CN1296170C - Automatic device in transverse direction for tracking welding line line by floatation force of welding-torch - Google Patents
Automatic device in transverse direction for tracking welding line line by floatation force of welding-torch Download PDFInfo
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- CN1296170C CN1296170C CNB2004100609904A CN200410060990A CN1296170C CN 1296170 C CN1296170 C CN 1296170C CN B2004100609904 A CNB2004100609904 A CN B2004100609904A CN 200410060990 A CN200410060990 A CN 200410060990A CN 1296170 C CN1296170 C CN 1296170C
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Abstract
本发明涉及一种焊炬浮动弹力驱动焊缝横向自动跟踪装置，包括一个焊接小车，其上固定一个用于焊炬横向平移的导杆；该导杆上连接一个滑套；焊炬底座端与滑套连接并可相对于滑套回转，另一端为焊丝出口端，为扁平形，其前后侧各固定一个力偶座本体；每个力偶座本体内有两个使焊丝始终处于焊接坡口中心线位置的探测滚轮；所述探测滚轮有使其能贴紧焊接坡口两侧面滚动的弹性件。本发明的优点是：跟踪精度高，抗干扰能力强，可靠性强；摒弃了电力拖动调节及其相关的自动控制环节；无复杂的硬件、软件和多维执行机构；适应坡口面角的范围大；点固焊点障碍不复存在；装置结构简单，重量轻，造价低。
The invention relates to a welding torch floating elastic force driven transverse automatic tracking device for welding seams, which comprises a welding trolley on which a guide rod for welding torch lateral translation is fixed; a sliding sleeve is connected to the guide rod; the base end of the welding torch is connected to the The sliding sleeve is connected and can rotate relative to the sliding sleeve. The other end is the outlet end of the welding wire, which is flat, and a force couple seat body is fixed on the front and rear sides; each force couple seat body has two holes so that the welding wire is always on the center line of the welding groove. Position detection rollers; the detection rollers have elastic parts that allow them to roll against both sides of the welding groove. The advantages of the present invention are: high tracking precision, strong anti-interference ability, and strong reliability; abandoning the electric drag adjustment and related automatic control links; no complicated hardware, software and multi-dimensional actuators; adapting to the groove surface angle The range is large; the obstacle of spot-fixed solder joints no longer exists; the device has a simple structure, light weight and low cost.
Description
Technical field
The present invention relates to the unsteady elastic force of a kind of welding torch and drive the horizontal autotracker of weld seam, is the horizontal self adaptation autotracker of a kind of contact weld seam, belongs to welding technology field.
Background technology
Solder technology has begun since the industrial circle sizable application from the last century the '30s, roughly experienced following technical development course: 1, the traditional welding method invention phase (30 annual first arrival the fifties middle periods of last century), invented basic skills such as all arc-welding, electric resistance welding, gas welding this period; 2, traditional welding method is improved and the extraordinary welding method invention phase (the fifties middle period in last century is to the seventies), this period is because the system day by day of technical foundation theories such as arc physics and weldingmetallurgy and perfect, traditional welding technology begins to the low welding of high production rate high-quality production cost direction high speed development on the one hand, and extraordinary solder technology such as laser, electron beam, plasma, vacuum diffusion are come out one after another on the other hand; 3, welding production process automatic and mechanical period of expansion (last century the seventies so far), along with being growing more intense of welding product global market competition, requiring more, the lower welding production cost of the higher welding productivity of high welding quality becomes inevitable, the result of this solder technology development in period is: computer is widely used in Control Welding Process, welding equipment extensively adopts the automation digitlization with intelligent, and the electroplating equipment wielding machine people begins in automobile making, integrated circuit manufacturing and waits sizable application in the unmanned production under the particular surroundings under water.Weld automatic tracking technique, especially horizontal (vertical) tracking technique of weld seam with the fusion length direction, it is the core key technology of welding Automation of Manufacturing Process, the technology report of this respect has: 1, Huangshi is given birth to, high " research of THE WELD SEAM TRACKING TECHNOLOGY and prospect " eastwards is stated from " electric welding machine ", 1995,5 phases, 1～5 page; 2, Chen Wuzhu, Wang Yong, " the soldering joint automatic tracking state of the art and the new development " of woods pine is stated from " welded tube " 1992,15 (5) phases, 1～10 page; 3, Ai Yongyi, Wang Jiayou, Sun Xiaochun " development of two-way contact weld seam tracking sensor and application " is stated from " electric welding machine ", 1988,15～18 pages; 4, high young high post, " contact two-dimensional tracking Study on Technology and the application " of Yu Jingwei is stated from " welding ", 11～14 pages of 1991,8 phases.Above-mentioned prior art discloses a fact: the laterally automatic tracking technique of weld seam that does not have high accuracy high response speed high reliability, to can not guarantee electric arc (or other welding heat source) in the effect of the tram of current groove, the welding process automation of satisfying the quality of weld joint requirement can not realize at all.The weld seam horizontal tracing technical basis sensor and whether the contacting of welding work pieces of having invented up to now, mainly is divided into two big classes: contactless and contact.The used sensor of contactless weld seam horizontal tracing technology does not all contact with workpiece, according to extracting the sensing principle difference of welding gun (torch) with respect to groove lateral deviation signal, the major technique of having invented has electromagnetic type, condenser type, ultrasonic type, photo-electric, eddy current type and electric arc sensor-type, the sensor-type main flow that becomes year surplus in the of nearly ten of photo-electric and electric arc.Above-mentioned technology respectively has superiority, but all has following limitation: 1, have sensing leading (or lag behind) error (sensor can not overlap with the welding gun center and the horizontal tracing trueness error that causes, except electric arc is sensor-type); 2, the additional sensor size is bigger, has increased the volume and the weight of welding gun, and the occasion that is subjected to strict restriction at size sensor is difficult to use; 3, the extraction of deviation signal generally all stems from the cross surface seamed edge of surface of the work and groove face and upper surface, and groove face will be difficult to extract with respect to the inhomogeneities deviation information of surface of the work and seamed edge, and this will bring certain systematic error; 4, the general poor anti jamming capability of such tracking system (especially the anti-electromagnetic field interference is poor); 5, tracking system complexity must be made up of sensor, closed loop automatic control system (containing hardware and software) and executing agency's three parts, and system reliability reduces relatively.The laterally automatic tracking technique of contact weld seam mainly contains two classes: mechanical type and electromechanical.Its sensing principle all is to utilize the mechanical guide wheel (or guide rod) be contained in welding torch the place ahead and contact with weld groove with respect to the displacement of the groove input signal (being the departure of welding torch with respect to the weld seam center) as tracking system.The main distinction of contact and contactless THE WELD SEAM TRACKING TECHNOLOGY is to use contact machinery guide wheel (or guide rod) as displacement transducer, automatic control system and executing agency and contactless basic identical.Such tracking technique applicating history is the longest, and disturbing factors such as arc light, electromagnetic field, flue dust and metallic vapour, spatter, high temperature, workpieces surface condition and seamed edge state are little to the influence of tracking accuracy, but still have following limitation: 1, tracking accuracy is lower; 2, the tack-weld obstacle in the butt welded seam is difficult to overcome; 3, the roughness of groove and face of weld, surface damage directly have influence on the stability of tracking system; 4, there is the leading tracking error; 5, usually only be applicable to V-type, the double V-shaped and Y type groove at big groove face angle, and be difficult to use under minimum groove face angle (β≤2 °).
Summary of the invention
The objective of the invention is to overcome the limitation of the laterally automatic tracking technique of weld seam in the prior art, provide the unsteady elastic force of a kind of welding torch to drive the horizontal autotracker of weld seam.Described device tracking precision tack-weld obstacle, groove and face of weld roughness and surface damage higher, that can overcome in the weld seam is little to the stability influence of tracking system, both be applicable to V-type, the double V-shaped and Y type groove at big groove face angle, also be applicable to the occasion at minimum groove face angle.
The technical scheme that the unsteady elastic force of welding torch of the present invention drives the horizontal autotracker of weld seam is: comprise a welding tractor, fix a guide rod that is used for the welding torch transverse translation on it; The sliding sleeve that connects an energy transverse translation on this guide rod; The base end of welding torch and sliding sleeve are the flexible connection that can rotate, and the other end is the welding wire port of export, is pancake, and each fixes the couple seat body of an energy mounting plane couple source block its front and back side; The couple source block includes two detection wheels that make welding wire be in the bevel for welding position of center line all the time and be adjacent to the bevel for welding two sides respectively in each couple seat body; Described detection wheel has makes it can be adjacent to the elastic component that rolls in the bevel for welding two sides.
Principle of the present invention is: welding torch can transverse translation floats and rotation is floated with respect in orbit automatic weldering dolly is installed, and be anchored on the moving-coil of two-direction thrust bearing by a end with welding torch, fixed circle is anchored on the transverse translation sliding sleeve, the transverse translation sliding sleeve is installed on and realizes on the transverse translation guide rod that its two dimension floats.The translation sliding sleeve is laterally floating along floating of translation guide rod, and welding torch floats with respect to the rotation that rotates to be of translation sliding sleeve.The laterally floating function is used for the weld seam horizontal tracing, and the rotation float function is used for the tracking of weld seam and interorbital non-parallel offset deviation.In the front and back of welding torch end a couple source, plane that is formed by the mechanical elastic effect is set respectively, the line of centres of two couples overlaps with the welding torch longitudinal centre line, and when groove gap does not change with respect to the resultant couple square identically vanishing of the kernel of section of welding torch; Two arm of couple length can be adjustable voluntarily in effective groove gap excursion respectively, can be used for assembling the occasion that groove gap fluctuates within the specific limits to satisfy native system; The static friction force of (pressure) power when groove gap (be in maximum) much larger than the welding torch laterally floating closed in the minimum contact of force couple role on groove face; The welding torch laterally floating floats and can carry out simultaneously with rotation, promptly can synthesize unsteady.
Advantage of the present invention: compare with the laterally automatic tracking technique of existing contactless weld seam, the present invention has following advantage: 1, antijamming capability excellence, such as arc light, electromagnetic field, flue dust, high temperature, splash, common interference such as net voltage fluctuation do not influence the stability and the reliability of tracing process; 2, tracking system is extremely simple, complex hardware and software in traditional tracking technique automatic control link have been abandoned fully, also abandoned multidimensional executing agency, installation weight of the present invention (0.7～0.9kg) only is based on 1/20～1/30 of visual sensing (as based on CCD sensor-based computer image processing method) tracking means, cost be about its 1/70～1/100; 3, deviation information on the groove face can be detected, the horizontal tracing required precision of all filled-types welding occasions can be satisfied fully; 4, not only can be used for traditional V-type U type Y type X type groove, also can be used for minimum narrow gap of welding groove surface angle β and ultra-narrow gap welding occasion; 5, owing to complex hardware and the software systems abandoned in traditional tracking technique, system reliability height; 6, can be used for the extremely narrow occasion of bevel for welding size.Compare with the laterally automatic tracking technique of existing contact weld seam, the present invention has the following advantages: 1, need not to survey the weld seam bottom, the tack-weld obstacle has not existed; 2, before and after welding torch longitudinal center, feeler is set, has eliminated the tracking error of leading (or hysteresis) sensing; 3, with built-in mechanical elastic as regulating driving force, abandoned that Electric Traction is regulated and relevant automatic control link; 4, the advantage 3～6 compared of above-mentioned and existing contactless weld seam horizontal tracing technology, the present invention still has; Then can eliminate the influence of splashing on the welding groove surface to the tracking system reliability when save-all is housed, tracking system stability is higher.
Description of drawings
Accompanying drawing 1 is a structural representation of the present invention;
Accompanying drawing 2 is the following plan structure schematic diagrames in accompanying drawing 1A-A cross section;
The welding torch position was from motion tracking Principles of Regulation figure when accompanying drawing 3 was the parallel variation of groove gap (parallel increase or dwindle);
The welding torch position was from motion tracking Principles of Regulation figure when accompanying drawing 4 was the non-parallel variation of groove gap (monolateral or bilateral inclination);
Accompanying drawing 5 is save-all structural representations;
Welding torch position sensor partial structurtes schematic diagram when accompanying drawing 6 is the big groove face angle of tradition;
Accompanying drawing 7 is the waist type groove schematic diagrames on the roller support 20.
As Fig. 1～shown in Figure 7,1, welding torch transverse translation guide rod, 2, the transverse translation sliding sleeve, 3, positive stop, 4, horizontal swivel bearing, 5, the couple seat body, 6, detection wheel, 7, save-all, 8, welding groove surface, 9, welding torch, 10, welding wire, 11, electric arc, 12, wire convey soft pipe, 13, cooling water pipe, 14, the flexible pipe of supplying gas, 15, the torch height adjusting handle, 16, wire feeder, 17, welding tractor, 18, track, 19, the roller axle, 20, roller support, 21, spring, 22, the save-all seat, 23, the block that splashes, 24, stage clip, 25, adjusting screw(rod), 26, kidney slot.
The specific embodiment
Shown in Fig. 1～7, the unsteady elastic force of a kind of welding torch of the present invention drives the horizontal autotracker of weld seam, and welding tractor 17 is arranged, and fixes a guide rod 1 that is used for welding torch 9 transverse translations on it; The sliding sleeve 2 that connects an energy transverse translation on this guide rod 1; The base end of welding torch 9 and sliding sleeve 2 are the flexible connection that can rotate, and the other end is the welding wire port of export, is pancake, and each fixes the couple seat body 5 of an energy mounting plane couple source block its front and back side; The couple source block includes two detection wheels 6 that make welding wire be in the bevel for welding position of center line all the time and be adjacent to bevel for welding two sides 8 respectively in each couple seat body 5; Described detection wheel 6 has makes it can be adjacent to the elastic component 21 that welding groove surface 8 rolls; Also have:
The couple of welding torch 9 front and back is reverse each other, and the elastic force of elastic components 21 is in the front and back couple seat body 5: two systems of couples be in parallel, do not change and when effectively following the tracks of in the interstice coverage resultant couple torch identically vanishing;
Described elastic component 21 is that two ends are respectively the spring leaf that two detection wheels 6 in the couple seat body 5 apply elastic force; Described elastic component 21 be two be installed in the couple seat body 5, an end is the helical torsion spring that detection wheel 6 applies elastic force, this is another embodiment;
The base end of welding torch 9 is anchored on the moving-coil of two-direction thrust bearing 4, and fixed circle is anchored on the pedestal of transverse translation sliding sleeve 2, and translation sliding sleeve 2 is installed on the transverse translation guide rod 1 by mobile bearing;
Welding torch 9 bottoms connect the save-all 7 that can dismantle near the welding wire exit, and this save-all 7 mainly is made up of save-all seat 22, splash block 23 and stage clip 24, and stage clip 24 is installed in two between the block 23 that splash.
Embodiments of the invention are described further as follows:
The unsteady elastic force of a kind of welding torch of the present invention drives the horizontal autotracker of weld seam, it is in the front and back of welding torch a plane system of couples that is made of the mechanical elastic effect to be set respectively respectively, by the roller 6 that contacts with groove each power in the system of couples is applied on the welding groove surface 8 of weld seam both sides.It is parallel and do not change to set up groove gap in advance, and during the system of couples balance of plane, the line of central point O1, the O2 of two couples overlaps with welding torch cross central line MN, and promptly welding torch is centered at the center of bevel for welding two sides 8 automatically during plane system of couples balance.When system moves, when the horizontal parallel increase of groove gap (distances between two groove faces) or during reducing to change, F in the system of couples of plane
1, F
2, F
3, F
4Equivalence reduces or increases, and the system of couples is balance all the time, resultant couple square identically vanishing, and welding torch 9 is positioned at parallel increase or the center of the bevel for welding two sides 8 that reduce all the time, and its system of couples satisfies:
F
1＝F
2＝F
3＝F
4
(b/2)F
1+(b/2)F
3＝0，
(b/2)F
2+(b/2)F
4＝0
[(2a+b)/2]F
2+[(2a+b)/2]F
3＝0
[(2a+b)/2]F
1+[(2a+b)/2]F
4＝0
(see figure 4) during the horizontal non-parallel variation in bevel for welding gap (as monolateral inclination or bilateral inclination), each power in the system of couples of plane will no longer equivalently change (displacement difference, the elastic force difference), the plane system of couples is with disequilibrium, and mechanical elastic drives welding torch translation and rotation resultant motion; Diagram welding direction welding gun is gone up constantly next roller moment displacement to the right on right side always constantly (welding torch center line as yet not displacement to the right regulate end of a period) when groove moves relatively, and groove is to the support reaction F ' of left side roller
1F '
4Moment is greater than the support reaction F ' of right side groove to the right side roller
2F '
3, driving force (F '
1F '
4-F ' 2F '
3) promote welding torch to right translation; Meanwhile, F
1, F
2The counterclockwise moment of couple that constitutes is less than F
3, F
4The clockwise moment of couple that constitutes, system of couples disequilibrium, rotating drive power (b/2) F
4-(b/2) F
1The promotion welding torch turns clockwise; When the cross central line MN of welding torch overlapped with horizontal groove center line M ' N ' of the current active region of plane system of couples SS ' T ' T by resultant motion, the system of couples reached new balance, once regulated from motion tracking and finished.
Groove gap changes all the time, and the automatic adjusting of tracking system will be carried out all the time.Otherwise then do not regulate.
Described transverse translation guide rod 1 and translation sliding sleeve 2 constitute rolling friction pair, and its static friction heals better little, and its static friction should be below 40-50g under the service load condition.Static friction is big, and the tracking means physical dimension will be increased, and key is directly to have influence on tracking response speed.Described swivel bearing 4 is a two-direction thrust bearing, corresponding axle will guarantee that circular runout and axial float are as far as possible little during with the bearing block design, and welding gun height error when reducing different spatial and welding gun tilt and increase the stiction of 1 of translation sliding sleeve 2 and translation guide rod.The insulating materials of the anti-certain high temperature of couple seat body 5 usefulness is made, and its pedestal transverse center plane overlaps with the transverse center plane MN of welding torch 9, and is rigidly connected with welding torch 9.Roller support 20 is installed on the couple seat body 5, and the available metal material is made.Roller support 20 respectively is provided with a kidney slot 26 up and down, is free to slide in this chute 26 with the axle 19 (radius is r) that guarantees detection wheel 6.2G is the effective excursion of design groove gap of this tracking means.In this excursion, can guarantee horizontal tracing precision and response speed thereof, exceed its scope system cisco unity malfunction.The diameter selection principle of detection wheel 6 is: than the little 1.5～2.5mm of the minimum groove gap of welding of practical application.Spring 21 is strength members of tracking means, and its elastic force (driving force of decision tracking system) size is directly determining the response speed of tracking system, if elastic force approaches the unsteady resistance of welding torch, tracking response will be extremely unreliable; If elastic force is excessive, might produce concussion, 5-10 times of primary election of the actual measurement maximum static friction resistance when pressing the welding torch translation, and selected at last by experiment on actual manufacturing installation.What spring structure was high and steeper with " displacement-elastic force " characteristic curve linearity is good, can be flat spring, torsionspring or flat spring.After device is made and to be finished, must be through careful force system in equilibrium adjustment, specific requirement is as follows: 1, on its installation site, effectively adjustment stroke (the size G in the kidney slot 27) must be consistent respectively for 4 detection wheels 6, and error is ± 2%; 2,4 detection wheels 6 be positioned at the maximum elastic force of G high order end and low order end must be consistent with minimum elastic force, error is ± 2%; 3, in the test block of standard analog groove gap, do blance test, the central lines of the cross central line of couple seat body 5 and standard analog groove gap, allowable error ± 1%.
Shown in Fig. 1-7, wherein, wire convey soft pipe 12, cooling water pipe 13, air supply hose 14 and welding cable all must be connected on the welding torch 9, for guaranteeing that these pipelines and cable do not produce bigger translation and rotary resistance to the welding torch that floats, take following measure: 1, pipeline and cable need have good flexibility; 2, curvature is as far as possible little; 3, as far as possible from top or symmetry direction introduce.When this tracking means is used for the welding of consumable electrode open arc method, spatter will be difficult to avoid, and save-all 7 can keep off beyond the detection operations surface of detection wheel 6 all the time with splashing.Save-all seat 22 is designed to quick release with welding torch 9 and is connected (as pegging graft), and the block 23 that splashes can be free to slide in this seat.The block 23 usefulness ceramic materials that splash are made.The save-all seat 22 and the block 23 that splashes belong to consumable accessory.The save-all seat 22 and the block 23 that splashes are met cambered surface and should be made smoothly, can coat during work and splash only, splash so that remove.Stage clip 24 block 23 that splashes in the time of should guaranteeing the groove maximal clearance still can be adjacent to groove face.When the traditional groove that this tracking means is used for big groove face angle was followed the tracks of, detection wheel 6 was taper, and tapering and groove face angle are identical.For prevent that the upwards component that taper detection wheel 6 produces from causing welding torch to top offset, applies a downward counter-force P to detection wheel 6 and offset under pressure F effect.Such groove also can not allow detection wheel 6 fixing on welding torch 9 short transverses when following the tracks of, promptly detecting location is adjustable with respect to the torch height direction.
Among accompanying drawing 1～7 embodiment, the linear bearing pair that transverse translation guide rod 1 and transverse translation sliding sleeve 2 usefulness are commercially available, translation sliding sleeve 2 is used linear bearing, the guide rail transformation of the way that translation guide rod 1 usefulness linear bearing is supporting.Recording its maximum static friction force under translational displacement simulation welding torch load 5kg condition is 48g.Horizontal swivel bearing 4 52202 double-direction thrust ball bearings.Couple seat body 5 usefulness nylon 66 are made, and roller support 20 is installed on the couple seat body 5, makes with the 18-8 stainless steel material.Roller support 20 respectively is provided with a kidney slot 26 up and down, is free to slide in this chute with the axle 19 (radius is r=0.5mm) that guarantees detection wheel 6.Detection wheel 6 respectively is provided with two in the welding torch front and back, makes surface roughness 1.6 μ m with high-carbon steel through modulation heat treatment.Roller axle 19 materials are consistent with manufacturing process and detection wheel 6, are assembled into tight fit.Detection wheel 6 diameters are 3mm, the range of lateral adjustment G=1.3mm of one-sided roller, bilateral adjustable range 2G=2.6mm (promptly designing the effective excursion of groove gap).Example is a ultra-narrow gap gas metal-arc welding bevel for welding, groove face angle β≤2 °, and minimum groove gap is 5.5mm, adds adjustable range 2G, it is 8.1mm that maximum groove is effectively followed the tracks of the gap.The block 23 usefulness ceramic materials that splash of save-all 7 are made.The driving force of spring 21 is chosen by 8 times that survey maximum static friction force under the translational displacement condition, and this example is chosen 4kg, and this example is made with the 65Mn spring leaf.The force system in equilibrium adjustment is carried out on than precision digital displacement measurement and pressure-measuring device.Central lines error ± 0.8% of the cross central line of couple seat body 5 and standard analog groove gap.
Claims (6)
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| CNB2004100609904A CN1296170C (en) | 2004-10-21 | 2004-10-21 | Automatic device in transverse direction for tracking welding line line by floatation force of welding-torch |
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| CNB2004100609904A CN1296170C (en) | 2004-10-21 | 2004-10-21 | Automatic device in transverse direction for tracking welding line line by floatation force of welding-torch |
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| CN1296170C true CN1296170C (en) | 2007-01-24 |
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| JP5131437B2 (en) * | 2007-07-04 | 2013-01-30 | トヨタ自動車株式会社 | Welding apparatus and welding method |
| CN104384668B (en) * | 2014-09-22 | 2016-07-06 | 武汉纳瑞格智能设备有限公司 | A kind of unregulated power drives three-dimensional adaptive centralising device |
| CN104289793B (en) * | 2014-09-22 | 2016-06-29 | 武汉纳瑞格智能设备有限公司 | Adaptive tracing elastic sensor for bevel for welding |
| CN104923887B (en) * | 2015-06-26 | 2017-03-22 | 武汉纳瑞格智能设备有限公司 | Transverse direction self-adaptation tracking device for ultra-narrow gap MAG/MIG welding weld line |
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| CN112643173B (en) * | 2021-01-18 | 2022-03-29 | 中车长春轨道客车股份有限公司 | Welding wire thrust detection device |
| CN115106618A (en) * | 2022-07-26 | 2022-09-27 | 南京东斯达机电科技有限公司 | Novel narrow-gap vertical welding device |
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| JPH10211577A (en) * | 1997-01-27 | 1998-08-11 | Nippon Steel Weld Prod & Eng Co Ltd | Two-electrode single-sided gas shielded arc welding method |
| CN2413835Y (en) * | 2000-03-03 | 2001-01-10 | 庄新盛 | Mechanical type welding seam tracking device |
| WO2002032611A1 (en) * | 2000-10-16 | 2002-04-25 | Kabushiki Kaisha Kokuho | Copying welding equipment |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4356362A (en) * | 1979-12-20 | 1982-10-26 | Schmall Karl H | Hazard switch arrangement |
| CN2089386U (en) * | 1990-12-31 | 1991-11-27 | 国营七一○厂 | Pneumatic groove welding tracking device |
| JPH10211577A (en) * | 1997-01-27 | 1998-08-11 | Nippon Steel Weld Prod & Eng Co Ltd | Two-electrode single-sided gas shielded arc welding method |
| CN2413835Y (en) * | 2000-03-03 | 2001-01-10 | 庄新盛 | Mechanical type welding seam tracking device |
| WO2002032611A1 (en) * | 2000-10-16 | 2002-04-25 | Kabushiki Kaisha Kokuho | Copying welding equipment |
Also Published As
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| CN1600487A (en) | 2005-03-30 |
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