DK174557B1 - Automatic welding apparatus for welding 3-dimensional curved surfaces - Google Patents

Automatic welding apparatus for welding 3-dimensional curved surfaces Download PDF

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Publication number
DK174557B1
DK174557B1 DK199600548A DK54896A DK174557B1 DK 174557 B1 DK174557 B1 DK 174557B1 DK 199600548 A DK199600548 A DK 199600548A DK 54896 A DK54896 A DK 54896A DK 174557 B1 DK174557 B1 DK 174557B1
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Prior art keywords
welding
guide
torch
rollers
welding torch
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Application number
DK199600548A
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Danish (da)
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DK54896A (en
Inventor
Su-Won Jeong
Hyung-Sik Kim
Sang-Kyu Uh
Hyuk-Jun Kwon
Ju-Ho Choi
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Hyun Dai Heavy Ind Co Ltd
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Publication of DK54896A publication Critical patent/DK54896A/en
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Publication of DK174557B1 publication Critical patent/DK174557B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/032—Seam welding; Backing means; Inserts for three-dimensional seams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0282—Carriages forming part of a welding unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/126—Controlling the spatial relationship between the work and the gas torch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1274—Using non-contact, optical means, e.g. laser means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
    • B63B73/40—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms characterised by joining methods
    • B63B73/43—Welding, e.g. laser welding

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Geometry (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Description

DK 174557 B1DK 174557 B1

Den foreliggende opfindelse angår et automatisk svejseapparat til svejsning på dobbelt krummede overflader, hvilket apparat er konstrueret på en sådan måde, at det i et skib er muligt at udføre en automatisk svejsning af en svejsedel sammensat af elementer med dobbelt krummede overflader i form af et skibs forstævns- og agter-5 stævnsdele.The present invention relates to an automatic welding apparatus for welding on double curved surfaces, which apparatus is constructed in such a way that it is possible in a ship to perform an automatic welding of a welding part composed of elements with double curved surfaces in the form of a ship. stern and stern 5 stern parts.

Hidtil har en automatisk svejsning, ved konstruktionen af et skibs forstævn og agterstævn, ikke været mulig, eftersom vinklerne dannet mellem hver del af hoved-pladerne og spanter, dragere, etc., som er formgivet til at tilvejebringe dobbelt krummede overflader, ikke er tilstrækkeligt definerede. På grund af dette og andre gene-10 rende faktorer konstruerer en svejseoperatør skibets forstævn og agterstævn af de respektive hovedplader og spanter etc. ved manuel svejsning, og derfor har det været et problem, at arbejdsplanen blev forsinket, og at svejseproduktiviteten var for lav.To date, automatic welding, in the design of a ship's stern and stern, has not been possible, since the angles formed between each part of the main plates and shavings, supports, etc., which are designed to provide double curved surfaces, are not sufficient defined. Due to this and other annoying factors, a welding operator designs the ship's stern and stern of the respective main plates and sheaves, etc. by manual welding, and therefore it has been a problem that the work schedule was delayed and welding productivity was too low.

Formålet med den foreliggende opfindelse er at være i stand til at udføre en automatisk svejsning ved at løse de ovenfor nævnte problemer, dvs. at gøre det mu-15 ligt at udføre en automatisk svejsning i forbindelse med dobbelt krummede overflader.The object of the present invention is to be able to perform an automatic welding by solving the above-mentioned problems, i.e. to make it possible to perform an automatic welding in connection with double curved surfaces.

I overensstemmelse med opfindelsen løses dette formål ved automatisk styring af svejsebrænderens arbejdsvinkel (den laterale vinkel) i afhængighed af vinkel-ændringer imellem hovedpladen og spanter, dragere, etc. Manglende svejsninger, som fremkommer ved svejsningens startpunkt og afslutningspunkt, undgås ved at 20 udføre svejsearbejdet automatisk under anvendelse af en sensor og et brænderkompenseringsbord med en kugleskruespindel. Afstanden (i lysbuepunktet) mellem forenden af svejsetråden, og svejselinien (skæringspunktet mellem hovedpladen og spanter, dragere, etc., opretholdes konstant af hensyn til optimal svejsning. Svejseappara-tet ifølge den foreliggende opfindelse foretager således en afføling af generende 25 strukturer under svejsningen, som f.eks. tværfuger og bugtninger for på den måde at være i stand til at udføre en god svejsning.In accordance with the invention, this purpose is solved by automatic control of the welding torch's working angle (the lateral angle) in response to angle changes between the main plate and shavings, supports, etc. Lack of welds which appear at the welding start point and end point is avoided by performing the welding work. automatically using a sensor and burner compensation table with a ball screw spindle. The distance (at the arc point) between the front end of the welding wire and the welding line (the intersection of the main plate and shavings, supports, etc.) is constantly maintained for optimum welding. Thus, the welding apparatus of the present invention performs a sensing of annoying structures during welding. such as transverse joints and bends in order to be able to perform good welding.

Fig. 1 viser et perspektivisk billede af hele apparatet ifølge den foreliggende opfindelse, fig. 2 viser et konstruktionsmæssigt sidebillede af grundstrukturen af den 30 foreliggende opfindelse, og fig. 3 viser et konstruktionsmæssigt planbillede af grundstrukturen af den foreliggende opfindelse.FIG. 1 is a perspective view of the entire apparatus of the present invention; FIG. 2 shows a structural side view of the basic structure of the present invention; and FIG. 3 shows a structural plan view of the basic structure of the present invention.

2 DK 174557 B1 I det følgende forklares hovedtrækkene af den foreliggende opfindelse og dens struktur, betjening og funktion nærmere i detaljer med henvisning til den medfølgende tegning, som følger.2 DK 174557 B1 In the following, the main features of the present invention and its structure, operation and function are explained in more detail with reference to the accompanying drawing, which follows.

Opfindelsen omfatter: et svejsemaskinehovedlegeme 1, som drives ved hjælp 5 af køreruller 11, 11’; et svejsebrænderkompenseringsbord 2, som kan bevæges til højre og venstre inden i svejsemaskinehovedlegemet 1 ved hjælp af en kuglegevind-spindef 21, som driver et svejsebrænderkompenserende bord; midler til justering af vinklen og afstanden for svejsebrænderen 32 på brænderjusteringspladen 34, som fastholder svejsebrænderen 32 ved hjælp af en klemindretning 33, ved at drive kugle-10 gevindspindelen 31 for svejsebrænderjusteringsenheden 3 op og ned, og ved vinkeljusteringsruller 37, 37’, 37” og afstandsjusteringsglideren 38 anbragt mellem en vinkelbevægelsesføring 35 og en afstandsbevægelsesføring 36; og midler til anbringelse af en lasersensor 6 på styrestængerne 7, 7', som strækker sig fra svejsebrænderkompenseringsbordet 2, som begge ved de forreste ender er forsynede med styrerul-15 ler 4, 4’ og optiske fibersensorer 5, 5' modsat styrerullerne 4. Svejselinien følges ved at danne en vinkel på 0-5° imellem svejsemaskinehovedlegemet 1 og styrerullelinien og svejsebrænderkompenseringsbordets kuglegevindspindellinie.The invention comprises: a welding head body 1 driven by drive rollers 11, 11 '; a welding torch compensation table 2, which can be moved to the right and left within the welding machine main body 1 by means of a ball thread spinnerf 21, which drives a welding torch compensating table; means for adjusting the angle and distance of the welding torch 32 on the burner adjusting plate 34, which holds the welding torch 32 by means of a clamping device 33, by driving the ball-10 threaded spindle 31 of the welding torch adjusting unit 3 upwards and by angular adjustment rollers 37, 37 ', 37 ". and the spacer slider 38 disposed between an angular movement guide 35 and a spacer movement guide 36; and means for applying a laser sensor 6 to the guide rods 7, 7 'which extend from the welding torch compensation table 2, both of which are provided at the front ends with guide rollers 4, 4' and optical fiber sensors 5, 5 'opposite the guide rollers 4. The welding line is followed by forming an angle of 0-5 ° between the welding head body 1 and the guide roller line and the welding torch compensation table's ball thread spindle line.

Henvisningstallet 8 udgør en svejsemaskineophængningsindretning, henvisningstallet 9 udgør en svejsemaskinekabellejring, henvisningstallet 10 udgør en be-20 skyttelsesindretning for styrerullerne, og henvisningstallet 12 udgør en beskyttelses-indretning for svejselysbuen.Reference numeral 8 is a welding machine suspension device, reference numeral 9 is a welding machine cable bearing, reference numeral 10 is a protective device for the guide rollers, and reference numeral 12 is a protective device for the welding arc.

Apparaturet konstrueret i overensstemmelse med den foreliggende opfindelse benyttes under udførelsen af svejsningen af hovedpladen og spanter, dragere, etc., som danner skibsskrogets dobbelt krummede overflader ved skibets forstævn-25 og agterstævn således, at på et tidspunkt, hvor svejsemaskinehovedlegemet 1 er anbragt til at ligge an mod hovedpladen, så bringes linierne for styrerullerne 4, 4’ til at matche med svejselinien, det vil sige en hjømedel, hvor hovedpladen skærer spanterne, dragerne, etc., den optiske fibersensor 5’ afføler svejsearbejdet fra en forudgående proces, førend kørerullerne 11, 11’ drives til en tilstand, hvor svejsebrænderen 32 30 positioneres i midten af svejsemaskinhovedlegemet 1, bevæges kuglegevindsspindelen 21 bagud ved hjælp af kuglegevindspindelens drivenhed, og derefter, når svejsebrænderen 32 er positioneret ved et svejsestartpunkt, så føres kuglegevindspindelen 21 fremad, og svejsearbejdte påbegyndes. Når svejsebrænderen 32 når til midterde- 3 DK 174557 B1 len af svejsemaskinhovedlegemet 1, standses kuglegevindspindelen og 21 samtidig rulles kørerullerne 11, 11', og svejsningen udføres.The apparatus constructed in accordance with the present invention is used during the performance of the welding of the main plate and trusses, carriers, etc., which form the double-curved surfaces of the ship hull at the stern and stern of the ship such that at a time when the welding machine main body 1 is arranged to abutting against the main plate, the lines of the guide rollers 4, 4 'are brought to match with the welding line, i.e. a lifting means, where the main plate intersects the shavings, supports, etc., the optical fiber sensor 5' senses the welding work from a prior process before the driving rollers 11, 11 'are driven to a state where the welding torch 32 30 is positioned in the center of the welding machine main body 1, the ball screw spindle 21 is moved rearwardly by the ball screw spindle drive unit, and then, when the welding torch 32 is positioned at a welding start point, the ball valve spindle 21 is advanced. started. When the welding torch 32 reaches the center portion of the welding machine main body 1, the ball thread spindle is stopped and 21 simultaneously the driving rollers 11, 11 'are rolled and the welding is performed.

På dette tidspunkt detekterer lasersensoren 6 altid afstanden i forhold til spanterne, dragerne, etc,, og en vinkel (sædvanligvis fra 90° til ± 0°), imellem hoved-5 pladen og spanterne, dragerne, etc., detekteres og svejsebrænderjusteringsenheden 3 drives, og når op- og nedkuglegevindspindelen 31 betjenes, bliver, eftersom vinkeljusteringsrullerne 37, 37’, 37” og afstandsjusteringsglideren 38 af svejsebrænderjusteringspladen 34 bevæges langs med vinkelbevægelsesføringen 35 og afstandsbevægelsesføringen 36, som har gensidigt forskellige kurveformer, svejsningen udført i 10 overensstemmelse med den dobbelt krummede overflade under opretholdelse af en optimal vinkel (øvre vinkel 33-43° og nedre vinkel 47-57° med udgangspunkt i 90°), og en optimal afstand (0-5 mm). Problemet med at kørerullerne 11, 11’ forlader svejselinien løses ved, at under fremføringen opretholdes kørerullelinien skråtstillet 0-5° ind-adrettet imod svejselinien, styrerullelinien og svejsebrænderkompenseringsbordets 15 gevindkuglespindellinie.At this point, the laser sensor 6 always detects the distance relative to the sheaves, the drawers, etc., and an angle (usually from 90 ° to ± 0 °), between the main plate and the sheaves, the drawers, etc., is detected and the welding torch adjustment unit 3 is operated and when the up and down ball thread spindle 31 is operated, since the angle adjustment rollers 37, 37 ', 37 "and the distance adjustment slide 38 of the welding torch plate 34 are moved along the angular motion guide 35 and the distance movement guide 36 which has mutually different waveforms, the welding 10 is performed accordingly. curved surface while maintaining an optimal angle (upper angle 33-43 ° and lower angle 47-57 ° based on 90 °), and an optimal distance (0-5 mm). The problem of leaving the rollers 11, 11 'to leave the welding line is maintained during the feed, the rolling roll line is inclined 0-5 ° in alignment with the welding line, the guide roll line and the welding torch compensation table thread spindle line.

Og, i tilfælde af, at der skal svejses i nærheden af en tværfuge og bugtede dele, som udgør en svejsningshindring, så standser brænderen 32 svejsningen, når bundsensoren på svejsemaskinehovedlegemet 1 detekterer tværfugen, og kun kørerullerne 11, 11’ drives, og når tværfugen er passeret, så betjenes svejsebrænderkom-20 penseringsbordets kuglegevindspindel 21 og bevæges tilbage over det ikke svejste stykke og kontinuerlig svejsning udføres. Når svejsebrænderen 32 når midten af svejsemaskinehovedlegemet 1, standses kuglegevindspindelen 21 og kørerullerne 11, 11’ drives, hvorved svejsningen udføres. På tilsvarende måde gælder for udbugtnings-punktet, når den optiske fibersensor 5, som er anbragt ved begge de forreste ender af 25 styrerullerne 4, 4’, detekterer udbugtningen, så standses kørerullerne 11, 11’, og svejsebrænderkompenseringsbordets kuglegevindspindel 21 betjenes og føres så meget fremad, så det svarer til afstanden mellem den optiske fibersensor 5 og brænderen 32, hvorved svejsningen udføres.And, in the event of welding in the vicinity of a transverse joint and curved portions constituting a welding obstruction, the burner 32 stops welding when the bottom sensor of the welding head body 1 detects the transverse joint and only the drive rollers 11, 11 'are driven and when the transverse joint is operated. is passed so that the welding torch compression table 20 is operated by the ball thread spindle 21 and moved back over the non-welded piece and continuous welding is performed. When the welding torch 32 reaches the center of the welding machine main body 1, the ball thread spindle 21 is stopped and the drive rollers 11, 11 'are driven, thereby welding. Similarly, for the deflection point, when the optical fiber sensor 5 disposed at both front ends of the guide rollers 4, 4 'detects the deflection, the drive rollers 11, 11' are stopped and the welding torch compensation ball spindle 21 is operated and then guided. much forward so that it corresponds to the distance between the optical fiber sensor 5 and the burner 32, whereby the welding is performed.

Derefter, når bærnderen 32’s svejsetråd møder udbugtningen, så standses 30 kuglegevindspindelen 21 og svejsningen, kørerullerne 11, 11’ føres frem og udbugtningen passeres, og derefter placeres svejsebrænderen 32 i midten af svejsemaskinehovedlegemet 1, og svejsningen udføres kontinuerligt. Når svejseslutpunktet detekteres ved hjælp af den optiske fibersensor 5 under svejsningen, så standses kørerul-len 11 og samtidig betjenes kuglegevindspindelen 21, hvorved svejsebrænderen 32 4 DK 174557 B1 bevæges frem forbi kørerullen, og derved kan svejsningen færdiggøres uden ikke-svejste dele.Then, when the welding wire of the carrier 32 meets the bend, the ball thread spindle 21 is stopped and the welding is advanced, the drive rollers 11, 11 'are advanced and the bending is passed, and then the welding torch 32 is placed in the center of the welding head body 1 and the welding is performed continuously. When the welding end point is detected by the optical fiber sensor 5 during welding, the driving roller 11 is stopped and simultaneously the ball thread spindle 21 is actuated, whereby the welding torch 32 is moved forward past the driving roller, and thus the welding can be completed without non-welded parts.

Og, i overensstemmelse med den foreliggende opfindelse udfører apparatet, til automatisk styring af svejsevinklen og svejseafstanden i forhold til et ønsket niveau, 5 en automatisk svejsning svarende til den dobbelt krummede overflade ved at kompensere vinklen og afstanden som funktion af den op- og nedadgående bevægelse langs med op- og nedkuglegevindspindelen.And, in accordance with the present invention, for automatically controlling the welding angle and welding distance relative to a desired level, the apparatus performs an automatic welding corresponding to the double curved surface by compensating the angle and distance as a function of the up and down movement along with the up and down ball spindle.

Derfor automatiserer den foreliggende opfindelse den dobbelt krummede svejsning, som hidtil har været afhængig af manuelt arbejde, og kompenserer svejse-10 tilstanden til en optimal tilstand i forbindelse med ændringer af hovedpladen og spanterne, dragerne, etc. Den tilsvarende funktion i forbindelse med svejsningshindringer er god, hvorved arbejdseffektiviteten forbedres. Derfor opnås de virkninger, at konstruktionsperioden for et skib afkortes, og svejseproduktiviteten og kvaliteten kan forbedres betydeligt.Therefore, the present invention automates the double curved welding which has hitherto been dependent on manual work, and compensates the welding state to an optimum state in connection with changes of the main plate and the rafters, the supports, etc. The corresponding function in connection with welding barriers is good, thereby improving work efficiency. Therefore, the effects are obtained that the design period of a ship is shortened and welding productivity and quality can be significantly improved.

15 20 25 3015 20 25 30

Claims (1)

1. Apparat til automatisk svejsning på dobbelt krummede overflader omfattende: 5 et svejsemaskinehovedlegeme (1), som drives ved hjælp af køreruller (11, 11'); et svejsebrænderkompenseringsbord (2), som kan bevæges til højre og venstre inden for svejsemaskinehovedlegemet (1) ved hjælp af en kuglegevindspindel (21), som driver svejsekompenseringsbordet; 10 midler, som benytter afføling ved hjælp af en lasersensor (6), til automatisk at justere en vinkel og afstand for svejsebrænderen (32), som er monteret på svejsebrænderjusteringspladen (34), ved hjælp af en klemindretning (33), og ved at drive op- og nedkuglegevindspindelen (31), som bevæger svejsebrænderjusteringsenheden (3) langs vinkeljusteringsrullerne (37, 37', 37”) og afstandsjusteringsglideren (38) 15 mellem vinkelbevægelsesføringen (35) og afstandsbevægelsesføringen (36); og midler til anbringelse af en lasersensor (6) på styrestænger (7, 7’), som strækker sig fra svejsebrænderkompenseringsbordet (2), som ved begge de forreste ender er forsynede med styreruller (4, 4’) og optiske fibersensorer (5, 5') modsat sty-rerullerne (4), og som følger svejselinien ved at danne en vinkel på 0-5° imellem svej-20 semaskinhovedlegemet (1) og styrerullelinien og linien for brænderkompenseringsbordets kuglegevinddrev. 25An automatic welding apparatus on double curved surfaces comprising: a welding head body (1) driven by drive rollers (11, 11 '); a welding torch compensation table (2) which can be moved to the right and left within the welding head body (1) by means of a ball screw spindle (21) driving the welding compensation table; Means employing sensing by a laser sensor (6) to automatically adjust the angle and distance of the welding torch (32) mounted on the welding torch adjustment plate (34) by means of a clamping device (33) and drive the up and down ball thread spindle (31) moving the welding torch adjusting unit (3) along the angle adjustment rollers (37, 37 ', 37 ") and the distance adjustment slider (38) 15 between the angular movement guide (35) and the distance movement guide (36); and means for mounting a laser sensor (6) on guide rods (7, 7 ') extending from the welding torch compensation table (2) provided at both front ends with guide rollers (4, 4') and optical fiber sensors (5, 5 ') opposite the guide rollers (4) and following the welding line by forming an angle of 0-5 ° between the welding machine main body (1) and the guide roller line and the line of the torch compensation table ball gear. 25
DK199600548A 1995-10-23 1996-05-07 Automatic welding apparatus for welding 3-dimensional curved surfaces DK174557B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR19950036598 1995-10-23
KR1019950036598A KR0162523B1 (en) 1995-10-23 1995-10-23 Automatic welder for 3-dimension circle

Publications (2)

Publication Number Publication Date
DK54896A DK54896A (en) 1997-04-24
DK174557B1 true DK174557B1 (en) 2003-06-02

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DK199600548A DK174557B1 (en) 1995-10-23 1996-05-07 Automatic welding apparatus for welding 3-dimensional curved surfaces

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JP (1) JP2662210B2 (en)
KR (1) KR0162523B1 (en)
DE (1) DE19605651C1 (en)
DK (1) DK174557B1 (en)

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CN105436770A (en) * 2016-01-05 2016-03-30 刘锦刚 Welding gun walking mechanism applied to welding machine
CN105436777A (en) * 2016-01-05 2016-03-30 张帆 Welding gun walking mechanism applied to welding machine and capable of indicating
CN105643102A (en) * 2016-03-16 2016-06-08 武汉法利莱切焊***工程有限公司 Routing edge sealing mechanism
CN105945461B (en) * 2016-05-23 2018-06-01 中国石油天然气集团公司 Dilatory weldering electric welding machine electric current remote control apparatus
CN107984137A (en) * 2016-11-02 2018-05-04 陈金辉 A kind of electric power distributing cabinet partition plate clamps welding equipment
CN106514091B (en) * 2016-11-24 2018-07-10 山东国泰创新供水技术有限公司 A kind of elbow welding mechanism with elevation and subsidence regulating device
CN106583890A (en) * 2017-02-07 2017-04-26 于明清 Automobile hub welding machine
KR102209588B1 (en) * 2019-11-28 2021-01-29 한국로봇융합연구원 Narrow space welding robot

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JP2662210B2 (en) 1997-10-08
DE19605651C1 (en) 1997-02-20
JPH09108830A (en) 1997-04-28
DK54896A (en) 1997-04-24
KR0162523B1 (en) 1999-01-15
KR970020278A (en) 1997-05-28

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