CN109013949A - A kind of Intelligent metal plate part production system that can paste sponge automatically - Google Patents
A kind of Intelligent metal plate part production system that can paste sponge automatically Download PDFInfo
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- CN109013949A CN109013949A CN201810564206.5A CN201810564206A CN109013949A CN 109013949 A CN109013949 A CN 109013949A CN 201810564206 A CN201810564206 A CN 201810564206A CN 109013949 A CN109013949 A CN 109013949A
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- 239000012141 concentrate Substances 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 69
- 238000003909 pattern recognition Methods 0.000 claims description 55
- 239000007921 spray Substances 0.000 claims description 50
- 238000004140 cleaning Methods 0.000 claims description 38
- 238000007592 spray painting technique Methods 0.000 claims description 38
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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
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the Intelligent metal plate part production systems that one kind can paste sponge automatically, including material supply unit, the automatic code fetch unit of molding sheet metal component, Intelligent logistics support to carry delivery unit, automatic stickup sponge 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.Originally the Intelligent metal plate part production system that sponge can be pasted automatically is piled up component II using the crawl of micro computer control and is protruded into inside panel beating equipment from the discharge end crawl accommodation space that stamping forming sheet metal component and sequence code have been placed on stacking pallet, it is Digitizing And Control Unit, can be seamlessly connected with the number bus of factory and realize concentration digital management.
Description
Technical field
The present invention relates to a kind of sheet metal component production system, specifically a kind of can paste automatically suitable for number bus factory
The Intelligent metal plate part production system of sponge, 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 deficiencies:
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
The Intelligent metal plate part that sponge can be pasted automatically in view of the above existing problems in the prior art, the present invention provides one kind is raw
Production system, the degree of automation is higher, can be realized intelligent operation, avoids manually-operated safety hidden while improving production efficiency
Suffer from, is suitable for number bus factory sheet metal component manufacturing procedure.
To achieve the goals above, can paste automatically sponge Intelligent metal plate part production system include material supply unit,
Form the automatic code fetch unit of sheet metal component, Intelligent logistics support carries delivery unit, paste sponge unit automatically and concentrates 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
The mechanical arm for piling up component II is gantry type mechanical arm, and it includes that manipulator, machine are piled up in mechanical arm and crawl that component II is piled up in crawl
Tool arm includes at least X-coordinate driving mechanism or Y coordinate driving mechanism and Z coordinate driving mechanism, and crawl is piled up manipulator and is mounted on
The minor details of mechanical arm, including grasping mechanism, pattern-recognition sensor and displacement sensor；At least mating crawl of stacking pallet is piled up
The stratiform frame structure for grabbing and piling up that component II is neighbouring, is open-top, including multiple water is arranged in the quantity setting of component II
The accommodation space and electrical control mechanism, length, width and the height dimension of accommodation space and punching uniformly arranged on flat and vertical direction
Length, width and the height dimension clearance fit of molded sheet metal component, the bottom of accommodation space and surrounding are equipped with limit plate, hold
Receive it is unilateral on the length and width direction of top of space be equipped with limit plate, it is unilateral on the length and width direction at the top of accommodation space
The inside edges of boards of the limit plate of setting are to the distance between the limit plate exterior panel of adjacent containing spaces and punch forming sheet metal component
Length and width dimensions clearance fit, electrical control mechanism includes battery case, wireless transmitter module, in each accommodation space
Position sensor and the electronic identification chip on stacking pallet bottom or supporting leg, battery case and wireless transmitter module, position
Set sensor and electronic identification chip electrical connection；Electric-controlled parts include industrial control computer, pattern-recognition circuit, crawl stacking
Circuit and counting circuit, industrial control computer respectively with crawl pile up component II, pattern-recognition sensor, displacement sensor and
The electrical control mechanism of stacking pallet is electrically connected；
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 stickup sponge unit includes sheet metal component grabbing device, sponge member bracket, sponge member crawl dress
It sets, position membrane uncovering device and electric-controlled parts；Sheet metal component grabbing device 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, crawl pile up manipulator be slab construction,
It is mounted on the minor details of mechanical arm, including grasping mechanism and pattern-recognition sensor；Sponge member grabbing device include mechanical arm and
Manipulator is piled up in crawl, and mechanical arm includes at least one X-coordinate driving mechanism or Y coordinate driving mechanism and Z coordinate driving mechanism,
It is slab construction, the minor details for being mounted on mechanical arm, including grasping mechanism, pattern-recognition sensor and distance that manipulator is piled up in crawl
Sensor；Sponge member bracket is arranged near sheet metal component grabbing device；Membrane uncovering device positioning setting is positioned to grab in sheet metal component
Between device and sponge member grabbing device, including support frame and film gripping manipulator is taken off, takes off the fixed installation of film gripping manipulator
In top of support frame, film gripping manipulator is taken off equipped with range sensor；Electric-controlled parts include industrial control computer, sheet metal component
Grab control loop, sponge member crawl control loop, paste control loop and counting circuit, industrial control computer respectively with metal plate
The mechanical arm of golden part grabbing device and sponge member grabbing device, crawl pile up manipulator, grasping mechanism and pattern-recognition sensing
Device electrical connection, industrial control computer are electrically connected with the film gripping manipulator of taking off of positioning membrane uncovering device；The automatically controlled list of the concentration
Member further includes automatic stickup sponge circuit, central control computer and the automatic Industry Control meter for pasting sponge unit electric-controlled parts
Calculate mechatronics.
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, can paste automatically sponge Intelligent metal plate part production system further include
Line detection unit, online detection unit setting are being piled up near rig bracket, including component I, detection platform, detection are piled up in crawl
Device and information processing electric control gear, detection device 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；Information processing is automatically controlled
Device includes industrial control computer, electric power loop, detection device position control loop, pattern-recognition circuit, analysis planning inspection
Survey parameter circuit, detection control loop, Data Analysis Services circuit, printout circuit etc., industrial control computer respectively with
Pattern-recognition sensor, position sensor, range sensor, detection medium emission device and detection medium feedback on detector connect
Receive device electrical connection；The concentration electronic control unit further includes on-line checking circuit, central control computer and online detection unit
Industrial control computer electrical connection.
As a further improvement of the present invention, the Intelligent metal plate part production system that can paste sponge automatically further includes certainly
Dynamic spray unit；Automatic spray unit includes that device II, dust-free clean spray painting room, automatic clear is piled up in suspension transfer unit, crawl
Clean component, automatic application element and automatic baking dry part；
Hanging transfer unit includes electric control driving device, support device and stretched wire, and stretched wire is erected in support device and leads to
It crosses electric control driving device driving at the uniform velocity to move, there is multiple hanging members on stretched wire uniformly at intervals, hanging member is passed 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 is piled up in crawl is at least two sets, is separately positioned on arrival end and the outlet of dust-free clean spray painting room
Component II and electric-controlled parts are piled up in end, including crawl, and it includes that manipulator is piled up in mechanical arm and crawl that component II is piled up in crawl, mechanical
Arm includes at least X-coordinate driving mechanism or Y coordinate driving mechanism and Z coordinate driving mechanism, and crawl piles up manipulator and is mounted on machine
The minor details of tool arm, including grasping mechanism, pattern-recognition sensor and hanging member location readers；Electric-controlled parts include industry control
Computer, crawl stacking circuit and counting circuit processed, industrial control computer piles up component II with crawl respectively, pattern-recognition passes
Sensor and the electrical connection of hanging member location readers；
Automated cleaning component is arranged in dust-free clean spray painting room in first compartment of stretched wire traffic direction, including
Mechanical arm, automatic cleaning apparatus, control valve group I, electric control gear I；Mechanical arm is fixedly mounted on the ground, is arranged attached in stretched wire
Closely, including at least one X-coordinate driving mechanism or Y coordinate driving mechanism or Z coordinate driving mechanism；Automatic cleaning apparatus and machinery
The minor details of arm connect, and automatic cleaning apparatus is equipped with pattern-recognition sensor, position sensor and range sensor, automated cleaning
Multiple internal channels are equipped with inside device, one end of multiple internal channels passes through control valve group I and cleaning positive pressure gas source, cleaning agent respectively
Feed mechanism is connected with clean water pressure source, and the other end connects spray head；Electric control gear I includes industrial control computer, power supply time
Road, washing and brushing device position control loop, pattern-recognition circuit, analysis planning cleaning parameter circuit, cleaning control loop, gas circuit control
Circuit processed, clean water control loop, industrial control computer respectively with the pattern-recognition sensor on automatic cleaning apparatus, position
Sensor and range sensor electrical connection, industrial control computer is electrically connected with control valve group I, industrial control computer respectively with
The X-coordinate driving mechanism or Y coordinate driving mechanism or Z coordinate driving mechanism of mechanical arm are electrically connected；
Automatic application element be arranged in dust-free clean spray painting room in front of stretched wire traffic direction, automated cleaning component every
In section, including mechanical arm, automatic spray apparatus, control valve group II, electric control gear II；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；Automatic spraying
The connection of the minor details of device and mechanical arm, automatic spray apparatus are equipped with pattern-recognition sensor, position sensor and Distance-sensing
Device is equipped with multiple internal channels inside automatic spray apparatus, be equipped with outside automatic spray apparatus it is identical as internal channel quantity and with it is interior
The outer tunnel of the corresponding connection in channel, internal channel one end are connect by control valve group II with positive pressure gas source, the connection of the internal channel other end
Spray head, outer tunnel are connect by control valve group II with coating feed mechanism；Electric control gear II includes industrial control computer, power supply
Circuit, nozzle position control loop, pattern-recognition circuit, analysis planning spray parameters circuit, spray painting control circuit, gas circuit control
Circuit, industrial control computer respectively with pattern-recognition sensor, position sensor and the Distance-sensing on automatic spray apparatus
Device electrical connection, industrial control computer are electrically connected with control valve group II, and industrial control computer drives with the X-coordinate of mechanical arm respectively
Motivation structure or the electrical connection of Y coordinate driving mechanism or Z coordinate driving mechanism；
Automatic baking dry part be arranged in dust-free clean spray painting room in front of stretched wire traffic direction, automatic application element every
In section, 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 further includes automatic spray circuit, central control computer respectively with suspension transfer unit
Electric control driving device, crawl pile up the electric-controlled parts of device II, the electric control gear I of automated cleaning component, automatic application element
Electric control gear II and automatic baking dry part control valve group electrical connection.
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 one embodiment of the present invention, the automatic feeding include 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, including at least X-coordinate drives
Mechanism or Y coordinate driving mechanism and Z coordinate driving mechanism；The minor details that manipulator is mounted on mechanical arm, including crawl are piled up in crawl
Mechanism and displacement sensor；Shaped steel plate bracket is arranged near mechanical arm；Electric-controlled parts include industrial control computer, crawl
Pile up circuit and counting circuit, industrial control computer piles up manipulator and panel beating equipment with mechanical arm, crawl respectively
Electric control gear electrical connection.
Compared with prior art, the Intelligent metal plate part production system of sponge originally can be pasted automatically due to using micro computer control
Crawl pile up component II protrude into inside panel beating equipment from discharge end crawl stamping forming sheet metal component and sequence pile up
It in the accommodation space of stacking pallet, is operated completely using computer auto-control, automatic operation can avoid because of operator
Influence of the human factors such as sense of responsibility, mood to manufacturing schedule, while can be from the limit of operator's operative skill qualification
System, it is entirely avoided manual operation there are the drawbacks of；It, can be with due to being equipped with the online detection unit of complete micro computer control
Guarantee 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- electricity
The automatic spray unit of brain control, 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 full micro computer control, therefore automatic stickup sponge can be carried out to stamping forming sheet metal component,
The automated production of 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, Intelligent metal plate part production system further include online detection unit 4, and online detection unit 4 is set
It sets and is piling up near rig bracket 212, including component I 211, detection platform, detection device 41 and information processing electricity are piled up in crawl
Device 42 is controlled, detection device 41 includes coordinate control mechanism and detector, and detector is equipped with pattern-recognition sensor, position passes
Sensor, range sensor, detection medium emission device and detection medium feed back receiver, pattern-recognition sensor can be optical picture
As sensor, ultrasonic sensor, X ray sensor etc., detection medium can be ultrasonic wave either light source, infrared ray etc. and be situated between
Matter；Information processing electric control gear 42 includes industrial control computer, electric power loop, detection device position control loop, mode knowledge
Other circuit, analysis planning detection parameters circuit, detection control loop, Data Analysis Services circuit, printout circuit etc., industry
Control computer respectively on detector pattern-recognition sensor, position sensor, range sensor, detection medium emission device
With detection medium feed back receiver electrical connection；The concentration electronic control unit 7 further includes on-line checking circuit, and center control calculates
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, that is, arrive
When up to the quality controllable minimum period, concentrating the central control computer of electronic control unit 7 to issue instruction opens online detection unit 4
Beginning work, information processing electric control gear 42 control crawl according to setting program and pile up component I 211 from stacking rig bracket 212
Crawl one stamping forming sheet metal component and pile up in detection platform, then information processing electric control gear 42 according to setting journey
Sequence controls the pattern-recognition sensor that 41 coordinate of detection device is mobile, in detection device 41 by detection device position control loop
The information such as the shape, size of stamping forming sheet metal component, position are fed back to join to industrial control computer, analysis planning detection
Number loop works, the information that industrial control computer passes through pattern-recognition sensor feedback first carries out d solid modeling, raw
It at batten entity function and stores, and is compared with the data information of database Plays sheet metal component, according to standard sheet metal component
Data information selected reference face or datum mark, coordinate system is then re-established with maximum according to selected datum level or datum mark
Limit reducing mechanism accumulated error calls the detection starting point in path, end point location information and to calculate the starting point, final position opposite
In the relative coordinate values of selected datum level or datum mark in the coordinate system re-established, call detector to punch forming
Sheet metal component measured surface or hole approach distance and approach the informations parameter such as number；Then industrial control computer is according to again
The coordinate system of foundation controls the datum level that 41 coordinate of detection device is moved to program selecting by detection device position control loop
Or datum mark coordinate position, detection control loop are started to work, detection medium emission device and detection medium feedback on detector
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 to examine
Gauge head is moved to face the first measured surface of stamping forming sheet metal component or the setting position in hole, detection medium emission device hair
The detection medium orientation penetrated is beaten returns in the first measured surface of tested stamping forming sheet metal component or the detection faces back reflection in hole
It is detected medium feed back receiver to receive, industrial control computer is raw according to the information that detection medium feed back receiver is fed back is received
It at the first layer data and stores, then the movement of industrial control computer control coordinate control detection device 41 makes detector to tested
The first measured surface of stamping forming sheet metal component or hole are approached to set distance, and industrial control computer receives detection again
The information of detection medium feed back receiver feedback on head generates the second layer data and stores, and so on, until completing to approach
Number, detector retract to setting position；Meanwhile Data Analysis Services loop works, industrial control computer is by all numbers of plies
According to generating batten data by data continuity analysis, specificity analysis and numerical radius and store, and it is fitted according to batten data
At spline approxmation function, final detection data is then calculated according to spline approxmation function and is stored, completes tested punch forming
Sheet metal component the first measured surface or hole detection；Then industrial control computer control detection device 41 movement makes detector
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, Intelligent metal plate part production system further includes automatic spray unit 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；
Automatic spray unit 5 when in use, as shown in Figure 5, Figure 6, the car-mounted computer of logistics automated guided vehicle 31
The coordinate position control logistics automated guided vehicle 31 that control device is issued according to central control computer is held in the palm respectively to be carried completely
It carries the stacking pallet 222 of punch forming sheet metal component and unloaded stacking pallet 222 is moved to enter positioned at dust-free clean spray painting room
Device II 52 is piled up in the crawl at mouth end and setting near device II 52 is piled up in the crawl positioned at the outlet end of dust-free clean spray painting room
Positioning is set, and automatic spray circuit is started to work, and to be at the uniform velocity advanced through dust-free clean spray painting room, Industry Control calculates stretched wire
Machine by the feedback control of pattern-recognition sensor be located at dust-free clean spray painting room arrival end crawl stacking device II 52 according to
It is secondary sequentially to grab stamping forming sheet metal component from stacking pallet 222 and be articulated on the hanging member of stretched wire, it has rushed
Molded sheet metal component follows stretched wire to enter dust-free clean spray painting room, and it is laggard to carry out surface cleaning processing through automated cleaning component 53
The working range for entering automatic application element 54 enters the working space of automatic baking dry part after spraying automatically, last after drying
It follows stretched wire to leave dust-free clean spray painting room from the outlet end of dust-free clean spray painting room to complete automatic spraying, be then within dustless clear
The crawl stacking device II 52 of the outlet end of clean spray painting room, which successively grabs, to be completed the sheet metal component of spraying and is piled up on stretched wire
On unloaded stacking pallet 222, automatic operation is realized.
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；
It is automatic paste sponge unit 6 in use, logistics automated guided vehicle 31 car-mounted computer control device according to
Coordinate position control 31 support of logistics automated guided vehicle that central control computer issues carries fully loaded by stickup size requirement
The sponge member bracket 62 for making molding sponge strip is moved to the setting position near sponge member grabbing device 63, logistics certainly
Dynamic 31 support of guide transport lorry carries the fully loaded stacking pallet 222 of punch forming sheet metal component and unloaded stacking pallet 222 is distinguished
It is moved to the setting position near sheet metal component grabbing device 61, automatic to paste sponge loop starts, electric-controlled parts pass through metal plate
The crawl of the feedback control sheet metal component grabbing device 61 of pattern-recognition sensor on golden part grabbing device 61 piles up manipulator certainly
Stamping forming sheet metal component and grab is located in that position membrane uncovering device 64 attached for sequence crawl in fully loaded stacking pallet 222
Close setting position；Then the feedback control sea that electric-controlled parts pass through the pattern-recognition sensor on sponge member grabbing device 63
Manipulator is piled up in the crawl of continuous component grabbing device 63, and sequentially crawl makes by size requirement is pasted from sponge member bracket 62
Molding sponge strip is simultaneously grabbed the one end for being located in sponge strip adhesive surface close to the setting position of positioning membrane uncovering device 64；So
Electric-controlled parts grab the sponge portion of sponge strip by the feedback control of the range sensor on sponge member grabbing device 63 afterwards
63 fine motion of part grabbing device makees that one end of sponge strip adhesive surface is made to take off film gripping manipulator close to extremely to positioning membrane uncovering device 64
Set distance, then electric-controlled parts take off film gripping manipulator by taking off the feedback control of the range sensor on film gripping manipulator
Between the glue surface and protective film for stretching out and being inserted into sponge strip adhesive surface, then electric-controlled parts control is taken off film gripping manipulator and is closed and finishes
The protective film of sponge strip adhesive surface is clamped into completion and takes off film positioning；Then electric-controlled parts control grabs the sponge portion of sponge strip
It moves, that is, does opposite relative to positioning membrane uncovering device 64 along sponge strip in-plane after the recession to set distance of part grabbing device 63
It moves, the protective film of sponge strip adhesive surface is pasted under the chucking power effect for taking off film gripping manipulator from sponge strip in moving process
It is peeled off in the glue surface in face, completes electric-controlled parts after taking off film and control the return of the sponge member grabbing device 63 extremely shifting for grabbing sponge strip
Position before dynamic；Then the feedback control sponge that electric-controlled parts pass through the pattern-recognition sensor on sponge member grabbing device 63
The position that component grabbing device 63 is moved to corresponding sheet metal component grabbing device 61 makes the sponge face sheet metal component for completing to take off film crawl
Stamping forming sheet metal component on device 61, then electric-controlled parts pass through the range sensor on sponge member grabbing device 63
Feedback control grab and complete to take off the sponge member grabbing device 63 of the sponge strip of film and pasted to sheet metal component grabbing device 61 is mobile
Closely to set distance, complete to take off at this time the adhesive surface of the sponge strip of film i.e. with it is stamping forming on sheet metal component grabbing device 61
Sheet metal component fitting, the crawl of electric-controlled parts control sponge member grabbing device 63 are piled up after manipulator unclamps sponge strip and are returned to initially
It awaits orders position；Then electric-controlled parts control sheet metal component grabbing device 61 grab be completed paste sponge sheet metal component be moved to sky
Its sequence code is simultaneously placed in the accommodation space 2221 of unloaded stacking pallet 222 and counts by 222 top of stacking pallet of load, complete
At a workflow, 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.
Intelligent metal plate part production system is Digitizing And Control Unit, can be seamlessly connected with the number bus of factory and realize collection
Middle digital management is not limited to above-mentioned specific control mode.
Originally the Intelligent metal plate part production system of sponge can be pasted automatically due to piling up component using the crawl of micro computer control
II 221 protrude into inside panel beating equipment 8 from discharge end crawl stamping forming sheet metal component and sequence code is placed on stacking pallet
It in 222 accommodation space 2221, is operated completely using computer auto-control, automatic operation can avoid because of operator's responsibility
Influence of the human factors such as the heart, mood to manufacturing schedule, while can be complete from the limitation of operator's operative skill qualification
Entirely avoid manual operation there are the drawbacks of；Due to being equipped with the online detection unit 4 of complete micro computer control, can guarantee
The product quality of sheet metal component prevents the abrasion because of stamping die from leading to sheet metal component dimension overproof；It is completely micro computer controlled due to being equipped with
The automatic spray unit 5 of system, therefore automatic spray treatment can be carried out to stamping forming sheet metal component；It is completely micro- due to being equipped with
Computer-controlled automatic stickup sponge unit 6, therefore automatic stickup sponge can be carried out to stamping forming sheet metal component, especially
The automated production of industrial sheet metal component suitable for number bus factory.
Claims (7)
1. the Intelligent metal plate part production system that one kind can paste sponge automatically, which is characterized in that including material supply unit (1),
Form the automatic code fetch unit (2) of sheet metal component, Intelligent logistics support carries delivery unit (3), automatic stickup sponge unit (6) and concentrates 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；The mechanical arm that component II (221) are piled up in crawl is gantry type mechanical arm, and component II (221) are piled up in crawl
Manipulator is piled up including mechanical arm and crawl, mechanical arm includes at least X-coordinate driving mechanism or Y coordinate driving mechanism and Z coordinate
The minor details that manipulator is mounted on mechanical arm are piled up in driving mechanism, crawl, including grasping mechanism, pattern-recognition sensor and displacement pass
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
(221) nearby, be open-top stratiform frame structure, including the accommodation space uniformly arranged on multiple horizontal and vertical directions
(2221) and electrical control mechanism, the length of length, width and the height dimension and punch forming sheet metal component of accommodation space (2221), width
Degree and height dimension clearance fit, the bottom of accommodation space (2221) and surrounding are equipped with limit plate, accommodation space (2221) top
It is unilateral on the length and width direction in portion to be equipped with limit plate, it is unilateral on the length and width direction at the top of accommodation space (2221) to set
The inside edges of boards for the limit plate set are to the distance between the limit plate exterior panel of adjacent containing spaces (2221) and punch forming metal plate
The length and width dimensions clearance fit of golden part, electrical control mechanism include battery case, wireless transmitter module, are located at each accommodation space
(2221) position sensor on and the electronic identification chip being located on stacking pallet (222) bottom or supporting leg, battery case with
Wireless transmitter module, position sensor and electronic identification chip electrical connection；Electric-controlled parts include industrial control computer, mode knowledge
Circuit and counting circuit are piled up in other circuit, crawl, and industrial control computer piles up component II (221) with crawl respectively, mode is known
The electrical control mechanism of individual sensor, displacement sensor and stacking pallet (222) is electrically connected；
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 stickup sponge unit (6) includes sheet metal component grabbing device (61), sponge member bracket (62), sponge member
Grabbing device (63), positioning membrane uncovering device (64) and electric-controlled parts；Sheet metal component grabbing device (61) includes mechanical arm and crawl code
Manipulator is put, mechanical arm includes at least one X-coordinate driving mechanism or Y coordinate driving mechanism and Z coordinate driving mechanism, grabs code
Putting manipulator is slab construction, the minor details for being mounted on mechanical arm, including grasping mechanism and pattern-recognition sensor；Sponge member is grabbed
Taking device (63) includes that manipulator is piled up in mechanical arm and crawl, and mechanical arm includes that at least one X-coordinate driving mechanism or Y coordinate drive
Motivation structure and Z coordinate driving mechanism, it is slab construction, the minor details for being mounted on mechanical arm, including gripper that manipulator is piled up in crawl
Structure, pattern-recognition sensor and range sensor；Sponge member bracket (62) is arranged near sheet metal component grabbing device (61)；It is fixed
Position membrane uncovering device (64), which positions, to be arranged between sheet metal component grabbing device (61) and sponge member grabbing device (63), including support
Frame and take off film gripping manipulator, take off film gripping manipulator and be fixedly mounted on top of support frame, take off film gripping manipulator be equipped with away from
From sensor；Electric-controlled parts include industrial control computer, sheet metal component crawl control loop, sponge member crawl control loop, glue
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 fixed
Position membrane uncovering 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 are electrically connected with the automatic industrial control computer for pasting sponge unit (6) electric-controlled parts.
2. the Intelligent metal plate part production system according to claim 1 that sponge can be pasted automatically, which is characterized in that described
The molding automatic code fetch unit (2) of sheet metal component further includes that device I (21) are piled up in crawl, and crawl is piled up device I (21) and is arranged in metal plate
Near the discharge end of process equipment (8), including crawl piles up component I (211), piles up rig bracket (212) and electric-controlled parts；It grabs
It includes that manipulator is piled up in mechanical arm and crawl that code fetch, which puts component I (211), and mechanical arm includes at least X-coordinate driving mechanism or Y coordinate
The minor details that manipulator is mounted on mechanical arm are piled up in driving mechanism and Z coordinate driving mechanism, crawl, including grasping mechanism and displacement pass
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 that sponge can be pasted automatically, which is characterized in that can be automatic
The Intelligent metal plate part production system for pasting sponge further includes online detection unit (4), and online detection unit (4) setting is flat in stacking
Near platform bracket (212), including component I (211), detection platform, detection device (41) and the automatically controlled dress of information processing are piled up in crawl
It sets (42), detection device (41) includes coordinate control mechanism and detector, and detector is equipped with pattern-recognition sensor, position passes
Sensor, range sensor, detection medium emission device and detection medium feed back receiver；Information processing electric control gear (42) includes work
Industry control computer, electric power loop, detection device position control loop, pattern-recognition circuit, analysis planning detection parameters circuit,
Detect control loop, Data Analysis Services circuit, printout circuit, industrial control computer respectively with the mode on detector
Identification sensor, position sensor, range sensor, detection medium emission device and detection medium feed back receiver electrical connection；Institute
The concentration electronic control unit (7) stated further includes on-line checking circuit, and the industry of central control computer and online detection unit (4) is controlled
System calculates mechatronics.
4. the Intelligent metal plate part production system according to claim 1 or 2 or 3 that sponge can be pasted automatically, which is characterized in that
The Intelligent metal plate part production system that sponge can be pasted automatically further includes automatic spray unit (5)；Automatic spray unit (5) includes outstanding
Hang transfer unit (51), device II (52), dust-free clean spray painting room, automated cleaning component (53), automatically spraying portion are piled up in crawl
Part (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 and leads to
It crosses electric control driving device driving at the uniform velocity to move, there is multiple hanging members on stretched wire uniformly at intervals, hanging member is passed equipped with position
Sensor；
Dust-free clean spray painting room be one with the confined spaces of multiple compartments, stretched wire pass through dust-free clean spray painting room it is each every
Section；
The quantity that device II (52) are piled up in crawl is at least two sets, is separately positioned on arrival end and the outlet of dust-free clean spray painting room
Component II (521) and electric-controlled parts are piled up in end, including crawl, and it includes that mechanical arm and crawl are piled up that component II (521) are piled up in crawl
Manipulator, mechanical arm include at least X-coordinate driving mechanism or Y coordinate driving mechanism and Z coordinate driving mechanism, and crawl is piled up mechanical
Hand is mounted on the minor details of mechanical arm, including grasping mechanism, pattern-recognition sensor and hanging member location readers；Electric-controlled parts
Circuit and counting circuit are piled up including industrial control computer, crawl, industrial control computer piles up component II with crawl respectively
(521), pattern-recognition sensor and the electrical connection of hanging member location readers；
Automated cleaning component (53) is arranged in dust-free clean spray painting room in first compartment of stretched wire traffic direction, including
Mechanical arm, automatic cleaning apparatus (531), control valve group I (532), electric control gear I (533)；Mechanical arm is fixedly mounted on ground
On, it is arranged near stretched wire, including at least one X-coordinate driving mechanism or Y coordinate driving mechanism or Z coordinate driving mechanism；From
Dynamic cleaning device (531) are 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, and one end of multiple internal channels leads to respectively
It crosses control valve group I (532) to connect with cleaning positive pressure gas source, cleaning agent feed mechanism and clean water pressure source, other end connection spray
Head；Electric control gear I (533) includes industrial control computer, electric power loop, washing and brushing device position control loop, pattern-recognition time
Road, analysis planning cleaning parameter circuit, cleaning control loop, gas circuit control loop, clean water control loop, Industry Control calculate
Machine is electrically connected with pattern-recognition sensor, position sensor and the range sensor on automatic cleaning apparatus (531) respectively, industry
Control computer be electrically connected with control valve group I (532), industrial control computer respectively with the X-coordinate driving mechanism or Y of mechanical arm
Coordinate driving mechanism or the electrical connection of Z coordinate driving mechanism；
Automatic application element (54) is arranged in dust-free clean spray painting room in front of stretched wire traffic direction, automated cleaning component (53)
Compartment in, including mechanical arm, automatic spray apparatus (541), control valve group II (542), electric control gear II (543)；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；Automatic spray apparatus (541) is connect with the minor details of mechanical arm, and automatic spray apparatus (541) is known equipped with mode
Individual sensor, position sensor and range sensor, automatic spray apparatus (541) is internal to be equipped with multiple internal channels, automatic spraying
Be equipped with outside device (541) it is identical as internal channel quantity and with the corresponding outer tunnel being connected to of internal channel, internal channel one end passes through control
Valve group II (542) processed connect with positive pressure gas source, the internal channel other end connect spray head, outer tunnel by control valve group II (542) with
The connection of coating feed mechanism；Electric control gear II (543) include 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 point
It is not electrically connected with pattern-recognition sensor, position sensor and the range sensor on automatic spray apparatus (541), Industry Control
Computer is electrically connected with control valve group II (542), and industrial control computer is sat with the X-coordinate driving mechanism or Y of mechanical arm respectively
Mark driving mechanism or the electrical connection of Z coordinate driving mechanism；
Automatic baking dry part be arranged in dust-free clean spray painting room in front of stretched wire traffic direction, automatic application element (54) every
In section, 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 transfer unit
(51) electric control driving device, crawl pile up the electric control gear I of the electric-controlled parts of device II (52), automated cleaning component (53)
(533), the control valve group electrical connection of the electric control gear II (543) and automatic baking dry part of automatic application element (54).
5. the Intelligent metal plate part production system according to claim 1 or 2 or 3 that sponge can be pasted automatically, which is characterized in that
It is slab construction that manipulator is piled up in the crawl of the sponge member grabbing device (63), and slab construction is equipped with multiple absorption
Mouthful, adsorption orifice is connected to by pipeline with negative pressure source.
6. the Intelligent metal plate part production system according to claim 1 or 2 or 3 that sponge can be pasted automatically, which is characterized in that
The crawl of the 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.
7. the Intelligent metal plate part production system according to claim 1 or 2 or 3 that sponge can be pasted automatically, which is characterized in that
The automatic feeding (11) includes mechanical arm, crawl stacking manipulator, shaped steel plate bracket and electric-controlled parts；Mechanical arm
It 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；Shaped steel plate support
Frame 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 piles up manipulator and panel beating equipment (8) with mechanical arm, crawl respectively is electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564206.5A CN109013949B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system capable of automatically pasting sponge |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810564206.5A CN109013949B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system capable of automatically pasting sponge |
| 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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| CN201810564840.9A Active CN108819269B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system capable of automatically spraying |
| CN201810564188.0A Active CN108855732B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system with automatic spraying unit |
| CN201810563570.XA Active CN108907022B (en) | 2015-12-31 | 2015-12-31 | intelligent sheet metal part production system with automatic sponge sticking unit |
| CN201810564206.5A Active CN109013949B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system capable of automatically pasting sponge |
| 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 |
| CN201810563576.7A Active CN109047539B (en) | 2015-12-31 | 2015-12-31 | Artificial intelligence production system for sheet metal parts |
| CN201810564836.2A Active CN108995226B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system capable of automatically pasting sponge |
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| CN201810564840.9A Active CN108819269B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system capable of automatically spraying |
| CN201810564188.0A Active CN108855732B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system with automatic spraying unit |
| CN201810563570.XA Active CN108907022B (en) | 2015-12-31 | 2015-12-31 | intelligent sheet metal part production system with automatic sponge sticking unit |
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| 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 |
| CN201810563576.7A Active CN109047539B (en) | 2015-12-31 | 2015-12-31 | Artificial intelligence production system for sheet metal parts |
| CN201810564836.2A Active CN108995226B (en) | 2015-12-31 | 2015-12-31 | Intelligent sheet metal part production system capable of automatically pasting sponge |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108995226B (en) | 2020-08-25 |
| CN108790193B (en) | 2020-04-28 |
| CN105642781B (en) | 2018-07-13 |
| CN108855732B (en) | 2020-08-25 |
| CN108855732A (en) | 2018-11-23 |
| CN108907022A (en) | 2018-11-30 |
| CN109013949B (en) | 2019-12-10 |
| CN105642781A (en) | 2016-06-08 |
| CN109047539B (en) | 2020-03-13 |
| CN108819269A (en) | 2018-11-16 |
| CN108819269B (en) | 2020-07-17 |
| CN108790193A (en) | 2018-11-13 |
| CN108995226A (en) | 2018-12-14 |
| CN109047539A (en) | 2018-12-21 |
| CN108907022B (en) | 2019-12-10 |
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