CN104117869A - Automatic feeding and discharging line for workpiece machining - Google Patents
Automatic feeding and discharging line for workpiece machining Download PDFInfo
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- CN104117869A CN104117869A CN201410244815.4A CN201410244815A CN104117869A CN 104117869 A CN104117869 A CN 104117869A CN 201410244815 A CN201410244815 A CN 201410244815A CN 104117869 A CN104117869 A CN 104117869A
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- machine tooling
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- automatic loading
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
- B23Q7/1426—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices
- B23Q7/1494—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices using grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/05—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of roller-ways
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Feeding Of Workpieces (AREA)
Abstract
The invention discloses an automatic feeding and discharging line for workpiece machining. The automatic feeding and discharging line for workpiece machining comprises a first linear four-axis robot, a second linear four-axis robot, two manual feeding lines, a feeding conveying line, an automatic discharging conveying line and an electric control system. The first linear four-axis robot and the second linear four-axis robot are respectively provided with a first pair of tongs and a second pair of tongs. Each first pair of tongs is used for workpiece feeding. Each second pair of tongs is used for workpiece discharging. The automatic discharging conveying line comprises two roller bed conveying lines and an overturning machine which can rotate by 90 degrees. Each roller bed conveying line is provided with a workpiece sensor. Two line bodies are arranged outside the two roller bed conveying lines. Carrying trolleys used for transferring empty trays to stations on the corresponding manual feeding lines are arranged on the line bodies. The first linear four-axis robot and the second linear four-axis robot are connected with the electric control system through a profibus-DP bus. The automatic feeding and discharging line for workpiece machining is high in production efficiency and capable of greatly reducing cost.
Description
Technical field
The present invention relates to the upper and lower stockline of a kind of workpiece machine tooling, relate in particular to a kind of workpiece machine tooling automatic loading/unloading line.
Background technology
Production line adopts artificial loading and unloading to carry out separate unit machine tool workpiece production at present, every lathe is given birth to per tour, and respectively 1 operator of needs carries out lathe loading and unloading, whole line per tour also needs operating personnel to carry out material allocation, three-shift system every day that manufacturer adopts is produced, i.e. every 36 of operating personnel day by day, thereby the work piece production that needs a large amount of work personnel to drop into this line, and whole line output is subject to the impact of human factor.
Summary of the invention
The object of the invention is to overcome the defect of prior art, workpiece machine tooling automatic loading/unloading line is provided, production efficiency of the present invention is high, has greatly saved cost.
The technical scheme that realizes above-mentioned purpose is:
The invention discloses workpiece machine tooling automatic loading/unloading line, wherein, described workpiece machine tooling automatic loading/unloading line comprises the first straight line Si Zhou robot, the second straight line Si Zhou robot, two cover artificial loading lines, material loading pipeline, automatic blanking pipeline and electric-control system, wherein:
Described the first straight line Si Zhou robot and the second straight line Si Zhou robot are provided with the first handgrip and the second handgrip, and described the first handgrip is responsible for workpiece feeding, and described the second handgrip is responsible for workpiece blanking;
Described automatic blanking pipeline comprises two roller bed conveying lines and tipper that can 90 ° of rotations, on described roller bed conveying line, is provided with workpiece sensor;
The arranged outside of described two material loading pipelines has transfer machine, is provided with delivery empty pallet to the carrier loader of artificial loading station on described transfer machine;
Between described the first straight line Si Zhou robot, the second straight line Si Zhou robot and electric-control system, by profibus-DP bus, be connected.
Above-mentioned workpiece machine tooling automatic loading/unloading line, wherein, described the first handgrip and the second handgrip are provided with alignment pin, imitative type piece and synchronous cylinder, and described alignment pin and imitative type piece clamp to firmly grasp workpiece by synchronous cylinder to centre position displacement.
Above-mentioned workpiece machine tooling automatic loading/unloading line, wherein, described the first handgrip and the second handgrip are provided with 90 ° of corner cylinders can make 90 ° of upsets of workpiece.
Above-mentioned workpiece machine tooling automatic loading/unloading line, wherein, described the first handgrip and the second handgrip are provided with XY direction XYZ direction relocatable module and the axial deceleration sensor of Z axis.
Above-mentioned workpiece machine tooling automatic loading/unloading line, wherein, described material loading pipeline is provided with tray station, and described tray station is provided with detent mechanism.
Above-mentioned workpiece machine tooling automatic loading/unloading line, wherein, the number of described tray station is 8.
Above-mentioned workpiece machine tooling automatic loading/unloading line, wherein, described workpiece machine tooling automatic loading/unloading line is provided with cleaning machine, and described cleaning machine is connected with tipper.
Above-mentioned workpiece machine tooling automatic loading/unloading line, wherein, described workpiece machine tooling automatic loading/unloading line is provided with the intermediate station for temporary transient place work piece, and described intermediate station is provided with workpiece classification identification sensor.
Above-mentioned workpiece machine tooling automatic loading/unloading line, wherein, described workpiece machine tooling automatic loading/unloading line is provided with sampling observation platform, and described sampling observation platform is the sampling observation platform for request sampling observation manually.
Above-mentioned workpiece machine tooling automatic loading/unloading line, wherein, described electric-control system is provided with safe light curtain, safety door latch, scram button, fault alarm indication and main directing station, described directing station is provided with device start third contact of a total solar or lunar eclipse warning device, and time of fire alarming is set, described main directing station operation mode is automatic or manual.
The invention has the beneficial effects as follows: the invention provides workpiece machine tooling automatic loading/unloading line, this line pipeline loading and unloading position is the blanking personnel of a upper procedure and the material loading personnel of next process, whole line only needs 2 people's loading and unloading and 1 people to move and carry out real-time inspection equipment, artificial loading and unloading mode before comparing, this scheme has reduced the manpower demand that this line is produced, and this line adopts robot charge, robot repetitive position consistency, there is not extraneous bad interference, and robot can realize and within 24 hours, not stop lineman's work, reduced the demand in man-hour of this operation, thereby improved greatly the daily output of product, saved production cost.
This workpiece machine tooling automatic loading/unloading line (10 lathes of whole line) is to be applicable to automobile speed variator machining, this robot automation's loading and unloading system is demand based on manufacturer and our robot automation's loading and unloading system, this line comprises FIVES GANTRY robot and auxiliary device, and the logistics transmission and the whole wire gauge that comprise whole system are drawn simultaneously.
Accompanying drawing explanation
Fig. 1 is the whole line layout of workpiece machine tooling automatic loading/unloading line of the present invention.
Fig. 2 is the schematic diagram of the robot of workpiece machine tooling automatic loading/unloading line of the present invention.
Fig. 3 is the schematic diagram of the robot gripper of workpiece machine tooling automatic loading/unloading line of the present invention.
Fig. 4 is the schematic diagram of the tipper of workpiece machine tooling automatic loading/unloading line of the present invention.
Fig. 5 is the schematic diagram of the roller bed conveying line of workpiece machine tooling automatic loading/unloading line of the present invention.
Fig. 6 is the schematic diagram of the material loading pipeline of workpiece machine tooling automatic loading/unloading line of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
Refer to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, workpiece machine tooling automatic loading/unloading line of the present invention, comprises the first straight line Si Zhou robot, the second straight line Si Zhou robot, two cover artificial loading lines, material loading pipeline 1, automatic blanking pipeline and electric-control system (not shown).
The first straight line Si Zhou robot and the second straight line Si Zhou robot are provided with the first handgrip and the second handgrip, and the first handgrip is responsible for workpiece feeding, and the second handgrip is responsible for workpiece blanking.
Automatic blanking pipeline comprises two roller bed conveying lines and tipper that can 90 ° of rotations, is provided with workpiece sensor on roller bed conveying line.
Article two, the arranged outside of material loading pipeline has transfer machine 3, is provided with delivery empty pallet to the carrier loader of artificial loading station on transfer machine 3.
Between the first straight line Si Zhou robot, the second straight line Si Zhou robot and electric-control system, by profibus-DP bus, be connected.
The first handgrip and the second handgrip are provided with alignment pin (not shown), imitative type piece 4 and synchronous cylinder 5, and alignment pin and imitative type piece 4 clamp to firmly grasp workpiece by synchronous cylinder 5 to centre position displacement.
The first handgrip and the second handgrip are provided with 90 ° of corner cylinders 6 can make 90 ° of upsets of workpiece.
The first handgrip and the second handgrip are provided with XYZ direction relocatable module 7 and the axial deceleration sensor (not shown) of Z axis.
Material loading pipeline 1 is provided with tray station, and tray station is provided with detent mechanism, and the number of tray station can reach 8.
Workpiece machine tooling automatic loading/unloading line is provided with cleaning machine (not shown), and cleaning machine is connected with tipper.
Workpiece machine tooling automatic loading/unloading line is provided with the intermediate station 8 for temporary transient place work piece, and intermediate station 8 is provided with workpiece classification identification sensor.
Workpiece machine tooling automatic loading/unloading line is provided with sampling observation platform 9, and sampling observation platform 9 is the sampling observation platform for request sampling observation manually.
Electric-control system is provided with safe light curtain, safety door latch, scram button, fault alarm indication and main directing station, and directing station is provided with device start third contact of a total solar or lunar eclipse warning device, and time of fire alarming is set, and main directing station operation mode is automatic or manual.
Whole line is used 2 cover FIVES GANTRY3 axle robots altogether, for the crawl of workpiece, and the logistics that 2 cover artificial loading lines, 1 cover automatic blanking line are whole line.Process is established intermediate station 8 and is controlled for process with sampling observation platform 9.
System composition of the present invention and functional description are as follows.
1.FIVES GANTRY robot
There are two handgrips in a set of GANTRY robot, is divided into A, B handgrip; A handgrip is responsible for workpiece feeding, and B handgrip is responsible for workpiece blanking.Robot is comprised of X-axis 10, Z axis 11, rotating shaft 12, servomotor 13, safety lock 14 etc. respectively; The rotating shaft 12 of X-axis 10 and Z axis is by servomotor 13 precise displacement; Safety lock is that each axle of state protection of dying when device powers down can not claim or tenesmus position.
2, material loading pipeline
The main purpose of material loading pipeline is to improve workman's operating efficiency, reduces the stand-by period, part on operator is manual in C district, upper 8 workpiece continuously, buffer zone is 8 tray station, and tray upper surface is carried out locating piece, makes workpiece can accurately be positioned on pallet; GANTRY robot grabs workpiece position (D district) and has pallet positioning function, and workpiece material level in robot just can accurately have been located like this, and GANTRY robot just can accurately pick up workpiece; The round transfer dolly on line body both sides is transported to C district empty pallet circulation and manually goes up part station.Stopper 15 is that the immediate pallet of buffer area is single separately, and the pallet separating is transported to opposite side by transfer machine 3; Driving machine provides power for two side line bodies.
3, GANTRY robot gripper
Handgrip is to imitate type piece 4 by synchronizeing cylinder 5 to centre position displacement clip clamping of workpieces by a side alignment pin and opposite side, makes workpiece grabbing; Imitative type piece 4 one sides are connected on 90 ° of corner cylinders 6, when workpiece can require make 90 ° of positions upsets of workpiece with processing technology during at clamped condition; XY direction XYZ direction relocatable module 7 is housed on handgrip, when GANTRY XYZ direction relocatable module 7 lockings during at horizontal high-speed displacement, when workpiece is put into fixture, XYZ direction relocatable module 7 is opened, and workpiece to accurate locating bias, makes workpiece accurately put into fixture with thick fixed guiding; The axial deceleration sensor (not shown) of Z axis of the axial collision prevention function of Z axis is also housed on handgrip, and after Z axis displacement excessively, after triggering deceleration sensor, Z axis slows down; After triggering limit sensors after Z axis displacement excessively, Z axis stops.
4, intermediate station 8 and sampling observation platform 9
Intermediate station 8 plays temporary transient placement effect, workpiece classification identification sensor in transfer edge of table; Sampling observation platform 9 functions are that after operating personnel's manual request, GANTRY manipulator is placed on semi-finished product workpiece on sampling observation platform, separate manually locking plug and draw back ray examination under workpiece; After having checked, push back and put in place manually, after sensor detects and puts in place, latch is automatic locking; GANTRY B manipulator captures workpiece to OP20 machine tooling, is incorporated to raw doubling.
5, lower stockline:
5.1 roller bed conveying lines, as Fig. 5, are comprised of drive motors 16, cylinder 17, guardrail 18 etc.; Drive motors 16 provides power, between cylinder 17 and cylinder 17 by chain transferring power all linked with one another.
5.2 tippers, as Fig. 4, are comprised of drive motors, cylinder 19, belt line 20, cylinder 21 etc.
Automatic blanking pipeline, by two sections of roller bed conveying lines, adding a set of 90 ° of tippers forms, the whole line method of operation is step-by-step movement operation, robot gripper is opened rear handgrip on the workpiece placement after processing and roller bed conveying line, to level sensor, workpiece detected, roller line starting, while waiting for position before workpiece arrives tipper, identify tipper state, tipper side workpiece when waiting for position moves on and enters tipper, after workpiece turning, roll off the production line and enter cleaning machine, if tipper is when flip bit, workpiece is waited for position wait at roller line; While translating into wait position Deng tipper, side workpiece moves on and enters tipper, and two rollgangs like this are back and forth operation alternately.
The carrying beat that 2 FIVES GANTRY mechanical hands can meet all charging trays of Wu Tai robot requires (must be less than 60Sec), and beat analysis is as follows:
Electric-control system comprises PLC security module and touch-screen HMI, and PLC security module connects the first robot and the second robot by profibus-DP bus; PLC security module is connected with far module, and PLC security module can also be connected on master operating station by Ethernet netting twine.The PLC security module adopting by the present embodiment is Siemens315F safety PLC and 10 cun of touch-screen HMI.Whole line operation is monitored by Siemens315F safety PLC, adopt touch-screen HMI13 to show whole system duty, and on touch-screen HMI, carry out the setting of preset workpiece parameter, and can provide and operate help to operating personnel, order of classes or grades at school, workpiece numeration and each station duty can be indicated.
Workpiece machine tooling automatic loading/unloading line is provided with safe light curtain, safety door latch and scram button, owing to adopting Siemens315F PLC security module, safe light curtain and safety door latch also access Siemens315F PLC security module, all safety signals such as scram button are controlled by security procedure independently, the fully security of assurance equipment operation, simultaneously in duty, can not arbitrarily enter working region, and safety door is opened equipment and can not automatically be moved when maintenance personal enters workspace.
Electric-control system is provided with fault alarm indication, and the helping prompt that can provide fault message and fault to get rid of by touch-screen HMI.
Electric-control system is provided with a main directing station, and main directing station is provided with device start third contact of a total solar or lunar eclipse warning device, and time of fire alarming can arrange, and master operating station operation mode is divided into automatically and manual two kinds of modes.
Between electric-control system and robot cell, adopt profibus-DP bus mode to connect, to guarantee system even running, accurate positioning.Conveying device is that the robot cell of roller-way and the first robot and the second robot composition can manually control separately, also can Automatic continuous operation.
The Integrated Solution of sliver of the present invention is that this line pipeline loading and unloading position is the blanking personnel of a upper procedure and the material loading personnel of next process, whole line only needs 2 people's loading and unloading and 1 people to move and carry out real-time inspection equipment, artificial loading and unloading mode before comparing, this scheme has reduced the manpower demand that this line is produced, and this line adopts robot charge, robot repetitive position consistency, there is not extraneous bad interference, and robot can realize and within 24 hours, not stop lineman's work, reduced the demand in man-hour of this operation, thereby improved greatly the daily output of product, saved production cost.
This workpiece machine tooling automatic loading/unloading line (10 lathes of whole line) is to be applicable to automobile speed variator machining, this robot automation's loading and unloading system is demand based on manufacturer and our robot automation's loading and unloading system, this line comprises FIVES GANTRY robot and auxiliary device, and the logistics transmission and the whole wire gauge that comprise whole system are drawn simultaneously.
In sum, the present invention adopts workpiece machine tooling automatic loading/unloading line, realized whole line and only need to think that operating personnel move and carry out real-time inspection equipment, artificial loading and unloading mode before comparing, the present invention has reduced the manpower demand that this line is produced, and this line adopts robot charge, robot repetitive position consistency, there is not extraneous bad interference, and robot can realize and within 24 hours, not stop lineman's work, reduce the demand in man-hour of this operation, thereby improved greatly the daily output of product, saved production cost.
Below embodiment has been described in detail the present invention by reference to the accompanying drawings, and those skilled in the art can make many variations example to the present invention according to the above description.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.Thereby some details in embodiment should not form limitation of the invention, the present invention will be usingd scope that appended claims defines as protection scope of the present invention.
Claims (10)
1. a workpiece machine tooling automatic loading/unloading line, it is characterized in that: described workpiece machine tooling automatic loading/unloading line comprises the first straight line Si Zhou robot, the second straight line Si Zhou robot, two cover artificial loading lines, material loading pipeline, automatic blanking pipeline and electric-control system, wherein:
Described the first straight line Si Zhou robot and the second straight line Si Zhou robot are provided with the first handgrip and the second handgrip, and described the first handgrip is responsible for workpiece feeding, and described the second handgrip is responsible for workpiece blanking;
Described automatic blanking pipeline comprises two roller bed conveying lines and tipper that can 90 ° of rotations, on described roller bed conveying line, is provided with workpiece sensor;
The arranged outside of described two material loading pipelines has transfer machine, is provided with delivery empty pallet to the carrier loader of artificial loading station on described transfer machine;
Between described the first straight line Si Zhou robot, the second straight line Si Zhou robot and electric-control system, by profibus-DP bus, be connected.
2. workpiece machine tooling automatic loading/unloading line according to claim 1, it is characterized in that: described the first handgrip and the second handgrip are provided with alignment pin, imitative type piece and synchronous cylinder, and described alignment pin and imitative type piece clamp to firmly grasp workpiece by synchronous cylinder to centre position displacement.
3. workpiece machine tooling automatic loading/unloading line according to claim 1, is characterized in that: described the first handgrip and the second handgrip are provided with 90 ° of corner cylinders can make 90 ° of upsets of workpiece.
4. according to the arbitrary described workpiece machine tooling automatic loading/unloading line of claim 1～3, it is characterized in that: described the first handgrip and the second handgrip are provided with XYZ direction relocatable module and the axial deceleration sensor of Z axis.
5. workpiece machine tooling automatic loading/unloading line according to claim 1, is characterized in that: described material loading pipeline is provided with tray station, and described tray station is provided with detent mechanism.
6. workpiece machine tooling automatic loading/unloading line according to claim 5, is characterized in that: the number of described tray station is 8.
7. workpiece machine tooling automatic loading/unloading line according to claim 1, is characterized in that: described workpiece machine tooling automatic loading/unloading line is provided with cleaning machine, and described cleaning machine is connected with tipper.
8. workpiece machine tooling automatic loading/unloading line according to claim 1, is characterized in that: described workpiece machine tooling automatic loading/unloading line is provided with the intermediate station for temporary transient place work piece, and described intermediate station is provided with workpiece classification identification sensor.
9. workpiece machine tooling automatic loading/unloading line according to claim 1, is characterized in that: described workpiece machine tooling automatic loading/unloading line is provided with sampling observation platform, and described sampling observation platform is the sampling observation platform for request sampling observation manually.
10. workpiece machine tooling automatic loading/unloading line according to claim 1, it is characterized in that: described electric-control system is provided with safe light curtain, safety door latch, scram button, fault alarm indication and main directing station, described directing station is provided with device start third contact of a total solar or lunar eclipse warning device, and time of fire alarming is set, described main directing station operation mode is automatic or manual.
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| CN201410244815.4A CN104117869B (en) | 2014-06-04 | 2014-06-04 | Workpiece machine tooling automatic loading/unloading line |
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| CN104495354A (en) * | 2014-12-02 | 2015-04-08 | 广东富华重工制造有限公司 | Robot automatic line feeing and discharging conveying method |
| CN104759933A (en) * | 2015-03-13 | 2015-07-08 | 浙江畅尔智能装备股份有限公司 | Conveying device for automatic production line of brake clamp bracket of automobile |
| CN104786066A (en) * | 2014-12-03 | 2015-07-22 | 佛山市艾乐博机器人科技有限公司 | Automatic hardware machining production line |
| CN104820417A (en) * | 2015-05-22 | 2015-08-05 | 昆山市佰奥自动化设备科技有限公司 | Intelligent space stack type robot assembly production line |
| CN105610031A (en) * | 2014-11-18 | 2016-05-25 | 科迈士瑞士股份有限公司 | Cable processing equipment |
| CN106002458A (en) * | 2016-07-15 | 2016-10-12 | 保定标正机床有限责任公司 | Workpiece conveying device of combined machine tool |
| CN107215641A (en) * | 2017-07-31 | 2017-09-29 | 济南昊中自动化有限公司 | A kind of automatic framing system in stamping line line end and method |
| CN107520629A (en) * | 2017-07-13 | 2017-12-29 | 芜湖安普机器人产业技术研究院有限公司 | A kind of machining center machine people automatic loading/unloading control system |
| CN108298294A (en) * | 2018-03-20 | 2018-07-20 | 中国汽车工业工程有限公司 | A kind of robot clamp carried for bent axle |
| CN109590792A (en) * | 2019-01-06 | 2019-04-09 | 广州东焊智能装备有限公司 | A kind of automatic guided vehicle automatic blanking device |
| CN110281067A (en) * | 2019-07-31 | 2019-09-27 | 江苏艾联新能源智能装备有限公司 | It is a kind of can automatic loading/unloading intermediate station |
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| CN105610031A (en) * | 2014-11-18 | 2016-05-25 | 科迈士瑞士股份有限公司 | Cable processing equipment |
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| CN107520629A (en) * | 2017-07-13 | 2017-12-29 | 芜湖安普机器人产业技术研究院有限公司 | A kind of machining center machine people automatic loading/unloading control system |
| CN107215641A (en) * | 2017-07-31 | 2017-09-29 | 济南昊中自动化有限公司 | A kind of automatic framing system in stamping line line end and method |
| CN108298294A (en) * | 2018-03-20 | 2018-07-20 | 中国汽车工业工程有限公司 | A kind of robot clamp carried for bent axle |
| CN109590792A (en) * | 2019-01-06 | 2019-04-09 | 广州东焊智能装备有限公司 | A kind of automatic guided vehicle automatic blanking device |
| CN110281067A (en) * | 2019-07-31 | 2019-09-27 | 江苏艾联新能源智能装备有限公司 | It is a kind of can automatic loading/unloading intermediate station |
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| CN104117869B (en) | 2016-08-24 |
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Address after: 201600 No. 398, Dongxing Road, Shanghai, Songjiang District Patentee after: Wei intelligent electromechanical (Shanghai) Limited by Share Ltd Address before: 201600 No. 398, Dongxing Road, Shanghai, Songjiang District Patentee before: Liwei electromechanical (Shanghai) Co., Ltd. |