CN107553289A - Guide plate surface treatment automatic production line - Google Patents
Guide plate surface treatment automatic production line Download PDFInfo
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- CN107553289A CN107553289A CN201710968818.6A CN201710968818A CN107553289A CN 107553289 A CN107553289 A CN 107553289A CN 201710968818 A CN201710968818 A CN 201710968818A CN 107553289 A CN107553289 A CN 107553289A
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- guide plate
- hook
- sliding seat
- drive mechanism
- slide rail
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 66
- 238000004381 surface treatment Methods 0.000 title claims abstract description 48
- 238000005498 polishing Methods 0.000 claims abstract description 55
- 238000012546 transfer Methods 0.000 claims abstract description 42
- 230000005540 biological transmission Effects 0.000 claims abstract description 37
- 238000007599 discharging Methods 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims description 114
- 239000000463 material Substances 0.000 claims description 60
- 230000003028 elevating effect Effects 0.000 claims description 9
- 238000011144 upstream manufacturing Methods 0.000 claims description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 12
- 239000000843 powder Substances 0.000 abstract description 7
- 238000005507 spraying Methods 0.000 abstract description 7
- 238000001514 detection method Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 239000007921 spray Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000007590 electrostatic spraying Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 208000032750 Device leakage Diseases 0.000 description 1
- 206010054949 Metaplasia Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000015689 metaplastic ossification Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000007494 plate polishing Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000010791 quenching Methods 0.000 description 1
- 230000000171 quenching effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Abstract
The present invention provides a kind of guide plate surface treatment automatic production line, including feed bin, the first robot device, guide plate sanding apparatus, discharging transmission line, timing belt pipeline, hook transfer system, the second robot device, First look system and hook sanding apparatus.First robot device is used to the guide plate in feed bin being transferred in guide plate sanding apparatus to carry out polishing processing to two surfaces of guide plate.Discharging transmission line is used to receive the guide plate polished, and guide plate is transferred to timing belt pipeline, the position of First look system detectio timing belt pipeline upper guide plate, make the second robot device that accurately guide plate be captured and put, hook transfer system, which is used to hook, to be taken the guide plate put and is transferred to rear class guide plate powder spraying apparatus, and hook sanding apparatus is used to polish to hook.The guide plate surface treatment automatic production line has the advantages of production efficiency is high, production cost is low, and can realize the automation polishing, the polishing of hook and realization hook automation feeding of guide plate.
Description
Technical field
The present invention relates to mechanical equipment technical field, is to be related to a kind of guide plate surface treatment automatic production line specifically.
Background technology
Electric saw also known as " power saw ", it is mainly using electricity as power, for cutting the cutting of timber, building stones, steel etc.
Instrument, front portion set the saw blade of chain type to be cut.And guide plate is the major part of electric saw composition, because in the structure of electric saw,
The saw blade of chain type is positioned between being installed in two pieces of guide plates.In the production process of guide plate, guide plate needs first stamped
After equipment stamps out profile and fabrication hole, then high-frequency quenching processing is carried out to guide plate surface, to improve the intensity of guide plate.But
For guide plate after the processes such as punching press, welding, high-temperature heat treatment, its surface can produce layer of oxide layer, and the oxide layer can be to leading
The follow-up electrostatic spraying of plate produces serious influence so that the quality on guide plate surface can not be protected.It is in addition, follow-up in guide plate
Electrostatic spray process in, it is necessary to by manually by guide plate one by one be hanging to spraying suspended chain hook on, this operating process need
Substantial amounts of labour is wanted, and make it that the labor intensity of worker is very big.Furthermore existing guide plate after electrostatic spraying is carried out, hook
Surface can bond one layer of powder so that hook needs once to be changed daily, the shortcomings that production cost is high be present.
The content of the invention
In order to solve the above problems, the main object of the present invention is to provide a kind of simple to operate, and production efficiency is high, is produced into
This is low, and automating polishing, the polishing linked up with and realizing for achievable guide plate links up with the guide plate surface treatment for automating feeding certainly
Dynamic production line.
To achieve these goals, the present invention provides a kind of guide plate surface treatment automatic production line, wherein, including feed bin,
First robot device, guide plate sanding apparatus, discharging transmission line, timing belt pipeline, hook transfer system, the second robot dress
Put, First look system, hook sanding apparatus and control system, feed bin are located at the lower section of the first robot device, the first machine
People's device includes the first manipulator, and the first manipulator is set towards feed bin, and guide plate sanding apparatus includes feeding unit material, delivery unit
With two first polishing units, the first manipulator is moved between feed bin and feeding unit material, and feeding unit material is carried out to delivery unit
Feeding, the sanding component of two first polishing units is set towards the transport channel of delivery unit, and two first polishings are single
Member is located at the both sides of transport channel respectively, and discharging transmission line is arranged on the outlet side of transport channel, the input of timing belt pipeline
End is connected with the output end of discharging transmission line, and hook transfer system is provided with multiple hooks, and the second robot device includes second
Manipulator, the second manipulator are located at the top of timing belt pipeline, and the second manipulator is set towards synchronous conveyer band, and the second machine
Tool hand is arranged on the second robot device to hook feeding, First look system, the IMAQ end court of First look system
Set to timing belt pipeline, on the direction of transfer of hook transfer system, hook sanding apparatus is located at the second robot device
Upstream end, control system respectively with the first robot device, guide plate sanding apparatus, discharging transmission line, timing belt pipeline, hang
Hook transfer system, the second robot device, First look system and hook sanding apparatus electrical connection.
Therefore first robot device be used for the guide plate in groups of folding heap in feed bin and be transferred to guide plate sanding apparatus
Feeding unit material, and guide plate is moved in delivery unit by feeding unit material so that two first polishing units are to the two of guide plate
Individual surface carries out polishing processing.The guide plate that discharging transmission line has been polished due to receiving guide plate sanding apparatus, and guide plate is transferred to
Timing belt pipeline so that the First look system at the second robot device is carried out to the position of the guide plate on timing belt
Detection, identification, wait to hook in order to which the second robot device captures guide plate and is properly placed on the guide plate after crawl
Fetch bit is put, and hook transfer system takes for the guide plate of the second installations placement to be carried out into hook, and will be hooked the guide plate after taking and be transferred
To rear class guide plate powder spraying apparatus, in addition, hook transfer system, which is additionally operable to complete the guide plate hook after step that dusts, is transferred to extension
Hook sanding apparatus is polished hook, removes the powder bonded on hook, and then extends the replacement cycle of hook, saves production
Cost.It can be seen that the present invention passes through the setting to guide plate surface treatment automatic production line and structure design so that at the guide plate surface
Reason automatic assembly line has the advantages of simple to operate, production efficiency is high, production cost is low, and can realize that the automation of guide plate is beaten
Mill, the polishing of hook and realization hook automation feeding.
One preferable scheme is that feeding unit material includes the first slide rail, the first sliding seat, the first drive mechanism, the second cunning
Dynamic seat, the second drive mechanism, material fetching mechanism and pusher, bearing of trend of first slide rail along delivery unit are set, and first slides
Dynamic bearing of trend of the seat along the first slide rail is slidably connected with the first slide rail, is provided with storing seat on the first sliding seat, and first
The drive end of drive mechanism is connected with the first sliding seat, and the second sliding seat is provided with the second slide rail towards the first sliding seat, and second
Slide rail is slidably connected with the first sliding seat, and storing seat is between the second sliding seat and delivery unit, the second drive mechanism
On the first sliding seat, the output end of the second drive mechanism is connected with the second sliding seat, and material fetching mechanism fills with guide plate polishing
The frame connection put, material fetching mechanism is located above the second sliding seat, and material fetching mechanism moves between the second sliding seat and storing seat
Dynamic, pusher is connected with frame, and pusher is towards the setting of storing seat, and pusher is to delivery unit feeding.
Therefore feeding unit material is used to receive one group of guide plate that the heap that the first robot device transfer comes is folded, and
Guide plate is moved at the feeding mouth of delivery unit by the first sliding seat and the second sliding seat, material fetching mechanism and pusher are used
It is transferred to one by one in delivery unit in guide plate, realizes the feeding to delivery unit.
Further scheme is that delivery unit includes transport channel, switching mechanism and plectrum device, transport channel and frame
Connection, switching mechanism are located at the porch of transport channel, and switching mechanism includes the first motor and rotating turret, the driving of the first motor
End is connected with rotating turret, multiple first holding tanks is provided with the circumference of rotating turret, and one in multiple first holding tanks is just
To the entrance of transport channel, plectrum device is located at the surface of switching mechanism and transport channel, and plectrum device includes the second motor
And chain, the drive end of the second motor are connected with chain, multiple plectrums, the second motor driving plectrum are provided with the circumference of chain
Through the first holding tank and transport channel.
Therefore the first holding tank on rotating turret is used to accommodate the guide plate that feeding unit material conveys, plectrum device is used for
Guide plate in first holding tank is dialed in transport channel, polishing unit is polished the guide plate in transport channel, and
Guide plate is moved to the outlet side of transport channel after guide plate completes polishing.And multiple first holding tanks are set on rotating turret,
The production efficiency of guide plate sanding apparatus can effectively be improved.
Further scheme is that each first polishing unit includes mounting seat, the 3rd motor and sanding component, pacifies
Dress seat is connected with frame, and the pedestal of the 3rd motor is connected with mounting seat, and sanding component is connected with the drive end of the 3rd motor, transport
Opening is provided with two side walls of passage, and the sanding component of one first polishing unit is set towards the opening of a side wall
Put.
Therefore opening is set in the side wall of transport channel so that the sanding component for unit of polishing can be with transport
Guide plate in passage is contacted, and then realizes and guide plate surface is polished.And it is all provided with two side walls of transport channel
Opening is put, enables to the sanding component of two polishing units to beat respectively two surfaces of the guide plate in transport channel
Mill, improve the processing efficiency of guide plate sanding apparatus.
Another preferable scheme is, the first robot device also include truss, the 3rd sliding seat, the 3rd drive mechanism,
4th sliding seat and the 4th drive mechanism, there are the 3rd slide rail, bearing of trend and of the 3rd sliding seat along the 3rd slide rail on truss
Three slide rails are slidably connected, and the 3rd drive mechanism is connected with the 3rd sliding seat, and the 3rd drive mechanism drives the 3rd sliding seat edge
3rd slide rail slides, and the 4th sliding seat is vertically provided with the 4th slide rail；Extension side of 3rd sliding seat along the 4th slide rail
It is slidably connected to the 4th slide rail, the first manipulator is arranged on the 4th sliding seat, and the 4th drive mechanism is slided with the 3rd
Seat connection, the drive end of the 4th drive mechanism are connected with the 4th sliding seat.
Therefore first manipulator be moved to by the 3rd sliding seat and the 4th sliding seat at feed bin, by heap in feed bin
The one group of guide plate folded is moved on the feeding unit material of guide plate sanding apparatus, and then is realized in the automation to guide plate sanding apparatus
Material, improve the production efficiency of guide plate surface treatment automatic production line.
Another preferable scheme is, hook sanding apparatus include workbench, the second polishing unit, the 5th drive mechanism and
Transmission belt, the second polishing unit are rotatably coupled around the axis of itself with workbench, radial direction of the second polishing unit along itself
Extension it is provided with the first hairbrush and the second hairbrush positioned opposite, and first band is provided with the circumference of the second polishing unit
Wheel, the 5th drive mechanism is connected with workbench, and the drive end of the 5th drive mechanism is provided with the second belt wheel, and transmission belt is connected to the
Between one belt wheel and the second belt wheel.
Therefore the 5th drive mechanism by transmission belt driving second polishing unit around second polishing unit itself axle
Line rotates, and then causes the first hairbrush and the second hairbrush circumferentially rotating along the second polishing unit so that the first hairbrush and second
Hairbrush is polished the hook by linking up with sanding apparatus, removes the powder bonded on hook.
Another preferable scheme is that guide plate surface treatment automatic production line also includes the second vision system, the second vision
System is arranged on the second robot device, and the IMAQ end of the second vision system is set towards hook.
Therefore second vision system be used to detect the position of hook, and then ensure the second robot device
When to guide plate and then movement, the second robot device can accurately be placed to guide plate, and then ensure hook transfer system
The hook of system can accurately hook and take guide plate.
Another preferable scheme is that guide plate surface treatment automatic production line also includes servo-actuated clamping jaw device, is servo-actuated clamping jaw
Device is connected with the second robot device, and servo-actuated clamping jaw device electrically connect with control system, servo-actuated clamping jaw device including guide rail,
Multiple clamping jaw units and the 6th drive mechanism, multiple clamping jaw units are slidably connected with guide rail respectively, multiple clamping jaw unit courts
Set to hook, multiple clamping jaw units are used to be pointed to multiple hooks between the second robot device and servo-actuated clamping jaw device
It is clamped, and a clamping jaw unit is clamped to a hook, the 6th drive mechanism drives multiple clamping jaw units along guide rail
Slide.
Therefore servo-actuated clamping jaw device can be pointed to it is multiple between the second robot device and servo-actuated clamping jaw device
Hook is clamped, and ensures that hook will not shake when hook takes guide plate, ensures that hook hooks the success rate for taking guide plate.
Another preferable scheme is that guide plate surface treatment automatic production line also includes material collecting device, and material collecting device is set
In the outlet side of timing belt pipeline, material collecting device includes fixed seat, the 7th drive mechanism, elevating mechanism and lifting platform, fixed
Towards the 6th slide rail is provided with extending outside body, the 7th drive mechanism is connected seat with fixed seat, the input of elevating mechanism and
The drive end connection of 7th drive mechanism, bearing of trend of the lifting platform along the 6th slide rail are slidably connected with the 6th slide rail, risen
The output end for dropping platform and elevating mechanism is connected, and the second holding tank is provided with lifting platform, and the second holding tank conveys towards timing belt
The outlet of line is set.
Therefore material collecting device is used to reclaim the guide plate of the second robot device leakage crawl, stacked.
Further scheme is that the quantity of guide plate sanding apparatus is three, and three guide plate sanding apparatus are mechanical along first
The direction that moves horizontally of hand is set up in parallel, and the quantity for linking up with sanding apparatus is two, and two hook sanding apparatus move along hook
The direction of transfer of system is sent to be distributed.
Therefore set more guide plate sanding apparatus to improve the guide plate of guide plate surface treatment automatic production line and polish
Processing efficiency, improve guide plate surface treatment automatic production line speed of production, set more hook sanding apparatus can improve
To the polishing effect for the hook for linking up with transfer system, production cost is reduced.
Brief description of the drawings
Fig. 1 is the structure chart of guide plate surface treatment automatic production line embodiment of the present invention.
After Fig. 2 is the guide plate sanding apparatus clipped component of guide plate surface treatment automatic production line embodiment of the present invention
Structure chart.
Fig. 3 is another clipped component of guide plate sanding apparatus of guide plate surface treatment automatic production line embodiment of the present invention
Structure chart afterwards.
Fig. 4 is the structure of the feeding unit material of the guide plate sanding apparatus of guide plate surface treatment automatic production line embodiment of the present invention
Figure.
Fig. 5 is the structure of the delivery unit of the guide plate sanding apparatus of guide plate surface treatment automatic production line embodiment of the present invention
Figure.
Fig. 6 is the first polishing unit of the guide plate sanding apparatus of guide plate surface treatment automatic production line embodiment of the present invention
Structure chart.
Fig. 7 is the local structural graph of the first robot device of guide plate surface treatment automatic production line embodiment of the present invention.
Fig. 8 is the local structural graph of the second robot device of guide plate surface treatment automatic production line embodiment of the present invention.
Fig. 9 is the enlarged drawing at A in Fig. 8.
After Figure 10 is the hook sanding apparatus clipped component of guide plate surface treatment automatic production line embodiment of the present invention
Structure chart.
After Figure 11 is the servo-actuated clamping jaw device clipped component of guide plate surface treatment automatic production line embodiment of the present invention
Structure chart.
Figure 12 is the local structural graph of guide plate surface treatment automatic production line embodiment of the present invention.
Figure 13 is the structure chart of the material collecting device of guide plate surface treatment automatic production line embodiment of the present invention.
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment
Reference picture 1, guide plate surface treatment, which automatically generates line 100, includes feed bin 101, control system 102, discharging transmission line
103rd, timing belt pipeline 104, hook transfer system 105, First look system 106, the second vision system 107, the first machine
People's device 1, guide plate sanding apparatus, the second robot device 5, hook sanding apparatus 6, servo-actuated clamping jaw device 7 and material collecting device 8.
Wherein, control system 102 respectively with the first robot device 1, guide plate sanding apparatus, discharging transmission line 103, timing belt pipeline
104th, transfer system 105, the second robot device 5, hook sanding apparatus 6 and servo-actuated clamping jaw device 7 is linked up with to electrically connect.
Reference picture 2 is to Fig. 4, and with reference to Fig. 1, guide plate sanding apparatus 20 includes frame 200, feeding unit material 2, the and of delivery unit 3
Two first polishing units 4.Wherein, feeding unit material 2 includes the first slide rail 21, the first sliding seat 22, the first drive mechanism 23, the
Two sliding seats 24, the second drive mechanism 25, material fetching mechanism 26, pusher 27 and limit assembly.First slide rail 21 is single along transport
The bearing of trend of member 3 is set, and bearing of trend of first sliding seat 22 along the first slide rail 21 is slidably connected with the first slide rail 21.
The drive end of first drive mechanism 23 is connected with the first sliding seat 22, and the first drive mechanism 23 is used to drive the first sliding seat 22
Slided along the first slide rail 21.Second sliding seat 24 is provided with the second slide rail 221, and the second slide rail 221 towards the first sliding seat 22
It is slidably connected with the first sliding seat 22.
In addition, being provided with storing seat 221 on the first sliding seat 22, storing seat 221 is single positioned at the second sliding seat 24 and transport
Between member 3, mounting table 241 is additionally provided with the second sliding seat 24, mounting table 241 is used for the first robot device 1 of placement and transplanted
Groups of guide plate.Limit assembly is connected with the first sliding seat, and specifically, limit assembly includes the first gag lever post group 281, second
Gag lever post group 282 and drive mechanism 283, sliding seat 22 are provided with slide rail 222, the He of the first gag lever post group 281 towards delivery unit 3
Second gag lever post group 282 is slidably connected along the bearing of trend of slide rail 222 and slide rail 222 respectively.The He of first gag lever post group 281
Second gag lever post group 283 is oppositely disposed, and the first gag lever post group 281 and the second gag lever post group 282 both pass through the second sliding seat 24,
And first gag lever post group 281 and the second gag lever post group 282 be located at the both sides of mounting table 241 respectively.Drive mechanism 283 is arranged on the
On one sliding seat 22, the drive end of drive mechanism 283 is connected with the second gag lever post group 282, and drive mechanism 283 is used to drive second
Gag lever post group 282 moves to the first gag lever post group 281, and then realizes and the guide plate in groups being placed on mounting table 241 is limited
Position, prevent guide plate tilts in groups from dropping.Storing seat 221 is used to deposit the guide plate that material fetching mechanism 26 captures from mounting table 241.
Material fetching mechanism 26 is connected with frame 200, and material fetching mechanism 26 moves between the second sliding seat 24 and storing seat 221,
And material fetching mechanism 26 is located at the top of the second sliding seat 24, specifically, material fetching mechanism 26 includes drive mechanism 261 and take-off assembly
262, the take-off assembly 262 is slidably connected with frame 200, and the feeding first 263 of the take-off assembly 262 is towards described
The mounting table 241 of two sliding seats 24 is set.The drive end of drive mechanism 261 is connected with take-off assembly 262, and drive mechanism 261 is driven
The feeding first 263 of dynamic take-off assembly moves between mounting table 241 and storing seat 221, and then realizes single guide plate from placement
Platform 241 is captured to storing seat 221 and deposited.
Pusher 27 is connected with frame 200, and pusher 27 is set towards storing seat 221, and pusher 27 is to fortune
The defeated feeding of unit 3.Specifically, pusher 27 includes drive mechanism 261 and push rod 262, and push rod 262 and frame 200 are slidably
Ground is connected, and push rod 262 is set towards storing seat 221.The drive end of drive mechanism 261 is connected with push rod 262, drive mechanism
261 move for driving push rod 262 to storing seat 221, and then push the guide plate on storing seat 221 to delivery unit 3, realization pair
The feeding of delivery unit 3.
Delivery unit 3 includes transport channel 31, switching mechanism 32 and plectrum device 33.Transport channel 31 connects with frame 200
Connect, and opening 312 is provided with two side walls 311 of transport channel 31.
Referring to Fig. 5, switching mechanism 32 is connected with frame 200, and switching mechanism 32 is located at the porch of transport channel 31.Turn over
Rotation mechanism 32 includes the first motor 321 and rotating turret 322, and the drive end of the first motor 32 is fixedly connected with rotating turret 322, and first
Motor 32 is used to drive rotating turret 322 to rotate.Multiple first holding tanks 323 are provided with the axial direction of rotating turret 322, it is preferable that
The quantity of first holding tank 323 is four.And when carrying out feeding unit material 2 to the progress guide plate feeding of delivery unit 3, multiple first
The entrance of a face transport channel 31 in holding tank 323, another face storing seat in multiple first holding tanks 323
221。
Plectrum device 33 is located at the surface of transport channel 31 and switching mechanism 32, and plectrum device 33 includes the second motor
331 and chain 332, the drive end of the second motor 331 be connected with chain 332, multiple plectrums are provided with the circumference of chain 332
333, and multiple plectrums 333 are uniformly distributed along the circumference of chain.Second motor 331 is driven for drive chain 332, and then
Drive the plectrum 333 on chain 332 to move, sequentially pass through plectrum 333 and accommodated with the first of the entrance face of transport channel 31
Groove 323 and transport channel 31, and then the guide plate in the first holding tank 323 is transplanted to transport channel 31, and make guide plate
Dropped into after through transport channel 31 on discharging transmission line 103.
The sanding component of two first polishing units 4 is set towards the transport channel 31 of delivery unit 3, and two first
Unit 4 of polishing is located at the both sides of transport channel 31 respectively.Specifically, as shown in fig. 6, each first polishing unit 4 includes
Mounting seat 41, the 3rd motor 42, sanding component 43, sliding seat 44, drive mechanism 45 and drive mechanism 46, mounting seat 41 and frame
200 connections, the pedestal of the 3rd motor 42 are connected with mounting seat 41, and sanding component 43 is connected with the drive end of the 3rd motor 42, and
Setting of the sanding component of one first polishing unit 4 towards a transport channel 31.
Specifically, slide rail 201 is provided with frame 200, bearing of trend of the mounting seat 41 along slide rail 201 can with slide rail 201
It is slidably connected, the drive end of drive mechanism 45 is connected with mounting seat 41, and drive mechanism 45 is used for drive installation seat 41 along slide rail
201 slide.Mounting seat 41 is vertically provided with slide rail 411, bearing of trend of the sliding seat 44 along slide rail 411 and slide rail 411
It is slidably connected, the drive end of drive mechanism 46 is connected with sliding seat 44, and drive mechanism 46 is used to drive sliding seat 44 along cunning
Rail 411 slides.3rd motor 42 is arranged on sliding seat 44, and sanding component 43 preferably uses hairbrush, and sanding component 43 is located at
It is open at 312.Slide rail 201 is set in frame 200 and mounting seat 41, sliding seat 44 are set so that the first polishing energy of unit 4
Enough realize the wear automatic-compensation of sanding component 43.And two first polishing units 4 are set so that guide plate sanding apparatus 20 can
Polishing processing is carried out to two surfaces of guide plate simultaneously, improves the production efficiency of guide plate surface treatment automatic production line 100.
Preferably, the quantity of the feeding unit material 2 of guide plate sanding apparatus 20 is two, and two feeding unit materials 2 are respectively positioned at fortune
The both sides of defeated unit 3, and the controlling rotary frame 322 of the first motor 321 of delivery unit 3 is inverted so that when on First
When guide plate in material unit 2 has been crawled, it is single to transport that guide plate sanding apparatus 20 can be immediately switched to second feeding unit material 2
Member carries out feeding, and then improves the production efficiency of guide plate surface treatment automatic production line 100.
Reference picture 7, and Fig. 1 is combined, the first robot device 1 is located at the top of feed bin 101, and the first robot device 1 wraps
Include the first manipulator 11, truss 12, the 3rd sliding seat 13, the 3rd drive mechanism 14, the 4th sliding seat 15 and the 4th drive mechanism
16, and the first manipulator 11 is set towards feed bin 101.Specifically, it is provided with extending along the length direction of itself on truss 12
3rd slide rail 121, bearing of trend of the 3rd sliding seat 13 along the 3rd slide rail 121 are slidably connected with the 3rd slide rail 121.3rd
Drive mechanism 14 is connected with the 3rd sliding seat 13, also, the 3rd drive mechanism 14 drives the 3rd sliding seat 13 along the 3rd slide rail 121
Slide.4th sliding seat 15 is vertically provided with the 4th slide rail 151, extension of the 3rd sliding seat 13 along the 4th slide rail 151
Direction is slidably connected with the 4th slide rail 151, and the first manipulator 11 is arranged on the 4th sliding seat.4th drive mechanism 16
It is connected with the 3rd sliding seat 13, the drive end of the 4th drive mechanism 16 is connected with the 4th sliding seat 15, and the 4th drive mechanism 16 is used
Vertically moved in driving the first manipulator 11.
First manipulator 11 is moved at feed bin 101 by the 3rd sliding seat 13 and the 4th sliding seat 15, by feed bin 101
One group of guide plate that heap is folded is moved on the feeding unit material 2 of guide plate sanding apparatus 20, and then is realized to guide plate sanding apparatus 20
Feeding is automated, improves the production efficiency of guide plate surface treatment automatic production line 100.
Preferably, as shown in figure 1, the quantity of guide plate sanding apparatus 20 is three, and three guide plate sanding apparatus 20 are along the
The direction that moves horizontally of one manipulator 11 is set up in parallel, i.e., length direction of the three dressing sanding apparatus along truss 12 is set side by side
Put.By setting three guide plate sanding apparatus 20, and truss 12, the 3rd sliding seat 13 are set in the first robot device 1
With the 4th sliding seat 15 so that the guide plate in groups that the first manipulator 11 can fold heap out of feed bin 101 is transplanted at most respectively
At the feeding unit material 2 of platform guide plate sanding apparatus 20 simultaneously so that more guide plate sanding apparatus 20 can be beaten multiple guide plates
Mill processing, and then the production efficiency of guide plate surface treatment automatic production line 100 is significantly increased.In addition, the first robot fills
Putting 1 can also supplement the feeding unit material 2 of more guide plate sanding apparatus 20 in time, ensure each guide plate sanding apparatus 20
Continuous production can be carried out.
Discharging transmission line 103 is arranged on the outlet of the transport channel 31 of the delivery unit 3 of each guide plate sanding apparatus 20
Side, the input of timing belt pipeline 104 are connected with the input of discharging transmission line 103.Discharging transmission line 103 is used to receive often
The guide plate to be dropped after polishing processing from transport channel 31 is completed in one guide plate sanding apparatus 20, guide plate is then transferred to synchronization
On band pipeline 104.As shown in figure 12, timing belt pipeline 104 includes a plurality of timing belt 1041 and encoder being set up in parallel
1042, input and the timing belt 1041 of encoder 1042 abut, and encoder 1042 is used for the mobile shape for monitoring timing belt 1041
State, in order to which the second robot device 5 can accurately be transplanted to the guide plate on timing belt pipeline 1041, to hang
The hook 1051 of hook transfer system 105 can accurately hook the guide plate after taking transplanting, and then guide plate is moved to the spraying of rear class
Sprayed in equipment.
Linking up with transfer system 105 includes multiple hooks 1051 and guide rail 1052,1051 prolonging along guide rail 1052 of multiple hooks
Directional spreding is stretched, also, the hook 1051 for linking up with transfer system 105 slides along guide rail 1052 and successively by hook sanding apparatus
6th, the second robot device 5 and servo-actuated clamping jaw device 7, guide plate spraying equipment（It is not shown）, and circulated, and then realize to hanging
It will be hooked on hook transfer system 105 and take the hook of guide plate to carry out grinding process, then the completion on timing belt pipeline 104 is beaten
Automatic hook of guide plate progress for grinding processing takes, and then takes guide plate to be transferred in guide plate spraying equipment hook and carries out the automatic of spray process
Metaplasia is produced.In addition, as shown in figure 1, guide rail 1052 has a upstroke slope at the second robot device 5 so that hook
1051 can move along the upstroke slope, and realize that carrying out hook to guide plate takes.
Reference picture 8 and Fig. 9, and Fig. 1 is combined, the second robot device 5 includes the second manipulator 51 and truss 52, the second machine
Tool hand 51 is arranged on truss 52, and the second manipulator 51 is located at the top of timing belt pipeline 104.The direction of second manipulator 51
Synchronous conveyer band 104 is set, and the pawl end of the second manipulator 51 is provided with Suction cup assembly 511, and the second manipulator 51 passes through sucker group
Hook 1051 feeding of the part 511 to hook transfer system 105.
First look system 106 is arranged on the truss 52 of the second robot device 5, the image of First look system 106
Collection terminal is set towards timing belt pipeline 104, it is preferable that First look system 106 is industrial camera.First look system
106 are used to detect the position that the top discharge pipeline 103 of timing belt pipeline 104 transfers out guide plate, are then sent out to control system 102
First detection signal is sent, control system controls the second manipulator 51 to be moved to timing belt pipeline after first detection signal is obtained
104 first area grips to guide plate.
Second vision system 107 is arranged on the truss 52 of the second robot device 5, the image of the second vision system 107
The hook of collection terminal towards hook transfer system 105 is set, it is preferable that the second vision system 107 is industrial camera.Second vision
Examine the position that system 107 is used for the hook 1051 to being moved on the hook transfer system 105 at timing belt pipeline 104
Survey, then send the second detection signal to control system 102, control system controls the second machinery after the second detection signal is obtained
The second area that the guide plate of gripping is moved to timing belt pipeline 104 by hand 51 is placed to guide plate, and is caused on guide plate
Hole is placed in the hook portion of a corresponding hook 1051 of hook transfer system 105, carries out 1051 pairs of guide plates of hook
Hook takes.
In addition, guide plate surface treatment automatic production line 100 also includes illuminator 108, illuminator 108 includes multigroup lamp
Pipe, multigroup fluorescent tube is set towards timing belt pipeline 104, for being provided for the vision system 107 of First look system 106 and second
Photoenvironment, to ensure that the vision system 107 of First look system 106 and second can catch clearly picture.
Reference picture 10, and combine Fig. 1, on the direction of transfer of hook transfer system 105, hook sanding apparatus 6 is positioned at the
The upstream end of two robot devices 5, it is preferable that the quantity of hook sanding apparatus 6 is two, and two are linked up with sanding apparatus 6 along extension
The direction of transfer distribution of hook transfer system 105, and on the direction of transfer of hook transfer system 105, two hook sanding apparatus 6
It is respectively positioned on the upstream end of the second robot device 5.Each hook sanding apparatus 6 includes the polishing unit of workbench 61, second
62nd, the 5th drive mechanism 63, transmission belt 64 and transmission belt 65, wherein, the second polishing unit 62 is around the axis and workbench of itself
61 are rotatably coupled.
Second polishing unit 62 includes the first hairbrush 621, the second hairbrush 622, first pulley 623, belt wheel 624, power transmission shaft
625th, gear 626 and gear 627.First hairbrush 621 and the second hairbrush 622 are oppositely disposed, and the first hairbrush 621 and second mao
The setting with radially extending along the body of the second polishing unit 62 of brush 622.In addition, the first hairbrush 621 and the second hairbrush 622 divide
Body not around the axis of itself and the second polishing unit 62 is rotatably coupled, and the end set of the first hairbrush 621 is with teeth
Wheel 6211, the end set of the second hairbrush 622 has gear 6221.First pulley 623 is arranged on the body of the second polishing unit 62
Circumference on, the polish body coaxial line of unit 62 of power transmission shaft 625 and second is set, and belt wheel 624 and power transmission shaft 625 are fixed and connected
Connect.Gear 626 and gear 627 are fixedly connected with power transmission shaft 625, and the gear 6211 of gear 626 and the first hairbrush 621 is nibbled
Close, gear 627 engages with the gear 6221 of the second hairbrush 622.
5th drive mechanism 63 is connected with workbench 61, and the drive end of the 5th drive mechanism 63 is provided with the second belt wheel 631
With belt wheel 632, transmission belt 64 is connected between the belt wheel 631 of first pulley 623 and second, and transmission belt 65 is connected to the He of belt wheel 624
Between belt wheel 632.5th drive mechanism 63 is rotated by the polishing unit 62 of the driving of transmission belt 64 second around the axis of itself, together
When, the 5th drive mechanism 63 drives power transmission shaft 625 to rotate by transmission belt 65, and then causes the He of gear 626 on power transmission shaft 625
Gear 627 drives the first hairbrush 621 and the second hairbrush 622 to rotate respectively, and then causes the first hairbrush 621 and the second hairbrush 622
Hook 1051 by linking up with sanding apparatus 6 is polished, removes the powder bonded on hook 1051, and then reduce hook
1051 replacement cycle, save production cost.
Reference picture 11 and Figure 12, and Fig. 1 is combined, servo-actuated clamping jaw device 7 is connected with the second robot device 5, is servo-actuated clamping jaw
Device 7 includes guide rail 71, multiple clamping jaw units 72, the 6th drive mechanism 73 and workbench 74, wherein, guide rail 71 is arranged on work
On platform 74 and guide rail 71 is set in a ring, and multiple clamping jaw units 72 are slidably connected with guide rail 71 respectively, and multiple clamping jaw lists
Member 72 is set towards the hook 1051 of hook transfer system 105.Multiple clamping jaw units 72 are used to be pointed to the second robot dress
The excessively individual hook 1051 put between 5 and servo-actuated clamping jaw device 7 is clamped, and a clamping jaw unit 72 is linked up with into 1051 to one
It is clamped.6th drive mechanism 73 is connected with frame 74, and the 6th drive mechanism 73 is used to drive multiple edges of clamping jaw unit 73
Guide rail 71 slides.Servo-actuated clamping jaw device 7 can be pointed to multiple extensions between the second robot device 5 and servo-actuated clamping jaw device 7
Hook 1051 is clamped, and ensures that hook 1051 will not shake so that the second manipulator 51 can be accurately by the hole on guide plate
The hook portion of hook 1051 is placed on, ensures that hook 1051 hooks the success rate for taking guide plate.
Reference picture 13, and Fig. 1 is combined, material collecting device 8 is arranged on the outlet side of timing belt pipeline 104, and material collecting device 8 wraps
Fixed seat 81, the 7th drive mechanism 82, elevating mechanism 83 and lifting platform 84 are included, fixed seat 81 is provided with towards extension outside body
6th slide rail 811, the 7th drive mechanism 82 are connected with fixed seat 81, the input of elevating mechanism 83 and the 7th drive mechanism 82
Drive end is connected, and bearing of trend of the lifting platform 84 along the 6th slide rail 811 is slidably connected with the 6th slide rail 811, lifting platform 84
It is connected with the output end of elevating mechanism 83, is provided with the second holding tank 841 on lifting platform 84, the second holding tank 841 is towards synchronization
Outlet with pipeline 104 is set.The guide plate that material collecting device 8 is used to leak the second robot device 5 crawl is reclaimed, heap
It is folded.
Preferably, the quantity of material collecting device 8 is two, and guide plate surface treatment automatic production line 100 also includes stockline
109, it is described go out stockline 109 be located at the exit of timing belt pipeline 104, two material collecting devices 8 are located at stockline 109 respectively
Both ends, and the second holding tank 841 of two material collecting devices 8 is respectively facing rewinding line 109 and set, rewinding line 109 can be realized positive and negative
Transhipment row, and then cause when when being filled of the second holding tank 841 of First material collecting device 8, rewinding line 109 carries out upset will
Guide plate movement is to the second material collecting device 8.
The course of work of guide plate surface treatment automatic production line is as follows：
First robot device 1 the first manipulator 11 of control is moved to the guide plates that are grouped for folding heap in feed bin 101 more and distinguished
It is moved in each feeding unit material 2 of each guide plate sanding apparatus 20 so that guide plate is moved to fortune by feeding unit material 2 one by one
In defeated unit 3 so that delivery unit 3 drives guide plate movement, and then causes two first polishing units 4 respectively to two of guide plate
Surface carries out polishing processing.
Then, the guide plate polished can be moved to the top of discharging transmission line 103 by delivery unit 3 so that guide plate can
Automatically drop on discharging transmission line 103.When guide plate is dropped on discharging transmission line 103, discharging transmission line 103 by guide plate by
It is individual to be moved on timing belt pipeline 104 so that guide plate is delivered at the second robot device 5 by timing belt 104 one by one.
When guide plate is moved to the First look system 106 at the second robot device 5 by timing belt pipeline 104,
First look system 106 detects to the position of guide plate, and sends first detection signal, control system to control system 102
102 control the second manipulator 51 to be moved at the guide plate of first area according to the first detection signal of acquisition presss from both sides to the guide plate
Take.Meanwhile second vision system 107 to the hook being moved at the second robot device 5 on moveable hook transfer system 105
1051 position is detected, and control system 102 is sent into the second detection signal, and control system 102 is according to the second of acquisition
Detection signal controls the second manipulator 51 to be moved to second area, and the guide plate of gripping is placed on to the timing belt conveying in the region
On line 104, and the hole on guide plate is caused to be placed on the hook portion of a corresponding hook 1051 for hook transfer system 105
On so that 1051 pairs of guide plates of hook carry out hook and taken.
When the hook 1051 for linking up with transfer system 105 is moved to above-mentioned second area, the folder at the second area
Pawl unit 72 is clamped to a corresponding hook 1051 and follows the hook 1051 to move, and prevents the hook 1051 from occurring
Rock.Then, hook 1051 carries out hook to the guide plate on timing belt pipeline 104 by the upstroke slope of guide rail 1052 and taken, and
And carried out linking up with 1051 pairs of guide plates after hook takes, clamping jaw unit 72 unclamps the clamping to the hook 1051, and is circulated, accurate
It is standby that another hook 1051 is clamped.
After hook 1051 is completed to take the hook of guide plate, hook transfer system 105 controls the hook 1051 and thereon
The guide plate spraying equipment that guide plate is moved to rear class together carries out spray process to guide plate surface.After spray process is completed, it will hang
Guide plate on hook 1051 is unloaded, and the guide plate hook that hook 1051 is ready for next round takes.
In addition, hook 1051, before hook is carried out to guide plate and is taken, hook transfer system 105 first moves hook 1051 thereon
Polishing processing carried out to hook 1051 to hook sanding apparatus 6, removes the powder bonded on hook 1051, after will link up with 1051
It is moved between the second robot device 5 and servo-actuated clamping jaw device 7, prepares to carry out hook to guide plate to take.
From such scheme, pass through the setting to the guide plate surface-treatment line and structure design so that this this lead
Plate surface processing automatic assembly line has the advantages of simple to operate, production efficiency is high, production cost is low, and can realize oneself of guide plate
Dynamicization polishing, the polishing of hook and realization hook automation feeding.
Finally it is emphasized that the foregoing is only the preferred embodiments of the present invention, it is not intended to limit the invention, it is right
For those skilled in the art, the present invention can have various change and change, within the spirit and principles of the invention,
Any modification, equivalent substitution and improvements done etc., should be included in the scope of the protection.
Claims (10)
1. guide plate surface treatment automatic production line, it is characterised in that including：
Feed bin；
First robot device, the feed bin are located at the lower section of first robot device, the first robot device bag
The first manipulator is included, first manipulator is set towards the feed bin；
Guide plate sanding apparatus, the guide plate sanding apparatus includes feeding unit material, delivery unit and two first polishing units, described
First manipulator is moved between the feed bin and the feeding unit material, and the feeding unit material is carried out to the delivery unit
Material, the sanding component of two the first polishing units are set towards the transport channel of the delivery unit, and described in two
First polishing unit is located at the both sides of the transport channel respectively；
Discharging transmission line, the discharging transmission line are arranged on the outlet side of the transport channel；
Timing belt pipeline, the input of the timing belt pipeline are connected with the output end of the discharging transmission line；
Transfer system is linked up with, the hook transfer system is provided with multiple hooks；
Second robot device, second robot device include the second manipulator, and second manipulator is positioned at described same
The top with pipeline is walked, second manipulator sets towards the synchronous conveyer band, and second manipulator is to described
Link up with feeding；
First look system, the First look system are arranged on second robot device, the First look system
IMAQ end set towards the timing belt pipeline；
Sanding apparatus is linked up with, on the direction of transfer of the hook transfer system, the hook sanding apparatus is located at described second
The upstream end of robot device；
Control system, the control system are defeated with first robot device, the guide plate sanding apparatus, the discharging respectively
Line sending, the timing belt pipeline, it is described hook transfer system, second robot device, the First look system and
The hook sanding apparatus electrical connection.
2. guide plate surface treatment automatic production line according to claim 1, it is characterised in that：
The feeding unit material includes：
First slide rail, bearing of trend of first slide rail along the delivery unit are set；
First sliding seat, bearing of trend of first sliding seat along first slide rail slideably connect with first slide rail
Connect, storing seat is provided with first sliding seat；
First drive mechanism, the drive end of first drive mechanism are connected with first sliding seat；
Second sliding seat, second sliding seat are provided with the second slide rail towards first sliding seat, second slide rail with
First sliding seat is slidably connected, and the storing seat is between second sliding seat and delivery unit；
Second drive mechanism, second drive mechanism be arranged on first sliding seat on, second drive mechanism it is defeated
Go out end to be connected with second sliding seat；
Material fetching mechanism, the material fetching mechanism are connected with the frame of the guide plate sanding apparatus, and the material fetching mechanism is positioned at described the
Above two sliding seats, and the material fetching mechanism moves between second sliding seat and the storing seat；
Pusher, the pusher are connected with the frame, and the pusher is set towards the storing seat, and described
Pusher is to the delivery unit feeding.
3. guide plate surface treatment automatic production line according to claim 2, it is characterised in that：
The delivery unit includes：
The transport channel, the transport channel are connected with the frame；
Switching mechanism, the switching mechanism are located at the porch of the transport channel, the switching mechanism include the first motor and
Rotating turret, the drive end of first motor are connected with the rotating turret, and multiple first are provided with the circumference of the rotating turret
Holding tank, and the entrance of transport channel described in a face in multiple first holding tanks；
Plectrum device, the plectrum device are located at the surface of the switching mechanism and the transport channel, the plectrum device
Including the second motor and chain, the drive end of second motor is connected with the chain, is provided with the circumference of the chain
Multiple plectrums, second motor drive the plectrum to pass through first holding tank and the transport channel.
4. guide plate surface treatment automatic production line according to claim 3, it is characterised in that：
Each the first polishing unit includes：
Mounting seat, the mounting seat are connected with the frame；
3rd motor, the pedestal of the 3rd motor are connected with the mounting seat；
The sanding component, the sanding component are connected with the drive end of the 3rd motor；
Opening, and the sanding component direction of the first polishing unit are provided with two side walls of the transport channel
The opening of one side wall is set.
5. guide plate surface treatment automatic production line according to claim 1, it is characterised in that：
First robot device also includes：
Truss, there is the 3rd slide rail on the truss；
3rd sliding seat, bearing of trend of the 3rd sliding seat along the 3rd slide rail slideably connect with the 3rd slide rail
Connect；
3rd drive mechanism, the 3rd drive mechanism are connected with the 3rd sliding seat, and the 3rd drive mechanism drives institute
The 3rd sliding seat is stated to slide along the 3rd slide rail；
4th sliding seat, the 4th sliding seat are vertically provided with the 4th slide rail, and the 3rd sliding seat is along described
The bearing of trend of four slide rails is slidably connected with the 4th slide rail, and first manipulator is arranged on the 4th sliding seat
On；
4th drive mechanism, the 4th drive mechanism are connected with the 3rd sliding seat, the driving of the 4th drive mechanism
End is connected with the 4th sliding seat.
6. guide plate surface treatment automatic production line according to claim 1, it is characterised in that：
The hook sanding apparatus includes：
Workbench；
Second polishing unit, the second polishing unit are rotatably coupled around the axis of itself and the workbench, and described the
Two polishing units being provided with radially extending in the first hairbrush and the second hairbrush positioned opposite along itself, and described second dozen
Grind and be provided with first pulley in the circumference of unit；
5th drive mechanism, the 5th drive mechanism are connected with the workbench, and the drive end of the 5th drive mechanism is set
It is equipped with the second belt wheel；
Transmission belt, the transmission belt are connected between the first pulley and second belt wheel.
7. guide plate surface treatment automatic production line according to claim 1, it is characterised in that：
The guide plate surface treatment automatic production line also includes the second vision system, and second vision system is arranged on described
On two robot devices, the IMAQ end of second vision system is set towards the hook.
8. guide plate surface treatment automatic production line according to claim 1, it is characterised in that：
The guide plate surface treatment automatic production line also includes servo-actuated clamping jaw device, the servo-actuated clamping jaw device and second machine
Device people device connects, and the servo-actuated clamping jaw device electrically connects with the control system；
The servo-actuated clamping jaw device includes：
Guide rail；
Multiple clamping jaw units, multiple clamping jaw units are slidably connected with the guide rail respectively, multiple clamping jaw unit directions
The hook is set, and multiple clamping jaw units are used to be pointed to second robot device and the servo-actuated clamping jaw device
Between multiple hooks be clamped, and a clamping jaw unit it is described to one hook be clamped；
6th drive mechanism, the 6th drive mechanism drive multiple clamping jaw units to be slided along the guide rail.
9. guide plate surface treatment automatic production line according to claim 1, it is characterised in that：
The guide plate surface treatment automatic production line also includes material collecting device, and the material collecting device is arranged on the timing belt conveying
The outlet side of line, the material collecting device include：
Fixed seat, the fixed seat are provided with the 6th slide rail towards extension outside body；
7th drive mechanism, the 7th drive mechanism are connected with the fixed seat；
Elevating mechanism, the input of the elevating mechanism are connected with the drive end of the 7th drive mechanism；
Lifting platform, bearing of trend of the lifting platform along the 6th slide rail is slidably connected with the 6th slide rail, described
Lifting platform is connected with the output end of the elevating mechanism, and the second holding tank, second holding tank are provided with the lifting platform
Set towards the outlet of the timing belt pipeline.
10. the guide plate surface treatment automatic production line according to any one of claim 1 to 9, it is characterised in that：
The quantity of the guide plate sanding apparatus is three, and level of three guide plate sanding apparatus along first manipulator
Moving direction is set up in parallel；
The quantity of the hook sanding apparatus is two, and biography of two hook sanding apparatus along the hook transfer system
Send directional spreding.
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| CN201710968818.6A CN107553289B (en) | 2017-10-18 | 2017-10-18 | Automatic production line for guide plate surface treatment |
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| CN201710968818.6A CN107553289B (en) | 2017-10-18 | 2017-10-18 | Automatic production line for guide plate surface treatment |
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| CN111037398A (en) * | 2019-12-26 | 2020-04-21 | 安徽科大智能物联技术有限公司 | Manipulator system of polishing based on vision guide |
| CN111347332A (en) * | 2020-04-20 | 2020-06-30 | 深圳爱多多环保科技有限公司 | Full-automatic grinding line |
| CN117773722A (en) * | 2024-02-26 | 2024-03-29 | 内蒙古北科交大机器人有限公司 | Automatic swing piece device of processing subassembly and magnetic material polishes |
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| CN107553289B (en) | 2024-04-19 |
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