WO2013153621A1 - 溶接台車 - Google Patents
溶接台車 Download PDFInfo
- Publication number
- WO2013153621A1 WO2013153621A1 PCT/JP2012/059801 JP2012059801W WO2013153621A1 WO 2013153621 A1 WO2013153621 A1 WO 2013153621A1 JP 2012059801 W JP2012059801 W JP 2012059801W WO 2013153621 A1 WO2013153621 A1 WO 2013153621A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- torch
- welding
- weaving
- unit
- swing
- Prior art date
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Classifications
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- 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
-
- 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
- B23K37/0241—Attachments between the welding or cutting element and the carriage
-
- 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
- B23K9/0216—Seam profiling, e.g. weaving, multilayer
-
- 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
-
- 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
- B23K37/0264—Carriages for supporting the welding or cutting element magnetically attached to 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
- 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
- B23K37/0294—Transport carriages or vehicles
-
- 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
-
- 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
- B23K9/025—Seam welding; Backing means; Inserts for rectilinear 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
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
- B23K9/025—Seam welding; Backing means; Inserts for rectilinear seams
- B23K9/0256—Seam welding; Backing means; Inserts for rectilinear seams for welding ribs on plates
-
- 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
Definitions
- the present invention relates to a welding carriage that enables automatic welding that travels with a welding torch, and particularly to a welding carriage that is suitable for fillet welding of corner portions.
- Patent Document 1 As a welding cart suitable for fillet welding of the corner portion as described above, for example, there is one described in Patent Document 1. This welding cart is related to the invention filed by the present applicant.
- this welding cart is provided with a cart body in which four traveling wheels are arranged at the front and rear ends, and a torch support portion arranged between the front and rear ends of the cart body.
- the welding torch is supported in an inclined state by a torch support portion, and the welding torch is supported such that the tip of the welding torch faces the side of the carriage body and faces obliquely downward.
- the torch support mechanism is provided with a torch drive mechanism that moves the tip of the welding torch close to the welding line along the front-rear direction while shaking the front-rear direction of the carriage body.
- the tip of the welding torch can be swung to the front of the cart body by the torch drive mechanism of the torch support part when the cart body is blocked from reaching the wall. For example, it is possible to perform welding without leaving a so-called residue up to the corner.
- the torch drive mechanism of the torch support part moves the welding torch toward the welding line, so the tip of the welding torch swung forward approaches the welding line, and a gas shield is securely applied. Welding quality is maintained.
- the present invention has been made by paying attention to the above-described conventional problems. For example, when performing fillet welding at a corner in an upright position while suppressing an increase in weight, the corner is maintained while maintaining the welding quality. It is an object of the present invention to provide a welding carriage capable of preventing the molten metal from sagging as well as being able to perform welding without leaving any portion.
- the present invention provides a welding carriage that is mounted with a welding torch and is disposed between the carriage main body and the front and rear ends of the carriage main body, and the tip of the welding torch is disposed on the carriage.
- a base plate is provided with a torch support portion that supports the welding torch in a state in which the side surface of the main body is facing downward and obliquely downward, and the torch support portion is arranged on the carriage main body so as to be movable in the vertical and horizontal directions.
- a torch swing unit and a weaving unit wherein the torch swing unit includes a unit case supported by the base plate, a swing motor attached to the unit case, and one end portion accommodated in the unit case.
- the torch swing mechanism is welded along the front-rear direction of the cart body while swinging the front end of the welding torch mounted on the torch mounting bar by the rotational output of the swing motor in the front-rear direction of the cart body.
- the weaving unit includes a weaving motor fixed to the base plate and a weaving mechanism, and the weaving mechanism is configured by the unit case of the torch swing unit according to the rotational output of the weaving motor.
- the torch mounting bar is actuated to rotate integrally around the front-rear direction axis of the carriage main body so that a weaving operation is performed at the tip of the welding torch mounted on the torch mounting bar.
- the torch swing mechanism of the torch swing unit includes a moving pin that performs a reciprocating arc motion by a rotation output of the swing motor in the unit case, a fixed pin disposed in the unit case, and a torch mounting bar.
- the torch swing mechanism is mounted on the torch mounting bar by allowing relative movement of the fixed pin in the elongated hole accompanying the reciprocating arc motion of the moving pin and the operating hole by the rotation output of the swing motor.
- the tip of the welding torch is swung around the fixed pin and is moved closer to and away from the welding line.
- the weaving mechanism of the weaving unit includes a long hole for weaving along the front-rear direction of the cart body provided on the unit case side of the torch swing mechanism in the torch swing unit, and an output of the weaving motor.
- An eccentric roller that rotates eccentrically in the weaving long hole, and the weaving mechanism includes the unit case and the torch mounting bar by eccentric rotation of the eccentric roller in the weaving long hole by an output of the weaving motor. Is configured to cause the welding torch mounted on the torch mounting bar to perform a weaving operation by integrally rotating around a front-rear axis of the cart body.
- the torch in the torch swing unit of the torch support portion is in a stage where the upward movement of the cart body is blocked by the wall. If the tip of the welding torch is swung in the traveling direction of the carriage main body by the swing mechanism, welding can be performed without leaving a so-called left-over portion.
- the weaving mechanism of the weaving unit causes the unit case of the torch swing unit and the torch mounting bar to rotate integrally around the longitudinal axis of the cart body, and the tip of the welding torch performs the weaving operation. As a result, sagging of the molten metal is prevented.
- the torch swing mechanism in the torch swing unit of the torch support part is housed in the unit case, and the unit case containing the torch swing mechanism is integrated with the torch mounting bar by the weaving mechanism of the weaving unit. Since the function of eliminating the unleaving and the weaving function are gathered together in a compact manner, an increase in weight is suppressed.
- the welding cart according to the present invention for example, when performing fillet welding at the corner in an upright posture while suppressing an increase in weight, it is possible to perform welding without leaving the corner portion while maintaining the welding quality. Needless to say, it has a very good effect that it is possible to prevent the molten metal from sagging.
- the tip of the welding torch is brought close to the welding line along the longitudinal direction of the cart body without complicating the structure at the stage of shaking the tip of the welding torch in the longitudinal direction of the cart body.
- a weaving operation can be performed on the tip of the welding torch without complicating the structure.
- FIG. 1 It is a whole perspective explanatory view of the welding cart concerning one embodiment of the present invention. It is side surface explanatory drawing of the welding trolley shown in FIG. It is a plane explanatory view of the torch swing unit part in the welding cart shown in FIG. It is a perspective explanatory view of the state where the torch swing unit portion of the welding cart shown in FIG. 1 is removed from the cart body.
- FIG. 1 to 4 show a welding carriage according to an embodiment of the present invention.
- the welding cart 1 is supplied from a cart body 3 having four traveling wheels 2, a motor 4 with a reduction gear mounted on the carriage body 3, and a motor 4 with a reduction gear.
- a driving force transmission mechanism (not shown) that transmits the driving force to the four traveling wheels 2 and a front end Ta of the welding torch T arranged between the front and rear ends of the carriage main body 3 are separated from one side surface of the carriage main body 3 (FIG. 1).
- a pair of wall surfaces provided with a torch support portion 6 that supports the welding torch T in a state of being inclined obliquely downward on the left side and one side surface from which the tip Ta of the welding torch T of the carriage body 3 protrudes.
- a copying roller 7 (only one of them is shown in the figure) is provided, and a cart body 3 is attached to the traveling surface A by fixing a magnet (not shown) in the cart body 3.
- the torch support portion 6 is arranged so as to be slidable in the left-right direction with respect to the cart body 3 and arranged to be movable in the up-down direction on the block 11.
- the base plate 12, the torch swing unit 20, and the weaving unit 40 are provided.
- the torch swing unit 20 is supported by a base plate 12 via a screw 21 along the front-rear direction of the carriage body 3, and a unit case 22 that can rotate around the screw 21.
- the swing motor 23 attached to the unit case 22, the torch mounting bar 24 in which one end portion 24 a is accommodated in the unit case 22 and the other end portion 24 b is formed as a mounting portion of the welding torch T, and the unit case 22.
- a torch swing mechanism 30 accommodated therein is provided.
- the torch swing mechanism 30 includes a moving pin 32 that performs a reciprocating arc motion by the rotational output of the swing motor 23 in the unit case 22, a fixed pin 33 disposed in the unit case 22, and one end portion 24 a of the torch mounting bar 24.
- An operation hole 34 that is formed and fits with the moving pin 32, and a long hole 35 that is formed closer to the other end 24 b than the operation hole 34 in the one end 24 a of the torch mounting bar 24 and fits with the fixing pin 33.
- the relative movement of the fixed pin 33 in the long hole 35 accompanying the reciprocating arc motion of the moving pin 32 and the operating hole 34 due to the rotation output of the swing motor 23 is allowed, together with the torch mounting bar 24.
- the welding torch T mounted on the torch mounting bar 24 is swung around the fixing pin 33, and at the same time, the tip Ta of the welding torch T is moved closer to and away from the welding line L along the front-rear direction. .
- the swinging motion (swing) of the torch mounting bar 24 by the reciprocating arc motion of the moving pin 32 and the operating hole 34 is formed on the torch mounting bar 24 with respect to the pair of limit switches 31 and 31 arranged in the unit case 22.
- the cutouts 24c, 24c thus made are switched by contact.
- the weaving unit 40 includes a weaving motor 41 fixed to the base plate 12 and a weaving mechanism 50.
- the weaving mechanism 50 includes a transmission piece 51 provided integrally on the unit case 22 side of the torch swing mechanism 30 in the torch swing unit 20, and a weaving long hole along the front-rear direction of the carriage body 3 formed in the transmission piece 51. 52 and an eccentric roller 53 that rotates eccentrically in the weaving long hole 52 by the rotational output of the weaving motor 41.
- the unit case 22 and the torch mounting bar 24 are moved around the screw 21, which is the longitudinal axis of the carriage body 3, by the eccentric rotation of the eccentric roller 53 in the weaving long hole 52 by the output of the weaving motor 41.
- the welding torch T mounted on the torch mounting bar 24 is rotated integrally to perform a weaving operation with a weaving width d.
- FIGS. 1 to 4 are operation knobs.
- the torch support portion 6 is in a stage where the progress of the cart body 3 is blocked by the wall W.
- the tip Ta of the welding torch T is swung in the traveling direction of the carriage body 3 from the state shown by the phantom line in FIG. It is possible to perform welding without leaving a so-called left part.
- the rotational movement of the swing motor 23 of the torch swing unit 20 performs an arc motion on the moving pin 32 and the operation hole 34 of the torch swing mechanism 30. Accordingly, by moving the fixing pin 33 relatively in the elongated hole 35, the welding torch T mounted on the torch mounting bar 24 together with the torch mounting bar 24 can be swung around the fixing pin 33. In this case, welding can be performed without leaving the corner portion.
- the torch mounting bar 24, that is, the welding torch T moves toward the welding line L due to the relative movement of the long hole 35 and the fixing pin 33 accompanying the circular motion of the moving pin 32 and the working hole 34 in the torch swing mechanism 30.
- the tip Ta of the welding torch T swung in the traveling direction approaches the welding line L, and the gas shield is reliably applied to maintain the welding quality.
- the welding cart 1 since the welding cart 1 according to the present embodiment includes the weaving unit 40, the eccentric roller 53 of the weaving mechanism 50 is eccentrically rotated within the long hole 52 for weaving by the output of the weaving motor 41 of the weaving unit 40. Then, the unit case 22 and the torch mounting bar 24 of the torch swing unit 20 are integrally rotated around the screw 21 that is the longitudinal axis of the carriage body 3, and the tip Ta of the welding torch T performs a weaving operation. Therefore, multilayer overlay welding can be performed.
- the welding quality can be reduced in the same manner as when performing fillet welding at the corner in the horizontal posture described above.
- the weaving mechanism 50 of the weaving unit 40 performs the weaving operation of the tip Ta of the welding torch T, thereby preventing dripping of molten metal. Become.
- the torch swing mechanism 30 in the torch swing unit 20 of the torch support portion 6 is housed in the unit case 22, and further, the unit case 22 in which the torch swing mechanism 30 is housed is the weaving mechanism 50 of the weaving unit 40. , Because it rotates together with the torch mounting bar 24 around the screw 21 that is the longitudinal axis of the carriage body 3, that is, the function of eliminating the unwound residue and the weaving function are combined in a compact manner. The increase in weight is suppressed to a small extent.
- the function of eliminating the unleaving and the weaving function are combined in a compact manner, so that the tip Ta of the welding torch T is swung in the traveling direction of the cart body 3.
- the tip Ta of the welding torch T can be brought close to the welding line L without complicating the structure.
- the weaving operation is performed on the tip Ta of the welding torch T without complicating the structure. Will get.
- the configuration of the welding cart according to the present invention is not limited to the configuration of the above-described embodiment.
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Abstract
Description
すなわち、この溶接台車は、前後端に4個の走行車輪を配置した台車本体と、この台車本体の前後端間に配置されたトーチ支持部を備えている。溶接トーチは、トーチ支持部により傾斜した状態で支持され、溶接トーチは、その先端が台車本体の側面がわで且つ斜め下方に向くようにして支持される。このトーチ支持部には、溶接トーチの先端を台車本体の前後方向に振りつつ前後方向に沿う溶接ラインに接近させるトーチ駆動機構が設けられている。
図1~図4は、本発明の一実施形態による溶接台車を示している。
3 台車本体
6 トーチ支持部
12 ベースプレート
20 トーチ振りユニット
21 ねじ(台車本体の前後方向軸)
22 ユニットケース
23 振りモータ
24 トーチ装着バー
24a トーチ装着バーの一端部
24b トーチ装着バーの他端部
30 トーチ振り機構
32 移動ピン
33 固定ピン
34 作動孔
35 長孔
40 ウィービングユニット
41 ウィービングモータ
50 ウィービング機構
52 ウィービング用長孔
53 偏心ローラ
L 溶接ライン
T 溶接トーチ
Ta 溶接トーチの先端
Claims (3)
- 溶接トーチを搭載して走行する溶接台車であって、
台車本体と、
この台車本体の前後端間に配置されて前記溶接トーチの先端を該台車本体の側面がわで且つ斜め下方に向けた状態で該溶接トーチを支持するトーチ支持部が備えられ、
前記トーチ支持部は、前記台車本体に上下方向及び左右方向に移動可能に配置されたベースプレートと、トーチ振りユニットと、ウィービングユニットを有し、
前記トーチ振りユニットは、前記ベースプレートに支持されたユニットケースと、このユニットケースに取り付けられた振りモータと、一端部が前記ユニットケース内に収容され且つ他端部が前記溶接トーチの装着部として形成されたトーチ装着バーと、前記ユニットケース内に収容されたトーチ振り機構とを具備し、
前記トーチ振り機構は、前記振りモータの回転出力により前記トーチ装着バーに装着される前記溶接トーチの先端を前記台車本体の前後方向に振りつつ該台車本体の前後方向に沿う溶接ラインに接近させるべく作動し、
前記ウィービングユニットは、前記ベースプレートに固定されたウィービングモータと、ウィービング機構とを具備し、
前記ウィービング機構は、前記ウィービングモータの回転出力により前記トーチ振りユニットの前記ユニットケース及び前記トーチ装着バーを前記台車本体の前後方向軸周りに一体で回動させるべく作動して、前記トーチ装着バーに装着される前記溶接トーチの先端にウィービング動作を行わせる
ことを特徴とする。 - 請求項1に記載の溶接台車であって、
前記トーチ振りユニットの前記トーチ振り機構は、前記ユニットケース内において前記振りモータの回転出力により往復円弧運動を行う移動ピンと、前記ユニットケース内に配置された固定ピンと、前記トーチ装着バーの一端部に形成されて前記移動ピンと嵌合する作動孔と、前記トーチ装着バーの一端部における前記作動孔よりも他端部寄りに形成されて前記固定ピンと嵌合する長孔とを有し、
前記トーチ振り機構は、前記振りモータの回転出力による前記移動ピン及び作動孔の往復円弧運動に伴う前記長孔内における前記固定ピンの相対移動を許容することで、前記トーチ装着バーに装着される前記溶接トーチの先端を前記固定ピン周りに振り動作させると共に前記溶接ラインに対して接近離間させる
ことを特徴とする。 - 請求項1に記載の溶接台車であって、
前記ウィービングユニットの前記ウィービング機構は、
前記トーチ振りユニットにおける前記トーチ振り機構の前記ユニットケース側に設けられた前記台車本体の前後方向に沿うウィービング用長孔と、前記ウィービングモータの出力により前記ウィービング用長孔内で偏心回転する偏心ローラを有し、
前記ウィービング機構は、前記ウィービングモータの出力による前記偏心ローラの前記ウィービング用長孔内における偏心回転により、前記ユニットケース及び前記トーチ装着バーを前記台車本体の前後方向軸周りに一体で回動させて前記トーチ装着バーに装着される前記溶接トーチにウィービング動作を行わせる
ことを特徴とする。
Priority Applications (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014509936A JP5886941B2 (ja) | 2012-04-10 | 2012-04-10 | 溶接台車 |
PCT/JP2012/059801 WO2013153621A1 (ja) | 2012-04-10 | 2012-04-10 | 溶接台車 |
RU2014141699/02A RU2602926C2 (ru) | 2012-04-10 | 2012-04-10 | Каретка сварочного аппарата |
DE112012006219.1T DE112012006219B4 (de) | 2012-04-10 | 2012-04-10 | Schweisswagen |
CN201280070712.XA CN104159693B (zh) | 2012-04-10 | 2012-04-10 | 焊接台车 |
CA2869958A CA2869958C (en) | 2012-04-10 | 2012-04-10 | Welding carriage |
US14/383,412 US9375812B2 (en) | 2012-04-10 | 2012-04-10 | Welding carriage |
KR1020147031365A KR101829217B1 (ko) | 2012-04-10 | 2012-04-10 | 용접 대차 |
IN8238DEN2014 IN2014DN08238A (ja) | 2012-04-10 | 2014-10-01 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2012/059801 WO2013153621A1 (ja) | 2012-04-10 | 2012-04-10 | 溶接台車 |
Publications (1)
Publication Number | Publication Date |
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WO2013153621A1 true WO2013153621A1 (ja) | 2013-10-17 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2012/059801 WO2013153621A1 (ja) | 2012-04-10 | 2012-04-10 | 溶接台車 |
Country Status (9)
Country | Link |
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US (1) | US9375812B2 (ja) |
JP (1) | JP5886941B2 (ja) |
KR (1) | KR101829217B1 (ja) |
CN (1) | CN104159693B (ja) |
CA (1) | CA2869958C (ja) |
DE (1) | DE112012006219B4 (ja) |
IN (1) | IN2014DN08238A (ja) |
RU (1) | RU2602926C2 (ja) |
WO (1) | WO2013153621A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2018103216A (ja) * | 2016-12-26 | 2018-07-05 | 株式会社コクホ | 溶接台車 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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CN106312407B (zh) * | 2015-07-02 | 2023-10-31 | 广州瑞松北斗汽车装备有限公司 | 无源台车的三向无极支撑机构 |
CN106166656B (zh) * | 2015-12-15 | 2017-12-19 | 南通职业大学 | 一种焊枪传动装置 |
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KR20140144736A (ko) | 2014-12-19 |
CA2869958C (en) | 2018-01-16 |
DE112012006219T5 (de) | 2015-01-15 |
US9375812B2 (en) | 2016-06-28 |
CN104159693B (zh) | 2016-08-17 |
JPWO2013153621A1 (ja) | 2015-12-17 |
IN2014DN08238A (ja) | 2015-05-15 |
US20150041446A1 (en) | 2015-02-12 |
JP5886941B2 (ja) | 2016-03-16 |
RU2602926C2 (ru) | 2016-11-20 |
RU2014141699A (ru) | 2016-05-27 |
CA2869958A1 (en) | 2013-10-17 |
CN104159693A (zh) | 2014-11-19 |
KR101829217B1 (ko) | 2018-02-19 |
DE112012006219B4 (de) | 2021-10-07 |
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