CN110039160B - Automatic welding, taking and feeding device and method for shear nails - Google Patents
Automatic welding, taking and feeding device and method for shear nails Download PDFInfo
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- CN110039160B CN110039160B CN201910243025.7A CN201910243025A CN110039160B CN 110039160 B CN110039160 B CN 110039160B CN 201910243025 A CN201910243025 A CN 201910243025A CN 110039160 B CN110039160 B CN 110039160B
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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
- B23K9/00—Arc welding or cutting
- B23K9/20—Stud welding
- B23K9/206—Stud welding with automatic stud supply
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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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses an automatic welding, taking and delivering device and method for shear nails, which solve the problem that the existing equipment in the prior art is not suitable for the welding requirement of shear nails of nuclear power structure modules, have the advantages of reasonable device layout and capability of being suitable for grabbing shear nails of various specifications, and have the following scheme: an automatic welding, taking and feeding device for shear nails comprises a support frame; the storage and transportation mechanism is supported by the supporting frame and comprises a transportation part, the transportation part comprises a first lifting unit, and the first lifting unit is provided with a nail taking clamping jaw for clamping the shear nails and the ceramic rings; the nail feeding mechanism is arranged on the side part of the support frame and comprises a second lifting unit, the second lifting unit is provided with a nail feeding clamping jaw, and the first lifting unit can rotate relative to the support frame so as to feed the shear nails and the ceramic rings to the nail feeding clamping jaw; and the welding gun is arranged on the side part of the second lifting unit of the support frame.
Description
Technical Field
The invention relates to the field of nuclear power welding, in particular to an automatic welding, taking and feeding device and method for shear nails.
Background
Third generation passive nuclear powerThe number of the sub-modules of the stand-alone unit structure module is up to two hundred, the specifications of the shear nails are 152-311 mm long, and the diameters of the shear nails are
The total number of the shear nails required by the single-unit structural module is about 40 ten thousand. At present, the welding of nuclear power structure module shear force nail mainly uses electric arc stud welding as the owner, adopts hand-held type electric arc stud welding rifle to weld promptly, has intensity of labour too big, the unstable problem of welding quality.
The existing nail taking and feeding device of the automatic plant welding equipment in the market is small in size, and the inventor finds that the following problems mainly exist:
1) due to the structural arrangement, the welding device is only suitable for welding the small-size shear nails, and cannot meet the welding requirements of the nuclear power structural module shear nails;
2) the manual assistance is adopted to take or send the nail work, or the manual hand-held arc stud welding gun is used for welding, so that the problems of overlarge labor intensity and unstable welding quality exist.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the automatic welding, nail taking and feeding device for the shear nails, which does not need manual operation, can realize automatic nail taking and feeding and performs corresponding welding work.
The specific scheme of the automatic shear nail welding, taking and feeding device is as follows:
a shear nail automatic welding takes out and send nail device includes:
a support frame;
the storage and transportation mechanism is supported by the supporting frame and comprises a transportation part, the transportation part comprises a first lifting unit, and the first lifting unit is provided with a nail taking clamping jaw for clamping the shear nails and the ceramic rings;
the nail feeding mechanism is arranged on the side part of the support frame and comprises a second lifting unit, the second lifting unit is provided with a nail feeding clamping jaw, the first lifting unit can rotate relative to the support frame, and/or the first lifting unit can move linearly relative to the support frame so as to feed the shear nails and the ceramic rings to the nail feeding clamping jaw;
and the welding gun is arranged on the side part of the second lifting unit of the support frame.
According to the automatic welding, taking and feeding device for the shear nails, the nail taking clamping claw of the storage and transportation mechanism effectively takes the nails and feeds the nails to the nail feeding clamping claw of the nail feeding mechanism, the second lifting unit in the nail feeding mechanism drives the nail feeding clamping claw to move, so that the shear nails are fed below a welding gun and are welded by the welding gun, the area of the whole device is expanded due to the arrangement of the support frame, the welding of large-area modules can be realized, and the labor intensity of workers can be effectively reduced and the production efficiency is improved due to the mutual matching of the storage and transportation mechanism and the nail feeding mechanism.
The second purpose of the invention is to provide an automatic welding, taking and delivering method for shear nails, which adopts the automatic welding, taking and delivering device for shear nails, and comprises the following contents:
arranging the nuclear power structure module below the support frame;
the first lifting unit drives the nail taking clamping claw to move so as to clamp the shear nail, the porcelain ring is sleeved on the shear nail, and the first lifting unit drives the nail taking clamping claw to rotate or the nail taking clamping claw to rotate relative to the first lifting unit;
the nail feeding clamping claw clamps the shear nails, and the second lifting unit drives the nail feeding clamping claw to descend to a set height;
and the welding gun moves downwards, the nail feeding air claw is loosened, the porcelain ring falls at the welding spot position, and then the welding gun performs welding operation.
The automatic welding, taking and delivering method can sequentially achieve clamping, delivering and welding of the shear nails according to the large area of the nuclear power structure module, achieves automatic welding of large-size shear nails, and can be suitable for grabbing shear nails of various specifications and sizes through the arrangement of the nail taking clamping jaws and the nail delivering clamping jaws.
Compared with the prior art, the invention has the beneficial effects that:
1) the whole device is reasonable in structural layout, can realize the sequential clamping, delivering and welding of the shear nails without manual operation, effectively reduces the labor intensity of workers and improves the working efficiency.
2) According to the invention, through the matching of the storage and transportation mechanism and the nail feeding mechanism, the accurate transmission of the shear nails can be realized, and the accuracy of the structure setting is ensured.
3) The welding requirement of the shear nail of the nuclear power structure module can be effectively met by the automatic welding taking and delivering method.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is an application schematic diagram of an automatic welding, nail taking and feeding device for shear nails in embodiment 1 of the invention.
Fig. 2 is a schematic view of the storage and transportation mechanism and the nail feeding mechanism in embodiment 1 of the present invention.
In the figure, 1-a portal frame, 2-a guide rail, 3-a storage and transportation mechanism, 4-a nail feeding mechanism, 401-a nail taking clamping jaw, 402-a nail taking linear cylinder, 403-a first rotary cylinder, 404-a horizontal linear slide rail, 405-a linear slide rail, 406-a linear nail feeding cylinder, 407-a second rotary cylinder, 408-a nail feeding clamping jaw, 409-a short-range cylinder, 410-a welding gun lifting cylinder, 411-a welding gun and 412-a jacket.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As introduced by the background art, the defects in the prior art are that in order to solve the technical problems, the invention provides an automatic welding, taking and feeding device for shear nails, which comprises a support frame; the storage and transportation mechanism is supported by the supporting frame and comprises a transportation part, the transportation part comprises a first lifting unit, and the first lifting unit is provided with a nail taking clamping jaw for clamping the shear nails and the ceramic rings; the nail feeding mechanism is arranged on the side part of the support frame and comprises a second lifting unit, the second lifting unit is provided with a nail feeding clamping jaw, the first lifting unit can rotate relative to the support frame, and/or the first lifting unit can move linearly relative to the support frame so as to feed the shear nails and the ceramic rings to the nail feeding clamping jaw; and the welding gun is arranged on the side part of the second lifting unit of the support frame.
Further, the storage and transportation mechanism further comprises a storage component for storing the shear pins and the porcelain rings, and the storage component is arranged on one side of the conveying component.
Furthermore, the first lifting unit is a lifting slide rail arranged on one side of the first rotary cylinder, the nail taking clamping jaw is arranged on the lifting slide rail through the first sliding block, and the first rotary cylinder is vertically arranged relative to the support frame.
Further, the nail taking clamping claw is a nail taking pneumatic claw;
or the nail feeding clamping claw is a nail feeding air claw.
Further, the bottom of the first rotary cylinder is slidably mounted on the support frame.
Further, the lateral part of support frame is equipped with linear slide rail, the removal of horizontal direction is realized through second slider and linear slide rail cooperation to second lift unit, and the bottom of second lift unit sets up the second and turns round the cylinder, the second turn round the cylinder with send the nail clamping jaw and be connected.
Further, the second lifting unit is a linear motion mechanism.
Further, the welding gun is connected with a welding gun lifting power source; the welding gun is provided with a jacket, and the inner diameter of the jacket is matched with the size of the head of the shear force nail.
Furthermore, the support frame is a portal frame, and two sides of the bottom of the portal frame are matched with guide rails arranged on the ground.
The invention also provides an automatic welding, taking and delivering method of the shear nail, which adopts the automatic welding, taking and delivering device of the shear nail and comprises the following contents:
arranging the nuclear power structure module below the support frame;
the first lifting unit drives the nail taking clamping claw to move so as to clamp the shear nail, the porcelain ring is sleeved on the shear nail, and the first lifting unit drives the nail taking clamping claw to rotate or the nail taking clamping claw to rotate relative to the first lifting unit;
the nail feeding clamping claw clamps the shear nails, and the second lifting unit drives the nail feeding clamping claw to descend to a set height;
and the welding gun moves downwards, the nail feeding air claw is loosened, the porcelain ring falls at the welding spot position, and then the welding gun performs welding operation.
The invention is further explained below with reference to the drawings in the specification.
Example 1
In an exemplary embodiment of the invention, as shown in fig. 1 and 2, an automatic welding, taking and feeding device for shear nails comprises a support frame; the storage and transportation mechanism 3 is supported by the supporting frame, the storage and transportation mechanism 3 comprises a transportation part, the transportation part comprises a first lifting unit, and the first lifting unit is provided with a nail taking clamping jaw for clamping the shear nails and the ceramic rings; the nail feeding mechanism is arranged on the side part of the support frame, the nail feeding mechanism 4 comprises a second lifting unit, the second lifting unit is provided with a nail feeding clamping jaw, the first lifting unit can rotate relative to the support frame, and the first lifting unit can move linearly relative to the support frame so as to feed the shear nails and the ceramic rings to the nail feeding clamping jaw; and the welding gun is arranged on the side part of the second lifting unit of the support frame.
Wherein, the support frame is portal frame 1, and the bottom both sides of portal frame 1 cooperate with the guide rail 2 of locating ground, and the portal frame spanes the guide rail 2 of both sides and sets up like this, and portal frame 1 can realize moving for guide rail 2 to along with the removal of portal frame 2, carry out respectively shear force nail weldment work to the multirow of nuclear power structure module.
In addition, warehousing and transportation mechanism 3 still includes the storage part that is used for storing shear force nail and porcelain ring, stores the part and locates the one side of transporting the part, stores the part and is used for storing multirow multiseriate shear force nail and porcelain ring, stores the part and includes the conveyer belt, and the conveyer belt is equipped with a plurality of recesses, is used for supporting the shear force nail through the recess and locates the porcelain ring of shear force nail, and the conveyer belt realizes the conveying along portal frame width direction like this, and the mechanism of being convenient for warehousing and transportation presss from both sides in proper order and gets the shear.
Further, as shown in fig. 2, the first lifting unit is a nail taking linear cylinder, the nail taking linear cylinder 402 drives the nail taking clamping jaw 401 to lift, a first rotating cylinder 403 is arranged at the bottom of the nail taking linear cylinder 402, and the first rotating cylinder 403 drives the nail taking linear cylinder to rotate.
In order to further widen the range of taking nails by the storage and transportation mechanism, the bottom of the first rotary cylinder 403 is slidably mounted on the portal frame 1, the bottom of the first rotary cylinder 403 is matched with the portal frame 1 through a horizontal linear slide rail, the surface of the portal frame 1 is provided with the horizontal linear slide rail, the bottom of the first rotary cylinder 403 is provided with the horizontal linear slide rail 404, and under the driving of a power source of the horizontal linear slide rail 404, before or after taking nails, the first rotary cylinder 403 drives the nail taking clamping claw 401 to move relative to the horizontal linear slide rail 404, so that nails can be taken from the nail clamping claw in sequence along the length direction of the portal frame conveniently, and in other embodiments, nails can be taken from the nail clamping claw conveniently after taking nails.
Or, in some embodiments, the first lifting unit is a lifting slide rail arranged on one side of the first rotary cylinder, the lifting slide rail is reliably connected with the first rotary cylinder, the nail taking clamping jaw is arranged on the lifting slide rail through the first slider, the first rotary cylinder is vertically arranged relative to the upper surface of the portal frame, so that the nail taking clamping jaw can realize lifting motion relative to the lifting slide rail, after the nail taking clamping jaw clamps the shear nails, the first rotary cylinder realizes 180-degree rotation, and the nail taking clamping jaw is conveyed to the side portion of the portal frame to facilitate butt joint with the nail feeding clamping jaw.
Further, the nail taking clamping claw 401 is a nail taking pneumatic claw; the nail feeding clamping claw 408 is a nail feeding air claw, and the actions of the nail taking clamping claw 401 and the nail feeding clamping claw 408 are respectively controlled through the air cylinder, so that the size range of the two clamping claws for clamping the shear nail is widened, and the clamping action is controlled accurately.
In this embodiment, a linear slide rail 405 is disposed on a side portion of the portal frame 1, the second lifting unit is matched with the linear slide rail through a second slider to realize horizontal movement, the linear slide rail 405 is provided with a corresponding power source to push the second slider 407 and the second lifting unit to move up and down, a second rotary cylinder 407 is disposed at a bottom end of the second lifting unit, the second rotary cylinder 407 is connected with the nail feeding claw 408, and in use, the second rotary cylinder 407 drives the nail feeding claw to rotate, so that the shear nail clamped by the nail feeding claw is fed below the welding gun.
It should be noted that, in this embodiment, the linear slide rail, the lifting slide rail, and the horizontal linear slide rail are all the existing linear slide rail mechanisms after being matched with their respective slide blocks, and can drive the corresponding slide blocks to realize linear reciprocating motion.
The second lifting unit is a linear motion mechanism, specifically, the linear motion mechanism is a linear nail feeding cylinder 406, and the linear nail feeding cylinder 406 is vertically arranged relative to the upper surface of the gantry 1 so as to realize lifting motion relative to the gantry 1.
In addition, a short-distance air cylinder 409 is arranged between the second rotary air cylinder 407 and the nail feeding clamping claw 408, and the short-distance air cylinder 409 is a linear air cylinder so as to further improve the horizontal push-out range of the nail feeding clamping claw 408 and ensure that the nail feeding clamping claw can run to the position right below the welding gun 411.
In addition, the welding gun 411 is connected with a welding gun lifting power source, the lifting power source is a welding gun lifting cylinder 410 and is used for driving the welding gun 411 to move up and down so as to realize welding, the welding gun lifting cylinder 410 drives the welding gun lifting cylinder 410 and the linear nail feeding cylinder 406 to move simultaneously through a second sliding block and a linear sliding rail 405 arranged on the side portion of the portal frame 1 by the linear sliding rail 405; the welding gun 411 is provided with a jacket 412 (which plays a role in clamping the shear nail and electrifys the shear nail), the inner diameter of the closed jacket 412 is matched with the size of the head of the shear nail, the jacket 412 comprises two jacket clamping jaws, and the two jacket clamping jaws are controlled to be opened or closed by an air cylinder, so that when the nail feeding clamping jaws feed the shear nail below the welding gun 411, the welding gun 411 moves downwards, the head of the shear nail enters the jacket of the welding gun, and the shear nail is arranged in the jacket 412 of the welding gun 411.
In this embodiment, in order to avoid interference between the welding gun and the nail feeding clamping jaw in the movement process, in the initial state, the setting direction of the nail feeding clamping jaw is opposite to the setting direction of the welding gun, and the nail feeding clamping jaw is driven by the second rotary cylinder to rotate 180 degrees to feed the shear nail below the welding gun.
It should be noted that the first rotary cylinder and the second rotary cylinder are both common rotary cylinders, and can rotate corresponding cylinder bodies, and the welding gun lifting cylinder, the short-distance cylinder and the linear nail feeding cylinder are all linear cylinders, and are used for driving parts connected with the welding gun lifting cylinder, the short-distance cylinder and the linear nail feeding cylinder to realize linear motion, wherein each cylinder and the welding gun are connected with a controller, and the controller is a PLC controller and can be used for controlling respective actions of each mechanism.
Example 2
The invention also provides an automatic welding, taking and delivering method of the shear nail, which adopts the automatic welding, taking and delivering device of the shear nail described in embodiment 1 and comprises the following contents:
arranging a nuclear power structure module below a portal frame and between guide rails on two sides;
the lifting slide rail drives the nail taking clamping claw to move downwards, the first rotary air cylinder is driven to move horizontally through the horizontal linear slide rail, the nail taking clamping claw is driven to stop at a set position, the nail taking clamping claw is used for clamping a shear nail, the ceramic ring is sleeved on the shear nail, the first rotary air cylinder drives the nail taking clamping claw to rotate by a set angle which can be 180 degrees, and the nail taking clamping claw comes above the linear slide rail;
the linear sliding rail drives the welding gun and the linear nail feeding cylinder to realize horizontal movement until the nail feeding clamping jaw is fed to the position below the nail taking clamping jaw, the nail feeding clamping jaw clamps and takes the shear nail from the position below the shear nail, the nail taking clamping jaw loosens the shear nail from the position above, the porcelain ring automatically falls on the nail feeding clamping jaw at the moment, and after the nail taking clamping jaw finishes working, the first rotary cylinder and the nail taking linear cylinder both return to the initial positions;
the linear nail feeding cylinder drives the nail feeding clamping jaw to descend to a set height, the nail feeding clamping jaw is driven by the second rotary cylinder to rotate 180 degrees, the short-range cylinder is pushed out, and thus the shear nail moves to the position below the welding gun;
the welding gun moves downwards, the head of the shear pin enters a jacket of the welding gun, the pin feeding pneumatic claw is loosened, the porcelain ring falls at a welding spot position, then the welding gun performs welding operation, the shear pin and the nuclear power structure module are respectively electrified, the bottom end of the shear pin is melted, then the shear pin and the nuclear power structure module are welded together, and after the welding is completed, the jacket is loosened;
when carrying out welding operation, short distance cylinder withdrawal, the initial position is turned back to the second gyration cylinder, and nail cylinder 406 is sent to the straight line simultaneously also withdrawal, and whole device resets, waits to take next shear force nail.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a shear force nail automatic weld gets send nail device which characterized in that includes:
the storage and transportation mechanism is supported by the supporting frame and comprises a transportation part, the transportation part comprises a first lifting unit, and the first lifting unit is provided with a nail taking clamping jaw for clamping the shear nails and the ceramic rings;
the nail feeding mechanism is arranged on the side part of the support frame and comprises a second lifting unit, the second lifting unit is provided with a nail feeding clamping jaw, the first lifting unit can rotate relative to the support frame, and/or the first lifting unit can move linearly relative to the support frame so as to feed the shear nails and the ceramic rings to the nail feeding clamping jaw;
the welding gun is arranged on the side part of the second lifting unit of the support frame;
the support frame, the lateral part of support frame is equipped with linear slide rail, the removal of horizontal direction is realized through second slider and linear slide rail cooperation to second lift unit, and the bottom of second lift unit sets up the second and turns round the cylinder, the second turn round the cylinder with send the nail clamping jaw to be connected.
2. The automatic shear nail welding and taking device according to claim 1, wherein the storage and transportation mechanism further comprises a storage part for storing the shear nails and the porcelain rings, and the storage part is arranged on one side of the conveying part.
3. The automatic welding, taking and feeding device for the shear nails according to claim 1, wherein the first lifting unit comprises a first rotary cylinder and a lifting slide rail arranged on one side of the first rotary cylinder, the nail taking clamping jaw is arranged on the lifting slide rail through a first sliding block, and the first rotary cylinder is arranged vertically relative to the supporting frame.
4. The automatic welding, taking and feeding device for the shear nails as claimed in claim 1, wherein the nail taking clamping claw is a nail taking pneumatic claw;
or the nail feeding clamping claw is a nail feeding air claw.
5. A shear nail automatic welding and taking device according to claim 3, wherein the bottom of the first rotary cylinder is slidably mounted on the support frame.
6. The automatic shear nail welding, taking and feeding device according to claim 1, wherein the second lifting unit is a linear motion mechanism.
7. The automatic shear nail welding, taking and feeding device according to claim 1, wherein the welding gun is connected with a welding gun lifting power source; the welding gun is provided with a jacket, and the inner diameter of the jacket is matched with the size of the head of the shear force nail.
8. The automatic welding, taking and feeding device for the shear nails as claimed in claim 1, wherein the supporting frame is a portal frame, and two sides of the bottom of the portal frame are matched with guide rails arranged on the ground.
9. An automatic welding and taking method for shear nails, which is characterized in that the automatic welding and taking device for shear nails of any one of claims 1 to 8 is adopted, and comprises the following contents:
arranging the nuclear power structure module below the support frame;
the first lifting unit drives the nail taking pneumatic claw to move so as to clamp the shear nails, the ceramic ring is sleeved on the shear nails, and the first lifting unit drives the nail taking pneumatic claw to rotate;
the nail feeding pneumatic claw clamps the shear nails, and the second lifting unit drives the nail feeding pneumatic claw to descend to a set height;
and the welding gun moves downwards, the nail feeding air claw is loosened, the porcelain ring falls at the welding spot position, and then the welding gun performs welding operation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910243025.7A CN110039160B (en) | 2019-03-28 | 2019-03-28 | Automatic welding, taking and feeding device and method for shear nails |
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| CN201910243025.7A CN110039160B (en) | 2019-03-28 | 2019-03-28 | Automatic welding, taking and feeding device and method for shear nails |
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| CN110039160B true CN110039160B (en) | 2021-01-26 |
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| CN114101959B (en) * | 2021-12-17 | 2022-11-22 | 西南交通大学 | Automatic welding system for bridge shear nails |
| CN115815763B (en) * | 2022-09-23 | 2023-12-05 | 中建三局集团有限公司 | Stud welding device and construction method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106425051A (en) * | 2016-10-31 | 2017-02-22 | 中国科学院合肥物质科学研究院 | Full-automatic box plate and screw welding device for anchoring box |
| JP2017127940A (en) * | 2016-01-21 | 2017-07-27 | キヤノン株式会社 | Robot device |
| CN108067711A (en) * | 2016-11-07 | 2018-05-25 | 江西理工大学 | A kind of automatic stud welder |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5949739B2 (en) * | 2013-12-13 | 2016-07-13 | 株式会社安川電機 | Robot system, container opening method, and workpiece manufacturing method |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017127940A (en) * | 2016-01-21 | 2017-07-27 | キヤノン株式会社 | Robot device |
| CN106425051A (en) * | 2016-10-31 | 2017-02-22 | 中国科学院合肥物质科学研究院 | Full-automatic box plate and screw welding device for anchoring box |
| CN108067711A (en) * | 2016-11-07 | 2018-05-25 | 江西理工大学 | A kind of automatic stud welder |
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Denomination of invention: A shear nail automatic welding device and welding method Effective date of registration: 20220725 Granted publication date: 20210126 Pledgee: Agricultural Bank of China Limited Haiyang sub branch Pledgor: SHANDONG NUCLEAR POWER EQUIPMENT MANUFACTURING Co.,Ltd. Registration number: Y2022980011031 |
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