CN207593022U - A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking - Google Patents
A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking Download PDFInfo
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- CN207593022U CN207593022U CN201721613093.0U CN201721613093U CN207593022U CN 207593022 U CN207593022 U CN 207593022U CN 201721613093 U CN201721613093 U CN 201721613093U CN 207593022 U CN207593022 U CN 207593022U
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- 238000003466 welding Methods 0.000 claims abstract description 62
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- 238000001514 detection method Methods 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 claims abstract description 7
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Abstract
The utility model discloses the automation submerged arc soldering equipments that a kind of view-based access control model and laser track, belong to metal machinery manufacturing technology field, including controller, lift servo motor, feed alternating current generator, wire feed rolls, laser tracker, vision CCD, ignition tip and right position control servo motor, before laser tracker is located at ignition tip, before vision CCD is located at laser tracker, lift servo motor controls the feeding of welding gun Z axis according to welding seam position information, right position controls servo motor to control the feeding of welding gun X-axis according to welding seam position information, difference in height is made up by laser measurement, with cooperation control welding.The utility model is integrated with automatic detection, identification, tracking, control and information transmission and is integrated, CCD is compared by image and storage parameter standard, laser tracker is detected and tracks, it automatically controls trolley and reaches corresponding position, improve welding quality and efficiency, labor intensity is reduced, realizes the visualization of welding.
Description
Technical field
The utility model is related to the automation submerged arc soldering equipment that a kind of view-based access control model and laser track, more particularly to one kind
The vision and the automation submerged arc soldering equipment of laser tracking made applied to vacuum ply rolling composite plate blanks, belongs to metal machinery system
Make technical field.
Background technology
At present, metal composite slab submerged-arc welding station is that welding tractor is controlled to carry out submerged-arc welding work manually by operating personnel
Industry not only needs operating personnel station to control the movement start and stop of welding tractor on elevator landing, and complete welding bead and
The end of welding tractor is adjusted manually after one layer, is highly unable to control, and also needs to operating personnel and adjusts manually
The position of Zheng Xia roads layer and the position of welding gun.
On the one hand, this mode the degree of automation is relatively low, and the technical experience and qualification dependence to personnel are excessive, cause
Welding precision can not ensure；On the other hand, need the link that personnel operate more, workload is larger, and production efficiency is also difficult to protect
Card.
In view of drawbacks described above, the automatic of a kind of vision for composite metal plate submerged-arc welding production and laser tracking is devised
Change submerged arc soldering equipment, combine vision, the key technology that laser tracks, SERVO CONTROL becomes one, improve welding quality,
Welding efficiency and reduction labor intensity, realize the visualization of welding.
Utility model content
The main purpose of the utility model is to provide for a kind of view-based access control model and the automation submerged-arc welding of laser tracking is set
It is standby, the submerged arc soldering equipment of automation control is realized from vision and laser track and localization, improves production efficiency and welding quality
Stability.
The purpose of this utility model can reach by using following technical solution：
A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking, including controller, lift servo motor, feeding
Alternating current generator, wire feed rolls, laser tracker, vision CCD, ignition tip and right position control servo motor, the controller point
It is not connect with the lift servo motor and the feeding alternating current generator, the feeding alternating current generator is arranged on the wire feed rolls
On；The laser tracker is located at the front of the ignition tip, is connected with the mounting blocks in front of the wire feed rolls；The vision
CCD is located at the front of the laser tracker；The weld seam that the lift servo motor is fed back according to the laser tracker
Location information controls welding gun Z axis to feed by controller；The right position controls servo motor according to the laser tracker
The welding seam position information fed back controls welding gun X-axis to feed by controller；The laser tracker carry out weld seam detection, with
Track and identification make up difference in height by laser measurement, control size of current；The laser tracker, lift servo electricity
Machine and right position control servo motor coordinate control to weld jointly；The laser tracker is located at the vision CCD's
Test position and image data analysis integration are realized in dead astern.
Preferable scheme is that the lift servo motor and right position control servo motor are separately positioned on crossbeam
On, crossbeam is equipped with wire reel.
In any of the above-described scheme preferably, the right position control servo motor is arranged on by hanging ring and stent
On the crossbeam, the hanging ring and stent are arranged on the rear of the wire reel.
In any of the above-described scheme preferably, the right position control servo motor is arranged in moving trolley, institute
It states right position control servo motor and is equipped with left and right control module.
In any of the above-described scheme preferably, the controller is equipped with touch screen, and the controller passes through control box
Lock handle is arranged on the crossbeam.
In any of the above-described scheme preferably, silk guide frame is additionally provided on the crossbeam, the silk guide frame is arranged on described
Between hanging ring and stent and the lift servo motor.
In any of the above-described scheme preferably, the lift servo motor is equipped with solder flux hopper, the solder flux hopper
It connect, and is arranged on the crossbeam with solder flux hose.
In any of the above-described scheme preferably, the lower section of the solder flux hopper is equipped with control module up and down, it is described up and down
Control module is arranged on the crossbeam.
In any of the above-described scheme preferably, the wire feed rolls is arranged on the crossbeam, the lower section of the wire feed rolls
Conductive Rod clamp is provided with, the ignition tip is arranged on the lower section of the conductive Rod clamp, and the ignition tip is to metalloid
The weld of composite plate.
In any of the above-described scheme preferably, the laser tracker is electrically connected with the controller, the laser with
Track device detects the weld bead height Z axis of composite metal plate and position Y-axis, data analysis feed back to the controller, the controller
Output order carries out parameter supply, the vision CCD to right position control servo motor and the lift servo motor
Weldquality before welding is compared with the photographic intelligence that system stores.
The advantageous effects of the utility model：The automation that view-based access control model and laser according to the utility model track is buried
Arc welding equipment, the automation submerged arc soldering equipment of view-based access control model and laser provided by the utility model tracking, be integrated with automatic detection,
Automatic identification, from motion tracking, automatically control, the automation equipment that is integrated of automatic information transmission, pass through CCD, laser tracker
And Serve Motor Control, three are fitted close, CCD is compared by image and storage parameter standard, and laser tracker carries out
Detect and track makes up large-scale workpiece and puts levelness defect, and weld seam exact position can not be fixed, and the level identification of welding is asked
Topic, by signal communication to controller, servo motor is instructed by controller, is automatically controlled trolley and is reached accurate X, Y, Z axis
Corresponding position, complete welding, perfect cooperation improves welding quality, welding efficiency and reduces labor intensity, realizes welding
Visualization.
Description of the drawings
Fig. 1 is the preferred implementation of automation submerged arc soldering equipment tracked according to the view-based access control model and laser of the utility model
The overall structure diagram of example.
In figure：1- wire reels, 2- controllers, 3- touch screens, 4- control box lock handles, 5- hanging rings and stent, 6- crossbeams,
7- silk guide frames, 8- solder flux hoppers, 9- lift servo motors, 10- control module up and down, 11- feeding alternating current generators, 12- wire feed rolls,
13- laser trackers, 14- visions CCD, 15- conduction Rod clamp, 16- solder flux hoses, 17- ignition tips, 18- moving trolleys,
19- right positions control servo motor, 20- or so control module, 21- composite metal plates.
Specific embodiment
To make those skilled in the art more clear and clear and definite the technical solution of the utility model, with reference to embodiment and
Attached drawing is described in further detail the utility model, and however, the embodiments of the present invention are not limited thereto.
As shown in Figure 1, a kind of view-based access control model provided in this embodiment and the automation submerged arc soldering equipment of laser tracking, including
Controller 2, lift servo motor 9, feeding alternating current generator 11, wire feed rolls 12, laser tracker 13, vision CCD14, ignition tip 17
With right position control servo motor 19, the controller 2 respectively with the lift servo motor 9 and the feeding alternating current generator
11 connections, the feeding alternating current generator 11 are arranged on the wire feed rolls 12；The laser tracker 13 is located at the ignition tip
17 front is connected with the mounting blocks in 12 front of wire feed rolls；The vision CCD14 is located at the laser tracker 13
Front；The lift servo motor 9 is controlled according to the welding seam position information that the laser tracker 13 is fed back by controller 2
Welding gun Z axis feeding processed；The position while welding that the right position control servo motor 19 is fed back according to the laser tracker 13
Information controls welding gun X-axis to feed by controller 2；The laser tracker 13 carries out detection, tracking and the identification of weld seam, passes through
Laser measurement makes up difference in height, controls size of current；The laser tracker 13, the lift servo motor 9 and the left side
Right position control servo motor 19 cooperation control welding jointly；The laser tracker 13 be located at the vision CCD14 just after
Side realizes test position and image data analysis integration.
Further, in the present embodiment, as shown in Figure 1, the lift servo motor 9 and right position control are watched
It takes motor 19 to be separately positioned on crossbeam 6, crossbeam 6 is equipped with wire reel 1；The right position controls servo motor 19 by hanging
Ring and stent 5 are arranged on the crossbeam 6, and the hanging ring and stent 5 are arranged on the rear of the wire reel 1；The left and right position
It puts control servo motor 19 to be arranged in moving trolley 18, the right position control servo motor 19 is equipped with left and right control mould
Group 20.
Further, in the present embodiment, as shown in Figure 1, the controller 2 is equipped with touch screen 3, the controller 2
It is arranged on the crossbeam 6 by control box lock handle 4；Silk guide frame 7 is additionally provided on the crossbeam 6, the silk guide frame 7 is set
Between the hanging ring and stent 5 and the lift servo motor 9.
Further, in the present embodiment, it is described as shown in Figure 1, the lift servo motor 9 is equipped with solder flux hopper 8
Solder flux hopper 8 is connect with solder flux hose 16, and is arranged on the crossbeam 6；The lower section of the solder flux hopper 8 is equipped with control up and down
Module 10, the module 10 of control up and down are arranged on the crossbeam 6.
Further, in the present embodiment, it is described to send as shown in Figure 1, the wire feed rolls 12 is arranged on the crossbeam 6
The lower section of silk wheel 12 is provided with conductive Rod clamp 15, and the ignition tip 17 is arranged on the lower section of the conductive Rod clamp 15,
The ignition tip 17 is directed at the weld of composite metal plate 21；The laser tracker 13 is electrically connected with the controller 2, described
Laser tracker 13 detects the weld bead height Z axis of composite metal plate 21 and position Y-axis, data analysis feed back to the controller 2,
2 output order of controller carries out parameter benefit to right position control servo motor 19 and the lift servo motor 9
It gives, the vision CCD14 is compared the weldquality before welding with the photographic intelligence that system stores.
Further, in the present embodiment, as shown in Figure 1, the wire reel 1 is located on the upside of automation submerged arc soldering equipment
At the rear of controller 2, the controller 2 is located at immediately ahead of the right side of submerged arc soldering equipment for left, and the touch screen 3 is located at
The front of the insertion of controller, the control box lock handle 4 are located at the right side of controller 2, the hanging ring and branch
Frame 5 is located at the surface of submerged arc soldering equipment, and the crossbeam 6 is located at the right-angled intersection face of hanging ring and stent, the silk guide frame 7
Above the right side of crossbeam 6, the solder flux hopper 8 is located at the right back of submerged arc soldering equipment, behind the front end of crossbeam 6
Face, the lift servo motor 9 are located at the positive front end of submerged arc soldering equipment crossbeam 6, and the module of control up and down 10, which is located at, to be watched
Take the downside of motor 9, the feeding alternating current generator 11 is located at the rear of wire feed rolls 12, the wire feed rolls 12 be located at up and down into
To the front of module 11, the laser tracker 13 is located at the front of wire feed rolls 12, and the vision CCD14, which is located at, to be swashed
The front of light tracker 13, the conductive Rod clamp 15 are located at the underface of wire feed rolls 12, the solder flux hose 16
Positioned at the left side of conductive Rod clamp 15, the ignition tip 17 is located at the lower section of conductive clamping bar 15, the moving trolley
18 are located at the bottom of submerged arc soldering equipment, and right position control servo motor 19 is located at the left side of moving trolley 18, described
Left and right control module 20 be located at right position control servo motor 19 right side.
Further, in the present embodiment, during work, manually metallic plate is lifted to welding positioning tool, for weldering
Seam carries out just positioning adjustment and is suitble to height, and product type is selected by touch screen 3, and DC MOTOR CONTROL moving trolley 18 is advanced,
Laser tracker 13 detects weld bead height Z axis and position Y-axis, and data analysis feeds back to controller, and controller output order is to a left side
Right position control servo motor 20 and lift servo motor 9 carry out parameter supply, and motor driving, vision CCD14 is before welding
Weldquality is compared with the photographic intelligence that system stores, and is analyzed by software, carries out weldquality identification and processing, passes through
Communication transfer accomplishes visualization tracking, sensor is monitored and adjusts to Current Voltage, it is ensured that weldering to host computer and display screen
Stitch quality.After trolley X-direction welding action is completed, second welding is carried out, trolley is according to the finger of controller design at this time
It enables, the automatic adjustment for realizing track and height, the monitoring of 13 duration data of laser tracker and analysis, until final soldering and sealing is completed.
Equipment welding is completed by 3 axis robots and laser and visual cooperation, substantially increases the stabilization of production efficiency and product quality
Property, also improve the personal safety of welding machine personnel.
Vision CCD：Charge coupling device, also known as imaging sensor are a kind of large scale integrated circuit optical devices, be
The novel semi-conductor sensor to grow up on the basis of MOC integrated circuit techniques, the outstanding feature of charge coupling device is with electricity
Lotus is as signal, and the basic function of CCD is the storage of charge and the transfer of charge, it stores the signal generated by light or electric excitation
Charge, when the pulse for applying specific time sequence to it, the signal charge of storage just can make directional transmissions, CCD work in CCD
The main problem of process is generation, storage, transmission and the detection of signal charge, is carried out pair with existing storage standard photographic intelligence
Than automatic identification product quality, it is ensured that quality after before welding.
Laser tracker：Work basic principle is that one reflector of placement, the laser that follower head is sent out are penetrated on target point
Onto reflector, and follower head is returned to, when the object moves, follower head adjustment beam direction carrys out alignment target, meanwhile, it returns
Light beam is received by detecting system, and for calculating the spatial position of target, briefly, laser tracking measurement system to be solved
Certainly the problem of is statically or dynamically one point moved in space of tracking, while determine the space coordinate of target point.
Laser tracking measurement system is a kind of high-precision Large-scale Measuring Instruments in industrial measuring system, it, which has gathered, swashs
Interference of light ranging technology, detecting technique, precision machinery technology, computer and control technology, modern numerical calculation theory etc.
Various advanced technologies measure space movement target the 3 d space coordinate of target into line trace and in real time, it have high-precision,
High efficiency, real-time follow-up, it is quick for installation, easy to operate the features such as, be suitable for large-size workpiece and be equipped with measurement, laser tracking
Measuring system is substantially by laser tracking head (tracker), controller, subscriber computer, reflector (target mirror) and measures attachment
Deng composition, laser tracker is detected and tracks, effectively solves the problems, such as that weld seam deviation is brought, can greatly improve welding and set
Standby the degree of automation, it is a greater degree of to improve welding quality and weld seam precision, reduce the comprehensive manufacture cost of automatic welding device.
Servo-control system：Be enable position, orientation, state of object etc. output controlled volume follow input target (or
Set-point) the automatic control system arbitrarily changed, the main task of servo is by the requirement of control command, power put
Greatly, the processing such as transformation and regulation and control, very flexible and convenient, the servo electricity of torque, speed and position control for exporting driving device
Machine operation principle：Servo motor is also known as operating motor, in automatic control system, as executive component, the electricity received
Signal is converted into angular displacement on motor reel or angular speed output, is mainly characterized by, when signal voltage is zero without rotation
Phenomenon, rotating speed uniform descent with the increase of torque.
Servo motor is a classical closed loop feedback system, and train of reduction gears is driven by motor, terminal (output terminal) band
It moves a linear ratio potentiometer and makees position detection, which is converted to a ratio-voltage corner coordinate and feeds back to control
Wiring board, it compared with the control wave of input, is generated and corrects pulse by control circuit board, and driving motor is positive or anti-
It is rotated to ground, the outgoing position of gear set is made to be consistent with desired value, correction pulse is enabled to tend to be 0, makes servo motor so as to reach
Pinpoint purpose, the position that servo motor is detected according to laser tracker are precisely located by controller instruction,
Ensure weldquality.
Further, in the present embodiment, for the automatic welding of metal composite slab, during work, manually by metal
Composite plate blanks are lifted to working region, and equipment carries out just positioning adjustment for weld seam and is suitble to height, and product is selected by touch screen
Model, DC MOTOR CONTROL moving trolley 18 are advanced, and laser tracker 13 detects weld bead height Z axis and position Y-axis, data analysis
Controller is fed back to, controller output order controls servo motor 19 and lift servo motor 9 to right position, carries out parameter benefit
It gives, vision is analyzed the weldquality before welding by software, carries out weldquality identification and processing, by communication transfer to upper
Position machine and display screen, accomplish visualization tracking, and sensor is monitored and adjusts to Current Voltage, it is ensured that weldquality.Trolley X
After axis direction welding action is completed, second welding is carried out, moving trolley 18 is according to the instruction of controller design at this time, automatically
Realize the adjustment of track and height, the monitoring of 13 duration data of laser tracker and analysis, until final soldering and sealing is completed, which welds
It connects by 3 axis robots and the completion of laser and visual cooperation, substantially increases the stability of production efficiency and product quality, also improve
The personal safety of welding machine personnel.
In conclusion in the present embodiment, the automation submerged-arc welding tracked according to the view-based access control model and laser of the present embodiment
Equipment, the automation submerged arc soldering equipment of view-based access control model and laser tracking provided in this embodiment are integrated with automatic detection, automatic knowledge
Not, from motion tracking, automatically control, the automation equipment that is integrated of automatic information transmission, pass through CCD, laser tracker and servo
Motor controls, and three is fitted close, and CCD is compared by image and storage parameter standard, laser tracker be detected and
Tracking, makes up large-scale workpiece and puts levelness defect, weld seam exact position can not be fixed, and the level identification problem of welding passes through
Signal communication is instructed to controller, servo motor by controller, automatically controls the corresponding positions that trolley reaches accurate X, Y, Z axis
It puts, completes welding, perfect cooperation improves welding quality, welding efficiency and reduction labor intensity, realizes the visual of welding
Change.
The above, only the utility model further embodiment, but the scope of protection of the utility model is not limited to
In this, any one skilled in the art is according to the present utility model in range disclosed in the utility model
Technical solution and its design are subject to equivalent substitution or change, belong to the scope of protection of the utility model.
Claims (10)
1. a kind of view-based access control model and laser tracking automation submerged arc soldering equipment, including controller (2), lift servo motor (9),
Feed alternating current generator (11), wire feed rolls (12), laser tracker (13), vision CCD (14), ignition tip (17) and right position control
Servo motor (19) processed, it is characterised in that：The controller (2) is handed over respectively with the lift servo motor (9) and the feeding
Galvanic electricity machine (11) connects, and the feeding alternating current generator (11) is arranged on the wire feed rolls (12)；The laser tracker (13)
Positioned at the front of the ignition tip (17), it is connected with the mounting blocks in front of the wire feed rolls (12)；Vision CCD (14) position
In the front of the laser tracker (13)；The lift servo motor (9) is fed back according to the laser tracker (13)
Welding seam position information pass through controller (2) welding gun Z axis controlled to feed；The right position control servo motor (19) is according to institute
State the welding seam position information that laser tracker (13) is fed back controls welding gun X-axis to feed by controller (2)；The laser tracking
Device (13) carries out detection, tracking and the identification of weld seam, makes up difference in height by laser measurement, controls size of current；It is described to swash
The cooperation control weldering jointly of light tracker (13), the lift servo motor (9) and right position control servo motor (19)
It connects；The laser tracker (13) realizes test position and image data analysis one positioned at the dead astern of the vision CCD (14)
Body.
2. a kind of view-based access control model according to claim 1 and the automation submerged arc soldering equipment of laser tracking, it is characterised in that：
The lift servo motor (9) and right position control servo motor (19) are separately positioned on crossbeam (6), crossbeam (6)
It is equipped with wire reel (1).
3. a kind of view-based access control model according to claim 2 and the automation submerged arc soldering equipment of laser tracking, it is characterised in that：
The right position control servo motor (19) is arranged on by hanging ring and stent (5) on the crossbeam (6), the hanging ring and branch
Frame (5) is arranged on the rear of the wire reel (1).
4. a kind of view-based access control model according to claim 2 and the automation submerged arc soldering equipment of laser tracking, it is characterised in that：
The right position control servo motor (19) is arranged in moving trolley (18), the right position control servo motor (19)
It is equipped with left and right control module (20).
5. a kind of view-based access control model according to claim 2 and the automation submerged arc soldering equipment of laser tracking, it is characterised in that：
The controller (2) is equipped with touch screen (3), and the controller (2) is arranged on the crossbeam by control box lock handle (4)
(6) on.
6. a kind of view-based access control model according to claim 3 and the automation submerged arc soldering equipment of laser tracking, it is characterised in that：
Silk guide frame (7) is additionally provided on the crossbeam (6), the silk guide frame (7) is arranged on the hanging ring and stent (5) and is watched with the lifting
It takes between motor (9).
7. a kind of view-based access control model according to claim 2 and the automation submerged arc soldering equipment of laser tracking, it is characterised in that：
The lift servo motor (9) is equipped with solder flux hopper (8), and the solder flux hopper (8) connect, and set with solder flux hose (16)
On the crossbeam (6).
8. a kind of view-based access control model according to claim 7 and the automation submerged arc soldering equipment of laser tracking, it is characterised in that：
The lower section of the solder flux hopper (8) is equipped with control module (10) up and down, and the control module (10) up and down is arranged on the crossbeam
(6) on.
9. a kind of view-based access control model according to claim 2 and the automation submerged arc soldering equipment of laser tracking, it is characterised in that：
The wire feed rolls (12) is arranged on the crossbeam (6), and conductive Rod clamp (15) is provided with below the wire feed rolls (12),
The ignition tip (17) is arranged on the lower section of the conductive Rod clamp (15), and the ignition tip (17) is directed at composite metal plate
(21) weld.
10. a kind of view-based access control model according to claim 9 and the automation submerged arc soldering equipment of laser tracking, feature exist
In：The laser tracker (13) is electrically connected with the controller (2), and the laser tracker (13) detects composite metal plate
(21) weld bead height Z axis and position Y-axis, data analysis feed back to the controller (2), controller (2) output order
To right position control servo motor (19) and the lift servo motor (9), parameter supply, the vision CCD are carried out
(14) weldquality before welding is compared with the photographic intelligence that system stores.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721613093.0U CN207593022U (en) | 2017-11-28 | 2017-11-28 | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721613093.0U CN207593022U (en) | 2017-11-28 | 2017-11-28 | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking |
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| Publication Number | Publication Date |
|---|---|
| CN207593022U true CN207593022U (en) | 2018-07-10 |
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ID=62761293
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| CN201721613093.0U Active CN207593022U (en) | 2017-11-28 | 2017-11-28 | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109746551A (en) * | 2019-01-10 | 2019-05-14 | 重庆浙佳钢结构有限公司 | A kind of full-automatic submerged arc welding machine back and forth of steel construction |
| CN109834373A (en) * | 2017-11-28 | 2019-06-04 | 史和生 | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking |
-
2017
- 2017-11-28 CN CN201721613093.0U patent/CN207593022U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109834373A (en) * | 2017-11-28 | 2019-06-04 | 史和生 | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking |
| CN109746551A (en) * | 2019-01-10 | 2019-05-14 | 重庆浙佳钢结构有限公司 | A kind of full-automatic submerged arc welding machine back and forth of steel construction |
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Effective date of registration: 20231127 Address after: No. 3 Linhe South Road, Xingdian Street, Pukou District, Nanjing City, Jiangsu Province, 211800 Patentee after: Jiangsu Runbang Welding Technology Co.,Ltd. Address before: 210000 No. 3, Linhe South Road, Xingdian street, Pukou District, Nanjing, Jiangsu Province Patentee before: Shi Hesheng |
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