CN209632279U - A kind of robot workstation based on submerged arc welding - Google Patents
A kind of robot workstation based on submerged arc welding Download PDFInfo
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- CN209632279U CN209632279U CN201920171005.9U CN201920171005U CN209632279U CN 209632279 U CN209632279 U CN 209632279U CN 201920171005 U CN201920171005 U CN 201920171005U CN 209632279 U CN209632279 U CN 209632279U
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Abstract
A kind of robot workstation based on submerged arc welding, support platform, welder, laser tracker and controller including planer-type；One Slideslip of support platform is equipped with support frame, sliding is equipped with slide bar along the vertical direction on the support frame, the slide bar bottom is installed by the first rotating mechanism along the first direction of rotation, the first rotating mechanism bottom is rotatably equipped with the second rotating mechanism along the second direction of rotation, the second rotary shaft in second rotating mechanism is parallel to first direction setting, the welder is mounted in the second rotary shaft, which is arranged on the welder.A kind of robot workstation based on submerged arc welding provided by the embodiment of the utility model, easy to operate, at low cost, small in size, design is reasonable, high mechanical strength.
Description
Technical field
The utility model relates to a kind of robot workstation more particularly to a kind of robot work based on submerged arc welding
It stands.
Background technique
Submerged-arc welding is that a kind of electric arc burns the method welded under welding flux layer.The intrinsic welding quality of submerged-arc welding is steady
Calmly, the advantages that welding productivity is high, seldom without arc light and flue dust becomes the weight such as pressure vessel, pipeline section manufacture, box beam column
Want the main welding method in structure steel fabrication.
When welding large-scale workpiece, it will usually use robot workstation, the robot currently used for submerged arc welding works
Standing, it is less to apply, essentially the projecting pattern of articulated robot.Since submerged arc head is heavier, this style of articulated robot is wanted
Selection end carries big model, and robot higher cost needs heavily loaded cantilever shalving or portal frame along with robot is projecting, makes
It is integrally huge to obtain robot workstation, configuration is complicated, and pose adjustment is not intuitive, inconvenient, higher cost, and easily appearance of walking
It shakes, welding precision is difficult to ensure.
Utility model content
The utility model provides a kind of robot workstation based on submerged arc welding, is simplifying robot workstation's
The welding precision that robot workstation is improved while structure reduces the volume of robot workstation, simplifies operating process,
It reduces costs, solves problems of the prior art.
Used technical solution is the utility model to solve above-mentioned technical problem:
A kind of robot workstation based on submerged arc welding, support platform, welder, laser tracking including planer-type
Device and controller；The support platform is equipped with support frame, the support along first direction horizontal movement, one Slideslip of support platform
Horizontal sliding, the first direction are mutually perpendicular to frame with second direction in a second direction；Sliding is set along the vertical direction on the support frame
There is slide bar, which installs the first rotating mechanism along the first direction of rotation, the first rotary shaft in first rotating mechanism
It is vertically arranged, which is rotatably equipped with the second rotating mechanism along the second direction of rotation, second whirler
The second rotary shaft in structure is parallel to first direction setting, which is mounted in the second rotary shaft, laser tracking dress
It installs on the welder, which acquires the image information of welding workpiece, and true according to the image information
The coordinate of the position to be welded of the fixed welding workpiece, and the coordinate of the position to be welded is sent to the controller, the control
Device according to the welding position coordinate control welder in a first direction, second direction, vertical direction, the first direction of rotation and
Movement on two direction of rotation.
Preferably, which includes laser sensor and host computer, which is connected with host computer；
The laser sensor obtains the image information of welding workpiece with the movement of welder, and the image of the welding workpiece is believed
Breath, sends host computer to；The host computer carries out image procossing according to the image of the welding workpiece, to obtain the weldering of the welding workpiece
Position is connect, and the coordinate of the welding position is calculated, and sends the coordinate to controller.
Preferably, which includes the first rotary shaft of the first fixing seat and rotation, and first fixing seat is solid
Dingan County is mounted in slide bar bottom, which is movably arranged on vertically in the first fixing seat.
Preferably, which includes the second rotating seat for being fixed on the first rotary shaft bottom, second rotation
Rotation is equipped with the second rotary shaft in seat, and second rotary shaft is horizontally disposed along first direction, and welder setting is in the second rotation
In shaft.
Preferably, which includes the positioning table being fixed in the second rotary shaft, be equipped in the positioning table welding gun,
Flux delivery mouth and flux restoring mouth, the welding gun are connected with wire feeder, and the flux delivery mouth and flux restoring mouth pass through feeding
Pipe is connected with flux restoring conveying integrated machine；Laser sensor is also equipped in the positioning table.
Preferably, which includes wire reel and the wire-feed motor being arranged on the support frame, the welding wire in the wire reel
It is connected into welding gun by wire-feed motor.
Preferably, which is equipped with the fine tuning cross saddle for adjusting flux restoring mouth direction, the fine tuning cross saddle
Including the first adjustable plate being fixed in positioning table, the first lead screw, the outer Slideslip of the first adjustable plate are installed in the first adjustable plate
Equipped with first slide, the nut in the first slide and the first lead screw is connected；The second adjusting is fixedly installed in the first slide
Plate, is equipped with the second lead screw in second adjustable plate, and the outer Slideslip of the second adjustable plate is equipped with second slide, the second slide and the
Nut on two lead screws is connected；The flux restoring mouth is fixed in second slide.
Preferably, it is mutually perpendicular between first adjustable plate and the second adjustable plate, second adjustable plate and flux restoring mouth
It is arranged in parallel.
Preferably, two guide rails are equipped in parallel along first direction below the support platform, which slides respectively
It is dynamic to be arranged on two guide rails.
Preferably, which is connected by transmission mechanism with first servo motor, which passes through transmission mechanism
It is connected with the second servo motor, which is connected by transmission mechanism with third servo motor, which passes through transmission
Mechanism is connected with the 4th servo motor, which is connected by transmission mechanism with the 5th servo motor, first servo
Motor, the second servo motor, third servo motor, the 4th servo motor and the 5th servo motor are connected with controller.
A kind of robot workstation based on submerged arc welding provided by the embodiment of the utility model, it is easy to operate, it is at low cost,
Small in size, design is reasonable, high mechanical strength.The robot workstation of Cartesian coordinate type designs, and effectively prevents robot ambulation
The case where shaking in the process improves the welding precision of robot workstation；Second rotation shaft design, enhances submerged arc
The flexibility ratio of head is realized within the scope of hemisphere face and is welded without blind spot；Laser tracker, it can be achieved that same position it is multiple or more
Layer welding, improves welding quality.
Detailed description of the invention
Fig. 1 is a kind of robot workstation's schematic diagram based on submerged arc welding provided by the embodiment of the utility model；
Fig. 2 is the partial enlarged view in Fig. 1 at A；
Fig. 3 is the partial enlarged view in Fig. 1 at B；
Fig. 4 is welder usage state diagram provided by the embodiment of the utility model.
In figure, 01, support platform, 02, welder, 021, positioning table, 022, welding gun, 023, flux delivery mouth, 024,
Flux restoring mouth, 025, feed pipe, 026, flux restoring conveying integrated machine, 027, wire reel, 028, wire-feed motor, 03, laser with
Track device, 031, laser sensor, 032, host computer, 04, controller, 05, first direction, 06, second direction, 07, vertical side
To, the 08, first direction of rotation, the 09, second direction of rotation, 10, support frame, 11, slide bar, the 12, first rotating mechanism, 121, first
Fixing seat, the 122, first rotary shaft, the 13, second rotating mechanism, the 131, second rotating seat, the 132, second rotary shaft, 14, fine tuning ten
Word planker, the 141, first adjustable plate, the 142, first lead screw, 143, first slide, the 144, second adjustable plate, the 145, second lead screw,
146, second slide, 15, guide rail, 16, workpiece.
Specific embodiment
In order to clarify the technical characteristics of the invention, below by specific embodiment, and its attached drawing is combined, to this reality
It is described in detail with novel.
As shown in Figure 1-3, the work station includes the support platform 01 of planer-type, welder 02, laser tracker 03
With controller 04.
The support platform 01 of planer-type designs, and effectively reduces the whole height of operating platform, is easily changed welding wire and weldering
Agent, easy to maintain, maintenance cost is low.
The support platform 01 is equipped with along 05 horizontal movement of first direction, 01 lower section of support platform along first direction 05 in parallel
Two guide rails 15,01 both ends of support platform are slidably arranged in respectively on two guide rails 15.
01 1 Slideslip of support platform is equipped with support frame 10, the support frame 10 06 horizontal sliding in a second direction, the branch
07 sliding is equipped with slide bar 11,11 bottom of slide bar, 08 the first rotation of rotational installation along the first direction of rotation along the vertical direction on support 10
Rotation mechanism 12,12 bottom of the first rotating mechanism are rotatably equipped with the second rotating mechanism 13, the welding along the second direction of rotation 09
Device 02 is mounted on the second rotating mechanism 13, the controller 04 control welder 02 in a first direction 05, second direction 06,
Movement on vertical direction 07, the first direction of rotation 08 and the second direction of rotation 09.
The setting of first rotating mechanism 12 and the second rotating mechanism 13, on the basis of guaranteeing 02 flexibility of welder,
The more existing articulated robot of welder 02, effectively increases the mechanical strength of welder 02.And existing joint machine
People's submerged arc welding work station needs 8-9 axis, and only there are three linear axis, two rotary shafts, i.e., along first party for welding in the application
To 05, second direction 06 or vertical direction 07 linear axis and along the first direction of rotation 08 and second direction of rotation 09 rotation
Axis, so that it may meet submerged arc welding requirement, be effectively simplified structure, save manufacturing cost, more reduce the consumption in use process
Energy.
The first direction 05 is mutually perpendicular to second direction 06.
Fig. 2 is the partial enlarged view in Fig. 1 at A.
First rotating mechanism 12 includes the first rotary shaft 122 of the first fixing seat 121 and rotation, first fixing seat
121 are fixedly mounted on 11 bottom of slide bar, which is movably arranged in the first fixing seat 121 vertically.
Second rotating mechanism 13 includes the second rotating seat 131 for being fixed on 122 bottom of the first rotary shaft, second rotation
Rotation is equipped with the second rotary shaft 132 in seat 131, and second rotary shaft 132 is horizontally disposed along first direction 05, the welder 02
It is arranged in the second rotary shaft 132.
First rotary shaft 122 is vertically arranged, and the second rotary shaft 132 is parallel to the setting of first direction 05.
When the first rotary shaft 122 and the second rotary shaft 132 rotate, welder 02 can adjust posture as needed,
So that welding gun 022 and flux delivery mouth 023 is directed at welding position, precisely welds.
The support platform 01 is connected by transmission mechanism with first servo motor, which passes through transmission mechanism and the
Two servo motors are connected, which is connected by transmission mechanism with third servo motor, which passes through transmission
Mechanism is connected with the 4th servo motor, which is connected by transmission mechanism with the 5th servo motor, this first is watched
Take motor, the second servo motor is connected, third servo motor, the 4th servo motor and the 5th servo motor with 04 phase of controller
Even.
First servo motor drives support platform 01 to move along a straight line along first direction 05, and the second servo motor drives support frame
10 and support frame 10 on 06 linear motion in a second direction of slide bar 11, third servo motor band moving slide-bar 11 and the first whirler
07 linear motion, the 4th servo motor drive the first rotation along the vertical direction for structure 12, the second rotating mechanism 13 and welder 02
Mechanism 12, the second rotating mechanism 13 and welder 02 rotate in the horizontal direction, and the 5th servo motor drives the second rotary shaft
132 and welder 02 rotated on vertical direction 07.
Along first direction 05, the linear axis of second direction 06 and vertical direction 07 and along the first direction of rotation 08 and second
The rotary shaft of direction of rotation 09 is connect with the servo motor being respectively connected respectively, so that three direction linear axis and both direction rotation
Series relationship is few between shaft, and accumulated error is small.
The welder 02 includes the positioning table 021 being fixed in the second rotary shaft 132, is equipped in the positioning table 021
Welding gun 022, flux delivery mouth 023 and flux restoring mouth 024, the welding gun 022 are connected with 028 structure of wire-feed motor, the flux delivery mouth
023 and flux restoring mouth 024 be connected with flux restoring conveying integrated machine 026 by feed pipe 025；Also pacify in the positioning table 021
Equipped with laser sensor 031.
The flux delivery mouth 023 and flux restoring mouth 024 being connected with flux restoring conveying integrated machine 026, for export and
Solder flux is recycled, flux restoring mouth 024 recycles the solder flux not being melted, so that solder flux obtains secondary use, effectively saves cost.
Fig. 3 is the partial enlarged view in Fig. 1 at B.
028 structure of wire-feed motor includes the wire reel 027 being arranged on support frame 10 and wire-feed motor 028, in the wire reel 027
Welding wire be connected into welding gun 022 by wire-feed motor 028.
As shown in Fig. 2, the positioning table 021 is equipped with the fine tuning cross saddle 14 for adjusting 024 direction of flux restoring mouth, this is micro-
Adjusting cross saddle 14 includes the first adjustable plate 141 being fixed in positioning table 021, is equipped with first in the first adjustable plate 141
Thick stick 142, the outer Slideslip of the first adjustable plate 141 are equipped with first slide 143, the nut in the first slide 143 and the first lead screw 142
It is connected；It is fixedly installed with the second adjustable plate 144 in the first slide 143, second lead screw is installed in second adjustable plate 144
145, the outer Slideslip of the second adjustable plate 144 is equipped with second slide 146, and the nut in the second slide 146 and the second lead screw 145 is solid
Even；The flux restoring mouth 024 is fixed in second slide 146.
It is mutually perpendicular between first adjustable plate 141 and the second adjustable plate 144, second adjustable plate 144 and flux restoring
Mouth 024 is arranged in parallel.
Due to the difference of weld shape, recyclable solder flux also can be different with respect to the position of weld seam, and the utility model is implemented
The fine tuning cross saddle 14 that example provides is, it can be achieved that fine tuning to flux restoring mouth 024, is directed at flux restoring mouth 024 to be recycled
Solder flux position, improve the rate of recovery of solder flux, effectively saving cost.For example, the solder flux that ought largely can be recycled is located at the weld seam right side
When side, we can be such that first slide 143 and flux restoring mouth 024 moves right together with the first lead screw of turn 142, until arriving
Up to the surface of recyclable solder flux, when largely recyclable solder flux is located at weld seam left side, we can be with opposite direction turn the
One lead screw 142 moves downward first slide 143 and flux restoring mouth 024 together, until reach recyclable solder flux just on
Side；Similarly, if the solder flux of recyclable recycling is less, we can be such that flux restoring mouth 024 transports downwards with the second lead screw of turn 145
It is dynamic.
The laser tracker 03 acquires the image information of welding workpiece, and according to the image for tracking welding position
Information determines the coordinate of the position to be welded of the welding workpiece, and the coordinate of the position to be welded is sent to the controller,
The controller according to the welding position coordinate control welder in a first direction, second direction, vertical direction, the first rotation side
To with the movement on the second direction of rotation.
The laser tracker includes laser sensor 031 and host computer 032, the laser sensor 031 and host computer 032
It is connected；The laser sensor 031 be arranged on the welder 02, the laser sensor 031 with the movement of welder 02 and
The image information of welding workpiece 16 is obtained, and by the image information of the welding workpiece 16, sends host computer 032 to；The host computer
032 carries out image procossing according to the image of the welding workpiece 16, to obtain welding position and welding of the welding workpiece 16
The coordinate of position, and send the coordinate to controller 04.
In one implementation, host computer 032 receives the image of the welding workpiece from laser sensor 031, passes through
Image processing software identifies the welding position in the image, and obtains welding position coordinate.For example, image is read into
In Matlab, pictorial information is converted into coordinate information by Matlab, and host computer is by identical coordinate information in two images later
It extracts, obtains the coordinate of position to be welded.
Existing robot workstation can only track first layer weld seam generally using angle or edge as tracking characteristics, and first
After layer weld seam covers tracking characteristics, existing tracking device can not just track weld seam again, can not weld the second layer, third
Layer ....The utility model embodiment provides a kind of robot workstation based on submerged arc welding, the robot workstation's
Laser tracker 03 is when welding second layer or more, no longer using angle or edge as tracking characteristics, but with two faces
It is characterized, the position while welding in image is identified by image processing software, realizes multi-layer welding.When specifically used, first by
Workpiece 16 is placed on the workbench of 02 lower section of welder by worker.Starting first servo motor, the second servo motor, third are watched
Motor, the 4th servo motor and the 5th servo motor are taken, five servo motors drive welder 02 to transport in five freedom degrees
Dynamic, the laser sensor 031 being arranged on welding gun 022 is also moved with the movement of welder 02.Carrying out first layer weld seam
Welding when, laser tracker 03 welds workpiece 16 still using the gap of weld seam as tracking characteristics, robot work
It stands during carrying out first layer welding to workpiece 16, the laser on laser sensor 031, which can be radiated on workpiece 16, to intersect
On two faces, acquires the image information in two faces on workpiece 16 and swash after robot workstation completes first layer welding to workpiece 16
Optical sensor 031 is also collected into complete image information.
Laser sensor 031 sends the image information in two faces of workpiece 16 to host computer 032, and host computer 032 is to this
Image information carries out image procossing, mainly utilizes Matlab software, image is read into Matlab software, selects two figures
Starting point of the center of picture as search.Such as coordinate system is using the coordinate system of Matlab, origin (0,0) position
In the upper left corner of any image, x-axis be horizontally to the right, before y-axis is level, therefore, the coordinate position that coordinate (i, j) represents
It is the i-th row jth column positioned at image.
Pictorial information is converted into coordinate information by Matlab, and host computer mentions identical coordinate information in two images later
It takes out, obtains the coordinate of position to be welded.When the weld seam to workpiece 16 carries out second layer welding, although the gap of weld seam is special
Sign has been capped, I can still carry out the welding of second layer weld seam to workpiece 16, and detailed process includes that host computer 032 will
Welding position coordinate information sends controller 04 to.The weld seam coordinate information that controller 04 is determined according to host computer 032, control five
The operation of a servo motor.The type for determining submerged arc welding first is downhand welding or fillet welding, as shown in figure 4, when being arranged second
When welding gun 022 in rotary shaft 13 is in a vertical state, downhand welding may be implemented；When the 5th the second rotary shaft of Serve Motor Control 13
It turns an angle, such as at 15 degree or 45 degree, welding gun 022 also just tilts 15 degree or 45 degree therewith, realizes to weld and tilts 15 degree
Or 45 degree of fillet welding；；Secondly, determine extending direction of the weld seam below support platform 01, be extend along first direction 05 or
Extend along with the direction in a certain angle of first direction 05, the angle phase that the angle of angle is rotated with the first rotary shaft 122 here
Together, for example, the original state of positioning table 021 is parallel to first direction 05, at this time when weld seam extends along first direction 05
First rotary shaft 122 does not need to rotate, and first servo motor driving support platform 01 is moved along 15 direction of guide rail；When weld seam along with
When first direction 05 extends in the direction of 90 degree of angles, positioning table 021 is rotated by 90 ° with the first rotary shaft 122, the second servo electricity
Machine driving support frame 10 is moved along the direction perpendicular to guide rail 15；When weld seam extends along with first direction in the direction of 45 degree of angles
When, positioning table 021 rotates 45 degree with the first rotary shaft 122, first servo motor driving support frame synchronous with the second servo motor
10 move along with first direction 05 in the direction of 45 degree of angles；When weld seam extends along with first direction 05 in the direction of other angles
When, the course of work is identical as the direction of 45 degree of angles, and only first servo motor is different with the slewing rate of the second servo motor；
Finally, with regard to the movement of vertical direction 07, for submerged arc welding, what general workpiece 16 welded is all plane, is being welded
Cheng Zhong, slide bar do not need to move up and down, but when carrying out 16 acclive welding of workpiece, and slide bar 11 in the welding process also can be with
The starting of first servo motor and/or the second servo motor and start, carry out welding.
Above-mentioned specific embodiment cannot function as the limitation to the utility model utility model protection range, for this technology
For the technical staff in field, any alternate modification for made to the utility model embodiment or transformation all fall within practical
In novel protection scope.
Place is not described in detail for the utility model, is the well-known technique of those skilled in the art of the present technique.
Claims (10)
1. a kind of robot workstation based on submerged arc welding, it is characterised in that: support platform, welding dress including planer-type
It sets, laser tracker and controller；
The support platform is equipped with support frame, support frame as described above along first direction horizontal movement, one Slideslip of support platform
Horizontal sliding, the first direction are mutually perpendicular to second direction in a second direction；It is slided along the vertical direction on support frame as described above
Equipped with slide bar, the first rotating mechanism is installed in the slide bar bottom along the first direction of rotation, and first in first rotating mechanism
Rotary shaft is vertically arranged, and first rotating mechanism bottom is rotatably equipped with the second rotating mechanism along the second direction of rotation, described
The second rotary shaft in second rotating mechanism is parallel to first direction setting, and the welder is mounted in the second rotary shaft,
The laser tracker is arranged on the welder, the image information of the laser tracker acquisition welding workpiece,
And the coordinate of the position to be welded of the welding workpiece is determined according to described image information, and by the seat of the position to be welded
Mark is sent to the controller, the controller according to the welding position coordinate control welder in a first direction, second
Movement on direction, vertical direction, the first direction of rotation and the second direction of rotation.
2. a kind of robot workstation based on submerged arc welding according to claim 1, it is characterised in that: the laser with
Track device includes laser sensor and host computer, and the laser sensor is connected with host computer；
The laser sensor obtains the image information of welding workpiece with the movement of welder, and by the welding workpiece
Image information sends host computer to；
The host computer carries out image procossing according to the image of the welding workpiece, to obtain the welding position of the welding workpiece
It sets, and the coordinate of the welding position is calculated, and send the coordinate to controller.
3. a kind of robot workstation based on submerged arc welding according to claim 2, it is characterised in that: first rotation
Rotation mechanism includes the first rotary shaft of the first fixing seat and rotation, and first fixing seat is fixedly mounted on slide bar bottom, described
First rotary shaft is movably arranged on vertically in the first fixing seat.
4. a kind of robot workstation based on submerged arc welding according to claim 3, it is characterised in that: second rotation
Rotation mechanism includes the second rotating seat for being fixed on the first rotary shaft bottom, and rotation is equipped with the second rotation in second rotating seat
Axis, second rotary shaft is horizontally disposed along first direction, and the welder is arranged in the second rotary shaft.
5. a kind of robot workstation based on submerged arc welding according to claim 4, it is characterised in that: the welding dress
The positioning table including being fixed in the second rotary shaft is set, welding gun, flux delivery mouth and flux restoring are installed in the positioning table
Mouth, the welding gun are connected with wire feeder, and the flux delivery mouth and flux restoring mouth are conveyed by feed pipe and flux restoring
All-in-one machine is connected；Laser sensor is also equipped in the positioning table.
6. a kind of robot workstation based on submerged arc welding according to claim 5, it is characterised in that: the wire-feed motor
Structure includes wire reel and the wire-feed motor being arranged on the support frame, and the welding wire in the wire reel is connected into welding gun by wire-feed motor.
7. a kind of robot workstation based on submerged arc welding according to claim 5, it is characterised in that: the positioning table
It is equipped with the fine tuning cross saddle for adjusting flux restoring mouth direction, the fine tuning cross saddle includes the be fixed in positioning table
One adjustable plate is equipped with the first lead screw in the first adjustable plate, and the outer Slideslip of the first adjustable plate is equipped with first slide, and described first is sliding
Seat is connected with the nut on the first lead screw；The second adjustable plate is fixedly installed in the first slide, in second adjustable plate
Second lead screw is installed, the outer Slideslip of the second adjustable plate is equipped with second slide, the nut in the second slide and the second lead screw
It is connected；The flux restoring mouth is fixed in second slide.
8. a kind of robot workstation based on submerged arc welding according to claim 7, it is characterised in that: described first adjusts
It is mutually perpendicular between section plate and the second adjustable plate, second adjustable plate is arranged in parallel with flux restoring mouth.
9. a kind of robot workstation based on submerged arc welding according to claim 1, it is characterised in that: the support is flat
Two guide rails are equipped in parallel along first direction below platform, and the support platform both ends are slidably arranged in respectively on two guide rails.
10. a kind of robot workstation based on submerged arc welding according to claim 4, it is characterised in that: the support
Platform is connected by transmission mechanism with first servo motor, and support frame as described above is connected by transmission mechanism with the second servo motor,
The slide bar is connected by transmission mechanism with third servo motor, and first rotary shaft passes through transmission mechanism and the 4th servo electricity
Machine is connected, and second rotary shaft is connected by transmission mechanism with the 5th servo motor, the first servo motor, the second servo
Motor, third servo motor, the 4th servo motor and the 5th servo motor are connected with controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920171005.9U CN209632279U (en) | 2019-01-30 | 2019-01-30 | A kind of robot workstation based on submerged arc welding |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920171005.9U CN209632279U (en) | 2019-01-30 | 2019-01-30 | A kind of robot workstation based on submerged arc welding |
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| CN209632279U true CN209632279U (en) | 2019-11-15 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109604783A (en) * | 2019-01-30 | 2019-04-12 | 北京时代科技股份有限公司 | A kind of robot workstation based on submerged arc welding |
| CN110927168A (en) * | 2019-11-26 | 2020-03-27 | 华中科技大学 | Welding and welding spot defect detection system and method based on infrared image |
| CN111151937A (en) * | 2020-01-08 | 2020-05-15 | 陈海涛 | Welding mechanical device convenient to seek and get solder joint |
-
2019
- 2019-01-30 CN CN201920171005.9U patent/CN209632279U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109604783A (en) * | 2019-01-30 | 2019-04-12 | 北京时代科技股份有限公司 | A kind of robot workstation based on submerged arc welding |
| CN110927168A (en) * | 2019-11-26 | 2020-03-27 | 华中科技大学 | Welding and welding spot defect detection system and method based on infrared image |
| CN111151937A (en) * | 2020-01-08 | 2020-05-15 | 陈海涛 | Welding mechanical device convenient to seek and get solder joint |
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