CN110530258B - Automatic feeding and clamping device based on machine vision size detection machine - Google Patents
Automatic feeding and clamping device based on machine vision size detection machine Download PDFInfo
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- CN110530258B CN110530258B CN201910625480.3A CN201910625480A CN110530258B CN 110530258 B CN110530258 B CN 110530258B CN 201910625480 A CN201910625480 A CN 201910625480A CN 110530258 B CN110530258 B CN 110530258B
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- 238000001514 detection method Methods 0.000 title claims description 21
- 230000001360 synchronised effect Effects 0.000 claims description 32
- 239000003638 chemical reducing agent Substances 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 4
- 238000013461 design Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention discloses an automatic feeding and clamping device based on a machine vision size detector, which mainly comprises a feeding mechanism, a workpiece clamping mechanism and a workpiece clamping mechanism, wherein the feeding mechanism is arranged on the feeding mechanism; the feeding mechanism comprises a feeding mechanism vertical part and a feeding mechanism horizontal part; the vertical part of the feeding mechanism is vertically arranged on the workbench; the horizontal part has the same structure with the vertical part, and a guide rail of the horizontal part is fixed on a sliding block of the vertical part; the lower part of the sliding block of the horizontal part is provided with a workpiece clamping mechanism; the workpiece clamping mechanism comprises an electric center assembly and a pneumatic center assembly; the electric center assembly and the pneumatic center assembly are respectively arranged on two sides right below the workpiece clamping mechanism. The invention has the advantages of independent driving of each part, simple structure and convenient control.
Description
Technical Field
The invention belongs to the technical field of intelligent machinery, and particularly relates to an automatic feeding and clamping device based on a machine vision size detector.
Background
With the development of manufacturing industry, the traditional manual detection cannot keep up with the demand of the times.
In order to realize online dimension detection and automatic detection of workpieces and form high-quality and high-efficiency batch online detection capability, a machine vision technology is being put into production and manufacturing industries for use.
The end face of the cylindrical workpiece with the inner hole is subjected to online detection, and due to reasons such as the feeding position and the placing state of the workpiece, the technical problems which are difficult to overcome exist in the prior art in feeding, grabbing, positioning and other operations, so that the detection efficiency is low, and the detection precision is difficult to guarantee.
The invention improves and designs the automatic feeding and clamping device of the small cylindrical workpiece with the inner hole on the end surface based on the visual detection control signal.
Disclosure of Invention
The invention aims to solve the feeding and clamping problems of automatic detection of cylindrical workpieces with holes on the end surfaces, and provides an automatic feeding and clamping device.
The invention provides an automatic feeding and clamping device based on a machine vision size detector, which mainly comprises a feeding mechanism, a workpiece clamping mechanism and a workpiece clamping mechanism, wherein the feeding mechanism is arranged on the workpiece clamping mechanism;
the feeding mechanism comprises a feeding mechanism vertical part and a feeding mechanism horizontal part; the vertical part of the feeding mechanism is vertically arranged on the workbench;
the vertical part of the feeding mechanism consists of a motor mounting seat, a servo motor, a coupler, a ball screw, a sliding block, a guide rail and a bearing seat from top to bottom;
the motor mounting seat is fixedly connected with one end of the guide rail; the servo motor is fixed on the motor mounting seat, and one end of the ball screw is connected with the power output end of the servo motor through a coupler; the sliding block is arranged on the ball screw in a matching way and slides along the guide rail; the other end of the ball screw is fixed on the bearing seat through a bearing; the bearing seat is fixedly connected with the other end of the guide rail;
the horizontal part has the same structure with the vertical part, and a guide rail of the horizontal part is fixed on a sliding block of the vertical part;
the lower part of the sliding block of the horizontal part is provided with a workpiece clamping mechanism;
the workpiece clamping mechanism comprises an electric center assembly and a pneumatic center assembly;
the electric center assembly and the pneumatic center assembly are respectively arranged on two sides right below the workpiece clamping mechanism.
Further, the workpiece clamping mechanism comprises a clamping motor, a deep groove ball bearing, an air pump, an air cylinder piston rod, an air cylinder support and a clamping jaw connecting plate; the clamping motor is installed at the top end of the cylinder support, the outer ring of the first deep groove ball bearing is fixed on the inner wall of the cylinder support, the end part of an output shaft of the clamping motor is connected with the upper part of the cylinder through a flange, and the cylinder is fixed in the inner ring of the first deep groove ball bearing;
the cylinder piston rod extends out of the cylinder support downwards, the tail end of the cylinder piston rod is in threaded connection with the threaded sleeve, a pair of clamping jaw connecting plates are symmetrically connected to two sides of the threaded sleeve through pins, an elastic clamping jaw is connected to each clamping jaw connecting plate through a pin, and the middle upper portion of each elastic clamping jaw is connected with the connecting plate through the pin;
further, the electric center assembly comprises a center motor, a speed reducer, a first synchronous belt wheel, a second synchronous belt wheel and an electric center;
the centre motor is connected with the speed reducer, and the speed reducer is fixedly connected with the synchronous belt pulley I; the synchronous belt wheel II is fixedly connected with a shaft of the electric center; the synchronous belt wheel I and the synchronous belt wheel II are connected by a belt;
the pneumatic centre assembly comprises a pneumatic centre, a tailstock body, a centre cylinder, a centre shaft sleeve, a deep groove ball bearing III, a thrust ball bearing II and a deep groove ball bearing IV;
the center shaft sleeve is horizontally arranged in a through hole of the tailstock body, and the center cylinder is arranged on the tailstock body; the pneumatic center is supported in the center shaft sleeve through a third deep groove ball bearing, a second thrust ball bearing and a fourth deep groove ball bearing; the rear end of the pneumatic centre is connected with a centre piston rod of the centre cylinder through a screw plug, the front end of the pneumatic centre penetrates through an end cover, and the end cover is fixed with the centre shaft sleeve.
Further, the speed reducer is mounted on the rear mounting plate.
Furthermore, the output end of the speed reducer is connected with the first synchronous belt wheel through a flat key, and the first synchronous belt wheel is positioned and installed through a positioning end cover and a set screw.
Furthermore, the second synchronous belt wheel is connected with a shaft of the electric center through a flat key, and the second synchronous belt wheel is positioned and installed by combining a positioning end cover and a set screw during installation.
Furthermore, the rear end of the electric tip shaft is fixed on the rear mounting plate through a first thrust ball bearing, and the front end of the electric tip shaft and a second deep groove ball bearing are installed on the front mounting plate in a matched mode.
As a preferable means, the device further comprises a locking nut, and the locking nut is in threaded fit with the front end of the power centre to pre-tighten the deep groove ball bearing II.
Furthermore, the screw plug is installed in the tip shaft sleeve by adopting threads.
Preferably, a shaft sleeve is arranged between the rear end of the pneumatic centre and the screw plug.
Compared with the prior art, the invention has the beneficial effects that:
(1) in the design, the real-time screen monitoring system is adopted to position the workpieces in the material tray, and the feeding mechanism is continuously adjusted, so that the positioning precision of the workpieces is improved.
(2) The size of the clamping mechanism can be adjusted according to the size of the clamped workpiece, and the clamping mechanism can adapt to small cylindrical workpieces of different types and sizes.
(3) Each part of the feeding mechanism is driven independently, the structure is simple, and the control is convenient.
(4) The clamping mechanism can rotate in the design, can grab cylindrical workpieces with included angles between various axes and a horizontal line, and cannot damage the surfaces of the workpieces due to the adoption of the elastic clamping jaws.
Drawings
FIG. 1 is a schematic view showing the overall construction of an automatic feeding and clamping apparatus of a size measuring machine according to the present invention;
FIG. 2 is a schematic view of the workpiece holding mechanism of the present invention;
fig. 3 is a schematic view of the construction of the power center assembly of the present invention;
fig. 4 is a schematic view of the pneumatic tip assembly of the present invention.
In the figure:
1. a motor mounting seat; 2. a workpiece clamping mechanism; 3. a live center assembly; 4. a guide rail; 5. a pneumatic center; 6. a pneumatic tip assembly; 7. a work table; 8. a clamping motor; 9. an air pump bracket; 10. a flange; 11. a first deep groove ball bearing; 12. an air pump; 13. a cylinder piston rod; 14. a cylinder support; 15. a clamping jaw connecting plate; 16. an elastic clamping jaw; 17. a second deep groove ball bearing; 18. a front mounting plate; 19. a thrust ball bearing; 20. a second synchronous belt wheel; 21. positioning a second end cover; 22. a synchronous belt wheel I; 23. positioning a first end cover; 24. a rear mounting plate; 25. a centre motor; 26. a speed reducer; 27. a base body; 28. locking the nut; 29. an end cap; 30. a deep groove ball bearing III; 31. a centre shaft sleeve; 32. a tailstock body; 33. a fourth deep groove ball bearing; 34. a shaft sleeve; 35. a plug screw; 36. a centre piston rod; 37. a centre cylinder; 38. a detector support; 39. a threaded sleeve; 40. an electric center; 41. and a second thrust ball bearing.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
the invention discloses an automatic feeding and clamping device based on a machine vision size detector.
The feeding mechanism comprises a feeding mechanism vertical part 1 and a feeding mechanism horizontal part. The vertical part 1 of the feeding mechanism is vertically arranged on the workbench 7 through a bracket.
As shown in fig. 1, the vertical portion 1 of the feeding mechanism is composed of a motor mounting seat, a servo motor, a coupler, a ball screw, a sliding block, a guide rail and a bearing seat from top to bottom. The motor mounting seat is fixedly connected with one end of the guide rail. The servo motor is fixed on the motor mounting seat, and one end of the ball screw is connected with the power output end of the servo motor through a coupler. The sliding block is installed on the ball screw in a matching mode, and the sliding block slides along the guide rail. The other end of the ball screw is fixed on the bearing seat through a bearing. And the bearing seat is fixedly connected with the other end of the guide rail.
The horizontal part 2 has the same structure as the vertical part 1, and the guide rail of the horizontal part is fixed on the sliding block of the vertical part 1.
The size and the stroke of the horizontal part are different from those of the vertical part 1, and the driving motor of the vertical part 1 has a braking function and is used for realizing self-locking of the sliding block in vertical lifting.
The lower part of the sliding block of the horizontal part is provided with a workpiece clamping mechanism. The specific structure of the work holding mechanism 2 is shown in fig. 2.
The workpiece clamping mechanism 2 comprises a clamping motor 8, a deep groove ball bearing I11, an air pump 12, an air cylinder piston rod 13, an air cylinder support 14 and a clamping jaw connecting plate 15.
The clamping motor 8 is installed at the top end of the cylinder support 14, the outer ring of the first deep groove ball bearing 11 is fixed on the inner wall of the cylinder support 14, the end portion of the output shaft of the clamping motor 8 is connected with the upper portion of the cylinder through the flange 10, and the cylinder is fixed in the inner ring of the first deep groove ball bearing 11. Namely, the cylinder is erected in the cylinder bracket 14 through the deep groove ball bearing I11, the upper end of the flange 10 is connected with the end part of the output shaft of the clamping motor 8 through a screw, and the lower part of the flange 10 is fixedly connected with the upper part of the cylinder through a screw (the top of the cylinder is provided with a counter bore matched with the screw). The air pump 12 is supported on the top of the air cylinder support 14 through the air pump support 9, and the air pump 12 performs air inflation or deflation operation on the air cylinder.
The cylinder piston rod 13 extends out of the cylinder support 14 downwards, the tail end of the cylinder piston rod 13 is in threaded connection with the threaded sleeve 39, a pair of clamping jaw connecting plates 15 are symmetrically connected to two sides of the threaded sleeve 39 through pins, the elastic clamping jaws 16 are respectively connected to the clamping jaw connecting plates 15 through the pins, and the middle upper portions of the elastic clamping jaws 16 are connected together through the pins and the connecting plates. The parts connected by the pins can rotate freely around the pins.
When the piston rod 13 of the air cylinder moves downwards, the opening and closing of the pair of elastic clamping jaws are controlled by a link mechanism consisting of the threaded sleeve 39, the clamping jaw connecting plate 15 and the elastic clamping jaws 16, so that the workpiece can be clamped and put down. The connecting part of the workpiece clamping mechanism cylinder and the clamping motor bears radial force generated by swinging in work through the deep groove ball bearing, so that the rotation precision of the workpiece clamping mechanism is ensured, and the forced bending of a clamping motor shaft is prevented.
The size of the clamping mechanism can be adjusted according to the size of the clamped workpiece, and the clamping mechanism can adapt to small cylindrical workpieces of different types and sizes.
The clamping mechanism can rotate, can grab cylindrical workpieces with various axes and included angles with a horizontal line, and adopts the elastic clamping jaw, so that the surface of the workpiece cannot be damaged.
The workpiece clamping mechanism comprises an electric center assembly and a pneumatic center assembly. The electric center assembly and the pneumatic center assembly are respectively arranged on two sides right below the workpiece clamping mechanism.
Referring to fig. 3, the power center assembly includes a center motor 25, a speed reducer 26, a first synchronous pulley 22, a second synchronous pulley 20, and a power center 40.
The tip motor 25 is connected with a speed reducer 26, and the speed reducer 26 is installed on the rear installation plate 24. The output end of the speed reducer 26 is connected with the first synchronous pulley 22 through a flat key, and the first synchronous pulley 22 is positioned and installed through the first positioning end cover 23 and the set screw, so that the first synchronous pulley 22 and the speed reducer 26 are fixed relatively. The second synchronous pulley 20 is connected with the shaft of the power center 40 through a flat key, and the second synchronous pulley is positioned and installed by combining a positioning end cover 21 and a set screw during installation, so that the second synchronous pulley 20 and the shaft of the power center 40 are relatively fixed. The rear end of the shaft of the electric center 40 is fixed on the rear mounting plate 24 by adopting a first thrust ball bearing 19, the front end of the shaft is matched with a second deep groove ball bearing 17 and mounted on the front mounting plate 18, and meanwhile, the second deep groove ball bearing 17 is pre-tightened by using a locking nut 28. As shown in fig. 3, the lock nut 28 is threadedly engaged with the front end of the power tip 40. The front mounting plate 18 and the rear mounting plate 24 are mounted on the base body 27. The first synchronous pulley 22 and the second synchronous pulley 20 are connected by a belt.
Referring to fig. 4, the pneumatic centre assembly of the clamping device comprises a pneumatic centre 5, a tailstock body 32, a centre cylinder 37, a centre shaft sleeve 31, a deep groove ball bearing III 30, a thrust ball bearing II 41 and a deep groove ball bearing IV 33.
The tip bushing 31 is horizontally installed in a through hole of the tailstock body 32, and the tip cylinder 37 is installed to the tailstock body 32.
The pneumatic centre 5 is supported in the centre shaft sleeve 31 through a deep groove ball bearing III 30, a thrust ball bearing II 41 and a deep groove ball bearing IV 33. The rear end of the pneumatic centre 5 is connected with a centre piston rod 36 of a centre cylinder 37 through a screw plug 35, the front end of the pneumatic centre 5 passes through an end cover 29, and the end cover 29 is fixed with a centre shaft sleeve 31. Preferably, a shaft sleeve 34 is arranged between the rear end of the pneumatic centre 5 and the screw plug 35, the screw plug 35 is installed in the centre shaft sleeve 31 by adopting a screw thread, and the rotation of the screw plug 35 in the centre shaft sleeve 31 can transmit pre-tightening to the deep groove ball bearing III 30, the thrust ball bearing II 41 and the deep groove ball bearing IV 33 through the shaft sleeve 34.
The tip piston rod 36 pushes the entire tip bushing 31 to move back and forth.
The electric center and the pneumatic center are arranged in the invention to facilitate the insertion of the electric center and the pneumatic center into the inner hole on the end surface of the small cylindrical workpiece.
The working principle and the execution steps of the automatic feeding and clamping device are as follows:
(1) resetting a feeding mechanism motor to an initial position;
(2) after the visual detection system positions the workpieces in the material tray, the servo motor drives the clamping mechanism to rotate, and the air cylinder drives the clamping mechanism to grab the workpieces;
(3) the workpiece is conveyed to the mounting position of the clamp, the cylinder pushes the center to clamp the workpiece, and the clamping mechanism is loosened;
(4) after the size of the workpiece is measured each time, the servo motor drives the center to rotate the workpiece to carry out the next measurement;
(5) and after the workpiece is inspected, the system drives the feeding mechanism and the clamping mechanism to store the workpiece according to an inspection result.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
The present invention is not limited to the above description of the embodiments, and those skilled in the art should, in light of the present disclosure, appreciate that many changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (9)
1. The utility model provides an autoloading and clamping device based on machine vision size detection machine which characterized in that:
the device mainly comprises a feeding mechanism, a workpiece clamping mechanism and a workpiece clamping mechanism;
the feeding mechanism comprises a feeding mechanism vertical part and a feeding mechanism horizontal part; the vertical part of the feeding mechanism is vertically arranged on the workbench;
the vertical part of the feeding mechanism consists of a motor mounting seat, a servo motor, a coupler, a ball screw, a sliding block, a guide rail and a bearing seat from top to bottom;
the motor mounting seat is fixedly connected with one end of the guide rail; the servo motor is fixed on the motor mounting seat, and one end of the ball screw is connected with the power output end of the servo motor through a coupler; the sliding block is arranged on the ball screw in a matching way and slides along the guide rail; the other end of the ball screw is fixed on the bearing seat through a bearing; the bearing seat is fixedly connected with the other end of the guide rail;
the horizontal part has the same structure with the vertical part, and a guide rail of the horizontal part is fixed on a sliding block of the vertical part;
the lower part of the sliding block of the horizontal part is provided with a workpiece clamping mechanism;
the workpiece clamping mechanism comprises an electric center assembly and a pneumatic center assembly;
the electric center assembly and the pneumatic center assembly are respectively arranged on two sides right below the workpiece clamping mechanism;
the workpiece clamping mechanism comprises a clamping motor, a deep groove ball bearing, an air pump, an air cylinder piston rod, an air cylinder bracket and a clamping jaw connecting plate;
the clamping motor is installed at the top end of the cylinder support, the outer ring of the first deep groove ball bearing is fixed on the inner wall of the cylinder support, the end part of an output shaft of the clamping motor is connected with the upper part of the cylinder through a flange, and the cylinder is fixed in the inner ring of the first deep groove ball bearing;
the cylinder piston rod stretches out of the cylinder support downwards, the tail end of the cylinder piston rod is in threaded connection with the threaded sleeve, a pair of clamping jaw connecting plates are symmetrically connected to the two sides of the threaded sleeve through pins, an elastic clamping jaw is connected to each clamping jaw connecting plate through a pin, and the middle upper portion of each elastic clamping jaw is connected with the corresponding connecting plate through a pin.
2. The automatic feeding and clamping device based on the machine vision dimension detection machine as claimed in claim 1, wherein:
the electric center assembly comprises a center motor, a speed reducer, a synchronous belt wheel I, a synchronous belt wheel II and an electric center;
the centre motor is connected with the speed reducer, and the speed reducer is fixedly connected with the synchronous belt pulley I; the synchronous belt wheel II is fixedly connected with a shaft of the electric center; the synchronous belt wheel I and the synchronous belt wheel II are connected by a belt;
the pneumatic centre assembly comprises a pneumatic centre, a tailstock body, a centre cylinder, a centre shaft sleeve, a deep groove ball bearing III, a thrust ball bearing II and a deep groove ball bearing IV;
the center shaft sleeve is horizontally arranged in a through hole of the tailstock body, and the center cylinder is arranged on the tailstock body; the pneumatic center is supported in the center shaft sleeve through a third deep groove ball bearing, a second thrust ball bearing and a fourth deep groove ball bearing; the rear end of the pneumatic centre is connected with a centre piston rod of the centre cylinder through a screw plug, the front end of the pneumatic centre penetrates through an end cover, and the end cover is fixed with the centre shaft sleeve.
3. The automatic feeding and clamping device based on the machine vision dimension detection machine as claimed in claim 2, characterized in that:
the speed reducer is mounted on the rear mounting plate.
4. The automatic feeding and clamping device based on the machine vision dimension detection machine as claimed in claim 2, characterized in that:
the output end of the speed reducer is connected with the first synchronous belt wheel through a flat key, and the first synchronous belt wheel is positioned and installed through a positioning end cover and a set screw.
5. The automatic feeding and clamping device based on the machine vision dimension detection machine as claimed in claim 2, characterized in that:
the second synchronous belt wheel is connected with the shaft of the electric center through a flat key, and the second synchronous belt wheel is positioned and installed by combining a positioning end cover and a set screw during installation.
6. The automatic feeding and clamping device based on the machine vision dimension detection machine as claimed in claim 2, characterized in that:
the rear end of the shaft of the electric center is fixed on the rear mounting plate by adopting a thrust ball bearing I, and the front end of the shaft of the electric center is matched with a deep groove ball bearing II to be mounted on the front mounting plate.
7. The automatic feeding and clamping device based on the machine vision dimension detection machine as claimed in claim 6, wherein:
the locking nut is in threaded fit with the front end of the electric center and used for pre-tightening the deep groove ball bearing II.
8. The automatic feeding and clamping device based on the machine vision dimension detection machine as claimed in claim 2, characterized in that:
the plug screw is installed in the shaft sleeve of the center through threads.
9. The automatic feeding and clamping device based on the machine vision dimension detection machine as claimed in claim 2, characterized in that:
a shaft sleeve is arranged between the rear end of the pneumatic centre and the screw plug.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910625480.3A CN110530258B (en) | 2019-07-11 | 2019-07-11 | Automatic feeding and clamping device based on machine vision size detection machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910625480.3A CN110530258B (en) | 2019-07-11 | 2019-07-11 | Automatic feeding and clamping device based on machine vision size detection machine |
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| CN110530258A CN110530258A (en) | 2019-12-03 |
| CN110530258B true CN110530258B (en) | 2021-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN114074219B (en) * | 2021-11-30 | 2024-05-10 | 深圳亿升激光智能装备有限公司 | Full-automatic cutter laser welding machine |
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|---|---|---|---|---|
| US5531006A (en) * | 1994-12-20 | 1996-07-02 | Shing; Lee T. | Machine for tapering pipe ends with different diameters |
| CN104015087A (en) * | 2014-06-05 | 2014-09-03 | 浙江新博尚科技有限公司 | Machining and feeding device of steel balls |
| CN205415101U (en) * | 2015-11-03 | 2016-08-03 | 南岳电控(衡阳)工业技术有限公司 | A autoloading and clamping device for processing staff class part constant head tank |
| CN109176119A (en) * | 2018-10-01 | 2019-01-11 | 深圳市奥德斯智能科技有限公司 | A kind of arm-and-hand system of spray head machining tool automatic loading/unloading |
| CN109693159A (en) * | 2019-03-05 | 2019-04-30 | 无锡威孚精密机械制造有限责任公司 | Plunger ball automatic mill |
-
2019
- 2019-07-11 CN CN201910625480.3A patent/CN110530258B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5531006A (en) * | 1994-12-20 | 1996-07-02 | Shing; Lee T. | Machine for tapering pipe ends with different diameters |
| CN104015087A (en) * | 2014-06-05 | 2014-09-03 | 浙江新博尚科技有限公司 | Machining and feeding device of steel balls |
| CN205415101U (en) * | 2015-11-03 | 2016-08-03 | 南岳电控(衡阳)工业技术有限公司 | A autoloading and clamping device for processing staff class part constant head tank |
| CN109176119A (en) * | 2018-10-01 | 2019-01-11 | 深圳市奥德斯智能科技有限公司 | A kind of arm-and-hand system of spray head machining tool automatic loading/unloading |
| CN109693159A (en) * | 2019-03-05 | 2019-04-30 | 无锡威孚精密机械制造有限责任公司 | Plunger ball automatic mill |
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Effective date of registration: 20231120 Address after: 412199 Building A5, Nanzhou Industrial Park, Nanzhou New Area, Lukou District, Zhuzhou City, Hunan Province Patentee after: Zhuzhou Dachuan Electronic Technology Co.,Ltd. Address before: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Dragon totem Technology (Hefei) Co.,Ltd. Effective date of registration: 20231120 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: 230011 Hefei vocational education base, Wenzhong Road, Yaohai District, Hefei City, Anhui Province Patentee before: ANHUI VOCATIONAL AND TECHNICAL College |
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