CN106112559B - Extra-high voltage transformer special valve processing of robots assembly line and processing method - Google Patents

Extra-high voltage transformer special valve processing of robots assembly line and processing method Download PDF

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Publication number
CN106112559B
CN106112559B CN201610676606.6A CN201610676606A CN106112559B CN 106112559 B CN106112559 B CN 106112559B CN 201610676606 A CN201610676606 A CN 201610676606A CN 106112559 B CN106112559 B CN 106112559B
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workpiece
processing
robot
sequence
machine tool
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CN201610676606.6A
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Chinese (zh)
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CN106112559A (en
Inventor
种衍民
范利明
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特变电工集团衡阳电气装备有限公司
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23POTHER WORKING OF METAL; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • B23P23/06Metal-working plant comprising a number of associated machines or apparatus
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q41/00Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
    • B23Q41/02Features relating to transfer of work between machines

Abstract

A kind of extra-high voltage transformer special valve processing of robots assembly line and processing method, by two product line groups into, the something in common of two production lines is all mounting robot and fixture on guide rails of robots, and 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 are respectively equipped in guide rails of robots both sides;Two production lines are a difference in that;The one side for wherein having one article of production line also has additional the 5th sequence round piece machining center;Square cross can be processed but also process round piece by having additional the production line of the 5th sequence round piece machining center.The present invention is solved by the one-to-one manipulation numerically-controlled machine tool of skilled worker, the unstable machining pattern of low production efficiency, quality control there are the problem of, method and apparatus of the invention is efficient, quality controllable, high degree of automation, and labor intensity is low.

Description

Extra-high voltage transformer special valve processing of robots assembly line and processing method

Technical field

The invention belongs to automated machine manufacturing technology fields, and in particular 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, device, the base of power made the country prosperous.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, without powerful manufacturing industry, just do not have again and again There are country and national prosperity.The manufacturing industry with international competitiveness is made, is 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 has been built up covering extensive fields, only Complete industrial system is found, it is strong to promote industrialization and modernization, overall national strength is significantly increased, with supporting my great powers in the world Position.However, compared with advanced international standard, China's manufacturing industry is imitated still greatly without strong in the capability of independent innovation, the utilization of resources Rate, industrial structure level, the level of informatization, quality and benifit etc. gap are apparent, and the task of transition and upgrade and spanning development is tight It is urgent and arduous.

In face of the domestic and international market demand being growing, I takes charge of the one-to-one manipulation numerically controlled lathe of original skilled worker, number Show weak day in terms of the numerically-controlled machine tools production capacity such as control machining center and quality control.In order to keep up with the development in market, promoted The level of IT application of company's butterfly valve workshop processing and manufacturing.Promote the competitiveness of product in market.It is digitlization, networking, intelligentized Product reformation engineering is manufactured by aobvious urgent.

For response, State Council prints and distributes《Made in China 2025》Notice, production enterprise should be promoted intelligence equipment and product water It is flat, increase intelligence manufacture Demonstration And Extension.Using industrial robot application system, industrial robot and intelligent automation production line into Set equipment.

The content of the invention

The technical problems to be solved by the invention are:The above-mentioned prior art is solved by the one-to-one manipulation numerical control machine of skilled worker The unstable machining pattern of bed, low production efficiency, quality control there are the problem of, and it is special to provide a kind of extra-high voltage transformer Valve processing of robots assembly line and processing method, efficiently, quality controllable, high degree of automation, labor intensity are low.

The technical solution adopted by the present invention is:

A kind of extra-high voltage transformer special valve processing of robots assembly line, by two product line groups into two production lines Something in common be all mounting robot and fixture on guide rails of robots, be respectively equipped with the first ordinal number in guide rails of robots both sides Control lathe, workpiece rotary locating stand, workpiece revolving platform, the 3rd sequence machining center and the second sequence numerically controlled lathe, workpiece overturning platform, the Four sequence machining centers, the 5th sequence square cross machining center;Two production lines are a difference in that;Wherein there is production line Also have additional the 5th sequence round piece machining center on one side;Having additional the production line of the 5th sequence round piece machining center can add Work square cross can process round piece again.

In above-mentioned technical proposal, be also equipped on two production lines industrial intelligent camera and examine slide unit, safe fence, Pneumatic system, jig, machine tool door automatic switch babinet and robot control cabinet.

In above-mentioned technical proposal, the robot selects storehouse card brand, it is contemplated that the autgmentability of system and two production lines Flexibility, it is unified to select storehouse card KR210 R2700 EXTRA robot systems, reserve enough load surpluses;Robot is by elbow Robot body, KRC4 switch boards, the teaching control device KCP compositions of 6 axle construction of section formula.

Guide rails of robots uses welded type frame structure, is welded by high-quality material, annealed processing, and guarantee makes for a long time With not being deformed;The high-quality straight-line guide rail slide block and rack-and-pinion of silver, Panasonic or Mitsubishi's servomotor, SEW speed reducers in configuration, Power is not less than 2.5KW.

The pneumatic scroll chuck in two-position that robot clamp is clamped using support endoporus, chuck is using the male gram product of Germany, folder Clamp force is big, and repetitive positioning accuracy is high, has the function of safety interlock, in the case where dying, it is ensured that workpiece is not fallen out, industrial intelligence Energy camera is installed on robot clamp.

Robot clamp main feature:

1)Two-position is designed, and while meeting loading and unloading requirement, effectively reduces productive temp.

2)Fixture can by the pressure regulator valve that is installed among gas circuit and throttle valve to the chucking power of three-jaw and clamping speed into Row smooth adjustment;

3)Execution three-jaw reaction speed is fast, and stable action is rapid, equipped with sensor, real time monitoring fixture work shape on fixture State;

4)Fixture can ensure that realization smooth operations, is swift in motion, reacts fast, easy to operate;

5) clamping jaw has certain flexibility, takes into full account workpiece scale error in itself and deformation, can self-centering ensure it is reliable Grabbing workpiece;

6) for different product size, can quickly be remodeled by way of replacing three-jaw;

7) fixture has AutoLock feature, it is ensured that fixture still keeps clamp position when supply interrupts suddenly;

8) there is clamping signal, this signal carries out communication with robot, ensures that clamping process is safe and reliable.

Numerically controlled lathe and machining center milling mounting hole fixture function and feature:

1) jig is clamped reliable and stable using Hydraumatic automatic clamping pattern;

2) modularized design scheme, it is ensured that remodel quick and precisely;

3) base plate is connected by T-slot screw with platen, is fixture basis installation section, is not had to when remodeling It replaces;

4) clamp body is modularized design, and the workpiece in the range of certain size can share, and different pore size workpiece passes through more Locating shaft realization is changed to remodel;Clamp body bottom surface is equipped with positioning key, and is provided with limiting slot, can with the positioning spline on base plate and calmly Position pin cooperation installation, realizes X and Y-direction positioning;

5) two workpiece of clamped one time reduce non-cutting time.

The milling centre hole clamp function and feature of numerically controlled lathe and machining center:

1) positioned using plane and two pits, it is ensured that accurate positioning avoids position offset in process;

2) spacer pin uses floating pattern, and the axial conical surface is oriented to, and adapts to the workpiece error of not processing mounting holes to clamping essence The influence of degree;

3) locating shaft border different position distribution spacer pin mounting hole, according to workpieces processing species, correspondence position installation limit Position pin, processing of conveniently remodeling;

4) remaining is same as above milling mounting hole fixture.

The function and feature of four side fixture of numerically controlled lathe and machining center milling:

1) four side fixture of milling realizes clamped one time, completes the processing of 4 circumferential surfaces;

2) speed reducer for servo motor drives, and realizes workpiece rotation, is rotated by 90 ° processing plane;

3) using the lateral register that workpiece is realized to folder oil cylinder, ensure that machined surface and reference plane are vertical;

4) workpiece is clamped using hydraulic vice, and clamping force is big and adjustable, it is easy to accomplish automation control;

5) ejection cylinder moves forward for workpiece after work pieces process, convenient for robot inloading part, using close switch and hydraulic valve Control piston rod stop position;

6) sidesway cylinder realizes that hydraulic tongs removes the location of workpiece, realizes robot charge;

7) two pieces is processed simultaneously, saves productive temp.

In above-mentioned technical proposal, workpiece rotary locating stand judges for location of workpiece identification, positioning and workpiece home position; Workpiece rotary locating stand is made of pedestal and rotating platform, and rotating platform is driven using servomotor, high-precision crossed roller axis Supporting is held, there is splendid rigid connection, collocation servomotor drive control can play the balance of splendid acceleration and movement.

In above-mentioned technical proposal, the industrial intelligent camera uses U.S.'s Cognex product, 5000 systems of In-Sight Row vision system is unique a industrial intelligent camera for being capable of providing technical grade profile on current world market, firm Die casting aluminium (IP67) shell, the M12 connectors of encapsulation and protection lens cap have remarkable Performance And Reliability.

It is described to examine the verifying bench that slide unit is each process processing part in above-mentioned technical proposal, it is led using upper silver-colored straight line Rail sliding block, cylinder driving;Workpiece is sent out machining area by slide unit, is reached artificial detection position, is avoided human-computer interaction, support personnel Safety.

A kind of processing method of extra-high voltage transformer special valve processing of robots assembly line, before work, operating personnel are true Recognize dose location workpiece type, truck placement position, whether workpiece placing direction is correct, confirms each equipment state, and confirmation is respectively set Whether standby holder status matches with workpieces processing, manually chooses the processing program of each machining tool and work piece match, connects system In all power supplys and source of the gas;It is as follows:

1)Robot captures blank to workpiece Scan orientation on truck;Placing direction mistake sends alarm signal;

2)First ordinal number control lathe face work, endoporus, seal groove, according to system signal, machine tool door automatically opens;

3)Completion of processing workpiece, clamping blank are removed by robot;

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)Second ordinal number control lathe face work, endoporus, seal groove, according to system signal, machine tool door automatically opens;

7)Completion of processing workpiece, clamping blank are removed by robot;Upper procedure workpiece is next process blank;

8)Workpiece is placed on rotation positioning platform by robot, vision positioning;Or workpiece is placed into rotation by robot Turn on locating platform, rotation positioning platform is by 90 ° of rotations, visual identity logo positions and direction;

9)Robot captures workpiece of having good positioning, and is placed on next procedure workpiece revolving platform;

10)Robot returns to original upper discharge position, repeats above 1)—9)Action is once;

11)Robot captures 2 workpiece from revolving platform, is placed on the 3rd sequence processing center machine tool fixture and bores milling installation Hole or centre bore, aperture deburring, according to system signal, machine tool door automatically opens;

12)2 workpiece of completion of processing are removed by robot, are placed on the 4th sequence processing center machine tool fixture;

13)Robot captures temporary 2 workpiece from this process revolving platform and is installed on jig again;

14)4th sequence processing center machine tool milling periphery, chamfering, according to system signal, machine tool door automatically opens;

15)2 workpiece of completion of processing are removed by robot, are placed into the 5th sequence square cross machining center or the 5th sequence is circular On the jig of work piece processing center;

16)Robot returns to original upper discharge position, repeat in the above sequence more than 1)—15)Action is once;

17)The lathe drilling and milling center hole of 5th sequence square cross machining center or the 5th sequence round piece machining center, root According to system signal, machine tool door automatically opens;

18)Completion of processing workpiece is removed by robot;

19)Workpiece is placed into finished product truck by robot.

20)Robot returns to original upper discharge position, moves in circles.

In above-mentioned technical proposal, processing method processing square cross and/or round piece, processing square cross is again Divide into square cross of the processing with logo marks and the square cross without logo marks.

The characteristics of present invention is prominent and remarkable result are:

1. using robot flow line production, without human intervention, the working strength of labourer is alleviated;

2. work efficiency is high, enterprises production efficiency is improved;

3. entire production procedure is stablized, reliable product quality;

4. being suitble to produce in enormous quantities, enterprise's production cost is reduced.

Description of the drawings:

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.

Attached drawing marks explanation:

1- blank trucks;2- robot control cabinets and electrical cabinet;3- the first sequence numerically controlled lathes;4- robots and fixture;

5- workpiece rotary locating stands;6- workpiece revolving platforms;The 3rd sequence machining centers of 7-;8- finished product trucks;9- encloses safely Column;

10- examines slide unit;11- guide rails of robots;The 5th sequence square cross machining centers of 12-;The 4th sequence revolving platforms of 13-;

The 3rd sequence revolving platforms of 14-;The 4th sequence machining centers of 15-;16- workpiece overturning platforms;17- the second sequence numerically controlled lathes;

The 5th sequence round piece machining centers of 18-;

Specific embodiment:

Referring to Fig. 1, extra-high voltage transformer special valve processing of robots assembly line of the invention, by two product line groups Into the something in common of two production lines is all mounting robot and fixture on guide rails of robots, in guide rails of robots both sides point It She You not the first sequence numerically controlled lathe 3, workpiece rotary locating stand 5, workpiece revolving platform 6, the 3rd sequence machining center 7 and the second ordinal number control Lathe 17, workpiece overturning platform 16, the 4th sequence machining center 15, the 5th sequence square cross machining center 12;Two production lines are not It is with part;The one side for wherein having one article of production line also has additional the 5th sequence round piece machining center 18;Have additional the 5th sequence The production line of round piece machining center can process square cross but also process round piece, also be installed on two production lines There is industrial intelligent camera and examine slide unit, safe fence, pneumatic system, jig, machine tool door automatic switching system and machine People's switch board.

Referring to Fig. 2, without the processing of logo square crosses:

Before work, operating personnel confirm dose location workpiece type, 1 placement position of blank truck, and workpiece placing direction is It is no correct, confirm each equipment state, confirm whether each equipment holder status matches with workpieces processing, manually choose each machining tool With the processing program of work piece match, all power supplys and source of the gas in connection system.It is fixed that robot 4 scans workpiece on blank truck 1 Position, captures blank, and 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 open;Completion of processing workpiece, clamping blank are removed by robot 4;Workpiece is placed by robot 4 Onto roll-over table 16, robot 4 is by workpiece turning 180 degree;Robot 4 is from grabbing workpiece on roll-over table 16;Second sequence numerical control lathe 17 face work of bed, endoporus, seal groove;According to system signal, machine tool door automatically opens;Completion of processing workpiece is removed by robot 4, dress Press from both sides blank;Workpiece is placed on rotary locating stand 5 by robot 4, vision positioning;Robot 4 captures workpiece of having good positioning, and places Onto next procedure workpiece revolving platform 6;Robot 4 returns to original upper discharge position, repeats above action once;3rd sequence is processed Milling mounting hole is bored at center 7, and aperture deburring, according to system signal, machine tool door automatically opens;Completion of processing work is removed by robot 4 Part 2, is placed on 15 fixture of the 4th sequence machining center;Robot 4 captures temporary 2 installations of workpiece from this sequence revolving platform 6 again Onto jig;According to system signal, machine tool door automatically opens for 4th sequence machining center, 15 milling four sides, chamfering;Robot 4 takes Lower completion of processing workpiece 2, is placed on 12 fixture of the 5th sequence square cross machining center;Robot 4 returns to original upper material position Put, repeat in the above sequence more than act once;5th sequence square cross machining center, 12 drilling and milling center hole, believes according to system Number, machine tool door automatically opens;Completion of processing workpiece 2 is removed by robot 4;2 workpiece are placed into finished product truck 8 by robot 4 On, robot 4 returns to original upper discharge position, moves in circles.

Referring to Fig. 2, the processing with logo square crosses:

Before work, operating personnel confirm dose location workpiece type, 1 placement position of blank truck, and workpiece placing direction is It is no correct, confirm each equipment state, confirm whether each equipment holder status matches with workpieces processing, manually choose each machining tool With the processing program of work piece match, all power supplys and source of the gas in connection system.It is fixed that robot 4 scans workpiece on blank truck 1 Position, captures blank, and 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 open;Completion of processing workpiece, clamping blank are removed by robot 4;Workpiece is placed by robot 4 Onto roll-over table 16, robot 4 is by workpiece turning 180 degree;Robot 4 is from grabbing workpiece on roll-over table 16;The second step numerical control 17 face work of lathe, endoporus, seal groove, according to system signal, machine tool door automatically opens;Completion of processing workpiece is removed by robot 4, Clamping blank;Workpiece is placed on rotation positioning platform 5 by robot 4, vision positioning, and rotating platform is rotated by 90 degree, depending on Feel identification logo positions and direction;Robot 4 captures workpiece of having good positioning, and is placed on next procedure workpiece revolving platform 6;Robot 4 return to original upper discharge position, repeat above action once;The third step machining center 7 bores milling mounting hole, aperture deburring, root According to system signal, machine tool door automatically opens;Completion of processing workpiece 2 is removed by robot 4, is placed into the fourth step machining center 15 On fixture;Robot 4 captures temporary workpiece 2 from this process revolving platform 6 again and is installed on jig;In the fourth step processing 15 milling of heart four sides, chamfering, according to system signal, machine tool door automatically opens;Completion of processing workpiece 2 is removed by robot 4, is placed into On 5th process square cross machining center, 12 fixture;Robot 4 returns to original upper discharge position, repeat in the above sequence more than move Make once;5th process square cross machining center, 12 drilling and milling center hole, according to system signal, machine tool door automatically opens;Machine People 4 removes 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 is moved in circles.

Referring to Fig. 3, processing round piece and processing square cross technological process are essentially identical, simply process round piece Milling four sides and chamfering station are saved in technological process.

Model Φ 40, Φ 50, the Φ 80 of square cross(Refer to the diameter of bore of square cross), round piece Φ 100、Φ125、Φ200(Refer to the diameter of bore of round piece), the two-sided processing mounting holes of 150 workpiece of Φ, in workpiece overturning platform 16 and workpiece rotary locating stand 5 on complete it is secondary overturning positioning, be placed on the 4th sequence machining center 15 and process.

Round piece drill centers 18 on the 5th sequence round piece machining center on process.

Claims (2)

1. a kind of processing method of extra-high voltage transformer special valve processing of robots assembly line, before work, operating personnel confirm Dose location workpiece type, truck placement position, whether workpiece placing direction is correct, confirms each equipment state, confirms each equipment Whether holder status matches with workpieces processing, manually chooses the processing program of each machining tool and work piece match, in connection system All power supplys and source of the gas;It is as follows:
1)Robot captures blank to workpiece Scan orientation on truck;Placing direction mistake sends alarm signal;
2)First ordinal number control lathe face work, endoporus, seal groove, according to system signal, machine tool door automatically opens;
3)Completion of processing workpiece, clamping blank are removed by robot;
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)Second ordinal number control lathe face work, endoporus, seal groove, according to system signal, machine tool door automatically opens;
7)Completion of processing workpiece, clamping blank are removed by robot;Upper procedure workpiece is next process blank;
8)Workpiece is placed on rotation positioning platform by robot, vision positioning;Or workpiece is placed into rotation and determined by robot On bit platform, rotation positioning platform is by 90 ° of rotations, visual identity logo positions and direction;
9)Robot captures workpiece of having good positioning, and is placed on next procedure workpiece revolving platform;
10)Robot returns to original upper discharge 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 bore milling mounting hole or Centre bore, aperture deburring, according to system signal, machine tool door automatically opens;
12)2 workpiece of completion of processing are removed by robot, are placed on the 4th sequence processing center machine tool fixture;
13)Robot captures 2 temporary workpiece again from this process revolving platform and is installed on jig;
14)4th sequence processing center machine tool milling periphery, chamfering, according to system signal, machine tool door automatically opens;
15)2 workpiece of completion of processing are removed by robot, are 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 upper discharge position, repeat in the above sequence more than 1)—15)Action is once;
17)The lathe drilling and milling center hole of 5th sequence square cross machining center or the 5th sequence round piece machining center, according to being System signal, machine tool door automatically open;
18)Completion of processing workpiece is removed by robot;
19)Workpiece is placed into finished product truck by robot;
20)Robot returns to original upper discharge position, moves in circles.
2. the processing method of extra-high voltage transformer special valve processing of robots assembly line according to claim 1, special Sign is:The processing method processing square cross and/or round piece, processing square cross are divided into band logo and are indicated again Square cross and without logo mark square cross.
CN201610676606.6A 2016-08-17 2016-08-17 Extra-high voltage transformer special valve processing of robots assembly line and processing method CN106112559B (en)

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CN107186492A (en) * 2017-05-19 2017-09-22 四川眉山强力机械有限公司 The tapered sleeve production line control system of tapered sleeve is carried by a kind of utilization robot
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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

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Publication number Priority date Publication date Assignee Title
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CN203343735U (en) * 2013-07-18 2013-12-18 德州普利森机床有限公司 Oil cylinder automatic processing device
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