CN105598758B - A kind of processing method of bent axle flexible automation line and bent axle based on robot - Google Patents
A kind of processing method of bent axle flexible automation line and bent axle based on robot Download PDFInfo
- Publication number
- CN105598758B CN105598758B CN201610144662.5A CN201610144662A CN105598758B CN 105598758 B CN105598758 B CN 105598758B CN 201610144662 A CN201610144662 A CN 201610144662A CN 105598758 B CN105598758 B CN 105598758B
- Authority
- CN
- China
- Prior art keywords
- bent axle
- robot
- grinding machine
- truss
- dof
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/36—Single-purpose machines or devices
- B24B5/42—Single-purpose machines or devices for grinding crankshafts or crankpins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/35—Accessories
- B24B5/355—Feeding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/16—Single-purpose machines or devices for grinding end-faces, e.g. of gauges, rollers, nuts, piston rings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Multi-Process Working Machines And Systems (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention provides a kind of bent axle flexible automation line based on robot and a kind of processing method of bent axle, and the bent axle flexible automation line based on robot is provided with perpendicular slotting formula bent axle material stock unit, and bent axle material stock quantity several times are promoted；The truss feed robots for grabbing formula are set to truss feeding robot on independent two truss more, ensure not generate interference and collision between robot, the processing method of bent axle is based on the above bent axle flexible automation line, and the bent axle retaining amount of several times promotion and formula truss feed robot of grabbing make bent axle work in-process remove material rate several times raising more.
Description
Technical field
The present invention relates to Crankshaft Machining field more particularly to a kind of bent axle flexible automation line based on robot and
A kind of processing method of bent axle.
Background technology
With the accelerated development of automatic field, production and processing of the bent axle flexible automation line based on robot in bent axle
Upper reference is more popular.The existing bent axle flexible automation line based on robot includes multiple bent axle material stock units, lathe
Unit, multiple truss feed robot, multiple truss feeding robots；Bent axle material stock unit uses V-type frame chain, to bent axle
Carry out horizontal material stock and transport；Multiple truss feed robots and multiple truss feeding robots share same truss track, and
It is single gripping-type that truss, which is fed robot and truss feeding robot, and only there are one clamping positions.
The existing bent axle flexible automation line based on robot the problem is that, since bent axle material stock unit is to song
Axis carries out horizontal material stock, and material stock floor area requirement is big, and the area of restriction cannot be fully utilized, and need to often supplement bent axle
Blank.The truss feed robot and truss feeding robot of single gripping-type share same truss track, not only working efficiency
Lowly, to the processing of bent axle previous step finish needs be handed off to process in next step when, truss is fed robot and purlin
It is susceptible to abnormal collision between frame feeding robot, directly affects truss and truss feed robot, truss blanking machine
The service life of people, and there are security risks.
Invention content
First goal of the invention of the present invention is to provide a kind of efficient and safety the good bent axle flexibility based on robot
Automate line；
Second goal of the invention of the present invention is to provide a kind of processing method of bent axle that efficiently removing material.
Bent axle flexible automation line provided by the invention based on robot, including bent axle material stock unit, grinding machine group, purlin
Frame is fed robot, truss feeding robot and bent axle detent mechanism, and truss is fed robot and truss feeding robot in song
Bent axle is transported between axis material stock unit, grinding machine group and bent axle detent mechanism；Bent axle material stock unit includes carrier chain and driving
Device, driver drive the chain link loopy moving on carrier chain；Bent axle is placed on chain and is moved with chain link；Its feature exists
In：Bent axle material stock unit further includes slot plate, and slot plate is fixedly connected on chain link, and slot plate is provided with arranged at least
The depth direction of three slots, slot is vertical with the linear movement direction of chain link, and bent axle inserts in slot vertically；Truss feeding machine
Device people is located at truss feeding robot on two truss, and truss feed robot is provided at least three clamping positions.
By said program as it can be seen that inserting in bent axle material stock unit since bent axle is perpendicular, every bent axle floor space several times decline,
The bent axle several times that limiting can store in area increase, and loading efficiency is improved while reducing place input；Using independent truss
Formula feed robot and the feeding robots of grabbing effectively avoid interference and collision between the two more, extend robot service life and keep away
Exempt from unexpected generation, while the perpendicular slotting formula bent axle material stock unit of more clamping position robots cooperation makes bent axle handling efficiency several times improve.
Further embodiment is that the bent axle flexible automation line based on robot further includes the first six-DOF robot
With the second six-DOF robot；Grinding machine group is stopped including an at least centerless grinding machine, at least one eccentric grinding machine and at least one
Pushing surface grinding machine；First six-DOF robot is provided at least two first crawl positions, and the first six-DOF robot is removable
At to eccentric grinding machine and at bent axle detent mechanism；Second six-DOF robot be provided at least two second crawl positions, second
Six-DOF robot is movable at thrust surface grinding machine and at bent axle detent mechanism.
By said program as it can be seen that bent axle material stock unit is transported to erecting slotting multiple bent axles, rear truss feeding machine device people
Feeding is carried out to three or more bent axles simultaneously and centreless grinding is processed；It is in the truss feeding robot on different truss afterwards to song
Axis takes out and is kept in from centreless grinding, and rear first six-DOF robot and the second six-DOF robot are successively simultaneously to two
Above bent axle carries out eccentric mill and thrust surface grinder sequence after being captured.This bent axle flexible automation line based on robot
Processing efficiency effectively improves, and reduces material stock area and increases feeding rate, truss is fed robot and truss feeding robot
It avoids interference with, effectively improves the service life of robot, while improving safety.
Further embodiment is that bent axle detent mechanism includes support base, driving wheel and measurement portion.Support base is provided with idler wheel
Group, roller group support the main shaft part of bent axle；The axis rotation that driving wheel can abut with main shaft part and make bent axle along main shaft part；It measures
Portion includes that measurement head is slidably connected with seat, measurement head is measured with seat is measured, and measurement head is connected to the circumferential surface of the eccentric axial portion of bent axle,
Measure the displacement data that the sensor in seat reads measurement head.
Therefore when drive wheel makes crank rotation, eccentric shaft rotates synchronously the displacement sensing made in measurement seat
Device reads the displacement of measurement head, and PLC system reads sensor signal and obtains the eccentric position of bent axle, positioning accuracy higher.
Further embodiment is, bent axle material stock unit further includes truss material stirring-up mechanism, truss material stirring-up mechanism include fixed part,
Sliding part and flip-arm, sliding part are slidably connected with fixed part, and turning part is rotatablely connected with sliding part, and flip-arm is provided at least
Three thirds capture position.
Therefore the bent axle in upright state can be turned into accumbency by truss material stirring-up mechanism, truss feed of being more convenient for
Crawl of the mechanism to bent axle optimizes the processing performance of the bent axle flexible automation line based on robot.
Further embodiment is that bent axle material stock unit further includes bent axle slide unit, and bent axle slide unit is slidably connected with fixed part, bent
At least three first temporary positions are provided on axis slide unit, the bent axle is put in every 1 first temporary position for sleeping；Truss is fed machine
People moves between bent axle slide unit and centerless grinding machine.
Therefore it is first positioned over the first of bent axle slide unit after truss material stirring-up mechanism overturns the bent axle of setting and keeps in
Position, while truss is fed robot in bent axle slide unit feeding, bent axle material stirring-up mechanism, which has returned, to be continued at slot plate to bent axle
It is taken out overturning again, improves the working efficiency of the bent axle flexible automation line based on robot.
Further embodiment is that truss feeding robot includes blanking crawl arm and due-in area, and due-in area is provided at least
Bent axle is put in three the second temporary positions, the second temporary position for sleeping, and blanking crawl arm can move between centerless grinding machine and due-in area,
Truss feed robot can move between due-in area and centerless grinding machine.
Therefore blanking crawl arm is taken out bent axle machined in centerless grinding machine and is temporarily stored into due-in area, this
Afterwards, while truss feed robot is taken out preparation to due-in area's inside crankshaft and processes in next step, blanking crawl arm is again
It is moved in centerless grinding machine and another bent axle is taken out, the work of two steps is synchronous to be carried out, and it is flexible to improve the bent axle based on robot
Automate the working efficiency of line.
Further embodiment is that the first blanking transmission line is provided between centerless grinding machine and eccentric grinding machine, and the first blanking passes
Multiple 4th temporary positions are provided on defeated line, bent axle is put in the 4th temporary position for sleeping；Truss is fed mechanical arm in due-in area and the
It is moved between one blanking transmission line；First six-DOF robot moves between the first blanking transmission line and bent axle detent mechanism
It is dynamic.
Therefore the first blanking transmission line is set between centerless grinding machine and eccentric grinding machine, robot is fed by truss
Bent axle is transmitted with the first six-DOF robot, the distance between lathe and relative position become adjustable flexible, simultaneously
Make the transport process automation raising between the two to bent axle.
Further embodiment is that the second blanking transmission line, the second blanking are provided between eccentric grinding machine and thrust surface grinding machine
Transmission line includes portal support and multiple transport positions, and transport position is slidably connected with portal support, and transport position is used to capture bent axle；
First six-DOF robot moves between eccentric grinding machine and the second blanking transmission line, and the second six-DOF robot is second
It is moved between blanking transmission line and bent axle detent mechanism.
Therefore due to after more lathe lines production line entire length it is partially long, in eccentric grinding machine and thrust surface grinding machine
Between be provided with the second blanking transmission line with portal support and with the first six-DOF robot and the second six degree of freedom machine
Device people transmits, and equipment is checked and monitored between production line convenient for staff, while improving the song based on robot
The degree of automation of axis flexible automation line.
Further embodiment is that the bent axle flexible automation line based on robot further includes First Transition supply line and
Two transition supply lines；Multiple first screens are provided on First Transition supply line, the first screens is for placing bent axle；One or six certainly
It is moved between First Transition supply line and bent axle detent mechanism by degree robot；First six-DOF robot is in eccentric grinding machine
It is moved between First Transition supply line；Multiple second screens are provided on second transition supply line, the second screens is for placing
Bent axle；Second six-DOF robot moves between the second transition supply line and bent axle detent mechanism；Second six degree of freedom machine
Device people moves between thrust surface grinding machine and the second transition supply line.
Therefore First Transition supply line and the effect of the second transition supply line are identical, by taking First Transition supply line as an example,
After First bias grinding machine processes, the first six-DOF robot is taken out bent axle and is positioned over First Transition transport
It is transported on line, corresponding another first six-DOF robot of second eccentric grinding machine is by bent axle from First Transition supply line
Upper taking-up is sent in detent mechanism and carries out eccentric positioning, then carries out second eccentric mill processing, recycles like this.First Transition is transported
Defeated line can mutually wait for avoid due to directly being transmitted between the first six-DOF robot and cause the first six degree of freedom machine
People can not work to next workpiece, reduce unnecessary time loss and improve processing efficiency.
The processing method of bent axle, bent axle flexible automation line realization of the processing method based on robot, the line packet
Include bent axle material stock unit, grinding machine group, truss feed robot, truss feeding robot and bent axle detent mechanism；Bent axle material stock list
Member includes carrier chain and driver, and bent axle material stock unit further includes slot plate, and slot plate is fixedly connected on carrier chain, slot
Plate is provided at least three slots of arranged, and slot is axial vertical with the linear movement direction of chain link；Grinding machine group includes extremely
A few centerless grinding machine, at least one eccentric grinding machine and an at least thrust surface grinding machine；Bent axle based on robot is flexible automatic
It further includes the first six-DOF robot and the second six-DOF robot to change line；Truss is fed robot and truss blanking machine
Device people is on different truss, and truss feed robot is provided at least three clamping positions；First six-DOF robot is set
It is equipped at least two first crawl positions；Second six-DOF robot is provided at least two second crawl positions.The processing of bent axle
Method includes erecting bent axle to insert on the slot of bent axle material stock unit, and carrier chain transports bent axle；Truss is fed robot will be bent
At least three bent axles on axis material stock unit are transported to progress centreless grinding processing at centerless grinding machine after taking out；Truss feeding robot
Bent axle is taken out and kept in from centerless grinding machine；First six-DOF robot pair, at least two bent axle is captured and is transported to
Bent axle positioning is carried out at bent axle detent mechanism, rear first six-DOF robot pair, at least two bent axle takes from bent axle detent mechanism
Go out and be transported to eccentric grinding machine and carries out eccentric mill processing；First six-DOF robot takes out from eccentric grinding machine bent axle and temporary
It deposits；Second six-DOF robot pair, at least two bent axle, which is captured and is transported to progress bent axle at bent axle detent mechanism, to be determined
Position, rear second six-DOF robot pair, at least two bent axle take out from bent axle detent mechanism and are transported to the progress of thrust surface grinding machine
Thrust surface mill processing；Second six-DOF robot takes out bent axle from thrust surface grinding machine and carries out bent axle discharging.
By said program as it can be seen that truss feed robot takes out at least three bent axles of setting and transports carry out centreless grinding
Processing, at least two bent axle of the first six-DOF robot pair transport and carry out eccentric mill processing, the second six-DOF robot
At least two bent axles are transported with whereabouts pushing surface mill processing of going forward side by side, from the discharging for being transported to bent axle of bent axle material stock unit, per pass work
The quantity that sequence transports bent axle is promoted at double, is removed material efficiency and is greatly improved, to improve Production of Crankshaft efficiency.
Description of the drawings
Fig. 1 is the structure chart of the bent axle flexible automation line embodiment based on robot.
Fig. 2 is the structure chart at another visual angle of bent axle flexible automation line embodiment based on robot.
Fig. 3 is the enlarged drawing at A in Fig. 2.
Fig. 4 is the enlarged drawing at B in Fig. 1.
Fig. 5 is the enlarged drawing at C in Fig. 1.
Fig. 6 is the enlarged drawing at D in Fig. 1.
Fig. 7 is the enlarged drawing at E in Fig. 1.
Fig. 8 is the enlarged drawing at F in Fig. 1.
Fig. 9 is the enlarged drawing at G in Fig. 1.
Figure 10 is the enlarged drawing at H in Fig. 1.
Below in conjunction with the accompanying drawings and reference implementation example, the present invention is described in detail.
Specific implementation mode
Bent axle flexible automation line embodiment based on robot：
As shown in FIG. 1, FIG. 1 is the structure charts of the bent axle flexible automation line based on robot.Song based on robot
Axis flexible automation line be by truss robot, multi-freedom robot and guide rail PLC programmable controllers with
And under wired, wireless network control, bent axle is transported to the full-automatic flexible production line processed in grinding machine group, production line packet
Include bent axle material stock unit 100, centerless grinding machine 1, eccentric grinding machine 2, thrust surface grinding machine 3 and the truss feed machine for carrying bent axle
People 200, truss feeding robot 300, the first blanking transmission line 400, the first six-DOF robot 500, First Transition transport
Line 550, the second blanking transmission line 600, the second six-DOF robot 700 and the second transition supply line 750, are also useful for bent axle
The bent axle detent mechanism 800 of eccentric positioning.
As shown in Figures 2 and 3, Fig. 2 is the structure chart at another visual angle of bent axle flexible automation line based on robot, figure
3 be the enlarged drawing at A in Fig. 2.Bent axle material stock unit 100 is the beginning of the bent axle flexible automation line based on robot, this
Bent axle material stock unit 100 in invention is vertical crankshaft material stock unit, bent axle material stock unit 100 will store bent axle 10,
Transport overturns and keeps in, and is the crawl Job readiness that truss is fed robot 200 in next procedure of processing.Bent axle material stock list
The basic components of member 100 are driver 110 and conveyer chain 120, and driver 110 is driving motor, 110 drive sprocket of driver
Rotation, sprocket wheel drive the chain link 121 in conveyer chain 120 to generate linear motion between two sprocket wheels.Driver 110 exports axis connection
There is the identical conveyer chain 120 of two groups of structures, and has certain distance among two groups of conveyer chains 120, two chains in two groups of conveyer chains 120
Section 121 is connected to 130 both sides of slot plate, and two groups of conveyer chains 120 rotate synchronously, and 121 advanced in unison of chain link of both sides is to drive
Slot plate 130 moves along a straight line.
Nine slots 131 are provided on slot plate 130, multiple slots 131 are the circular hole of straight line arrangement, the depth of slot 131
Direction is spent, i.e. the axial direction of each circular hole is vertical with the direction that chain link 121 moves along a straight line, and 10 blank material of bent axle erects and inserts in slot
In 131, forms erecting side by side for bent axle 10 and insert.To the horizontal placement compared with V-type seat, slotting 10 retaining amount of bent axle is erected side by side and is at least carried
Up to three times.
Since conveyer chain 120 is mobile, truss feed robot 200 need to capture static bent axle 10, therefore bent
Axis material stock unit 100 further includes truss material stirring-up mechanism 140 and bent axle slide unit 190.Truss material stirring-up mechanism includes fixed part 170, slides
Dynamic portion 160 and flip-arm 150, the fixed part 170 of door case type are fixed relative to ground, and sliding part 160 passes through sliding rail and gas
The realizations such as cylinder or servo motor are slidably connected with fixed part 170, and flip-arm 150 is rotationally connected with 160 lower end of sliding part, turns over
There are three thirds to capture position 151 for the installation of pivoted arm 150, and position 151 is retractable is captured to bent axle 10 for third crawl.Bent axle slide unit
190 are slidably connected to slide unit fixed part 180, and slide unit fixed part 180 is relatively fixed with fixed part 170, is arranged on bent axle slide unit 190
There are three the first temporary positions 191.After the 151 pairs of bent axles 10 in third crawl position of flip-arm 150 capture, carry out 90 degree overturn and
Carry, last let-down in the first temporary position 191, wait for truss feed robot 200 remove material.
As shown in Figure 2, Figure 3 and Figure 4, Fig. 4 is the enlarged drawing at B in Fig. 1, and it includes main couple that truss, which is fed robot 200,
201 and feed arm 210, horizontal extending portion whole installation rack on main couple 201, feed arm 210 moved horizontally on main couple 201.
Feed arm 210 is vertical elongated arm, is provided with linear slide rail, and three the 4th of 210 lower end of feed arm is made to capture position 211
It can slide vertically；4th crawl position 211 is retractable under driving motor driving to capture bent axle 10.Certainly due to bent axle flexibility
There are multiple centerless grinding machines 1 on dynamicization line side by side and extremely, and main couple 201 crosses over more centerless grinding machines 1 simultaneously, and according to nothing
Autonomous working between reduction bed 1 is equipped with multiple truss feed robot 200 on main couple 201 and is not in the mood for respectively to each
Grinding machine 1 carries out independent Charge motion.
As shown in Figure 1 and Figure 5, Fig. 5 is the enlarged drawing at C in Fig. 1, and Fig. 5 is the structure chart of truss feeding robot 300.
Every centerless grinding machine 1 is equipped with an independent truss feeding robot 300, and truss feeding robot 300 includes blanking purlin
Frame 310, blanking crawl arm 320 and due-in area 330.Blanking crawl arm 320 is slidably connected on blanking truss 310, passes through servo
Motor drives；320 end of blanking crawl arm is provided with blanking crawl position 321, and under the cylinder drive, blanking captures position 321 can be
Vertical sliding on blanking crawl arm 320.Horizontally slidable due-in area 330 is provided with below blanking crawl arm 320, and due-in
The glide direction in area 330 is vertical with the glide direction of blanking crawl arm 330, and there are three the second temporary positions for setting in due-in area 330
331, the second temporary position 331 is V-type seat horizontal crankshaft storage unit.After the completion of processing in centerless grinding machine 1 of bent axle 10, blanking
Crawl arm 320 is horizontal on blanking truss 310 to be moved and is captured to bent axle 10, after moved horizontally on blanking truss 310 again
It returns, is captured by the blanking that moving horizontally for blanking truss and cylinder are realized temporary at the due-in area 330 of 321 vertical shift of position arrival
It deposits, waits for second step centreless grinding process or next eccentric grinder sequence.
As shown in figures 1 to 6, Fig. 6 is the enlarged drawing at D in Fig. 1, and Fig. 6 is the structure chart of the first blanking supply line 400.
First blanking supply line 400 is set between centerless grinding machine 1 and eccentric grinding machine 2 and is used between two procedures to bent axle 10（Fig. 5
Show）Carrying；First blanking supply line 400 is the second conveyer chain 410 for being provided with V-type seat 411, and the second conveyer chain 410 is in electricity
It moves along a straight line under the driving of machine 420, makes the sleeping bent axle 10 being put on V-type seat 411（Fig. 5 shows）Straight line is transported to close to eccentric grinding machine
2 one end.
As shown in Figure 1 and Figure 7, Fig. 7 is the enlarged drawing at E in Fig. 1, and Fig. 7 is the part of the second six-DOF robot 700
Structure chart.Every eccentric grinding machine 2 is equipped with independent first six-DOF robot 500, and every thrust surface grinding machine 3 is all
Independent second six-DOF robot 700, the first six-DOF robot 500 and the second six degree of freedom machine there are one being equipped with
700 structure of people is identical, and by taking the second six-DOF robot 700 as an example, the second six-DOF robot 700 is multi-axis robot,
There are two the second crawl position 711 that can independently open and close, the second six-DOF robots for the setting of end crawl section 710 of robot
700 can carry bent axle 10 to bent axle detent mechanism 800 and carry out eccentric positioning to the crawl of bent axle 10 and mobile, rotation, rear to transport
It send to being processed at thrust surface grinding machine 2.Similarly, two first of 500 crawl section end of the first six-DOF robot grab
Fetch bit can be captured to bent axle 10 and mobile, rotation, carries bent axle 10 to bent axle detent mechanism 800 and carries out eccentric positioning, after
It is transported at eccentric grinding machine 3 and is processed.
As illustrated in figures 1 and 8, Fig. 8 is the enlarged drawing at F in Fig. 1, and Fig. 8 is the structure chart of bent axle detent mechanism 800, bent
Axle allocation mechanism 800 includes support base 810, drive wheel assemblies 820, measurement portion 830 and localization handspike 840, and support base 810 is two
Roller group 811 is organized, has certain distance, two groups of roller groups 811 to have four rolling four lines of offer altogether and connect between two groups of roller groups 811
Secondary supporting point is touched, the rotational freedom that bent axle 10 is supported on and bent axle 10 is axial is made not have restrained limitation；Driving wheel
Component 820 includes driving wheel 821, driving wheel cylinder 822 and driving wheel motor 823, driving wheel 821 and driving wheel motor 823
On intermediate plate 824, intermediate plate 824 is articulated with on 810 relatively-stationary pedestal 850 of support base, and driving wheel cylinder 822 is cut with scissors
It is connected on pedestal 850, and the piston-rod end of driving wheel cylinder 822 and intermediate plate 824 are hinged, when driving wheel cylinder 822 is run,
Piston rod promotion makes driving wheel 821 and the circumferential surface of 10 main shaft part of bent axle abut, and the startup of driving wheel motor 823 makes driving wheel 821
Rotation, axis rotation of the bent axle 10 along its main shaft part under the force effect that rubs.
810 side of support base is provided with measurement portion 830, measurement portion 830 includes measurement head 831 and measures seat 832, measures
First 831 coordinate with 832 Elastic Sliding of seat is measured, and measure and are provided with displacement sensor in seat 832, and displacement sensor can with PLC
Controller end of programming connection.Measurement head 831 is abutted with 10 eccentric axial portion circumferential surface of bent axle, when bent axle 10 is acted in driving wheel 821
Lower rotation makes, and the rotation of the eccentric wheel portion of bent axle 10 makes measurement head 831 be slided relative to seat 832 is measured, and displacement sensor is made to generate
Displacement signal is then transmitted to PLC processing and obtains eccentric positioning, prepares for processing in next step.
Since 10 horizontal position of bent axle for putting support base 810 is not correct, so setting localization handspike 840 pushes song
10 end face of axis ensures that 10 eccentric shaft circumferential surface of bent axle is contacted with measurement head 831.
As shown in Fig. 1 and Fig. 9, Fig. 9 is the enlarged drawing at G, the as structure chart of First Transition supply line 550 in Fig. 1, by
Eccentric grinding machine 2 and thrust surface grinding machine 3 are one or more in bent axle flexible automation line, eccentric grinding machine 2 and eccentric mill
It is provided with First Transition supply line 550 between bed 2, and then crosses and ships provided with second between pushing surface grinding machine 3 and thrust surface grinding machine 3
Defeated line 750.First Transition supply line 550 is identical with 750 structure of the second transition supply line, below then with First Transition supply line
Illustrate for 550.For First Transition supply line 550 still using transport chain structure, motor driving First Transition conveyer chain 551 makes it
On transition chain chain link generate linear movement.Four are connected on motor output shaft to each other with sprocket wheel at regular intervals, and
Transition, which connects, is provided with lug boss on chain link, the fixation being positioned in First Transition conveyer chain 551 is made not shift.First step bias is ground
After the bent axle 10 of completion of processing is taken out by the first six-DOF robot 500, it is placed on First Transition supply line 550, first
After transition supply line 550 is transported to suitable position to bent axle 10, full-time second the one or six in the mill processing of second step bias from
Bent axle 10 is taken out from First Transition supply line 550 by degree robot 500, send to bent axle detent mechanism 800 carry out it is eccentric fixed
It behind position, then is sent into second eccentric grinding machine 2 and is processed, so many step carries out.
As shown in Fig. 1 and Figure 10, Figure 10 is the enlarged drawing at H in Fig. 1, i.e. 600 local structural graph of the second blanking supply line,
The second blanking supply line 600 is provided between eccentric grinding machine 2 and thrust surface grinding machine 3, the first blanking supply line 600 is transported for planer-type
Defeated frame, is provided with vertical slide rail 620 and horizontal slide rail 640 on portal support, and twice vertical slide rail 620 is located at the level
Sliding rail both ends.Transport position is connected on second blanking supply line 600, transport position includes vertical transport position 610 and horizontal transport position
630, vertical transport position 610 is run in vertical slide rail 620, and horizontal transport position 630 is run on horizontal slide rail 640.Vertical fortune
It is respectively provided with that there are two openable and closable bent axles to place position on defeated position 610 and horizontal transport position 630, completion of processing in eccentric grinding machine 2
Bent axle 10 is sent after being taken out by the first six-DOF robot 500 to the first side vertical transport position 610, and vertical transport position 610 is hung down
Bent axle 10 is transported to close to after horizontal slide rail 640 by straight sliding, and vertical transport position 610 and horizontal transport position 630 carry out bent axle 10
Handing-over is placed, bent axle 10 is captured by horizontal transport position 630 and carried out horizontal transport, until horizontal transport position 630 reaches horizontal cunning
640 second end of rail, then join with positioned at the vertical transport position 610 of second end, vertical cunning of the rear vertical transport position 610 through the second side
After rail 620, bent axle 10 thereon is taken out and is transported by the second six-DOF robot 700, carries out eccentric positioning and thrust surface
Mill processing.
In bent axle flexible automation line based on robot, either bent axle material stock unit 100, truss are fed robot
200, the first six-DOF robot 500 or the second six-DOF robot 700 put forward material efficiency all several times of removing of bent axle 10
It rises, and the several times under same area of bent axle material stock unit 100 increase retaining amount, protrusion optimizes material stock unit.
The processing method embodiment of bent axle
The processing method of bent axle is based on machine based on the bent axle flexible automation line based on robot in upper embodiment
The structure of the bent axle flexible automation line of people is described in detail in upper embodiment, therefore does not repeat, below to the processing of bent axle
Method and step is explained：
As shown in Figures 1 to 10, when Crankshaft Machining starts, bent axle 10 is first vertically plugged in bent axle material stock unit 100
On slot 131 on slot plate 130, after multiple slots 131 are populated, conveyer chain 120 is opened under the driving of driver 110
Beginning shuttling movement drives chain link 121 thereon and the straight line between two sprocket wheels of the slot plate 130 on chain link 121 is driven to transport,
Until there are one slot plates 130 to reach systemic presupposition position.
After slot plate 130 reaches systemic presupposition position, the flip-arm 150 on truss material stirring-up mechanism 140 starts to slot
Three bent axles 10 on plate 130, which are extracted and turned over, to be turn 90 degrees, and the bent axle erect originally 10 is made to be converted into horizontality.Thereafter,
Flip-arm 150 is vertical on sliding part 160 and level sliding, three bent axles 10 that will thereon are transported to bent axle slide unit 190
Three the first temporary positions 191 on.After bent axle 10 reaches three the first temporary positions 191, the horizontal sliding of bent axle slide unit 190 is transported
Bent axle 10 reaches area undetermined, and truss feed robot 200 is waited for receive.
Truss is fed robot 200 and to upper three bent axles 10 on bent axle slide unit 190 capture and carry out on truss
Vertically, horizontal to transport, it reaches and carries out first of centreless grinding processing at centerless grinding machine 1.
After the completion of first of centreless grinding process, the blanking crawl arm of truss feeding robot 300 is moved to First and is not in the mood for
In grinding machine 1, bent axle 10 is taken out and is slid on the second temporary position 331, three bent axles 10 is made to be temporarily stored into due-in area 330
On.Certainly, according to the different process requirements of bent axle 10, centreless grinding process may need progress one to arrive three times, if second need to be carried out
Secondary or third time centreless grinding process, second truss specialized in second centerless grinding machine 1 are fed robot 200 and second
Truss feeding robot 300 recycles the carrying step of first of centreless grinding to bent axle 10 and carries out second of centreless grinding processing, the
The method of centreless grinding processing is identical as the method that third time centreless grinding is processed three times.
After the completion of last one of centreless grinding process, bent axle 10 is temporarily stored into due-in area 330 by truss feeding robot 300
On, need the bent axle 10 between meticulous centerless grinding machine 1 and eccentric grinding machine 2 to carry at this time.Between centerless grinding machine 1 and eccentric grinding machine 2
It is provided with the first blanking supply line 400, a truss without full-time responsible centerless grinding machine 1 is fed robot 100 by three songs
Axis 10 is captured and is carried in the second conveyer chain 410 of the first blanking supply line 400, and V-type seat makes bent axle in the second conveyer chain 410
10 fix and stablize transport.
It is full-time to be ground in first step bias when the first blanking supply line 400 is transported close to the first six-DOF robot 500
Two bent axles 10 are captured and are transported to full-time in first step bias grinder work by the first six-DOF robot 500 of work
Bent axle detent mechanism 800 at carry out eccentric positioning work, then be transported in First bias grinding machine 2 and carry out eccentric grinder and make.
Since eccentric grinder sequence needs one or more eccentric grinding machine 2 to realize according to the different processing situation of bent axle 10, thus it is adjacent inclined
First Transition supply line 550 is provided between reduction bed 2, sole duty is in the first six-DOF robot of First bias grinding machine 2
Bent axle 10 is placed into after being taken out in eccentric grinding machine 2 and keeps in and transport on First Transition supply line 550 by 500 pairs, is transported to the
At two eccentric grinding machines 2, cycle grinds consistent bent axle transportation process as eccentric for the first time.
After last grinder sequence eccentric together, the first six-DOF robot of last full-time eccentric grinding machine 2
500 are transported to two bent axles 10 the second blanking supply line 600 between eccentric grinding machine 2 and thrust grinding machine 3 simultaneously, and second
Bent axle is transported 2 side of bed of turning a millstone to end by blanking supply line 600, by the second six degree of freedom of full-time first step thrust surface grinder sequence
Robot 700 captures.
Two bent axles 10 are transported in bent axle detent mechanism 800 by the second six-DOF robot 700 simultaneously to carry out one by one
Bias positioning, after bent axle 10 is transported in thrust surface grinding machine 3 progress thrust surface processing, first step thrust surface completion of processing again
Afterwards, the second six-DOF robot 700, which is placed into, keeps in and is transported in the second transition supply line 750, rear to continue second step thrust
Face grinds processing, carries step with reference to first step thrust surface transportation process.
After final step thrust surface grinder sequence, the second six degree of freedom machine of last full-time thrust surface grinding machine 3
People 700 takes out two bent axles 10 from thrust surface grinding machine 3, and is placed on discharging haul road, carries out bent axle 10 and discharges.
Finally it is emphasized that the foregoing is merely the preferred embodiment of the present invention, it is not intended to restrict the invention, it is right
For those skilled in the art, the present invention can have various change and change, such as bent axle material stock unit upper position quantity
Increase, the variation etc. of grinding machine group Internal abrasive machine value volume and range of product, all within the spirits and principles of the present invention, that is done any repaiies
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of bent axle flexible automation line based on robot, including：
Bent axle material stock unit, grinding machine group, truss feed robot, truss feeding robot and bent axle detent mechanism, the truss
Robot and the truss feeding robot are fed in the bent axle material stock unit, the grinding machine group and the bent axle detent mechanism
Between bent axle is transported；
The bent axle material stock unit includes chain and driver, and the driver drives the chain link on the chain to recycle
It is mobile；The bent axle is placed on the chain and is moved with the chain link；
It is characterized in that：
The bent axle material stock unit includes chain described in two groups, and the bent axle material stock unit further includes slot plate, the slot
Plate is connected between the chain link of chain described in two groups, and the slot plate is provided at least three slots of arranged,
The depth direction of the slot is vertical with the linear movement direction of the chain link, and the bent axle is inserted in vertically in the slot；
The truss feed robot is located at the truss feeding robot on two truss, and truss feed robot is set
It is equipped at least three clamping positions.
2. the bent axle flexible automation line according to claim 1 based on robot, it is characterised in that：
The bent axle flexible automation line based on robot further includes the first six-DOF robot and the second six degree of freedom
Robot；
The grinding machine group includes an at least centerless grinding machine, at least one eccentric grinding machine and an at least thrust surface grinding machine；
First six-DOF robot is provided at least two first crawl positions, and first six-DOF robot is removable
It moves at the eccentric grinding machine and at the bent axle detent mechanism；
Second six-DOF robot is provided at least two second crawl positions, and second six-DOF robot is removable
It moves at the thrust surface grinding machine and at the bent axle detent mechanism.
3. the bent axle flexible automation line according to claim 2 based on robot, it is characterised in that：
The bent axle detent mechanism includes：
Support base, the support base are provided with roller group, and the roller group supports the main shaft part of the bent axle；
Driving wheel, the driving wheel can abut with the main shaft part and make the bent axle along the axis rotation of the main shaft part；
Measurement portion, the measurement portion include that measurement head is slidably connected with seat, the measurement head is measured with the measurement seat, the survey
Amount head is connected to the circumferential surface of the eccentric axial portion of the bent axle, and the sensor measured in seat reads the displacement number of the measurement head
According to.
4. the bent axle flexible automation line according to claim 3 based on robot, it is characterised in that：
The bent axle material stock unit further includes truss material stirring-up mechanism, and the truss material stirring-up mechanism includes：
Fixed part, sliding part and flip-arm, the sliding part are slidably connected with the fixed part, the flip-arm and the sliding
Portion is rotatablely connected, and the flip-arm is provided at least three thirds crawl position.
5. the bent axle flexible automation line according to claim 4 based on robot, it is characterised in that：
The bent axle material stock unit further includes bent axle slide unit, and the bent axle slide unit is slidably connected with the fixed part, the bent axle
At least three first temporary positions are provided on slide unit, the bent axle is put in each first temporary position for sleeping；
Truss feed robot moves between the bent axle slide unit and the centerless grinding machine.
6. the bent axle flexible automation line according to claim 5 based on robot, it is characterised in that：
The truss feeding robot includes blanking crawl arm and due-in area, and it is temporary that the due-in area is provided at least three second
The bent axle is put in position, the second temporary position for sleeping, and the blanking crawl arm can be in the centerless grinding machine and the due-in area
Between move, truss feed robot can move between the due-in area and the centerless grinding machine.
7. the bent axle flexible automation line according to claim 6 based on robot, it is characterised in that：
It is provided with the first blanking transmission line between the centerless grinding machine and the eccentric grinding machine, is set on the first blanking transmission line
It is equipped with multiple thirds and keeps in position, the bent axle is put in the temporary position of the third for sleeping；
Truss feed robot moves between the due-in area and the first blanking transmission line；Described 1st freely
Degree robot can move between the first blanking transmission line and the bent axle detent mechanism.
8. the bent axle flexible automation line according to claim 7 based on robot, it is characterised in that：
It is provided with the second blanking transmission line, the second blanking transmission line packet between the bias grinding machine and the thrust surface grinding machine
Portal support and multiple transport positions are included, the transport position is slidably connected with the portal support, and the transport position is used for described
Bent axle captures；
First six-DOF robot can move between the eccentric grinding machine and the second blanking transmission line, and described the
Two six-DOF robots can move between the second blanking transmission line and the bent axle detent mechanism.
9. the bent axle flexible automation line according to claim 8 based on robot, it is characterised in that：
The bent axle flexible automation line based on robot further includes First Transition supply line and the second transition supply line；
Multiple first screens are provided on the First Transition supply line, first screens is for placing the bent axle；It is described
First six-DOF robot can move between the First Transition supply line and the bent axle detent mechanism；Described 1st
Degree of freedom robot can move between the eccentric grinding machine and the First Transition supply line；
Multiple second screens are provided on the second transition supply line, second screens is for placing the bent axle；It is described
Second six-DOF robot can move between the second transition supply line and the bent axle detent mechanism；Described 2nd 6
Degree of freedom robot can move between the thrust surface grinding machine and the second transition supply line.
10. the processing method of bent axle, it is characterised in that：Bent axle flexible automation line of the processing method based on robot is real
Existing, which includes：
Bent axle material stock unit, grinding machine group, truss feed robot, truss feeding robot and bent axle detent mechanism；The bent axle
Material stock unit includes chain and driver, and the bent axle material stock unit further includes slot plate, and the slot plate is fixedly connected
In on the chain link of the chain, the slot plate is provided at least three slots of arranged, the slot axial direction and institute
The linear movement direction for stating chain link is vertical；The grinding machine group includes an at least centerless grinding machine, at least one eccentric grinding machine and extremely
A few thrust surface grinding machine；The bent axle flexible automation line based on robot further include the first six-DOF robot and
Second six-DOF robot；Truss feed robot is in from the truss feeding robot on different truss, institute
It states truss feed robot and is provided at least three clamping positions；First six-DOF robot is provided at least two first
Capture position；Second six-DOF robot is provided at least two second crawl positions；
The processing method of the bent axle includes：
It inserts in the bent axle is perpendicular on the slot of the bent axle material stock unit, the chain transports the bent axle and temporary
It deposits；
The truss feed robot is transported to described after taking out at least three bent axles on the bent axle material stock unit
Centreless grinding processing is carried out at centerless grinding machine；
The bent axle is taken out and is kept in from centerless grinding machine by the truss feeding robot；
First six-DOF robot pair, at least two bent axle capture and is transported to bent axle detent mechanism simultaneously
Place carries out bent axle positioning, and first six-DOF robot pair, at least two bent axle takes out from the bent axle detent mechanism
And it is transported to the eccentric grinding machine and carries out eccentric mill processing；
First six-DOF robot takes out and keeps in from the eccentric grinding machine to the bent axle；
Second six-DOF robot pair, at least two bent axle capture and is transported to bent axle detent mechanism simultaneously
Place carries out bent axle positioning, and second six-DOF robot pair, at least two bent axle takes out from the bent axle detent mechanism
And it is transported to the thrust surface grinding machine and carries out thrust surface mill processing；
Second six-DOF robot takes out the bent axle from the thrust surface grinding machine and carries out bent axle discharging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610144662.5A CN105598758B (en) | 2016-03-14 | 2016-03-14 | A kind of processing method of bent axle flexible automation line and bent axle based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610144662.5A CN105598758B (en) | 2016-03-14 | 2016-03-14 | A kind of processing method of bent axle flexible automation line and bent axle based on robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105598758A CN105598758A (en) | 2016-05-25 |
| CN105598758B true CN105598758B (en) | 2018-08-07 |
Family
ID=55979372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610144662.5A Active CN105598758B (en) | 2016-03-14 | 2016-03-14 | A kind of processing method of bent axle flexible automation line and bent axle based on robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105598758B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106001237B (en) * | 2016-07-21 | 2019-03-19 | 广东和氏工业技术集团股份有限公司 | Metal punching produces multirobot cooperating manufacture line |
| CN107175545A (en) * | 2017-06-21 | 2017-09-19 | 微密科技(宜兴)有限公司 | Screwed hole robot polishing system and its control method |
| CN107378688B (en) * | 2017-09-11 | 2024-05-28 | 深圳市灿弘自动化科技有限公司 | Full-automatic feeding and discharging device and feeding and discharging method of lower pendulum machine |
| CN108161553B (en) * | 2018-01-24 | 2020-12-29 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic shaft part machining production line |
| CN109051635A (en) * | 2018-10-15 | 2018-12-21 | 珠海市格努科技有限公司 | A kind of crankshaft centreless grinding production line conveying device |
| CN109352426B (en) * | 2018-11-28 | 2024-06-18 | 卓弢机器人盐城有限公司 | Automatic change unloading transportation line on bent axle production line |
| CN109605188B (en) * | 2018-12-07 | 2020-08-04 | 浙江大学台州研究院 | Flexible automation line of bent axle based on truss manipulator |
| CN111890391A (en) * | 2020-07-08 | 2020-11-06 | 沈阳慧远自动化设备有限公司 | Modular plane floating mechanism for grabbing and using method |
| CN112123350B (en) * | 2020-09-27 | 2024-01-30 | 深圳市界面科技有限公司 | Control system and control method of wood processing device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0167659A1 (en) * | 1984-07-09 | 1986-01-15 | Toyoda Koki Kabushiki Kaisha | Device for rolling fillets of journals and crankpins |
| CN203566406U (en) * | 2013-11-27 | 2014-04-30 | 广东和氏自动化技术有限公司 | Automatic truss type robot for deburring and polishing crank shaft |
| CN203566491U (en) * | 2013-11-26 | 2014-04-30 | 广东和氏自动化技术有限公司 | Automated truss robot for deburring and polishing cylinder |
| CN203665236U (en) * | 2013-12-09 | 2014-06-25 | 来安县新元机电设备设计有限公司 | Automatic feeding and collecting mechanism of polisher bearing |
| CN203792114U (en) * | 2014-04-21 | 2014-08-27 | 广东和氏自动化技术有限公司 | Crank shaft offsetting searching and positioning machine |
| CN104493198A (en) * | 2014-12-15 | 2015-04-08 | 辽宁鼎丰数控设备有限公司 | Crankshaft four-station rough turning numerical control flexible production line provided with industrial robot |
| CN104690578A (en) * | 2015-03-18 | 2015-06-10 | 桂林电子科技大学 | Hydraulic clamp used for end face hole of horizontal type center drill bent axle |
| CN204413774U (en) * | 2014-12-30 | 2015-06-24 | 东莞理工学院 | A kind of full-automatic numerical control cylindrical grinder with manipulator loading and unloading |
| CN205465508U (en) * | 2016-03-14 | 2016-08-17 | 广东和氏自动化技术股份有限公司 | Bent axle flexible automation line based on robot |
-
2016
- 2016-03-14 CN CN201610144662.5A patent/CN105598758B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0167659A1 (en) * | 1984-07-09 | 1986-01-15 | Toyoda Koki Kabushiki Kaisha | Device for rolling fillets of journals and crankpins |
| CN203566491U (en) * | 2013-11-26 | 2014-04-30 | 广东和氏自动化技术有限公司 | Automated truss robot for deburring and polishing cylinder |
| CN203566406U (en) * | 2013-11-27 | 2014-04-30 | 广东和氏自动化技术有限公司 | Automatic truss type robot for deburring and polishing crank shaft |
| CN203665236U (en) * | 2013-12-09 | 2014-06-25 | 来安县新元机电设备设计有限公司 | Automatic feeding and collecting mechanism of polisher bearing |
| CN203792114U (en) * | 2014-04-21 | 2014-08-27 | 广东和氏自动化技术有限公司 | Crank shaft offsetting searching and positioning machine |
| CN104493198A (en) * | 2014-12-15 | 2015-04-08 | 辽宁鼎丰数控设备有限公司 | Crankshaft four-station rough turning numerical control flexible production line provided with industrial robot |
| CN204413774U (en) * | 2014-12-30 | 2015-06-24 | 东莞理工学院 | A kind of full-automatic numerical control cylindrical grinder with manipulator loading and unloading |
| CN104690578A (en) * | 2015-03-18 | 2015-06-10 | 桂林电子科技大学 | Hydraulic clamp used for end face hole of horizontal type center drill bent axle |
| CN205465508U (en) * | 2016-03-14 | 2016-08-17 | 广东和氏自动化技术股份有限公司 | Bent axle flexible automation line based on robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105598758A (en) | 2016-05-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105598758B (en) | A kind of processing method of bent axle flexible automation line and bent axle based on robot | |
| US7726004B2 (en) | Processing cell of automatic machining system and automatic honing system | |
| KR200476782Y1 (en) | Mobile robot | |
| CN101450465B (en) | Superabrasive grain setting apparatus | |
| CN203818351U (en) | Full-automatic butting, grinding and compound processing integrated device for silicon single crystal rod | |
| CN206550357U (en) | Full-automatic processing novel lathe | |
| CN203045155U (en) | Vibrating disc type laser welding tool | |
| CN103128601B (en) | For processing the lathe of axle shape workpiece | |
| CN102672573B (en) | Automatic grinding and polishing system for crystal blanks and auxiliary machine of automatic grinding and polishing system | |
| CN1711151A (en) | Flexible production line comprising a plurality of decoupling modules for machining workpieces arranged on pallets | |
| CN104190912A (en) | Iron casting online automatic finishing device and iron casting online automatic finishing method | |
| CN107826716A (en) | A kind of vibrating disk spring leaf process units | |
| CN113458844A (en) | Conveying type loading and unloading robot and loading and unloading method | |
| CN105035651A (en) | Novel movable feed conveying device | |
| CN108808996A (en) | A kind of rotor automatic assembly line | |
| CN209140528U (en) | A kind of crankshaft grinding process line | |
| CN205465508U (en) | Bent axle flexible automation line based on robot | |
| CN106735465A (en) | For the lathe of parallel fabrication | |
| CN110919226A (en) | Full-automatic girth welding equipment | |
| CN204209121U (en) | The on-line automatic calibration devices of ironcasting | |
| AU2017283041B2 (en) | Multifunctional machining center | |
| CN111203713B (en) | Automatic change iron core inflation screw kludge | |
| KR100446024B1 (en) | Method and apparatus for processing long belt-shaped work | |
| CN207257195U (en) | A kind of double-station engraving machine easy to feeding | |
| CN203030958U (en) | Mobile machining device for arm support main beam |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wu Shaowei Inventor after: Wang Liping Inventor after: Li Weitong Inventor after: Zhang Yunyan Inventor after: Zhu Huide Inventor before: Wu Shaowei Inventor before: Zhu Huide Inventor before: Jiang Shilong Inventor before: Chen Jian Inventor before: Liu Qiang |
|
| CB03 | Change of inventor or designer information | ||
| CP03 | Change of name, title or address |
Address after: 519000 floor 1, floor 2, floor B, floor 3, workshop 1, No. 12, Honghui fifth road, Shuanglin District, LIANGANG Industrial Zone, Jinwan District, Zhuhai City, Guangdong Province Patentee after: Heshi Industrial Technology Co., Ltd Address before: The 519000 Bay area Guangdong city of Zhuhai Province Hong Kong Industrial Zone five Hong Fai Road No. twelve Patentee before: Guangdong He Shi automatic technology incorporated company |
|
| CP03 | Change of name, title or address |