CN1490135A - 永磁履带自主全位置爬行式弧焊机器人的控制方法 - Google Patents
永磁履带自主全位置爬行式弧焊机器人的控制方法 Download PDFInfo
- Publication number
- CN1490135A CN1490135A CNA031536638A CN03153663A CN1490135A CN 1490135 A CN1490135 A CN 1490135A CN A031536638 A CNA031536638 A CN A031536638A CN 03153663 A CN03153663 A CN 03153663A CN 1490135 A CN1490135 A CN 1490135A
- Authority
- CN
- China
- Prior art keywords
- creeping
- machine
- control
- permanent magnetism
- control method
- Prior art date
- 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.)
- Granted
Links
- 238000003466 welding Methods 0.000 title claims abstract description 114
- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000005389 magnetism Effects 0.000 claims description 55
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000011664 signaling Effects 0.000 claims description 7
- 230000010355 oscillation Effects 0.000 claims description 5
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 description 18
- 238000010586 diagram Methods 0.000 description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 3
- 210000002310 elbow joint Anatomy 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 3
- 239000000696 magnetic material Substances 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 229910001209 Low-carbon steel Inorganic materials 0.000 description 2
- 239000011324 bead Substances 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000009184 walking Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 229910002091 carbon monoxide Inorganic materials 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- 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
- B23K37/0258—Electric supply or control circuits therefor
-
- 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
- B23K37/0264—Carriages for supporting the welding or cutting element magnetically attached to the workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0294—Transport carriages or vehicles
-
- 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
- B23K9/127—Means for tracking lines during arc welding or cutting
-
- 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
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Geometry (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (8)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN03153663.8A CN1222395C (zh) | 2003-08-19 | 2003-08-19 | 永磁履带自主全位置爬行式弧焊机器人的控制方法 |
PCT/CN2004/000336 WO2005016602A1 (fr) | 2003-08-19 | 2004-04-09 | Procedes et systemes de commande pour robot de soudage a l'arc autonome possedant des chenilles et des roues a aimant permanent |
US11/311,521 US7498542B2 (en) | 2003-08-19 | 2005-12-19 | Control method and system for a trackless autonomous crawling all-position arc welding robot with wheels and permanent magnet caterpillar belts |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN03153663.8A CN1222395C (zh) | 2003-08-19 | 2003-08-19 | 永磁履带自主全位置爬行式弧焊机器人的控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN1490135A true CN1490135A (zh) | 2004-04-21 |
CN1222395C CN1222395C (zh) | 2005-10-12 |
Family
ID=34156739
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN03153663.8A Expired - Fee Related CN1222395C (zh) | 2003-08-19 | 2003-08-19 | 永磁履带自主全位置爬行式弧焊机器人的控制方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US7498542B2 (zh) |
CN (1) | CN1222395C (zh) |
WO (1) | WO2005016602A1 (zh) |
Cited By (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100448631C (zh) * | 2007-03-08 | 2009-01-07 | 上海交通大学 | 具有自定位功能的展缩关节式磁场强度探测机器人 |
CN102653289A (zh) * | 2011-03-01 | 2012-09-05 | 中国科学院合肥物质科学研究院 | 具有仿生吸振和仿生粘附结构的爬壁机器人 |
CN102672311A (zh) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | 一种气电立焊自主移动式机器人*** |
CN102689083A (zh) * | 2012-06-07 | 2012-09-26 | 中国东方电气集团有限公司 | 一种用于大厚板mig/mag多层多道焊接的自主移动式机器人*** |
CN102699920A (zh) * | 2012-06-07 | 2012-10-03 | 中国东方电气集团有限公司 | 一种全驱动复合吸附式爬行机器人的控制*** |
CN102699921A (zh) * | 2012-06-07 | 2012-10-03 | 中国东方电气集团有限公司 | 一种全驱动复合吸附式爬行机器人运动机构的控制方法 |
CN103170767A (zh) * | 2011-12-20 | 2013-06-26 | 徐州工程学院 | 焊接机器人控制方法 |
CN103203528A (zh) * | 2012-01-16 | 2013-07-17 | 成都熊谷加世电器有限公司 | 基于遗传算法的自进化pid气电立焊焊接*** |
CN104668823A (zh) * | 2013-11-29 | 2015-06-03 | 成都焊研科技有限责任公司 | 爬行式焊接机器人*** |
CN105397244A (zh) * | 2015-11-27 | 2016-03-16 | 大连理工大学 | 一种管桩端板多工位机器人智能焊接*** |
CN105710510A (zh) * | 2014-12-04 | 2016-06-29 | 中国核工业二四建设有限公司 | 一种适用于不锈钢板对接焊缝的焊接*** |
CN105945441A (zh) * | 2016-06-14 | 2016-09-21 | 大连理工大学 | 一种基于焊缝智能识别技术的环盘类零件多工位机器人焊接*** |
CN107030349A (zh) * | 2017-06-07 | 2017-08-11 | 广东海洋大学 | 船体焊接机器人 |
CN107073628A (zh) * | 2014-10-22 | 2017-08-18 | 伊利诺斯工具制品有限公司 | 具有通信电路的便携式金属加工机器人***、用于虚拟地控制金属加工工艺的控制*** |
CN107414350A (zh) * | 2017-06-20 | 2017-12-01 | 成都环龙智能机器人有限公司 | 一种点焊机器人工作站的控制方法 |
CN110108785A (zh) * | 2019-05-17 | 2019-08-09 | 深圳市中昌探伤器材有限公司 | 一种焊缝识别装置及识别方法 |
WO2020010844A1 (zh) * | 2018-07-11 | 2020-01-16 | 成都熊谷加世电器有限公司 | 一种基于激光跟踪的焊接*** |
CN110871315A (zh) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | 一种爬行弧焊机器人及爬行弧焊机器人的安全检测方法、装置 |
CN110871313A (zh) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | 一种爬行弧焊机器人的控制方法及装置 |
CN111761268A (zh) * | 2020-06-30 | 2020-10-13 | 北京博清科技有限公司 | 一种爬行焊接机器人控制*** |
CN112846579A (zh) * | 2020-12-31 | 2021-05-28 | 北京博清科技有限公司 | 焊接装置、其控制方法、控制装置、处理器和焊接*** |
CN117600624A (zh) * | 2024-01-18 | 2024-02-27 | 南昌工程学院 | 一种膜式壁专用焊接机器人***和膜式壁焊接方法 |
Families Citing this family (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1815938B1 (en) * | 2006-02-06 | 2009-10-21 | Force Technology | Carriage for automating welding, brazing, cutting and surface treatment processes |
US20090090427A1 (en) * | 2007-10-05 | 2009-04-09 | Kwang Hee Yun | Welding Wire Weaving Apparatus for Submerged Arc Welding Carriage |
US8457791B2 (en) * | 2009-03-10 | 2013-06-04 | GM Global Technology Operations LLC | Method for dynamically controlling a robotic arm |
KR100937752B1 (ko) | 2009-10-01 | 2010-01-20 | 동양철관 주식회사 | 자주식 강관용접 로봇장치 |
WO2011106515A1 (en) * | 2010-02-26 | 2011-09-01 | Pala Technologies, L.L.C. | Method and apparatus for automated welding |
US20120111843A1 (en) * | 2010-11-08 | 2012-05-10 | James Beard | Mobile, climbing robotic system to perform remote welds on ferrous materials |
CN102366852B (zh) * | 2010-11-19 | 2013-07-10 | 清华大学 | 一种水下焊接机器人的运动机构 |
CN102689085B (zh) * | 2012-06-07 | 2014-12-10 | 中国东方电气集团有限公司 | 一种用于大型精密设备焊接的自主移动式抖动热丝tig焊机器人*** |
CN104668737A (zh) * | 2013-11-29 | 2015-06-03 | 成都焊研科技有限责任公司 | 爬行式焊接机器人 |
US9266198B1 (en) * | 2014-09-05 | 2016-02-23 | Lincoln Global, Inc. | Cart for welding operation |
CN104503308A (zh) * | 2014-11-28 | 2015-04-08 | 柳州振业焊接机电设备制造有限公司 | 一种自动送料装置的控制*** |
CN105818145A (zh) * | 2016-03-31 | 2016-08-03 | 张锐 | 仿人机器人的分布式控制***及方法 |
CN106872566B (zh) * | 2017-03-07 | 2023-04-25 | 华南理工大学 | 一种基于管道爬行器的内窥涡流检测***与方法 |
US20180264602A1 (en) * | 2017-03-18 | 2018-09-20 | Garrie Brian Bales | Vehicular Apparatus And Method For CNC Metal Cutting Operations At Unpowered Jobsites |
US10974351B2 (en) * | 2017-03-30 | 2021-04-13 | Hmt Llc | Reversible weld torch trolley |
CN107335897B (zh) * | 2017-07-13 | 2024-01-26 | 刘立祥 | 新型管道全位置自动焊接设备 |
CN107838592A (zh) * | 2017-12-08 | 2018-03-27 | 中水北方勘测设计研究有限责任公司 | 用于工地现场的自动焊接装置 |
CN108828060A (zh) * | 2018-08-01 | 2018-11-16 | 深圳市神视检验有限公司 | 一种用于焊缝检测的检测车 |
US11571764B2 (en) * | 2018-11-25 | 2023-02-07 | Turn2 Specialty Companies Llc | Weld overlay machine assembly |
SG11202000192TA (en) * | 2018-12-07 | 2020-07-29 | Beijing Bo Tsing Tech Co Ltd | Crawling welding robot and method of controlling the same |
CN110082373A (zh) * | 2019-05-31 | 2019-08-02 | 北京史河科技有限公司 | 一种探伤机器人 |
CN112108806A (zh) * | 2019-06-22 | 2020-12-22 | 北京博清科技有限公司 | 爬行焊接机器人 |
CN110238510B (zh) * | 2019-07-09 | 2021-03-16 | 昆山美仑工业样机有限公司 | 一种适用于空间面的搅拌摩擦焊接装置 |
US11227378B2 (en) * | 2019-11-13 | 2022-01-18 | Software Ag | Systems and methods of generating datasets for training neural networks |
CN113334386B (zh) * | 2021-06-30 | 2023-01-10 | 北京博清科技有限公司 | 焊渣的检测方法以及检测装置 |
FR3127423B1 (fr) * | 2021-09-30 | 2023-10-27 | Gaztransport Et Technigaz | Machine de soudage à arrêt automatisé. |
FR3135408A1 (fr) * | 2022-05-12 | 2023-11-17 | Europe Technologies | Système de soudage à arc |
CN114888494B (zh) * | 2022-06-28 | 2023-04-25 | 中国十七冶集团有限公司 | 一种高空钢梁焊接机器人、焊头调节机构及焊接方法 |
CN115647692A (zh) * | 2022-11-03 | 2023-01-31 | 湖南化工职业技术学院(湖南工业高级技工学校) | 一种自动化焊接***及焊接方法 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE218292C (zh) * | ||||
JPS6195775A (ja) * | 1984-10-18 | 1986-05-14 | Mitsubishi Heavy Ind Ltd | 消耗性電極溶接における突出長制御装置 |
US4675502A (en) * | 1985-12-23 | 1987-06-23 | General Electric Company | Real time tracking control for taught path robots |
JPH0692029B2 (ja) * | 1987-03-20 | 1994-11-16 | ファナック株式会社 | ア−ク溶接ロボットの制御方法 |
JPH0635060B2 (ja) * | 1987-12-15 | 1994-05-11 | 日立造船株式会社 | 溶接ロボツトの位置制御装置 |
JP2548027B2 (ja) * | 1988-06-30 | 1996-10-30 | ファナック株式会社 | アークビジョンセンサ操作方式 |
JP2786225B2 (ja) * | 1989-02-01 | 1998-08-13 | 株式会社日立製作所 | 工業用ロボットの制御方法及び装置 |
US4965431A (en) * | 1989-08-21 | 1990-10-23 | Blackstone Corporation | Sweep welding method and apparatus therefor |
JPH11248094A (ja) * | 1998-03-05 | 1999-09-14 | Natl Inst Of Industrial Safety Ministry Labour | 機械類の運転制御回路 |
US6430472B1 (en) * | 1999-12-20 | 2002-08-06 | Servo-Robot Inc. | Robot feature tracking devices and methods |
CN2405719Y (zh) * | 2000-01-26 | 2000-11-15 | 阎炳义 | 履带式永磁铁爬行机构 |
JP2002096169A (ja) | 2000-09-21 | 2002-04-02 | Toshiba Corp | 遠隔操作型溶接ロボットシステム |
US6492618B1 (en) * | 2000-11-02 | 2002-12-10 | Tri Tool Inc. | Automatic weld head alignment and guidance system and method |
CN2550116Y (zh) * | 2002-06-26 | 2003-05-14 | 南昌大学 | 爬行式全位置焊机器人半履带小车 |
-
2003
- 2003-08-19 CN CN03153663.8A patent/CN1222395C/zh not_active Expired - Fee Related
-
2004
- 2004-04-09 WO PCT/CN2004/000336 patent/WO2005016602A1/zh active Application Filing
-
2005
- 2005-12-19 US US11/311,521 patent/US7498542B2/en active Active
Cited By (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100448631C (zh) * | 2007-03-08 | 2009-01-07 | 上海交通大学 | 具有自定位功能的展缩关节式磁场强度探测机器人 |
CN102653289A (zh) * | 2011-03-01 | 2012-09-05 | 中国科学院合肥物质科学研究院 | 具有仿生吸振和仿生粘附结构的爬壁机器人 |
CN103170767A (zh) * | 2011-12-20 | 2013-06-26 | 徐州工程学院 | 焊接机器人控制方法 |
CN103170767B (zh) * | 2011-12-20 | 2015-01-21 | 徐州工程学院 | 焊接机器人控制方法 |
CN103203528A (zh) * | 2012-01-16 | 2013-07-17 | 成都熊谷加世电器有限公司 | 基于遗传算法的自进化pid气电立焊焊接*** |
CN102699920B (zh) * | 2012-06-07 | 2015-03-25 | 中国东方电气集团有限公司 | 一种全驱动复合吸附式爬行机器人的控制*** |
CN102699920A (zh) * | 2012-06-07 | 2012-10-03 | 中国东方电气集团有限公司 | 一种全驱动复合吸附式爬行机器人的控制*** |
CN102699921B (zh) * | 2012-06-07 | 2014-12-10 | 中国东方电气集团有限公司 | 一种全驱动复合吸附式爬行机器人运动机构的控制方法 |
CN102689083A (zh) * | 2012-06-07 | 2012-09-26 | 中国东方电气集团有限公司 | 一种用于大厚板mig/mag多层多道焊接的自主移动式机器人*** |
CN102699921A (zh) * | 2012-06-07 | 2012-10-03 | 中国东方电气集团有限公司 | 一种全驱动复合吸附式爬行机器人运动机构的控制方法 |
CN102672311A (zh) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | 一种气电立焊自主移动式机器人*** |
CN104668823A (zh) * | 2013-11-29 | 2015-06-03 | 成都焊研科技有限责任公司 | 爬行式焊接机器人*** |
CN107073628A (zh) * | 2014-10-22 | 2017-08-18 | 伊利诺斯工具制品有限公司 | 具有通信电路的便携式金属加工机器人***、用于虚拟地控制金属加工工艺的控制*** |
US10442025B2 (en) | 2014-10-22 | 2019-10-15 | Illinois Tool Works Inc. | Virtual reality controlled mobile robot |
CN107073628B (zh) * | 2014-10-22 | 2019-07-19 | 伊利诺斯工具制品有限公司 | 控制***以及包括控制***和金属加工机器人***的*** |
US11504790B2 (en) | 2014-10-22 | 2022-11-22 | Illinois Tool Works Inc. | Virtual reality controlled mobile robot |
CN105710510A (zh) * | 2014-12-04 | 2016-06-29 | 中国核工业二四建设有限公司 | 一种适用于不锈钢板对接焊缝的焊接*** |
CN105397244A (zh) * | 2015-11-27 | 2016-03-16 | 大连理工大学 | 一种管桩端板多工位机器人智能焊接*** |
CN105397244B (zh) * | 2015-11-27 | 2017-06-23 | 大连理工大学 | 一种管桩端板多工位机器人智能焊接*** |
CN105945441A (zh) * | 2016-06-14 | 2016-09-21 | 大连理工大学 | 一种基于焊缝智能识别技术的环盘类零件多工位机器人焊接*** |
CN107030349A (zh) * | 2017-06-07 | 2017-08-11 | 广东海洋大学 | 船体焊接机器人 |
CN107414350A (zh) * | 2017-06-20 | 2017-12-01 | 成都环龙智能机器人有限公司 | 一种点焊机器人工作站的控制方法 |
WO2020010844A1 (zh) * | 2018-07-11 | 2020-01-16 | 成都熊谷加世电器有限公司 | 一种基于激光跟踪的焊接*** |
CN110871315A (zh) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | 一种爬行弧焊机器人及爬行弧焊机器人的安全检测方法、装置 |
CN110871313A (zh) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | 一种爬行弧焊机器人的控制方法及装置 |
CN110108785A (zh) * | 2019-05-17 | 2019-08-09 | 深圳市中昌探伤器材有限公司 | 一种焊缝识别装置及识别方法 |
CN110108785B (zh) * | 2019-05-17 | 2024-05-07 | 深圳市中昌探伤器材有限公司 | 一种焊缝识别装置及识别方法 |
CN111761268A (zh) * | 2020-06-30 | 2020-10-13 | 北京博清科技有限公司 | 一种爬行焊接机器人控制*** |
CN112846579A (zh) * | 2020-12-31 | 2021-05-28 | 北京博清科技有限公司 | 焊接装置、其控制方法、控制装置、处理器和焊接*** |
CN112846579B (zh) * | 2020-12-31 | 2023-03-14 | 北京博清科技有限公司 | 焊接装置、其控制方法、控制装置、处理器和焊接*** |
CN117600624A (zh) * | 2024-01-18 | 2024-02-27 | 南昌工程学院 | 一种膜式壁专用焊接机器人***和膜式壁焊接方法 |
CN117600624B (zh) * | 2024-01-18 | 2024-03-29 | 南昌工程学院 | 一种膜式壁专用焊接机器人***和膜式壁焊接方法 |
Also Published As
Publication number | Publication date |
---|---|
US20060144835A1 (en) | 2006-07-06 |
CN1222395C (zh) | 2005-10-12 |
WO2005016602A1 (fr) | 2005-02-24 |
US7498542B2 (en) | 2009-03-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN1222395C (zh) | 永磁履带自主全位置爬行式弧焊机器人的控制方法 | |
CN102672311B (zh) | 一种气电立焊自主移动式机器人*** | |
CN102672315B (zh) | 一种自主移动式双面双弧焊接机器人*** | |
CN102689083B (zh) | 用于大厚板mig/mag多层多道焊接的机器人*** | |
CN103286494B (zh) | 一种箱型钢结构轨道式全位置焊接机器人 | |
CN102689100B (zh) | 一种用于等离子mig复合焊接的自主移动式机器人*** | |
CN202752728U (zh) | 一种气电立焊自主移动式机器人*** | |
CN102689085B (zh) | 一种用于大型精密设备焊接的自主移动式抖动热丝tig焊机器人*** | |
CN202622192U (zh) | 一种用于等离子mig复合焊接的自主移动式机器人*** | |
KR20200071044A (ko) | 크롤링 용접 로봇 및 그 제어 방법 | |
CN210633206U (zh) | 一种冶金阀门焊接工装 | |
CN2652577Y (zh) | 无导轨全位置行走光电实时跟踪管道焊接机器人 | |
CN202752771U (zh) | 一种用于爬行式焊接机器人的操作和摆动机构 | |
CN1714978A (zh) | 集箱环缝自动氩弧焊及窄间隙埋弧焊接工艺及设备 | |
CN202752729U (zh) | 一种自主移动式双面双弧焊接机器人*** | |
CN106271287A (zh) | 一种全自动焊接机器人 | |
CN102672316B (zh) | 一种用于中厚板焊接的自主移动式双丝焊机器人*** | |
CN208496151U (zh) | 一种弧板周向焊接装备 | |
CN106270931A (zh) | 一种钢构智能高效多丝埋弧焊接生产线 | |
CN214558126U (zh) | 一种中厚板多层多道视觉成像自动化焊接*** | |
CN215660271U (zh) | 船体焊缝打磨机器人 | |
CN213033858U (zh) | 基于视觉表征的多层多道焊接装置 | |
KR100949995B1 (ko) | 무인 자동 용접기 | |
CN2435199Y (zh) | 无导轨全位置行走光电实时跟踪球罐焊接机器人 | |
CN202479669U (zh) | 一种主梁纵缝焊接用的焊接装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
ASS | Succession or assignment of patent right |
Owner name: CHANGZHOU HUATONG WIRE CO., LTD. Free format text: FORMER OWNER: PAN JILUAN; YAN BINGYI; GAO LISHENG; ZHANG HUA Effective date: 20081010 |
|
C41 | Transfer of patent application or patent right or utility model | ||
TR01 | Transfer of patent right |
Effective date of registration: 20081010 Address after: No. 6-8, industrial road, Guan Zhen Town, Wujin District, Jiangsu, Changzhou Province, China: 213102 Patentee after: Changzhou Huatong Welding Wire Co., Ltd. Address before: Department of mechanical engineering, Tsinghua University, Beijing, zip code: 100084 Co-patentee before: Yan Bingyi Patentee before: Pan Ji Luan Co-patentee before: Gao Lisheng Co-patentee before: Zhang Hua |
|
C56 | Change in the name or address of the patentee |
Owner name: CHANGZHOU HUATONG WELDING INDUSTRY CO., LTD. Free format text: FORMER NAME: HUATONG WELD STICKS CO., LTD., CHANGZHOU |
|
CP03 | Change of name, title or address |
Address after: 213102 observation Town, Wujin District, Jiangsu, Changzhou Patentee after: Changzhou Huatong Welding Industry Co., Ltd. Address before: 213102, No. 6-8, industrial road, Guan Zhen Town, Wujin District, Jiangsu, Changzhou Patentee before: Changzhou Huatong Welding Wire Co., Ltd. |
|
C17 | Cessation of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20051012 Termination date: 20130819 |