligent welding mechanical arm for a new energy automobile door, which belongs to the technical field of mechanical arms and comprises a mechanical arm support, a mechanical large arm and a mechanical small arm which are arranged on the mechanical arm support, a sleeve for protecting a welding wire, a torsion buffer supporting assembly and a fixed supporting assembly, wherein the torsion buffer supporting assembly and the fixed supporting assembly are used for supporting the sleeve; the torsion buffering support assembly comprises a rotating sleeve, a connecting support part and a welding wire support part, and the rotating sleeve is in running fit with the mandrel. The device can buffer the deformation of the welding wire when the node of the mechanical arm is bent repeatedly, reduce the instantaneous bending amplitude of the welding wire and ensure the smooth operation of the welding process.
Description
Technical Field
The invention belongs to the technical field of mechanical arms, and particularly relates to an intelligent welding mechanical arm for a new energy automobile door.
Background
The welding robot mainly comprises a robot and a welding device. The robot consists of a robot body and a control cabinet. The welding equipment, taking arc welding and spot welding as examples, is composed of a welding power supply, a wire feeder, a welding gun and the like. The intelligent robot also comprises a sensing system, such as a laser or camera sensor and a control device thereof. Full automated system is adopted mostly in current new energy automobile's production, in new energy automobile door welding process, need consume the welding rod constantly, the welding rod need be carried to the terminal welder position of robot constantly from winding mechanism, if directly carry the welding rod, keep a transport state for a long time, the welding rod often can not follow the instantaneous speed of buckling of arm during operation this moment, including arm joint department long time repeated rotation leads to the welding rod fracture easily, lead to the interrupt of arm during operation welding process, bring not little trouble for on-the-spot weldment work, thereby influence new energy automobile's delivery.
Disclosure of Invention
In view of this, the invention aims to provide an intelligent welding mechanical arm for a new energy automobile door, which can buffer the deformation of a welding wire when a node of the mechanical arm is repeatedly bent, reduce the instantaneous bending amplitude of the welding wire and ensure the smooth operation of a welding process.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention discloses an intelligent welding mechanical arm for a new energy automobile door, which comprises a mechanical arm support, a mechanical big arm and a mechanical small arm, a sleeve for protecting a welding wire, a torsion buffering support assembly and a fixed support assembly, wherein the mechanical big arm and the mechanical small arm are arranged on the mechanical arm support; twist reverse buffering supporting component and include rotatory sleeve, joint support portion and welding wire supporting part, rotatory sleeve with the dabber normal running fit, joint support portion's one end with rotatory sleeve fixed connection, the other end with mechanical forearm fixed connection, the welding wire supporting part with rotatory sleeve normal running fit, be provided with damping buffering component between welding wire supporting part and the rotatory sleeve, damping buffering component can cushion the welding wire supporting part when taking place relative rotation between welding wire supporting part and the rotatory sleeve.
Further, the welding wire supporting part includes sliding connection piece and connecting cylinder, the sleeve pipe passes the connecting cylinder just passes through the connecting cylinder supports, the connecting cylinder is connected to rotatory sleeve through sliding connection piece, sliding connection piece's upper end seted up with rotatory sleeve complex spout, sliding connection piece passes through the spout cover is established rotatory telescopic outside.
Further, be provided with a vertical passageway in the sliding connection piece, damping buffering subassembly includes ejector pin, first spring and base, the ejector pin sets up in vertical passageway, the upper end off-centre top of ejector pin to rotatory telescopic lateral wall, the lower extreme of ejector pin is through first spring coupling to base, the base with the sliding connection piece is connected, a spacing groove has been seted up to the position that rotatory telescopic lateral wall is close to the joint support portion, the spacing groove with the ejector pin cooperation can be used for spacing the ejector pin.
Further, the first spring sleeve is arranged on the outer side of the lower end of the ejector rod, a step matched with the first spring is formed on the lower portion of the ejector rod, external threads are arranged on the outer side of the base, internal threads matched with the base are arranged in the sliding connection block, and the abutting force of the ejector rod and the rotating sleeve can be adjusted by rotating the base.
Furthermore, an inclined end face is arranged at the upper end of the ejector rod, the inclined direction of the end face is tangent to the outer side of the rotating sleeve, an embedding groove is formed in the end face, and a first ball is arranged in the embedding groove in a rolling mode.
Further, first slot rolling has been seted up to rotatory telescopic terminal surface, first slot rolling fit in is provided with the second ball, the second slot rolling has been seted up to the medial surface of spout, the cooperation forms the rolling annular channel of second ball between first slot rolling and the second slot rolling, sliding connection block passes through the second ball with rotatory sleeve sliding fit, a side of sliding connection block can be dismantled and be connected with a stopper, the stopper be used for right the second ball carries on spacingly.
Further, the fixed supporting nail that is provided with in another side of sliding connection piece, the side of joint support portion articulates there is a damping plate, be provided with the attenuator between damping plate and the joint support portion, work as when the ejector pin displacement is to surpassing the position of spacing groove, the supporting nail with the damping plate contact, the damping plate is used for buffering sliding connection piece.
Further, the connecting cylinder includes the barrel, sets up elastic buffer subassembly in the barrel, elastic buffer subassembly is the circumference and is in respectively the inboard of barrel, elastic buffer subassembly includes arc backup pad, guide arm, stop nut and second spring, the guide hole has been seted up on the surface of barrel, the guide arm passes the guide hole, it is spacing through stop nut in the outside of guide arm, the inboard fixed connection to arc backup pad of guide arm, the second spring housing is established in the outside of guide arm, the both ends of second spring respectively with the inner wall and the arc backup pad butt of barrel.
The invention has the beneficial effects that:
according to the intelligent welding mechanical arm for the new energy automobile door, the welding wires are protected by the outer layer through the sleeve, the concentrated bending of the welding wires is avoided, the welding wire supporting part is used for being sleeved with the sleeve, the welding wire supporting part is in rotating fit with the rotating sleeve, and the damping buffer assembly is arranged between the welding wire supporting part and the rotating sleeve, so that the welding wire supporting part can be buffered when the welding wire supporting part and the rotating sleeve rotate relatively, the deformation of the welding wires can be buffered when the joint of the mechanical arm is bent repeatedly, the instantaneous bending amplitude of the welding wires is reduced, and the smooth proceeding of a welding process is ensured.
Additional advantages, objects, and features of the invention will be set forth in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
FIG. 1 is a schematic view of a robotic arm according to the present invention;
FIG. 2 is a first schematic view of the torsional damping support assembly according to the present invention;
FIG. 3 is a second schematic structural view of the torsional damping support assembly of the present invention;
FIG. 4 is a schematic structural view of a damping bumper assembly according to the present invention;
fig. 5 is a schematic structural view of the elastic buffer assembly.
The drawings are numbered as follows: mechanical arm support 1, mechanical arm 2, mechanical arm 3, sleeve 4, torsion buffer support assembly 5, rotary sleeve 51, connection support portion 52, welding wire support portion 53, sliding connection block 531, connecting cylinder 532, sliding chute 54, ejector pin 55, first spring 56, base 57, limiting groove 58, step 59, caulking groove 510, first ball 511, first rolling groove 512, second ball 513, limiting block 514, bearing nail 515, damping plate 516, damper 517, elastic buffer assembly 518, arc support plate 519, guide rod 520, limiting nut 521, second spring 522, fixed support assembly 6 and mandrel 7.
Detailed Description
As shown in fig. 1, the intelligent welding mechanical arm for the new energy automobile door comprises a mechanical arm support 1, and a large mechanical arm 2 and a small mechanical arm 3 which are arranged on the mechanical arm support 1, wherein the large mechanical arm 2 is pivoted with the mechanical arm support 1, the small mechanical arm 3 is pivoted with the outer end of the large mechanical arm 2, and related connection and control principles belong to the prior art and can be understood by those skilled in the art.
Specifically, the mechanical arm further comprises a sleeve 4 for protecting a welding wire, a torsion buffer supporting assembly 5 for supporting the sleeve 4 and a fixed supporting assembly 6, wherein the sleeve 4 is made of rubber materials and is sleeved outside the welding wire to provide a conveying channel for the welding wire, the fixed supporting assembly 6 is fixed on the mechanical arm support 1, and a mandrel 7 extends outwards from a connecting joint of the mechanical large arm 2 and the mechanical small arm 3 and is used for being matched with the torsion buffer supporting assembly 5.
In this embodiment, as shown in fig. 2 and 3, twist reverse buffering supporting component 5 includes rotating sleeve 51, connection supporting part 52 and welding wire supporting part 53, rotating sleeve 51 cover establish outside dabber 7 and with dabber 7 normal running fit can carry out the pivoted cooperation through setting up the bearing between the two, connection supporting part 52 one end with rotating sleeve 51 fixed connection, the other end with mechanical forearm 3 fixed connection can rotate along with mechanical forearm 3 together, welding wire supporting part 53 with rotating sleeve 51 normal running fit, be provided with damping buffering component between welding wire supporting part 53 and the rotating sleeve 51, damping buffering component can cushion welding wire supporting part 53 when taking place relative rotation between welding wire supporting part 53 and rotating sleeve 51. When mechanical forearm 3 rotated for mechanical big arm 2, mechanical forearm 3 drove rotatory sleeve 51 and rotates for take place relative rotation between wire supporting part 53 and the rotatory sleeve 51, but under the effect of damping buffer assembly, rotatory sleeve 51 will not concentrate the power on wire supporting part 53 at once, and the rotation angle between the two can slowly resume, thereby slows down the deformation of welding wire.
In this embodiment, welding wire supporting part 53 includes sliding connection piece 531 and connecting cylinder 532, and the axial of connecting cylinder 532 is parallel with the side of arm support 1, sleeve pipe 4 passes connecting cylinder 532 and through connecting cylinder 532 supports, connecting cylinder 532 is connected to rotatory sleeve 51 through sliding connection piece 531, sliding connection piece 531's upper end seted up with rotatory sleeve 51 complex spout 54, sliding connection piece 531 passes through spout 54 cover is established rotatory sleeve 51's the outside avoids sliding connection piece 531 to drop from rotatory sleeve 51, sliding connection between the two, simple structure can adapt to long-term cooperation environment.
In this embodiment, a vertical channel is disposed in the sliding connection block 531, the vertical channel is along the length direction of the sliding connection block 531, and the upper end of the vertical channel is communicated, as shown in fig. 4, the damping buffer assembly includes a top rod 55, a first spring 56 and a base 57, the top rod 55 is disposed in the vertical channel, the upper end of the top rod 55 eccentrically props against the outer side wall of the rotating sleeve 51, the lower end of the top rod 55 is connected to the base 57 through the first spring 56, the base 57 is connected to the sliding connection block 531, a limit groove 58 is disposed on the outer side wall of the rotating sleeve 51 near the support portion of the connecting sleeve 52, the limit groove 58 is matched with the top rod 55 to limit the top rod 55, the spring applies elastic force to the top rod 55, and the acting force of the top rod 55 is along the tangential direction of the rotating sleeve 51, so that the sliding connection block 531 can be slowly propped against the position of the limit groove 58 along the tangential direction, until the upper end of the jack 55 is caught in the stopper groove 58.
In this embodiment, first spring 56 cover is established the lower extreme outside of ejector pin 55, the lower part of ejector pin 55 form with first spring 56 complex step 59 for the effort of spring can be along the axial of ejector pin 55, and the spring is difficult to drop, the outside of base 57 is provided with the external screw thread, be provided with in the sliding connection piece 531 with base 57 complex internal thread, through rotatory base 57, can adjust the butt dynamics of ejector pin 55 and rotatory sleeve 51, be convenient for adjust the damping size of the device, this embodiment spring can adopt air spring or memory alloy spring, and self has certain damping force.
In this embodiment, an inclined end surface is provided at the upper end of the push rod 55, the inclination direction of the end surface is tangent to the outer side of the rotating sleeve 51, an embedding groove 510 is provided on the end surface, a first ball 511 is arranged in the embedding groove 510 in a rolling manner, and by arranging the first ball 511, the push rod 55 and the rotating sleeve 51 can be in sliding fit, so that the position of the sliding connection block 531 can be conveniently restored, the possibility of clamping the shell can be reduced, and certainly, an ideal sliding fit mode cannot be provided between the push rod 55 and the rotating sleeve to maintain a part of damping force.
In this embodiment, first rolling groove 512 has been seted up to the terminal surface of rotatory sleeve 51, first rolling groove 512 fit in is provided with second ball 513, the second rolling groove has been seted up to the medial surface of spout 54, the cooperation forms the rolling annular channel of second ball 513 between first rolling groove 512 and the second rolling groove, sliding connection block 531 passes through second ball 513 with rotatory sleeve 51 sliding fit, a side of sliding connection block 531 can be dismantled and be connected with a stopper 514, stopper 514 is used for right second ball 513 carries out spacingly.
In this embodiment, another side of the sliding connection block 531 is fixedly provided with a supporting nail 515, the side of the connection support portion 52 is hinged to a damping plate 516, a damper 517 is provided between the damping plate 516 and the connection support portion 52, when the ejector pin 55 displaces to a position exceeding the limit groove 58, the supporting nail 515 contacts the damping plate 516, and the damping plate 516 is used for buffering the sliding connection block 531 to avoid excessive rotation between the sliding connection block 531 and the rotating sleeve 51.
In this embodiment, as shown in fig. 5, the connection cylinder 532 includes a cylinder body and an elastic buffer assembly 518 disposed in the cylinder body, the elastic buffer assembly 518 is circumferentially disposed on the inner side of the cylinder body, the elastic buffer assembly 518 includes an arc-shaped support plate 519, a guide rod 520, a limit nut 521 and a second spring 522, a guide hole is formed in the surface of the cylinder body, the guide rod 520 passes through the guide hole, the outer side of the guide rod 520 is limited by the limit nut 521, the inner side of the guide rod 520 is fixedly connected to the arc-shaped support plate 519, the second spring 522 is sleeved on the outer side of the guide rod 520, and two ends of the second spring 522 are abutted to the inner wall of the cylinder body and the arc-shaped support plate 519 respectively.
Finally, it is noted that the above-mentioned preferred embodiments illustrate rather than limit the invention, and that, although the invention has been described in detail with reference to the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the invention as defined by the appended claims.
Claims (8)
1. The utility model provides a new energy automobile door intelligent welding arm, is in including arm support, setting mechanical big arm and mechanical forearm on the arm support, its characterized in that: the welding wire protection device further comprises a sleeve for protecting a welding wire, a torsion buffer supporting assembly for supporting the sleeve and a fixed supporting assembly, wherein the fixed supporting assembly is fixed on the mechanical arm support, and a mandrel extends outwards from a connecting joint of the large mechanical arm and the small mechanical arm; twist reverse buffering supporting component and include rotatory sleeve, joint support portion and welding wire supporting part, rotatory sleeve with the dabber normal running fit, joint support portion's one end with rotatory sleeve fixed connection, the other end with mechanical forearm fixed connection, the welding wire supporting part with rotatory sleeve normal running fit, be provided with damping buffering component between welding wire supporting part and the rotatory sleeve, damping buffering component can cushion the welding wire supporting part when taking place relative rotation between welding wire supporting part and the rotatory sleeve.
2. The intelligent welding mechanical arm for the new energy automobile door as claimed in claim 1, wherein: the welding wire supporting part comprises a sliding connection block and a connection cylinder, the sleeve penetrates through the connection cylinder and passes through the connection cylinder is supported, the connection cylinder is connected to a rotating sleeve through the sliding connection block, the upper end of the sliding connection block is arranged on the upper end of the sliding connection block, a sliding groove is formed in the upper end of the sliding connection block, and the sliding connection block is arranged on the outer side of the rotating sleeve in a sleeved mode.
3. The intelligent welding mechanical arm for the new energy automobile door as claimed in claim 2, wherein: be provided with a vertical passageway in the sliding connection piece, damping buffering subassembly includes ejector pin, first spring and base, the ejector pin sets up in vertical passageway, the upper end eccentric top of ejector pin to rotatory telescopic lateral wall, the lower extreme of ejector pin is through first spring coupling to base, the base with the sliding connection piece is connected, a spacing groove has been seted up to the position that rotatory telescopic lateral wall is close to the joint support portion, the spacing groove with the ejector pin cooperation can be used for spacing the ejector pin.
4. The intelligent welding mechanical arm for the new energy automobile door as claimed in claim 3, wherein: the first spring sleeve is arranged on the outer side of the lower end of the ejector rod, a step matched with the first spring is formed on the lower portion of the ejector rod, external threads are arranged on the outer side of the base, internal threads matched with the base are arranged in the sliding connection block, and the abutting force of the ejector rod and the rotating sleeve can be adjusted by rotating the base.
5. The intelligent welding mechanical arm for the new energy automobile door is characterized in that: an inclined end face is arranged at the upper end of the ejector rod, the inclined direction of the end face is tangent to the outer side of the rotating sleeve, an embedding groove is formed in the end face, and a first ball is arranged in the embedding groove in a rolling mode.
6. The intelligent welding mechanical arm for the new energy automobile door as claimed in claim 5, wherein: first slot rolling has been seted up to rotatory telescopic terminal surface, first slot rolling fit in is provided with the second ball, the second slot rolling has been seted up to the medial surface of spout, the cooperation forms the rolling annular channel of second ball between first slot rolling and the second slot rolling, sliding connection block passes through the second ball with rotatory sleeve sliding fit, sliding connection block's a side can be dismantled and be connected with a stopper, the stopper is used for right the second ball carries on spacingly.
7. The intelligent welding mechanical arm for the new energy automobile door as claimed in claim 6, wherein: the fixed supporting nail that is provided with in sliding connection piece's another side, the side of joint support portion articulates there is a damping plate, be provided with the attenuator between damping plate and the joint support portion, work as when the ejector pin displacement is to the position that surpasss spacing groove, the supporting nail with the damping plate contact, the damping plate is used for buffering sliding connection piece.
8. The intelligent welding mechanical arm for the new energy automobile door as claimed in claim 2, wherein: the connecting cylinder includes the barrel, sets up elastic buffer subassembly in the barrel, elastic buffer subassembly is the circumference and is in respectively the inboard of barrel, elastic buffer subassembly includes arc backup pad, guide arm, stop nut and second spring, the guide hole has been seted up on the surface of barrel, the guide arm passes the guide hole, it is spacing through stop nut in the outside of guide arm, the inboard fixed connection to arc backup pad of guide arm, the outside at the guide arm is established to the second spring housing, the both ends of second spring respectively with the inner wall and the arc backup pad butt of barrel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210085846.4A CN114523179B (en) | 2022-01-25 | 2022-01-25 | Intelligent welding mechanical arm for new energy automobile door |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210085846.4A CN114523179B (en) | 2022-01-25 | 2022-01-25 | Intelligent welding mechanical arm for new energy automobile door |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114523179A true CN114523179A (en) | 2022-05-24 |
| CN114523179B CN114523179B (en) | 2023-03-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210085846.4A Active CN114523179B (en) | 2022-01-25 | 2022-01-25 | Intelligent welding mechanical arm for new energy automobile door |
Country Status (1)
| Country | Link |
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| CN (1) | CN114523179B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003311413A (en) * | 2002-04-26 | 2003-11-05 | Daihen Corp | Welding wire-feeding unit |
| CN1575220A (en) * | 2001-10-22 | 2005-02-02 | 株式会社安川电机 | Industrial robot |
| JP2007030021A (en) * | 2005-07-29 | 2007-02-08 | Daihen Corp | Wire feeder |
| US20110011835A1 (en) * | 2009-07-16 | 2011-01-20 | Lincoln Global, Inc. | Submerged arc welding system with pressurized flux delivery and welding torch |
| CN108620775A (en) * | 2018-04-27 | 2018-10-09 | 芜湖纵横智能制造产业技术研究有限公司 | A kind of Intelligent welding robot arm |
| CN108907410A (en) * | 2018-08-07 | 2018-11-30 | 南通振康机械有限公司 | A kind of stable robot wire feed system |
| CN109623103A (en) * | 2019-01-31 | 2019-04-16 | 杭州凯尔达机器人科技股份有限公司 | Welding wire buffer device, welding robot and welding system |
| CN213224690U (en) * | 2020-09-16 | 2021-05-18 | 湖南蓝天智能装备科技有限公司 | Welding robot wire feeding mechanism with welding wire existence detection function |
| CN214264222U (en) * | 2021-01-18 | 2021-09-24 | 唐山松下产业机器有限公司 | Wire feeding mechanism and welding system with same |
-
2022
- 2022-01-25 CN CN202210085846.4A patent/CN114523179B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1575220A (en) * | 2001-10-22 | 2005-02-02 | 株式会社安川电机 | Industrial robot |
| JP2003311413A (en) * | 2002-04-26 | 2003-11-05 | Daihen Corp | Welding wire-feeding unit |
| JP2007030021A (en) * | 2005-07-29 | 2007-02-08 | Daihen Corp | Wire feeder |
| US20110011835A1 (en) * | 2009-07-16 | 2011-01-20 | Lincoln Global, Inc. | Submerged arc welding system with pressurized flux delivery and welding torch |
| CN108620775A (en) * | 2018-04-27 | 2018-10-09 | 芜湖纵横智能制造产业技术研究有限公司 | A kind of Intelligent welding robot arm |
| CN108907410A (en) * | 2018-08-07 | 2018-11-30 | 南通振康机械有限公司 | A kind of stable robot wire feed system |
| CN109623103A (en) * | 2019-01-31 | 2019-04-16 | 杭州凯尔达机器人科技股份有限公司 | Welding wire buffer device, welding robot and welding system |
| CN213224690U (en) * | 2020-09-16 | 2021-05-18 | 湖南蓝天智能装备科技有限公司 | Welding robot wire feeding mechanism with welding wire existence detection function |
| CN214264222U (en) * | 2021-01-18 | 2021-09-24 | 唐山松下产业机器有限公司 | Wire feeding mechanism and welding system with same |
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| Publication number | Publication date |
|---|---|
| CN114523179B (en) | 2023-03-17 |
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