CN204209273U - robot seam welder - Google Patents
robot seam welder Download PDFInfo
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- CN204209273U CN204209273U CN201420496240.0U CN201420496240U CN204209273U CN 204209273 U CN204209273 U CN 204209273U CN 201420496240 U CN201420496240 U CN 201420496240U CN 204209273 U CN204209273 U CN 204209273U
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- electrode assemblie
- roller electrode
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Abstract
The utility model relates to automatic resistance seam welding technology, be specifically related to a kind of robot seam welder, comprise interconnective spot welding robot and sewing machine head, it is characterized in that spot welding robot is vertical multi-joint six degree of freedom structure, sewing machine head is high integrated suspension type seam welder head, sewing machine head comprises upper roller electrode assemblie and the bottom roller electrode assemblie of coaxial-symmetrical setting, upper roller electrode assemblie is for being fixedly installed, bottom roller electrode assemblie is movable setting, bottom roller electrode assemblie is provided with the weld cylinder that it can be made to move up and down along sewing machine head axial direction, upper roller electrode assemblie and bottom roller electrode assemblie are provided with for regulating the servomotor of its rotating speed and high-precision deceleration steering mechanism and repairing wheel assembly for reconditioning circular electrode assembly.The utility model adopts spot welding robot to control seam welder head, effectively improves the flexibility that multi-work piece is produced, and improves welding efficiency, workman is freed from hard work.
Description
Technical field
The utility model relates to automatic resistance seam welding technology, is specifically related to a kind of robot seam welder.
Background technology
Seam welder, as a large type of electric resistance welding industry, is widely used in mild steel, stainless steel, the five metals of material, automotive oil tank, water tank, the industries such as solar energy.Along with manufacturing high speed development, traditional craft seam weldering welding manner can not meet the quality of modern high technology product manufacturing and the requirement of quantity; Meanwhile, in the consideration in the productivity effect of product and hommization etc., traditional seam weldering welding procedure does not reach requirement yet.Therefore, realize the automation of Product jointing, flexibility and intellectuality and become development trend.At present, in seam weldering automation, various seam weldering welding machine special becomes main flow direction, but welding machine special also exists a lot of deficiency in flexibility and " becoming more meticulous "; Robot, with the intellectuality of its height and flexibility, is widely used in welding profession, can solves the deficiency of special plane in bad adaptability well.
Utility model content
For above-mentioned technical problem, the utility model provides a kind of robot seam welder, and its welding quality is high, adaptable, has high automation and flexibility.
The utility model provides a kind of robot seam welder, comprise interconnective spot welding robot and sewing machine head, spot welding robot is vertical multi-joint six degree of freedom structure, sewing machine head is high integrated suspension type seam welder head, sewing machine head comprises upper roller electrode assemblie and the bottom roller electrode assemblie of coaxial-symmetrical setting, upper roller electrode assemblie is for being fixedly installed, bottom roller electrode assemblie is movable setting, bottom roller electrode assemblie is provided with the weld cylinder that it can be made to move up and down along sewing machine head axial direction, upper and lower circular electrode assembly acting in conjunction realizes the clamping pressurization to welding thing.Upper roller electrode assemblie and bottom roller electrode assemblie are provided with for regulating the servomotor of its rotating speed and deceleration steering mechanism and repairing wheel assembly for reconditioning circular electrode assembly, repair wheel assembly and comprise the reconditioning cutter that matches with circular electrode assembly and repair wheel cylinder for what control reconditioning cutter.Servomotor and high-precision deceleration steering mechanism can the velocities of rotation of accurately control electrode roller, and the linear velocity of roller and the translational speed of robot are consistent.Sewing machine head also comprises welding transformer, and the output of welding transformer is connected with the battery lead plate of upper roller electrode assemblie and bottom roller electrode assemblie respectively by conducting copper belt, by the discharge current of battery lead plate outputting high quality, realizes the welding to welding thing.
Described sewing machine head is provided with water row, the water inlet of described water row is connected with the water inlet of spot welding robot inside, described water row is connected with the outlet pipe of robot interior with delivery port and the intake-outlet of upper/lower electrode wheel assembly through the water inlet of welding transformer, and described water row is arranged at the outside of welding transformer, upper roller electrode assemblie and bottom roller electrode assemblie.For cooling to welding transformer, electrode wheel.
Described wheel cylinder of repairing is connected with the tracheae of spot welding robot inside with the valve compressed air of weld cylinder, and sewing machine head is provided with the pressure regulator valve of the valve internal gas pressure for regulating weld cylinder, pressure regulator valve can regulate the size of total gas pressure.
Described servomotor is connected with the cable of spot welding robot with the cable of welding transformer.
The utility model also comprise main control cabinet, robot control cabinet, for the teaching machine of robot pilot teaching programming and digital intermediate frequency welding controller, robot control cabinet and main control cabinet are by the serial communication of I/O Interface realization, and robot control cabinet is electrically connected with spot welding robot's body and teaching machine; Main control cabinet comprises PLC for realizing controlling each input/output signal entirety, for changing the PLC expansion module of each input/output signal digital-to-analogue state, for controlling the servo-driver of servomotor, digital intermediate frequency welding controller, servo-driver are electrically connected with PLC, the cabinet door of main control cabinet is provided with button and indicator lamp and the touch-screen for setting welding parameter and display welded condition, touch-screen is electrically connected with digital intermediate frequency welding controller and PLC respectively, and digital intermediate frequency welding controller is electrically connected with welding transformer, weld cylinder, pressure regulator valve.
The utility model adopts spot welding robot to control seam welder head, effectively improves the flexibility that multi-work piece is produced, and improves welding efficiency, workman is freed from hard work.Upper roller electrode assemblie of the present utility model is for being fixedly installed, and bottom roller electrode assemblie is movable setting, and both cooperatively interact and effectively realize the clamping pressurization of welding thing.Traditional seam welding electrode wheel rotates with the form control of transducer drive alternating current generator, precision and controlled in can not meet the requirement of this equipment.The utility model uses servomotor and high-precision deceleration steering mechanism, accurately can control the velocity of rotation of upper and lower circular electrode assembly, the linear velocity of roller and the translational speed of robot are consistent.The utility model is provided with water row, and match with the cooling system Inlet and outlet water of spot welding robot formation water-cooling circulating system, effectively cools to welding transformer, up and down circular electrode assembly.The valve compressed air repairing wheel cylinder and weld cylinder is connected with the tracheae of spot welding robot inside formation pneumatic system, and pneumatic system, for driving cylinder, carries out action, and pressure regulator valve is according to the size of the instruction adjustment total gas pressure of digital intermediate frequency welding controller.Seam welder head cable, valve connect with compressed air and water row's the cable and water pipe and tracheae that use in robot and be equipped with, are convenient to connect and attractive in appearance.Be the electric components of welding and control section in main control cabinet, door is equipped with button and indicator lamp and the touch-screen for setting welding parameter and display welded condition, convenient operation person operates.The various functions that the utility model realizes sewing machine head and spot welding robot mainly through main control cabinet and robot control cabinet controls.The utility model utilizes manual pilot teaching on teaching machine to go out best motion track, after trial run is normal, gets to welded condition, the touch-screen of main control cabinet carries out the adjustment of welding parameter, until welding reaches best; After this just under automatic running status, can carry out continuous welding to workpiece, operator only needs the button on manual loading and unloading and operation switch board, simple to operate and security is high.
Accompanying drawing explanation
Fig. 1 is the utility model schematic diagram
Fig. 2 is sewing machine head schematic diagram a
Fig. 3 is sewing machine head schematic diagram b
Fig. 4 is the utility model control system schematic diagram
Fig. 5 is control system wiring diagram a
Fig. 6 is control system wiring diagram b
Wherein, 1-spot welding robot, 2-sewing machine head, 3-upper roller electrode assemblie, 31-pressure regulator valve, 4-bottom roller electrode assemblie, 5-water is arranged, and 6-weld cylinder, 7-welding transformer, 8-deceleration steering mechanism, 9 servomotors, 10-repaiies wheel assembly.
Detailed description of the invention
Below in conjunction with Figure of description and specific embodiment, the utility model is described in further detail:
The utility model provides a kind of robot seam welder, comprise interconnective spot welding robot 1 and sewing machine head, spot welding robot 1 is vertical multi-joint six degree of freedom structure, sewing machine head is high integrated suspension type seam welder head 2, sewing machine head comprises upper roller electrode assemblie 3 and the bottom roller electrode assemblie 4 of coaxial-symmetrical setting, upper roller electrode assemblie 3 is for being fixedly installed, bottom roller electrode assemblie 4 is movable setting, bottom roller electrode assemblie 4 is provided with the weld cylinder 6 that it can be made to move up and down along sewing machine head axial direction, upper roller electrode assemblie 3 and bottom roller electrode assemblie 4 are provided with for regulating the servomotor 9 of its rotating speed and high-precision deceleration steering mechanism 8 and repairing wheel assembly 10 for reconditioning circular electrode assembly, repair wheel assembly 10 to comprise the reconditioning cutter that matches with circular electrode assembly and repair wheel cylinder for what control reconditioning cutter, sewing machine head also comprises welding transformer 7, the output of welding transformer 7 is connected with the battery lead plate of upper roller electrode assemblie 3 and bottom roller electrode assemblie 4 respectively by conducting copper belt.Sewing machine head is provided with water row 5, the water inlet of described water row is connected with the water inlet of spot welding robot 1 inside, described water row is connected with the outlet pipe of spot welding robot 1 inside with the intake-outlet that bottom roller electrode assemblie is taken turns with delivery port and upper roller electrode assemblie through the water inlet of welding transformer 7, and described water row is arranged at the outside of welding transformer, upper roller electrode assemblie and bottom roller electrode assemblie.Repairing wheel cylinder to be connected with the tracheae of spot welding robot 1 inside with the valve compressed air of weld cylinder 6, sewing machine head being provided with the pressure regulator valve 31 of the valve internal gas pressure for regulating weld cylinder 6.Servomotor 9 is connected with the cable of spot welding robot 1 with the cable of welding transformer 7.The utility model also comprises main control cabinet, robot control cabinet, for the teaching machine of robot pilot teaching programming and digital intermediate frequency welding controller, robot control cabinet and main control cabinet are by the serial communication of I/O Interface realization, and robot control cabinet is electrically connected with spot welding robot 1 body and teaching machine, main control cabinet comprises for realizing the PLC controlled each input/output signal entirety, for changing the PLC expansion module of each input/output signal digital-to-analogue state, for controlling the servo-driver of servomotor 9, digital intermediate frequency welding controller, servo-driver is electrically connected with PLC, the cabinet door of main control cabinet is provided with button and indicator lamp and the touch-screen for setting welding parameter and display welded condition, touch-screen is electrically connected with digital intermediate frequency welding controller and PLC respectively, digital intermediate frequency welding controller and welding transformer 7, weld cylinder 6, pressure regulator valve 31 is electrically connected.
As Figure 1-3, robot body uses MOTOMAN-ES165D spot welding robot 1, and be vertical multi-joint six degree of freedom structure, repetitive positioning accuracy is ± 0.2mm, can prudent amount 165kg; Robot control cabinet adopts DX100 switch board; Use robot system effectively can improve the flexibility of multi-work piece production, improve welding efficiency, workman is freed from hard work.Seam welder head 2 is high integrated suspension type seam welder head 2, comprises and repaiies wheel assembly 10, up and down circular electrode assembly wheel assembly, welding transformer 7, weld cylinder 6, pressure regulator valve 31, water row 5.The roller of upper roller electrode assemblie 3 and bottom roller electrode assemblie 4 is disc-shaped structure, and upper roller electrode assemblie 3 is fixing, and bottom roller electrode assemblie 4 can overall move up and down, and during welding, upper and lower circular electrode assembly will clamp in advance.Upper roller electrode assemblie 3 and bottom roller electrode assemblie 4 are provided with repaiies wheel assembly 10, carries out reconditioning for pair roller electrode assemblie, repaiies wheel assembly 10 and adopts cylinder to promote the form of reconditioning cutter.During actual use, reconditioning program can be finished in advance on teaching machine, control to repair wheel cylinder and carry out reconditioning.Upper roller electrode assemblie 3 and bottom roller electrode assemblie 4 are provided with servomotor 9 and high-precision deceleration steering mechanism 8, can the velocity of rotation of accurately control electrode roller, and the linear velocity of roller and the translational speed of robot are consistent.Intermediate-frequency transformer MF3-TMUS-M8-2B selected by welding transformer 7, its rated voltage is 500V, and frequency is 1000-1200Hz, and continuous power is 60.5KW, the output of welding transformer 7 is connected with power-on and power-off pole plate by conducting copper belt, stably the discharge current of outputting high quality.Weld cylinder 6 is connected with bottom roller electrode assemblie 4, bottom roller electrode assemblie 4 entirety is moved up and down along with the railing of weld cylinder 6, realizes the clamping of upper/lower electrode.
As shown in Figure 4, the communication of digital I/O signal is carried out between main control cabinet and robot control cabinet, teaching machine is electrically connected with robot control cabinet, and robot control cabinet phase robot body outputting power and control signal, status information transmission is returned robot control cabinet by robot body.Main control cabinet transmits welding control signal to digital intermediate frequency welding controller, and digital intermediate frequency welding controller passes seam welder head work state information back main control cabinet simultaneously.Digital intermediate frequency welding controller utilizes the interface signal of the input/output signal of IF board and touch-screen to realize and the communicating of main control cabinet, whether digital intermediate frequency welding controller receives from the signal of PLC, weld welding process for starting and weld welding process discharge with determining to stitch with closing stitch.The welding conditions number that digital intermediate frequency welding controller main root is sent according to PLC, the welding procedure file of Automatically invoked PLC, is delivered to PLC by the status signal of weld cylinder in standard welding process and welding settling signal simultaneously.Robot control cabinet adopts the Pneumatic spot-welding system of peace river standard to be fundamental system.Because spot welding is different with the control mode of seam weldering, many special functions can not be suitable for, and general basic function, the welding condition of a use robot are called and weld start-up performance; The general output signal of weld cylinder robot controls; In order to realize the linear velocity of upper and lower circular electrode assembly and mating of robot translational speed, additional analog input/output expansion substrate JANCD-YEW02-E in robot control cabinet DX-100, coordinate " ARATION " in teaching machine program order can export the voltage analog with speeds match, servo-driver utilizes this analog signals just can control the rotating speed of the servomotor of drive scroll-up/down electrode rotation, achieves and the mating of robot translational speed.In practical operation, the linear velocity that roller is rotated manually need set the BV (basic voltage) in ARATION order and V (basal rate) parameter with the translational speed of robot is conscientiously consistent, needs to recalibrate these two groups of parameters after changing electrode or electrode dressing.Main control cabinet mainly comprises PLC, PLC expansion module, and servo-driver.PLC, as master controller, is used for realizing controlling the entirety of each input/output signal; PLC expansion module is analog-to-digital conversion module and D/A converter module, its effect is that the voltage analog that robot control cabinet exports is converted into digital quantity, after the computing of PLC, again the digital quantity after computing is converted into two groups of analog quantitys and outputs to servo-driver respectively, drive the servomotor running of rolling electrode; Servo-driver is peace river SGDV-1R6A01B servo-driver, adopts speeds control (analog quantity voltage instruction) pattern, controls circular electrode assembly and precisely run.
As shown in Figure 5,6, the model of PLC is that FX3U-32MT, PLC expansion module comprises the FX2N-2AD analog input module and FX2N-4DA Analog input mModule that are electrically connected to each other, FX2N-2AD analog input module and PLC electrical connection.Robot controlling signal mode analog quantity is through FX2N-2AD analog input module input PLC.The output of FX2N-2AD analog input module is connected with 5,6 pin of two servo-drivers respectively, and the speed control signal of servomotor is passed to servo-driver corresponding to upper bottom roller motor electrode through FX2N-2AD analog input module.Port x 1-X6, Y6, Y7 of PLC and Y10-Y13 and servo-driver 40,41,44,25,26,29-32 pin is connected.Wherein, the Y6 port of PLC is connected with 40 pin of servo-driver, for providing the enabling signal of servomotor; The Y7 port of PLC is connected with 41 pin of servo-driver, for providing the P actuating signal of servomotor; The Y10 port of PLC is connected with 44 pin of servo-driver, for providing the alarm reset signal of servomotor; The X4 port of PLC is connected with 25 pin of servo-driver.For transmission speed detection signal; The X2 port of PLC is connected with 29 pin of servo-driver, for transmitting the status information of servo-driver; The X3 port of PLC is connected with 31 pin of servo-driver, for transmitting the alarm signal of servo-driver.The equal power input of two servo-drivers is connected with the supply voltage of 24V.The port x 13-X17 of PLC and robot control cabinet electrical connection.The power output end of servo-driver provides supply voltage for servomotor, and its pin 1-6 is connected with servomotor and provides drive singal.Port Y14, Y15 of PLC are connected with Switching Power Supply through relay.Port x 0, X10, X11 and Y5 of PLC are electrically connected with the IF board mainboard of digital intermediate frequency welding controller.Two servo-drivers provide drive singal respectively to the servomotor of upper and lower circular electrode assembly, the motion state of servomotor are fed back to PLC simultaneously.Port A8, A10-A13 of robot control cabinet are electrically connected with the port x 13-X17 of PLC terminal, respectively for transmitting welding signal.The terminal block of robot control cabinet with the emergency stop switch on its switch board panel, pause switch, servo starting switch, start button switch, fault reset switch, reproduction selector switch, teaching selector switch, start in indicator lamp, servo operation indicator lamp, malfunction coefficient indicator lamp, reproduction mode indicator lamp, teaching mode indicating lamp be electrically connected, for manipulating the duty with display device human body and servo-driver.The substrate of robot control cabinet is electrically connected with FX2N-2AD analog input module, realizes the input of robot simulation's amount.
When welding a certain concrete workpiece, should first according to the welding bead of this workpiece, on teaching machine, manual pilot teaching goes out best motion track, and the order of electrode clamping and welding also completes editor on teaching machine; Direction of advance when should as far as possible make the moving direction of electrode, the direction of welding bead and wheel electrode rotate when pilot teaching is consistent, and on curved welding bead during pilot teaching, makes welding bead radian more as far as possible; First " welding/adjustment " switch is got to adjustment state after the good track of pilot teaching, after trial run is normal, gets to welded condition, carry out electric discharge test weld, the touch-screen of main control cabinet carries out the adjustment of welding parameter, until welding reaches best; After this just under automatic running status, can carry out continuous welding to workpiece, operator only needs the button on manual loading and unloading and operation main control cabinet.Robot control cabinet receives the movement directive from teaching machine, and control machine human body moves along the motion track editted.The general output signal of apparatus control cabinet is sent to main control cabinet, after PLC process calculates, control command is sent to digital intermediate frequency soldering apparatus, makes it drive weld cylinder.Weld cylinder promotes bottom roller electrode assemblie makes itself and upper roller electrode assemblie cooperatively interact, and realizes clamping or the relieving of welding thing.Robot control cabinet by " ARATION " command routing in teaching machine program to main control cabinet.Main control cabinet is converted into digital quantity the voltage analog that robot control cabinet exports, and after the computing by internal PLC, then the digital quantity after computing is converted into two groups of analog quantitys outputs to servo-driver respectively, drives the servomotor motion of rolling electrode.Digital intermediate frequency welding controller, according to the order of main control cabinet, starts or closes seam weldering welding process, determining whether seam weldering welding process discharges by the duty controlling welding transformer.Digital intermediate frequency welding controller according to the welding conditions number of the transmission of main control cabinet, the welding procedure file of Automatically invoked main control cabinet.In digital intermediate frequency welding controller outputting standard welding process, the state of weld cylinder is to main control cabinet, and after welding completes, welding settling signal is sent to main control cabinet.
Obviously, those skilled in the art can carry out various change and modification to the utility model and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present utility model and modification belong within the scope of the utility model claim and equivalent technologies thereof, then the utility model is also intended to comprise these change and modification.The content be not described in detail in this description belongs to the known prior art of professional and technical personnel in the field.
Claims (5)
1. a robot seam welder, comprise interconnective spot welding robot and sewing machine head, it is characterized in that spot welding robot is vertical multi-joint six degree of freedom structure, sewing machine head is high integrated suspension type seam welder head, sewing machine head comprises upper roller electrode assemblie and the bottom roller electrode assemblie of coaxial-symmetrical setting, upper roller electrode assemblie is for being fixedly installed, bottom roller electrode assemblie is movable setting, bottom roller electrode assemblie is provided with the weld cylinder that it can be made to move up and down along sewing machine head axial direction, upper roller electrode assemblie and bottom roller electrode assemblie are provided with for regulating the servomotor of its rotating speed and deceleration steering mechanism and repairing wheel assembly for reconditioning circular electrode assembly, repair wheel assembly to comprise the reconditioning cutter that matches with circular electrode assembly and repair wheel cylinder for what control reconditioning cutter, sewing machine head also comprises welding transformer, the output of welding transformer is connected with the battery lead plate of upper roller electrode assemblie and bottom roller electrode assemblie respectively by conducting copper belt.
2. robot according to claim 1 seam welder, it is characterized in that sewing machine head is provided with water row, the water inlet of described water row is connected with the water inlet of spot welding robot inside, described water row is connected with the outlet pipe of robot interior with delivery port and the intake-outlet of upper/lower electrode wheel assembly through the water inlet of welding transformer, and described water row is arranged at the outside of welding transformer, upper roller electrode assemblie and bottom roller electrode assemblie.
3. robot according to claim 1 seam welder, is characterized in that repairing wheel cylinder is connected with the tracheae of spot welding robot inside with the valve compressed air of weld cylinder, sewing machine head is provided with the pressure regulator valve of the valve internal gas pressure for regulating weld cylinder.
4. robot according to claim 1 seam welder, is characterized in that servomotor is connected with the cable of spot welding robot with the cable of welding transformer.
5. robot according to claim 1 seam welder, characterized by further comprising main control cabinet, robot control cabinet, for the teaching machine of robot pilot teaching programming and digital intermediate frequency welding controller, robot control cabinet and main control cabinet are by the serial communication of I/O Interface realization, and robot control cabinet is electrically connected with spot welding robot's body and teaching machine; Main control cabinet comprise PLC for realizing controlling each input/output signal entirety, for change each input/output signal digital-to-analogue state PLC expansion module, for controlling the servo-driver of servomotor, digital intermediate frequency welding controller, servo-driver are electrically connected with PLC, the cabinet door of main control cabinet is provided with button and indicator lamp and the touch-screen for setting welding parameter and display welded condition, touch-screen is electrically connected with digital intermediate frequency welding controller and PLC respectively, and digital intermediate frequency welding controller is electrically connected with welding transformer, weld cylinder, pressure regulator valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420496240.0U CN204209273U (en) | 2014-08-29 | 2014-08-29 | robot seam welder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420496240.0U CN204209273U (en) | 2014-08-29 | 2014-08-29 | robot seam welder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204209273U true CN204209273U (en) | 2015-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420496240.0U Expired - Fee Related CN204209273U (en) | 2014-08-29 | 2014-08-29 | robot seam welder |
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| CN (1) | CN204209273U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108778599A (en) * | 2016-03-14 | 2018-11-09 | 本田技研工业株式会社 | Seam weld method and seam weld device |
| CN109108449A (en) * | 2017-06-22 | 2019-01-01 | 天津玛斯特车身装备技术有限公司 | Body of a motor car spot welding automation equipment and operating method |
| CN113329850A (en) * | 2019-01-18 | 2021-08-31 | 株式会社安川电机 | Robot control system and robot control method |
-
2014
- 2014-08-29 CN CN201420496240.0U patent/CN204209273U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108778599A (en) * | 2016-03-14 | 2018-11-09 | 本田技研工业株式会社 | Seam weld method and seam weld device |
| CN109108449A (en) * | 2017-06-22 | 2019-01-01 | 天津玛斯特车身装备技术有限公司 | Body of a motor car spot welding automation equipment and operating method |
| CN113329850A (en) * | 2019-01-18 | 2021-08-31 | 株式会社安川电机 | Robot control system and robot control method |
| US11931895B2 (en) | 2019-01-18 | 2024-03-19 | Kabushiki Kaisha Yaskawa Denki | Robot control system and robot control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150318 Termination date: 20160829 |