CN210160567U - Carbon steel welding equipment with rapid automatic preheating function - Google Patents
Carbon steel welding equipment with rapid automatic preheating function Download PDFInfo
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- CN210160567U CN210160567U CN201920170303.6U CN201920170303U CN210160567U CN 210160567 U CN210160567 U CN 210160567U CN 201920170303 U CN201920170303 U CN 201920170303U CN 210160567 U CN210160567 U CN 210160567U
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Abstract
The utility model discloses a rapid automatic preheating carbon steel welding device, which comprises a workpiece positioner mechanism, a welding robot transfer mechanism and an induction heating transfer mechanism, wherein the welding robot transfer mechanism and the induction heating transfer mechanism are positioned at two sides of the workpiece positioner mechanism; the two clamping chucks of the workpiece positioner mechanism can clamp two ends of a carbon steel workpiece and can drive the carbon steel workpiece to rotate; the welding robot transferring mechanism comprises a robot transferring track and a welding robot, and the welding robot is arranged on the robot transferring track in a sliding mode; the induction heating transfer mechanism comprises a heating transfer track, an induction heating control box and an induction heating coil, wherein the induction heating control box is arranged on the heating transfer track in a sliding mode, the induction heating coil is arranged on the induction heating control box and connected with the induction heating control box, and the shape of the induction heating coil is matched with that of a carbon steel workpiece. The utility model discloses compact structure, but self-heating and heating are even, and heating efficiency is high, life is long.
Description
Technical Field
The utility model relates to a carbon steel heat-welding field relates to the quick automatic carbon steel welding equipment that preheats of large scale structure heat-welding, major diameter pipeline heat-welding, heavy machinery structure.
Background
In the process of welding carbon steel and structural steel, the temperature has a great influence on the welding quality. The high-strength structural steel on the market at present is basically low-carbon low-alloy steel or low-carbon low-alloy quenched and tempered steel. In particular to a material with the welding strength grade more than or equal to 390 MPa. To obtain excellent toughness of weld joint structure and prevent cold cracking, pre-heating before welding, and low-temperature post-heat treatment or dehydrogenation treatment after welding are required. At present, the welding preheating and dehydrogenation process adopts flame or crawler-type electric heater for heating. Flame heating: heating by flame of gas combustion, wherein the temperature is deeply conducted into the workpiece; heating by an electric heater: the resistance of the electric heating wire is adopted to generate heat, and the temperature is deeply penetrated into the workpiece through conduction. Adopting above-mentioned several kinds of heating methods, all can producing certain problem: when flame heating is adopted, the surface temperature of the workpiece is higher, the internal temperature is lower, the operation is completely grasped manually, and the heating temperature is uneven. When the electric heater is used for heating: the gap between the electric heater and the workpiece is inconsistent, so that heating is not uniform; the power supply connector is easy to damage and has the danger of electric shock, the heating temperature can be controlled only by manual nursing, the product is easy to be burnt, the product is scrapped or the quality is unstable, the heating time is long, and the energy consumption is very high; the heater itself generates heat, and the temperature is very high, easily scalds the operation workman.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects, the utility model aims to provide a rapid automatic preheating carbon steel welding equipment which has compact structure, can automatically heat and heat evenly, and has high heating efficiency and long service life.
In order to achieve the above purpose, the utility model discloses a technical scheme is: a carbon steel welding device capable of quickly and automatically preheating comprises a workpiece position changing machine mechanism, a welding robot transfer mechanism and an induction heating transfer mechanism, wherein the welding robot transfer mechanism and the induction heating transfer mechanism are positioned on two sides of the workpiece position changing machine mechanism; the two clamping chucks of the workpiece positioner mechanism can clamp two ends of a carbon steel workpiece and can drive the carbon steel workpiece to rotate, and the carbon steel workpiece clamped by the two clamping chucks is arranged in the X-axis direction; the welding robot transfer mechanism comprises a robot transfer track, a welding robot and a welding gun, the robot transfer track is arranged along an X axis, the welding robot slides along the robot transfer track through a robot sliding assembly, and the welding gun is positioned at the welding free end of the welding robot; induction heating moves and carries mechanism includes that the heating moves track, induction heating control box and induction heating coil, the heating moves the track and sets up along the X axle, the induction heating control box slides along the heating track that moves through heating slip subassembly, induction heating coil sets up on the induction heating control box and is connected with it, induction heating coil's shape matches with the shape of carbon steel work piece.
The utility model discloses carbon steel welding equipment is preheated in quick automation's beneficial effect is, and main advantage lies in, equipment structure is compact, and occupation space is little, and the automatic preheating welding that can compatible multiple work piece maintains the convenience. The workpiece positioner mechanism can ensure automatic clamping and overturning of workpieces, and is matched with a welding robot transfer mechanism and an induction heating transfer mechanism to realize full-automatic preheating welding of carbon steel workpieces. The method for heating the object (carbon steel workpiece) by generating current (eddy current) in the heated object (carbon steel workpiece) by utilizing the electromagnetic induction principle can enhance the toughness of the welding seam and prevent cold cracks when the carbon steel is welded. The design form of the rapid automatic preheating carbon steel welding equipment adopts an induction heating preheating system, and has the characteristics of uniform heating, high production rate, accurate control, safety, reliability and long service life. Wherein, the heating is uniformly embodied as follows: because the steel materials generate heat by themselves due to eddy current generated by magnetic induction in the induction heating process, the heating temperature is uniform, and the characteristic is very beneficial to preheating of welding and post-heating hydrogen elimination; the productivity is high in that: the induction heating is that the steel is heated by eddy current generated by magnetic induction, heat conduction is not needed, the power factor of the equipment reaches 95 percent, the heating time is short, and the production efficiency is high; the service life is prolonged by: the infrared electric heater is heated by the heating wire, so the heating wire can be quickly burnt; the induction coil does not generate high temperature and can not be burnt, so the service life is very long.
Preferably, the workpiece positioner mechanism comprises a positioner base, a positioner driving end and a positioner driven end, the positioner driving end and the positioner driven end are correspondingly arranged on the positioner base, the positioner driving end/the positioner driven end are in sliding connection with the positioner base through a positioner sliding assembly, one of the positioner driving end and the positioner driven end is controlled by the positioner sliding assembly to slide back and forth towards the direction close to the other side and away from the other side, and the two clamping chucks are respectively arranged on the end faces corresponding to the positioner driving end and the positioner driven end. The driving end/driven end of the positioner are connected with the positioner base in a sliding mode through the positioner sliding assembly, so that an object (carbon steel workpiece) can be clamped between the two clamping chucks, and the driving end of the positioner is used for turning the object (carbon steel workpiece) and clamping and turning the object (carbon steel workpiece).
Preferably, the positioner sliding assembly comprises a positioner sliding rail, a positioner platform, a positioner driving motor, a positioner gear and a positioner rack, the positioner sliding rail is fixed on the positioner base and arranged along the X-axis direction, the positioner driving end/the positioner driven end is fixed on the positioner platform, the positioner platform is clamped with the positioner sliding rail and can slide along the positioner sliding rail, the positioner driving motor is fixed on the positioner platform, the output shaft of the positioner driving motor faces downwards, the positioner gear is fixed at the output shaft end of the positioner driving motor, and the positioner rack is fixed on the positioner base and meshed with the positioner gear. The positioner driving motor of the positioner sliding assembly controls the positioner gear to rotate, the rotating positioner gear and the positioner rack move relatively, the positioner rack is arranged on the positioner sliding rail which is fixed, the positioner driving motor is fixed on the positioner platform, the positioner platform is clamped with the positioner sliding rail and can slide along the positioner sliding rail, and the positioner platform slides along the positioner sliding rail, so that the positioner driving end/the positioner driven end on the positioner platform is driven to slide.
Preferably, the robot sliding assembly includes first motor, first gear, first rack, first motor sets up the bottom at welding robot, welding robot's bottom joint is on the robot orbit of marcing and sliding connection, first motor output shaft is down, the free end at the output shaft of first motor is fixed to first gear, first rack setting is on the robot orbit of marcing, and with first gear engagement. Similarly, the first gear of the first motor control of welding robot's bottom rotates, through the meshing of first rack and first gear, drives welding robot's bottom and makes a round trip to slide along the robot orbit of moving then.
Preferably, the number of the robot moving tracks is two, and the first racks are arranged on the end faces corresponding to the two robot moving tracks. The stability of the movement of the welding robot is ensured.
Preferably, the heating sliding assembly comprises a second motor, a second gear and a second rack, the second motor is fixedly installed on a bottom plate of the induction heating control box, an output shaft of the second motor penetrates through the bottom plate and is arranged downwards, the second gear is fixedly arranged at the end of the output shaft of the second motor, the bottom plate is clamped with the heating moving track and can slide along the heating moving track, the second rack is arranged along the X axis, and the second rack is fixedly arranged on one side of the heating moving track and is meshed with the second gear. Similarly, a second motor at the bottom of the induction heating control box controls a second gear to rotate, and the second gear is meshed with the second rack to drive the induction heating control box to slide back and forth along the heating moving track.
Preferably, the number of the heating traveling rails is two, and the number of the second racks is one. And the stability of the movement of the induction heating control box is ensured.
Preferably, a Y-axis sliding assembly is arranged between the induction heating control box and the heating sliding assembly; y axle slip subassembly includes Y axle slide rail, supporting platform, drive division, Y axle slide rail is fixed at the top of bottom plate and is set up along the Y axle, the supporting platform bottom can extend its slip with Y axle slide rail joint, induction heating control box fixes on supporting platform, induction heating control box will drive induction heating control box through drive division and make a round trip to slide along Y axle slide rail. The driving part can be the motor, the matching of the rack and the gear, or a motor screw rod assembly, as long as the induction heating control box can move on the Y-axis slide rail; after the induction heating is finished, the driving part controls the induction heating control box to retreat, and space is provided for overturning an object (a carbon steel workpiece).
Preferably, a Z-axis sliding assembly is arranged between the induction heating coil and the side wall of the induction heating control box; z axle slip subassembly is including setting up Z axle slide rail, action wheel, following driving wheel, cover on the lateral wall of induction heating control box and establish the action wheel and follow the epaxial transmission band of driving and with Z axle slide rail sliding connection's Z axle platform, transmission band, Z axle slide rail all are Z axle direction setting, Z axle platform and one side fixed connection of transmission band, induction heating coil sets up on Z axle platform. The driving wheel is driven by a motor, and controls the transmission belt to move back and forth in the Z-axis direction so as to drive the Z-axis platform to slide up and down on the Z-axis slide rail, so that the Z-axis platform is suitable for carbon steel workpieces with different sizes, and space can be provided for overturning objects (carbon steel workpieces).
Preferably, the induction heating coil is frame-shaped and is provided with an abdicating cavity for the carbon steel workpiece to pass through, so that the carbon steel workpiece can be heated comprehensively.
Drawings
FIG. 1 is a perspective view of the present embodiment;
FIG. 2 is a perspective view of the welding robot in the present embodiment;
fig. 3 is a perspective view of the transfer mechanism of the welding robot in the present embodiment;
FIG. 4 is a perspective view of the workpiece positioner mechanism in this embodiment;
fig. 5 is a perspective view of a first angle of the induction heating transfer mechanism according to the present embodiment;
fig. 6 is a perspective view of the induction heating transfer mechanism of the present embodiment at a second angle;
fig. 7 is a perspective view of the Z-axis slide assembly of the induction heating transfer mechanism according to the present embodiment.
Detailed Description
The following detailed description of the preferred embodiments of the present invention will be provided in conjunction with the accompanying drawings, so as to enable those skilled in the art to more easily understand the advantages and features of the present invention, and thereby define the scope of the invention more clearly and clearly.
Referring to the attached figure 1, the rapid automatic preheating carbon steel welding equipment of the embodiment comprises a workpiece positioner mechanism 1, a welding robot transfer mechanism 2 and an induction heating transfer mechanism 3, wherein the welding robot 22 transfer mechanism 2 and the induction heating transfer mechanism 3 are positioned at two sides of the workpiece positioner mechanism 1; the two clamping chucks 11 of the workpiece positioner mechanism 1 can clamp two ends of a carbon steel workpiece 4 and can drive the carbon steel workpiece 4 to rotate, and the carbon steel workpiece 4 clamped by the two clamping chucks 11 is arranged in the X-axis direction; the transfer mechanism 2 of the welding robot 22 comprises a robot transfer rail 21, the welding robot 22 and a welding gun 23, wherein the robot transfer rail 21 is arranged along an X axis, the welding robot 22 slides along the robot transfer rail 21 through a robot sliding assembly 24, and the welding gun 23 is positioned at the welding free end of the welding robot 22; the induction heating transfer mechanism 3 comprises a heating transfer track 31, an induction heating control box 32 and an induction heating coil 33, wherein the heating transfer track 31 is arranged along an X axis, the induction heating control box 32 slides along the heating transfer track 31 through a heating sliding assembly 34, the induction heating coil 33 is arranged on the induction heating control box 32 and connected with the induction heating control box, and the shape of the induction heating coil 33 is matched with that of the carbon steel workpiece 4. As shown in fig. 1, 5-7, the induction heating coil 33 is frame-shaped and has a relief cavity 41 through which the carbon steel workpiece 4 passes.
As shown in fig. 4, the workpiece positioner mechanism 1 includes a positioner base 12, a positioner driving end 13, and a positioner driven end 14, the positioner driving end 13 and the positioner driven end 14 are correspondingly disposed on the positioner base 12, the positioner driving end 13/the positioner driven end 14 are slidably connected to the positioner base 12 through a positioner sliding assembly 15, the positioner sliding assembly 15 controls one of the positioner driving end 13 and the positioner driven end 14 to slide back and forth in a direction close to and away from the other, and the two clamping chucks 11 are respectively disposed on corresponding end faces of the positioner driving end 13 and the positioner driven end 14.
The positioner sliding assembly 15 comprises a positioner sliding rail 15a, a positioner platform 15b, a positioner driving motor 15c, a positioner gear 15d and a positioner rack 15e, the positioner sliding rail 15a is fixed on the positioner base 12 and arranged along the X-axis direction, the positioner driving end 13/the positioner driven end 14 is fixed on the positioner platform 15b, the positioner platform 15b is clamped with the positioner sliding rail 15a and can slide along the positioner sliding rail, the positioner driving motor 15c is fixed on the positioner platform 15b, the output shaft of the positioner driving motor 15c faces downwards, the positioner gear 15d is fixed at the end of the output shaft of the positioner driving motor 15c, and the positioner rack 15e is fixed on the positioner base 12 and meshed with the positioner gear 15 d.
As shown in fig. 2 and 3, the robot sliding assembly 24 includes a first motor 241, a first gear 242, and a first rack 243, the first motor 241 is disposed at the bottom of the welding robot 22, the bottom of the welding robot 22 is engaged with the robot traveling rail 21 and slidably connected thereto, the output shaft of the first motor 241 faces downward, the first gear 242 is fixed at the free end of the output shaft of the first motor 241, and the first rack 243 is disposed on the robot traveling rail 21 and engaged with the first gear 242.
Two robot traveling rails 21 are provided, and the first rack 243 is provided on the end surface of each of the two robot traveling rails 21.
As shown in fig. 5 and 6, the heating slide assembly 34 includes a second motor 34a, a second gear 34b, and a second rack 34c, the second motor 34a is fixedly installed on the bottom plate 2a of the induction heating control box 32, an output shaft of the second motor 34a passes through the bottom plate 2a and is disposed downward, the second gear 34b is fixedly disposed at an end portion of the output shaft of the second motor 34a, the bottom plate 2a is engaged with the heating travel rail 31 and can slide along the same, the second rack 34c is disposed along the X axis, and the second rack 34c is fixedly disposed at one side of the heating travel rail 31 and is engaged with the second gear 34 b.
Two heating traveling rails 31 are provided, and one second rack 34c is provided.
A Y-axis sliding assembly 35 is arranged between the induction heating control box 32 and the heating sliding assembly 34; y axle slide rail 35a fixes at the top of bottom plate 32a and sets up along the Y axle, and supporting platform 35b bottom and Y axle slide rail 35a joint can extend its slip, and induction heating control box 32 is fixed on supporting platform 35b, and induction heating control box 32 will drive induction heating control box through the drive division and slide back and forth along the Y axle slide rail.
As shown in fig. 7, a Z-axis slide assembly 36 is provided between the induction heating coil 33 and the side wall of the induction heating control box 32; the Z-axis sliding assembly 36 includes a Z-axis sliding rail 36a disposed on a side wall of the induction heating control box 32, a driving wheel 36b, a driven wheel 36c, a transmission belt 36d sleeved on the driving wheel 36b and the driven wheel 36c, and a Z-axis platform 36e slidably connected to the Z-axis sliding rail 36a, wherein the transmission belt 36d and the Z-axis sliding rail 36a are disposed in a Z-axis direction, the Z-axis platform 36e is fixedly connected to one side of the transmission belt 36d, and the induction heating coil 33 is disposed on the Z-axis platform 36 e.
A transfer mechanism can be arranged at the bottom of the workpiece positioner mechanism 1, the transfer mechanism moves the spot-welded carbon steel workpiece 4 to a position between the welding robot transfer mechanism 2 and the induction heating transfer mechanism 3, and the workpiece 4 is fixed by a positioner driving end 13 of the workpiece positioner mechanism 1 and a clamping chuck 11 of a positioner driven end 14; the induction heating coil 33 of the induction heating transfer mechanism 3 moves synchronously along the XYZ axes, and the induction heating coil 33 reaches one end of the carbon steel workpiece 4; the driving end 13 of the positioner drives the carbon steel workpiece 4 to rotate, and after the carbon steel workpiece 4 is heated to a certain temperature, the induction heating coil 33 moves to the next section of the carbon steel workpiece 4 to heat; the welding robot 22 moves to the position where the carbon steel workpiece 4 is heated, and the six-axis welding robot is adopted in the embodiment to weld the workpiece; at the moment, the carbon steel workpiece 4 is heated and welded at the same time until the carbon steel workpiece 4 is completely heated and welded, and the workpiece 4 which is welded is blanked by the transfer mechanism; and sequentially and circularly welding. In this embodiment, each motor and the driving part can be connected through a programmable controller and driven by the programmable controller, and can be programmed according to the requirements of various temperature curves, so as to realize automatic and accurate control.
In addition, a safe aviation connector and a leakage protection device can be adopted, so that potential safety hazards are eliminated; the equipment is designed to be fully air-cooled, so that the system loss is reduced, and the fault of an equipment water cooling system is thoroughly eliminated; the perfect limit protection measures ensure that the equipment keeps continuous and safe operation under various working conditions.
The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, so as not to limit the protection scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered in the protection scope of the present invention.
Claims (10)
1. The utility model provides a quick automatic preheating carbon steel welding equipment which characterized in that: comprises a workpiece positioner mechanism (1), and a welding robot transfer mechanism (2) and an induction heating transfer mechanism (3) which are positioned at two sides of the workpiece positioner mechanism (1);
the two clamping chucks (11) of the workpiece positioner mechanism (1) can clamp two ends of a carbon steel workpiece (4) and can drive the carbon steel workpiece (4) to rotate, and the carbon steel workpiece (4) clamped by the two clamping chucks (11) is arranged in the X-axis direction;
the welding robot transfer mechanism (2) comprises a robot transfer rail (21), a welding robot (22) and a welding gun (23), wherein the robot transfer rail (21) is arranged along an X axis, the welding robot (22) slides along the robot transfer rail (21) through a robot sliding assembly (24), and the welding gun (23) is positioned at the welding free end of the welding robot (22);
induction heating moves and carries mechanism (3) including heating orbit (31), induction heating control box (32) and induction heating coil (33) of moving, heating orbit (31) of moving sets up along the X axle, induction heating control box (32) slide along heating orbit (31) of moving through heating slip subassembly (34), induction heating coil (33) set up on induction heating control box (32) and are connected with it, induction heating coil (33)'s shape matches with the shape of carbon steel work piece (4).
2. The rapid automatic preheating carbon steel welding equipment according to claim 1, characterized in that: work piece machine of shifting mechanism (1) is including shifting machine base (12), shifting machine drive end (13), shifting machine driven end (14), setting that shifting machine drive end (13), shifting machine driven end (14) correspond is on shifting machine base (12), shifting machine drive end (13)/shifting machine driven end (14) are through shifting machine sliding assembly (15) and shifting machine base (12) sliding connection, one in shifting machine sliding assembly (15) control machine shifting machine drive end (13), shifting machine driven end (14) is to being close to and keeping away from another direction and making a round trip to slide, two clamping chucks (11) set up respectively on the terminal surface that shifting machine drive end (13), shifting machine driven end (14) correspond.
3. The rapid automatic preheating carbon steel welding equipment according to claim 2, characterized in that: the positioner sliding assembly (15) comprises a positioner sliding rail (15a), a positioner platform (15b), a positioner driving motor (15c), a positioner gear (15d) and a positioner rack (15e), the positioner sliding rail (15a) is fixed on the positioner base (12) and arranged along the X-axis direction, the driving end (13) of the positioner/the driven end (14) of the positioner is fixed on a platform (15b) of the positioner, the positioner platform (15b) is clamped with the positioner sliding rail (15a) and can slide along the positioner sliding rail, the positioner driving motor (15c) is fixed on the positioner platform (15b), the output shaft of the driving motor (15c) of the positioner faces downwards, the gear (15d) of the positioner is fixed at the end part of the output shaft of the driving motor (15c) of the positioner, the gear rack (15e) of the position changing machine is fixed on the base (12) of the position changing machine and meshed with the gear (15d) of the position changing machine.
4. The rapid automatic preheating carbon steel welding equipment according to claim 1, characterized in that: the robot sliding assembly (24) comprises a first motor (241), a first gear (242) and a first rack (243), wherein the first motor (241) is arranged at the bottom of the welding robot (22), the bottom of the welding robot (22) is clamped on the robot moving track (21) and is in sliding connection, the output shaft of the first motor (241) faces downwards, the first gear (242) is fixed at the free end of the output shaft of the first motor (241), and the first rack (243) is arranged on the robot moving track (21) and is meshed with the first gear (242).
5. The rapid automatic preheating carbon steel welding equipment according to claim 4, characterized in that: the number of the robot moving tracks (21) is two, and the first racks (243) are arranged on the corresponding end faces of the two robot moving tracks (21).
6. The rapid automatic preheating carbon steel welding equipment according to claim 1, characterized in that: heating slip subassembly (34) includes second motor (34a), second gear (34b), second rack (34c), second motor (34a) fixed mounting is on bottom plate (32a) of induction heating control box (32), the output shaft of second motor (34a) passes bottom plate (32a) and sets up down, second gear (34b) fixed setting is at the tip of the output shaft of second motor (34a), bottom plate (32a) and heating migration track (31) joint can extend its slip, second rack (34c) set up along the X axle, second rack (34c) are fixed to be set up in one side of heating migration track (31) and mesh with second gear (34 b).
7. The rapid automatic preheating carbon steel welding equipment according to claim 6, characterized in that: the number of the heating moving tracks (31) is two, and the number of the second racks (34c) is one.
8. The rapid automatic preheating carbon steel welding equipment according to claim 7, characterized in that: a Y-axis sliding assembly (35) is arranged between the induction heating control box (32) and the heating sliding assembly (34); y axle slip subassembly (35) include Y axle slide rail (35a), supporting platform (35b), drive division, Y axle slide rail (35a) are fixed at the top of bottom plate (32a) and are set up along the Y axle, supporting platform (35b) bottom and Y axle slide rail (35a) joint can prolong its slip, induction heating control box (32) are fixed on supporting platform (35b), induction heating control box (32) will drive induction heating control box through the drive division and make a round trip to slide along Y axle slide rail.
9. The rapid automatic preheating carbon steel welding equipment according to claim 1, characterized in that: a Z-axis sliding assembly (36) is arranged between the induction heating coil (33) and the side wall of the induction heating control box (32); z axle slip subassembly (36) are including setting up Z axle slide rail (36a) on the lateral wall of induction heating control box (32), action wheel (36b), follow driving wheel (36c), cover and establish transmission band (36d) on action wheel (36b) and follow driving wheel (36c) and Z axle platform (36e) with Z axle slide rail (36a) sliding connection, transmission band (36d), Z axle slide rail (36a) all are the setting of Z axle direction, one side fixed connection of Z axle platform (36e) and transmission band (36d), induction heating coil (33) set up on Z axle platform (36 e).
10. The rapid automatic preheating carbon steel welding equipment according to claim 1, characterized in that: the induction heating coil (33) is frame-shaped and is provided with a yielding cavity (41) for the carbon steel workpiece (4) to pass through.
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| CN201920170303.6U CN210160567U (en) | 2019-01-31 | 2019-01-31 | Carbon steel welding equipment with rapid automatic preheating function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109590594A (en) * | 2019-01-31 | 2019-04-09 | 苏州哈工易科机器人有限公司 | Fast automatic preheating carbon steel welding equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109590594A (en) * | 2019-01-31 | 2019-04-09 | 苏州哈工易科机器人有限公司 | Fast automatic preheating carbon steel welding equipment |
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