CN201143593Y - Fiberglas bushing mouth welding robot - Google Patents
Fiberglas bushing mouth welding robot Download PDFInfo
- Publication number
- CN201143593Y CN201143593Y CNU2007200426207U CN200720042620U CN201143593Y CN 201143593 Y CN201143593 Y CN 201143593Y CN U2007200426207 U CNU2007200426207 U CN U2007200426207U CN 200720042620 U CN200720042620 U CN 200720042620U CN 201143593 Y CN201143593 Y CN 201143593Y
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- bushing
- plate mouth
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Abstract
The utility model relates to a welding robot for the plate mouth of glass fiber stripping plates, belonging to the technical field of welding and automation. The utility model is characterized in that the welding robot comprises a worktable, a stripping plate fixture, an arc situation monitoring element, a welding gun, a micro-vision system, a three-directional feeding device; and the welding robot is also equipped with a industrial control computer, a motor driver, a welding current sensor, a current adjusting element, a welding power, a welding gun water-cooling device, a system auxiliary power source and a control cabinet for a man-machine operation interface hardware. The industrial control computer is respectively connected with the arc situation monitoring element and the micro-vision system through an image acquisition card, is connected with the feeding device through a movement control card and is connected with the welding current adjusting element through a communication module. The welding robot for the plate mouth of glass fiber stripping plates of the utility model can realize the welding automation of the plate mouth of the platinum stripping plates and achieve the beneficial effects of improving the working efficiency and reducing the producing cost.
Description
Technical field
Glass fiber wire-drawing bushing plate mouth welding robot belongs to welding and technical field of automation.
Background technology
The platinum bushing is the core component of glass fibre tank furnace wire-drawing operation, is the key of guaranteeing pool kiln wiredrawing product quality and output.Welding method (as tungsten electrode arc-welding, Laser Welding, plasma welding) non-melt pole, non-filler is the main mode that the plate mouth connects that realizes in the current bushing processing and fabricating, and tungsten electrode arc welding process that wherein just connecing with electric current again, non-filler is the most commonly used.But because pool kiln wiredrawing bushing and let slip a remark design feature own and the technological requirement of plate mouth welding and the thermal deformation factor in the welding process, make these pool kiln wiredrawing bushing plate mouth welding procedures be difficult to realize automated production, rely on manual operations for a long time.
In artificial board's mouth welding process of glass fiber wire-drawing bushing, the effect of workman's hand, pin, eye, brain is as follows respectively: eye: judge 1) whether striking is successful, measure arc length, judges whether unexpected blow-out.2) striking position, location and welding starting point, the position and the trend of measurement weld seam.Hand: the moving with weld seam of instruction realization welding gun according to brain followed.Pin: according to the instruction control welding current of brain; Such as, find that when measuring arc length is long by eyes, fusion penetration is excessive, and brain sends lifts the instruction that pin reduces welding current.Brain:, control the action of trick according to the knowledge and experience that stores in the feedback information of this most important sensor of eye and the brain as the control maincenter.
Organic cooperation of the hand of artificial board's mouth of glass fiber wire-drawing bushing welding by this supper-intelligent body of operator, pin, eye, brain realizes.Labour intensity is big, and the welding quality uniformity is poor, the percent defective height, and very high to welder's technical ability requirement, qualification welder's the training cycle is very long.
Summary of the invention
The purpose of this utility model is to provide a kind of glass fiber wire-drawing bushing plate mouth welding robot, overcomes the deficiency of manual welding, reduces labour intensity, improves welding quality.The utility model replaces the welder with robot and realizes that the automatic concrete approach that welds of bushing plate mouth is: the motion output function that realizes people's hand and pin with manipulator; The visual performance that replaces human eye with machine vision; Replace knowledge base, experience storehouse and the control decision function that human brain is realized human brain with computer.
This robot is characterised in that: comprise workbench, be installed on bushing anchor clamps, arc condition monitoring component on the workbench, by the crossbeam that X, Y level link to each other with described workbench to feed arrangement, welding gun, micro-vision system link to each other with described crossbeam to feed arrangement by Z, C respectively; Also comprise the switch board that industrial computer, motor driver, welding current sensor and electric current adjusting part, the source of welding current, welding gun water cooling equipment, system supplymentary power supply and man machine operation interface hardware are installed; Described industrial computer links to each other with described arc condition monitoring component and micro-vision system by image pick-up card respectively, links to each other to feed arrangement with X, Y, Z, C by motion control card, links to each other with the welding current adjusting part by communication module; Wherein said Z, C are vertical direction.
Glass fiber wire-drawing bushing plate mouth welding robot of the present utility model can be realized the automation of platinum bushing plate mouth welding, reaches the increase operating efficiency, reduces the beneficial effect of production cost.
Description of drawings
Accompanying drawing 1: robot mechanical construction drawing.Wherein Fig. 1 (a) is an XZ direction view, and Fig. 1 (b) is an XY direction view.
Accompanying drawing 2: bushing plate mouth welding robot system block diagram.
Accompanying drawing 3: micro-vision system layout figure.
Number in the figure title: 1.X direction apparatus for feeding, 2.Z axle apparatus for feeding and welding gun assembly, 3.C axle apparatus for feeding and micro-vision assembly, 4. bushing anchor clamps, 5.Y direction apparatus for feeding, 6 workbench, 7. workpiece 8. lighting sources, 9. microlens, 10.CCD image device.
The specific embodiment
Describe the utility model below in detail.
1, general structure
The plate mouth welding process of bushing is exactly that the robot drives welding gun cylindrical track of on the bushing plane each being let slip a remark carries out welding operation.Therefore the plane circular arc interpolation precision of manipulator is a key of guaranteeing welding quality.Take all factors into consideration various factors, the manipulator among the present invention adopts and the similar structure of common XYZ three axis numerically controlled machine, and increases by two axles on this basis: an axle is used for installing the micro-vision assembly, is called for short the C axle; Another root axle connects rotational potentiometer, realizes the adjusting of welding current, is called for short the I axle.The X-axis of manipulator and Y-axis require to realize two-axle interlocking, realize the circular interpolation motion of welding gun assembly, and the Z axle is used for installing the welding gun assembly, and it moves independent, realizes moving up and down of welding gun assembly.The C axle is parallel with the Z axle, realizes moving up and down of micro-vision assembly.In view of bushing plate mouth welding particularity, plate mouth arc-welding welding procedure should adopt the positive connection of electric current: promptly bushing is fixed on the workbench as workpiece, the anode that connects Arc Welding Power, welding gun connects the negative electrode of power supply, thereby improve the caloric value of anode (bushing), strengthen fusion penetration, improve speed of welding; Reduce negative electrode (tungsten bar in the welding gun) caloric value simultaneously, reduce the tungsten bar diameter, improve welding precision.Therefore the suitable gantry machine tool structure that adopts of this manipulator, the stationary table that is used to install the bushing anchor clamps is motionless, and Z axle and C axle are installed on the crossbeam of portal frame, realize welding gun assembly and micro-vision assembly moving in the XY plane by gantry.The I axle is an independent axes, can be installed in the robot controller.
The effective working space of manipulator should be able to satisfy the plate mouth automation welding needs of various different size bushings in the XY plane.Z axle and C axle stroke should be guaranteed bushing convenient mounting and clamping when system's initial point is got back to by robot.
2, through-drive mode
Bushing welding process itself does not involve processing firmly, and the load of each is low weight, mainly comes from the basic machine that axle is driven.X-axis will drive whole portal frame, the load maximum; The Y-axis load is taken second place, Z axle and the C axle of drive installation on it; The Z axle has also connected the cable of being made up of cathode cable, tunger tube, cold water pipe etc. except that welding gun and motor cable, diameter reaches more than the 2cm; The C axle load then comes from whole micro-vision assembly and motor cable and view data cable.Therefore the XYZC axle of this manipulator all can adopt the direct-connected direct kind of drive of stepper motor and ball-screw.The I axle then is that stepper motor and rotational potentiometer are direct-connected.Consider the difference in functionality of each, X-axis and Y-axis adopt ball-screw+two polished rod structures, and Z axle, C axle adopt ball-screw+guide rail slide block structure.
3, motion control precision
Different with common welding robot is, than higher, the comprehensive tracking accuracy that requires weld seam (cylindrical of promptly leting slip a remark) is less than 0.1mm to required precision for the welding of bushing plate mouth, and this just requires the final control accuracy of XY axle should be less than 0.02mm.In addition, this project manipulator motor pattern in the course of the work is significantly different with general NC, and manipulator often need be done short-range reciprocating motion in very short stroke.Simultaneously, for cost factor, each all adopts open loop control.Therefore, take all factors into consideration the back clearance error factors of drive disk assemblies such as ball-screw, shaft coupling, the pulse equivalency of XY axle should be less than 0.01mm.
Moving up and down of Z axle control welding gun.Bushing plate mouth welding requirements welding gun is 1.0～1.5mm from the distance of weld seam (being bushing).Not high to the motion control required precision, 0.01mm the axle control accuracy can meet the demands fully, but the warpage that bushing causes because of thermal deformation in welding process will cause the actual range between welding gun and the bushing to reduce, and welding current strengthens even tungsten inclusion, influences welding quality.Therefore welding gun is chosen to be 1.25mm from the bushing height among the present invention.
I axle control welding current.And the Current Control precision of bushing plate mouth welding is the ampere level, and the maximum weld electric current is no more than 100A.Adopt the rotational potentiometer of individual pen, then every degree is equivalent to 100/360A, and therefore adopting step angle is that the 1.8 common stepper motors of spending can meet the demands fully, if use the common segmentation function of stepper motor driver, then the precision aspect is easy to satisfy.
4, welding gun assembly
The pistol type tungsten argon arc welding gun of band handle is adopted in artificial board's mouth welding of bushing usually, but then should use the straight rifle of no handle on the plate mouth welding robot that is used for welding automatically.Change for ease of tungsten bar, the Z axle that the welding gun assembly is installed must have enough strokes at above-below direction.
Imaging system in the micro-vision assembly is very responsive to the strong arc light in the arc welding process simultaneously, therefore needs a kind of lighttight cup-shaped cover of design on the welding gun assembly, avoids welding the direct radiation of arc light to micro-vision assembly imaging system, the protection imaging system.
5, micro-vision assembly
The micro-vision assembly is by the vision lighting source, and hardware such as microlens, image device constitute.Because the bushing temperature is very high in the welding process, so the C axle should have enough strokes to guarantee in welding process the micro-vision assembly stow away from heat of trying one's best.
6, common visual component
Common visual component is installed on the robot base, and the installation site is in the left back of base, so that can be imaged on welding gun electric arc in the visual field in whole bushing plate mouth welding process.Because the reference object of common visual component is the welding arc in the welding process,, should before the camera lens of common visual component, install a kind of with welding the UV mirror that special-purpose filter glass is made for avoiding strong welding arc destruction to image device.
7, welding current adjusting part
The welding current adjusting part is installed in the robot controller, comprises mounting seat, stepper motor, rotational potentiometer and shaft coupling.
8, robot switch board and man machine operation interface
The robot switch board adopts and the independently desk-top switch board design of qin of workbench, is connected by cable with workbench.The robot switch board is used for mounting industrial control computer, motor driver, welding current sensor and electric current adjusting part, the source of welding current, welding gun water cooling equipment, system supplymentary power supply and man machine operation interface hardware.Except that system promptly stops the hardware button, the man machine operation interface of robot all adopts softpanel, promptly is implemented on the industrial computer display with software, and the user operates by mouse-keyboard.
9, clamping plate type bushing anchor clamps
Because there is thermal deformation relatively in bushing in plate mouth arc-welding connection procedure, therefore the bushing anchor clamps must allow that bushing freely stretches in the XY plane because of thermal deformation in plate mouth arc-welding connection procedure, otherwise, if flexible being restricted of directions X or any one direction of Y direction will cause the bushing warpage.
In addition, for ease of heat radiation, anchor clamps must guarantee around the bushing that particularly the bushing bottom has good air circulation, guarantee the natural cooling performance in the bushing plate mouth arc-welding connection procedure.Simultaneously, except that the protection molten bath is not subjected to the high-temperature oxydation, compressed high pressure argon gas itself has better cooling effect to the bushing in the connection procedure.
Describe in detail below in conjunction with accompanying drawing.
1, robot architecture's design
Entire machine people comprises manipulator and switch board two parts, adopts split-type design, between connect by cable.
1.1 manipulator
Find out that by Fig. 1 and Fig. 2 this robot adopts the planer type numerical control machine tool structure.X-axis realizes the motion of whole gantry at fore-and-aft direction, and Y-axis realizes being installed in moving of Z axle on the portal frame and C axle left and right directions.Welding gun is installed on the Z axle, realizes moving up and down of welding gun.Welding gun adopts straight rifle form.Welding gun is the positive direction of Z axle away from the direction of bushing, promptly upwards for just.The C axle is installed the micro-vision assembly, and is the same with the Z axle, upwards being positive direction.Be rigidly connected between Z axle and the C axle, i.e. fixed distance between Z axle and the C axis, but both moving up and down can independently be controlled.The I axle connects the rotational potentiometer that is used to regulate welding current, and the entire I axle is installed in the robot switch board.
X-axis and Y-axis realize arc track interpolation and welding gun and micro-vision assembly the moving XY plane in of welding gun in the XY plane by two-axle interlocking.
Z axle, C axle are independent axes, do not have the interlock requirement with other axle, control the height of welding gun and micro-vision assembly respectively.
The I axle also is an independent axes, does not have the interlock requirement with other axle, is used for controlling the angle of rotational potentiometer to regulate welding current.
All axles all adopt stepper motor driven open loop control mode, and position or Displacement Feedback elements such as rotary encoder promptly are not installed.X-axis, Y-axis, Z axle, C axle all adopt stepper motor through shaft coupling and the direct-connected mode of corresponding ball-screw, the centre does not have reduction box or gearbox iso-variable velocity parts, and its movement velocity is issued separately the step-by-step impulse speed of stepper motor driver by robot controller and directly controlled.But every axle all is provided with the two ends limit switch.
X-axis, Y-axis adopt ball-screw+two polished rod structures, and Z axle, C axle adopt ball-screw+guide rail slide block structure.The stepper motor of I axle is direct-connected through shaft coupling and rotational potentiometer.
Working space aspect, effective working space are 450 (X) * 70 (Y) * 180 (ZC).The ZC direction gets 180.450 (X) * 70 (Y) are determined according to the maximum two-dimensional 450 * 70 of bushing.Mandatory declaration be because this manipulator has two working heads, welding gun is main working head, the micro-vision assembly is auxilliary working head.Above-mentioned working space is the public workspace of two working heads.
Z axle, C axle stroke are got 180mm, are to consider when mechanical origin is got back to by robot, and welding gun and working head spatially can not influence the clamping operation of bushing.
Can calculate each stroke of XYZC thus:
X-axis stroke=maximum length of workpiece (450)+workpiece technology hem width degree (totally 100).
Distance+micro-vision assembly center between the installed surface of Y-axis stroke=workpiece Breadth Maximum (70)+workpiece technology hem width degree (totally 100)+welding gun unit installing board and micro-vision unit installing board to installing plate distance (60mm)+welding gun assembly center to installing plate distance (50mm).
Z axle, C axle stroke=180mm.10mm starts at from the distance work top.The determining of Z axle stroke and gantry height considered also that later change tool heads is used for that weldering chews that burr is removed or manual automatic improving such as smooth.
Workbench band T shape mounting groove.Base adopts monoblock cast (cast aluminium or cast iron), to guarantee workbench favorable rigidity and precision.
Whole workbench should reduce weight as far as possible under the prerequisite that keeps good rigidity, gross weight should be lower than 100kg.
The synthesis precision that XYZC is four should be less than 0.01mm.Consider that the external diameter minimum of leting slip a remark has only 2.3mm, let slip a remark and bushing between adopt the interference fit prepackage, should be a circle that diameter is 2.3mm therefore at each welding track of leting slip a remark.Suppose that the welding track interpolation precision is 0.1mm, then the final control accuracy of XY axle should be less than 0.02mm.In addition, what must cause hig diligence is, this project manipulator motor pattern in the course of the work is significantly different with general NC, and manipulator often need be done short-range reciprocating motion in very short stroke.Therefore, take all factors into consideration the back clearance error factors of drive disk assemblies such as ball-screw, shaft coupling, the pulse equivalency of XY axle should be proper less than 0.01.
During work, workpiece is motionless, and gantry is moving.
1.2 switch board
In order to prevent contingent interference, robot workbench and robot switch board are carried out electrical isolation, both adopt different power supplys.Source of welding current anode adopts line footpath 5.5mm
2Cable directly link on the robot workbench, come driving and the control and the computer etc. of installment work platform motor separately with a switch board.
Consider the interference that has high-frequency impulse, big electric current in the welding process and cause thus, the operating desk of whole system adopts industrial control computer, the manipulator controller all adopts light-coupled isolation with being connected of I/O, and controller is communicated by letter with industrial computer and adopted RS-485.
Electrical control cubicles comprises three parts: the source of welding current, workbench drive and I/O control, industrial computer.
The source of welding current: native system is selected Inversional DC Argon Welder (precious promise sun FT-315) for use, supports water-cooled, adopts the positive connection of DC current.
Workbench drives the control with I/O: four of XYZC all adopt stepper motor directly to drive, and promptly stepper motor directly is connected with the ball-screw of respective shaft by shaft coupling.Stepper motor is installed on the robot workbench, and each all is equipped with left and right sides limit switch.I/O such as the stepper motor driver and the left and right sides are spacing control all is installed in the electrical control cubicles.The motion control card of the dynamo-electric Co., Ltd of Chengdu stepping is selected in motion control for use.System I/O point is linked on the motion control card keyset.The I axle is controlled the individual pen rotational potentiometer with stepper motor, reaches the purpose of regulating welding current.Rotational potentiometer connects power anode, is placed in the switch board.The I axle also has been equipped with left and right sides limit switch.
The welding current sensor adopts the 03LY20 open type current sensor of Mianyang, Sichuan Wei Bo Electronics Co., Ltd. to detect, and the direct current of output 0-5V is connected to Taiwan and grinds magnificent 8 road analogue collection module ADAM4017.ADAM4017 is connected with industrial computer by RS-485.
Industrial computer: adopt Taiwan to grind magnificent split type industrial computer, mainboard is equipped with the RS-485 port, is equipped with the image that the two-way image pick-up card is gathered micro-vision assembly and video monitor camera.Working panel tightly stops all to adopt softpanel the button except that system, i.e. the software control panel.
According to shown in Figure 3, the micro-vision servo-drive system of platinum bushing plate nozzle arc welding robot of the present invention is mainly by the vision lighting source, and microlens, image device, video acquisition module and Video processing computer are formed, wherein:
One, vision lighting source
Because the platinum bushing adopts platinum-rhodium alloy to make, surface smoothness is higher, and the variable color because bushing generates heat in the welding process, causes the optical characteristics of bushing that complicated variation takes place.These factors have proposed harsh requirement to the imaging lighting source.The present invention selects for use the cup-shaped blue led light source of the low angle machine vision special use, that the imaging of boundary line, metal surface is relatively given prominence to that bushing is carried out the face optical illumination, shows that through experiment test its combined lighting effect is better.For guaranteeing stable lighting effect, lighting source should adopt the power supply of the less analogue type of ripple (non-switching mode) linear power supply.
Two, microlens
Since the aperture φ d that lets slip a remark in the platinum bushing plate mouth welding less (1.6～2.0mm), wall thickness b thin (0.2～0.7mm), realize the accurate location at the center of leting slip a remark, the common machines vision is not competent, must adopt micro-machine vision.The present invention selects the X3 microlens for use, is that 3 microlens amplifies object (a complete cylindrical of leting slip a remark) and is imaged onto a complete visual field with multiplication factor promptly.Camera lens is installed in the front end of CCD camera, the focal length manual adjustments.For guaranteeing the centralized positioning precision of leting slip a remark, the image distortion of microlens should be as far as possible little.
Three, image device
Select for use the image device of two types of CCD or CMOS all can.Its core index is the resolution ratio of image device, is the decisive factor that influences the centralized positioning precision of leting slip a remark.This micro-vision subsystem selects 1/2 for use, and " CCD of target surface, resolution ratio is 768*576.Like this, if one is let slip a remark and is imaged in its center 2/3 size range, then imaging size reaches 384*384.Even the external diameter 3.5mm that lets slip a remark with maximum calculates, then theoretical positioning accuracy can reach 3.5/384=0.009mm.Test shows that the average positioning accuracy in the center of leting slip a remark is 0.01mm, can satisfy the technological requirement that the arc-welding of plate mouth connects.
Four, video acquisition module and Video processing computer
The Video processing computer can be selected the industrial control computer based on PC framework or PC-104 framework for use, can certainly be other embedded way of realization.Video acquisition module is then according to corresponding selection of Video processing computer type or self-control.In the native system, adopt a stylobate to finish Video processing and entire machine people's control in the industrial control computer of PC, video acquisition module is then selected the image pick-up card based on PC for use.
Five, other ancillary hardware
Owing to have strong arc light radiation in the platinum bushing plate mouth arc-welding connection procedure, if image device directly or be exposed under this strong arc light, will cause image device to damage immediately.Therefore, must take safeguard measure to image device, concrete way is: increase arc light and block screen on the welding gun assembly, avoid the direct radiation of arc light to image device; Make a kind of cup-shaped cover made from the special-purpose filter glass of welding simultaneously with microlens and image device cover, further reduce the radiation effect of arc light image device.
Claims (3)
1, a kind of glass fiber wire-drawing bushing plate mouth welding robot, it is characterized in that: comprise workbench, be installed on bushing anchor clamps, arc condition monitoring component on the workbench, by the crossbeam that X, Y level link to each other with described workbench to feed arrangement, welding gun, micro-vision system link to each other with described crossbeam to feed arrangement by Z, C respectively; Also comprise the switch board that industrial computer, motor driver, welding current sensor and electric current adjusting part, the source of welding current, welding gun water cooling equipment, system supplymentary power supply and man machine operation interface hardware are installed; Described industrial computer links to each other with described arc condition monitoring component and micro-vision system by image pick-up card respectively, links to each other to feed arrangement with X, Y, Z, C by motion control card, links to each other with the welding current adjusting part by communication module; Wherein said Z, C are vertical direction.
2, glass fiber wire-drawing bushing plate mouth welding robot according to claim 1 is characterized in that described electric current adjusting part forms by being installed on motor in the electrical control cubicles and coupled rotational potentiometer.
3, glass fiber wire-drawing bushing plate mouth welding robot according to claim 1 is characterized in that described micro-vision servo-drive system mainly by the vision lighting source, and microlens, image device, video acquisition module and Video processing computer are formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200426207U CN201143593Y (en) | 2007-11-15 | 2007-11-15 | Fiberglas bushing mouth welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200426207U CN201143593Y (en) | 2007-11-15 | 2007-11-15 | Fiberglas bushing mouth welding robot |
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| Publication Number | Publication Date |
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| CN201143593Y true CN201143593Y (en) | 2008-11-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CNU2007200426207U Expired - Fee Related CN201143593Y (en) | 2007-11-15 | 2007-11-15 | Fiberglas bushing mouth welding robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105436775A (en) * | 2016-01-05 | 2016-03-30 | 刘锦刚 | Welding gun walking mechanism with balls and capable of preventing vibration |
| CN105436782A (en) * | 2016-01-05 | 2016-03-30 | 陈良忠 | Position-limitable welding gun travelling mechanism provided with ball |
| CN105458574A (en) * | 2016-01-05 | 2016-04-06 | 尚庆光 | Welding machine-oriented welding gun traveling mechanism capable of cooling rapidly |
| CN106841882A (en) * | 2017-04-13 | 2017-06-13 | 国家电网公司 | The health status detection means and detection method of modified relay protecting power plug-in unit |
| CN110293078A (en) * | 2019-07-30 | 2019-10-01 | 江苏贵隆新材料科技有限公司 | A kind of bushing is let slip a remark automatic mounting machine |
| CN112388112A (en) * | 2020-11-06 | 2021-02-23 | 昆山爱米特激光科技有限公司 | Automatic welding equipment for platinum wire drawing bushing and manufacturing process for platinum wire drawing bushing |
| CN110293078B (en) * | 2019-07-30 | 2024-05-14 | 江苏贵隆新材料科技有限公司 | Automatic mounting machine for bushing tip of wire drawing bushing |
-
2007
- 2007-11-15 CN CNU2007200426207U patent/CN201143593Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105436775A (en) * | 2016-01-05 | 2016-03-30 | 刘锦刚 | Welding gun walking mechanism with balls and capable of preventing vibration |
| CN105436782A (en) * | 2016-01-05 | 2016-03-30 | 陈良忠 | Position-limitable welding gun travelling mechanism provided with ball |
| CN105458574A (en) * | 2016-01-05 | 2016-04-06 | 尚庆光 | Welding machine-oriented welding gun traveling mechanism capable of cooling rapidly |
| CN106841882A (en) * | 2017-04-13 | 2017-06-13 | 国家电网公司 | The health status detection means and detection method of modified relay protecting power plug-in unit |
| CN110293078A (en) * | 2019-07-30 | 2019-10-01 | 江苏贵隆新材料科技有限公司 | A kind of bushing is let slip a remark automatic mounting machine |
| CN110293078B (en) * | 2019-07-30 | 2024-05-14 | 江苏贵隆新材料科技有限公司 | Automatic mounting machine for bushing tip of wire drawing bushing |
| CN112388112A (en) * | 2020-11-06 | 2021-02-23 | 昆山爱米特激光科技有限公司 | Automatic welding equipment for platinum wire drawing bushing and manufacturing process for platinum wire drawing bushing |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20081105 Termination date: 20091215 |