CN205733542U - A kind of many planes trackless automatic tracking welding connection device - Google Patents
A kind of many planes trackless automatic tracking welding connection device Download PDFInfo
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- CN205733542U CN205733542U CN201620598933.XU CN201620598933U CN205733542U CN 205733542 U CN205733542 U CN 205733542U CN 201620598933 U CN201620598933 U CN 201620598933U CN 205733542 U CN205733542 U CN 205733542U
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- welding
- wheel
- support beam
- clamping plate
- automatic tracking
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Abstract
The utility model discloses a kind of many planes trackless automatic tracking welding connection device, described welder includes welding gun, clamping plate, front-wheel, driving belt, belt pulley, trailing wheel and support beam；Described welding gun is installed on clamping plate, and its one end connects welding torch cable, and described clamping plate are provided with photographic head；Described clamping plate, front-wheel are installed in the support beam of parallel arranged by axletree respectively with trailing wheel；Described support beam its rear end is provided with driving motor, and lower end, middle part is provided with Magnet, and described driving motor is connected front-wheel and trailing wheel by driving belt with pulley drive.Weld seam in Different Plane can be welded by this utility model, can weld by automatic tracking welding seam, butt welded seam is monitored in real time, substantially increase welding precision, workpiece deflection is welded little during welding, can weld along seam track, it is not necessary to the features such as track, be widely used in boats and ships manufacturing, large tank welding or bulk weldment docking welding field.
Description
Technical field
This utility model relates to welding mechanical equipment field, is specifically related to the tipping of a kind of many planes trackless automatic tracking welding
Put.
Background technology
Solder technology produces with metal material application in industrial circle, and it is typically come by heating and/or pressurization
Realize linking together to producing interatomic combination between two workpiece.Electric welding is the one in solder technology, and it is by making
The place connected is needed to realize welding with between electric energy heating metal works.Welding occupies larger specific gravity in the industrial production, weldering
Connect prescription more and more higher, from the point of view of the T-type structure in steel construction and shipbuilding industry manufacture is welded, have that specification is big, quantity
Many features, use manual welding method efficiency too low, require higher to operator, and welder arises at the historic moment, gradually generation
For human weld.
Have about the open Chinese patent literature of welder through retrieval, now relevant be listed below:
1, Chinese patent<application number>201520671785.5<utility model title>automatic welding carriage<applicant>Soviet Union
AO1 building, Technology Park, Zhen Jin South Road, Jinzhou, Zhangjagang City, Zhou Rui cattle Robotics Technology Co., Ltd.'s<address>Suzhou City of Jiangsu Province
<inventor>Lv Weixin, Zhang Xiangfeng, Wang Lei, Guo Zhenjie, Wang Ling sunshine<summary>this utility model relates to automatic welding carriage, including
Welding tractor, described welding tractor has motor drive module, also includes tracking controller, described welding tractor and welding tractor
On welding gun on have servomotor, described tracking controller can according to oneself know desired trajectory control motor drive module thus drive
Servomotor, control welding tractor and and welding tractor on the pose of welding gun.This utility model changes the control dress of dolly
Put, improve the accuracy of welding tractor speed, position by SERVO CONTROL；And remotely control to provide convenient for realizing dolly；
By preprogrammed manner input trajectory, when weld seam consecutive variations or known desired trajectory, welding tractor can adjust automatically, complete
Become welding.
2, Chinese patent<application number>200810232664.5<denomination of invention>trackless type self-protecting complete position automatic welding
Device and Ankang City Chinese shore,<address>Shaanxi Province of welding procedure<applicant>China Water Conservancy And Hydropower 3rd Engineering Bureau Co., Ltd thereof
Zhang Ling China Water Conservancy And Hydropower 3rd Engineering Bureau Co., Ltd of district manufactures installs branch office<inventor>Zhou Lin, Zhang Yulin, Sheng Liancai, Yuan
Literary virtue, poplar party brightness<summary>the invention discloses a kind of trackless type self-protecting complete position automatic soldering device and welding procedure thereof,
Its device includes all-position automatic welding technology robot, is driven the semi-automatic self-insurance carrying out welding by all-position automatic welding technology robot
Protect welding machine and wire-feed motor.Its welding procedure comprises the following steps: paste the guiding that photoelectric tracking guides at welding point edge
Line；By the relative position of the photoelectronic tracking device scanning weld bond cross dimensions of welding point and weld bond section with leading line, and
Carry out automatic vague memory；In control system, input welding condition according to scanning result, or automatically selected by control system
Take welding condition, and carry out automatic mold paste memory；Control system controls walking dolly and walks along leading line, by being fixed on
The welding gun welding of the semi-automatic self-shield welding machine on walking dolly.Present configuration is reasonable and easy and simple to handle, is ensureing that acquisition is excellent
While good welding point, also can improve welding efficiency, reduce labor intensity and save engineering cost.
3, Chinese patent<application number>200920193036.0<utility model title>automatic welding carriage<applicant>Zhejiang
<address>Zhejiang Province Haining City agricultural externally new road of the comprehensive exploitation<inventor>of Jiangxi sub-heavy industry Machinery Co., Ltd. is the most of heap of stone<plucks
Want this utility model relates to a kind of automatic welding carriage, belongs to automatic welding equipment.This device is installation welding gun on car body
Chuck, welding gun chuck clips welding gun and does linear uniform motion along weld seam and weld, specifically at dolly permanent magnetism installed below
Strong magnets, and can have directive wheel in the side arrangement of dolly in the plane by fixing for dolly, and directive wheel is by welding gun and weld seam
Location；The direction that dolly advances at dolly, regulation directive wheel makes it be close to side, and dolly moves along weld seam, pacifies on dolly
Equipped with Manual micromatic device, scalable welding gun and the distance of weld seam, dolly is provided with speed regulator, regulates the least
The speed of welding of car.This utility model has filled up the blank of prior art, has that simple in construction, volume be little, lightweight, cost
Low, easy to carry, welding stability is good, highly versatile, and full-automatic welding, work efficiency are high, easy and simple to handle, the product of welding
Product are attractive in appearance and steady quality, are useful in any field of steel structure, as boiler produces product, shipbuilding industry etc..
4, Chinese patent<application number>201210444368.8<denomination of invention>a kind of welding tractor<applicant>Nantong star
The Changjiang river town, Rugao City, auspicious heat exchange container company limited<address>Nantong City (Ru Gaogang district) prosperous road 86<inventor
>Wenjun WU, Yang Bing<summary>the invention discloses a kind of welding tractor, including vehicle frame (1) and the running wheel of bottom of frame
(2), described vehicle frame (1) is internal is provided with power set；Also including a column (3), described uprights vertical is connected to vehicle frame (1)；Bag
Include a horizontal gird (4), be connected on column (3)；The crossbeam of column side is provided with wire reel (7) and electrical control panel
(8);Being provided with wire feeder (9) and welding gun (10) on the crossbeam of described column opposite side, described welding gun is connected with wire feeder
Connect；Described electrical control panel (8) communicates with wire feeder (9) and power set；Also include a guide rail (11)；The present invention ties
Structure advantages of simple, has outstanding mobility and higher automaticity, can not only be to simplified A, B seam welding, simultaneously
Also the simplified last seam that closes up can be welded；It is greatly reduced the labor intensity of workman.
5, Chinese patent<application number>201410422463.7<utility model title>a kind of multi-faceted little from walking welding
Puyang Zhongyuan Oil Field Central Plains engineering company of car<applicant>Li Chao<address>Henan Province drilling well two company<inventor>Li Chao,
Sun Chao, Liang Bing, Liu Lijuan, Zhao Peng, Pan Yingjun, Li Yingjin, Li Yazhou, Li Jie, Zhang Zhi peak<summary>the utility model discloses
A kind of multi-faceted from walking welding tractor, including flat board, the bottom of flat board is provided with the bracing frame for supporting flat board, bracing frame
Lower end is provided with the guide wheel for walking, and the middle part of described flat board is provided with through hole, being arranged above with for fixing even with flat board of through hole
The hydraulic cylinder connect, the expansion link of hydraulic cylinder runs through through hole, and the lower end of hydraulic cylinder is provided with the bearing for rotating, and bearing is provided with one
Base plate, the side of described hydraulic cylinder is provided with welding machine, and the opposite side of hydraulic cylinder is provided with for putting the support of welding gun on welding machine.This reality
, low cost simple with new structure, use are flexible, are a kind of new technical schemes, it is simple to promote the use of.
6, Chinese patent<application number>201420434419.3<denomination of invention>a kind of multi-faceted from walking welding tractor<Shen
Ask someone wide new maritime affairs heavy industry limited company's<address>Zhongshan City, Guangdong Province torch hightech industrial development zone the industrial park of coastal area
Latitude ten tunnel<inventor>Sun Bo, Chen Liangsheng, Wang Zhichao, Ruan Xingrong, Zhang Xincong, Lee's peace<summary>of uniting the present invention relates to a kind of welding
Dolly, it includes vehicle frame, the welder being arranged on vehicle frame and is arranged on the running wheel of bottom of frame, described frame interior
It is provided with the power set driving wheel movement, it is characterised in that: the side on described vehicle frame is arranged at intervals with two horizontal positioned
Holding wheel, described welder is arranged on described vehicle frame by a soft readjustment device and is positioned at said two holding wheel
Between.It is an advantage of the current invention that simple in construction, easy to operate, can automatic welding plane T-type structure, also can operate curved surface T junction
Structure.
Present in prior art, defect has: 1, welder can only straight ahead or according to the most mounted mechanical tracks
Advancing, when weld seam consecutive variations or known desired trajectory, welder is automatically to adjust；2, welding gun can not be as required
Carry out angle swinging, lack Butt welding gun and be monitored；3, when welding gun is beyond weld seam scope, Butt welding gun does not processes in time.
In order to overcome the defect of prior art, need prior art is improved.
Summary of the invention
The purpose of this utility model is the defect for prior art, it is provided that one can be welded in multiple,
Can weld by automatic tracking welding seam, butt welded seam is monitored in real time, substantially increases welding precision, welds workpiece and become during welding
Shape amount is little, it is possible to weld along seam track, it is not necessary to many planes trackless automatic tracking welding connection device of track.
In order to realize above-mentioned this utility model purpose, the technical scheme of employing is:
A kind of many planes trackless automatic tracking welding connection device, described welder includes welding gun, clamping plate, front-wheel, transmission
Belt, belt pulley, trailing wheel and support beam；Described welding gun is installed on clamping plate, and its one end connects welding torch cable, described folder
Photographic head is installed on plate；Described clamping plate, front-wheel are installed in the support beam of parallel arranged by axletree respectively with trailing wheel；
Described support beam its rear end is provided with driving motor, and lower end, middle part is provided with Magnet, and described driving motor passes through transmission skin
Band is connected front-wheel and trailing wheel with pulley drive.
Preferably, described clamping plate are provided with the pendulum rifle driving that can carry out angle swinging according to welding process requirement Butt welding gun
Motor, described angle is 0～300 °.
Preferably, described clamping plate are provided with restriction welding gun and the limiting plate welding workpiece surface distance.
Preferably, described belt pulley is installed on support, and described support is installed on support beam rear end.
Preferably, described support beam is provided with central sill by axletree, between the support beam of two parallel arranged, and institute
Sliding bearing is used to be connected between the central sill stated and axletree；Screw mandrel, feed screw nut are installed with support admittedly on described central sill
Determining the supporting splint of welding torch cable, described screw mandrel is connected with feed screw nut's matching thread, during described screw mandrel is fixedly connected on
Beam drives motor, described central sill to drive motor to be fixedly installed in support beam.
Substantive distinguishing features that this utility model has relative to prior art and progress:
1, this utility model can connect by more than enough plane trackless automatic tracking welding, can carry out downhand welding, vertical welding, horizontal position welding or overhead welding
Deng, welding by automatic tracking welding seam, butt welded seam is monitored in real time, substantially increases welding precision, Welder during welding
Part deflection is little, it is possible to weld along seam track, it is not necessary to track；Welding bead contour out is uniform, welding bead and weldering
Road, welding bead with weld transitions smooth between workpiece.
2, Magnet is installed in this utility model lower end in the middle part of support beam, it is achieved that trackless welds, and can be inhaled by welder
Invest welding surface of the work, good stability, disturbed by external condition the most easily；Steadily welding, welding precision is high, and weld seam reaches
To welding process requirement.
3, welding gun of the present utility model connects pendulum rifle driving motor, and pendulum rifle driving motor can be according to welding process requirement butt welding
Rifle carries out the swing of different angles, thus reaches the welding process requirement of weld seam, and the angle precision of swing is high, substantially increases weldering
The welding precision of seam.
4, this utility model uses photographic head to monitor position while welding in real time, constantly revises the relative position of welding gun and weld seam,
Guaranteeing accurately to weld in welded joints, utilize central sill to drive motor to be driven screw mandrel rotating, screw mandrel and feed screw nut are supporting
Threaded, feed screw nut is installed on central sill, and central sill is provided with supporting splint, and supporting splint Butt welding gun cable is fixing even
Connecing, and welding torch cable is connected with welding gun, screw mandrel is fixed, and when screw mandrel rotates, drives feed screw nut's transverse shifting, and feed screw nut drives
Central sill, supporting splint and welding torch cable transverse shifting, it is achieved that the rectification of Butt welding gun position；Improve the weldquality of welding,
Weld seam grade is up to state standards.
5, this utility model is taked to drive motor to be driven welder, and front-wheel is passed by driving belt with trailing wheel
Being dynamically connected so that front-wheel and trailing wheel can achieve Synchronous Transmission, front-wheel and trailing wheel are fixed in support beam by axletree respectively,
The risk altered course because of welding workpiece surface irregularity can be greatly reduced, it is ensured that welder is carried out along desired trajectory
Welding；A corresponding driving motor on each trailing wheel, when seam track occurs to turn, drives the rotating speed of motor to enter to the two
Row regulation and control so that the rotating speed of two driving motors forms certain differential ratio, thus welder just can follow weld seam turn to and
Turn to.
Accompanying drawing explanation
Fig. 1 is the perspective view of this utility model many planes trackless automatic tracking welding connection device.
Fig. 2 is main TV structure schematic diagram of the present utility model.
Fig. 3 is the plan structure schematic diagram of Fig. 2.
Fig. 4 is the left view structural representation of Fig. 2.
Element title and serial number in figure: welding gun 1, limiting plate 2, clamping plate 3, front-wheel 4, driving belt 5, support 6, drive electricity
Machine 7, supporting splint 8, welding torch cable 9, central sill 10, belt pulley 11, trailing wheel 12, Magnet 13, central sill driving motor 14, leading screw 15,
Axletree 16, feed screw nut 17, support beam 18, and pendulum rifle drives motor 19, photographic head 20.
Detailed description of the invention
In conjunction with embodiment of the present utility model, this utility model is further described.
Seeing Fig. 1 to shown in 4, a kind of many planes trackless automatic tracking welding connection device, described welder includes welding gun
1, clamping plate 3, front-wheel 4, driving belt 5, belt pulley 11, trailing wheel 12 and support beam 18；Described welding gun 1 is installed on clamping plate 3, and
Its one end connects welding torch cable 9, and described clamping plate 3 are provided with photographic head 20；Described clamping plate 3, front-wheel 4 and trailing wheel 12 difference
It is installed in the support beam 18 of parallel arranged by axletree 16；Described support beam 18 its rear end is provided with driving motor 7, in
Subordinate's end is provided with Magnet 13, and described driving motor 7 is in transmission connection front-wheel 4 and trailing wheel by driving belt 5 and belt pulley 11
12。
Described belt pulley 11 is installed on support 6, and support 6 is installed on above support beam 18 rear end；
Described Magnet 13 makes welder be adsorbed in welding surface of the work, also improves the walking of integral solder device
Stability, can carry out trackless automatic tracking welding to the weld seam on the faces such as vertical plane, inclined-plane, arcwall face or bottom surface and connect, it is also possible to carry out
Overhead welding welding.
Described welding gun 1 drives motor 19 to be connected with pendulum rifle, and described pendulum rifle drives motor 19 to be installed on clamping plate 3, institute
The pendulum rifle stated drives motor 19 can carry out the swing of different angles, the angle that can swing according to welding process requirement Butt welding gun 1
Scope is 0～300 °；
Described clamping plate 3 are provided with limiting plate 2, and described limiting plate 2 limits welding gun 1 and welds workpiece surface distance.
Described clamping plate 3 are fixed on axletree 16, and described axletree 16 is fixed on the support beam 18 of parallel arranged
Between.
Described welding gun 1 is connected with welding torch cable 9, and welding torch cable 9 is fixed on supporting splint 8, supporting splint 8 and central sill
10 connect, and central sill 10 is connected to central sill and drives motor 14, and central sill drives motor 14 to be fixed in support beam 18, described support beam
18 are provided with central sill 10 by axletree 16, between the support beam 18 of two parallel arranged, and described central sill 10 and axletree
Sliding bearing is used to connect between 16；Central sill drives motor 14 to be connected with peripheral control unit, and controller collects and surveys photographic head 20
Monitoring welding gun 1 and weld seam between distance values, when welding gun 1 offset weld seam exceed setting value time, central sill drive motor 14 drive
Screw mandrel 15 moves, and screw mandrel 15 takes matching thread to be connected with feed screw nut 17, and feed screw nut 17 is installed on central sill 10, screw mandrel 15
One end and central sill drive that motor 14 is fixing to be connected, the other end is connected with support beam 18, and screw mandrel 15 rotates at horizontal direction,
Drive feed screw nut 17 to carry out transverse shifting in a lateral direction, thus feed screw nut 17 drives central sill 10 horizontal with supporting splint 8
To motion, supporting splint 8 drives welding torch cable 9 and welding gun 1 transverse movement, it is ensured that the distance between welding gun 1 and weld seam is being closed
In the range of reason.
Described front-wheel 4 and trailing wheel 12 are connected in two support beams 18 arranged in parallel by axletree 16, support beam
Two driving motors 7 are installed on 18, are positioned at above the axletree 16 of trailing wheel 12；Described driving motor 7 each controls one
Trailing wheel 12, drives the runner on runner, belt pulley 11 and front-wheel 4 on the runner of motor 7, trailing wheel 12 to be connected with driving belt 5
Integral transmission, the transmission between them is engaged transmission, it is achieved that front-wheel 4 and trailing wheel 12 synchronous axial system；And drive motor 7 with
Controller connect, can control driving the single rotation of motor 7 or two rotate simultaneously, when monolateral driving motor 7 works, this welding
Device movement locus can be followed the alteration of form of weld seam and be changed；When two driving motors 7 work simultaneously, this welder does
Linear motion；When driving motor 7 that with front-wheel 4, trailing wheel 12 is carried out Tong Bu driving, welder smooth running, it is possible to overcome welding
Surface of the work out-of-flatness and cause the problem that welder alters course, it is ensured that the welding precision of weld seam, weldquality reaches country
Standard.
Described weld seam can be straight weld seam, the arc-shaped welding seam of wide-angle or the mixed form in both, welds straight
When seam welds, simultaneously driving two driving motors 7, welder is steadily walked, and welding workpiece surface irregularity also will not
Affect the direction of travel of welder, when the arc-shaped welding seam of wide-angle is welded, the rotating speed of two driving motors 7 can be entered
Row regulation and control so that the rotating speed of two driving motors 7 forms certain differential ratio so that welder is along the arching trajectory of weld seam
Carry out welding walking.
Claims (5)
1. plane trackless automatic tracking welding connection device more than a kind, it is characterised in that: described welder includes welding gun (1), folder
Plate (3), front-wheel (4), driving belt (5), belt pulley (11), trailing wheel (12) and support beam (18)；Described welding gun (1) is installed on
On clamping plate (3), and its one end connects welding torch cable (9), and described clamping plate (3) are provided with photographic head (20)；Described clamping plate
(3), front-wheel (4) and trailing wheel (12) are installed in the support beam (18) of parallel arranged by axletree (16) respectively；Described props up
Support beam (18) its rear end is provided with driving motor (7), and lower end, middle part is provided with Magnet (13), and described driving motor (7) passes through
Driving belt (5) and belt pulley (11) are in transmission connection front-wheel (4) and trailing wheel (12).
Many planes trackless automatic tracking welding connection device the most according to claim 1, it is characterised in that: described clamping plate (3)
Being provided with pendulum rifle driving motor (19) that can carry out angle swinging according to welding process requirement Butt welding gun (1), described angle is 0
～300 °.
Many planes trackless automatic tracking welding connection device the most according to claim 1 and 2, it is characterised in that: described clamping plate
(3) restriction welding gun (1) and the limiting plate (2) welding workpiece surface distance are installed.
Many planes trackless automatic tracking welding connection device the most according to claim 1, it is characterised in that: described belt pulley
(11) being installed on support (6), described support (6) is installed on support beam (18) rear end.
Many planes trackless automatic tracking welding connection device the most according to claim 1, it is characterised in that: described support beam
(18) by axletree (16), central sill (10) is installed, is positioned between the support beam (18) of two parallel arranged, described central sill
(10) it is connected with using sliding bearing between axletree (16)；On described central sill (10), screw mandrel (15), feed screw nut are installed
(17) supporting splint (8) of welding torch cable (9) fixing with support, described screw mandrel (15) is with feed screw nut (17) matching thread even
Connecing, described screw mandrel (15) is fixedly connected on central sill and drives motor (14), described central sill to drive motor (14) to be fixedly installed in
Support beam (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620598933.XU CN205733542U (en) | 2016-06-20 | 2016-06-20 | A kind of many planes trackless automatic tracking welding connection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620598933.XU CN205733542U (en) | 2016-06-20 | 2016-06-20 | A kind of many planes trackless automatic tracking welding connection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205733542U true CN205733542U (en) | 2016-11-30 |
Family
ID=57386762
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620598933.XU Expired - Fee Related CN205733542U (en) | 2016-06-20 | 2016-06-20 | A kind of many planes trackless automatic tracking welding connection device |
Country Status (1)
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| CN (1) | CN205733542U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106984927A (en) * | 2017-05-24 | 2017-07-28 | 钦州学院 | Wall device is climbed for what hull inner cavity weld seam was overhauled |
| CN107030713A (en) * | 2017-05-24 | 2017-08-11 | 钦州学院 | Rotary hull inner chamber welding robot |
| CN108098710A (en) * | 2017-12-12 | 2018-06-01 | 北京航天计量测试技术研究所 | A kind of trackless transports docking platform automatically |
| CN108406185A (en) * | 2018-02-09 | 2018-08-17 | 芜湖市海联机械设备有限公司 | A kind of robot for no rail welding |
| CN108422142A (en) * | 2018-05-30 | 2018-08-21 | 上海宝冶集团有限公司 | The welder and method of arcwall face box-girder |
| CN108581305A (en) * | 2018-05-06 | 2018-09-28 | 张钧泠 | More plane trackless automatic tracking welding connection devices |
| CN109277736A (en) * | 2018-11-27 | 2019-01-29 | 保定天威电气设备结构有限公司 | A kind of device and method for long and narrow space automatic welding |
| CN109967925A (en) * | 2019-04-08 | 2019-07-05 | 佛山单常科技有限公司 | A kind of welding robot |
| CN110587193A (en) * | 2019-09-26 | 2019-12-20 | 山东核电设备制造有限公司 | Automatic welding equipment for narrow space of structural module |
| CN111705210A (en) * | 2020-07-31 | 2020-09-25 | 江苏阳明船舶装备制造技术有限公司 | Wireless remote control's automatic dolly of magnetism |
| CN112935653A (en) * | 2021-02-07 | 2021-06-11 | 宁夏天地奔牛实业集团有限公司 | Automatic welding equipment for narrow space of scraper |
| CN114871656A (en) * | 2022-07-08 | 2022-08-09 | 江苏金秋竹集团有限公司 | Welding equipment for framework of door leaf of hangar door |
| CN117283164A (en) * | 2023-11-24 | 2023-12-26 | 广东欣龙隧道装备股份有限公司 | Shield constructs quick-witted structure cutting device |
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2016
- 2016-06-20 CN CN201620598933.XU patent/CN205733542U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107030713A (en) * | 2017-05-24 | 2017-08-11 | 钦州学院 | Rotary hull inner chamber welding robot |
| CN106984927A (en) * | 2017-05-24 | 2017-07-28 | 钦州学院 | Wall device is climbed for what hull inner cavity weld seam was overhauled |
| CN108098710B (en) * | 2017-12-12 | 2019-08-13 | 北京航天计量测试技术研究所 | A kind of trackless transports docking platform automatically |
| CN108098710A (en) * | 2017-12-12 | 2018-06-01 | 北京航天计量测试技术研究所 | A kind of trackless transports docking platform automatically |
| CN108406185A (en) * | 2018-02-09 | 2018-08-17 | 芜湖市海联机械设备有限公司 | A kind of robot for no rail welding |
| CN108581305A (en) * | 2018-05-06 | 2018-09-28 | 张钧泠 | More plane trackless automatic tracking welding connection devices |
| CN108422142A (en) * | 2018-05-30 | 2018-08-21 | 上海宝冶集团有限公司 | The welder and method of arcwall face box-girder |
| CN109277736A (en) * | 2018-11-27 | 2019-01-29 | 保定天威电气设备结构有限公司 | A kind of device and method for long and narrow space automatic welding |
| CN109967925A (en) * | 2019-04-08 | 2019-07-05 | 佛山单常科技有限公司 | A kind of welding robot |
| CN110587193A (en) * | 2019-09-26 | 2019-12-20 | 山东核电设备制造有限公司 | Automatic welding equipment for narrow space of structural module |
| CN111705210A (en) * | 2020-07-31 | 2020-09-25 | 江苏阳明船舶装备制造技术有限公司 | Wireless remote control's automatic dolly of magnetism |
| CN112935653A (en) * | 2021-02-07 | 2021-06-11 | 宁夏天地奔牛实业集团有限公司 | Automatic welding equipment for narrow space of scraper |
| CN114871656A (en) * | 2022-07-08 | 2022-08-09 | 江苏金秋竹集团有限公司 | Welding equipment for framework of door leaf of hangar door |
| CN117283164A (en) * | 2023-11-24 | 2023-12-26 | 广东欣龙隧道装备股份有限公司 | Shield constructs quick-witted structure cutting device |
| CN117283164B (en) * | 2023-11-24 | 2024-01-30 | 广东欣龙隧道装备股份有限公司 | Shield constructs quick-witted structure cutting device |
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Granted publication date: 20161130 Termination date: 20170620 |