CN108855732A - A kind of Intelligent metal plate part production system with automatic spray unit - Google Patents
A kind of Intelligent metal plate part production system with automatic spray unit Download PDFInfo
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- CN108855732A CN108855732A CN201810564188.0A CN201810564188A CN108855732A CN 108855732 A CN108855732 A CN 108855732A CN 201810564188 A CN201810564188 A CN 201810564188A CN 108855732 A CN108855732 A CN 108855732A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/20—Storage arrangements; Piling or unpiling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/003—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass in punching machines or punching tools
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B11/00—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding
- F16B11/006—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding by gluing
Abstract
The Intelligent metal plate part production system with automatic spray unit that the invention discloses a kind of, including material supply unit, the automatic code fetch unit of molding sheet metal component, Intelligent logistics support carry delivery unit, automatic spray unit and concentrate electronic control unit；Forming the automatic code fetch unit of sheet metal component includes counting to pile up device, the quantity for counting stacking device is more than one piece, is arranged near the discharge end of panel beating equipment, component II, stacking pallet and electric-controlled parts are piled up including crawl, stacking pallet includes the accommodation space uniformly arranged on multiple horizontal and vertical directions and electrical control mechanism.There is the Intelligent metal plate part production system of automatic spray unit to be protruded into inside panel beating equipment using the crawl stacking component II of micro computer control from the discharge end crawl accommodation space that stamping forming sheet metal component and sequence code have been placed on stacking pallet for this, it is Digitizing And Control Unit, can be seamlessly connected with the number bus of factory and realize concentration digital management.
Description
Technical field
It is specifically a kind of that there is automatic spray suitable for number bus factory the present invention relates to a kind of sheet metal component production system
The Intelligent metal plate part production system for applying unit, belongs to panel beating technical equipment field.
Background technique
Metal plate be it is a kind of for sheet metal (usual thickness in the synthesis cold machining process of 6mm or less), including cut, rush/
/ compound, folding, welding, riveting, splicing, molding (such as body of a motor car) are cut, significant feature is exactly Same Part thickness one
It causes, sheet metal component is called by the product that metal plate industry processes, the sheet metal component of different industries meaning is generally different, is chiefly used in assembling
When address, in general, most important three steps of sheet metal component factory are to cut, rush/cut, roll over.
Sheet metal component processing in general basic equipment includes plate shearing machine, numerical control press/laser, plasma, water jet cutting
Machine/compounding machine, bending machine and various ancillary equipments such as uncoiler, levelling machine, deburring machine, mash welder etc., processing is set at present
The standby operation that realized semi-automation mostly, but raw material input and the output element of finished product, circulation be put in storage link etc. still
Largely use manual operation.
By taking the production of air conditioner two-unit factory sheet metal component as an example, at present air conditioner manufacturer radiator and condenser fin and
Manual work is still largely used in the manufacturing procedure of the sheet metal components such as supporting steel plate, i.e., sheet stock or steel band is sent into metal plate
Process equipment, stamping forming sheet metal component another one, which is manually removed to be placed on material trolley, to be entered spray painting, pastes sponge
Process, finally storage or cross-docking be to lower road assembly process, has the automatic of sheet stock or steel band in the prior art
Feed device, but the code fetch of punch forming sheet metal component, transhipment, spray painting, stickup sponge or storage are still manual operation.
This traditional manually-operated production method has the following defects：
1. although code fetch stamping forming sheet metal component, pastes sea at spray painting stamping procedure equipment has realized automatic operation
It is continuous, be put in storage or transport stamping forming sheet metal component and still use manual operation, therefore overall device the degree of automation is low, equipment utilization
Rate is low, production capacity is low, and manual operation storage or transhipment formality are cumbersome, low efficiency；
2. the speed of code fetch will be with upstream due to grabbing stamping forming sheet metal component in production line using manual operation
The speed of waterline conveyer belt just can guarantee that production is normally carried out, therefore labor intensity of operating staff is big, and manually grabs stamping parts
There are security risks, easily cause safety accident；
3. sequence piles up stamping forming sheet metal component and uses manual operation, labor intensity of operating staff is big, sequence is piled up
Low efficiency, and the human factors such as its sense of responsibility, mood are affected to manufacturing schedule.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of Intelligent metal plate parts with automatic spray unit
Production system, the degree of automation is higher, can be realized intelligent operation, avoids manually-operated safety while improving production efficiency
Hidden danger is suitable for number bus factory sheet metal component manufacturing procedure.
To achieve the goals above, it includes that material supply is single that this, which has the Intelligent metal plate part production system of automatic spray unit,
Member, the automatic code fetch unit of molding sheet metal component, Intelligent logistics support carry delivery unit, automatic spray unit and concentrate electronic control unit；
The feeding end of panel beating equipment, including automatic feeding is arranged in the material supply unit, send automatically
Material device is electrically connected with the electric control gear of panel beating equipment；
The automatic code fetch unit of the molding sheet metal component includes counting to pile up device；It is more for counting and piling up the quantity of device
Part is arranged near the discharge end of panel beating equipment, including component II, stacking pallet and electric-controlled parts are piled up in crawl；Crawl
Piling up component II includes that manipulator is piled up in mechanical arm and crawl, and mechanical arm includes at least X-coordinate driving mechanism or Y coordinate driving machine
The minor details that manipulator is mounted on mechanical arm, including grasping mechanism, pattern-recognition sensing are piled up in structure and Z coordinate driving mechanism, crawl
Device and displacement sensor；At least mating crawl of stacking pallet piles up the quantity setting of component II, is arranged and piles up component II in crawl
It nearby, is the stratiform frame structure of open-top, the accommodation space including uniformly being arranged on multiple horizontal and vertical directions and electricity
Control mechanism, length, width and the height dimension of accommodation space and length, width and the height dimension gap of punch forming sheet metal component
Cooperation, the bottom of accommodation space and surrounding are equipped with limit plate, unilateral on the length and width direction at the top of accommodation space to be equipped with
Limit plate, the inside edges of boards of the limit plate of unilateral setting are to adjacent containing spaces on the length and width direction at the top of accommodation space
The distance between limit plate exterior panel and the length and width dimensions clearance fit, electrical control mechanism of punch forming sheet metal component include
Battery case, wireless transmitter module, the position sensor in each accommodation space and be located at stacking pallet bottom or supporting leg
On electronic identification chip, battery case is electrically connected with wireless transmitter module, position sensor and electronic identification chip；Electric-controlled parts
Pile up circuit and counting circuit including industrial control computer, pattern-recognition circuit, crawl, industrial control computer respectively with grab
Code fetch puts the electrical control mechanism electrical connection of component II, pattern-recognition sensor, displacement sensor and stacking pallet；
It includes logistics automated guided vehicle, logistics automated guided vehicle packet that the Intelligent logistics support, which carries delivery unit,
It includes car body, wheel, driving braking and steering gear assembly, lift control device, body powered device and car-mounted computer control
Device；Car body exterior circumferential is respectively provided with range sensor, also sets up code reader on car body；Lift control device setting on the car body
Side；Driving braking and steering gear assembly, body powered device and car-mounted computer control device are arranged at vehicle body, vehicle
Carrying Computer Control Unit includes industrial control computer, electric power loop, radio receiving transmitting module, wireless transmitter receiver circuit, position
Set feedback and vehicle traction position loop, lifting control loop and automatic charging or oiling circuit, industrial control computer difference
It is electrically connected with body powered device, radio receiving transmitting module, range sensor, driving braking and steering gear assembly；
The concentration electronic control unit includes central control computer and logistics automated guided vehicle control loop, center
Each equipment and warehouse coordinate position program, central control computer are set with panel beating respectively inside control built-in computer plant area
Standby electric control gear, the industrial control computer of counting stacking device electric-controlled parts, the electrical control mechanism of stacking pallet and intelligent object
Stream support carries the car-mounted computer control device electrical connection of delivery unit；
The automatic spray unit includes that device II, dust-free clean spray painting room, automatic is piled up in suspension transfer unit, crawl
Cleaning member, automatic application element and automatic baking dry part；Suspension transfer unit includes electric control driving device, support device and hangs
Chain, stretched wire are erected in support device and are at the uniform velocity moved by electric control driving device driving, there is multiple extensions on stretched wire uniformly at intervals
Relay part, hanging member are equipped with position sensor；Dust-free clean spray painting room is confined space, a stretched wire with multiple compartments
Across each compartment of dust-free clean spray painting room；The quantity that device II is piled up in crawl is at least two sets, is separately positioned on dustless clear
Component II and electric-controlled parts are piled up in the arrival end of clean spray painting room and outlet end, including crawl, and it includes machinery that component II is piled up in crawl
Manipulator is piled up in arm and crawl, and mechanical arm includes at least X-coordinate driving mechanism or Y coordinate driving mechanism and Z coordinate driving mechanism,
The minor details that manipulator is mounted on mechanical arm are piled up in crawl, including grasping mechanism, pattern-recognition sensor and hanging member position are read
Take device；Electric-controlled parts include that circuit and counting circuit are piled up in industrial control computer, crawl, industrial control computer respectively with grab
Code fetch puts component II, pattern-recognition sensor and the electrical connection of hanging member location readers；Automated cleaning component is arranged dustless
Clean spray painting room in positioned at stretched wire traffic direction first compartment in, including mechanical arm, automatic cleaning apparatus, control valve group I,
Electric control gear I；Mechanical arm is fixedly mounted on the ground, is arranged near stretched wire, including at least one X-coordinate driving mechanism or Y
Coordinate driving mechanism or Z coordinate driving mechanism；The connection of the minor details of automatic cleaning apparatus and mechanical arm, automatic cleaning apparatus are equipped with
Pattern-recognition sensor, position sensor and range sensor, automatic cleaning apparatus inside is equipped with multiple internal channels, multiple interior logical
The one end in road passes through control valve group I respectively and connect with cleaning positive pressure gas source, cleaning agent feed mechanism and clean water pressure source, another
End connection spray head；Electric control gear I includes industrial control computer, electric power loop, washing and brushing device position control loop, pattern-recognition
Circuit, analysis planning cleaning parameter circuit, cleaning control loop, gas circuit control loop, clean water control loop, Industry Control meter
Calculation machine is electrically connected with pattern-recognition sensor, position sensor and the range sensor on automatic cleaning apparatus respectively, industry control
Computer processed is electrically connected with control valve group I, and industrial control computer drives with the X-coordinate driving mechanism or Y coordinate of mechanical arm respectively
Motivation structure or the electrical connection of Z coordinate driving mechanism；Automatic application element be arranged in dust-free clean spray painting room along stretched wire traffic direction,
In compartment in front of automated cleaning component, including mechanical arm, automatic spray apparatus, control valve group II, electric control gear II；Mechanical arm
It is fixedly mounted on the ground, is arranged near stretched wire, including at least one X-coordinate driving mechanism or Y coordinate driving mechanism or Z are sat
Mark driving mechanism；The connection of the minor details of automatic spray apparatus and mechanical arm, automatic spray apparatus are equipped with pattern-recognition sensor, position
Set sensor and range sensor, multiple internal channels be equipped with inside automatic spray apparatus, be equipped with outside automatic spray apparatus with it is interior
Number of channels is identical and the outer tunnel of corresponding with internal channel connection, and internal channel one end is connected by control valve group II and positive pressure gas source
It connects, the internal channel other end connects spray head, and outer tunnel is connect by control valve group II with coating feed mechanism；Electric control gear II includes
Industrial control computer, electric power loop, nozzle position control loop, pattern-recognition circuit, analysis planning spray parameters circuit, spray
Apply control loop, gas circuit control loop, industrial control computer respectively with the pattern-recognition sensor on automatic spray apparatus, position
Sensor and range sensor electrical connection are set, industrial control computer is electrically connected with control valve group II, industrial control computer point
It is not electrically connected with the X-coordinate driving mechanism of mechanical arm or Y coordinate driving mechanism or Z coordinate driving mechanism；Automatic baking dry part is set
It sets in dust-free clean spray painting room along the compartment in front of stretched wire traffic direction, automatic application element, including drying spray head and control
Valve group processed, drying spray head are connect by control valve group with drying pressure gas source；The concentration electronic control unit further includes spraying automatically
Circuit is applied, central control computer piles up the electric control part of device II with the electric control driving device of suspension transfer unit, crawl respectively
Part, the electric control gear I of automated cleaning component, the electric control gear II of automatic application element and automatic baking dry part control valve group electricity
Connection；
The automatic feeding includes mechanical arm, crawl stacking manipulator, shaped steel plate bracket and electric-controlled parts；Machine
Tool arm is arranged near the feeding end of panel beating equipment, including at least X-coordinate driving mechanism or Y coordinate driving mechanism and Z are sat
Mark driving mechanism；The minor details that manipulator is mounted on mechanical arm, including grasping mechanism and displacement sensor are piled up in crawl；Shaped steel plate
Bracket is arranged near mechanical arm；Electric-controlled parts include industrial control computer, crawl stacking circuit and counting circuit, industry control
The electric control gear that computer processed piles up manipulator and panel beating equipment with mechanical arm, crawl respectively is electrically connected.
As a further improvement of the present invention, the automatic code fetch unit of the molding sheet metal component further includes that crawl is piled up
Device I, crawl are piled up device I and are arranged near the discharge end of panel beating equipment, including crawl piles up component I, piles up platform
Bracket and electric-controlled parts；It includes that manipulator is piled up in mechanical arm and crawl that component I is piled up in crawl, and mechanical arm drives including at least X-coordinate
Motivation structure or Y coordinate driving mechanism and Z coordinate driving mechanism, crawl piles up manipulator and is mounted on the minor details of mechanical arm, including grabs
Take mechanism and displacement sensor；Rig bracket setting is piled up to pile up near component I in crawl；Electric-controlled parts include Industry Control meter
Calculation machine, crawl pile up circuit, and industrial control computer piles up component I with crawl respectively and displacement sensor is electrically connected；Described
It counts and piles up device setting near stacking rig bracket；The central control computer and crawl code of the concentration electronic control unit
Put the industrial control computer electrical connection of I electric-controlled parts of device.
As a further improvement of the present invention, the Intelligent metal plate part production system with automatic spray unit further includes
Online detection unit, online detection unit setting are being piled up near rig bracket, including component I, detection platform, inspection are piled up in crawl
Device and information processing electric control gear are surveyed, detection device includes coordinate control mechanism and detector, and detector is known equipped with mode
Individual sensor, position sensor, range sensor, detection medium emission device and detection medium feed back receiver；Information processing electricity
Control device includes industrial control computer, electric power loop, detection device position control loop, pattern-recognition circuit, analysis planning
Detection parameters circuit, detection control loop, Data Analysis Services circuit, printout circuit etc., industrial control computer difference
With pattern-recognition sensor, position sensor, range sensor, detection medium emission device and the detection medium feedback on detector
Receiver electrical connection；The concentration electronic control unit further includes on-line checking circuit, central control computer and on-line checking list
The industrial control computer electrical connection of member.
As a further improvement of the present invention, the Intelligent metal plate part production system with automatic spray unit further includes
It is automatic to paste sponge unit；Automatic sponge unit of pasting includes sheet metal component grabbing device, sponge member bracket, sponge member crawl
Device, positioning membrane uncovering device and electric-controlled parts；
Sheet metal component grabbing device includes mechanical arm and manipulator is piled up in crawl, and mechanical arm includes the driving of at least one X-coordinate
Mechanism or Y coordinate driving mechanism and Z coordinate driving mechanism, it is slab construction, the end for being mounted on mechanical arm that manipulator is piled up in crawl
Section, including grasping mechanism and pattern-recognition sensor；
Sponge member grabbing device includes mechanical arm and manipulator is piled up in crawl, and mechanical arm includes that at least one X-coordinate is driven
Motivation structure or Y coordinate driving mechanism and Z coordinate driving mechanism, manipulator is piled up in crawl to be slab construction, is mounted on mechanical arm
Minor details, including grasping mechanism, pattern-recognition sensor and range sensor；
Sponge member bracket is arranged near sheet metal component grabbing device；
It positions membrane uncovering device positioning to be arranged between sheet metal component grabbing device and sponge member grabbing device, including support frame
With take off film gripping manipulator, take off film gripping manipulator and be fixedly mounted on top of support frame, take off film gripping manipulator equipped with distance
Sensor；
Electric-controlled parts include industrial control computer, sheet metal component crawl control loop, sponge member crawl control loop, paste
Control loop and counting circuit, the industrial control computer machinery with sheet metal component grabbing device and sponge member grabbing device respectively
Arm, crawl pile up manipulator, grasping mechanism and the electrical connection of pattern-recognition sensor, industrial control computer and positioning membrane uncovering device
Take off film gripping manipulator electrical connection；
The concentration electronic control unit further includes automatic stickup sponge circuit, central control computer and automatic stickup sponge
The industrial control computer of unit electric-controlled parts is electrically connected.
As a further improvement of the present invention, it is flat that manipulator is piled up in the crawl of the sponge member grabbing device
Hardened structure, slab construction are equipped with multiple adsorption orifices, and adsorption orifice is connected to by pipeline with negative pressure source.
As a further improvement of the present invention, the crawl of the sponge member grabbing device is piled up machinery and is set on hand
Have along the pressure roller for taking off the rolling setting of film direction.
As a preferred solution of the present invention, it is gantry type mechanical arm that the mechanical arm of component II is piled up in the crawl.
Compared with prior art, this has the Intelligent metal plate part production system of automatic spray unit due to using micro computer controlled
The crawl stacking component II of system, which protrudes into inside panel beating equipment, grabs stamping forming sheet metal component and sequence code from discharge end
It is placed in the accommodation space of stacking pallet, is operated completely using computer auto-control, automatic operation can avoid because of operator
The influences of the human factors to manufacturing schedule such as member's sense of responsibility, mood, while can be from operator's operative skill qualification
Limitation, it is entirely avoided manual operation there are the drawbacks of；It, can due to being equipped with the online detection unit of complete micro computer control
To guarantee the product quality of sheet metal component, prevent the abrasion because of stamping die from leading to sheet metal component dimension overproof；It is completely micro- due to being equipped with
Computer-controlled automatic spray unit, therefore automatic spray treatment can be carried out to stamping forming sheet metal component；Due to being equipped with
The automatic stickup sponge unit of complete micro computer control, therefore automatic stickup sea can be carried out to stamping forming sheet metal component
Silk floss, the automated production of the industrial sheet metal component especially suitable for number bus factory.
Detailed description of the invention
Fig. 1 is plane plant area arrangement schematic diagram of the invention；
Schematic three dimensional views when Fig. 2 is material supply unit of the present invention and molding sheet metal component automatic code fetch cell operation；
Fig. 3 is the three dimensional structure diagram of the present invention molding automatic code fetch unit of sheet metal component；
Fig. 4 is the section view enlarged structure schematic diagram of Fig. 3；
Fig. 5 is the three dimensional structure diagram when work of device II is piled up in present invention crawl；
Three dimensional structure diagram when Fig. 6 is the dust-free clean spray painting room work of automatic spray unit of the invention；
Fig. 7 is the automatic three dimensional structure diagram for pasting sponge unit of the invention.
In figure：1, material supply unit, 11, automatic feeding, 2, the molding automatic code fetch unit of sheet metal component, 21, crawl
Stacking device I, 211, crawl stacking component I, 212, stacking rig bracket, 22, counting stacking device, 221, crawl stacking component
II, 222, stacking pallet, 2221, accommodation space, 3, Intelligent logistics support load delivery unit, 31, logistics automated guided vehicle, 4,
Online detection unit, 41, detection device, 42, information processing electric control gear, 5, automatic spray unit, 51, suspension transfer unit,
52, device II, 521, crawl stacking component III, 53, automated cleaning component, 531, automatic cleaning apparatus, 532, control are piled up in crawl
Valve group I processed, 533, electric control gear I, 54, automatic application element, 541, automatic spray apparatus, 542, control valve group II, 543, electricity
Control device II, 6, automatic stickup sponge unit, 61, sheet metal component grabbing device, 62, sponge member bracket, 63, sponge member crawl
Device, 64, positioning membrane uncovering device, 7, concentration electronic control unit, 8, panel beating equipment.
Specific embodiment
Below by air conditioner two-unit factory sheet metal component production for, in conjunction with attached drawing, the present invention will be further described.
The core of automated production is ordered into production, that is, sequence is most vital process in automated production.
As shown in Figure 1, Intelligent metal plate part production system includes material supply unit 1, the molding automatic code fetch unit of sheet metal component
2, Intelligent logistics support carries delivery unit 3 and concentrates electronic control unit 7.
As shown in Fig. 2, the setting of material supply unit 1 is set in panel beatings such as press machine, compounding machine or molding machines
Standby 8 feeding end, including automatic feeding 11, automatic feeding 11 can will make molding steel by punching press size requirement
Plate or steel band, which are delivered in panel beating equipment 8, carries out punching press, the electric control gear of automatic feeding 11 and panel beating equipment 8
Electrical connection, the feed speed of the electric control gear control automatic feeding 11 of panel beating equipment 8.
As shown in Figure 2 and Figure 3, the automatic code fetch unit 2 of the molding sheet metal component includes counting to pile up device 22；
The quantity for counting stacking device 22 is more than one piece, is arranged near the discharge end of panel beating equipment 8, including crawl code
Put component II 221, stacking pallet 222 and electric-controlled parts；
It includes that manipulator is piled up in mechanical arm and crawl that component II 221 is piled up in crawl, and mechanical arm includes at least X-coordinate driving machine
The minor details that manipulator is mounted on mechanical arm, including gripper are piled up in structure or Y coordinate driving mechanism and Z coordinate driving mechanism, crawl
Structure, pattern-recognition sensor and displacement sensor；
At least mating crawl of stacking pallet 222 piles up the quantity setting of component II 221, is arranged and piles up component II in crawl
Near 221, it is the stratiform frame structure of open-top, as shown in figure 4, including uniformly arranging on multiple horizontal and vertical directions
Accommodation space 2221 and electrical control mechanism, length, width and the height dimension of accommodation space 2221 and the length of punch forming sheet metal component
Degree, width and height dimension clearance fit, the bottom of accommodation space 2221 and surrounding are equipped with limit plate, and accommodation space 2221 is pushed up
It is unilateral on the length and width direction in portion to be equipped with limit plate, unilateral setting on the length and width direction at 2221 top of accommodation space
Limit plate inside edges of boards to the distance between the limit plate exterior panel of adjacent containing spaces 2221 and punch forming sheet metal component
Length and width dimensions clearance fit, i.e., it is empty that stamping forming sheet metal component can be put into receiving from the top of accommodation space 2221
Between inside 2221, limit plate can prevent punch forming sheet metal component in transport process to be detached from accommodation space 2221, electrical control mechanism packet
It includes battery case, wireless transmitter module, the position sensor in each accommodation space 2221 and is located at 222 bottom of stacking pallet
Or the electronic identification chip on supporting leg, battery case are electrically connected with wireless transmitter module, position sensor and electronic identification chip；
Electric-controlled parts include industrial control computer, pattern-recognition circuit, crawl stacking circuit and counting circuit, industry control
Computer processed piles up the automatically controlled of component II 221, pattern-recognition sensor, displacement sensor and stacking pallet 222 with crawl respectively
Mechanism electrical connection, industrial control computer can control mechanical arm and discharging of the manipulator from panel beating equipment 8 is piled up in crawl
End grabs stamping forming sheet metal component and sequence is successively piled up in the accommodation space 2221 of stacking pallet 222 and counted.
It includes logistics automated guided vehicle 31, logistics homing guidance transport that the Intelligent logistics support, which carries delivery unit 3,
Vehicle 31 includes car body, wheel, driving braking and steering gear assembly, lifts control device, body powered device and vehicle computing
Machine control device；Car body exterior circumferential is respectively provided with range sensor, also sets up code reader on car body；Control device setting is lifted to exist
Above car body, lifting when control device stretches out can ask load to pile up rig bracket 212 or stacking pallet 222；Driving is braked and is turned
Vehicle body, car-mounted computer control dress are arranged to assembly of devices, body powered device and car-mounted computer control device
It sets and is driven including industrial control computer, electric power loop, radio receiving transmitting module, wireless transmitter receiver circuit, position feedback and vehicle
Dynamic position loop, lifting control loop and automatic charging or oiling circuit, industrial control computer respectively with body powered device,
Radio receiving transmitting module, range sensor, driving braking and steering gear assembly electrical connection.
The concentration electronic control unit 7 includes central control computer and logistics automated guided vehicle control loop, in
Each equipment and warehouse coordinate position program inside the control built-in computer plant area of centre, central control computer respectively with panel beating
The electric control gear of equipment 8, the electrical control mechanism for counting the industrial control computer, stacking pallet 222 of piling up 22 electric-controlled parts of device
And Intelligent logistics support carries the car-mounted computer control device electrical connection of delivery unit 3.
The working principle of Intelligent metal plate part production system：Concentrating the central control computer of electronic control unit 7 to issue instruction makes
Panel beating equipment 8 is started to work, and automatic feeding 11 molding steel plate will be made by punching press size requirement or steel band conveys
Punching press is carried out in panel beating equipment 8, by the successively punching press and transmission of stamping die in panel beating equipment 8, is struck out
The sheet metal component of type is transferred into the discharge end of panel beating equipment 8；
It forms the automatic code fetch unit 2 of sheet metal component to start to work, multiple countings pile up device 22 and successively work, and count and pile up dress
The industrial control computer for setting 22 piles up component II 221 according to setting program and with the feedback coordinates control crawl of displacement sensor
Protrude into inside panel beating equipment 8 from discharge end crawl stamping forming sheet metal component and be moved to stacking pallet 222 just on
Then side counts the industrial control computer for piling up device 22 according to the position biography in the accommodation space 2221 of stacking pallet 222
The mechanical arm movement that component II 221 is piled up in the feedback control crawl of the coordinate position and pattern-recognition sensor of sensor feedback is protruded into
Stamping forming sheet metal component sequence code is placed in the accommodation space 2221 of stacking pallet 222 simultaneously by the inside of stacking pallet 222
It counts；
It is counted when counting circuit feedback has expired information and piles up the stopping stacking of device 22, concentrate the center control of electronic control unit 7
Computer processed, which issues instruction, makes Intelligent logistics support carry the work of delivery unit 3, and car-mounted computer control device is according to center control meter
The coordinate position control logistics automated guided vehicle 31 that calculation machine issues is moved to the lower section of stacking pallet 222 and by stacking pallet
222 hold up, and the coordinate position control logistics that then car-mounted computer control device is issued according to central control computer is led automatically
Draw 31 support of transport vehicle and carry stacking pallet 222 and is moved to the setting position in warehouse or is directly transferred to the setting position of next procedure,
Logistics automated guided vehicle 31 is standby after putting down stacking pallet 222.
Since the drawing velocity of usual panel beating equipment 8 is very fast, the speed of response is very fast, but grabs and pile up component II 221
It protrudes into grab stamping forming sheet metal component from discharge end inside panel beating equipment 8 and accurately move and pile up in stacking pallet
Speed in 222 it is relatively slow and pile up control micro computer control mechanism it is more complex, therefore in order to accelerate crawl pile up speed
Degree, as a further improvement of the present invention, the automatic code fetch unit 2 of the molding sheet metal component further include that device is piled up in crawl
I 21, crawl is piled up device I 21 and is arranged near the discharge end of panel beating equipment 8, including crawl is piled up component I 211, piled up
Rig bracket 212 and electric-controlled parts；It includes that manipulator is piled up in mechanical arm and crawl that component I 211 is piled up in crawl, and mechanical arm at least wraps
X-coordinate driving mechanism or Y coordinate driving mechanism and Z coordinate driving mechanism are included, the end that manipulator is mounted on mechanical arm is piled up in crawl
Section, including grasping mechanism and displacement sensor；The setting of rig bracket 212 is piled up to pile up near component I 211 in crawl；Electric control part
Part includes industrial control computer, crawl stacking circuit, and industrial control computer piles up component I 211 and displacement with crawl respectively
Sensor electrical connection, industrial control computer can control mechanical arm and crawl is piled up manipulator and protruded into panel beating equipment 8
Portion grabs stamping forming sheet metal component from discharge end and piles up on piling up rig bracket 212；Device is piled up in the counting
22 settings are being piled up near rig bracket 212；Device is piled up in the central control computer of the concentration electronic control unit 7 and crawl
The industrial control computer of I 21 electric-controlled parts is electrically connected；The central control computer of electronic control unit 7 is concentrated to issue when working condition
Instruction makes crawl stacking I 21, device be responsible for grabbing stamping forming sheet metal component from the discharge end of panel beating equipment 8
Pile up rig bracket 212 on, and grab pile up component II 221 be responsible for will pile up rig bracket 212 on it is stamping forming
Sheet metal component grabs and piles up in the accommodation space 2221 of stacking pallet 222 and count, and then realizes that accelerating crawl piles up speed.
In order to guarantee the product quality of sheet metal component, prevent the abrasion because of stamping die from leading to sheet metal component dimension overproof, as
Further improvement of the present invention scheme, this Intelligent metal plate part production system further include online detection unit 4, online detection unit 4
Setting is being piled up near rig bracket 212, including component I 211, detection platform, detection device 41 and information processing are piled up in crawl
Electric control gear 42, detection device 41 include coordinate control mechanism and detector, and detector is equipped with pattern-recognition sensor, position
Sensor, range sensor, detection medium emission device and detection medium feed back receiver, pattern-recognition sensor can be optics
Imaging sensor, ultrasonic sensor, X ray sensor etc., detection medium can be ultrasonic wave either light source, infrared ray etc.
Medium；Information processing electric control gear 42 includes industrial control computer, electric power loop, detection device position control loop, mode
Identify circuit, analysis planning detection parameters circuit, detection control loop, Data Analysis Services circuit, printout circuit etc., work
Industry control computer respectively on detector pattern-recognition sensor, position sensor, range sensor, detection medium emission
Device and detection medium feed back receiver electrical connection；The concentration electronic control unit 7 further includes on-line checking circuit, center control meter
Calculation machine is electrically connected with the industrial control computer of online detection unit 4；After the operation of panel beating equipment 8 to setting time, i.e.,
When reaching the quality controllable minimum period, concentrating the central control computer of electronic control unit 7 to issue instruction makes online detection unit 4
It starts to work, information processing electric control gear 42 controls crawl stacking component I 211 according to setting program and piles up rig bracket 212 certainly
It is upper crawl one stamping forming sheet metal component and pile up in detection platform, then information processing electric control gear 42 is according to setting
Program controls the movement of 41 coordinate of detection device by detection device position control loop, the pattern-recognition sensing in detection device 41
Device feeds back the information such as the shape, size of stamping forming sheet metal component, position and detects to industrial control computer, analysis planning
Parameter loop works, the information that industrial control computer passes through pattern-recognition sensor feedback first carry out d solid modeling,
It generates batten entity function and stores, and be compared with the data information of database Plays sheet metal component, according to standard metal plate
Then the data information selected reference face of part or datum mark re-establish coordinate system according to selected datum level or datum mark with most
Limits reducing mechanism accumulated error calls the starting point for detecting path, end point location information and calculates the starting point, final position phase
For the relative coordinate values of selected datum level or datum mark in the coordinate system re-established, call detector to having struck out
The sheet metal component measured surface of type or hole approach distance and approach the informations parameter such as number；Then industrial control computer is according to weight
Newly-established coordinate system controls the benchmark that 41 coordinate of detection device is moved to program selecting by detection device position control loop
Face or datum mark coordinate position, detection control loop are started to work, and the detection medium emission device and detection medium on detector are anti-
Feedback receiver works at the same time, and industrial control computer, which controls the movement of detection device 41 according to the coherent detection information programme of storage, to be made
Detector is moved to face the first measured surface of stamping forming sheet metal component or the setting position in hole, detects medium emission device
The detection medium orientation of transmitting beats the first measured surface in tested stamping forming sheet metal component or the detection faces back reflection in hole
It returns detected medium feed back receiver to receive, the information that industrial control computer is fed back according to detection medium feed back receiver is received
It generates the first layer data and stores, then industrial control computer control coordinate control detection device 41 movement makes detector to quilt
It surveys the first measured surface of stamping forming sheet metal component or hole to approach to set distance, industrial control computer receives inspection again
The information of detection medium feed back receiver feedback on gauge head generates the second layer data and stores, and so on, until completing to force
Nearly number, detector retract to setting position；Meanwhile Data Analysis Services loop works, industrial control computer is by all layers
Data are analyzed by data continuity, specificity analysis and numerical radius generate batten data and store, and quasi- according to batten data
Spline approxmation function is synthesized, final detection data is then calculated according to spline approxmation function and is stored, tested struck out is completed
First measured surface of the sheet metal component of type or the detection in hole；Then industrial control computer control detection device 41 movement makes to detect
Head to program setting, detection path on be tested stamping forming sheet metal component the second measured surface or hole approach to setting away from
From repeating the above steps；And so on, until completing to be tested stamping forming metal plate when the terminal point coordinate position of program setting
The detection of golden part, detector return to zero position, and printout circuit will test data result printout, and maintenance personnel can root
Decide whether to be modified mold according to detection data result.
For the sheet metal component of air conditioner two-unit, the sheet metal component that portion plays a supportive role in the air conditioner is not usually required to be sprayed
Process, but the sheet metal component or sheet metal component shell to play a supportive role in air conditioner appearance usually requires to carry out spray treatment, therefore, makees
For further improvement of the present invention scheme, the Intelligent metal plate part production system with automatic spray unit further includes that automatic spraying is single
Member 5；
Automatic spray unit 5 includes that device II 52, dust-free clean spray painting room, automatic is piled up in suspension transfer unit 51, crawl
Cleaning member 53, automatic application element 54 and automatic baking dry part；
Hanging transfer unit 51 includes electric control driving device, support device and stretched wire, and stretched wire is erected in support device, simultaneously
It is at the uniform velocity moved by electric control driving device driving, there is multiple hanging members on stretched wire uniformly at intervals, hanging member is equipped with position
Sensor；
Dust-free clean spray painting room is that confined space, a stretched wire with multiple compartments passes through each of dust-free clean spray painting room
Compartment；
The quantity that device II 52 is piled up in crawl is at least two sets, is separately positioned on the arrival end of dust-free clean spray painting room and goes out
Component III 521 and electric-controlled parts are piled up in mouthful end, including crawl, as shown in figure 5, crawl pile up component III 521 include mechanical arm and
Manipulator is piled up in crawl, and mechanical arm includes at least X-coordinate driving mechanism or Y coordinate driving mechanism and Z coordinate driving mechanism, crawl
Pile up the minor details that manipulator is mounted on mechanical arm, including grasping mechanism, pattern-recognition sensor and hanging member location readers；
Electric-controlled parts include that circuit and counting circuit are piled up in industrial control computer, crawl, industrial control computer respectively with crawl code
Put component III 521, pattern-recognition sensor and the electrical connection of hanging member location readers；Industrial control computer can pass through mould
The feedback control of formula identification sensor is located at the mechanical arm of the arrival end of dust-free clean spray painting room and manipulator crawl is piled up in crawl
Stamping forming sheet metal component in rig bracket 212 is piled up, sets the articulated end of stamping forming sheet metal component upwards after crawl
It sets and keeps vertical mounting state, while hanging member location readers read the position of the hanging member on running stretched wire
Sensor information simultaneously feeds back to industrial control computer, and manipulator is piled up in first control crawl after industrial control computer speed calculates
It locks and leans on closely its nearest hanging member, then control grabs stacking manipulator and projects forwardly to mounting position and keep and hang
The identical speed of the forward speed of chain and stretched wire moment synchronizing moving, the grasping mechanism that then manipulator is piled up in control crawl unclamp
Stamping forming sheet metal component, stamping forming sheet metal component, which has been articulated on the hanging member of stretched wire, completes mounting, industry control
Computer control crawl stacking manipulator processed, which returns to initial position, to be continued to grab；As described above, industrial control computer can lead to
Cross pattern-recognition sensor and hanging member location readers feedback control be located at dust-free clean spray painting room outlet end machine
Tool arm and crawl pile up manipulator and lock and lean on closely its nearest hanging member, and then manipulator extension is piled up in control crawl
To mounting position and speed identical with the forward speed of stretched wire and stretched wire moment synchronizing moving are kept, then control crawl is piled up
The sheet metal component sprayed on the hanging member of the grasping mechanism crawl stretched wire of manipulator, and pile up and piling up rig bracket 212
On；
Automated cleaning component 53 is arranged in dust-free clean spray painting room in first compartment of stretched wire traffic direction, packet
Include mechanical arm, automatic cleaning apparatus 531, control valve group I 532, electric control gear I 533；Mechanical arm is fixedly mounted on the ground, if
It sets near stretched wire, including at least one X-coordinate driving mechanism or Y coordinate driving mechanism or Z coordinate driving mechanism；Automated cleaning
Device 531 is connect with the minor details of mechanical arm, automatic cleaning apparatus 531 be equipped with pattern-recognition sensor, position sensor and away from
From sensor, multiple internal channels are equipped with inside automatic cleaning apparatus 531, one end of multiple internal channels passes through control valve group I respectively
532 connect with cleaning positive pressure gas source, cleaning agent feed mechanism and clean water pressure source, and the other end connects spray head；Electric control gear I
533 include industrial control computer, electric power loop, washing and brushing device position control loop, pattern-recognition circuit, analysis planning cleaning
Parameter circuit, cleaning control loop, gas circuit control loop, clean water control loop, industrial control computer respectively with it is automatic clear
Pattern-recognition sensor, position sensor and range sensor electrical connection, industrial control computer and control on clean device 531
Valve group I 532 is electrically connected, and industrial control computer is sat with the X-coordinate driving mechanism of mechanical arm or Y coordinate driving mechanism or Z respectively
Mark driving mechanism electrical connection；
Automatic application element 54 is arranged in dust-free clean spray painting room along stretched wire traffic direction, 53 front of automated cleaning component
Compartment in, including mechanical arm, automatic spray apparatus 541, control valve group II 542, electric control gear II 543；The fixed peace of mechanical arm
Dress on the ground, is arranged near stretched wire, including at least one X-coordinate driving mechanism or Y coordinate driving mechanism or Z coordinate driving
Mechanism；Automatic spray apparatus 541 is connect with the minor details of mechanical arm, and automatic spray apparatus 541 is equipped with pattern-recognition sensor, position
Sensor and range sensor are set, multiple internal channels are equipped with inside automatic spray apparatus 541, are set outside automatic spray apparatus 541
Have it is identical as internal channel quantity and with the corresponding outer tunnel being connected to of internal channel, internal channel one end by control valve group II 542 with just
Pressurized air source connection, the internal channel other end connect spray head, and outer tunnel is connect by control valve group II 542 with coating feed mechanism；Electricity
Controlling device II 543 includes industrial control computer, electric power loop, nozzle position control loop, pattern-recognition circuit, analysis planning
Spray parameters circuit, spray painting control circuit, gas circuit control loop, industrial control computer is respectively and on automatic spray apparatus 541
Pattern-recognition sensor, position sensor and range sensor electrical connection, industrial control computer and the electricity of control valve group II 542
Connection, industrial control computer respectively with the X-coordinate driving mechanism of mechanical arm or Y coordinate driving mechanism or Z coordinate driving mechanism
Electrical connection；
Automatic baking dry part is arranged in dust-free clean spray painting room in front of stretched wire traffic direction, automatic application element 54
In compartment, including drying spray head and control valve group, drying spray head are connect by control valve group with drying pressure gas source；
The concentration electronic control unit 7 further includes automatic spray circuit, central control computer respectively with suspension delivery section
The electric control driving device of part 51, crawl pile up the electric-controlled parts of device II 52, automated cleaning component 53 electric control gear I 533, from
The control valve group electrical connection of the electric control gear II 543 and automatic baking dry part of dynamic application element 54；
This automatic spray unit 5 when in use, as shown in Figure 5, Figure 6, the vehicle computing of logistics automated guided vehicle 31
The coordinate position control logistics automated guided vehicle 31 that machine control device is issued according to central control computer is held in the palm respectively to be carried
The fully loaded stacking pallet 222 of punch forming sheet metal component and unloaded stacking pallet 222 are moved to positioned at dust-free clean spray painting room
Device II 52 is piled up in the crawl of arrival end and the crawl positioned at the outlet end of dust-free clean spray painting room is piled up near device II 52
Setting position, automatic spray circuit are started to work, and stretched wire is to be at the uniform velocity advanced through dust-free clean spray painting room, Industry Control meter
Device II 52 is piled up in the crawl for the arrival end that calculation machine is located at dust-free clean spray painting room by the feedback control of pattern-recognition sensor
Stamping forming sheet metal component is successively sequentially grabbed from stacking pallet 222 and is articulated on the hanging member of stretched wire,
Stamping forming sheet metal component follows stretched wire to enter dust-free clean spray painting room, after automated cleaning component 53 carries out surface cleaning processing
Into the working range of automatic application element 54, the working space of automatic baking dry part is entered after spraying automatically, after drying most
It follows stretched wire to leave dust-free clean spray painting room from the outlet end of dust-free clean spray painting room afterwards to complete automatic spraying, be then within dustless
The crawl stacking device II 52 for cleaning the outlet end of spray painting room successively grabs the sheet metal component that spraying is completed on stretched wire and by its code
It is placed on unloaded stacking pallet 222, realizes automatic operation.
For the sheet metal component of air conditioner two-unit, the sheet metal component usually some that portion plays a supportive role in the air conditioner also needs to paste
The sponge members such as sound-absorbing sponge or moulding silk floss, the sponge members such as sound-absorbing sponge or moulding silk floss are usually adhesive surface with double-sided adhesive, another
Face has dust-proof pad pasting, need to will paste after the removal of the double-sided adhesive pad pasting of adhesive surface when paste operation and by the Dustproof paste of another side
Film removal, usually manual operation, therefore, in order to further realize artificial intelligence automatic operation, as of the invention into one
Improvement project is walked, Intelligent metal plate part production system further includes automatic stickup sponge unit 6；
As shown in fig. 7, pasting sponge unit 6 automatically includes sheet metal component grabbing device 61, sponge member bracket 62, sponge portion
Part grabbing device 63, positioning membrane uncovering device 64 and electric-controlled parts；
Sheet metal component grabbing device 61 includes mechanical arm and manipulator is piled up in crawl, and mechanical arm includes that at least one X-coordinate is driven
Motivation structure or Y coordinate driving mechanism and Z coordinate driving mechanism, manipulator is piled up in crawl to be slab construction, is mounted on mechanical arm
Minor details, including grasping mechanism and pattern-recognition sensor；
Sponge member grabbing device 63 includes that manipulator is piled up in mechanical arm and crawl, and mechanical arm includes at least one X-coordinate
Driving mechanism or Y coordinate driving mechanism and Z coordinate driving mechanism, manipulator is piled up in crawl to be slab construction, is mounted on mechanical arm
Minor details, including grasping mechanism, pattern-recognition sensor and range sensor；
Sponge member bracket 62 is arranged near sheet metal component grabbing device 61, makes molding sponge by size requirement is pasted
Item sequence is neatly packed to be arranged in sponge member bracket 62；
The positioning of membrane uncovering device 64 is positioned to be arranged between sheet metal component grabbing device 61 and sponge member grabbing device 63, including
Support frame and film gripping manipulator is taken off, takes off film gripping manipulator and be fixedly mounted on top of support frame, take off and set on film gripping manipulator
There is range sensor；
Electric-controlled parts include industrial control computer, sheet metal component crawl control loop, sponge member crawl control loop, paste
Control loop and counting circuit, industrial control computer respectively with sheet metal component grabbing device 61 and sponge member grabbing device 63
Mechanical arm, crawl pile up manipulator, grasping mechanism and the electrical connection of pattern-recognition sensor, industrial control computer and positioning and take off film
Device 64 takes off the electrical connection of film gripping manipulator；
The concentration electronic control unit 7 further includes automatic stickup sponge circuit, central control computer and automatic stickup sea
The industrial control computer of continuous 6 electric-controlled parts of unit is electrically connected；
This is automatic paste sponge unit 6 in use, logistics automated guided vehicle 31 car-mounted computer control device root
Coordinate position control 31 support of logistics automated guided vehicle issued according to central control computer is carried to be fully loaded with and be wanted by stickup size
The sponge member bracket 62 for making molding sponge strip is asked to be moved to the setting position near sponge member grabbing device 63, logistics
31 support of automated guided vehicle carries the fully loaded stacking pallet 222 of punch forming sheet metal component and unloaded stacking pallet 222 divides
It is not moved to the setting position near sheet metal component grabbing device 61, automatic to paste sponge loop starts, electric-controlled parts pass through
Manipulator is piled up in the crawl of the feedback control sheet metal component grabbing device 61 of pattern-recognition sensor on sheet metal component grabbing device 61
Stamping forming sheet metal component is sequentially grabbed from fully loaded stacking pallet 222 and is grabbed is located in positioning membrane uncovering device 64
Neighbouring setting position；Then the feedback control that electric-controlled parts pass through the pattern-recognition sensor on sponge member grabbing device 63
The crawl of sponge member grabbing device 63 is piled up manipulator and is sequentially grabbed from sponge member bracket 62 by stickup size requirement system
Make molding sponge strip and is grabbed the one end for being located in sponge strip adhesive surface close to the setting position of positioning membrane uncovering device 64；
Then electric-controlled parts grab the sponge of sponge strip by the feedback control of the range sensor on sponge member grabbing device 63
63 fine motion of component grabbing device make make one end of sponge strip adhesive surface to positioning membrane uncovering device 64 take off film gripping manipulator close to
To set distance, then electric-controlled parts take off film clamping machinery by taking off the feedback control of the range sensor on film gripping manipulator
Hand is stretched out and is inserted between the glue surface and protective film of sponge strip adhesive surface, and then the conjunction of film gripping manipulator is taken off in electric-controlled parts control
Finish by the protective film of sponge strip adhesive surface clamp completion take off film positioning；Then electric-controlled parts control grabs the sponge of sponge strip
It is moved along sponge strip in-plane relative to positioning membrane uncovering device 64 after the recession to set distance of component grabbing device 63, that is, does phase
To movement, the protective film of sponge strip adhesive surface is viscous from sponge strip under the chucking power effect for taking off film gripping manipulator in moving process
It is peeled off in the glue surface of veneer, completes electric-controlled parts control after taking off film and grab the return of sponge member grabbing device 63 of sponge strip extremely
Position before movement；Then the feedback control sea that electric-controlled parts pass through the pattern-recognition sensor on sponge member grabbing device 63
The position that continuous component grabbing device 63 is moved to corresponding sheet metal component grabbing device 61 grabs the sponge face sheet metal component for completing to take off film
The stamping forming sheet metal component on device 61 is taken, then electric-controlled parts pass through the Distance-sensing on sponge member grabbing device 63
The sponge member grabbing device 63 that the feedback control of device grabs the sponge strip that film is taken off in completion is mobile to sheet metal component grabbing device 61
Close to set distance, complete to take off at this time the adhesive surface of the sponge strip of film i.e. with the punch forming on sheet metal component grabbing device 61
Sheet metal component fitting, electric-controlled parts control sponge member grabbing device 63 crawl pile up manipulator unclamp sponge strip after return to just
It awaits orders beginning position；Then electric-controlled parts control sheet metal component grabbing device 61 grab be completed paste sponge sheet metal component be moved to
Its sequence code is simultaneously placed in the accommodation space 2221 of unloaded stacking pallet 222 and counts by unloaded 222 top of stacking pallet,
A workflow is completed, and so on, until being fully completed sponge application work.
In order to effectively grab sponge strip and conveniently take off film and stickup, as one embodiment of the present invention, the sea
It is slab construction that manipulator is piled up in the crawl of continuous component grabbing device 63, and slab construction is equipped with multiple adsorption orifices, and adsorption orifice is logical
It crosses pipeline to be connected to negative pressure source, the crawl of sponge member grabbing device 63 is piled up manipulator and realized surely by negative-pressure adsorption sponge strip
Gu crawl.
It is as a further improvement of the present invention, described in order to realize better sticking effect, guarantee firm stickup
The crawl of sponge member grabbing device 63 piles up the mechanical edge that is equipped on hand and takes off the pressure roller that film direction rolls setting, logical to electric-controlled parts
The feedback control for the range sensor crossed on sponge member grabbing device 63 grabs the sponge member for completing to take off the sponge strip of film
Grabbing device 63 is mobile close to set distance, completing to take off the adhesive surface of the sponge strip of film i.e. and metal plate to sheet metal component grabbing device 61
Stamping forming sheet metal component fitting on golden part grabbing device 61, at this point, electric-controlled parts control sponge member grabbing device 63
Crawl pile up manipulator unclamp sponge strip after again relative to by sheet metal component grabbing device 61 crawl pile up manipulator crawl
Stamping forming sheet metal component stickup sponge in-plane it is mobile, pressure roller is i.e. mobile to sponge in sponge strip surface scrolls
Item is rolled, and is realized the better sticking effect of sponge strip, is guaranteed its firm stickup.
As one embodiment of the present invention, the automatic feeding 11 is will to be fabricated to by punching press size requirement
The steel plate of type, which is sent into panel beating equipment 8, carries out punching press, including mechanical arm, crawl pile up manipulator, shaped steel plate bracket and
Electric-controlled parts；Mechanical arm is arranged near the feeding end of panel beating equipment 8, including at least X-coordinate driving mechanism or Y coordinate are driven
Motivation structure and Z coordinate driving mechanism；The minor details that manipulator is mounted on mechanical arm, including grasping mechanism and displacement sensing are piled up in crawl
Device；Shaped steel plate bracket is arranged near mechanical arm, makes the neatly packed setting of molding steel plate sequence by punching press size requirement
In shaped steel plate bracket；Electric-controlled parts include industrial control computer, crawl stacking circuit and counting circuit, Industry Control meter
The electric control gear that calculation machine piles up manipulator and panel beating equipment 8 with mechanical arm, crawl respectively is electrically connected；This Intelligent metal plate part is raw
When production system uses such embodiment, the central control computer of concentration electronic control unit 7 first, which issues instruction, keeps logistics automatic
31 support of guide transport lorry carries the fully loaded shaped steel plate bracket for making molding steel plate by punching press size requirement and is moved to setting position
It sets, then concentrating the central control computer of electronic control unit 7 to issue instruction makes panel beating equipment 8 start to work, panel beating
Circuit, the Industry Control of automatic feeding 11 are piled up in the crawl that automatic feeding 11 is opened in the electric control gear control of equipment 8
Computer according to preset sequence controlled machine arm and crawl pile up manipulator successively grab in shaped steel plate bracket by punching press
Size requires to make molding steel plate and piles up the stamping position in panel beating equipment 8, and counting circuit works at the same time, until complete
Portion's crawl finishes.
The mechanical arm that component II 221 is piled up in the crawl can be mechanical using multi-joint centralized control as shown in Figure 2
Arm can also control mechanical arm using frame-type fission, or use the mechanical arm of the other forms such as Delta mechanical arm, due to
The control of the Delta mechanical arm of the multi-joint mechanical arm and the third scheme of the first scheme is centralized control, is accurately sat
Mark control is more complex, need to largely calculate by industrial control computer, software control procedure complexity, and manufacturing cost is higher,
Computer control burden weight, easily breaks down；Second scheme is controlled respectively using seperated control, i.e., several coordinate systems, controls phase
To simple, direct, it is less prone to failure, therefore preferred second scheme, that is, as a preferred solution of the present invention, such as Fig. 3 institute
Show, it is gantry type mechanical arm that the mechanical arm of component II 221 is piled up in the crawl.
It is Digitizing And Control Unit that this, which has the Intelligent metal plate part production system of automatic spray unit, can be with the number of factory
The seamless connection of word bus, which is realized, concentrates digital management, is not limited to above-mentioned specific control mode.
This has the Intelligent metal plate part production system of automatic spray unit due to the crawl stacking portion using micro computer control
Part II 221 protrude into inside panel beating equipment 8 from discharge end crawl stamping forming sheet metal component and sequence code be placed on stacking support
It in the accommodation space 2221 of frame 222, is operated completely using computer auto-control, automatic operation can avoid blaming because of operator
Influence of the human factors such as Ren Xin, mood to manufacturing schedule, at the same can from the limitation of operator's operative skill qualification,
Completely avoid manual operation there are the drawbacks of；Due to being equipped with the online detection unit 4 of complete micro computer control, can protect
It demonstrate,proves the product quality of sheet metal component, prevent the abrasion because of stamping die from leading to sheet metal component dimension overproof；Due to being equipped with complete micro computer
The automatic spray unit 5 of control, therefore automatic spray treatment can be carried out to stamping forming sheet metal component；It is complete due to being equipped with
The automatic stickup sponge unit 6 of micro computer control, therefore automatic stickup sponge can be carried out to stamping forming sheet metal component, it is special
Not Shi Yongyu number bus factory industrial sheet metal component automated production.
Claims (7)
1. a kind of Intelligent metal plate part production system with automatic spray unit, which is characterized in that including material supply unit
(1), the automatic code fetch unit (2) of molding sheet metal component, Intelligent logistics support carry delivery unit (3), automatic spray unit (5) and concentrate electricity
It controls unit (7)；
The feeding end in panel beating equipment (8), including automatic feeding (11) is arranged in the material supply unit (1),
Automatic feeding (11) is electrically connected with the electric control gear of panel beating equipment (8)；
The automatic code fetch unit (2) of the molding sheet metal component includes counting to pile up device (22)；Count the number for piling up device (22)
Amount is more than one piece, is arranged near the discharge end of panel beating equipment (8), including component II (221), stacking pallet are piled up in crawl
(222) and electric-controlled parts；It includes that manipulator is piled up in mechanical arm and crawl that component II (221) are piled up in crawl, and mechanical arm includes at least X
The minor details that manipulator is mounted on mechanical arm are piled up in coordinate driving mechanism or Y coordinate driving mechanism and Z coordinate driving mechanism, crawl,
Including grasping mechanism, pattern-recognition sensor and displacement sensor；Component II is piled up in at least mating crawl of stacking pallet (222)
(221) quantity setting, be arranged crawl pile up component II (221) nearby, be open-top stratiform frame structure, including it is more
The accommodation space (2221) and electrical control mechanism uniformly arranged on a horizontal and vertical direction, the length of accommodation space (2221), width
Length, width and the height dimension clearance fit of degree and height dimension and punch forming sheet metal component, the bottom of accommodation space (2221)
Portion and surrounding are equipped with limit plate, unilateral on the length and width direction at the top of accommodation space (2221) to be equipped with limit plate, accommodate
The inside edges of boards of the limit plate of unilateral setting are to adjacent containing spaces on length and width direction at the top of space (2221)
(2221) length and width dimensions clearance fit of the distance between limit plate exterior panel and punch forming sheet metal component, automatically controlled machine
Structure includes battery case, wireless transmitter module, the position sensor being located on each accommodation space (2221) and is located at stacking pallet
(222) electronic identification chip on bottom or supporting leg, battery case and wireless transmitter module, position sensor and electronic mark core
Piece electrical connection；Electric-controlled parts include industrial control computer, pattern-recognition circuit, crawl stacking circuit and counting circuit, industry
It controls computer and piles up component II (221), pattern-recognition sensor, displacement sensor and stacking pallet (222) with crawl respectively
Electrical control mechanism electrical connection；
It includes logistics automated guided vehicle (31), logistics homing guidance transport that the Intelligent logistics support, which carries delivery unit (3),
Vehicle (31) includes car body, wheel, driving braking and steering gear assembly, lifts control device, body powered device and vehicle-mounted meter
Calculation machine control device；Car body exterior circumferential is respectively provided with range sensor, also sets up code reader on car body；Lift control device setting
Side on the car body；Driving braking and steering gear assembly, body powered device and car-mounted computer control device are arranged at vehicle
Internal portion, car-mounted computer control device include that industrial control computer, electric power loop, radio receiving transmitting module, wireless transmission connect
Withdraw road, position feedback and vehicle traction position loop, lifting control loop and automatic charging or oiling circuit, Industry Control meter
Calculation machine is electrically connected with body powered device, radio receiving transmitting module, range sensor, driving braking and steering gear assembly respectively；
The concentration electronic control unit (7) includes central control computer and logistics automated guided vehicle control loop, center
Each equipment and warehouse coordinate position program, central control computer are set with panel beating respectively inside control built-in computer plant area
The electric control gear of standby (8) counts the automatically controlled of the industrial control computer, stacking pallet (222) for piling up device (22) electric-controlled parts
Mechanism and Intelligent logistics support carry the car-mounted computer control device electrical connection of delivery unit (3)；
The automatic spray unit (5) includes suspension transfer unit (51), device II (52) are piled up in crawl, dust-free clean sprays
Room, automated cleaning component (53), automatic application element (54) and automatic baking dry part；Hanging transfer unit (51) includes automatically controlled drive
Dynamic device, support device and stretched wire, stretched wire are erected in support device and are at the uniform velocity moved by electric control driving device driving, hanged
There are multiple hanging members on chain uniformly at intervals, hanging member is equipped with position sensor；Dust-free clean spray painting room is one with more
Confined space, the stretched wire of a compartment pass through each compartment of dust-free clean spray painting room；Crawl piles up the quantity of device II (52) extremely
Less it is two sets, is separately positioned on arrival end and the outlet end of dust-free clean spray painting room, including component II (521) and electricity is piled up in crawl
Component is controlled, it includes that manipulator is piled up in mechanical arm and crawl that component II (521) are piled up in crawl, and mechanical arm drives including at least X-coordinate
The minor details that manipulator is mounted on mechanical arm, including crawl are piled up in mechanism or Y coordinate driving mechanism and Z coordinate driving mechanism, crawl
Mechanism, pattern-recognition sensor and hanging member location readers；Electric-controlled parts include industrial control computer, grab and pile up back
Road and counting circuit, industrial control computer pile up component II (521), pattern-recognition sensor and hanging member with crawl respectively
Location readers electrical connection；Automated cleaning component (53), which is arranged in dust-free clean spray painting room, is located at the first of stretched wire traffic direction
In a compartment, including mechanical arm, automatic cleaning apparatus (531), control valve group I (532), electric control gear I (533)；Mechanical arm is solid
Dingan County fills on the ground, is arranged near stretched wire, including at least one X-coordinate driving mechanism or Y coordinate driving mechanism or Z coordinate
Driving mechanism；Automatic cleaning apparatus (531) is connect with the minor details of mechanical arm, and automatic cleaning apparatus (531) is equipped with pattern-recognition
Sensor, position sensor and range sensor, automatic cleaning apparatus (531) is internal to be equipped with multiple internal channels, multiple internal channels
One end pass through control valve group I (532) respectively and connect with cleaning positive pressure gas source, cleaning agent feed mechanism and clean water pressure source,
The other end connects spray head；Electric control gear I (533) includes industrial control computer, electric power loop, washing and brushing device position control time
Road, pattern-recognition circuit, analysis planning cleaning parameter circuit, cleaning control loop, gas circuit control loop, cleaning water management are returned
Road, industrial control computer respectively with pattern-recognition sensor, the position sensor and apart from biography on automatic cleaning apparatus (531)
Sensor electrical connection, industrial control computer is electrically connected with control valve group I (532), industrial control computer respectively with the X of mechanical arm
Coordinate driving mechanism or the electrical connection of Y coordinate driving mechanism or Z coordinate driving mechanism；Automatic application element (54) setting is dustless clear
In clean spray painting room along the compartment in front of stretched wire traffic direction, automated cleaning component (53), including mechanical arm, automatic spray apparatus
(541), control valve group II (542), electric control gear II (543)；Mechanical arm is fixedly mounted on the ground, is arranged near stretched wire,
Including at least one X-coordinate driving mechanism or Y coordinate driving mechanism or Z coordinate driving mechanism；Automatic spray apparatus (541) and machine
The minor details of tool arm connect, and automatic spray apparatus (541) is equipped with pattern-recognition sensor, position sensor and range sensor,
It is equipped with multiple internal channels inside automatic spray apparatus (541), is equipped with and internal channel quantity phase outside automatic spray apparatus (541)
The outer tunnel of connection same and corresponding with internal channel, internal channel one end is connect by control valve group II (542) with positive pressure gas source, interior
The channel other end connects spray head, and outer tunnel is connect by control valve group II (542) with coating feed mechanism；Electric control gear II
It (543) include industrial control computer, electric power loop, nozzle position control loop, pattern-recognition circuit, analysis planning spraying ginseng
Number circuits, spray painting control circuit, gas circuit control loop, industrial control computer respectively with the mould on automatic spray apparatus (541)
Formula identification sensor, position sensor and range sensor electrical connection, industrial control computer are electrically connected with control valve group II (542)
It connects, industrial control computer is electric with the X-coordinate driving mechanism of mechanical arm or Y coordinate driving mechanism or Z coordinate driving mechanism respectively
Connection；Automatic baking dry part is arranged in dust-free clean spray painting room in front of stretched wire traffic direction, automatic application element (54)
In compartment, including drying spray head and control valve group, drying spray head are connect by control valve group with drying pressure gas source；The collection
Middle electronic control unit (7) further includes automatic spray circuit, the central control computer automatically controlled drive with suspension transfer unit (51) respectively
Dynamic device, crawl pile up the electric-controlled parts of device II (52), the electric control gear I (533) of automated cleaning component (53), automatic spraying
The control valve group electrical connection of the electric control gear II (543) and automatic baking dry part of component (54)；
The automatic feeding (11) includes mechanical arm, crawl stacking manipulator, shaped steel plate bracket and electric-controlled parts；Machine
Tool arm is arranged near the feeding end of panel beating equipment (8), including at least X-coordinate driving mechanism or Y coordinate driving mechanism and Z
Coordinate driving mechanism；The minor details that manipulator is mounted on mechanical arm, including grasping mechanism and displacement sensor are piled up in crawl；At fashioned iron
Board bracket is arranged near mechanical arm；Electric-controlled parts include industrial control computer, crawl stacking circuit and counting circuit, industry
The electric control gear that control computer piles up manipulator and panel beating equipment (8) with mechanical arm, crawl respectively is electrically connected.
2. the Intelligent metal plate part production system according to claim 1 with automatic spray unit, which is characterized in that described
The automatic code fetch unit (2) of molding sheet metal component further include crawl pile up device I (21), crawl pile up device I (21) be arranged in metal plate
Near the discharge end of metalworking equipment (8), including crawl piles up component I (211), piles up rig bracket (212) and electric-controlled parts；
It includes that manipulator is piled up in mechanical arm and crawl that component I (211) are piled up in crawl, and mechanical arm includes at least X-coordinate driving mechanism or Y is sat
Driving mechanism and Z coordinate driving mechanism are marked, the minor details that manipulator is mounted on mechanical arm, including grasping mechanism and displacement are piled up in crawl
Sensor；Rig bracket (212) setting is piled up to pile up near component I (211) in crawl；Electric-controlled parts include that Industry Control calculates
Machine, crawl pile up circuit, and industrial control computer piles up component I (211) with crawl respectively and displacement sensor is electrically connected；It is described
Counting pile up device (22) setting pile up rig bracket (212) near；The center control of the concentration electronic control unit (7)
Computer is electrically connected with the industrial control computer that device I (21) electric-controlled parts are piled up in crawl.
3. the Intelligent metal plate part production system according to claim 2 with automatic spray unit, which is characterized in that have
The Intelligent metal plate part production system of automatic spray unit further includes online detection unit (4), and online detection unit (4) is arranged in code
It puts near rig bracket (212), including component I (211), detection platform, detection device (41) and information processing electricity are piled up in crawl
It controls device (42), detection device (41) includes coordinate control mechanism and detector, and detector is equipped with pattern-recognition sensor, position
Set sensor, range sensor, detection medium emission device and detection medium feed back receiver；Information processing electric control gear (42) packet
Include industrial control computer, electric power loop, detection device position control loop, pattern-recognition circuit, analysis planning detection parameters
Circuit, detection control loop, Data Analysis Services circuit, printout circuit, industrial control computer is respectively and on detector
Pattern-recognition sensor, position sensor, range sensor, detection medium emission device and detection medium feed back receiver be electrically connected
It connects；The concentration electronic control unit (7) further includes on-line checking circuit, central control computer and online detection unit (4)
Industrial control computer electrical connection.
4. the Intelligent metal plate part production system according to claim 1 or 2 or 3 with automatic spray unit, feature exist
In the Intelligent metal plate part production system with automatic spray unit further includes automatic stickup sponge unit (6)；It is automatic to paste sponge
Unit (6) includes sheet metal component grabbing device (61), sponge member bracket (62), sponge member grabbing device (63), positions and take off film
Device (64) and electric-controlled parts；
Sheet metal component grabbing device (61) includes mechanical arm and manipulator is piled up in crawl, and mechanical arm includes the driving of at least one X-coordinate
Mechanism or Y coordinate driving mechanism and Z coordinate driving mechanism, it is slab construction, the end for being mounted on mechanical arm that manipulator is piled up in crawl
Section, including grasping mechanism and pattern-recognition sensor；
Sponge member grabbing device (63) includes mechanical arm and manipulator is piled up in crawl, and mechanical arm includes that at least one X-coordinate is driven
Motivation structure or Y coordinate driving mechanism and Z coordinate driving mechanism, manipulator is piled up in crawl to be slab construction, is mounted on mechanical arm
Minor details, including grasping mechanism, pattern-recognition sensor and range sensor；
Sponge member bracket (62) is arranged near sheet metal component grabbing device (61)；
It positions membrane uncovering device (64) positioning to be arranged between sheet metal component grabbing device (61) and sponge member grabbing device (63), packet
It includes support frame and takes off film gripping manipulator, take off film gripping manipulator and be fixedly mounted on top of support frame, take off on film gripping manipulator
Equipped with range sensor；
Electric-controlled parts include industrial control computer, sheet metal component crawl control loop, sponge member crawl control loop, paste control
Circuit and counting circuit, industrial control computer respectively with sheet metal component grabbing device (61) and sponge member grabbing device (63)
Mechanical arm, crawl pile up manipulator, grasping mechanism and the electrical connection of pattern-recognition sensor, industrial control computer and positioning and take off film
Device (64) takes off the electrical connection of film gripping manipulator；
The concentration electronic control unit (7) further includes automatic stickup sponge circuit, central control computer and automatic stickup sponge
The industrial control computer of unit (6) electric-controlled parts is electrically connected.
5. the Intelligent metal plate part production system according to claim 4 with automatic spray unit, which is characterized in that described
The crawl of sponge member grabbing device (63) to pile up manipulator be slab construction, slab construction is equipped with multiple adsorption orifices, inhales
Attached mouth is connected to by pipeline with negative pressure source.
6. the Intelligent metal plate part production system according to claim 4 with automatic spray unit, which is characterized in that described
The crawl of sponge member grabbing device (63) pile up mechanical be equipped on hand along the pressure roller for taking off film direction and rolling setting.
7. the Intelligent metal plate part production system according to claim 1 or 2 or 3 with automatic spray unit, feature exist
In the mechanical arm that component II (221) are piled up in the crawl is gantry type mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810564188.0A CN108855732B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system with automatic spraying unit |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810564188.0A CN108855732B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system with automatic spraying unit |
| CN201511029976.2A CN105642781B (en) | 2015-12-31 | 2015-12-31 | A kind of artificial intelligence sheet metal component production system |
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| CN201511029976.2A Division CN105642781B (en) | 2015-12-31 | 2015-12-31 | A kind of artificial intelligence sheet metal component production system |
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| CN201810564206.5A Active CN109013949B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system capable of automatically pasting sponge |
| CN201810564188.0A Active CN108855732B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system with automatic spraying unit |
| CN201810564836.2A Active CN108995226B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system capable of automatically pasting sponge |
| CN201810563570.XA Active CN108907022B (en) | 2015-12-31 | 2015-12-31 | intelligent sheet metal part production system with automatic sponge sticking unit |
| CN201810563576.7A Active CN109047539B (en) | 2015-12-31 | 2015-12-31 | Artificial intelligence production system for sheet metal parts |
| CN201810564839.6A Active CN108790193B (en) | 2015-12-31 | 2015-12-31 | Sheet metal part intelligent production system capable of automatically pasting sponge |
| CN201511029976.2A Active CN105642781B (en) | 2015-12-31 | 2015-12-31 | A kind of artificial intelligence sheet metal component production system |
| CN201810564840.9A Active CN108819269B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system capable of automatically spraying |
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| CN201810564836.2A Active CN108995226B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system capable of automatically pasting sponge |
| CN201810563570.XA Active CN108907022B (en) | 2015-12-31 | 2015-12-31 | intelligent sheet metal part production system with automatic sponge sticking unit |
| CN201810563576.7A Active CN109047539B (en) | 2015-12-31 | 2015-12-31 | Artificial intelligence production system for sheet metal parts |
| CN201810564839.6A Active CN108790193B (en) | 2015-12-31 | 2015-12-31 | Sheet metal part intelligent production system capable of automatically pasting sponge |
| CN201511029976.2A Active CN105642781B (en) | 2015-12-31 | 2015-12-31 | A kind of artificial intelligence sheet metal component production system |
| CN201810564840.9A Active CN108819269B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system capable of automatically spraying |
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| CN109759884A (en) * | 2019-02-22 | 2019-05-17 | 杭州天盈金属制品有限公司 | A kind of intermetallic composite coating assembly line feeding robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108907022B (en) | 2019-12-10 |
| CN109047539A (en) | 2018-12-21 |
| CN108907022A (en) | 2018-11-30 |
| CN108790193A (en) | 2018-11-13 |
| CN109013949B (en) | 2019-12-10 |
| CN108819269B (en) | 2020-07-17 |
| CN108790193B (en) | 2020-04-28 |
| CN108995226B (en) | 2020-08-25 |
| CN109013949A (en) | 2018-12-18 |
| CN108855732B (en) | 2020-08-25 |
| CN105642781B (en) | 2018-07-13 |
| CN108995226A (en) | 2018-12-14 |
| CN109047539B (en) | 2020-03-13 |
| CN108819269A (en) | 2018-11-16 |
| CN105642781A (en) | 2016-06-08 |
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