CN109677829A - A kind of handling equipment and its working method of drawer type storage hopper and robot - Google Patents
A kind of handling equipment and its working method of drawer type storage hopper and robot Download PDFInfo
- Publication number
- CN109677829A CN109677829A CN201910147575.9A CN201910147575A CN109677829A CN 109677829 A CN109677829 A CN 109677829A CN 201910147575 A CN201910147575 A CN 201910147575A CN 109677829 A CN109677829 A CN 109677829A
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- Prior art keywords
- drawer
- robot
- several
- group
- structures
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses the handling equipment and its working method of a kind of drawer type storage hopper and robot, comprising: feed bin includes mobile cabinet, several drawer structures and mounting plate；Several first drawer structures and several second drawer structures is arranged in the lower part of mobile cabinet, and several first drawer structures and several second drawer structures are from top to bottom spaced setting；The top of mobile cabinet is provided with mounting plate；The quadrangle of the lower end surface of feed bin is respectively arranged with a castor；Robot is set on mounting plate by mounting base, and the retained part of robot is provided with sighting device；One machining tool is set to the side of the direction of feed of the first drawer structure, and another machining tool is set to the side of the direction of feed of the second drawer structure；The present invention is by can be realized charging and assembly by the first drawer structure and the second drawer structure while carrying out.
Description
Technical field
The present invention relates to the upper of the technical field of automatic loading and unloading device more particularly to a kind of drawer type storage hopper and robot
The technical field of blanking device.
Background technique
Current general lathe loading and unloading system, contains robot, lathe, Mobile Slide or turntable for loading and unloading
Etc. equipment.And there may be following problems for existing lathe loading and unloading system:
1, it must be equipped with for equipment such as the Mobile Slide of loading and unloading or turntables
2, personnel can only once go up next magazine, inefficiency
3, it takes up a large area, needs a large amount of safe fence
4, Switch of working position is very inconvenient
Summary of the invention
In view of the above-mentioned problems, the handling equipment of a kind of drawer type storage hopper and robot is now provided, it is several by being provided with
The use of the feed bin of drawer structure, saves space.And drawer type article case is extracted out automatically by the retained part of robot,
Ensure that robot program is consistent with the magazine extracted out by the detection to sensor.
To achieve the goals above, the technical solution taken is as follows:
A kind of handling equipment of drawer type storage hopper and robot, wherein include:
Feed bin, the feed bin include mobile cabinet, several drawer structures and mounting plate；If the lower part of the mobile cabinet is provided with
Do the drawer structure；Several drawer structures include several first drawer structures and several second drawer structures, and if
It does first drawer structure and several second drawer structures is from top to bottom spaced setting；The top of the mobile cabinet is arranged
There is the mounting plate；The direction of feed of first drawer structure and second drawer structure is perpendicular；Under the feed bin
The quadrangle of end face is respectively arranged with a castor；
Robot, the robot are set on the mounting plate by mounting base, and the clamping part of the robot
Set up separately and is equipped with sighting device；
Two machining tools, a machining tool is set to the side of the direction of feed of first drawer structure, another
The machining tool is set to the side of the direction of feed of second drawer structure；The top of two machining tools is respectively provided with
There is vision to take pictures feature；
Guard bar structure, the guard bar structure include two guardrail parts；The both ends of the one guardrail part are respectively close to an institute
The side of machining tool and the feed bin is stated, the both ends of another guardrail part are respectively close to another machining tool and institute
State the other side of feed bin.
The handling equipment of above-mentioned a kind of drawer type storage hopper and robot, wherein several sensors, several sensors
Including several first sensors, several second sensors；Each first drawer structure towards the one of the machining tool
Second sensor is arranged in side, and each first drawer structure senses the side of machining tool setting first backwards to institute
Device；The direction of each second drawer structure second sensor is arranged to the side of the machining tool, each described the
First sensor is arranged in the side backwards to the machining tool of two drawer structures.
The handling equipment of above-mentioned a kind of drawer type storage hopper and robot, wherein the retained part includes two clamping dresses
It sets, the sighting device and coupling part；A clamping device is respectively set in the two sides of the length direction of the coupling part,
A sighting device is arranged in the side of the width direction of the coupling part；And the coupling part is rotationally connected with described
The end of the arm of robot.
The handling equipment of above-mentioned a kind of drawer type storage hopper and robot, wherein the upper surface of the mounting plate is by described
The input end of first drawer structure is provided with the first shield on one side, and second drawer structure is leaned in the upper surface of the mounting plate
Input end be provided with the second shield on one side, first shield and second shield form L-type structure；Described first hides
An opening is opened up at plate, the opening is placed with control unit and compressed air source unit；And the control unit is provided with control panel,
The control panel is towards the opening.
A kind of handling equipment of above-mentioned drawer type storage hopper and robot, wherein the number of several first drawer structures
Amount and the quantity of several second drawer structures are consistent with each other, and by several first drawer structures and several described second
Drawer structure is divided into several drawer groups, and drawer group described in each group includes one first drawer structure and one second drawer structure；And
And several groups drawer group is from top to bottom set gradually.
A kind of working method of the handling equipment of drawer type storage hopper and robot, including any drawer type among the above
The handling equipment of feed bin and robot, the working method:
Step 1: the state of control unit drawer group described in all groups is searched；If it was found that wherein described in one group
The state of drawer group be it is undressed, then the control unit controls the robot for the drawer group towards the first sensor institute
It is extracted out in direction；If it was found that drawer group described in all groups be it is machined, keep standby；
It is sent by second drawer structure to right Step 2: the robot can take out the unprocessed workpiece in order
The machining tool answered is processed；The workpiece completed the process is transmitted back to second drawer structure later；
It is sent by first drawer structure to right Step 3: the robot can take out the unprocessed workpiece in order
The machining tool answered is processed；The workpiece completed the process is assembled to the opposite of second drawer structure later
The machined completion workpiece answered；
Step 4: step 2 and step 3 are repeated, until all workpiece on first drawer structure are filled respectively
It is assigned on all workpiece of second drawer structure of same drawer group；
Step 5: the drawer group of extraction is reset in the feed bin by the robot, and by the group drawer
The state of group is labeled as machined；Return to step 1.
The working method of the handling equipment of a kind of above-mentioned drawer type storage hopper and robot, wherein the shape of the drawer group
State is undressed condition are as follows: the user takes out the two of the group drawer structures towards the first sensor direction
Out, two drawer structures are returned to the feed bin later, and two drawer structures excite the first sensor and institute
State second sensor.
The working method of the handling equipment of a kind of above-mentioned drawer type storage hopper and robot, wherein the shape of the drawer group
State is machined condition are as follows: the robot will be where the two of this group of drawer group drawer structures towards the second sensor
Direction extraction, two drawer structures are retracted to the feed bin later, and two drawer structures excite first sensing
Device and the second sensor.
The working method of the handling equipment of a kind of above-mentioned drawer type storage hopper and robot, wherein, the institute of the step 1
State lookup are as follows: the state of the control unit from top to bottom drawer group described in all groups traverses.
The good effect that above-mentioned technology has compared with prior art is:
By the present invention in that having the first drawer structure and the second drawer structure can be in first sensor with feed bin
Position, which stretch out, carries out feeding, stretches out blanking to machining tool in the position of second sensor position.
By the present invention in that the first drawer structure can be carried out feeding to ipsilateral machining tool with feed bin, pass through simultaneously
Second drawer structure carries out feeding to ipsilateral machining tool；And the part that the first drawer structure processes is assembled second one by one
On drawer structure, and recycles and assemble part.
Detailed description of the invention
Fig. 1 is a kind of folder of the feeding device of the robot of the handling equipment of of the invention drawer type storage hopper and robot
Hold the perspective view of part；
Fig. 2 is a kind of bowing for the feeding device of the robot of the handling equipment of of the invention drawer type storage hopper and robot
View；
Fig. 3 is the one of the feeding device of the robot of the handling equipment of of the invention a kind of drawer type storage hopper and robot
The perspective view of angle
Fig. 4 is a kind of material of the feeding device of the robot of the handling equipment of of the invention drawer type storage hopper and robot
The perspective view of one angle of storehouse and robot；
Fig. 5 is a kind of material of the feeding device of the robot of the handling equipment of of the invention drawer type storage hopper and robot
The perspective view of another angle of storehouse and robot；
Fig. 6 is a kind of the another of the feeding device of the robot of the handling equipment of of the invention drawer type storage hopper and robot
The perspective view of one angle.
In attached drawing: 11, mobile cabinet；12, drawer structure；121, the first drawer structure；122, the second drawer structure；13, pacify
Loading board；14, castor；2, robot；21, mounting base；22, retained part；221, sighting device；222, clamping device；223, even
Socket part point；3, machining tool；31, vision is taken pictures feature；41, guardrail part；51, first sensor；52, second sensor；61,
First shield；611, it is open；62, the second shield；63, L-type structure；71, control unit；711, control panel.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
Fig. 1 is a kind of folder of the feeding device of the robot of the handling equipment of of the invention drawer type storage hopper and robot
Hold the perspective view of part.Fig. 2 is a kind of feeding of the robot of the handling equipment of of the invention drawer type storage hopper and robot
The top view of device.Fig. 3 is a kind of feeding dress of the robot of the handling equipment of of the invention drawer type storage hopper and robot
The perspective view for the angle set.Fig. 4 is a kind of robot of the handling equipment of of the invention drawer type storage hopper and robot
The perspective view of one angle of the feed bin and robot of feeding device.Fig. 5 is of the invention a kind of drawer type storage hopper and robot
The perspective view of another angle of the feed bin and robot of the feeding device of the robot of handling equipment.Fig. 6 is of the invention one
The perspective view of another angle of the feeding device of the robot of the handling equipment of kind drawer type storage hopper and robot.
Referring to Figure 1 to shown in Fig. 6, in a kind of preferred embodiment, a kind of drawer type storage hopper and robot are shown
Handling equipment, comprising:
Feed bin, feed bin include mobile cabinet 11, several drawer structures 12 and mounting plate 13；If the lower part of mobile cabinet 11 is provided with
Dry drawer structure 12；Several drawer structures 12 include several first drawer structures 121 and several second drawer structures 122, and
Several first drawer structures 121 and several second drawer structures 122 are from top to bottom spaced setting；The top of mobile cabinet 11 is provided with
Mounting plate 13；The direction of feed of first drawer structure 121 and the second drawer structure 122 is perpendicular；The quadrangle of the lower end surface of feed bin
It is respectively arranged with a castor 14.
Robot 2, robot 2 is set on mounting plate 13 by mounting base 21, and the retained part 22 of robot 2 is set
It is equipped with sighting device 221.
Two machining tools 3, a machining tool 3 are set to the side of the direction of feed of the first drawer structure 121, another processing
Lathe 3 is set to the side of the direction of feed of the second drawer structure 122；The top of two machining tools 3 is provided with vision and takes pictures
Feature 31.
Guard bar structure, guard bar structure include two guardrail parts 41；The both ends of one guardrail part 41 are respectively close to a processing machine
The side of bed 3 and feed bin, the other side of the both ends of another guardrail part 4 respectively close to another machining tool 3 and feed bin.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses.
Further, in a kind of preferred embodiment, several sensors, several sensors include several first sensors 51,
Several second sensors 52；Second sensor 52 is arranged in the side towards machining tool 3 of every one first drawer structure 121, often
One first drawer structure 121 backwards to institute to the side of machining tool 3 setting first sensor 51；Every one second drawer structure
122 direction second sensor 52 is arranged to the side of machining tool 3, every one second drawer structure 122 backwards to processing machine
First sensor 51 is arranged in the side of bed 3.
Further, in a kind of preferred embodiment, retained part 22 includes two clamping devices 222, sighting device 221 and connects
Socket part point 223；A clamping device 222, the width of coupling part 223 is respectively set in the two sides of the length direction of coupling part 223
A sighting device 221 is arranged in the side in direction；And coupling part 223 is rotationally connected with the end of the arm of robot 2.Specifically
, it is taken pictures 31 fixation and recognition of feature by sighting device 221 to vision, robot 2 can be corrected automatically and be compensated due to feed bin
The error caused by distance change between machining tool 3.
Further, in a kind of preferred embodiment, the input end of the first drawer structure 121 is leaned in the upper surface of mounting plate 13
It is provided with the first shield 61 on one side, the upper surface of mounting plate 13 is provided with the by the input end of the second drawer structure 122 on one side
Two shields 62, the first shield 61 and the second shield 62 form L-type structure 63；An opening 611 is opened up at first shield 61, is open
Control unit 71 and compressed air source unit are placed at 611；Control unit 71 and compressed air source unit are wholely set；And control unit 71 is provided with control
Panel 711 processed, control panel 711 towards opening 611.
Further, in a kind of preferred embodiment, the quantity of several first drawer structures 121 and several second drawer structures
122 quantity is consistent with each other, and several first drawer structures 121 and several second drawer structures 122 are divided for several drawer groups,
Each group of drawer group includes one first drawer structure 121 and one second drawer structure 122；And several groups drawer group is from top to bottom
It sets gradually.
In addition to the implementation, the working method of the handling equipment of of the invention a kind of drawer type storage hopper and robot 2:
Step 1: control unit 71 searches the state of all groups of drawer groups；If it was found that the wherein shape of one group of drawer group
State be it is undressed, then control unit 71 control robot 2 by the drawer group towards 51 direction of first sensor extract out；If it was found that
All groups of drawer groups be it is machined, then keep standby.
It is sent by the second drawer structure 122 to corresponding processing Step 2: robot 2 can take out unprocessed workpiece in order
Lathe 3 is processed；The workpiece completed the process is transmitted back to second drawer structure 122 later.
It is sent by the first drawer structure 121 to corresponding processing Step 3: robot 2 can take out unprocessed workpiece in order
Lathe 3 is processed；The workpiece completed the process is assembled to the corresponding machined completion work of the second drawer structure 122 later
Part.
Step 4: step 2 and step 3 are repeated, until all workpiece on the first drawer structure 121 are assembled respectively
To all workpiece of the second drawer structure 122 of same drawer group.
Step 5: the drawer group of extraction is reset in feed bin by robot, and the state of this group of drawer group is labeled as
Processing；Return to step 1.
Further, in a kind of preferred embodiment, the state of drawer group is undressed condition are as follows: user is by the two of the group
Drawer structure 12 is extracted out towards 51 direction of first sensor, and two drawer structures 12 are returned to feed bin, two drawer knots later
Structure 12 excites first sensor 51 and second sensor 52.
Further, in a kind of preferred embodiment, the state of drawer group is machined condition are as follows: the group is taken out by robot 2
Two drawer structures 12 of drawer group are extracted out towards 52 direction of second sensor, and two drawer structures 12 are retracted to feed bin later,
Two drawer structures 12 excite first sensor 51 and second sensor 52.
Further, in a kind of preferred embodiment, the lookup of step 1 are as follows: control unit 71 is from top to bottom to all groups of drawers
The state of group is traversed.
The above is only preferred embodiments of the present invention, are not intended to limit the implementation manners and the protection scope of the present invention, right
For those skilled in the art, it should can appreciate that and all replace with being equal made by description of the invention and diagramatic content
It changes and obviously changes obtained scheme, should all be included within the scope of the present invention.
Claims (9)
1. the handling equipment of a kind of drawer type storage hopper and robot characterized by comprising
Feed bin, the feed bin include mobile cabinet, several drawer structures and mounting plate；The lower part of the mobile cabinet is provided with several institutes
State drawer structure；Several drawer structures include several first drawer structures and several second drawer structures, and several institutes
It states the first drawer structure and several second drawer structures is from top to bottom spaced setting；The top setting of the mobile cabinet is
State mounting plate；The direction of feed of first drawer structure and second drawer structure is perpendicular；The lower end surface of the feed bin
Quadrangle be respectively arranged with a castor；
Robot, the robot are set on the mounting plate by mounting base, and the clamping part of the robot sets up separately
It is equipped with sighting device；
Two machining tools, a machining tool is set to the side of the direction of feed of first drawer structure, another described
Machining tool is set to the side of the direction of feed of second drawer structure；The top of two machining tools is provided with view
Feel feature of taking pictures；
Guard bar structure, the guard bar structure include two guardrail parts；The both ends of the one guardrail part add respectively close to described in one
The side of work lathe and the feed bin, the both ends of another guardrail part are respectively close to another machining tool and the material
The other side in storehouse.
2. the handling equipment of a kind of drawer type storage hopper and robot according to claim 1, which is characterized in that several sensings
Device, several sensors include several first sensors, several second sensors；The direction of each first drawer structure
The side of the machining tool is arranged second sensor, each first drawer structure backwards to the machining tool
First sensor is arranged in side；The direction of each second drawer structure the side of machining tool setting second is passed
First sensor is arranged in the side backwards to the machining tool of sensor, each second drawer structure.
3. the handling equipment of a kind of drawer type storage hopper and robot according to claim 1, which is characterized in that the clamping
Part includes two clamping devices, the sighting device and coupling part；The two sides of the length direction of the coupling part are set respectively
A clamping device is set, a sighting device is arranged in the side of the width direction of the coupling part；And the connection
Partial turn is connected to the end of the arm of the robot.
4. the handling equipment of a kind of drawer type storage hopper and robot according to claim 2, which is characterized in that the installation
The upper surface of plate is provided with the first shield by the input end of first drawer structure on one side, and the upper surface of the mounting plate leans on
The input end of second drawer structure is provided with the second shield on one side, and first shield and second shield form L
Type structure；An opening is opened up at first shield, the opening is placed with control unit and compressed air source unit；And the control
Portion is provided with control panel, and the control panel is towards the opening.
5. the handling equipment of a kind of drawer type storage hopper and robot according to claim 1, which is characterized in that several described
The quantity of first drawer structure and the quantity of several second drawer structures are consistent with each other, and by several first drawer knots
Structure and several second drawer structures are divided into several drawer groups, and drawer group described in each group includes one first drawer structure and one
Second drawer structure；And several groups drawer group is from top to bottom set gradually.
6. a kind of working method of the handling equipment of drawer type storage hopper and robot, including in claim 1 to claim 5
The handling equipment of any drawer type storage hopper and robot, the working method:
Step 1: the state of control unit drawer group described in all groups is searched；If it was found that wherein drawer described in one group
The state of group be it is undressed, then the control unit controls the robot for the drawer group towards the first sensor place side
To extraction；If it was found that drawer group described in all groups be it is machined, keep standby；
It is sent by second drawer structure to corresponding Step 2: the robot can take out the unprocessed workpiece in order
The machining tool is processed；The workpiece completed the process is transmitted back to second drawer structure later；
It is sent by first drawer structure to corresponding Step 3: the robot can take out the unprocessed workpiece in order
The machining tool is processed；The workpiece completed the process is assembled to the corresponding of second drawer structure later
It is machined to complete the workpiece；
Step 4: step 2 and step 3 are repeated, until all workpiece on first drawer structure are assembled to respectively
On all workpiece with second drawer structure of drawer group；
Step 5: the drawer group of extraction is reset in the feed bin by the robot, and by the group drawer group
State is labeled as machined；Return to step 1.
7. a kind of working method of the handling equipment of drawer type storage hopper and robot, feature exist according to claim 6
In the state of, the drawer group be undressed condition are as follows: the user is by the two of the group drawer structures towards described the
The extraction of one sensor direction, two drawer structures are returned to the feed bin later, and two drawer structures excite
The first sensor and the second sensor.
8. a kind of working method of the handling equipment of drawer type storage hopper and robot, feature exist according to claim 6
In the state of, the drawer group be machined condition are as follows: the robot is by the two of this group of drawer group drawer structure directions
The second sensor direction extraction, two drawer structures are retracted to the feed bin, two drawer structures later
Excite the first sensor and the second sensor.
9. a kind of working method of the handling equipment of drawer type storage hopper and robot, feature exist according to claim 6
In the lookup of the step 1 are as follows: the state of the control unit from top to bottom drawer group described in all groups traverses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910147575.9A CN109677829B (en) | 2019-02-27 | 2019-02-27 | Loading and unloading device of drawer type storage bin and robot and working method of loading and unloading device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910147575.9A CN109677829B (en) | 2019-02-27 | 2019-02-27 | Loading and unloading device of drawer type storage bin and robot and working method of loading and unloading device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109677829A true CN109677829A (en) | 2019-04-26 |
| CN109677829B CN109677829B (en) | 2021-02-02 |
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ID=66197194
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910147575.9A Active CN109677829B (en) | 2019-02-27 | 2019-02-27 | Loading and unloading device of drawer type storage bin and robot and working method of loading and unloading device |
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| Country | Link |
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| CN (1) | CN109677829B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114378613A (en) * | 2022-02-17 | 2022-04-22 | 山东华数智能科技有限公司 | Automatic processing system and method for non-magnetic thin plate |
-
2019
- 2019-02-27 CN CN201910147575.9A patent/CN109677829B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114378613A (en) * | 2022-02-17 | 2022-04-22 | 山东华数智能科技有限公司 | Automatic processing system and method for non-magnetic thin plate |
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| CN109677829B (en) | 2021-02-02 |
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