CN106078318A - A kind of automatic loading/unloading machinery device - Google Patents
A kind of automatic loading/unloading machinery device Download PDFInfo
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- CN106078318A CN106078318A CN201610516986.7A CN201610516986A CN106078318A CN 106078318 A CN106078318 A CN 106078318A CN 201610516986 A CN201610516986 A CN 201610516986A CN 106078318 A CN106078318 A CN 106078318A
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- 239000006052 feed supplement Substances 0.000 claims abstract description 73
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 239000000463 material Substances 0.000 claims abstract description 10
- 239000012636 effector Substances 0.000 claims description 92
- 238000012546 transfer Methods 0.000 claims description 47
- 241000040710 Chela Species 0.000 claims description 17
- 238000013519 translation Methods 0.000 claims description 17
- 238000011065 in-situ storage Methods 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 230000002411 adverse Effects 0.000 claims description 6
- 238000003754 machining Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 230000008901 benefit Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 244000023431 Proboscidea parviflora Species 0.000 claims description 3
- 235000019096 Proboscidea parviflora Nutrition 0.000 claims description 3
- 210000000056 organ Anatomy 0.000 claims 2
- 238000004519 manufacturing process Methods 0.000 abstract description 13
- 239000000047 product Substances 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
Classifications
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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
- B23Q7/04—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 grippers
-
- 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
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Abstract
The invention discloses a kind of automatic loading/unloading machinery device, it is applied to numerically controlled lathe, including built-in mechanical hand and feed supplement mechanical hand, wherein: described feed supplement machinery hands includes vertically movable mechanism and the horicontal motion mechanism being mutually connected vertically, described vertically movable mechanism is in order to move up and down and to grip workpiece to be processed from the top charging tray of the material platform being positioned at described feed supplement mechanical hand front end, and is moved at described built-in mechanical hand by workpiece to be processed by described horicontal motion mechanism；Described built-in mechanical hand is vertically arranged mutually with described feed supplement machinery palmistry, in order to grip the workpiece to be processed moved at described built-in mechanical hand and to be sent in described numerically controlled lathe be processed.The beneficial effects of the present invention is the automaticity being effectively increased numerically controlled lathe, improve production efficiency, it is ensured that constant product quality, reduce production cost, enhance the market competitiveness of enterprise.
Description
Technical field
The present invention relates to the automatic loading/unloading field of numerically controlled lathe, particularly relate to a kind of automatic loading/unloading machinery device.
Background technology
Along with manufacturing industry development, in order to meet the demand of the marketization, improve the competitiveness of enterprise, manual production
Pattern can not meet far away the production requirement of modernization, is therefore applied in manufacturing industry by automatic loading and unloading manipulator, and right
The automatic loading/unloading of numerically controlled lathe serves critical effect, and this directly influences the working (machining) efficiency of numerically controlled lathe in enterprise,
Remote-effects are to the economic benefit etc. of enterprise.The automatic loading/unloading utility ratio of the most a lot of enterprises is the highest, and integration is the highest, shape
Do not become FMC or flexible manufacturing system, loading and unloading holding time is long so that numerically controlled lathe, loading and unloading manipulator
Actual process time shortens, it is difficult to makes full use of the production capacity of existing numerically controlled lathe, reduces the competitiveness of enterprise, increase
The operation cost of enterprise.
Therefore the solution of the present invention is to improve existing loading and unloading manipulator for the problems referred to above.
Summary of the invention
In order to overcome deficiency of the prior art, the present invention provides a kind of automatic loading/unloading machinery device, it is possible to simply have
Effect form FMC or flexible manufacturing system with numerically controlled lathe, thus be greatly improved numerically controlled lathe, automatically on
The process time of blanking mechanical hand, expand the range of application of numerically controlled lathe, give full play to numerically controlled lathe and automatic loading/unloading machinery
The working ability of hands.
In order to reach foregoing invention purpose, solve the technical scheme that its technical problem used as follows:
The invention discloses a kind of automatic loading/unloading machinery device, be applied to numerically controlled lathe, including built-in mechanical hand and
Feed supplement mechanical hand, wherein:
Described feed supplement machinery hands includes vertically movable mechanism and the horicontal motion mechanism being mutually connected vertically, described vertical fortune
Motivation structure in order to move up and down and from be positioned at described feed supplement mechanical hand front end material platform top charging tray grip workpiece to be processed,
And by described horicontal motion mechanism, workpiece to be processed is moved at described built-in mechanical hand；
Described built-in mechanical hand is vertically arranged mutually with described feed supplement machinery palmistry, in order to grip move to described built-in
Workpiece to be processed at mechanical hand also is sent in described numerically controlled lathe be processed.
As an embodiment, described vertically movable mechanism includes servomotor, pinion and rack and mechanical hand, described machine
Tool hands is arranged at the lower end of the tooth bar in described pinion and rack, and described servomotor is driven by described pinion and rack
Described mechanical hand moves up and down.
As an embodiment, described horicontal motion mechanism includes slide rail, the second guide rail, gear, flexible-belt, feed supplement mechanical hand
Drive motor, pan carriage, feed supplement slide block and sliding shoe, wherein:
Described second guide rail is arranged in described slide rail；
The quantity of described gear is two, is respectively arranged at the two ends of described second guide rail；
Described flexible-belt is sheathed on the outside of two described gears；
Described feed supplement robot drives motor is arranged at one end of described slide rail, and with near described feed supplement robot drives
The described gear shaft of motor connects, in order to drive described flexible-belt to move；
Described pan carriage is connected with described flexible-belt by the belt wheel being meshed with described flexible-belt, described belt wheel and institute
State feed supplement slide block to be connected by described sliding shoe, with bolts between described pan carriage and sliding shoe；
Described servomotor and pinion and rack it is provided with in described pan carriage.
As an embodiment, described feed supplement mechanical hand also includes bracing frame, and support frame as described above is fixing connects described slide rail.
As an embodiment, described mechanical hand is double-claw type mechanical hand.
As an embodiment, described mechanical hand includes two jaws, and the side that two described jaws are relative is respectively arranged with
Rubber layer.
As an embodiment, described built-in mechanical hand includes that the first guide rail, top shoe, transfer axle, transfer frame, end are held
Row device, chain, gear shaft, sprocket wheel, fixed mount, sliding block, built-in mechanical hand pan carriage and built-in robot support frame, its
In:
Described top shoe is installed on described first guide rail, and connects in described transfer frame；
Described sliding block is fixed on described built-in robot support frame；
Described transfer axle is arranged on described transfer frame, and is connected with described end effector axle；
The two ends of described built-in mechanical hand pan carriage are provided with sprocket wheel, and described sprocket wheel is fixed on institute by described gear shaft
Stating on transfer frame, and be engaged with described chain, the two ends of described chain are fixed on described fixed mount by fixed block, and
And by connector, described chain is linked together with transfer frame, with so that described built-in mechanical hand pan carriage and transfer
Frame synchronizing moving.
The present invention additionally discloses a kind of automatic loading/unloading method, is applied to numerically controlled lathe, when on numerically controlled lathe without workpiece
Time, the steps include:
Step A1: feed supplement robot drives motor is moved by gear driven flexible-belt, when feed supplement robot drives
After electric motor starting, flexible-belt drives sliding shoe to realize translation, and then realizes moving in parallel of pan carriage, and driven gear rack machine
Structure, servomotor, the motion of mechanical hand, be shifted exactly to the surface of the first station by mechanical hand, and then servomotor leaves
Begin to move, moved downward by pinion and rack driving mechanical hands, arrive the first appointment position；
Step A2: during mechanical hand moves down, the servomotor on mechanical hand is started, is pushed away by threaded spindle cap nut
Dynamic jaw opens, and arrives the first specific bit and postpones, and the electric machine main shaft of the servomotor on mechanical hand reversely rotates, by screw rod spiral shell
Cap means drives jaw adverse movement, grips workpiece；
Step A3: when jaw gripping workpiece after, servomotor start start, by pinion and rack driving mechanical hands to
Upper motion, it is achieved mechanical hand returns in situ；
Step A4: after mechanical hand returns in situ, feed supplement robot drives motor is transported by gear driven flexible-belt
Dynamic, when, after feed supplement robot drives electric motor starting, flexible-belt drives sliding shoe to realize translation, mechanical hand is moved to end and performs
The surface at the center of device；
Step A5: when mechanical hand moves to directly over the center of end effector, end effector starts to revolve counterclockwise
It turn 90 degrees so that the first ending vertical is in ground, directly on top；
Step A6: the first ending vertical in ground and directly on top after, on end effector three finger chelas open up into
Second specifies position；
Step A7: the scroll chuck on end effector opens up into the second specific bit and postpones, mechanical hand starts to move downward,
Arrive the 3rd appointment position；
Step A8: mechanical hand arrives the 3rd specific bit and postpones, three finger chelas on end effector start to shrink at, and grip work
Part, meanwhile, the double pawls on mechanical hand unclamp and homing；
Step A9: end effector dextrorotation turn 90 degrees, makes the first end of end effector be horizontal；
Step A10: after the first end of end effector is horizontal, spindle motor starts to start, by subtracting
Speed shaft coupling drives leading screw to start to rotate, and drives built-in mechanical hand pan carriage to move, at built-in machinery by feed screw nut
The two ends of hands pan carriage are provided with sprocket wheel, and the two ends of chain are fixed on fixed mount by fixed block, and are incited somebody to action by connector
Chain links together with transfer frame so that built-in mechanical hand pan carriage and the synchronizing moving of transfer frame, by workpiece to be processed
Deliver on the triangle chuck of numerically controlled lathe；
Step A11: after the triangle chuck of numerically controlled lathe blocks workpiece to be processed, spindle motor starts to start, built-in
Mechanical hand pan carriage and the synchronizing moving of transfer frame, exit end effector inside lathe；
Step A12: after end effector exits, numerically controlled lathe starts to be processed workpiece to be processed.
The invention also discloses a kind of automatic loading/unloading method, be applied to numerically controlled lathe, when there being workpiece on numerically controlled lathe,
The steps include:
Step B1: feed supplement robot drives motor is moved by gear driven flexible-belt, when feed supplement robot drives
After electric motor starting, flexible-belt drives sliding shoe to realize translation, and then realizes moving in parallel of pan carriage, and driven gear rack machine
Structure, servomotor, the motion of mechanical hand, move to the surface of the second station accurately by mechanical hand, and then servomotor leaves
Begin to move, moved downward by pinion and rack driving mechanical hands, arrive the first appointment position；
Step B2: during mechanical hand moves down, the servomotor on mechanical hand is started, is pushed away by threaded spindle cap nut
Dynamic jaw opens, and arrives the first specific bit and postpones, and the electric machine main shaft of the servomotor on mechanical hand reversely rotates, by screw rod spiral shell
Cap means drives jaw adverse movement, grips workpiece；
Step B3: when jaw gripping workpiece after, servomotor start start, by pinion and rack driving mechanical hands to
Upper motion, it is achieved mechanical hand returns in situ；
Step B4: after mechanical hand returns in situ, feed supplement robot drives motor is transported by gear driven flexible-belt
Dynamic, when, after feed supplement robot drives electric motor starting, flexible-belt drives sliding shoe to realize translation, mechanical hand is moved to end and performs
The surface at the center of device；
Step B5: when mechanical hand moves to directly over the center of end effector, end effector starts dextrorotation
It turn 90 degrees so that the second ending vertical is in ground, directly on top；
Step B6: the second ending vertical in ground and directly on top after, on end effector three finger chelas open up into
Second specifies position；
Step B7: the scroll chuck on end effector opens up into the second specific bit and postpones, mechanical hand starts to move downward,
Arrive the 3rd appointment position；
Step B8: mechanical hand arrives the 3rd specific bit and postpones, three finger chelas on end effector start to shrink at, and grip work
Part, meanwhile, the double pawls on mechanical hand unclamp and homing grip next workpiece to be processed；
Step B9: end effector dextrorotation turn 90 degrees, makes the second end of end effector be horizontal；
Step B10: after workpiece to be processed machines, numerically controlled lathe is shut down；
Step B11: after the second end of end effector is horizontal, spindle motor starts to start, by subtracting
Speed shaft coupling drives leading screw to start to rotate, and drives built-in mechanical hand pan carriage to move, at built-in machinery by feed screw nut
The two ends of hands pan carriage are provided with sprocket wheel, and the two ends of chain are fixed on fixed mount by fixed block, and are incited somebody to action by connector
Chain links together with transfer frame so that built-in mechanical hand pan carriage and the synchronizing moving of transfer frame, promotes end to perform
Device moves inside numerically controlled lathe；
Step B12: the workpiece after three finger chela grippings of the first end are processed on end effector, then end effector
Dextrorotation turnback, is placed on the workpiece to be processed on the second end on the triangle chuck of numerically controlled lathe；
Step B13: after the triangle chuck of numerically controlled lathe blocks workpiece to be processed, spindle motor starts to start, by slowing down
Shaft coupling drives leading screw to start to rotate, and drives built-in mechanical hand pan carriage to move, at built-in mechanical hand by feed screw nut
The two ends of pan carriage are provided with sprocket wheel, and the two ends of chain are fixed on fixed mount by fixed block, and by connector by chain
Bar links together with transfer frame so that built-in mechanical hand pan carriage and the synchronizing moving of transfer frame, is moved back by end effector
Go out inside lathe；
Step B14: after end effector exits, numerically controlled lathe starts to be processed workpiece to be processed；
Step B15: in Process of NC Machining, in conjunction with the gripping action of the 8th step, returns to former at end effector
After Wei, 90-degree rotation counterclockwise so that the second next workpiece to be processed of end gripping；
Step B16: after the second end grips new workpiece to be processed, end effector dextrorotation turnback so that
Directly over first end is in；
Step B17: after the first end of end effector is in top, mechanical hand grips the workpiece machined；
Step B18: when, after the part that mechanical hand gripping has machined, feed supplement robot drives motor passes through gear band
Dynamic flexible-belt moves, and is connected by belt wheel between flexible-belt with pan carriage, and belt wheel is connected by sliding shoe with feed supplement slide block,
After feed supplement mechanical hand servomotor starts, flexible-belt drives sliding shoe to realize translation, and then realizes moving in parallel of pan carriage,
Driven gear rackwork, servomotor, the motion of mechanical hand, be placed on the workpiece machined on the second station, it is achieved
Reloading processing, the processing of back is processed with this order.
Due to the fact that the above technical scheme of employing, be allowed to compared with prior art, have the following advantages that and actively imitate
Really:
1, the present invention can realize the integrated of numerically controlled lathe and automatic loading and unloading mechanism simply and effectively, be built into one soft
Property manufacturing cell or flexible manufacturing system, it is possible to according to the difference of disk-like accessory to be processed, charging tray is adjusted correspondingly,
Such that it is able to improve the utilization rate of automatic loading and unloading mechanism, improve the utilization rate of numerically controlled lathe, it is also possible to avoid end to perform machine
Flog a dead horse when there is no workpiece on structure, save process time, it is provided that the working (machining) efficiency of system, strengthen the competitiveness of enterprise, fall
The operation cost of low enterprise；
2, the synchronization that the present invention uses motor driving and chain drive to realize built-in mechanical hand pan carriage and transfer frame passes
Dynamic, expand horizontal moving ranges；
3, heretofore described automatic loading and unloading manipulator is by numerically controlled lathe, built-in mechanical hand, feed supplement mechanical hand, material platform
And charging tray has carried out Seamless integration-, drive mechanism has been carried out " hiding " by built-in mechanical hand, and end effector is in level
It is disappearance state during position, compared with the existing technology, novel structure, simple, reasonable in design.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, required use in embodiment being described below
Accompanying drawing be briefly described.It is clear that the accompanying drawing in describing below is only some embodiments of the present invention, for ability
From the point of view of field technique personnel, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.Attached
In figure:
Fig. 1 is the general assembly structural representation of the present invention a kind of automatic loading/unloading machinery device；
Fig. 2 is the general assembly structural blast schematic diagram of the present invention a kind of automatic loading/unloading machinery device；
Fig. 3 is the structural representation of the built-in mechanical hand of the present invention a kind of automatic loading/unloading machinery device；
Fig. 4 is the structural blast schematic diagram of the built-in mechanical hand of the present invention a kind of automatic loading/unloading machinery device；
Fig. 5 is the structural representation of the mechanical hand of the present invention a kind of automatic loading/unloading machinery device；
Fig. 6 is the mechanical hand A-A generalized section of the present invention a kind of automatic loading/unloading machinery device.
[primary symbols explanation]
1-numerically controlled lathe；
The built-in mechanical hand of 2-；
3-feed supplement mechanical hand；
4-expects platform；
5-charging tray；
6-motor；
7-end effector；
8-transfer axle；
9-transfer frame；
10-fixed mount；
11-top shoe；
12-the first guide rail；
13-chain；
14-gear shaft；
15-sprocket wheel；
16-spindle motor；
17-deceleration coupling；
18-leading screw；
19-sliding block；
20-built-in robot support frame；
21-bracing frame；
22-mechanical hand；
23-tooth bar；
24-pan carriage；
25-slide rail；
26-gear；
27-flexible-belt；
28-servomotor；
29-feed supplement slide block；
30-sliding shoe；
31-feed supplement robot drives motor；
32-the second guide rail；
33-pinion and rack；
34-jaw；
35-rubber layer；
36-built-in mechanical hand pan carriage.
Detailed description of the invention
Below with reference to the accompanying drawing of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete description
And discussion, it is clear that a part of example of the only present invention as described herein, is not whole examples, based on the present invention
In embodiment, the every other enforcement that those of ordinary skill in the art are obtained on the premise of not making creative work
Example, broadly falls into protection scope of the present invention.
Embodiment one
As it is shown in figure 1, the invention discloses a kind of automatic loading/unloading machinery device, it is applied to numerically controlled lathe 1, including built-in
Formula mechanical hand 2 and feed supplement mechanical hand 3, wherein:
Described feed supplement mechanical hand 3 includes vertically movable mechanism and the horicontal motion mechanism being mutually connected vertically, described vertically
Motion is in order to move up and down and to grip to be processed from the top charging tray 5 of the material platform 4 being positioned at described feed supplement mechanical hand 3 front end
Workpiece, and by described horicontal motion mechanism, workpiece to be processed is moved at described built-in mechanical hand 2；
Described built-in mechanical hand 2 is arranged in a mutually vertical manner with described feed supplement mechanical hand 3, in order to grip move to described built-in
Workpiece to be processed at formula mechanical hand 3 also is sent in described numerically controlled lathe 1 be processed.
In the present invention, the operation of whole automatic loading/unloading machinery device all has digital control system to be controlled, including charging tray 5
Motion, the motion of feed supplement mechanical hand 3, the motion etc. of built-in mechanical hand 2, the most permissible in order to ensure that mechanical hand 22 moves downward
Grabbing workpiece, charging tray 5 provides the guarantee in vertical direction, thus ensure that the precision and stability in the course of processing.
Concrete, with reference to Fig. 2, described vertically movable mechanism includes servomotor 28, pinion and rack 33 and mechanical hand
22, described mechanical hand 22 is arranged at the lower end of the tooth bar 23 in described pinion and rack 33, and described servomotor 28 passes through institute
Stating pinion and rack 33 drives described mechanical hand 22 to move up and down.
With continued reference to Fig. 2, described horicontal motion mechanism includes slide rail the 25, second guide rail 32, gear 26, flexible-belt 27, mends
Material robot drives motor 31, pan carriage 24, feed supplement slide block 29 and sliding shoe 30, wherein:
Described second guide rail 32 is arranged in described slide rail 25；
The quantity of described gear 26 is two, is respectively arranged at the two ends of described second guide rail 32；
Described flexible-belt 27 is sheathed on the outside of two described gears 26；
Described feed supplement robot drives motor 31 is arranged at one end of described slide rail 25, and with near described feed supplement mechanical hand
The described gear shaft 14 driving motor 31 connects, in order to drive described flexible-belt 27 to move；
Described pan carriage 24 is connected with described flexible-belt 27 by the belt wheel (not shown) being meshed with described flexible-belt 27
Connecing, described belt wheel is connected by described sliding shoe 30 with described feed supplement slide block 29, adopts between described pan carriage 24 and sliding shoe 30
It is connected with；
Described servomotor 28 and pinion and rack 33 it is provided with in described pan carriage 24.
As an embodiment, described feed supplement mechanical hand 3 also includes bracing frame 21, and support frame as described above 21 is fixing connects described cunning
Rail 25.
With reference to Fig. 5 and 6, described mechanical hand 22 is double-claw type mechanical hand.Concrete, described mechanical hand 22 includes two jaws
34, the side that two described jaws 34 are relative is respectively arranged with rubber layer 35.
With continued reference to 3 and 4, described built-in mechanical hand 2 include the first guide rail 6, top shoe 11, transfer axle 8, transfer frame 9,
End effector 7, chain 13, gear shaft 14, sprocket wheel 15, fixed mount 10, sliding block 19, built-in mechanical hand pan carriage 36 and interior
Concealed robot support frame 20, wherein:
Described top shoe 11 is installed on described first guide rail 6, and connects in described transfer frame 9；
Described sliding block 19 is fixed on described built-in robot support frame 20；
Described transfer axle 8 is arranged on described transfer frame 9, and is connected with described end effector 7 axle；
The two ends of described built-in mechanical hand pan carriage 36 are provided with sprocket wheel 15, and described sprocket wheel 15 is by described gear shaft 14
Being fixed on described transfer frame 9, and be engaged with described chain 13, the two ends of described chain 13 are fixed on institute by fixed block
Stating on fixed mount 10, and linked together with transfer frame 9 by described chain 13 by connector, use is so that described built-in
Mechanical hand pan carriage 36 and transfer frame 9 synchronizing moving.
Embodiment two
The present invention additionally discloses a kind of automatic loading/unloading method, is applied to numerically controlled lathe, when on numerically controlled lathe without workpiece
Time, the steps include:
Step A1: mechanical hand is to the first station
Feed supplement robot drives motor 31 drives flexible-belt 27 to move by gear 26, flexible-belt 27 and pan carriage 24
Between connected by belt wheel (not indicating in figure), belt wheel and feed supplement slide block 29 passes through sliding shoe 30 and is connected, when feed supplement mechanical hand drives
After galvanic electricity machine 31 starts, sliding shoe 30 can be driven to realize translation, with bolts between pan carriage 24 and sliding shoe 30.From
And moving in parallel of pan carriage 24 can be realized, the motion of driven gear rackwork 33, servomotor 28, mechanical hand 22 etc.,
Mechanical hand 22 is shifted exactly to the surface of the first station, then servomotor 28 setting in motion, by rack-and-pinion machine
Structure 33 driving mechanical hands 22 moves downward, and arrives the first appointment position.
Step A2: material folding
During mechanical hand 22 moves down, the servomotor 28 on mechanical hand 22 starts, and is pushed away by threaded spindle cap nut
Dynamic jaw 34 opens, and arrives the first specific bit and postpones, and the electric machine main shaft of the servomotor 28 on mechanical hand 22 reversely rotates, and passes through
Threaded spindle cap nut mechanism drives jaw 34 adverse movement, grips workpiece.
Step A3: mechanical hand returns in situ
After jaw 34 grips workpiece, servomotor 28 starts to start, by pinion and rack 33 driving mechanical hands 22
Move upward, it is achieved 22 times original positions of mechanical hand.
Step A4: translation
After mechanical hand 22 returns in situ, feed supplement robot drives motor 31 drives flexible-belt 27 to transport by gear 26
Dynamic, it is connected by belt wheel between flexible-belt 27 with pan carriage 24, belt wheel is connected by sliding shoe 30 with feed supplement slide block 29, works as feed supplement
After robot drives motor 31 starts, sliding shoe 30 can be driven to realize translation, mechanical hand 22 is moved to end effector 7
The surface at center.
Step A5: end effector rotates
Time directly over the center that mechanical hand 22 moves to end effector 7, end effector 7 starts to rotate counterclockwise 90
Degree so that the first ending vertical is in ground, directly on top.
Step A6: end effector opens
First ending vertical in ground and directly on top after, on end effector 7 three finger chelas open up into the second finger
Location is put.
Step A7: blanking
Scroll chuck on end effector 7 opens up into the second specific bit and postpones, and mechanical hand 22 starts to move downward, and arrives
3rd specifies position.
Step A8: gripping
Mechanical hand 22 arrives the 3rd specific bit and postpones, and three finger chelas on end effector 7 start to shrink at, and grip workpiece,
Meanwhile, the jaw 34 on mechanical hand 22 unclamps and homing.
Step A9: rotate
End effector 7 dextrorotation turn 90 degrees, and makes the first end of end effector 7 be horizontal.
Step A10: feeding
After the first end of end effector 7 is horizontal, spindle motor 16 starts to start, by deceleration shaft coupling
Device 17 drives leading screw 18 to start to rotate, and drives built-in mechanical hand pan carriage 36 to move, at built-in machinery by feed screw nut
The two ends of hands pan carriage 36 are provided with sprocket wheel 15, and the two ends of chain 13 are fixed on fixed mount 10 by fixed block, and pass through
Chain 13 is linked together by connector with transfer frame 9 so that the synchronization of built-in mechanical hand pan carriage 36 and transfer frame 9 moves
Dynamic, workpiece to be processed is delivered on the triangle chuck of numerically controlled lathe 1.
Step A11: exit
After the triangle chuck of numerically controlled lathe 1 blocks workpiece to be processed, spindle motor 16 starts to start, and built-in mechanical hand is put down
Move frame 36 and the synchronizing moving of transfer frame 9, end effector 7 is exited inside lathe.
Step A12: processing
After end effector 7 exits, numerically controlled lathe 1 starts to be processed workpiece to be processed.
Embodiment three
The invention also discloses a kind of automatic loading/unloading method, be applied to numerically controlled lathe, when there being workpiece on numerically controlled lathe,
The steps include:
Step B1: mechanical hand is to the second station
Feed supplement robot drives motor 31 drives flexible-belt 27 to move by gear 26, flexible-belt 27 and pan carriage 24
Between connected by belt wheel, belt wheel and feed supplement slide block 29 is connected, when feed supplement robot drives motor 31 starts by sliding shoe 30
After, sliding shoe 30 can be driven to realize translation, with bolts between pan carriage 24 and sliding shoe 30.Such that it is able to realize flat
Moving moving in parallel of frame 24, the motion of driven gear rackwork 33, servomotor 28, mechanical hand 22 etc., by mechanical hand 22 standard
The true surface moving to the second station, then servomotor 28 setting in motion, by pinion and rack 33 driving mechanical
Hands 22 moves downward, and arrives the first appointment position.
Step B2: material folding
During mechanical hand 22 moves down, the servomotor 28 on mechanical hand 22 starts, and is pushed away by threaded spindle cap nut
Dynamic jaw 34 opens, and arrives the first specific bit and postpones, and the electric machine main shaft of the servomotor 28 on mechanical hand 22 reversely rotates, and passes through
Threaded spindle cap nut mechanism drives jaw 34 adverse movement, grips workpiece.
Step B3: mechanical hand returns in situ
After jaw 34 grips workpiece, servomotor 28 starts to start, by pinion and rack 33 driving mechanical hands 22
Move upward, it is achieved 22 times original positions of mechanical hand.
Step B4: translation
After mechanical hand 22 returns in situ, feed supplement robot drives motor 31 drives flexible-belt 27 to transport by gear 26
Dynamic, it is connected by belt wheel between flexible-belt 27 with pan carriage 24, belt wheel is connected by sliding shoe 30 with feed supplement slide block 29, works as feed supplement
After robot drives motor 31 starts, sliding shoe 30 can be driven to realize translation, mechanical hand 22 is moved to end effector 7
The surface at center.
Step B5: end effector rotates
Time directly over the center that mechanical hand 22 moves to end effector 7, end effector 7 starts to turn clockwise 90
Degree so that the second ending vertical is in ground, directly on top.
Step B6: end effector opens
Second ending vertical in ground and directly on top after, on end effector 7 three finger chelas open up into the second finger
Location is put.
Step B7: blanking
Scroll chuck on end effector 7 opens up into the second specific bit and postpones, and mechanical hand 22 starts to move downward, and arrives
3rd specifies position.
Step B8: gripping
Mechanical hand 22 arrives the 3rd specific bit and postpones, and three finger chelas on end effector 7 start to shrink at, and grip workpiece,
Meanwhile, the jaw 34 on mechanical hand 22 unclamps and homing grip next workpiece to be processed.
Step B9: rotate
End effector 7 dextrorotation turn 90 degrees, and makes the second end of end effector 7 be horizontal.
Step B10: shut down
After workpiece to be processed machines, numerically controlled lathe 1 is shut down.
Step B11: feeding
After the second end of end effector 7 is horizontal, spindle motor 16 starts to start, by deceleration shaft coupling
Device 17 drives leading screw 18 to start to rotate, and drives built-in mechanical hand pan carriage 36 to move, at built-in machinery by feed screw nut
The two ends of hands pan carriage 36 are provided with sprocket wheel 15, and the two ends of chain 13 are fixed on fixed mount 10 by fixed block, and pass through
Chain 13 is linked together by connector with transfer frame 9, built-in mechanical hand pan carriage 36 and the synchronizing moving of transfer frame 9, promotees
End effector 7 is made to move to numerically controlled lathe 1 inside.
Step B12: reload
Workpiece after three finger chela grippings of the first end are processed on end effector 7, then end effector 7 is clockwise
Rotation turnback, is placed on the workpiece to be processed on the second end on the triangle chuck of numerically controlled lathe 1.
Step B13: exit
After the triangle chuck of numerically controlled lathe 1 blocks workpiece to be processed, spindle motor 16 starts to start, and passes through deceleration coupling
17 drive leading screw 18 to start to rotate, and drive built-in mechanical hand pan carriage 36 to move, at built-in mechanical hand by feed screw nut
The two ends of pan carriage 36 are provided with sprocket wheel 15, and the two ends of chain 13 are fixed on fixed mount 10 by fixed block, and by even
Chain 13 is linked together by knot device with transfer frame 9, it is possible to achieve the synchronization of built-in mechanical hand pan carriage 36 and transfer frame 9 moves
Dynamic, end effector 7 is exited inside lathe.
Step B14: processing
After end effector 7 exits, numerically controlled lathe 1 starts to be processed workpiece to be processed.
Step B15: feed supplement
In numerically controlled lathe 1 course of processing, in conjunction with the gripping action of the 8th step, can return to after in situ at end effector 7,
90-degree rotation counterclockwise so that the second next workpiece to be processed of end gripping.
Step B16: rotate
After the workpiece to be processed that second end gripping is new, end effector 7 dextrorotation turnback so that the first end
Directly over being in.
Step B17: the workpiece that gripping machines
After the first end of end effector 7 is in top, mechanical hand 22 grips the workpiece machined.
Step B18: place
After mechanical hand 22 grips the part machined, feed supplement robot drives motor 31 drives soft by gear 26
Property band 27 move, be connected by belt wheel between flexible-belt 27 with pan carriage 24, belt wheel and feed supplement slide block 29 pass through sliding shoe
30 connect, and when, after electric motor starting, sliding shoe 30 being driven to realize translation, use bolt even between pan carriage 24 and sliding shoe 30
Connect.Such that it is able to realize moving in parallel of pan carriage 24, driven gear rackwork 33, servomotor 28, mechanical hand 22 etc.
Motion, is placed on the workpiece machined on the second station, it is achieved processing of reloading, and the processing of back adds with this order
Work.
In order to ensure that the chela of mechanical hand 22 can be designed to hyperbola with the clamping workpiece of efficient stable by mechanical hand 22
Circular arc, and it is mounted with rubber layer 35, increase contact area, it is also possible to protection machines the surface of rear part and is not subject to
Damage, and double chela, mechanical hand 22 can be avoided to touch guide rod when moving downward clamping workpiece, it is possible to achieve in the course of processing
Safety.
The working (machining) efficiency of numerically controlled lathe be can effectively be improved by the present invention, vacant time and the nothing of numerically controlled lathe reduced
The effect time, charging tray has controllability simultaneously, can increase the range of application of numerically controlled lathe, strengthens automatic loading and unloading manipulator
Range of application, it is achieved that numerically controlled lathe and automatic loading and unloading manipulator integrated, defines a flexible manufacturing system, effectively
Avoid the artificial participation in the course of processing, strengthen the safety in the course of processing, make the quality stability of product carry further
Height, improves the working (machining) efficiency of numerically controlled lathe, reduces production cost and the operation cost of enterprise, improves economic benefit.
The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto,
Any those familiar with the art in the technical scope that the invention discloses, the change that can readily occur in or replacement,
All should contain within protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is as the criterion.
Claims (9)
1. an automatic loading/unloading machinery device, is applied to numerically controlled lathe, it is characterised in that include built-in mechanical hand and feed supplement
Mechanical hand, wherein:
Described feed supplement machinery hands includes vertically movable mechanism and the horicontal motion mechanism being mutually connected vertically, described vertically movable machine
Structure is in order to move up and down and to grip workpiece to be processed from the top charging tray of the material platform being positioned at described feed supplement mechanical hand front end, and leads to
Cross described horicontal motion mechanism to be moved to by workpiece to be processed at described built-in mechanical hand；
Described built-in mechanical hand is vertically arranged mutually with described feed supplement machinery palmistry, moves to described built-in machinery in order to grip
Workpiece to be processed at hands also is sent in described numerically controlled lathe be processed.
A kind of automatic loading/unloading machinery device the most according to claim 1, it is characterised in that described vertically movable mechanism bag
Including servomotor, pinion and rack and mechanical hand, described mechanical hand is arranged under the tooth bar in described pinion and rack
End, described servomotor drives described mechanical hand to move up and down by described pinion and rack.
A kind of automatic loading/unloading machinery device the most according to claim 2, it is characterised in that described horicontal motion mechanism bag
Include slide rail, the second guide rail, gear, flexible-belt, feed supplement robot drives motor, pan carriage, feed supplement slide block and sliding shoe, wherein:
Described second guide rail is arranged in described slide rail；
The quantity of described gear is two, is respectively arranged at the two ends of described second guide rail；
Described flexible-belt is sheathed on the outside of two described gears；
Described feed supplement robot drives motor is arranged at one end of described slide rail, and with near described feed supplement robot drives motor
Described gear shaft connect, in order to drive described flexible-belt to move；
Described pan carriage is connected with described flexible-belt by the belt wheel being meshed with described flexible-belt, described belt wheel and described benefit
Material slide block is connected by described sliding shoe, with bolts between described pan carriage and sliding shoe；
Described servomotor and pinion and rack it is provided with in described pan carriage.
A kind of automatic loading/unloading machinery device the most according to claim 3, it is characterised in that described feed supplement mechanical hand also wraps
Including bracing frame, support frame as described above is fixing connects described slide rail.
A kind of automatic loading/unloading machinery device the most according to claim 2, it is characterised in that described mechanical hand is double-claw type
Mechanical hand.
A kind of automatic loading/unloading machinery device the most according to claim 5, it is characterised in that described mechanical hand includes two
Jaw, the side that two described jaws are relative is respectively arranged with rubber layer.
A kind of automatic loading/unloading machinery device the most according to claim 1, it is characterised in that described built-in machinery handbag
Include the first guide rail, top shoe, transfer axle, transfer frame, end effector, chain, gear shaft, sprocket wheel, fixed mount, sliding block, interior
Concealed mechanical hand pan carriage and built-in robot support frame, wherein:
Described top shoe is installed on described first guide rail, and connects in described transfer frame；
Described sliding block is fixed on described built-in robot support frame；
Described transfer axle is arranged on described transfer frame, and is connected with described end effector axle；
The two ends of described built-in mechanical hand pan carriage are provided with sprocket wheel, and described sprocket wheel is fixed on described shifting by described gear shaft
On carrier, and being engaged with described chain, the two ends of described chain are fixed on described fixed mount by fixed block, and lead to
Cross connector to be linked together with transfer frame by described chain, with so that described built-in mechanical hand pan carriage and transfer frame are same
Moved further.
8. an automatic loading/unloading method, is applied to numerically controlled lathe, it is characterised in that when on numerically controlled lathe without workpiece, its step
Suddenly it is:
Step A1: feed supplement robot drives motor is moved by gear driven flexible-belt, when feed supplement robot drives motor
After startup, flexible-belt drives sliding shoe to realize translation, and then realizes moving in parallel of pan carriage, and driven gear rackwork,
Servomotor, the motion of mechanical hand, be shifted exactly to the surface of the first station by mechanical hand, and then servomotor starts fortune
Dynamic, moved downward by pinion and rack driving mechanical hands, arrive the first appointment position；
Step A2: during mechanical hand moves down, the servomotor on mechanical hand starts, and promotes folder by threaded spindle cap nut
Pawl opens, and arrives the first specific bit and postpones, and the electric machine main shaft of the servomotor on mechanical hand reversely rotates, by threaded spindle cap nut machine
Structure drives jaw adverse movement, grips workpiece；
Step A3: when, after jaw gripping workpiece, servomotor starts to start, and is upwards transported by pinion and rack driving mechanical hands
Dynamic, it is achieved mechanical hand returns in situ；
Step A4: after mechanical hand returns in situ, feed supplement robot drives motor is moved by gear driven flexible-belt, when
After feed supplement robot drives electric motor starting, flexible-belt drives sliding shoe to realize translation, and mechanical hand is moved to end effector
The surface at center；
Step A5: when mechanical hand moves to directly over the center of end effector, end effector starts to rotate counterclockwise 90
Degree so that the first ending vertical is in ground, directly on top；
Step A6: the first ending vertical in ground and directly on top after, on end effector three finger chelas open up into second
Specify position；
Step A7: the scroll chuck on end effector opens up into the second specific bit and postpones, mechanical hand starts to move downward, and arrives
3rd specifies position；
Step A8: mechanical hand arrives the 3rd specific bit and postpones, three finger chelas on end effector start to shrink at, and grip workpiece,
Meanwhile, the double pawls on mechanical hand unclamp and homing；
Step A9: end effector dextrorotation turn 90 degrees, makes the first end of end effector be horizontal；
Step A10: after the first end of end effector is horizontal, spindle motor is started to start, is joined by deceleration
Axial organ drives leading screw to start to rotate, and drives built-in mechanical hand pan carriage to move by feed screw nut, puts down at built-in mechanical hand
The two ends moving frame are provided with sprocket wheel, and the two ends of chain are fixed on fixed mount by fixed block, and by connector by chain
Link together with transfer frame so that built-in mechanical hand pan carriage and the synchronizing moving of transfer frame, workpiece to be processed is delivered to
On the triangle chuck of numerically controlled lathe；
Step A11: after the triangle chuck of numerically controlled lathe blocks workpiece to be processed, spindle motor starts to start, built-in machinery
Hands pan carriage and the synchronizing moving of transfer frame, exit end effector inside lathe；
Step A12: after end effector exits, numerically controlled lathe starts to be processed workpiece to be processed.
9. an automatic loading/unloading method, is applied to numerically controlled lathe, it is characterised in that when there being workpiece on numerically controlled lathe, its step
Suddenly it is:
Step B1: feed supplement robot drives motor is moved by gear driven flexible-belt, when feed supplement robot drives motor
After startup, flexible-belt drives sliding shoe to realize translation, and then realizes moving in parallel of pan carriage, and driven gear rackwork,
Servomotor, the motion of mechanical hand, move to the surface of the second station accurately by mechanical hand, and then servomotor starts fortune
Dynamic, moved downward by pinion and rack driving mechanical hands, arrive the first appointment position；
Step B2: during mechanical hand moves down, the servomotor on mechanical hand starts, and promotes folder by threaded spindle cap nut
Pawl opens, and arrives the first specific bit and postpones, and the electric machine main shaft of the servomotor on mechanical hand reversely rotates, by threaded spindle cap nut machine
Structure drives jaw adverse movement, grips workpiece；
Step B3: when, after jaw gripping workpiece, servomotor starts to start, and is upwards transported by pinion and rack driving mechanical hands
Dynamic, it is achieved mechanical hand returns in situ；
Step B4: after mechanical hand returns in situ, feed supplement robot drives motor is moved by gear driven flexible-belt, when
After feed supplement robot drives electric motor starting, flexible-belt drives sliding shoe to realize translation, and mechanical hand is moved to end effector
The surface at center；
Step B5: when mechanical hand moves to directly over the center of end effector, end effector starts to turn clockwise 90
Degree so that the second ending vertical is in ground, directly on top；
Step B6: the second ending vertical in ground and directly on top after, on end effector three finger chelas open up into second
Specify position；
Step B7: the scroll chuck on end effector opens up into the second specific bit and postpones, mechanical hand starts to move downward, and arrives
3rd specifies position；
Step B8: mechanical hand arrives the 3rd specific bit and postpones, three finger chelas on end effector start to shrink at, and grip workpiece,
Meanwhile, the double pawls on mechanical hand unclamp and homing grip next workpiece to be processed；
Step B9: end effector dextrorotation turn 90 degrees, makes the second end of end effector be horizontal；
Step B10: after workpiece to be processed machines, numerically controlled lathe is shut down；
Step B11: after the second end of end effector is horizontal, spindle motor is started to start, is joined by deceleration
Axial organ drives leading screw to start to rotate, and drives built-in mechanical hand pan carriage to move by feed screw nut, puts down at built-in mechanical hand
The two ends moving frame are provided with sprocket wheel, and the two ends of chain are fixed on fixed mount by fixed block, and by connector by chain
Link together with transfer frame so that built-in mechanical hand pan carriage and the synchronizing moving of transfer frame, promote end effector to
Move inside numerically controlled lathe；
Step B12: the workpiece after three finger chela grippings of the first end are processed on end effector, then end effector up time
Pin rotation turnback, is placed on the workpiece to be processed on the second end on the triangle chuck of numerically controlled lathe；
Step B13: after the triangle chuck of numerically controlled lathe blocks workpiece to be processed, spindle motor starts to start, by deceleration shaft coupling
Device drives leading screw to start to rotate, and drives built-in mechanical hand pan carriage to move by feed screw nut, translates at built-in mechanical hand
The two ends of frame are provided with sprocket wheel, and the two ends of chain are fixed on fixed mount by fixed block, and by connector by chain with
Transfer frame links together so that built-in mechanical hand pan carriage and the synchronizing moving of transfer frame, and end effector is exited machine
Bed is internal；
Step B14: after end effector exits, numerically controlled lathe starts to be processed workpiece to be processed；
Step B15: in Process of NC Machining, in conjunction with the gripping action of the 8th step, after end effector returns in situ,
90-degree rotation counterclockwise so that the second next workpiece to be processed of end gripping；
Step B16: after the second end grips new workpiece to be processed, end effector dextrorotation turnback so that first
Directly over end is in；
Step B17: after the first end of end effector is in top, mechanical hand grips the workpiece machined；
Step B18: when, after the part that mechanical hand gripping has machined, feed supplement robot drives motor is soft by gear driven
Property band moves, and is connected by belt wheel between flexible-belt with pan carriage, and belt wheel is connected by sliding shoe with feed supplement slide block, works as benefit
After material mechanical hand servomotor starts, flexible-belt drives sliding shoe to realize translation, and then realizes moving in parallel of pan carriage, drives
Pinion and rack, servomotor, the motion of mechanical hand, be placed on the workpiece machined on the second station, it is achieved reload
Processing, the processing of back is processed with this order.
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| CN201610516986.7A CN106078318B (en) | 2016-07-04 | 2016-07-04 | A kind of automatic loading/unloading machinery device |
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| CN201610516986.7A CN106078318B (en) | 2016-07-04 | 2016-07-04 | A kind of automatic loading/unloading machinery device |
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| CN106863329A (en) * | 2017-04-22 | 2017-06-20 | 东莞市克洛伊切削工具有限公司 | A kind of material tray type is ground one's teeth in sleep manipulator |
| CN107350880A (en) * | 2017-06-21 | 2017-11-17 | 东莞盛翔精密金属有限公司 | A kind of CNC automatic fetching devices |
| CN107601168A (en) * | 2017-10-20 | 2018-01-19 | 贵州大学 | A kind of drawing mechanism for being used to wind dialysis tubing mechanism |
| CN108393732A (en) * | 2018-05-23 | 2018-08-14 | 重庆长安汽车股份有限公司 | A kind of charging and discharging mechanism for B axle machining center |
| CN109304483A (en) * | 2018-11-09 | 2019-02-05 | 广东汉亚科技股份有限公司 | A kind of inverted vertical lathe of automatic loading/unloading |
| CN111098246A (en) * | 2019-12-20 | 2020-05-05 | 大同新成新材料股份有限公司 | Intelligent carbon slide plate aluminum support machining tool with automatic feeding structure |
| CN113523314A (en) * | 2021-07-23 | 2021-10-22 | 四川众友机械有限责任公司 | Processing technology and processing system for triple gear |
| CN113829115A (en) * | 2021-11-03 | 2021-12-24 | 安徽省长凌智能装备有限公司 | Lathe feeding manipulator |
| CN118060572A (en) * | 2024-04-18 | 2024-05-24 | 苏州众捷汽车零部件股份有限公司 | Automatic feeding and discharging device of numerical control lathe |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106863329A (en) * | 2017-04-22 | 2017-06-20 | 东莞市克洛伊切削工具有限公司 | A kind of material tray type is ground one's teeth in sleep manipulator |
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| CN107601168B (en) * | 2017-10-20 | 2023-08-22 | 贵州大学 | Discharging device for winding dialysis tube mechanism |
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| CN113523314A (en) * | 2021-07-23 | 2021-10-22 | 四川众友机械有限责任公司 | Processing technology and processing system for triple gear |
| CN113523314B (en) * | 2021-07-23 | 2022-06-07 | 四川众友机械有限责任公司 | Processing technology and processing system for triple gear |
| CN113829115A (en) * | 2021-11-03 | 2021-12-24 | 安徽省长凌智能装备有限公司 | Lathe feeding manipulator |
| CN113829115B (en) * | 2021-11-03 | 2024-01-30 | 安徽省长凌智能装备有限公司 | Lathe feeding manipulator |
| CN118060572A (en) * | 2024-04-18 | 2024-05-24 | 苏州众捷汽车零部件股份有限公司 | Automatic feeding and discharging device of numerical control lathe |
| CN118060572B (en) * | 2024-04-18 | 2024-06-14 | 苏州众捷汽车零部件股份有限公司 | Automatic feeding and discharging device of numerical control lathe |
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