CN219358255U - Automatic ultrasonic wave of feeding concreties welding robot device - Google Patents
Automatic ultrasonic wave of feeding concreties welding robot device Download PDFInfo
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- CN219358255U CN219358255U CN202223293720.0U CN202223293720U CN219358255U CN 219358255 U CN219358255 U CN 219358255U CN 202223293720 U CN202223293720 U CN 202223293720U CN 219358255 U CN219358255 U CN 219358255U
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- 238000003466 welding Methods 0.000 title claims abstract description 67
- 239000011888 foil Substances 0.000 claims abstract description 86
- 238000010438 heat treatment Methods 0.000 claims abstract description 52
- 239000002994 raw material Substances 0.000 claims abstract description 23
- 238000007596 consolidation process Methods 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims description 32
- 239000002184 metal Substances 0.000 claims description 12
- 229910052751 metal Inorganic materials 0.000 claims description 12
- 230000006698 induction Effects 0.000 claims description 9
- 239000011261 inert gas Substances 0.000 claims description 5
- 239000006096 absorbing agent Substances 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000035939 shock Effects 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 239000000758 substrate Substances 0.000 claims description 3
- 239000000654 additive Substances 0.000 abstract description 3
- 230000000996 additive effect Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000004093 laser heating Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Lining Or Joining Of Plastics Or The Like (AREA)
Abstract
The utility model discloses an automatic feeding ultrasonic consolidation welding robot device which comprises a welding head clamping mechanical arm and a welding workbench, wherein the welding head clamping mechanical arm is positioned at one side of the welding workbench, the welding workbench comprises a workbench body, a moving assembly, a feeding device and a heating table, the moving assembly is positioned at the middle position of the upper surface of the workbench body, the heating table is arranged above the moving assembly, the feeding device is arranged at the side of the heating table opposite to the welding head clamping mechanical arm, the feeding device comprises a mounting plate, a foil tape head breaking table and a feeding assembly, a driving wheel, a raw material wheel, a tensioning wheel and a driven wheel are arranged on the mounting plate, the driving wheel is fixedly connected with an output shaft of a motor, the driving wheel is connected with the raw material wheel through a belt, the tensioning wheel is positioned below the raw material wheel, and a foil tape on the raw material wheel sequentially extends to the heating table through the tensioning wheel, the driven wheel, the foil tape head breaking table and the feeding assembly. The utility model effectively improves the welding efficiency, effectively prolongs the service life of the device and ensures the quality of welding additive products.
Description
Technical Field
The utility model relates to the technical field of ultrasonic welding, in particular to an automatic-feeding ultrasonic consolidation welding robot device.
Background
Ultrasonic welding is a rapid, clean and effective assembly process for assembling and processing metal fittings and some synthetic members by transmitting high-frequency vibration waves to the surfaces of two objects to be welded and rubbing the surfaces of the two objects against each other under the condition of pressurization to form fusion between molecular layers.
In the prior art, the ultrasonic welder is fixed on a large workbench, so that the flexibility is lacked, and the ultrasonic welder is very inconvenient to move; at present, all the welding foils need to be fed manually, the manual feeding has large requirement on manpower, the feeding amount is easy to control inaccurately, and the material waste is caused; in addition, in the prior art, the foil strip is heated after being welded on a workbench, so that the foil strip is possibly heated for a long time and is low in efficiency, or the foil strip is low in temperature, so that a welded product is easy to crack, and the quality of the product is not well controlled.
Disclosure of Invention
In order to overcome the problems in the prior art, the utility model provides an automatic feeding ultrasonic consolidation welding robot device.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides an automatic ultrasonic wave concretion welding robot device of feeding, includes bonding tool clamping arm, welding bench, bonding tool clamping arm is located welding bench one side, welding bench includes workstation body, moving assembly, feed arrangement, heating platform, moving assembly is located workstation body upper surface intermediate position, moving assembly installs the heating platform in top, with bonding tool clamping arm is relative the heating platform side is provided with feed arrangement, feed arrangement includes mounting panel, foil strip broken end platform, feeding assembly, install drive wheel, raw materials wheel, take-up pulley and follow driving wheel on the mounting panel, drive wheel and motor output shaft fixed connection, the drive wheel passes through the belt with the raw materials wheel and is connected, the take-up pulley is located the raw materials wheel below, follow the driving wheel is located the take-up pulley below, foil strip on the raw materials wheel passes through take-up pulley, follow driving wheel, foil strip broken end platform, feeding assembly in proper order and extends to the heating platform.
According to the ultrasonic consolidation welding robot device capable of achieving automatic feeding, universal wheels are arranged at four corners of the bottom of the workbench body, and a handle is arranged on one side of the workbench body.
According to the automatic-feeding ultrasonic consolidation welding robot device, the heater is arranged in the heating table and used for heating and preserving heat of the metal foil strips welded on the metal plates.
According to the automatic-feeding ultrasonic consolidation welding robot device, the temperature sensor is arranged on the heating table and used for monitoring the temperature of the substrate.
The automatic feeding ultrasonic consolidation welding robot device comprises a transmission mechanism, foil tape limiters and a heating unit, wherein the transmission mechanism is used for conveying foil tapes to the heating table, the foil tape limiters are located on two sides of the foil tape to limit the foil tape, and the foil tape penetrates through the heating unit.
The automatic-feeding ultrasonic consolidation welding robot device is characterized in that the heating unit is a high-frequency induction heater.
The ultrasonic consolidation welding robot device with the automatic feeding function comprises a transmission mechanism, wherein the transmission mechanism comprises a mounting seat, a transmission seat and a mounting rod, the mounting seat is located at one end far away from a heating table, the mounting rod is located at one end close to the mounting seat, the transmission seat is mounted on the mounting rod and can slide back and forth along the mounting rod, a first cylinder is arranged in the mounting seat, a piston rod of the first cylinder is fixedly connected with the transmission seat, foil belt limiters are arranged on the upper surfaces of the transmission seat and the mounting seat, a foil belt cover plate is arranged above the transmission seat, loosening and clamping actions can be achieved by the foil belt cover plate, and the heating unit is located between the transmission seat and the mounting seat.
The ultrasonic consolidation welding robot device capable of automatically feeding comprises a cutter head, a base, a support frame and a second cylinder, wherein the support frame is arranged on the base, a chute is formed in the support frame, the cutter head is arranged in the chute and can move up and down along the chute, and a piston rod of the second cylinder is connected with the cutter head and used for controlling the cutter head to lift.
According to the automatic-feeding ultrasonic consolidation welding robot device, the welding head clamping mechanical arm comprises the six-axis robot and the base, the six-axis robot clamps the ultrasonic welding head, and the shock absorber is arranged at the connection position of the six-axis robot and the ultrasonic welding head and used for absorbing the force transmitted to the six-axis robot so as to prevent the six-axis robot from resonance damage; the six-axis robot clamping section is provided with an air tap, and the air tap is connected with an inert gas storage tank.
The utility model has the beneficial effects that the heater in the heating table not only meets the preheating of the first layer of foil strip during welding, but also meets the corresponding heat preservation effect on the sample welded on the metal plate, and effectively improves the welding efficiency; preheating the metal foil strip through a heating unit of the feeding assembly, so that the welding efficiency is improved, and meanwhile, the occurrence of cracks of an ultrasonic welding additive sample caused by uneven heating of the metal foil strip is avoided; the vibration absorber is arranged at the connecting position of the welding head clamping mechanical arm and the ultrasonic welding head to absorb ultrasonic energy transmitted to the welding head clamping mechanical arm, so that the damage of a mechanical structure caused by resonance of a robot due to ultrasonic waves is prevented, and the service life of the device is prolonged; through setting up the air cock, the air cock is connected with inert gas holding vessel, makes anaerobic environment for work piece surface in ultrasonic welding material increase in-process, avoids the work piece to be heated oxidation, improves the quality of welding material increase product.
Drawings
The utility model will be further described with reference to the drawings and examples.
FIG. 1 is a schematic representation of an embodiment of the present utility model;
FIG. 2 is a schematic diagram of a feeding assembly according to an embodiment of the present utility model;
FIG. 3 is a schematic view of a foil tape break station according to an embodiment of the utility model;
fig. 4 is a flowchart illustrating an embodiment of the present utility model.
In the figure, 1, six-axis robot, 2, base, 3, heating table, 4, working table body, 5, moving assembly, 6, foil tape head breaking table, 7, driven wheel, 8, tensioning wheel, 9, mounting plate, 10, raw material wheel, 11, driving wheel, 12, handle, 13, air tap, 14, ultrasonic welding device, 15, foil tape limiter, 16, high-frequency induction heater, 17, foil tape cover plate, 18, mounting seat, 19, transmission seat, 20, mounting rod, 21, second cylinder, 22, supporting frame, 23, base and 24.
Detailed Description
The present utility model will be described in detail below with reference to the drawings and detailed description to enable those skilled in the art to better understand the technical scheme of the present utility model.
The embodiment discloses automatic feeding ultrasonic consolidation welding robot device, the specific structure is as shown in fig. 1, including bonding tool clamping mechanical arm, the welding workbench, bonding tool clamping mechanical arm is located welding workbench one side, the welding workbench includes workstation body 4, moving assembly 5, feeding device, heating platform 3, moving assembly 5 is located workstation body 4 upper surface intermediate position, heating platform 3 is installed to moving assembly 5 top, moving assembly 5 is used for controlling the removal of heating platform 3 in X axis and Y axis direction, be convenient for process complicated part, be provided with feeding device on the heating platform 3 side relative to bonding tool clamping mechanical arm, feeding device includes mounting panel 9, foil tape broken end platform 6, feeding component, install drive wheel 11 on the mounting panel 9, raw materials wheel 10, take-up pulley 8 and follow driving wheel 7, drive wheel 11 and motor output shaft fixed connection, drive wheel 11 passes through the belt with raw materials wheel 10 and is connected, take-up pulley 8 is located raw materials wheel 10 below, follow driving wheel 7 is located take-up pulley 8, foil tape on the raw materials wheel 10 passes through take-up pulley 8, follow driving wheel 7, foil tape broken end platform 6, feeding component extends to heating platform 3 in proper order. Tension sensors are arranged in the tension wheels 8, tension detection can be performed, and the rotation speed of the driving wheels is adjusted through tension detection. And displacement sensors are arranged on the feeding component and the foil tape breaking table and used for monitoring the foil tape.
In this embodiment, remove the subassembly and remove the subassembly including X axle, X axle removes the subassembly and includes mounting bracket, the screw rod, driving motor, the slider, the screw rod is installed on the mounting bracket, driving motor output shaft and screw rod fixed connection, the slider cup joints on the screw rod and can follow the screw rod and slide, X axle removes the subassembly and Y axle and remove the subassembly structure the same, Y axle removes the mounting bracket of subassembly and the slider fixed connection of X axle remove the subassembly, heating platform 3 and Y axle remove the slider fixed connection of subassembly, X axle removes the subassembly and Y axle and remove the subassembly mutually support, can realize the removal of heating platform.
The universal wheels are arranged at four corners of the bottom of the workbench body 4, the handle 12 is arranged on one side of the workbench body 4, and workers can move the welding workbench according to needs, so that convenience and flexibility are realized.
During operation, the metal sheet is placed on the surface of the heating table 3, a heater is arranged in the heating table 3 and used for heating and preserving heat of the metal foil strips welded on the metal sheet, and a temperature sensor is arranged on the heating table 3 and used for monitoring the temperature of the substrate. The ultrasonic welding device disclosed in this embodiment can be used for ultrasonic additive manufacturing, and the heating table 3 not only meets the corresponding preheating when the first layer of foil strip is welded, but also meets the corresponding heat preservation effect on the sample welded on the metal plate.
As shown in fig. 2, the feeding assembly includes a transmission mechanism, a foil limiter 15, and a high-frequency induction heater 16, where the transmission mechanism is used to convey the foil to the heating table 3, the foil limiter 15 is located at two sides of the foil to limit the foil, and the foil passes through the high-frequency induction heater 16 to preheat the foil, so as to improve efficiency of welding and material-increasing. The high frequency induction heater 16 is a heating coil for preheating the feed foil in advance to a corresponding operating temperature. The high-frequency induction heater 16 may be replaced by a laser heating, a resistance heating, or the like, as long as the effect of preheating in advance can be achieved.
The transmission mechanism comprises a mounting seat 18, a transmission seat 19 and a mounting rod 20, wherein the mounting seat 18 is positioned at one end far away from the heating table 3, the mounting rod 20 is positioned at one end close to the mounting seat 18, the transmission seat 19 is arranged on the mounting rod 20 and can slide back and forth along the mounting rod 20, a first air cylinder is arranged in the mounting seat 18, a piston rod of the first air cylinder is fixedly connected with the transmission seat 19, foil tape limiters 15 are arranged on the upper surfaces of the transmission seat 19 and the mounting seat 18, a foil tape cover plate 17 is arranged above the transmission seat 19, the foil tape cover plate 17 can realize loosening and clamping actions, and the high-frequency induction heater 16 is positioned between the transmission seat and the mounting seat.
The foil cover 17 is connected to magnets arranged above N and below S, the lower part of the magnets is provided with an iron core with an electrified solenoid, and the solenoid coil is connected to a direct current motor. Under the condition of forward current, the iron core is magnetized by the magnetic field of the electrified solenoid, the magnetized iron core becomes a magnet, an upper S and a lower N magnetic fields are formed, the upper S and the lower N magnetic fields are attracted with the magnet above, the foil strip cover plate is clamped, a piston rod of the first cylinder stretches out to push out the transmission seat, and the foil strip is driven to move forwards at the moment; under the condition of reverse current, the iron core forms a magnetic field with upper N and lower S, the magnetic field is mutually repelled with the magnet above, the foil strip cover plate is loosened, the piston rod of the first cylinder is retracted to drive the transmission seat to be retracted, and the transmission seat is returned to the initial position, so that the foil strip is transported forwards.
As shown in fig. 3, the foil tape breaking table comprises a cutter head 24, a base 23, a support frame 22 and a second cylinder 21, wherein the support frame 22 is installed on the base 23, a chute is arranged on the support frame 22, the cutter head 24 is installed in the chute and can move up and down along the chute, and a piston rod of the second cylinder 21 is connected with the cutter head 24 to control the cutter head to lift.
The welding head clamping mechanical arm comprises a six-axis robot 1 and a base 2, the six-axis robot 1 clamps the ultrasonic welding head 14, in the embodiment, the six-axis robot 1 is An Chuan MOTOMAN-SP210, which belongs to the prior art, therefore, the specific structure of the six-axis robot is not repeated here, and the connecting surface of the ultrasonic welding device 14 is a plane, so that the ultrasonic welding device is convenient to be connected with the six-axis robot. The connecting position of the six-axis robot and the ultrasonic welding head is provided with a shock absorber for absorbing ultrasonic energy transmitted to the six-axis robot, so that the damage of a mechanical structure caused by resonance of the robot due to ultrasonic waves is prevented; the six-axis robot clamping section is provided with an air tap 13, the air tap 13 is connected with an inert gas storage tank, and is used for manufacturing an anaerobic environment for the surface of a workpiece in the ultrasonic welding material-increasing process, so that the workpiece is prevented from being heated and oxidized.
As shown in fig. 4, when the foil strip is assembled on the raw material wheel, the foil strip sequentially passes through the tensioning wheel, the driven wheel, the foil strip head breaking table and the feeding component and is fixed, after the foil strip is detected by the respective sensors of the foil strip head breaking table and the feeding component, a signal is sent to the master control table, after the master control table sets the required foil strip length, a motor is started, the driving wheel 11 is driven to rotate by the motor, the driving wheel 11 is connected with the raw material wheel 10 by a belt to drive the raw material wheel 10 to feed, the foil strip sequentially passes through the tensioning wheel 8 and the driven wheel 7 from the raw material wheel 10, passes through the foil strip head breaking table 6, the foil strip head breaking table sensor detects the length of the passed foil strip, and when the length reaches the preset length, the master control table controls the second cylinder to work, and controls the cutter head cutting to cut the foil strip in real time by the second cylinder 21, so that quantitative cutting of raw material is realized, and the problems of inaccurate feeding, waste of raw material and the like caused by manual feeding are avoided, and the feeding component sends the foil strip to the heating table in the process. The feeding assembly is provided with a foil limiter which limits the foil to move left and right and then passes through the high-frequency induction heater 16 so as to meet the preheating of the foil, and the front section of the feeding assembly is provided with a foil cover plate which prevents the foil from tilting in the conveying process and simultaneously conveys the foil forwards by clamping and loosening the foil. The whole feeding system is realized through the front-back stretching output of the first cylinder, and the specific working principle is as described above and is not repeated here. The foil tape coming out of the feeding assembly is conveyed to the heating table, the air tap always outputs inert gas, the preheated foil tape coming out of the feeding assembly is guaranteed not to be oxidized, and at the moment, the ultrasonic welding head starts to weld under the action of the robot.
The above embodiments are only exemplary embodiments of the present utility model and are not intended to limit the present utility model, the scope of which is defined by the claims. Various modifications and equivalent arrangements of this utility model will occur to those skilled in the art, and are intended to be within the spirit and scope of the utility model.
Claims (9)
1. An automatic ultrasonic wave of feeding concreties welding robot device, its characterized in that: including bonding tool centre gripping arm, weldment work platform, bonding tool centre gripping arm is located weldment work platform one side, the weldment work platform includes workstation body, moving assembly, feed arrangement, heating platform, moving assembly is located workstation body upper surface intermediate position, the heating platform is installed to the moving assembly top, with bonding tool centre gripping arm is relative the heating platform side is provided with feed arrangement, feed arrangement includes mounting panel, foil strip broken head platform, feeding assembly, install drive wheel, raw materials wheel, take-up pulley and follow driving wheel on the mounting panel, drive wheel and motor output shaft fixed connection, the drive wheel passes through the belt with the raw materials wheel and is connected, the take-up pulley is located the raw materials wheel below, follow the driving wheel and be located the take-up pulley below, the foil strip on the raw materials wheel passes through take-up pulley, follow driving wheel, foil strip broken head platform, feeding assembly in proper order extends to the heating platform.
2. The automatic feeding ultrasonic consolidation welding robot device according to claim 1, wherein universal wheels are arranged at four corners of the bottom of the workbench body, and a handle is arranged at one side of the workbench body.
3. An automatic feeding ultrasonic consolidation welding robot apparatus as claimed in claim 1, wherein a heater is provided inside the heating table for heating and maintaining the temperature of the metal foil strip already welded to the metal plate.
4. The automatic feeding ultrasonic consolidation welding robot apparatus of claim 1, wherein a temperature sensor is provided on the heating table for monitoring the substrate temperature.
5. The automatic feeding ultrasonic consolidation welding robot apparatus of claim 1, wherein the feeding assembly comprises a transmission mechanism, foil stoppers and a heating unit, the transmission mechanism is used for conveying the foil to the heating table, the foil stoppers are located on two sides of the foil to limit the foil, and the foil passes through the heating unit.
6. The automatic feed ultrasonic consolidation welding robot apparatus of claim 5, wherein the heating unit is a high frequency induction heater.
7. The ultrasonic consolidation welding robot apparatus of claim 5, wherein the transmission mechanism comprises a mounting seat, a transmission seat and a mounting rod, the mounting seat is positioned at one end far away from the heating table, the mounting rod is positioned at one end close to the mounting seat, the transmission seat is arranged on the mounting rod and can slide back and forth along the mounting rod, a first cylinder is arranged in the mounting seat, a piston rod of the first cylinder is fixedly connected with the transmission seat, foil tape limiters are arranged on the upper surfaces of the transmission seat and the mounting seat, a foil tape cover plate is arranged above the transmission seat, the foil tape cover plate can realize loosening and clamping actions, and the heating unit is positioned between the transmission seat and the mounting seat.
8. The automatic feeding ultrasonic consolidation welding robot device according to claim 1, wherein the foil strip head breaking table comprises a cutter head, a base, a support frame and a second air cylinder, the support frame is installed on the base, a sliding groove is formed in the support frame, the cutter head is installed in the sliding groove and can move up and down along the sliding groove, and a piston rod of the second air cylinder is connected with the cutter head and used for controlling the cutter head to lift.
9. The automatic feeding ultrasonic consolidation welding robot device according to claim 1, wherein the welding head clamping mechanical arm comprises a six-axis robot and a base, the six-axis robot clamps an ultrasonic welding head, and a shock absorber is arranged at the connection position of the six-axis robot and the ultrasonic welding head and used for absorbing the force transmitted to the six-axis robot so as to prevent the six-axis robot from resonance damage; the six-axis robot clamping section is provided with an air tap, and the air tap is connected with an inert gas storage tank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223293720.0U CN219358255U (en) | 2022-12-09 | 2022-12-09 | Automatic ultrasonic wave of feeding concreties welding robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223293720.0U CN219358255U (en) | 2022-12-09 | 2022-12-09 | Automatic ultrasonic wave of feeding concreties welding robot device |
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| Publication Number | Publication Date |
|---|---|
| CN219358255U true CN219358255U (en) | 2023-07-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202223293720.0U Active CN219358255U (en) | 2022-12-09 | 2022-12-09 | Automatic ultrasonic wave of feeding concreties welding robot device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116060751A (en) * | 2022-12-09 | 2023-05-05 | 烟台产研鑫合新材料有限公司 | An automatic feeding ultrasonic consolidation welding robot device |
| CN116727831A (en) * | 2023-07-31 | 2023-09-12 | 哈尔滨工程大学 | Ultra-thin metal foil ultrasonic consolidation device and system with pressure closed-loop feedback |
-
2022
- 2022-12-09 CN CN202223293720.0U patent/CN219358255U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116060751A (en) * | 2022-12-09 | 2023-05-05 | 烟台产研鑫合新材料有限公司 | An automatic feeding ultrasonic consolidation welding robot device |
| CN116727831A (en) * | 2023-07-31 | 2023-09-12 | 哈尔滨工程大学 | Ultra-thin metal foil ultrasonic consolidation device and system with pressure closed-loop feedback |
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