CN107253079A - A kind of arm-and-hand system for many lathe automatic loading/unloadings - Google Patents

A kind of arm-and-hand system for many lathe automatic loading/unloadings Download PDF

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Publication number
CN107253079A
CN107253079A CN201710463203.8A CN201710463203A CN107253079A CN 107253079 A CN107253079 A CN 107253079A CN 201710463203 A CN201710463203 A CN 201710463203A CN 107253079 A CN107253079 A CN 107253079A
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CN
China
Prior art keywords
loading
paw
manipulator
arm
lathe
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710463203.8A
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Chinese (zh)
Inventor
刘川
陈鸣晖
闵炜振
汪琦
马晶晶
吴文渊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangxi Hongdu Aviation Industry Group Co Ltd
Original Assignee
Jiangxi Hongdu Aviation Industry Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangxi Hongdu Aviation Industry Group Co Ltd filed Critical Jiangxi Hongdu Aviation Industry Group Co Ltd
Priority to CN201710463203.8A priority Critical patent/CN107253079A/en
Publication of CN107253079A publication Critical patent/CN107253079A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B23Q7/00Arrangements 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
    • 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
    • B23Q7/00Arrangements 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
    • B23Q7/04Arrangements 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Feeding Of Workpieces (AREA)

Abstract

A kind of arm-and-hand system for many lathe automatic loading/unloadings, wherein, support is arranged on lathe side, pinion and rack is rack-mount, manipulator is arranged in robot, and be connected with guide rail guide screw movement mechanism one end, and X-axis servomotor of walking is connected with guide rail guide screw movement mechanism, manipulator includes being provided with feeding paw and blanking paw on loading and unloading commutation paw, loading and unloading commutation paw;Vibration disk chassis are installed for placing the vibrating disk of blank, vibration disk chassis are fixed on support side, and vibrating disk automatic-posture-adjustment mechanism is arranged on vibration disk chassis;The PLC for control machinery hand automated exchanged cutter loading and unloading is provided with support simultaneously, and X-axis walking servomotor, guide rail guide screw movement mechanism, vibrating disk automatic-posture-adjustment mechanism are connected with PLC respectively;Can be while many Digit Control Machine Tool automatic loading/unloadings, process be without manually operate, positioning reliable clamping is stable, effectively mitigates hand labor intensity.

Description

A kind of arm-and-hand system for many lathe automatic loading/unloadings
Technical field
The present invention relates to mechanical charging technical field, more particularly to a kind of manipulator system for many lathe automatic loading/unloadings System.
Background technology
At present, Digit Control Machine Tool workpiece loading and unloading is still by being accomplished manually on the production line of domestic many factories, and labor intensity is big, raw Produce efficiency low;Manipulator is a kind of automatic makeup with crawl and travelling workpiece function used during automated production Put, danger can be completed instead of the mankind, scissors and paste is repeated, mitigation hand labor intensity, raising labour productive forces, but current Manipulator can not realize automatic charging, clamping, processing, blanking work.
The content of the invention
Technical problem solved by the invention is a kind of arm-and-hand system for many lathe automatic loading/unloadings of offer, with Solve the shortcoming in above-mentioned background technology.
Technical problem solved by the invention is realized using following technical scheme:
A kind of arm-and-hand system for many lathe automatic loading/unloadings, including lathe, support, pinion and rack, manipulator, X Axle walking servomotor, guide rail guide screw movement mechanism, vibrating disk automatic-posture-adjustment mechanism, vibration disk chassis and vibrating disk;Wherein, prop up Frame is arranged on lathe side, and the pinion and rack for being extended to arm-and-hand system is rack-mount, manipulator peace It is connected in robot, and with guide rail guide screw movement mechanism one end, X-axis walking servomotor connects with guide rail guide screw movement mechanism Connect, manipulator includes being provided with feeding paw and blanking paw on loading and unloading commutation paw, loading and unloading commutation paw;For placing The vibrating disk of blank is installed on vibration disk chassis, and vibration disk chassis are fixed on support side, and vibrating disk automatic-posture-adjustment mechanism is set Put on vibration disk chassis, for blank to be transported to the position of manipulator crawl and is adjusted to blank in this process to want The posture of crawl;The PLC for control machinery hand automated exchanged cutter loading and unloading, and X-axis walking servo are provided with support simultaneously Motor, guide rail guide screw movement mechanism, vibrating disk automatic-posture-adjustment mechanism are connected with PLC respectively.
In the present invention, support is aluminium section bar support.
In the present invention, X-axis walking servomotor is rack-mount.
In the present invention, it is provided with lathe and carries out spacing machine chuck for the paw that commutated to loading and unloading.
In the present invention, lower material conveyer is provided with below support, lower material conveyer operation is defeated by the workpiece machined It is sent on blanking bench, accumulation is packed by workman again to certain quantity, such a workman can operate a plurality of automatic simultaneously Loading and unloading production line.
In the present invention, loading and unloading commutation paw is arranged on same robotic on hand, can be in same stroke Middle completion automatic loading/unloading action, to shorten loading and unloading beat.
In the present invention, in vibrating disk automatic-posture-adjustment mechanism, impulse magnet one end connects with the charging tray for placing blank Connect, the other end is connected with pedestal, flat spring is distributed on impulse magnet periphery, and flat spring one end is connected with charging tray, the other end is solid It is scheduled on pedestal.
In the present invention, on arm-and-hand system after electricity, manual coarse adjustment position of manipulator is pressing manipulator origin button, machine The X-axis of tool hand, Z axis return origin position respectively, and loading and unloading commutation paw is in released position, blank is put into self-feeding In pallet, by manipulator start button, manipulator is acted since origin, and a manipulator services multiple lathes simultaneously, and PLC is read After the signal for getting the good workpiece of one of machine tooling, blank is sent to this lathe, blanking feeding operation is carried out;PLC is read After the signal for getting the good workpiece of another machine tooling, blank is sent to this lathe, blanking feeding operation is carried out.
Beneficial effect:The present invention can be while many Digit Control Machine Tool automatic loading/unloadings, X, the normal speed of Z axis be 1m/s, most At high speed up to 1.5m/s, the feeding beat of each workpiece is 20s, be can be achieved on automatic by the workpiece of representative of steering wheel bracket Material, clamping, processing, blanking work, process position reliable clamping without manually operating, stable;Alternative several works People's loading and unloading work, and effectively mitigate hand labor intensity, and can be needed to be extended according to work-piece throughput.
Brief description of the drawings
Fig. 1 is the top view of presently preferred embodiments of the present invention.
Fig. 2 is the side view of presently preferred embodiments of the present invention.
Fig. 3 is the vibrating disk automatic-posture-adjustment mechanism structure schematic diagram in presently preferred embodiments of the present invention.
Fig. 4(A~b)For the lathe automatic loading/unloading flow chart in presently preferred embodiments of the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are readily apparent from clearly, tie below Conjunction is specifically illustrating, and the present invention is expanded on further.
Referring to a kind of arm-and-hand system for many lathe automatic loading/unloadings of Fig. 1~3, including lathe 1, an aluminium section bar Support 2, pinion and rack 3, loading and unloading commutation paw 4, X-axis walking servomotor 5, guide rail guide screw movement mechanism 6, blanking are defeated Send machine 7, vibrating disk automatic-posture-adjustment mechanism 8, vibration disk chassis 9, feeding paw 10, vibrating disk 11, blanking paw 12, No. two lathes 13 and machine chuck 14;Aluminium section bar support 2 can simplify product as support compared with the support that traditional non-ferrous metal is manufactured Design process, processing simple, the easy to assembly, manufacturing cycle is short, and resistance to corrosion is strong, is suitable for having certain corrosive In environment;Pinion and rack 3 has extensible advantage, under the increased requirement of yield, can be prolonged arm-and-hand system It is long;Loading and unloading commutation paw 4 is arranged on same robotic on hand, can complete automatic loading/unloading in same stroke Action, to shorten loading and unloading beat, guide rail guide screw movement mechanism 6 has positioning precision height, transmission efficiency, service life high Advantage, for the transmission mechanism of Z axis, workpiece is transported on blanking bench by operating lower material conveyer 7, and certain number is arrived in accumulation Amount is packed by workman again, and such a workman can operate a plurality of automatic loading/unloading production line simultaneously;Vibrating disk automatic-posture-adjustment Mechanism 8 is arranged on vibration disk chassis 9, for blank to be transported to the position of manipulator crawl and in this process by blank It is adjusted to the posture to be captured.
In the present embodiment, vibrating disk automatic-posture-adjustment mechanism 8 includes charging tray 81, impulse magnet 82, flat spring 83 and pedestal 84, blank is placed in charging tray 81, and the one end of impulse magnet 82 is connected with charging tray 81, and the other end is connected with pedestal 84, flat spring 83 The periphery of impulse magnet 82 is distributed on, and the one end of flat spring 83 is connected with charging tray 81, the other end is connected with pedestal 84.
In the present embodiment, on arm-and-hand system after electricity, manual coarse adjustment position of manipulator presses manipulator origin button, X Axle, Z axis return origin position respectively, and loading and unloading commutation paw 4 is in released position, and blank is put into self-feeding by workman In pallet, by manipulator start button, manipulator is acted since origin, and a manipulator services a lathe 1 and two simultaneously Number lathe 13, PLC reads a lathe 1 and processed after the signal of workpiece, and blank is sent into a lathe 1, carries out blanking Feeding is operated, and shown in process such as Fig. 4 (a), PLC reads No. two lathes 13 and processed after the signal of workpiece, and blank is sent To No. two lathes 13, blanking feeding operation is carried out, shown in process such as Fig. 4 (b);If the blank of processing is initial workpiece blank, PLC is judged by counter, skips (5)-(9) step, is below running hours logical action:
(1) PLC reads a lathe 1 and processed after the signal of workpiece, and manipulator declines along Z axis, feeding paw 10 to vibration Blank is captured on disk 11;
(2) feeding paw 10 is up along Z axis;
(3) when a lathe 1 sends out the signal for having completed to process, X-axis walking servomotor 5 drives guide rail guide screw movement machine Structure 6 is moved, and the one end of guide rail guide screw movement mechanism 6 is provided with manipulator, and loading and unloading commutation paw 4 is installed on a robotic arm, feeding Blank is transported to a top of lathe 1 by paw 10 along X-axis left lateral;2s
(4) lathes 1 complete processing, change material paw 12;1s
(5) blanking paw 12 declines along Z axis;1s
(6) bits are blown;3s
(7) blanking paw 12 firmly grasps manufactured workpiece;1s
(8) machine chuck 14 unclamps;1s
(9) blanking paw 12 rises along Z axis;1s
(10) PLC reads the signal that No. two lathes 13 process workpiece, the loading and unloading commutation hand-off pawl of paw 4;1s
(11) feeding paw 10 declines along Z axis;1s
(12) machine chuck 14 is firmly grasped;1s
(13) feeding paw 10 unclamps;1s
(14) feeding paw 10 rises along Z;1s
(15) blank completion of processing, manipulator is along X-axis right lateral to lower material position;
(16) manipulator is descending along Z axis;
(17) blanking paw 12 is unclamped, the workpiece processed is put down;
(18) manipulator returns to Z axis origin along Z axis is up;
(19) manipulator returns to X-axis origin along X-axis right lateral;
(20) (1) step is circulated.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its Equivalent thereof.

Claims (8)

1. a kind of arm-and-hand system for many lathe automatic loading/unloadings, including lathe, support, pinion and rack, manipulator, X-axis walking servomotor, guide rail guide screw movement mechanism, vibrating disk automatic-posture-adjustment mechanism, vibration disk chassis and vibrating disk;Its feature It is, support is arranged on lathe side, the pinion and rack for being extended to arm-and-hand system is rack-mount, machine Tool hand is arranged in robot, and be connected with guide rail guide screw movement mechanism one end, X-axis walking servomotor and guide rail guide screw movement Mechanism is connected, and manipulator includes being provided with feeding paw and blanking paw on loading and unloading commutation paw, loading and unloading commutation paw;With Installed in the vibrating disk for placing blank on vibration disk chassis, vibration disk chassis are fixed on support side, vibrating disk automatic-posture-adjustment Mechanism is arranged on vibration disk chassis, for blank to be transported to the position of manipulator crawl and blank is adjusted in this process It is whole to the posture to be captured;The PLC for control machinery hand automated exchanged cutter loading and unloading, and X-axis row are provided with support simultaneously Servomotor, guide rail guide screw movement mechanism, vibrating disk automatic-posture-adjustment mechanism is walked to be connected with PLC respectively.
2. a kind of arm-and-hand system for many lathe automatic loading/unloadings according to claim 1, it is characterised in that support For aluminium section bar support.
3. a kind of arm-and-hand system for many lathe automatic loading/unloadings according to claim 1, it is characterised in that X-axis Servomotor of walking is rack-mount.
4. a kind of arm-and-hand system for many lathe automatic loading/unloadings according to claim 1, it is characterised in that lathe On be provided with and carry out spacing machine chuck for the paw that commutated to loading and unloading.
5. a kind of arm-and-hand system for many lathe automatic loading/unloadings according to claim 1, it is characterised in that support Lower section is provided with lower material conveyer.
6. a kind of arm-and-hand system for many lathe automatic loading/unloadings according to claim 1, it is characterised in that up and down Material commutation paw is arranged on same robotic on hand.
7. a kind of arm-and-hand system for many lathe automatic loading/unloadings according to claim 1, it is characterised in that vibration In disk automatic-posture-adjustment mechanism, impulse magnet one end is connected with the charging tray for placing blank, and the other end is connected with pedestal, plate bullet Spring is distributed on impulse magnet periphery, and flat spring one end is connected with charging tray, and the other end is fixed on pedestal.
8. a kind of arm-and-hand system for many lathe automatic loading/unloadings according to any one of claim 1~7, its feature It is, on arm-and-hand system after electricity, manual coarse adjustment position of manipulator is pressing manipulator origin button, the X-axis of manipulator, Z axis point Origin position is not returned, and loading and unloading commutation paw is in released position, blank is put into self-feeding pallet, by manipulator Start button, manipulator is acted since origin, and a manipulator services multiple lathes simultaneously, and PLC reads one of machine Bed is processed after the signal of workpiece, and blank is sent into this lathe, carries out blanking feeding operation;PLC reads another lathe After the signal for processing workpiece, blank is sent to this lathe, blanking feeding operation is carried out.
CN201710463203.8A 2017-06-19 2017-06-19 A kind of arm-and-hand system for many lathe automatic loading/unloadings Pending CN107253079A (en)

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Application Number Priority Date Filing Date Title
CN201710463203.8A CN107253079A (en) 2017-06-19 2017-06-19 A kind of arm-and-hand system for many lathe automatic loading/unloadings

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CN201710463203.8A CN107253079A (en) 2017-06-19 2017-06-19 A kind of arm-and-hand system for many lathe automatic loading/unloadings

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107807614A (en) * 2017-10-18 2018-03-16 中山市拓普康自控设备技术有限公司 A kind of Digit Control Machine Tool control system for processing and control method
CN108081011A (en) * 2018-01-15 2018-05-29 苏州日普模具有限公司 Multi-functional clamp
CN108161551A (en) * 2017-12-27 2018-06-15 重庆英拓机电设备有限公司 A kind of differential mechanism production system of multiple pipeline roller-way
CN108555316A (en) * 2018-05-08 2018-09-21 阳谷昊泉机械有限公司 A kind of rotary digging pick process automation production line based on robot
CN108941617A (en) * 2018-09-14 2018-12-07 武创智达科技(杭州)有限公司 A kind of manipulator and its production method
CN109623470A (en) * 2019-01-25 2019-04-16 江门市奥斯龙机械有限公司 Lathe and manipulator cooperate automatic loading/unloading method
CN109712924A (en) * 2018-12-29 2019-05-03 哈工大机器人(山东)智能装备研究院 A kind of infrared focal plane array chip automated test device
CN109732410A (en) * 2018-12-28 2019-05-10 河南中原智信科技股份有限公司 A kind of cylinder burr set production line control method
CN110293435A (en) * 2019-06-27 2019-10-01 西安精雕软件科技有限公司 A kind of automatic loading/unloading control system and method based on double Y-axis engraving center

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CN103909439A (en) * 2014-04-12 2014-07-09 南通爱慕希机械有限公司 Robot and system for feeding and discharging high-pressure pipe joint parts and operation method implemented by robot and system
CN203973280U (en) * 2014-06-27 2014-12-03 深圳市领略数控设备有限公司 A kind of new type auto feeding-blanking manipulator system
CN205602573U (en) * 2016-03-21 2016-09-28 无锡昌鼎电子有限公司 A all -in -one equipment for automated production electronic components
CN205734182U (en) * 2016-06-30 2016-11-30 长沙长泰机器人有限公司 For many group process equipment co-operating intelligent robot processing lines
CN206084557U (en) * 2016-10-25 2017-04-12 天津信熙缘科技有限公司 Machine tool feeding and discharging system adopting truss manipulator

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Publication number Priority date Publication date Assignee Title
CN103909439A (en) * 2014-04-12 2014-07-09 南通爱慕希机械有限公司 Robot and system for feeding and discharging high-pressure pipe joint parts and operation method implemented by robot and system
CN203973280U (en) * 2014-06-27 2014-12-03 深圳市领略数控设备有限公司 A kind of new type auto feeding-blanking manipulator system
CN205602573U (en) * 2016-03-21 2016-09-28 无锡昌鼎电子有限公司 A all -in -one equipment for automated production electronic components
CN205734182U (en) * 2016-06-30 2016-11-30 长沙长泰机器人有限公司 For many group process equipment co-operating intelligent robot processing lines
CN206084557U (en) * 2016-10-25 2017-04-12 天津信熙缘科技有限公司 Machine tool feeding and discharging system adopting truss manipulator

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107807614A (en) * 2017-10-18 2018-03-16 中山市拓普康自控设备技术有限公司 A kind of Digit Control Machine Tool control system for processing and control method
CN108161551A (en) * 2017-12-27 2018-06-15 重庆英拓机电设备有限公司 A kind of differential mechanism production system of multiple pipeline roller-way
CN108081011A (en) * 2018-01-15 2018-05-29 苏州日普模具有限公司 Multi-functional clamp
CN108555316A (en) * 2018-05-08 2018-09-21 阳谷昊泉机械有限公司 A kind of rotary digging pick process automation production line based on robot
CN108941617A (en) * 2018-09-14 2018-12-07 武创智达科技(杭州)有限公司 A kind of manipulator and its production method
CN109732410A (en) * 2018-12-28 2019-05-10 河南中原智信科技股份有限公司 A kind of cylinder burr set production line control method
CN109732410B (en) * 2018-12-28 2020-09-22 河南中原智信科技股份有限公司 Control method for cylinder burr sleeve production line
CN109712924A (en) * 2018-12-29 2019-05-03 哈工大机器人(山东)智能装备研究院 A kind of infrared focal plane array chip automated test device
CN109623470A (en) * 2019-01-25 2019-04-16 江门市奥斯龙机械有限公司 Lathe and manipulator cooperate automatic loading/unloading method
CN110293435A (en) * 2019-06-27 2019-10-01 西安精雕软件科技有限公司 A kind of automatic loading/unloading control system and method based on double Y-axis engraving center
CN110293435B (en) * 2019-06-27 2020-11-17 西安精雕软件科技有限公司 Automatic feeding and discharging control system and method based on double-Y-axis engraving center

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