CN110280627A - 17 axis dual robot bending unit of Full-numerical-control - Google Patents
17 axis dual robot bending unit of Full-numerical-control Download PDFInfo
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- CN110280627A CN110280627A CN201910724315.3A CN201910724315A CN110280627A CN 110280627 A CN110280627 A CN 110280627A CN 201910724315 A CN201910724315 A CN 201910724315A CN 110280627 A CN110280627 A CN 110280627A
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- 238000005452 bending Methods 0.000 title claims abstract description 125
- 230000009977 dual effect Effects 0.000 title claims abstract description 16
- 239000002994 raw material Substances 0.000 claims description 11
- 241000252254 Catostomidae Species 0.000 claims description 5
- 239000000463 material Substances 0.000 abstract description 19
- 239000002184 metal Substances 0.000 abstract description 13
- 229910052751 metal Inorganic materials 0.000 abstract description 13
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 230000001360 synchronised effect Effects 0.000 abstract description 6
- 230000007306 turnover Effects 0.000 abstract description 6
- 230000003245 working effect Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 206010016256 fatigue Diseases 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012423 maintenance Methods 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
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/11—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers for feeding sheet or strip material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D55/00—Safety devices protecting the machine or the operator, specially adapted for apparatus or machines dealt with in this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The present invention provides Full-numerical-control 17 axis dual robot bending unit, effective solution in the prior art a bending machine once can only one workpiece of bending, the problem of bending efficiency is not significantly improved.Including bending machine, there are two robots for the front fixed installation of the bending machine, the left and right side of two robots is fixedly installed with hand-off frame respectively, alignment table is separately installed in front of two hand-off framves, pallet is placed in front of two robots, the bending machine and two robots have been electrically connected operation bench.The present invention not only realizes the automatic bending of sheet metal component, also improves production efficiency, while also saving a large amount of manpower and material resources by the robot of bending machine and two synchronous workings；Robot can be made more accurately to grab plate by alignment table, improve bending precision；By hand-off frame, the polygon bending of plate and turn-over bending may be implemented, by robot bending unit, can satisfy the automatic bending of various workpieces.
Description
Technical field
The present invention relates to livestock-raising equipment technical fields, specifically 17 axis dual robot bending unit of Full-numerical-control.
Background technique
In livestock-raising equipment production field, often production shield egg plate, manure-blocking plate, hopper etc. pass through sheet metal process system
Product made of making, and sheet metal process is a kind of synthesis cold machining process for sheet metal, including cuts, rushes, cuts, rolls over, welds
Techniques, the sheet metal component outstanding feature such as connecing, rivet, splicing is exactly that the thickness of Same Part is identical, is processed by sheet metal process
Product be called sheet metal component, sheet metal component needs to carry out bending in process to form required shape of product.
Currently, metal plate bending, which usually uses bending machine, carries out bending, bending machine is typically all by artificial in bending
Hand-held plate completes bending, and working efficiency is low, large labor intensity, and since plate is relatively thin, is easy to scratch operator,
There are security risks, in bending, often need more than two people's cooperations that could complete bending, and operator's working time
Grown be easy to produce it is tired out, to will affect the machining accuracy and processing quantity of bending part in process of production, and in some metal plates
It during gold is at production, then replaces manually producing using robot, be slidably matched in front of bending machine bending by robot
Production improves machining accuracy when metal plate produces using robot.
But above scheme still remains drawback:
1. there are security risk, low efficiencys for artificial production.
2. processing compared with casual labourer's part, bending machine once can only one workpiece of bending, waste the bending region of bending machine, bending
Efficiency does not significantly improve.
3. robot works in bending machine front slide, occupied space is big, not easy to operate.
Therefore, the present invention provides 17 axis dual robot bending unit of Full-numerical-control to solve the above problems.
Summary of the invention
For above situation, for the defect for overcoming the prior art, the present invention provides 17 axis dual robot bending list of Full-numerical-control
Member, there are security risk, low efficiency for artificial production in the prior art for effective solution；Bending machine once can only one work of bending
Part, bending efficiency do not significantly improve；Robot works in bending machine front slide, and occupied space is big, problem not easy to operate.
17 axis dual robot bending unit of Full-numerical-control, which is characterized in that including bending machine, the front of the bending machine is fixed
There are two robot, the left and right sides of two robots to be fixedly installed with hand-off frame respectively for installation, and two described hand-off
It is separately installed with alignment table in front of frame, is placed with pallet in front of two robots, described in the bending machine and two
Robot has been electrically connected operation bench.
Preferably, the bending machine is 5 axis 53T system bending unit of PBC-110/31000 Full-numerical-control.
Preferably, two artificial KUKA KR16 1610 of machine, 6 axis robot of Full-numerical-control.
Preferably, handgrip is rotatably equipped in two robots respectively, is separately installed on two handgrips more
A Pneumatic suction cup and multiple pneumatic grippings.
Preferably, the hand-off frame, including column are fixedly installed with overarm brace, the overarm brace on the column
On multiple suckers are installed.
Preferably, the alignment table is rectangular, and to one overturning angle, the alignment table upper surface is rotatably equipped with rolling
Pearl, alignment table upper surface edge are connected with baffle.
Preferably, the pallet, including two raw material pallets and two ready-made trays, the upper end of two raw material pallets
Face edge is separately installed with magnetism and says good-bye device.
Preferably, the bending unit periphery is fixedly installed with safety guard net, and the operation bench is placed in safety guard net
Outside.
The present invention has not only liberated manually by the robot of bending machine and two synchronous workings, has realized sheet metal component
Automatic bending also improves production efficiency, while also saving a large amount of manpower and material resources；It can make robot more by alignment table
Accurately crawl plate, improves bending precision；By hand-off frame, the polygon bending of plate and turn-over bending may be implemented, so that
Robot bending unit can satisfy the automatic bending of various workpieces.
Detailed description of the invention
Fig. 1 is stereoscopic schematic diagram one of the present invention.
Fig. 2 is stereoscopic schematic diagram two of the present invention.
Fig. 3 is robot stereoscopic schematic diagram of the present invention.
Fig. 4 is alignment table stereoscopic schematic diagram three of the present invention.
Fig. 5 is handgrip stereoscopic schematic diagram of the present invention.
Fig. 6 is the hand-off frame stereoscopic schematic diagram of the present invention.
Fig. 7 is finished product a stereoscopic schematic diagram of the present invention.
Fig. 8 is that magnetism of the present invention is said good-bye device stereoscopic schematic diagram.
Fig. 9 is present invention process flow diagram.
Specific embodiment
For the present invention aforementioned and other technology contents, feature and effect, in following cooperation with reference to figures 1 through Fig. 9 pairs
In the detailed description of embodiment, can clearly it present.The structure content being previously mentioned in following embodiment is attached with specification
Figure is reference.
Each exemplary embodiment of the invention is described below with reference to accompanying drawings.
Embodiment one, the present invention are 17 axis dual robot bending unit of Full-numerical-control, which is characterized in that including bending machine 1, folding
The selection of bender 1 can determine that bending machine 1 is fixed on the ground of production area according to needs of production, the bending machine 1
Front be fixedly mounted there are two robot 2, wherein a robot 2 is located at the left end of bending machine 1, another 2, robot
Be bolted on ground in the pedestal of the right end of bending machine 1, two robots 2, and two robots 2 with
The distance between bending machine 1 is equal, and two robots 2 can synchronize crawl plate and carry out bending, but the plate of required bending
Length is not greater than the half of the maximum bending length of bending machine 1, and the left and right side of two robots 2 is fixedly mounted respectively
There are hand-off frame 3, the corresponding hand-off frame 3 of each robot 2, and the position of hand-off frame 3 will be in the maximum operating range of robot 2
Interior, in bending process, because of technological reason, robot 2 grabs plate sometimes for from the other side again, needs outside at this time
3 auxiliary robot 2 of hand-off frame complete the turn-over movement of plate, robot 2 puts the plate of preliminary bending to hand-off
After on frame 3, robot 2 grabs the another side of plate, then arrive again and carries out bending at bending machine 1, two hand-off framves 3
Front is separately installed with alignment table 4, the corresponding alignment table 4 of each robot 2, and the position of alignment table 4 will be in robot 2
In maximum operating range, two robots 2 are put on corresponding alignment table 4 respectively first after synchronous crawl plate
Then centering is sent to bending at bending machine 1 simultaneously again so that Liang Ge robot 2 can more accurately grab plate, thus
Guarantee the precision of bending, the front of two robots 2 is placed with pallet 5, and the position of pallet 5 will be in Liang Ge robot 2
In maximum operating range, raw material and finished product are placed on pallet 5 respectively, the bending machine 1 and robot 2 are electrically connected with manipulation
The position of platform 6, operation bench 6 will control bending machine 1 and machine by operation bench 6 except the maximum operating range of Liang Ge robot 2
The control program of device people 2, two robots 2 are existing program, and details are not described herein.
Embodiment two, on the basis of example 1, the bending machine (1) are 5 axis (53T of PBC-110/31000 Full-numerical-control
System) electrohydraulic servo bending machine, main organic frame, sliding block, hydraulic system, rear positioning system, electrical system, deflection compensation machine
The composition such as structure, digital control system and mold.
PBC-110/3100 bending machine important technological parameters:
Note: the Y1 axis-electro-hydraulic synchronous closed-loop numerical control axis of left oil cylinder up and down motion.
Y2 axis-electro-hydraulic synchronous closed-loop numerical control the axis of right oil cylinder up and down motion.
X-axis-control back material stopping moves forward and backward numerical control axis.
R axis-control back material stopping up and down motion numerical control axis.
Automation deflection compensation moves numerical control axis to V axis-lower table up and down.
Embodiment three, on the basis of example 1, two robots (2) are KUKA KR16 1610, Full-numerical-control 6
Axis robot.
KUKA KR16 R1610 robot master data:
Outer dimension: 800 × 1100 × 600mm.
Weight: 150kg.
It complies with standard: DIN EN 292, EN 775, EN 418, EN 60204T1, EN 614T1, EN 954, EN
50081-2, EN 50082-2.
Protection class: IP54.
Voltage requirement: 3 × 400V.
Supply frequency: 49-61Hz.
Power supply capacity: 13.5KVA.
KUKA KR16 R1610 robot performance's parameter:
| Model | KR16 R1610 |
| The number of axle | 6 |
| Maximum working radius | 1610mm |
| Load | 16kg |
| Repeatable accuracy (ISO9283) | ±0.06mm |
| Weight | 235kg |
| Degree of protection | IP65 |
| Mounting means | Ground |
| A1 axis working range and maximum speed | +/- 185 °, 156 °/s |
| A2 axis working range and maximum speed | + 35 °/- 155 °, 156 °/s |
| A3 axis working range and maximum speed | + 154 °/- 130 °, 156 °/s |
| A4 axis working range and maximum speed | +/- 350 °, 330 °/s |
| A5 axis working range and maximum speed | +/- 130 °, 330 °/s |
| A6 axis working range and maximum speed | +/- 350 °, 615 °/s |
KUKA KR16 R1610 robot feature:
1. plan, operation and maintenance are simpler；Continue using the computer based control technology after verifying；By after
The continuous operation quick and simple and direct using existing standard implementation；The instruction set of extension programs convenient for the track of more user friendly.
2. security control, robot control, logic control, motion control and process control integrate a set of control system
In, it can be carried out real time communication between control module special, it is consistent to realize maximized data by central basic service system
Property.
3. the safe practice for whole new set of applications field of Seamless integration-, integrated software firewall, network is safer, wound
New software function, energy efficiency are optimized.
4. suitable future development, the technology platform without specialized hardware, multi-core processor is supported, performance has more upgradability,
Using the high-speed traffic of gigabit Ethernet, integrated storage card stores important system data, realizes in the smallest space
Maximized performance.
Example IV is rotatably equipped with handgrip 7 in two robots 2, handgrip 7 can on the basis of embodiment three
To follow robot 2 to grab plate, and follow the bending direction of plate mobile in 1 bending plate of bending machine, on the handgrip 7
Multiple Pneumatic suction cups 8 and multiple pneumatic grippings 9 are installed, multiple Pneumatic suction cups 8 can adsorb plate, multiple described pneumatic
Clamp 9 can clamp plate, and multiple Pneumatic suction cups 8 and multiple pneumatic grippings 9 are separately connected air pump.
Embodiment five, on the basis of example 1, the hand-off frame 3, including column 301, column 301 can be used
Bolt fixes on the ground, other can also be used and is fixedly connected with mode, is fixedly installed with overarm brace 302 on the column 301,
Overarm brace 302 can be used bolt and be fixed on column 301, and multiple suckers 303 are equipped on the overarm brace 302, multiple
The sucker 303 connects air pump, and in bending process, because of technological reason, handgrip 7 grabs plate sometimes for from the other side again
Material, when the plate after bending needs turn-over, robot 2 comes at hand-off frame 3 with plate, the suckers 303 multiple at this time
Plate is adsorbed, multiple Pneumatic suction cups 8 on 2 handgrip 7 of robot unclamp plate, and then the handgrip 7 in robot 2 rotates
180 °, then adsorb plate and send to progress bending at bending machine 1.
Embodiment six, on the basis of example 1, the alignment table 4 are rectangular, and to one overturning angle, robot
After 2 are put into plate on alignment table 4, plate can slide into 4 edge of alignment table by self weight, be automatically performed centering, described right
Middle 4 upper surfaces are rotatably equipped with ball 401, ball 401 can make plate it is more unobstructed slide into 4 edge of alignment table, institute
It states 4 upper surface edge of alignment table and is connected with baffle 402, baffle 402 can prevent the plate for being slipped to 4 edge of alignment table
Material falls to ground.
Embodiment seven, on the basis of example 1, the pallet 5, including two raw material pallets 501 and two finished product supports
Disk 502, by the way that manually plate is put on two raw material pallets 501, latter two right described robot 2 is respectively from corresponding
Grab plate on that raw material pallet 501 and carry out bending, be placed on two ready-made trays 502 complete bending at
Product, the upper surface edge of two raw material pallets 501 are separately installed with magnetic splitting device 503, and magnetic splitting device 503 is benefit
Divide iron plate with the polarity of magnet, can will be stained with consistent fat or muti-piece iron plate in irregular shape, quick separating, so that
Topmost a plate can lift certain altitude under the action of magnetic splitting device 503, guarantee the only crawl one every time of robot 2
Open plate.
Embodiment eight, on the basis of example 1, the bending unit periphery are fixedly installed with safety guard net 10, safety
Protective net 10 can protect the safety of staff, and the operation bench 6 is placed in outside safety guard net 10, and operation bench 6 is by the people that works
Member is the supervisory control desk for controlling bending machine 1, robot 2 and each pneumatic original part come what is operated, so needing in safety guard net
Safety zone except 10.
When specific operation, by taking workpiece a as an example, the length of the raw sheet material a0 of workpiece a should be less than the maximum bending length of bending machine 1
Half, firstly, whether detection bending machine 1, Liang Ge robot 2 normal, then manually needing the raw sheet material a0 of bending to distinguish
It is put on two raw material pallets 501, after completing preparation, starts bending machine 1, Liang Ge robot 2, Liang Ge robot 2 is distinguished
Raw sheet material a0 is grabbed by the Pneumatic suction cup 8 on handgrip 7, is then put on corresponding alignment table 4 and carries out centering, two institutes
It states robot 2 to grab the raw sheet material a0 of centering respectively while sending to the bending working region of bending machine 1, bending machine 1 starts to roll over
The front end of curved raw sheet material a0, the front end of raw material class a0 is upturned certain angle at this time, this angle is obtuse angle, at this time, it may be necessary to roll over
The rear end of curved raw sheet material a0, two robots 2 need to grab raw sheet material a0 from another side, and two robots 2 are distinguished
Raw sheet material a0 is moved at corresponding hand-off frame 3, multiple suckers 303 on two hand-off framves 3 adsorb raw sheet simultaneously
Expect to grab raw sheet material a0 another side simultaneously after a0, the handgrip 7 in two robots 2 rotate 180 ° respectively, latter two right machine
Device people 2 is moved at bending machine 1 simultaneously with the raw sheet material a0 after turn-over carries out bending again again, and bending at this time is raw sheet material
The rear end of a0, after bending, the rear end of raw sheet material a0 is upturned certain angle, this angle is acute angle, after completing bending, two institutes
It states robot 2 while the workpiece a after bending is put into respectively on corresponding ready-made tray 502, then proceed to detect and grab down
One plate continues subsequent bending work.
The present invention has not only liberated manually by the robot of bending machine and two synchronous workings, has realized sheet metal component
Automatic bending also improves production efficiency, while also saving a large amount of manpower and material resources；It can make robot more by alignment table
Accurately crawl plate, improves bending precision；By hand-off frame, the polygon bending of plate and turn-over bending may be implemented, so that
Robot bending unit can satisfy the automatic bending of various workpieces.
Claims (8)
1. 17 axis dual robot bending unit of Full-numerical-control, which is characterized in that including bending machine (1), the front of the bending machine (1)
It being fixedly mounted there are two robot (2), the left and right side of two robots (2) is fixedly installed with hand-off frame (3) respectively,
It is separately installed with alignment table (4) in front of two hand-off framves (3), is placed with pallet in front of two robots (2)
(5), the bending machine (1) and two robots (2) have been electrically connected operation bench (6).
2. 17 axis dual robot bending unit of Full-numerical-control according to claim 1, which is characterized in that the bending machine (1)
For 5 axis of PBC-110/31000 Full-numerical-control (53T system) bending unit.
3. 17 axis dual robot bending unit of Full-numerical-control according to claim 1, which is characterized in that two robots
It (2) is KUKA KR16 1610,6 axis robot of Full-numerical-control.
4. 17 axis dual robot bending unit of Full-numerical-control according to claim 3, which is characterized in that two robots
(2) it is rotatably equipped with respectively on handgrip (7), is separately installed with multiple Pneumatic suction cups (8) and multiple gas on two handgrips (7)
Dynamic clamp (9).
5. 17 axis dual robot bending unit of Full-numerical-control according to claim 1, which is characterized in that the hand-off frame (3),
It including column (301), is fixedly installed with overarm brace (302) on the column (301), is installed on the overarm brace (302)
There are multiple suckers (303).
6. 17 axis dual robot bending unit of Full-numerical-control according to claim 1, which is characterized in that the alignment table (4)
To be rectangular, and to one overturning angle, alignment table (4) upper surface is rotatably equipped with ball (401), the alignment table (4)
Upper surface edge is connected with baffle (402).
7. 17 axis dual robot bending unit of Full-numerical-control according to claim 1, which is characterized in that the pallet (5), packet
Include two raw material pallets (501) and two ready-made trays (502), the upper surface edge punishment of two raw material pallets (501)
An Zhuan not be magnetic say good-bye device (503).
8. 17 axis dual robot bending unit of Full-numerical-control according to claim 1, which is characterized in that the bending unit
Periphery is fixedly installed with safety guard net (10), and the operation bench (6) is placed in safety guard net (10) outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910724315.3A CN110280627A (en) | 2019-08-07 | 2019-08-07 | 17 axis dual robot bending unit of Full-numerical-control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910724315.3A CN110280627A (en) | 2019-08-07 | 2019-08-07 | 17 axis dual robot bending unit of Full-numerical-control |
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| CN110280627A true CN110280627A (en) | 2019-09-27 |
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ID=68024865
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| CN201910724315.3A Pending CN110280627A (en) | 2019-08-07 | 2019-08-07 | 17 axis dual robot bending unit of Full-numerical-control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113118327A (en) * | 2021-04-24 | 2021-07-16 | 南京利佰嘉电力器材有限公司 | Automatic plate bending production line |
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