CN110076635A - A kind of multistation flexibility hardware machining center and its processing method - Google Patents
A kind of multistation flexibility hardware machining center and its processing method Download PDFInfo
- Publication number
- CN110076635A CN110076635A CN201910474824.5A CN201910474824A CN110076635A CN 110076635 A CN110076635 A CN 110076635A CN 201910474824 A CN201910474824 A CN 201910474824A CN 110076635 A CN110076635 A CN 110076635A
- Authority
- CN
- China
- Prior art keywords
- workpiece
- station
- processing
- hardware
- fixture
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003672 processing method Methods 0.000 title claims abstract description 8
- 238000012545 processing Methods 0.000 claims abstract description 153
- 238000012546 transfer Methods 0.000 claims abstract description 50
- 239000000463 material Substances 0.000 claims abstract description 46
- 238000000034 method Methods 0.000 claims description 51
- 230000008569 process Effects 0.000 claims description 43
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000003139 buffering effect Effects 0.000 claims description 9
- 239000003292 glue Substances 0.000 claims description 9
- 238000005555 metalworking Methods 0.000 claims description 8
- 238000009826 distribution Methods 0.000 claims description 6
- 150000001875 compounds Chemical class 0.000 claims description 5
- 238000005553 drilling Methods 0.000 claims description 5
- 230000004807 localization Effects 0.000 claims description 5
- 238000005498 polishing Methods 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims description 3
- 238000003754 machining Methods 0.000 description 18
- 238000004519 manufacturing process Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 8
- 241000196324 Embryophyta Species 0.000 description 6
- 230000006378 damage Effects 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
-
- 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
- B23Q37/00—Metal-working machines, or constructional combinations thereof, built-up from units designed so that at least some of the units can form parts of different machines or combinations; Units therefor in so far as the feature of interchangeability is important
-
- 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
- B23Q7/043—Construction of the grippers
-
- 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
- B23Q7/048—Multiple gripper units
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multistation flexibility hardware machining center and its processing methods, hardware machining center includes robot device, blank station, transfer reorientation station, at least a processing station and finished product station, blank station, transfer reorientation station, each processing station and finished product station position the side that robot device is arranged in respectively, and within the effective travel of robot device, compared with prior art, the hardware machining center relocates the workpiece before material grasping processing by transfer reorientation station, tooling precision is high, it avoids that processing mistake occurs, improves yields.
Description
Technical field
The present invention relates to hardware technical field of processing equipment, more particularly, to a kind of multistation flexibility hardware machining center and
Its processing method.
Background technique
In the prior art, it by the hardware machining center that manipulator forms is used to that manpower to be replaced to carry out workpiece transfer.Specifically
For the workpiece on material table is grabbed by fixed routine to the hardware processing station of setting, is clamped to workpiece and completes one
Or multinomial hardware manufacturing procedure.Then the workpiece completed the process, it is transferred to product container.
But existing hardware machining center, there is single process quantity is few, enterprises production efficiency is low；The dress of manipulator
Folder precision is low, and the machining area for being easy to appear workpiece and hardware processing station in process is caused to misplace, the non-defective unit of product processing
Rate is low, causes the increase of production cost；Mechanical paw structure is not compact, dismounting is inconvenient, increases the process-cycle.
It is currently, there are the processing unit (plant) that the adjustment of high-precision Working position can be carried out to workpiece, such as Patent No.
" 201720745131.1 ", patent name are shown for the Chinese invention patent of " a kind of manipulator quickly position hole structure "
Processing unit (plant), the processing unit (plant) carry out processing adjustment to workpiece by vision testing machine, it is ensured that the processing of workpiece alignment processing station
Region avoids processing mistake.But this process equipment is there is structure is complicated, manufacturing cost is high and single process quantity
Few disadvantage.
There is also improved mechanical arm gripper structures, to realize the material grasping operation of multiple stations simultaneously.Such as the patent No.
The manipulator shown for " 201821439456.8 ", patent name for the Chinese invention patent of " a kind of multi-station manipulator pawl "
Pawl structure, the material grasping action cell being made up of multiple suckers realize the material grasping operation of multiple stations simultaneously.But this manipulator
There is tooling precision is low, influences machining accuracy for pawl structure.Especially in the machining center with multiple processing stations, workpiece exists
Repeatedly shifted and repeatedly after working process, the material grasping degree of deviation of mechanical paw with workpiece transfer number experienced and plus
Work number increases and increases, and even results in product and is damaged, increases enterprise's material cost.
Summary of the invention
In view of the deficienciess of the prior art, the object of the present invention is to provide a kind of multistation flexibility hardware machining center and
Its processing method is able to carry out multistation material grasping operation, and machining accuracy is high, avoids processing mistake from causing product impaired, and real
One or more working processes, high production efficiency are carried out in the present same process-cycle.
To achieve the goals above, the technical scheme adopted by the invention is that: a kind of multistation flexibility hardware machining center,
Hardware machining center includes robot device, blank station, transfer reorientation station, at least a processing station and finished product station.Blank station,
Transfer reorientation station, finished product station and each processing station are respectively positioned in the side of robot device.Blank station, transfer reorientation
It stands, the setting position of finished product station and each processing station is set according to the effective travel of robot device.
Robot device is used as the relay device carried workpieces processing and carry out material grasping processing to workpiece, manipulator
Device is provided with manipulator fixture, and manipulator fixture includes an at least fixture unit, and each fixture unit is respectively arranged with more
A fixture station, in same fixture unit, each fixture station is distributed to form a clamping size.
Blank station, as workpiece to be processed is placed, blank station is provided at least one blank container, multiple to be processed
Workpiece is placed in blank container in the form of an array.
Transfer reorientation station, as relocating to each workpiece, transfer reorientation station is provided at least one workpiece weight
Positioning device, each workpiece relocation device match with corresponding fixture unit respectively, and each workpiece relocation device is set respectively
Multiple reorientation portions are equipped with, in same workpiece relocation device, bit position cloth is respectively reset and forms a location dimension, at mutual
In the workpiece relocation device and fixture unit matched, location dimension is identical as clamping size.
Processing station is respectively arranged in different processing stations as five metalworkings are carried out to the workpiece on fixture unit
First Five-Year Plan metalworking mechanism, each processing station match with corresponding workpiece relocation device respectively, each hardware organisation of working difference
Multiple processing stations are provided with, in same processing station, each processing stations are distributed to form a processing dimension, what is be mutually matched
In processing station and fixture unit, processing dimension is identical with location dimension.
Finished product station, as the workpiece for completing processing is placed, finished product station is provided at least one product container.
In further technical solution, which is set as manual or air-actuated jaw or hydraulically operated fixture or electricity
Magnetic holding device or vacuum fixture.
In further technical solution, which is set as Joint Manipulator, the end of Joint Manipulator
End is provided with rotation axis.The manipulator fixture is provided with multiple fixture units, and each fixture unit is respectively set to vacuum fixture, very
Empty fixture includes sucker grillage, and is fixed on multiple sucker units of sucker grillage, and each sucker grillage is respectively and fixedly connected in rotation
Axis, the along the circumferential direction equiangularly spaced setting respectively of each sucker grillage, each sucker unit are distributed in the outside of sucker grillage side by side
Face is arranged at equal intervals between each sucker unit, and in same sucker grillage, each sucker cell distribution forms the clamping size, respectively
The clamping size of a vacuum fixture is different, to realize that manipulator fixture is grabbed from the processing station of different processing dimensions respectively
Material processing cooperation.
In further technical solution, which is set as plastic sucking disc, forms on plastic sucking disc multiple for putting
The cavity of workpiece is set, each cavity is arranged in the form of an array respectively.
In further technical solution, which includes a workpiece positioning seat and PIN needle mechanism, often
The upper surface recess of a workpiece positioning seat forms multiple located cavities, the shape size of each located cavity respectively with the respectively workpiece
Profile size match, in same workpiece positioning seat, each located cavity is distributed to form the processing dimension, and each workpiece difference is embedding
Enter in each corresponding located cavity；PIN needle mechanism pushes PIN needle and PIN needle driving device, PIN needle driving dress with multiple
It sets to respectively drive to connect and respectively pushes PIN needle, respectively push each side that PIN needle is movably set in corresponding located cavity respectively, with
The inner sidewall of each corresponding located cavity other side is made to make each work against cooperation to push each workpiece in each corresponding located cavity
Part is close to be aligned in the side wall of each corresponding located cavity respectively.
In further technical solution, the opening of each located cavity forms chamfering, each corresponding to guide
The workpiece is smoothly sliding to be embedded in each corresponding located cavity.
In further technical solution, each workpiece is close to be aligned in respectively each phase should the corresponding inside of located cavity
Wall, the inner sidewall of this side are provided with buffering PIN needle, and buffering PIN needle protrudes from this side side wall, to realize that workpiece carries out flexible weight
Positioning.
In further technical solution, respectively this pushes PIN needle and respectively the buffering PIN needle is respectively set as by flexible glue material
Cylinder made of expecting.
In further technical solution, which is set as CNC processing unit (plant) or stamping device or radium-shine
Processing unit (plant) or work-piece polishing device or drilling equipment.
The present invention also provides a kind of processing method of multistation flexibility hardware machining center, which adds
Work center includes tool arm device, blank station, transfer reorientation station, finished product station and at least one processing station, wherein multistation is soft
Property hardware machining center in processing station quantity be able to carry out increase and decrease setting, the processing of the multistation flexibility hardware machining center
Method the following steps are included:
1) material grasping step, robot device pick up multiple works to be processed from blank station by manipulator fixture therein
Part.
2) transfer relocates step, and each workpiece transfer to be processed to transfer is relocated by robot device and is stood, is released
Each workpiece is put, is respectively placed in it in each reorientation portion in corresponding workpiece relocation device, in being carried out to each workpiece
Turn localization process, the position dimension for keeping each workpiece opposite is identical as the location dimension of the workpiece relocation device, this workpiece is reset
The location dimension of position device is identical as the processing dimension of a corresponding processing station.
3) tooling material grasping step, robot device is by the manipulator fixture of setting clamping size from workpiece relocation device
In each workpiece picked up with its location dimension, to carry out tool locating material grasping to each workpiece.
4) hardware material grasping procedure of processing, robot device is each workpiece transfer of completion tool locating to corresponding processing station
The hardware working process of this processing station offer is provided.
5) compound hardware material grasping procedure of processing, each workpiece transfer of the hardware working process for completing a upper processing station into
Turn another workpiece relocation device in reorientation station, carry out the transfer localization process of another specification, repeat step 2, step 3 with
And step 4, until completing the hardware working process of all processing stations in multistation flexibility hardware machining center, every progress one adds
Before the hardware material grasping processing of station, the workpiece that manipulator fixture is grabbed carries out transfer reorientation, avoids processing wrong
It misses, if the processing station quantity in multistation flexibility hardware machining center is one, then ignores this step, directly carry out in next step
Suddenly.
6) product stores step, the workpiece by all hardware working processes in multistation flexibility hardware machining center,
The product container being transferred on finished product station, to complete the hardware working process in a period.
After adopting the above structure, the invention has the advantages that compared with the prior art:
1, the multistation flexible machining centre is able to carry out compound material grasping operation, carried out within the same process-cycle it is a kind of or
In addition a variety of hardware working processes set up machining center without a variety of process requirements for identical workpiece, reduce the weight of enterprise
Money investment, saves workshop area occupied, reduces production cost, improves high production efficiency.
2, the multistation flexible machining centre can carry out a transfer to workpiece before the processing of each single item hardware material grasping
Reorientation, guarantees the tooling precision of workpiece, avoids workpiece from occurring accidentally to process, further increases the yields of product, reduce enterprise
The blank of industry consumes.
3, the multistation flexible machining centre can carry out one or more five to multiple workpiece within the same process-cycle
Metalworking processing, high production efficiency.
4, the multistation flexible machining centre can be replaced setting to processing station according to production needs, it is not necessary to for spy
Fixed process requirements and set up machining center again, be further reduced enterprise money again investment.
5, the multistation flexible machining centre can be suitable for a plurality of types of hardware processing works, such as: CNC processing,
Punch process, radium-shine processing, polishing processing and drilling processing etc., it is applied widely, each vehicle in enterprise can be further reduced
Between human cost, improve each workshop of enterprise production efficiency, be beneficial to build supermatic unmanned workshop.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of manipulator fixture in the present invention.
Fig. 3 is the structural schematic diagram of pin end in the present invention.
Fig. 4 is the structural schematic diagram of female connector in the present invention.
Fig. 5 is the structural schematic diagram of workpiece relocation device in the present invention.
Fig. 6 is the structural schematic diagram of another angle of workpiece relocation device in the present invention.
Fig. 7 is the structural schematic diagram of hardware organisation of working in the present invention.
Fig. 8 is the structural schematic diagram of plastic sucking disc in the present invention.
In figure:
1- robot device, 11- manipulator base, 12- machinery arm, 13- machinery ancon, 14- mechanical elbow wrist, 15-
Rotation axis, 16- manipulator fixture, 1601- sucker grillage, 1602- sucker unit, 1710- female connector, 1711- connection vestibule,
1712- convex shoulder, 1713- pin hole, 1714- sucker, 1720- pin end, 1721- connection inserting column, 1722- resilient balls, 1723-
Fastening screw, 1724- flexible glue circle.
2- blank station, 20- plastic sucking disc, 21- cavity.
3- workpiece relocation device, 0300- workpiece positioning seat, 0301- located cavity, 0302- chamfering, 0303- buffer PIN
Needle, 0310- driving cylinder, 0311- piston push rod, 0312- guide rod, the push plate of 0313-PIN needle, 0314- push PIN needle.
4- hardware organisation of working, 0400- machining support, 0401- process unit.
5- finished product station.
Specific embodiment
It is only below presently preferred embodiments of the present invention, is not intended to limit the scope of the present invention.
A kind of multistation flexibility hardware machining center, as shown in Figures 1 to 6, include robot device 1, blank station 2,
Transfer reorientation station, at least a processing station and finished product station 5, robot device 1 are used as and carry workpieces processing and carry out to workpiece
Material grasping processing, robot device 1 are provided with manipulator fixture 16, and manipulator fixture 16 includes an at least fixture unit, each
Fixture unit is respectively arranged with multiple fixture stations, and in same fixture unit, each fixture station is distributed to form a clamping size；
Blank station 2, as placing workpiece to be processed, blank station 2 is provided at least one blank container, multiple workpiece to be processed with
Array format is placed in blank container；Transfer reorientation station, as relocating to each workpiece, transfer reorientation station is provided with
At least one workpiece relocation device 3, each workpiece relocation device 3 match with corresponding fixture unit respectively, each workpiece
Relocation device 3 is respectively arranged with multiple reorientation portions, in same workpiece relocation device 3, respectively resets bit position cloth and is formed
One location dimension, in the workpiece relocation device 3 and fixture unit being mutually matched, location dimension is identical as clamping size；Add
Station is respectively arranged with First Five-Year Plan metalworking in different processing stations as five metalworkings are carried out to the workpiece on fixture unit
Mechanism 4, each processing station match with corresponding workpiece relocation device 3 respectively, and each hardware organisation of working 4 is respectively arranged with more
A processing stations, in same processing station, each processing stations are distributed to form a processing dimension, in the processing station that is mutually matched and
In fixture unit, processing dimension is identical with location dimension；Finished product station 5, as the workpiece for completing processing is placed, finished product station 5 is arranged
There is at least one product container；Blank station 2, transfer reorientation station, finished product station 5 and each processing station are respectively positioned in manipulator dress
Set 1 side.The multistation flexibility hardware machining center is by being provided with transfer reorientation station, to workpiece transfer to processing station
Before, a transfer relocation process is carried out to workpiece, makes the processing ruler of the relative position size and corresponding processing station between workpiece
It is very little identical, it avoids processing mistake from damaging workpiece, improves processing yields.
Specifically, fixture unit is set as vacuum fixture, and vacuum fixture, which has, to be swift in motion, wants to the clamping form of workpiece
It asks not high, but the technical principle relocated with transfer of the invention is consistent, quick release workpiece and workpiece can be carried out
Again tool locating, stable structure are reliable, it is not easy to be influenced by extraneous factor.
Specifically, robot device 1 is set as Joint Manipulator, and Joint Manipulator includes manipulator base 11,
The top of manipulator base 11 is provided with the turntable structure for 11 rotation of driving manipulator pedestal；The hinge property of manipulator base 11 connects
It is connected to mechanical arm 12, mechanical arm 12 is provided with for driving mechanical arm 12 around the axial direction that its axis is that shaft carries out rotation
Rotational structure；The end of mechanical arm 12 is connected with mechanical ancon 13；The end hinge property of mechanical ancon 13 is connected with mechanical elbow wrist
Portion 14；Mechanical elbow wrist 14 is provided with pivot structure, and pivot structure is provided with a rotation axis 15, for driving each sucker grillage
1601 around rotation axis 15 axis be shaft carry out angle adjustment.This Joint Manipulator has six axis adjustment structures, can
Comprehensive acts the side position of manipulator base 11.
Manipulator fixture 16 is provided with multiple fixture units, and each fixture unit is respectively set to vacuum fixture, vacuum fixture
Include sucker grillage 1601, and be fixed on multiple sucker units 1602 of sucker grillage 1601, each sucker grillage 1601 is distinguished
It is fixed in rotation axis, the along the circumferential direction equiangularly spaced setting respectively of each sucker grillage 1601.Specifically, rotation axis 15 is connected with
The connection frame 1501 of one " I-shaped ", sucker grillage 1601 are respectively and fixedly connected in the both sides of the connection frame 1501 of " I-shaped ", respectively
Sucker unit 1602 is distributed in the lateral surface of sucker grillage 1601 side by side, is arranged at equal intervals between each sucker unit 1602, same
In one sucker grillage 1601, the distribution of each sucker unit 1602 forms clamping size, the mutual not phase of the clamping size of each vacuum fixture
Together, cooperated with realizing that manipulator fixture 16 carries out material grasping processing from the processing station of different processing dimensions respectively.
Preferable embodiment is that sucker unit 1602 is set as small sucker made by flexible glue material, each small sucker
It is respectively communicated with the material grasping sucker in sucker grillage 1601, each material grasping sucker is connected to vacuum equipment, to control manipulator folder
Have 16 pairs of workpiece carry out inhale put, the small sucker as made by flexible glue material to workpiece carry out material grasping when, will not since itself matter is soft
Rigid collision is caused to workpiece, avoids breaking workpiece.In addition, small sucker made by flexible glue material is derived from the active force of workpiece
Atmospheric pressure prints so will not cause to inhale to workpiece, avoids causing secondary injury to workpiece.
Specifically, as shown in Figures 1 to 4, a fast quick-detach is connected between rotation axis 15 and sucker grillage 1601
Structure, Quick disassembling structure include a pin end 1720 and female connector 1710, and pin end 1720 and female connector 1710 are set respectively
It is set to replacement component, pin end 1720 and female connector 1710 are able to replace with different pin end 1720 and female connector 1710
It uses, pin end 1720 is bolted in the top of sucker grillage 1601 for a long time, and female connector 1710 is bolted in rotation axis 15, public access for a long time
Bonding in vacuum is carried out between first 1720 and female connector 1710.
The specific structure of pin end 1720 and female connector 1710 are as follows: the acting surface protrusion of pin end 1720 forms connection and inserts
The side wall protrusion of column 1721, connection inserting column 1721 is provided with multiple resilient balls 1722, the circumference of the acting surface of pin end 1720
Also protrusion setting is there are two fastening screw 1723, and the acting surface of pin end 1720 offers multiple vacuum sucking holes, and vacuum sucking holes are set
It is equipped with the counter sink of opening open, the opening of each vacuum sucking holes is connected with more flexible glue circles 1724；The effect of female connector 1710
Face recess forms a connection vestibule 1711, and connection vestibule 1711 and 1721 bolt of connection inserting column cooperate, connection vestibule 1711
Inner wall protrusion forms a convex shoulder 1712, and after connection inserting column 1721 is plugged in connection vestibule 1711, each resilient balls 1722 are distinguished
Block forms a resilient balls buckle structure in convex shoulder 1712, simple between pin end 1720 and female connector 1710 to realize
Connection, after avoiding the bonding in vacuum of pin end 1720 and female connector 1710 from disconnecting, manipulator fixture 16 is fallen under the effect of gravity
And it breaks.There are two the circumference settings of the acting surface of female connector 1710 and the matched pin hole 1713 of fastening screw 1723, and two
Fastening screw 1723 arbitrarily carries out bolt cooperation with a pin hole 1713, to realize circle between pin end 1720 and female connector 1710
The positioning of circumferential direction, positioning is reliable, and precision is high.Multiple suckers 1714 are offered on the acting surface of female connector 1710, it is fixed at two
Position bolt 1723 is inserted in pin hole 1713 respectively, each resilient balls 1722 distinguish block after convex shoulder 1712, each sucker
1714 respectively tight against corresponding flexible glue circle 1724, with airtight each vacuum sucking holes of covering, the side setting of female connector 1710
There is the vacuum adapter for being connected to vacuum valve, vacuum adapter is separately connected each sucker 1714, each to inhale under the air-extraction function of vacuum pump
Hole 1714 and each vacuum sucking holes are in vacuum state, and containing vacuum valve keeps sucker 1714 and each vacuum sucking holes to locate
In vacuum state, under atmospheric action, the bonding in vacuum between pin end 1720 and female connector 1710 is realized；Vacuum valve is opened,
Sucker 1714 and each vacuum sucking holes are connected to atmospheric pressure, to realize the disconnected of bonding in vacuum between pin end 1720 and female connector 1710
It opens.This bonding in vacuum structure, stable connection can keep affixed state for a long time, and unlock quickly, then realize manipulator
The fast inserted of fixture 16.
Specifically, blank container is set as plastic sucking disc 20, forms on plastic sucking disc 20 multiple for placing the cavity of workpiece
21, each cavity 21 is arranged in the form of an array respectively；Product container is also configured as mutually isostructural plastic sucking disc 20.It is loaded with work to be processed
The plastic sucking disc 20 of part is stacked stacked vertically, keeps the level orientation of each layer plastic sucking disc 20 identical, it is ensured that robot device can be quasi-
Really pick up the workpiece to be processed on plastic sucking disc 20.21 position of cavity on plastic sucking disc 20 matches with processing stations.In existing skill
In art, manipulator is directly used as clamping station by the cavity 21 on plastic sucking disc 20 without transfer relocation device.But
In handling process, the workpiece to be processed in cavity 21 is easy to happen displacement, causes manipulator fixture to the workpiece on plastic sucking disc 20
When carrying out direct tool locating, tool locating precision is low, be easy to cause processing mistake, causes irremediable damage to workpiece.
And technical principle of the invention is, the repositioning before processing to workpiece, it is ensured that when manipulator carries out material grasping processing, respectively
The clamping size of workpiece and the processing dimension of processing station are identical, avoid processing mistake, improve machining center yields.
Specifically, workpiece relocation device 3 includes a workpiece positioning seat 0300 and PIN needle mechanism, each workpiece positioning
The upper surface recess of seat 0300 forms multiple located cavities 0301, the shape size of each located cavity 0301 respectively with each workpiece
Profile size match, in same workpiece positioning seat 0300, the distribution of each located cavity 0301 forms processing dimension, each workpiece
It is respectively embedded into each corresponding located cavity 0301；PIN needle mechanism pushes PIN needle 0314 and PIN needle driving dress with multiple
It sets, PIN needle driving device respectively drives connection and respectively pushes PIN needle 0314, respectively pushes PIN needle 0314 and is movably set in respectively accordingly
Each side of located cavity 0301 is made to the inner sidewall of each corresponding 0301 other side of located cavity against cooperation, each to push
Each workpiece in corresponding located cavity 0301, makes each workpiece be close to be aligned in the side wall of each corresponding located cavity 0301 respectively.Work
The positioning principle of part relocation device 3 is that each workpiece is transferred on each corresponding located cavity 0301 by robot device, each
The opening of located cavity 0301 forms chamfering 0302, with guide each corresponding workpiece smoothly sliding insertion it is each position accordingly it is recessed
In chamber 0301.After each workpiece slides into located cavity 0301 by smooth guidance, each workpiece completes the positioning of left and right directions.Then, respectively
It pushes PIN needle 0314 and pushes each workpiece, the corresponding edge of each workpiece is made to be close to be aligned in each 0301 phase of corresponding located cavity respectively
The inner sidewall answered, to complete to position in the front-back direction.Until respectively pushing PIN needle before manipulator fixture picks up each workpiece again
0314 keeps pushing trend to associated workpiece respectively, guarantees that each workpiece keeps being aligned each located cavity 0301, realizes workpiece weight
Positioning.
Preferable technical solution is that the inner sidewall of this side is provided with buffering PIN needle 0303, and buffering PIN needle 0303 is protruded
In this side side wall, to realize that workpiece carries out flexible reorientation, avoids the inner sidewall of workpiece and located cavity 0301 from carrying out rigidity and touch
It hits, causes the damage of workpiece.
Specifically, it respectively pushes PIN needle 0314 and each buffering PIN needle 0303 is respectively set as the column made of flexible glue material
Body.
Specifically, hardware organisation of working can be set as CNC processing unit (plant) or stamping device or laser processing device or work
Part grinding device or drilling equipment.Hardware organisation of working belongs to replacement component, can be according to production needs to hardware organisation of working
It is replaced and quantity increases and decreases, enhance the controllability in this processing, meet different types of processing needs, further subtract
The equipment investment of low enterprise.
Specifically, there are two hardware organisation of working 4 and two workpiece relocation devices 3 for the setting of this machining center, and hardware adds
Work mechanism 4 includes a machining support 0400 and multiple processing units 0401, and each processing unit 0401 is fixed in side by side respectively to be added
The top of work bracket 0400, each processing unit 0401 distribution form processing dimension, and the processing dimension of different hardware organisation of workings 4 is mutual
It is not identical；Two workpiece relocation devices 3 are respectively provided with different location dimensions, the location dimension of workpiece relocation device 3 with
The processing dimension of the one hardware organisation of working 4 to match is identical.It can be seen that workpiece relocation device 3 of the invention belongs to phase
The matching component for the hardware organisation of working 4 answered needs to match work with fixed hardware organisation of working 4.Meanwhile it being reset by workpiece
The composed structure of position device 3 it is found that the location dimension of workpiece relocation device 3 is decided by the distributed dimension of located cavity 0301,
The location dimension of workpiece relocation device 3 can be changed by only needing to change workpiece positioning seat 0300, and improvement cost is low, embodies again
Superiority of the invention.
The present invention also provides the processing methods of multistation flexibility hardware machining center, include the following steps,
1) material grasping step, robot device 1 are picked up by manipulator fixture 16 therein from blank station 2 multiple to be processed
Workpiece；
2) transfer relocates step, and each workpiece transfer to be processed to transfer is relocated by robot device 1 and is stood, is released
Each workpiece is put, is respectively placed in it in each reorientation portion in corresponding workpiece relocation device 3, in being carried out to each workpiece
Turn localization process, the position dimension for keeping each workpiece opposite is identical as the location dimension of the workpiece relocation device 3, this workpiece is reset
The location dimension of position device 3 is identical as the processing dimension of a corresponding processing station；
3) tooling material grasping step, robot device 1 are relocated by the manipulator fixture 16 of setting clamping size from workpiece
Each workpiece is picked up with its location dimension in device 3, to carry out tool locating material grasping to each workpiece；
4) hardware material grasping procedure of processing, robot device 1 are processed each workpiece transfer of completion tool locating to corresponding
It stands and the hardware working process of this processing station offer is provided；
5) compound hardware material grasping procedure of processing, each workpiece transfer of the hardware working process for completing a upper processing station into
Turn another workpiece relocation device 3 in reorientation station, to complete the transfer relocation process of another specification, repeats step 2, step
Rapid 3 and step 4, until completing the hardware working process of all processing stations in multistation flexibility hardware machining center, every progress
Before the hardware material grasping processing of one processing station, the workpiece that manipulator fixture 16 is grabbed carries out transfer reorientation, keeps away
Exempt to process mistake, if the processing station quantity in multistation flexibility hardware machining center is one, then ignores this step, directly carry out
Next step.
6) product stores step, the workpiece by all hardware working processes in multistation flexibility hardware machining center,
The product container being transferred on finished product station 5, to complete the hardware working process in a period.
The multistation flexible machining centre has the advantage that compared with prior art
1, the multistation flexible machining centre is able to carry out compound material grasping operation, carried out within the same process-cycle it is a kind of or
In addition a variety of hardware working processes set up machining center without a variety of process requirements for identical workpiece, reduce the weight of enterprise
Money investment, saves workshop area occupied, reduces production cost, improves high production efficiency.
2, the multistation flexible machining centre can carry out a transfer to workpiece before the processing of each single item hardware material grasping
Reorientation, guarantees the tooling precision of workpiece, avoids workpiece from occurring accidentally to process, further increases the yields of product, reduce enterprise
The blank of industry consumes.
3, the multistation flexible machining centre can carry out one or more five to multiple workpiece within the same process-cycle
Metalworking processing, high production efficiency.
4, the multistation flexible machining centre can be replaced setting to processing station according to production needs, it is not necessary to for spy
Fixed process requirements and set up machining center again, be further reduced enterprise money again investment.
5, the multistation flexible machining centre can be suitable for a plurality of types of hardware processing works, such as: CNC processing,
Punch process, radium-shine processing, polishing processing and drilling processing etc., it is applied widely, each vehicle in enterprise can be further reduced
Between human cost, improve each workshop of enterprise production efficiency, be beneficial to build supermatic unmanned workshop.
6, the multistation flexible machining centre carries out automatic charging and automatic blanking by robot device, with the prior art
Compare, individually artificial feeding, discharge process be omitted, increase feeding machanism without independent, be greatly saved cost of labor and
Equipment investment.
7, the multistation flexible machining centre is by being provided with the manipulator fixture 16 of eight stations and having eight processing
The hardware organisation of working 4 of unit 0401, carries out cooperation processing, and compared with original artificial, processing efficiency improves octuple.
The above is only a preferred embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to the present invention
Limitation.
Claims (10)
1. a kind of multistation flexibility hardware machining center, it is characterised in that: hardware machining center include robot device (1),
Blank station (2), transfer reorientation station, an at least processing station and finished product station (5),
Robot device (1) is used as and carries workpieces processing and carry out material grasping processing to workpiece, and robot device (1) is provided with
Manipulator fixture (16), manipulator fixture (16) include an at least fixture unit, and each fixture unit is respectively arranged with multiple
Fixture station, in same fixture unit, each fixture station is distributed to form a clamping size；
Blank station (2), as workpiece to be processed is placed, blank station (2) are provided at least one blank container, multiple to be processed
Workpiece be placed in blank container in the form of an array；
Transfer reorientation station, as relocating to each workpiece, transfer reorientation station is provided with the reorientation of at least one workpiece
Device (3), each workpiece relocation device (3) match with corresponding fixture unit respectively, each workpiece relocation device (3) point
It is not provided with multiple reorientation portions, in same workpiece relocation device (3), respectively resets bit position cloth and forms a location dimension,
In the workpiece relocation device (3) and fixture unit being mutually matched, location dimension is identical as clamping size；
Processing station is respectively arranged with the First Five-Year Plan in different processing stations as five metalworkings are carried out to the workpiece on fixture unit
Metalworking mechanism (4), each processing station match with corresponding workpiece relocation device (3) respectively, each hardware organisation of working (4)
Multiple processing stations are respectively arranged with, in same processing station, each processing stations are distributed to form a processing dimension, at mutual
In the processing station and fixture unit matched, processing dimension is identical with location dimension；
Finished product station (5), as the workpiece for completing processing is placed, finished product station (5) are provided at least one product container；
Blank station (2), transfer reorientation station, finished product station (5) and each processing station are respectively positioned in the side of robot device (1)
Side.
2. a kind of multistation flexibility hardware machining center according to claim 1, it is characterised in that: the fixture unit is set
It is set to manual or air-actuated jaw or hydraulically operated fixture or magnetic holding device or vacuum fixture.
3. a kind of multistation flexibility hardware machining center according to claim 2, it is characterised in that: the robot device
(1) it is set as Joint Manipulator, the end of Joint Manipulator is provided with rotation axis (15),
The manipulator fixture (16) is provided with multiple fixture units, and each fixture unit is respectively set to vacuum fixture, vacuum clip
Tool includes sucker grillage (1601), and is fixed on multiple sucker units (1602) of sucker grillage (1601), each sucker grillage
(1601) it is respectively and fixedly connected in rotation axis (15), the along the circumferential direction equiangularly spaced setting respectively of each sucker grillage (1601), it is each to inhale
Disk unit (1602) is distributed in the lateral surface of sucker grillage (1601) side by side, is arranged at equal intervals between each sucker unit (1602),
In same sucker grillage (1601), each sucker unit (1602) distribution forms the clamping size, the dress of each vacuum fixture
It is different to press from both sides size, is matched with realizing that manipulator fixture (16) carries out material grasping processing from the processing station of different processing dimensions respectively
It closes.
4. a kind of multistation flexibility hardware machining center according to claim 3, it is characterised in that: the blank container is set
Be set to plastic sucking disc (20), formed on plastic sucking disc (20) it is multiple for placing the cavities (21) of workpiece, each cavity (21) respectively with
Array format setting.
5. a kind of multistation flexibility hardware machining center according to any one of claims 1 to 3, it is characterised in that: described
Workpiece relocation device (3) includes a workpiece positioning seat (0300) and PIN needle mechanism,
The upper surface recess of each workpiece positioning seat (0300) forms multiple located cavities (0301), each located cavity (0301)
Profile size of the shape size respectively with each workpiece match, in same workpiece positioning seat (0300), respectively position recessed
Chamber (0301) distribution forms the processing dimension, and each workpiece is respectively embedded into each corresponding located cavity (0301)；
PIN needle mechanism pushes PIN needle (0314) and PIN needle driving device with multiple, and PIN needle driving device respectively drives connection
PIN needle (0314) is respectively pushed, each one that PIN needle (0314) is movably set in corresponding located cavity (0301) respectively is respectively pushed
Side is made to the inner sidewall of each corresponding located cavity (0301) other side against cooperation, to push each corresponding located cavity (0301)
Interior each workpiece makes each workpiece be close to be aligned in the side wall of each corresponding located cavity (0301) respectively.
6. a kind of multistation flexibility hardware machining center according to claim 5, it is characterised in that: each positioning is recessed
The opening of chamber (0301) forms chamfering (0302), to guide each corresponding workpiece is smoothly sliding to be embedded in each corresponding positioning
In cavity (0301).
7. a kind of multistation flexibility hardware machining center according to claim 6, it is characterised in that: each workpiece is close to respectively
It is aligned in each corresponding corresponding inner sidewall of located cavity (0301), the inner sidewall of this side is provided with buffering PIN needle
(0303), buffering PIN needle (0303) protrudes from this side side wall, to realize that workpiece carries out flexible reorientation.
8. a kind of multistation flexibility hardware machining center according to claim 7, it is characterised in that: push PIN described in each
Needle (0314) and each buffering PIN needle (0303) are respectively set as the cylinder made of flexible glue material.
9. a kind of multistation flexibility hardware machining center according to claim 8, it is characterised in that: the hardware processing machine
Structure (4) is set as CNC processing unit (plant) or stamping device or laser processing device or work-piece polishing device or drilling equipment.
10. a kind of processing method of multistation flexibility hardware machining center, multistation flexibility hardware machining center includes tool hand
Device, blank station (2), transfer reorientation station, finished product station (5) and at least one processing station, multistation flexibility hardware machining center
In processing station quantity be able to carry out increase and decrease setting, it is characterised in that: include the following steps,
1) material grasping step, robot device (1) are picked up by manipulator fixture therein (16) from blank station (2) multiple to be processed
Workpiece；
2) transfer relocates step, and each workpiece transfer to be processed to transfer is relocated by robot device (1) and is stood, release
Each workpiece is respectively placed in it in each reorientation portion in corresponding workpiece relocation device (3), in carrying out to each workpiece
Turn localization process, the position dimension for keeping each workpiece opposite is identical as the location dimension of the workpiece relocation device (3), this workpiece weight
The location dimension of positioning device (3) is identical as the processing dimension of a corresponding processing station；
3) tooling material grasping step, robot device (1) are relocated by the manipulator fixture (16) of setting clamping size from workpiece
Each workpiece is picked up with its location dimension in device (3), to carry out tool locating material grasping to each workpiece；
4) hardware material grasping procedure of processing, robot device (1) is each workpiece transfer of completion tool locating to corresponding processing station
The hardware working process of this processing station offer is provided；
5) compound hardware material grasping procedure of processing, each workpiece transfer of the hardware working process for completing a upper processing station to transfer weight
Another workpiece relocation device (3) in localizer station, carries out the transfer localization process of another specification, repeat step 2, step 3 with
And step 4, until completing the hardware working process of all processing stations in multistation flexibility hardware machining center, every progress one adds
Before the hardware material grasping processing of station, the workpiece that manipulator fixture (16) is grabbed carries out transfer reorientation, avoids adding
Work mistake is then ignored this step, is directly carried out next if the processing station quantity in multistation flexibility hardware machining center is one
Step；
6) product stores step, the workpiece by all hardware working processes in multistation flexibility hardware machining center, transfer
Product container on finished product station (5), to complete the hardware working process in a period.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910474824.5A CN110076635A (en) | 2019-06-03 | 2019-06-03 | A kind of multistation flexibility hardware machining center and its processing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910474824.5A CN110076635A (en) | 2019-06-03 | 2019-06-03 | A kind of multistation flexibility hardware machining center and its processing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110076635A true CN110076635A (en) | 2019-08-02 |
Family
ID=67423176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910474824.5A Pending CN110076635A (en) | 2019-06-03 | 2019-06-03 | A kind of multistation flexibility hardware machining center and its processing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110076635A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110597094A (en) * | 2019-09-10 | 2019-12-20 | 宁波舜宇智能科技有限公司 | Processing control method, system, readable storage medium and device |
| CN111152060A (en) * | 2019-12-23 | 2020-05-15 | 濠玮电子科技（惠州）有限公司 | Numerical control full-automatic machining center for precise hardware |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09174473A (en) * | 1995-12-25 | 1997-07-08 | Hirotec:Kk | Positioning jig device for work and work processing method using the jig device |
| US20020086628A1 (en) * | 1999-04-30 | 2002-07-04 | Stama Maschinenfabrik Gmbh | Machine tool with a manipulator |
| CN203751780U (en) * | 2014-01-25 | 2014-08-06 | 深圳市依诺威电子有限公司 | Fixture for use in batch product processing |
| CN205928333U (en) * | 2016-05-20 | 2017-02-08 | 金郁 | Magnetic shoe flattening positioner |
| CN106393120A (en) * | 2016-12-05 | 2017-02-15 | 沈阳高精数控智能技术股份有限公司 | Reconfigurable device of robot tail end executor |
| CN106493472A (en) * | 2016-11-25 | 2017-03-15 | 广东天机工业智能系统有限公司 | Laser engraving machine |
| CN107127627A (en) * | 2017-06-21 | 2017-09-05 | 北京精雕科技集团有限公司 | A kind of automatic loading/unloading lathe of rear-mounted machine outside fix |
| CN207358343U (en) * | 2017-09-14 | 2018-05-15 | 郑州友联智能装备有限公司 | A kind of automatic welding production line |
| CN208005501U (en) * | 2017-12-28 | 2018-10-26 | 深圳市盛世智能装备有限公司 | A kind of orientation jig and positioning device |
| CN108859542A (en) * | 2018-05-30 | 2018-11-23 | 杨晓宏 | A kind of Multi-station full-automatic numerical control finishing impression processing method and the carving machine for implementing this method |
| CN208663572U (en) * | 2018-08-02 | 2019-03-29 | 山东华准机械有限公司 | A kind of flexible automatic positioning mechanism processed for thin plate in liquid medium |
| CN210115746U (en) * | 2019-06-03 | 2020-02-28 | 东莞智富五金制品有限公司 | Multi-station flexible hardware machining center |
-
2019
- 2019-06-03 CN CN201910474824.5A patent/CN110076635A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09174473A (en) * | 1995-12-25 | 1997-07-08 | Hirotec:Kk | Positioning jig device for work and work processing method using the jig device |
| US20020086628A1 (en) * | 1999-04-30 | 2002-07-04 | Stama Maschinenfabrik Gmbh | Machine tool with a manipulator |
| CN203751780U (en) * | 2014-01-25 | 2014-08-06 | 深圳市依诺威电子有限公司 | Fixture for use in batch product processing |
| CN205928333U (en) * | 2016-05-20 | 2017-02-08 | 金郁 | Magnetic shoe flattening positioner |
| CN106493472A (en) * | 2016-11-25 | 2017-03-15 | 广东天机工业智能系统有限公司 | Laser engraving machine |
| CN106393120A (en) * | 2016-12-05 | 2017-02-15 | 沈阳高精数控智能技术股份有限公司 | Reconfigurable device of robot tail end executor |
| CN107127627A (en) * | 2017-06-21 | 2017-09-05 | 北京精雕科技集团有限公司 | A kind of automatic loading/unloading lathe of rear-mounted machine outside fix |
| CN207358343U (en) * | 2017-09-14 | 2018-05-15 | 郑州友联智能装备有限公司 | A kind of automatic welding production line |
| CN208005501U (en) * | 2017-12-28 | 2018-10-26 | 深圳市盛世智能装备有限公司 | A kind of orientation jig and positioning device |
| CN108859542A (en) * | 2018-05-30 | 2018-11-23 | 杨晓宏 | A kind of Multi-station full-automatic numerical control finishing impression processing method and the carving machine for implementing this method |
| CN208663572U (en) * | 2018-08-02 | 2019-03-29 | 山东华准机械有限公司 | A kind of flexible automatic positioning mechanism processed for thin plate in liquid medium |
| CN210115746U (en) * | 2019-06-03 | 2020-02-28 | 东莞智富五金制品有限公司 | Multi-station flexible hardware machining center |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110597094A (en) * | 2019-09-10 | 2019-12-20 | 宁波舜宇智能科技有限公司 | Processing control method, system, readable storage medium and device |
| CN111152060A (en) * | 2019-12-23 | 2020-05-15 | 濠玮电子科技（惠州）有限公司 | Numerical control full-automatic machining center for precise hardware |
| CN111152060B (en) * | 2019-12-23 | 2020-08-25 | 濠玮电子科技（惠州）有限公司 | Numerical control full-automatic machining center for precise hardware |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4611846A (en) | Gripper head | |
| CN210115746U (en) | Multi-station flexible hardware machining center | |
| CN202225657U (en) | Computer numerical control (CNC) engraving and milling machine capable of automatically feeding and discharging materials | |
| CN110076635A (en) | A kind of multistation flexibility hardware machining center and its processing method | |
| CN207077237U (en) | A kind of piston smart car positioning device for seam | |
| US11878410B2 (en) | Method and apparatus for automated transforming tooling systems | |
| CN110125757B (en) | Deburring device for lower swing arm casting of automobile | |
| CN210590243U (en) | Nut embedding workpiece processing equipment | |
| CN112706185A (en) | Double-station quick-change flexible tool | |
| CN116475820A (en) | Double-procedure overturning processing equipment and working method thereof | |
| CN217414060U (en) | Universal floating mechanism of manipulator | |
| CN206622896U (en) | Workpiece fetching device | |
| CN110722070A (en) | Robot workstation of bending | |
| EP1247619A2 (en) | Device for the positioning and blocking of pieces on wood working machines and relative machine | |
| CN110434656B (en) | Vacuum transfer system for automatic machining of thin-wall parts | |
| CN106312607A (en) | Air-floating type hole part positioning device | |
| CN218503791U (en) | Material taking mechanical arm and gasket sleeving device | |
| CN214323409U (en) | Double-station quick-change flexible tool | |
| CN203752409U (en) | Device for automatically mounting steel sheet and nut in injection mold | |
| CN213616774U (en) | Rubber plug gripping tool | |
| CN220906435U (en) | Transfer device | |
| CN212554682U (en) | Copying taking-out device | |
| CN217626249U (en) | Automatic unloader that goes up of general type | |
| CN215203106U (en) | Automatic feeding and discharging gripper of fan injection mold based on robot | |
| CN117464427A (en) | CNC automatic processing equipment of small-size die casting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |