技术领域technical field
本发明涉及一种机器人结构，特别涉及一种模具3D堆焊智能机器人。The invention relates to a robot structure, in particular to an intelligent robot for mold 3D surfacing welding.
背景技术Background technique
目前全国大型锻模市场规模数十亿元，中小型锻模上千亿元(模块重量＜10吨的为中小型锻模，10吨～50吨为大型锻模，超过50吨为超大型锻模)。随着国家船舶、大飞机制造业等需求迅速提升，世界上最大的超大型模锻液压机(8万吨)已在中国第二重型机械集团公司投产使用，其使用的超大型锻模每套重量超过100吨，采用传统锻模制造方法，模块锻造难度大，锻透性差，锻后热处理硬度低,约为HRC35～38，难以达到锻模使用硬度要求(HRC42～48)，制造成本高，制造周期长达5～6个月，严重影响了该大型设备的有效使用。At present, the scale of the national large-scale forging die market is several billion yuan, and the small and medium-sized forging dies are over one hundred billion yuan (small and medium-sized forging dies with a module weight of less than 10 tons; mold). With the rapid increase in the national shipbuilding and large aircraft manufacturing industries, the world's largest super-large forging hydraulic press (80,000 tons) has been put into operation in China Second Heavy Machinery Group Corporation. The weight of each set of super-large forging dies is More than 100 tons, using the traditional forging die manufacturing method, the module forging is difficult, the forgeability is poor, the hardness of the heat treatment after forging is low, about HRC35~38, it is difficult to meet the hardness requirements of the forging die (HRC42~48), the manufacturing cost is high, and the manufacturing The cycle is as long as 5 to 6 months, which seriously affects the effective use of this large-scale equipment.
国内外对大型锻模的研究趋势：一方面，通过不断优化合金成分，大型锻模的寿命得到改善；另一方面，在锻模表面加入元素合金化，在一定程度上也提高了表面性能和锻模寿命。但对于(超)大型锻模而言，优化合金成分，对提高锻模的表层耐磨性和寿命很不明显；在锻模表面采用合金化等处理法，工艺路线复杂，成本高，强化层厚度低，在高温高压条件下基体表层易变形，根本不能满足(超)大型锻模对低成本及高寿命的要求。Research trends on large forging dies at home and abroad: On the one hand, through continuous optimization of alloy composition, the life of large forging dies is improved; Forging die life. However, for (ultra) large forging dies, optimizing the alloy composition is not obvious for improving the surface wear resistance and life of the forging die; using alloying and other treatment methods on the surface of the forging die, the process route is complicated, the cost is high, and the strengthening layer The thickness is low, and the surface layer of the matrix is easily deformed under high temperature and high pressure conditions, which cannot meet the requirements of (ultra) large forging dies for low cost and long life.
为此我们提出一种采用在铸钢基体上表层梯度堆焊制备(超)大型锻模方法，为一个先制作铸钢基体，然后根据锻模的工作特点，完成过渡层和工作层的堆焊工艺。目前堆焊是采用先将基体加热，然后取出，人工焊接的方式，工作效率低，且无法保证稳定的焊接材料性能，无法保证焊接中工艺的稳定性。For this reason, we propose a method of preparing (super) large-scale forging dies by using gradient surfacing welding on the surface of the cast steel substrate. Firstly, the cast steel substrate is made, and then according to the working characteristics of the forging die, the surfacing of the transition layer and the working layer is completed. craft. At present, surfacing welding adopts the method of heating the substrate first, then taking it out, and manual welding, which has low work efficiency, and cannot guarantee stable welding material properties, and cannot guarantee the stability of the welding process.
发明内容Contents of the invention
为了解决上述技术问题，本发明提供一种模具3D堆焊智能机器人，焊接工艺稳定、焊接质量高。In order to solve the above technical problems, the present invention provides an intelligent robot for mold 3D surfacing welding, which has a stable welding process and high welding quality.
为了实现上述目的，本发明的技术方案如下：一种模具3D堆焊智能机器人，包括两条平行的X轴横梁，两条所述X轴横梁通过立柱安装，在两条所述X轴横梁顶面之间安装两条Y轴横梁，两条所述Y轴横梁通过各自独立的传动装置驱动沿着X轴横梁移动，两条所述Y轴横梁上分别安装Z轴竖向导轨，所述Z轴竖向导轨通过Z轴传动装置驱动沿着Y轴横梁移动，其特征在于：在其中一条Y轴横梁上的Z轴竖向导轨上滑动安装焊接头，另一条Y轴横梁上的Z轴竖向导轨上安装焊接去应力装置，所述焊接去应力装置包括高频锤击装置和吸尘装置，所述高频锤击装置通过锤击装置安装座滑动安装在Z轴竖向导轨上，所述锤击装置安装座通过安装在Z轴竖向导轨上端的锤击驱动气缸带动沿着Z轴竖向导轨上下移动；所述吸尘装置包括吸尘嘴、吸尘嘴支座、吸尘软管和吸尘嘴驱动气缸，所述吸尘嘴的上端与吸尘软管相连，所述吸尘嘴通过吸尘嘴支座滑动安装在所述Z轴竖向导轨上，所述吸尘嘴驱动气缸驱动吸尘嘴支座沿着Z轴竖向导轨上下滑动；In order to achieve the above object, the technical solution of the present invention is as follows: A mold 3D surfacing intelligent robot includes two parallel X-axis beams, the two X-axis beams are installed through columns, Two Y-axis beams are installed between the surfaces, and the two Y-axis beams are driven to move along the X-axis beams through their own independent transmission devices. The Z-axis vertical guide rails are respectively installed on the two Y-axis beams. The Z The axis vertical guide rail is driven by the Z-axis transmission device to move along the Y-axis beam. It is characterized in that: the welding head is slid on the Z-axis vertical guide rail on one of the Y-axis beams, and the Z-axis vertical rail on the other Y-axis beam is The welding stress relief device is installed on the guide rail, and the welding stress relief device includes a high-frequency hammering device and a dust collection device. The high-frequency hammering device is slidably installed on the Z-axis vertical guide rail through the hammering device mounting seat, so The mounting seat of the hammering device is driven to move up and down along the vertical guide rail of the Z axis through the hammer driving cylinder installed on the upper end of the vertical guide rail of the Z axis; The pipe and the suction nozzle drive the cylinder. The upper end of the suction nozzle is connected with the suction hose. The suction nozzle is slidably installed on the Z-axis vertical guide rail through the suction nozzle support. The drive cylinder drives the nozzle support to slide up and down along the Z-axis vertical guide rail;
两条所述X轴横梁之间的下方安装有模具恒温加热装置。A mold constant temperature heating device is installed below between the two X-axis beams.
采用上述方案，模具基体放置在模具恒温加热装置上，保证焊接时的温度，以提供稳定的焊接材料性能，保证焊接工艺的稳定性，提高焊接质量。两条Y轴横梁交替对模具进行加工，具体的，先将焊接头移动过来对模具进行堆焊，然后焊接头退出，焊接去应力装置过来，完成焊接后应力消除，对焊接表面进行高频锤击，高频锤击能起到控形、控性的目的，保证焊接后的平面度和内部组织均匀性。吸尘装置吸走焊接表面的焊渣。焊接头和焊接去应力装置交替工作，这样，焊接头工作一段时间后，退出进行降温。焊接去应力装置接着工作，焊接去应力装置工作完成后，又退出降温，焊接头继续工作，如此往复，减少加热装置对焊接头和焊接去应力装置传动部件及控制元件的影响，保证机器人长期稳定生产，提高机器人使用寿命。With the above scheme, the mold base is placed on the mold constant temperature heating device to ensure the temperature during welding, so as to provide stable welding material properties, ensure the stability of the welding process, and improve the welding quality. The two Y-axis beams process the mold alternately. Specifically, the welding head is moved over to surfacing the mold, then the welding head is withdrawn, and the welding stress relief device comes over. After welding, the stress is relieved, and the welding surface is subjected to high-frequency hammering. Hitting, high-frequency hammering can achieve the purpose of shape control and sex control, and ensure the flatness and internal structure uniformity after welding. The vacuum device sucks away the welding slag on the welding surface. The welding head and the welding stress relief device work alternately, so that after the welding head works for a period of time, it exits to cool down. The welding stress relief device continues to work. After the welding stress relief device is finished, it exits and cools down, and the welding head continues to work. This reciprocation reduces the influence of the heating device on the welding head, welding stress relief device transmission parts and control components, and ensures the long-term stability of the robot. Production, improve the service life of the robot.
上述方案中：两条所述X轴横梁之间的下方设置有平车导轨，电动平车安装在平车导轨上，所述模具恒温加热装置安装在电动平车上。电动平车完成模具的搬运，便于模具进出3D堆焊区域。In the above solution: the bottom between the two X-axis beams is provided with a flat car guide rail, the electric flat car is installed on the flat car guide rail, and the mold constant temperature heating device is installed on the electric flat car. The electric flat car completes the handling of the mold, which is convenient for the mold to enter and exit the 3D surfacing area.
上述方案中：所述焊接头包括焊枪、焊接头支架、焊枪夹持器、焊枪回转装置和送丝机，所述焊接头支架滑动连接在所述Z轴竖向导轨上，并通过焊接头驱动装置驱动沿着Z轴竖向导轨上下移动，所述焊枪回转装置安装在焊接头支架的下端，所述焊枪夹持器安装在焊接头支架下方，所述焊枪的上端穿过焊枪夹持器与焊枪回转装置相连，所述焊枪上端与送丝机相连，所述送丝机安装在Z轴竖向导轨上端。焊枪回转装置可以完成焊枪的转向动作。In the above solution: the welding head includes a welding torch, a welding head bracket, a welding torch holder, a welding torch rotary device and a wire feeder, the welding head bracket is slidably connected to the Z-axis vertical guide rail, and is driven by the welding head The device is driven to move up and down along the Z-axis vertical guide rail, the welding torch rotary device is installed at the lower end of the welding head bracket, the welding torch holder is installed under the welding head bracket, and the upper end of the welding torch passes through the welding torch holder and the welding torch holder. The welding gun rotary device is connected, and the upper end of the welding gun is connected with the wire feeder, and the wire feeder is installed on the upper end of the Z-axis vertical guide rail. The welding torch turning device can complete the turning action of the welding torch.
上述方案中：所述焊接头支架上还设置有附加支架。附加支架上安装三维扫描仪和焊接跟踪器，三维扫描仪可以完成模具的重构。焊接跟踪器跟踪焊接质量，检查是否有气泡和焊渣，进一步提高焊接质量。In the above solution: the welding head bracket is also provided with an additional bracket. A three-dimensional scanner and a welding tracker are installed on the additional bracket, and the three-dimensional scanner can complete the reconstruction of the mold. The welding tracker tracks the welding quality, checks for air bubbles and welding slag, and further improves the welding quality.
优选的：所述焊接头驱动装置为伺服电机、齿轮齿条传动系统。Preferably: the welding head driving device is a servo motor and a rack and pinion transmission system.
有益效果：本发明设计的模具3D智能焊接机器人通过设置模具恒温加热装置，保证焊接过程中的温度，保证焊接中的工艺稳定性，提高焊接质量。通过在两个Y轴横梁上分别安装焊接头和焊接去应力装置，交替工作，减少由于温度过高给传动部件及控制元件带来的影响，延长使用寿命。采用焊接去应力装置，一方面去掉焊渣、完成焊接后应力消除，另一方面保证焊接后的平面度，控制焊接表面形状及材料组织性能，本发明可以用于模具的修复以及3D打印新的模具。Beneficial effects: the mold 3D intelligent welding robot designed by the present invention ensures the temperature during the welding process by setting the mold constant temperature heating device, ensures the process stability during welding, and improves the welding quality. By installing the welding head and the welding stress relief device on the two Y-axis beams respectively, they work alternately to reduce the impact on the transmission parts and control elements due to excessive temperature and prolong the service life. The welding stress relief device is used to remove the welding slag and complete the stress relief after welding on the one hand, and on the other hand to ensure the flatness after welding, control the shape of the welding surface and the structure and properties of the material. The invention can be used for repairing molds and 3D printing new mold.
附图说明Description of drawings
图1为本发明的结构示意图。Fig. 1 is a structural schematic diagram of the present invention.
图2为焊接头的结构示意图。Figure 2 is a schematic structural view of the welding head.
图3为焊接去应力装置的结构示意图。Fig. 3 is a structural schematic diagram of the welding stress relief device.
具体实施方式Detailed ways
下面结合附图和实施例对本发明作进一步说明：Below in conjunction with accompanying drawing and embodiment the present invention will be further described:
实施例1，如图1-3所示：本发明的模具3D堆焊智能机器人由X轴横梁1、Y轴横梁2、Z轴竖向导轨3、焊接头4、平车导轨5、焊接去应力装置6、电动平车7、模具恒温加热装置组成。Embodiment 1, as shown in Figures 1-3: the mold 3D surfacing intelligent robot of the present invention consists of X-axis beam 1, Y-axis beam 2, Z-axis vertical guide rail 3, welding head 4, flat car guide rail 5, welding to Stress device 6, electric flat car 7, mold constant temperature heating device.
X轴横梁1为两条，两条X轴横梁1平行设置，两条X轴横梁1通过立柱安装在地面或底座上，在两条X轴横梁1顶面之间安装两条Y轴横梁2，两条Y轴横梁2通过各自独立的传动装置驱动沿着X轴横梁1移动，具体的，在X轴横梁1顶面铺设齿条，Y轴横梁2上安装齿轮，齿轮与齿条啮合，Y轴横梁2通过伺服电机、齿轮齿条传动系统控制在X轴横梁1上移动，实现X向精确运动。伺服电机、齿轮齿条传动系统为现有技术，在此不做赘述。There are two X-axis beams 1, and the two X-axis beams 1 are arranged in parallel. The two X-axis beams 1 are installed on the ground or the base through columns, and two Y-axis beams 2 are installed between the top surfaces of the two X-axis beams 1. , the two Y-axis beams 2 are driven by independent transmission devices to move along the X-axis beam 1. Specifically, a rack is laid on the top surface of the X-axis beam 1, and a gear is installed on the Y-axis beam 2, and the gear meshes with the rack. The Y-axis crossbeam 2 is controlled to move on the X-axis crossbeam 1 through a servo motor and a rack and pinion transmission system to realize precise movement in the X direction. The servo motor and the rack and pinion transmission system are prior art, and will not be described in detail here.
两条Y轴横梁2上分别安装Z轴竖向导轨3，Z轴竖向导轨3通过Z轴传动装置驱动沿着Y轴横梁2滑动，Z轴传动装置为伺服电机丝杆传动系统，此系统也为现有技术，在此不做赘述。The Z-axis vertical guide rails 3 are installed on the two Y-axis beams 2 respectively. The Z-axis vertical guide rails 3 slide along the Y-axis beam 2 through the Z-axis transmission device. The Z-axis transmission device is a servo motor screw drive system. This system It is also a prior art, and will not be described in detail here.
在其中一条Y轴横梁2上的Z轴竖向导轨3上滑动安装焊接头4。具体的：焊接头4包括焊枪4-1、焊接头支架4-2、焊枪夹持器4-3、焊枪回转装置4-4和送丝机4-5，焊接头支架4-2滑动连接在Z轴竖向导轨3上，并通过焊接头驱动装置驱动沿着Z轴竖向导轨3上下移动，焊接头驱动装置也为伺服电机、齿轮齿条传动系统，Z轴竖向导轨3上安装竖向齿条，焊接头支架4-2上安装齿轮，伺服电机带动齿轮在齿条上移动。焊枪回转装置4-4安装在焊接头支架4-2的下端，焊枪回转装置4-4为包括回转盘，回转盘通过伺服电机带动旋转，焊枪夹持器4-3安装在焊接头支架4-2下方，焊枪4-1的上端穿过焊枪夹持器4-3与焊枪回转装置4-4相连，焊枪4-1上端穿过回转盘与送丝机4-5相连，送丝机4-5安装在Z轴竖向导轨3上端。焊接头支架4-2上还设置有附加支架4-6。附加支架4-6上安装三维扫描仪和焊接跟踪器，图中未画出三维扫描仪和焊接跟踪器。The welding head 4 is slidably installed on the Z-axis vertical guide rail 3 on one of the Y-axis beams 2 . Concrete: welding head 4 comprises welding torch 4-1, welding head support 4-2, welding torch holder 4-3, welding torch rotary device 4-4 and wire feeder 4-5, and welding head support 4-2 is slidably connected on On the Z-axis vertical guide rail 3, it is driven to move up and down along the Z-axis vertical guide rail 3 by the welding head driving device. The welding head driving device is also a servo motor and a rack and pinion transmission system. To the rack, the gear is installed on the welding head support 4-2, and the servo motor drives the gear to move on the rack. The welding torch rotary device 4-4 is installed on the lower end of the welding head bracket 4-2. The welding torch rotary device 4-4 is composed of a rotary disk, which is driven to rotate by a servo motor, and the welding torch holder 4-3 is installed on the welding head bracket 4-2. 2, the upper end of the welding torch 4-1 passes through the welding torch holder 4-3 and connects with the welding torch rotary device 4-4, and the upper end of the welding torch 4-1 passes through the rotary disc and connects with the wire feeder 4-5, and the wire feeder 4- 5 is installed on the upper end of the vertical guide rail 3 of the Z axis. An additional support 4-6 is also arranged on the welding head support 4-2. A three-dimensional scanner and a welding tracker are installed on the additional brackets 4-6, and the three-dimensional scanner and the welding tracker are not shown in the figure.
另一条Y轴横梁2上的Z轴竖向导轨3上安装焊接去应力装置6，具体的：焊接去应力装置包括高频锤击装置6-1和吸尘装置，高频锤击装置6-1的结构为现有技术，在此不做赘述。高频锤击装置6-1通过锤击装置安装座6-3滑动安装在Z轴竖向导轨3的溜板上的辅助导轨上，溜板滑动连接在Z轴竖向导轨上，锤击装置安装座6-3通过安装在Z轴竖向导轨3上端的锤击驱动气缸6-4带动沿着Z轴竖向导轨3上下移动；锤击驱动气缸6-4的活塞杆与锤击装置安装座6-3相连。吸尘装置包括吸尘嘴6-2、吸尘嘴支座6-5、吸尘软管6-6和吸尘嘴驱动气缸6-7，吸尘嘴6-2的上端与吸尘软管6-6相连，吸尘软管6-6与吸尘机相连，吸尘嘴通过吸尘嘴支座6-5滑动安装在Z轴竖向导轨3上的另一个溜板的辅助导轨上，另一个溜板也滑动连接在Z轴竖向导轨上，吸尘嘴驱动气缸6-7驱动吸尘嘴支座6-5沿着Z轴竖向导轨3上下滑动，吸尘嘴驱动气缸6-7的活塞杆与吸尘嘴支座6-5相连。吸尘嘴驱动气缸6-7安装在Z轴竖向导轨的上端。A welding stress relief device 6 is installed on the Z-axis vertical guide rail 3 on the other Y-axis beam 2, specifically: the welding stress relief device includes a high-frequency hammering device 6-1 and a dust collection device, and the high-frequency hammering device 6-1 The structure of 1 is the prior art, and will not be repeated here. The high-frequency hammering device 6-1 is slidably installed on the auxiliary guide rail on the sliding plate of the Z-axis vertical guide rail 3 through the hammering device mounting seat 6-3. The sliding plate is slidably connected to the Z-axis vertical guide rail, and the hammering device The mounting seat 6-3 is driven to move up and down along the Z-axis vertical guide rail 3 through the hammer driving cylinder 6-4 installed on the upper end of the Z-axis vertical guide rail 3; the piston rod of the hammer driving cylinder 6-4 is installed with the hammering device Seat 6-3 links to each other. Dust suction device comprises dust suction nozzle 6-2, dust suction nozzle support 6-5, dust suction hose 6-6 and dust suction nozzle drive cylinder 6-7, the upper end of dust suction nozzle 6-2 and dust suction hose 6-6 connected, the dust suction hose 6-6 is connected with the vacuum cleaner, and the dust suction nozzle is slidably installed on the auxiliary guide rail of another sliding plate on the Z-axis vertical guide rail 3 through the dust suction nozzle support 6-5, Another sliding plate is also slidably connected on the Z-axis vertical guide rail, and the dust suction nozzle drives the cylinder 6-7 to drive the dust suction nozzle support 6-5 to slide up and down along the Z-axis vertical guide rail 3, and the dust suction nozzle drives the cylinder 6- The piston rod of 7 links to each other with dust suction nozzle support 6-5. The dust suction nozzle driving cylinder 6-7 is installed on the upper end of the Z-axis vertical guide rail.
两条X轴横梁1之间的下方设置有两条平车导轨5，平车导轨5装在地面或底座上，电动平车7安装在平车导轨5上，模具恒温加热装置安装在电动平车7上。Two flat car guide rails 5 are arranged below the two X-axis beams 1. The flat car guide rails 5 are installed on the ground or the base, the electric flat car 7 is installed on the flat car guide rails 5, and the mold constant temperature heating device is installed on the electric flat car. On car 7.
使用时，模具基体放置在模具恒温加热装置上，保证焊接时的温度，以提供稳定的焊接材料性能，保证焊接工艺的稳定性，提高焊接质量。两条Y轴横梁2交替对模具进行加工，具体的，先将焊接头4移动过来对模具进行堆焊，然后焊接头退出，焊接去应力装置6过来，完成焊接后应力消除，对焊接表面进行高频锤击，高频锤击能起到控形、控性的目的，保证焊接后的平面度和内部组织均匀性。吸尘装置吸走焊接表面的焊渣。焊接头和焊接去应力装置交替工作，这样，焊接头工作一段时间后，退出进行降温。焊接去应力装置接着工作，焊接去应力装置工作完成后，又退出降温，焊接头继续工作，如此往复，减少加热装置对焊接头和焊接去应力装置传动控制元件的影响，保证机器人长期稳定生产，提高机器人使用寿命。When in use, the mold base is placed on the mold constant temperature heating device to ensure the temperature during welding, so as to provide stable welding material properties, ensure the stability of the welding process, and improve the welding quality. The two Y-axis beams 2 alternately process the mould. Specifically, the welding head 4 is moved over to surfacing the mould, then the welding head withdraws, and the welding stress relief device 6 comes over. After the welding is completed, the stress is relieved, and the welding surface High-frequency hammering, high-frequency hammering can achieve the purpose of shape control and controllability, and ensure the flatness and internal structure uniformity after welding. The vacuum device sucks away the welding slag on the welding surface. The welding head and the welding stress relief device work alternately, so that after the welding head works for a period of time, it exits to cool down. The welding stress relief device continues to work. After the welding stress relief device is completed, it exits to cool down, and the welding head continues to work. This reciprocation reduces the influence of the heating device on the welding head and the transmission control components of the welding stress relief device, ensuring long-term stable production of the robot. Improve the service life of the robot.
本发明不局限于上述具体实施例，应当理解，本领域的普通技术人员无需创造性劳动就可以根据本发明的构思做出诸多修改和变化。总之，凡本技术领域中技术人员依本发明的构思在现有技术的基础上通过逻辑分析、推理或者有限的实验可以得到的技术方案，皆应在由权利要求书所确定的保护范围内。The present invention is not limited to the above specific embodiments, and it should be understood that those skilled in the art can make many modifications and changes according to the concept of the present invention without creative work. In short, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art shall be within the scope of protection defined by the claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710259085.9ACN106994577B (en) | 2017-04-19 | 2017-04-19 | A mold 3D surfacing intelligent robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710259085.9ACN106994577B (en) | 2017-04-19 | 2017-04-19 | A mold 3D surfacing intelligent robot |
| Publication Number | Publication Date |
|---|---|
| CN106994577A CN106994577A (en) | 2017-08-01 |
| CN106994577Btrue CN106994577B (en) | 2018-09-28 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710259085.9AExpired - Fee RelatedCN106994577B (en) | 2017-04-19 | 2017-04-19 | A mold 3D surfacing intelligent robot |
| Country | Link |
|---|---|
| CN (1) | CN106994577B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109014667B (en)* | 2018-06-06 | 2021-02-05 | 河南省乾憬光电科技有限公司 | Automatic production and assembly system based on intelligent industrial robot |
| CN108436343B (en)* | 2018-06-06 | 2020-11-13 | 聊城锐利机械设备有限公司 | Multifunctional industrial robot for intelligent manufacturing automatic production line |
| CN108747107B (en)* | 2018-06-06 | 2021-05-14 | 安徽喜尔奇日用品有限公司 | Automatic but change mill of remote monitoring |
| CN110405392B (en)* | 2019-07-30 | 2021-07-27 | 马鞍山市金韩防水保温工程有限责任公司 | Surface welding device for hardware processing and use method thereof |
| CN111036619A (en)* | 2019-12-30 | 2020-04-21 | 佛山宇仁智能科技有限公司 | Metal is scarfing cinder device for vibration material disk |
| CN111421202B (en)* | 2020-01-15 | 2022-03-11 | 广东艾迪特智能科技有限公司 | Multi-robot collaborative material increase platform and material increase method for oversized metal component |
| CN111299773B (en)* | 2020-04-03 | 2024-05-31 | 阿贝龙(北京)智能科技有限公司 | Full-automatic metal additive submerged arc printing equipment and method |
| CN111318521A (en)* | 2020-04-03 | 2020-06-23 | 佛山宇仁智能科技有限公司 | Gantry type slag removing device for metal submerged arc additive |
| CN111522292A (en)* | 2020-05-07 | 2020-08-11 | 四川一可机器人科技有限公司 | A kind of intelligent electric transport flat car and its operation method |
| CN111496354A (en)* | 2020-05-09 | 2020-08-07 | 曹瑞 | Spiral submerged arc welded pipe welding seam protection device |
| CN112139810B (en)* | 2020-09-07 | 2022-08-19 | 青岛雅凯汽车工贸有限公司 | Plate automatic welding equipment with internal stress eliminating function |
| CN116275859A (en)* | 2023-01-30 | 2023-06-23 | 重庆大学 | Welding-forging composite accurate additive manufacturing process and equipment for forging die repair |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4224954C1 (en)* | 1992-07-24 | 1993-06-17 | Lokomotivbau-Elektrotechnische Werke Hennigsdorf Gmbh, O-1422 Hennigsdorf, De | Automatic welding of large sheet sections of arcuate railway carriage roof - by locating sheets in position and welding using upper and lower movable electrodes on frame with 3=dimensional shielding system |
| CN201070762Y (en)* | 2007-07-20 | 2008-06-11 | 深圳市远望工业自动化设备有限公司 | Rotary friction welding mechanical arm |
| CN101966633A (en)* | 2010-08-30 | 2011-02-09 | 赵显华 | Metal-plate welding device for eliminating deformation and stress through ultrasonic waves |
| WO2011066707A1 (en)* | 2009-12-04 | 2011-06-09 | Chen Chunming | Plasma arc plane overlay welding machine |
| CN103506776A (en)* | 2012-06-25 | 2014-01-15 | 崔景超 | Novel welding technique for hammering and forging high-temperature welding line |
| CN103692063A (en)* | 2013-12-16 | 2014-04-02 | 华侨大学 | A new welding device |
| CN104959402A (en)* | 2015-06-02 | 2015-10-07 | 陈继明 | Ultrasonic welding reshaping and stress relieving device |
| CN105728930A (en)* | 2016-05-05 | 2016-07-06 | 中国人民解放军装甲兵工程学院 | Ultrasonic vibration assisted welding method |
| CN106521138A (en)* | 2016-11-10 | 2017-03-22 | 浙江大学宁波理工学院 | Mould repairing stress automatic eliminating system and method |
| CN206702475U (en)* | 2017-04-19 | 2017-12-05 | 重庆佛思坦智能装备有限公司 | Mould 3D built-up welding intelligent robots |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100885205B1 (en)* | 2002-11-15 | 2009-02-24 | 주식회사 포스코 | Welder |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4224954C1 (en)* | 1992-07-24 | 1993-06-17 | Lokomotivbau-Elektrotechnische Werke Hennigsdorf Gmbh, O-1422 Hennigsdorf, De | Automatic welding of large sheet sections of arcuate railway carriage roof - by locating sheets in position and welding using upper and lower movable electrodes on frame with 3=dimensional shielding system |
| CN201070762Y (en)* | 2007-07-20 | 2008-06-11 | 深圳市远望工业自动化设备有限公司 | Rotary friction welding mechanical arm |
| WO2011066707A1 (en)* | 2009-12-04 | 2011-06-09 | Chen Chunming | Plasma arc plane overlay welding machine |
| CN101966633A (en)* | 2010-08-30 | 2011-02-09 | 赵显华 | Metal-plate welding device for eliminating deformation and stress through ultrasonic waves |
| CN103506776A (en)* | 2012-06-25 | 2014-01-15 | 崔景超 | Novel welding technique for hammering and forging high-temperature welding line |
| CN103692063A (en)* | 2013-12-16 | 2014-04-02 | 华侨大学 | A new welding device |
| CN104959402A (en)* | 2015-06-02 | 2015-10-07 | 陈继明 | Ultrasonic welding reshaping and stress relieving device |
| CN105728930A (en)* | 2016-05-05 | 2016-07-06 | 中国人民解放军装甲兵工程学院 | Ultrasonic vibration assisted welding method |
| CN106521138A (en)* | 2016-11-10 | 2017-03-22 | 浙江大学宁波理工学院 | Mould repairing stress automatic eliminating system and method |
| CN206702475U (en)* | 2017-04-19 | 2017-12-05 | 重庆佛思坦智能装备有限公司 | Mould 3D built-up welding intelligent robots |
| Publication number | Publication date |
|---|---|
| CN106994577A (en) | 2017-08-01 |
| Publication | Publication Date | Title |
|---|---|---|
| CN106994577B (en) | A mold 3D surfacing intelligent robot | |
| CN206702475U (en) | Mould 3D built-up welding intelligent robots | |
| CN206702472U (en) | Mould 3D built-up welding intelligent robot welds destressing device | |
| CN202539838U (en) | Welding worktable for automobile bumper robot | |
| CN202571789U (en) | Numerical control drilling and cutting combined machine | |
| CN103537648B (en) | Vehicle wheel low-pressure casting system | |
| CN201500711U (en) | Automobile door taping machine | |
| CN202174348U (en) | Gantry type CNC laser welding machine with lower beam | |
| CN203253787U (en) | Automobile door covering machine | |
| CN101698899B (en) | Single column open gear die press quenching machine tool | |
| CN202207851U (en) | Trackless bevel cutting guide | |
| CN202185676U (en) | Cantilever type numerical control laser welding machine with underneath beam | |
| CN203221097U (en) | Feeding and discharging following-up auxiliary centering bracket used for spinning machine | |
| CN203411076U (en) | Plate feeding suction cup trolley device of seal head forming equipment | |
| CN103157711A (en) | Automobile door taping machine | |
| CN207308935U (en) | A die-casting mold for a mobile phone middle frame | |
| CN203779323U (en) | Grinding machine capable of automatically trimming grinding wheel | |
| CN202021357U (en) | Special numerical control floor type boring machine with seven shafts in linkage | |
| CN202174339U (en) | No lower beam gantry type CNC ultrasonic welding machine | |
| CN206509365U (en) | A kind of novel cut deal thermal stress automatic moulding processing unit (plant) | |
| TW201343288A (en) | Engraving and milling machine having one vertical spindle and two horizontal spindles | |
| CN206509429U (en) | A kind of bending machine tool quick die change device | |
| CN201537763U (en) | Narrow gap automatic arc welding machine of steel rail | |
| CN206065935U (en) | A kind of self-powered platform of the special 5-axis machining center of footwear mould | |
| CN206986231U (en) | A kind of robot ambulation axle for die quenching |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20180928 |