CN106112559A - Extra-high voltage transformer special valve processing of robots streamline and processing method - Google Patents
Extra-high voltage transformer special valve processing of robots streamline and processing method Download PDFInfo
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- CN106112559A CN106112559A CN201610676606.6A CN201610676606A CN106112559A CN 106112559 A CN106112559 A CN 106112559A CN 201610676606 A CN201610676606 A CN 201610676606A CN 106112559 A CN106112559 A CN 106112559A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/06—Metal-working plant comprising a number of associated machines or apparatus
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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
- B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
- B23Q41/02—Features relating to transfer of work between machines
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Abstract
A kind of extra-high voltage transformer special valve processing of robots streamline and processing method, it is made up of two production lines, article two, the something in common of production line is all mounting robot and fixture on guide rails of robots, is respectively equipped with the first sequence numerically controlled lathe, workpiece rotary locating stand, workpiece revolving platform, the 3rd sequence machining center and the second sequence numerically controlled lathe, workpiece overturning platform, the 4th sequence machining center, the 5th sequence square cross machining center in guide rails of robots both sides；Article two, being a difference in that of production line；The one side wherein having one article of production line also has additional the 5th sequence round piece machining center；Have additional the production line of the 5th sequence round piece machining center to process square cross and can process again round piece.The present invention solves and is manipulated Digit Control Machine Tool by skilled industrial worker one to one, the problem that the machining pattern that production efficiency is low, quality control is unstable exists, and the method and apparatus of the present invention is efficient, quality controllable, and automaticity is high, and labor intensity is low.
Description
Technical field
The invention belongs to automated machine manufacturing technology field, be specifically related to a kind of extra-high voltage transformer special valve machine
People's process line and processing method.
Background technology
Manufacturing industry is the main body of national economy, is fundamental to the building of the country, the device made the country prosperous, the base of power.18 middle of century are opened
Since industrial civilization, the ups and downs of world powers and the struggle history of the Chinese nation prove do not have powerful manufacturing industry, just do not have again and again
There are country and national prosperity.Make the manufacturing industry with international competitiveness, be that China promotes overall national strength, ensures country's peace
Entirely, the only way of building world power.
Since founding of New is especially reformed and opened up to the outside world, China's manufacturing industry sustained and rapid development, build up covering extensive fields, only
Vertical complete industrial system, strong promotion industrialization and modernization, it is obviously enhanced overall national strength, supports my great powers in the world ground
Position.But, compared with advanced international standard, China's manufacturing industry is strong the most greatly and not, in the capability of independent innovation, utilization of resources effect
Rate, industrial structure level, the level of informatization, quality and benifit etc. are wanting in away from substantially, and the task of transition and upgrade and spanning development is tight
Compel and arduous.
In the face of the domestic and international market demand of expanding day, I takes charge of original skilled industrial worker and manipulates numerically controlled lathe, number one to one
Control the Digit Control Machine Tool production capacity such as machining center and quality control aspect day show weak.In order to catch up with the development in market, promote
The level of IT application of company's butterfly valve workshop processing and manufacturing.The market competitiveness of improving product.Digitized, networking, intelligentized
Manufacture product reformation engineering by showing urgent.
Print and distribute the notice of " made in China 2025 " for response State Council, production enterprise should promote intelligence equipment and product water
Flat, strengthen intelligence manufacture Demonstration And Extension.Industrial robot application system, industrial robot and intelligent automation production line is used to become
Set equipment.
Summary of the invention
The technical problem to be solved is: solves above-mentioned prior art and is manipulated numerical control machine by skilled industrial worker one to one
The problem that bed, the machining pattern that production efficiency is low, quality control is unstable exist, and provide a kind of extra-high voltage transformer special
Valve processing of robots streamline and processing method, efficiently, quality controllable, automaticity is high, and labor intensity is low.
The technical solution used in the present invention is:
A kind of extra-high voltage transformer special valve processing of robots streamline, is made up of two production lines, the phase of two production lines
It is all mounting robot and fixture on guide rails of robots with part, is respectively equipped with the first sequence numerical control lathe in guide rails of robots both sides
Bed, workpiece rotary locating stand, workpiece revolving platform, the 3rd sequence machining center and the second sequence numerically controlled lathe, workpiece overturning platform, the 4th sequence
Machining center, the 5th sequence square cross machining center；Article two, being a difference in that of production line；Wherein there is one side of a production line
Also have additional the 5th sequence round piece machining center；The production line having additional the 5th sequence round piece machining center can the side of processing
Shape workpiece can process again round piece.
In technique scheme, two production lines are also equipped with industrial intelligent camera and inspection slide unit, safe fence,
Pneumatic system, jig, machine tool door switch casing and robot control cabinet automatically.
In technique scheme, described robot selects storehouse card brand, it is contemplated that the autgmentability of system and two production lines
Flexibility, unified storehouse card KR210 R2700 EXTRA robot system of selecting, reserved enough load surpluses；Robot is by elbow
The robot body of joint formula 6 axle construction, KRC4 switch board, teaching control device KCP form.
Guide rails of robots uses welding type frame structure, high-quality section bar be welded, annealed process, it is ensured that make for a long time
With not being deformed；Silver high-quality straight-line guide rail slide block and rack-and-pinion, Panasonic or Rhizoma Sparganii servomotor, SEW reductor in configuration,
Power is not less than 2.5KW.
Robot clamp uses the pneumatic scroll chuck in two-position of support endoporus clamping, chuck uses the male gram product of Germany, folder
Clamp force is big, and repetitive positioning accuracy is high, has safety interlock function, in the case of dying, it is ensured that workpiece does not falls out, industry intelligence
Can be installed on robot clamp by camera.
Robot clamp main feature:
1) two-position design, while meeting loading and unloading requirement, effectively reduces productive temp.
2) chucking power of three-jaw and clamping speed can be entered by fixture by being installed on the pressure regulator valve in the middle of gas circuit and choke valve
Row smooth adjustment；
3) performing three-jaw response speed fast, stable action is rapid, equipped with sensor on fixture, monitors clamp working-station in real time；
4) fixture can ensure that and realizes smooth operations, is swift in motion, reacts fast, easy to operate；
5) jaw has certain flexibility, takes into full account scale error and the deformation of workpiece itself, self-centering can ensure reliable crawl
Workpiece；
6) for different product size, quickly can remodel by the way of changing three-jaw；
7) fixture has AutoLock feature, it is ensured that fixture still keeps clamp position when supply interrupts suddenly；
8) having clamping signal, this signal and robot carry out communication, it is ensured that clamping process is safe and reliable.
Numerically controlled lathe and machining center milling installing hole fixture function and feature:
1) jig all uses Hydraumatic automatic clamping pattern, clamps reliable and stable；
2) modularized design scheme, it is ensured that remodel quick and precisely；
3) soleplate is connected with platen by T-slot screw, for mounting portion, fixture basis, need not change when remodeling；
4) clamp body is modularized design, and the workpiece in the range of certain size can share, and different pore size workpiece is fixed by changing
Position axle realizes remodeling；Clamp body bottom surface is equipped with positioning key, and has stopper slot, can be with the positioning spline on soleplate and alignment pin
Coordinate and install, it is achieved X and Y-direction location；
5) two workpiece of clamped one time, reduce non-cutting time.
The milling centre hole clamp function of numerically controlled lathe and machining center and feature:
1) plane and two pits location is used, it is ensured that accurate positioning, it is to avoid position skew in the course of processing；
2) spacer pin uses floating pattern, and the axial conical surface guides, and adapts to the workpiece error of not processing mounting holes to clamping precision
Impact；
3) locating shaft border diverse location distribution spacer pin installing hole, according to processing workpiece kind, correspondence position is installed spacing
Pin, processing of conveniently remodeling；
4) remaining ibid milling installing hole fixture.
Numerically controlled lathe and the function of machining center milling four limit fixture and feature:
1) milling four limit fixture realizes clamped one time, completes the processing of 4 side faces；
2) speed reducer for servo motor drives, it is achieved workpiece rotates, 90-degree rotation processing plane；
3) utilization realizes the lateral register of workpiece to folder oil cylinder, it is ensured that machined surface is vertical with datum level；
4) clamping workpiece uses hydraulic vice, and clamping force is big and adjustable, it is easy to accomplish Automated condtrol；
5) ejection cylinder workpiece reach after work pieces process, it is simple to robot inloading part, uses proximity switch and hydraulic valve to control
Piston rod stop position；
6) sidesway cylinder realizes the hydraulic tongs removal location of workpiece, it is achieved robot charge；
7) two pieces is processed simultaneously, saves productive temp.
In technique scheme, workpiece rotary locating stand judges for location of workpiece identification, location and workpiece home position；
Workpiece rotary locating stand is made up of pedestal and rotation platform, and rotation platform uses driven by servomotor, in high precision crossed roller axle
Holding supporting, have splendid being rigidly connected, collocation driven by servomotor controls to play the balance of splendid acceleration and motion.
In technique scheme, described industrial intelligent camera uses U.S.'s Cognex product, and In-Sight 5000 is
Row visual system is the most a industrial intelligent camera that can provide technical grade profile on current world market, firm
Die casting aluminium (IP67) shell, the M12 adapter of encapsulation and protective glasses skull, have brilliance Performance And Reliability.
In technique scheme, described inspection slide unit is the verifying bench of each working procedure processing part, and in employing, silver straight line is led
Rail slide block, air cylinder driven；Machining area sent by workpiece by slide unit, arrives manual detection position, it is to avoid man-machine interaction, support personnel
Safety.
The processing method of a kind of extra-high voltage transformer special valve processing of robots streamline, before work, operator are true
Recognizing dose location workpiece type, truck putting position, workpiece placing direction is the most correct, confirms each equipment state, confirms respectively to set
Standby holder status whether with processing work piece match, manually choose the processor of each machining tool and work piece match, connection system
In all power supplys and source of the gas；Specifically comprise the following steps that
1) robot is to workpiece Scan orientation on truck, captures blank；Placing direction mistake sends alarm signal；
2) the first sequence numerically controlled lathe face work, endoporus, seal groove, according to system signal, machine tool door automatically opens up；
3) robot takes off completion of processing workpiece, clamping blank；
4) workpiece is placed on roll-over table by robot, and robot is by workpiece turning 180 degree；
5) robot grabbing workpiece from roll-over table；
6) the second sequence numerically controlled lathe face work, endoporus, seal groove, according to system signal, machine tool door automatically opens up；
7) robot takes off completion of processing workpiece, clamping blank；Upper one procedure workpiece is next process blank；
8) workpiece is placed on rotation positioning platform by robot, vision localization；Or it is fixed that workpiece is placed into rotation by robot
On bit platform, rotation positioning platform presses 90 ° of rotations, visual identity logo position and direction；
9) robot captures workpiece of having good positioning, and is placed on next procedure workpiece revolving platform；
10) robot returns to original feeding position, repeats above 1) 9) action is once；
11) robot captures 2 workpiece from revolving platform, be placed on the 3rd sequence processing center machine tool fixture brill milling installing hole or
Centre bore, aperture deburring, according to system signal, machine tool door automatically opens up；
12) robot takes off 2 workpiece of completion of processing, is placed on the 4th sequence processing center machine tool fixture；
13) robot captures temporary 2 workpiece again from this operation revolving platform and is installed on jig；
14) the 4th sequence processing center machine tool milling periphery, chamfering, according to system signal, machine tool door automatically opens up；
15) robot takes off 2 workpiece of completion of processing, is placed into the 5th sequence square cross machining center or the 5th sequence round piece
On the jig of machining center；
16) robot returns to original feeding position, repeats above 1 in the above sequence) 15) action is once；
17) the 5th sequence square cross machining center or the lathe drilling and milling center hole of the 5th sequence round piece machining center, according to being
System signal, machine tool door automatically opens up；
18) robot takes off completion of processing workpiece；
19) workpiece is placed into finished product truck by robot.
20) robot returns to original feeding position, moves in circles.
In technique scheme, described processing method processing square cross and/or round piece, processing square cross is again
The square cross dividing into processing band logo mark and the square cross indicated without logo.
Feature and remarkable result that the present invention highlights be:
1. use robot production line balance, it is not necessary to manual operation, alleviate the working strength of labourer；
2. work efficiency is high, improves enterprises production efficiency；
The most whole production procedure is stable, reliable product quality；
4. it is suitable for producing in enormous quantities, reduces enterprise's production cost.
Accompanying drawing illustrates:
Fig. 1 is floor map of the present invention；
Fig. 2 is square cross processing process figure；
Fig. 3 is round piece processing process figure.
Accompanying drawing mark explanation:
1-blank truck；2-robot control cabinet and regulator cubicle；3-the first sequence numerically controlled lathe；4-robot and fixture；
5-workpiece rotary locating stand；6-workpiece revolving platform；7-the 3rd sequence machining center；8-finished product truck；9-safe fence；
10-checks slide unit；11-guide rails of robots；12-the 5th sequence square cross machining center；13-the 4th sequence revolving platform；
14-the 3rd sequence revolving platform；15-the 4th sequence machining center；16-workpiece overturning platform；17-the second sequence numerically controlled lathe；
18-the 5th sequence round piece machining center；
Detailed description of the invention:
See Fig. 1, the extra-high voltage transformer special valve processing of robots streamline of the present invention, it is made up of two production lines, two
The something in common of bar production line is all mounting robot and fixture on guide rails of robots, is respectively equipped with in guide rails of robots both sides
First sequence numerically controlled lathe 3, workpiece rotary locating stand 5, workpiece revolving platform the 6, the 3rd sequence machining center 7 and the second sequence numerically controlled lathe
17, workpiece overturning platform the 16, the 4th sequence machining center the 15, the 5th sequence square cross machining center 12；Article two, the difference of production line it
Place is；The one side wherein having one article of production line also has additional the 5th sequence round piece machining center 18；Have additional the 5th sequence circular
The production line of work piece processing center can process square cross can process again round piece, is also equipped with work on two production lines
Industry smart camera and inspection slide unit, safe fence, pneumatic system, jig, machine tool door automatic switching system and robot control
Cabinet processed.
See Fig. 2, without the processing of logo square cross:
Before work, operator confirm dose location workpiece type, and blank truck 1 putting position, workpiece placing direction is the most just
Really, confirm each equipment state, confirm each equipment holder status whether with processing work piece match, manually choose each machining tool and work
The processor of part coupling, all power supplys and source of the gas in connection system.Robot 4, to workpiece Scan orientation on blank truck 1, grabs
Taking blank, placing direction mistake sends alarm signal；First sequence numerically controlled lathe 3 face work, endoporus, seal groove；According to system
Signal, machine tool door automatically opens up；Robot 4 takes off completion of processing workpiece, clamping blank；Workpiece is placed into and turns over by robot 4
On turntable 16, robot 4 is by workpiece turning 180 degree；Robot 4 is grabbing workpiece from roll-over table 16；Second sequence numerically controlled lathe 17
Face work, endoporus, seal groove；According to system signal, machine tool door automatically opens up；Robot 4 takes off completion of processing workpiece, clamping hair
Blank；Workpiece is placed on rotary locating stand 5 by robot 4, vision localization；Robot 4 captures workpiece of having good positioning, and is placed into down
On procedure workpiece revolving platform 6；Robot 4 returns to original feeding position, repeats above action once；3rd sequence machining center 7
Boring milling installing hole, aperture deburring, according to system signal, machine tool door automatically opens up；Robot 4 takes off completion of processing workpiece 2,
It is placed on the 4th sequence machining center 15 fixture；Robot 4 captures temporary workpiece 2 from this sequence revolving platform 6 again and is installed to lathe
On fixture；4th sequence machining center 15 milling four sides, chamfering automatically open up according to system signal, machine tool door；Robot 4 takes off processing
Complete workpiece 2, is placed on the 5th sequence square cross machining center 12 fixture；Robot 4 returns to original feeding position, by with
Upper order repeats above action once；5th sequence square cross machining center 12 drilling and milling center hole, according to system signal, machine tool door
Automatically open up；Robot 4 takes off completion of processing workpiece 2；2 workpiece are placed on finished product truck 8 by robot 4, robot 4
Return to original feeding position, move in circles.
See Fig. 2, the processing of band logo square cross:
Before work, operator confirm dose location workpiece type, and blank truck 1 putting position, workpiece placing direction is the most just
Really, confirm each equipment state, confirm each equipment holder status whether with processing work piece match, manually choose each machining tool and work
The processor of part coupling, all power supplys and source of the gas in connection system.Robot 4, to workpiece Scan orientation on blank truck 1, grabs
Taking blank, placing direction mistake sends alarm signal；First sequence numerically controlled lathe 3 face work, endoporus, seal groove, according to system
Signal, machine tool door automatically opens up；Robot 4 takes off completion of processing workpiece, clamping blank；Workpiece is placed into and turns over by robot 4
On turntable 16, robot 4 is by workpiece turning 180 degree；Robot 4 is grabbing workpiece from roll-over table 16；Second operation numerically controlled lathe
17 face work, endoporus, seal groove, according to system signal, machine tool door automatically opens up；Robot 4 takes off completion of processing workpiece, clamping
Blank；Workpiece is placed on rotation positioning platform 5 by robot 4, vision localization, and rotation platform presses 90 degree of rotations, and vision is known
Other logo position and direction；Robot 4 captures workpiece of having good positioning, and is placed on next procedure workpiece revolving platform 6；Robot 4 times
To original feeding position, repeat above action once；Milling installing hole is bored at 3rd working procedure processing center 7, aperture deburring, according to
System signal, machine tool door automatically opens up；Robot 4 takes off completion of processing workpiece 2, and the 4th working procedure processing center 15 that is placed into presss from both sides
On tool；Robot 4 captures temporary workpiece 2 from this operation revolving platform 6 again and is installed to jig；4th working procedure processing center
15 milling four sides, chamfering, according to system signal, machine tool door automatically opens up；Robot 4 takes off completion of processing workpiece 2, is placed into
On five operation square cross machining center 12 fixtures；Robot 4 returns to original feeding position, repeats above action in the above sequence
Once；5th operation square cross machining center 12 drilling and milling center hole, according to system signal, machine tool door automatically opens up；Robot 4
Take off completion of processing workpiece 2；2 workpiece are placed on finished product truck 8 by robot 4, and robot 4 returns to original feeding position
Put, move in circles.
Seeing Fig. 3, processing round piece is essentially identical with processing square cross technological process, the technique simply processing round piece
Flow process saves milling four sides and chamfering station.
The model of square cross is Φ 40, Φ 50, Φ 80(refer to the diameter of bore of square cross), round piece is Φ
100, Φ 125, Φ 200(refer to the diameter of bore of round piece), the two-sided processing mounting holes of Φ 150 workpiece, at workpiece overturning platform
16 and workpiece rotary locating stand 5 on complete secondary upset location, be placed on the 4th sequence machining center 15 processing.
Round piece drill centers is processed on 18 on the 5th sequence round piece machining center.
Claims (8)
1. an extra-high voltage transformer special valve processing of robots streamline, it is characterised in that: it is made up of two production lines, two
The something in common of bar production line is all mounting robot and fixture on guide rails of robots, is respectively equipped with in guide rails of robots both sides
First sequence numerically controlled lathe, workpiece rotary locating stand, workpiece revolving platform, the 3rd sequence machining center and the second sequence numerically controlled lathe, workpiece
Roll-over table, the 4th sequence machining center, the 5th sequence square cross machining center；Article two, being a difference in that of production line；Wherein have one
One side of article production line also has additional the 5th sequence round piece machining center；Have additional the life of the 5th sequence round piece machining center
Product line can be processed square cross and can process again round piece.
Extra-high voltage transformer special valve processing of robots streamline the most according to claim 1, it is characterised in that: two
It is also equipped with industrial intelligent camera on bar production line and checks slide unit, safe fence, pneumatic system, jig, machine tool door certainly
Dynamic switching system and robot control cabinet.
Extra-high voltage transformer special valve processing of robots streamline the most according to claim 1, it is characterised in that: described
Robot is unified selects storehouse card KR210 R2700 EXTRA robot system, and robot is by the robot of toggle joint type 6 axle construction originally
Body, KRC4 switch board, teaching control device KCP form.
Extra-high voltage transformer special valve processing of robots streamline the most according to claim 1, it is characterised in that: machine
People's guide rail uses welding type frame structure, high-quality section bar be welded, silver high-quality straight-line guide rail slide block and gear teeth in configuration
Bar, servomotor, reductor, power is not less than 2.5KW.
Extra-high voltage transformer special valve processing of robots streamline the most according to claim 1, it is characterised in that: machine
People's fixture uses the pneumatic scroll chuck in two-position of support endoporus clamping.
Extra-high voltage transformer special valve processing of robots streamline the most according to claim 1, it is characterised in that: workpiece
Rotary locating stand is made up of pedestal and rotation platform, and rotation platform uses driven by servomotor, and crossed roller bearing props up in high precision
Hold, servo drive control of arranging in pairs or groups.
7. a processing method for extra-high voltage transformer special valve processing of robots streamline, before work, operator confirm
Dose location workpiece type, truck putting position, workpiece placing direction is the most correct, confirms each equipment state, confirms each equipment
Holder status whether with processing work piece match, manually choose the processor of each machining tool and work piece match, in connection system
All power supplys and source of the gas；Specifically comprise the following steps that
1) robot is to workpiece Scan orientation on truck, captures blank；Placing direction mistake sends alarm signal；
2) the first sequence numerically controlled lathe face work, endoporus, seal groove, according to system signal, machine tool door automatically opens up；
3) robot takes off completion of processing workpiece, clamping blank；
4) workpiece is placed on roll-over table by robot, and robot is by workpiece turning 180 degree；
5) robot grabbing workpiece from roll-over table；
6) the second sequence numerically controlled lathe face work, endoporus, seal groove, according to system signal, machine tool door automatically opens up；
7) robot takes off completion of processing workpiece, clamping blank；Upper one procedure workpiece is next process blank；
8) workpiece is placed on rotation positioning platform by robot, vision localization；Or it is fixed that workpiece is placed into rotation by robot
On bit platform, rotation positioning platform presses 90 ° of rotations, visual identity logo position and direction；
9) robot captures workpiece of having good positioning, and is placed on next procedure workpiece revolving platform；
10) robot returns to original feeding position, repeats above 1) 9) action is once；
11) robot captures 2 workpiece from revolving platform, be placed on the 3rd sequence processing center machine tool fixture brill milling installing hole or
Centre bore, aperture deburring, according to system signal, machine tool door automatically opens up；
12) robot takes off 2 workpiece of completion of processing, is placed on the 4th sequence processing center machine tool fixture；
13) robot again from this operation revolving platform capture 2 temporary workpiece be installed on jig；
14) the 4th sequence processing center machine tool milling periphery, chamfering, according to system signal, machine tool door automatically opens up；
15) robot takes off 2 workpiece of completion of processing, is placed into the 5th sequence square cross machining center or the 5th sequence round piece
On the jig of machining center；
16) robot returns to original feeding position, repeats above 1 in the above sequence) 15) action is once；
17) the 5th sequence square cross machining center or the lathe drilling and milling center hole of the 5th sequence round piece machining center, according to being
System signal, machine tool door automatically opens up；
18) robot takes off completion of processing workpiece；
19) workpiece is placed into finished product truck by robot；
20) robot returns to original feeding position, moves in circles.
The processing method of extra-high voltage transformer special valve processing of robots streamline the most according to claim 7, it is special
Levying and be: described processing method processing square cross and/or round piece, processing square cross divides into again band logo mark
Square cross and without logo mark square cross.
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| CN201610676606.6A CN106112559B (en) | 2016-08-17 | 2016-08-17 | Extra-high voltage transformer special valve processing of robots assembly line and processing method |
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| CN114673819A (en) * | 2020-12-24 | 2022-06-28 | 金卡智能集团股份有限公司 | Multi-valve self-adaption method and system and gas meter |
| CN112975427A (en) * | 2021-03-09 | 2021-06-18 | 扬州哈工科创机器人研究院有限公司 | Electric automation system for chuck production |
| CN113172480A (en) * | 2021-04-20 | 2021-07-27 | 西门子（中国）有限公司 | Automatic machine base machining production line and automatic machine base machining method |
| CN113172481A (en) * | 2021-04-20 | 2021-07-27 | 西门子（中国）有限公司 | Automatic machine base machining production line and automatic machine base machining method |
| CN114118780A (en) * | 2021-11-24 | 2022-03-01 | 滨州博海精工机械有限公司 | Rapid reconstruction method of piston logistics system |
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| CN114619258A (en) * | 2022-03-30 | 2022-06-14 | 湖南工商大学 | Automatic machining production line for machine base |
| CN114799997A (en) * | 2022-04-29 | 2022-07-29 | 深圳市富士杰智能技术有限公司 | Multi-process-surface automatic overturning, positioning-surface rotating and clamping-jaw grabbing mechanism and combination method thereof |
| CN114850946A (en) * | 2022-05-11 | 2022-08-05 | 深圳市富士杰智能技术有限公司 | Automatic material loading and unloading machine of material turning numerical control equipment |
| WO2023241239A1 (en) * | 2022-06-15 | 2023-12-21 | 深圳市富士杰智能技术有限公司 | Automatic-turning joint robot for numerical control apparatus |
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