CN110756679A - Conveying method for automobile hub spinning production line - Google Patents
Conveying method for automobile hub spinning production line Download PDFInfo
- Publication number
- CN110756679A CN110756679A CN201910999463.6A CN201910999463A CN110756679A CN 110756679 A CN110756679 A CN 110756679A CN 201910999463 A CN201910999463 A CN 201910999463A CN 110756679 A CN110756679 A CN 110756679A
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- manipulator
- preheated
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- furnace
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- 238000009987 spinning Methods 0.000 title claims abstract description 71
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000011265 semifinished product Substances 0.000 claims abstract description 11
- 125000004122 cyclic group Chemical group 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010923 batch production Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Classifications
-
- 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
- B21D43/12—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by chains or belts
-
- 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
- B21D53/00—Making other particular articles
- B21D53/26—Making other particular articles wheels or the like
- B21D53/30—Making other particular articles wheels or the like wheel rims
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a conveying method of an automobile hub spinning production line, which comprises the following steps: 1) placing the wheel hub blank to be preheated on a second conveying belt; 2) the first manipulator clamps a wheel hub blank to be preheated from the second conveyor belt; 3) firstly, a second manipulator extends into a furnace door to clamp a preheated wheel hub blank which is preheated, and then a first manipulator extends into the furnace door to place the wheel hub blank to be preheated on an annular conveying track; 4) the annular conveying track conveys the wheel hub blank to be preheated to rotate and preheat in the furnace body, the wheel hub blank becomes a preheated wheel hub blank after the completion of preheating, and the preheated wheel hub blank is conveyed to the furnace door; 5) the first mechanical arm extends into the spinning machine to clamp the hub semi-finished product which is spun, and then the second mechanical arm extends into the spinning machine to place the preheated hub blank. The whole conveying method is designed according to the improved layout of the production line, is smooth and orderly, and greatly improves the conveying benefit, thereby improving the production efficiency.
Description
Technical Field
The invention relates to the technical field of automobile hub manufacturing, in particular to a conveying method of an automobile hub spinning production line.
Background
The wheel hub is a cylindrical metal part which is used for supporting a tire and takes an axle as a center in the tire of an automobile, is a part for mounting an axle at the center of the wheel and is an important part for connecting a brake drum, a wheel disc and a half axle in a popular way. At present, most conventional wheel hubs are manufactured by spinning forming, a spinning production line comprises a preheating furnace and a spinning machine, the preheating furnace is used for preheating a wheel hub blank to be preheated to form a preheated wheel hub blank, the spinning machine performs a spinning process on the preheated wheel hub blank to form a wheel hub semi-finished product, a furnace chamber of the existing preheating furnace is of a rectangular structure, and the quality of a preheating effect directly influences the whole spinning production, so that the stable preheating effect is obtained, the length of the existing preheating furnace can be designed to be longer, and the workpiece can provide sufficient preheating time. However, not only occupies a larger space in the length direction, but also the inlet and the outlet are respectively arranged at different positions, so that at least two manipulators are required to be arranged on a preheating furnace for placing and taking workpieces respectively, and a manipulator is required to be arranged on a spinning machine, so that at least three manipulators which independently operate are required for the whole production line, the problems of higher equipment cost and insufficient production efficiency exist, and meanwhile, operators are arranged at the inlet and the outlet, or one operator reciprocates at the inlet and the outlet, and the problem of inconvenient operation is caused. In view of the above, the applicant of the present invention has made intensive studies to solve the above-mentioned problems, and provides an automobile hub spinning production line, and a method for conveying an automobile hub spinning process, and the automobile hub spinning production line is produced by the method.
Disclosure of Invention
The invention mainly aims to provide a conveying method for an automobile hub spinning production line, the whole conveying method is smooth and orderly according to the improved layout design of the production line, and the conveying benefit is greatly improved, so that the production efficiency is improved.
In order to achieve the above purpose, the solution of the invention is:
the utility model provides a conveying method of automobile wheel hub spinning production line, automobile wheel hub spinning production line is including spinning-lathe, preheater and establish manipulator assembly, first conveyer belt and the second conveyer belt between spinning-lathe and preheater, the preheater includes the furnace body and arranges the cyclic annular conveying track in the furnace body in, and the furnace gate has been seted up to this furnace body, the manipulator assembly is including the first manipulator and the second manipulator of linkage, and wherein, conveying method includes following step:
1) placing the wheel hub blank to be preheated on a second conveying belt;
2) the first manipulator clamps a wheel hub blank to be preheated from the second conveyor belt;
3) the first mechanical arm and the second mechanical arm move together to the front of the furnace door, the second mechanical arm extends into the furnace door to clamp the preheated wheel hub blank which is preheated, and then the first mechanical arm extends into the furnace door to place the wheel hub blank to be preheated on the annular conveying track;
4) the annular conveying track conveys the wheel hub blank to be preheated to rotate and preheat in the furnace body, the wheel hub blank becomes a preheated wheel hub blank after the completion of preheating, and the preheated wheel hub blank is conveyed to the furnace door;
5) the first mechanical arm and the second mechanical arm move together to the side edge of the spinning machine, the first mechanical arm extends into the spinning machine to clamp the wheel hub semi-finished product which is spun, and then the second mechanical arm extends into the spinning machine to place the preheated wheel hub blank;
6) the hub semi-finished product is placed on a first conveyor belt by a first manipulator.
Furthermore, the annular conveying tracks comprise a first annular conveying track, a second annular conveying track and a third annular conveying track which are sequentially arranged from top to bottom, and the furnace body is provided with a first furnace door, a second furnace door and a third furnace door corresponding to the three annular conveying tracks;
in the step 3), the first mechanical arm and the second mechanical arm both extend into the first furnace door, the second furnace door or the third furnace door.
Further, the first mechanical arm and the second mechanical arm sequentially and circularly enter the first furnace door, the second furnace door and the third furnace door.
Further, the manipulator assembly further comprises a supporting table, a first rotating disc, a first mechanical arm, a second mechanical arm, a connecting seat and a connecting column, the supporting table is arranged between the preheating furnace and the spinning machine, the first rotating disc is rotatably arranged on the supporting table, one end of the first mechanical arm is rotatably connected to the first rotating disc, the other end of the first mechanical arm is rotatably connected with the connecting seat, one end of the second mechanical arm is rotatably connected with the connecting seat, the other end of the second mechanical arm is rotatably connected with the connecting column, and the first mechanical arm and the second mechanical arm are arranged on the connecting column;
in the step 3), the first rotating disc drives the first manipulator and the second manipulator to rotate to the preheating furnace, and the first manipulator or the second manipulator is controlled by the first mechanical arm and the second mechanical arm to extend into the preheating furnace;
in the step 5), the first rotating disc drives the first manipulator and the second manipulator to rotate to the spinning machine, and the first manipulator or the second manipulator is controlled by the first mechanical arm and the second mechanical arm to extend into the spinning machine.
Furthermore, the manipulator assembly also comprises a second rotating disc, the second rotating disc is rotatably connected to the connecting column, and the first manipulator and the second manipulator are oppositely arranged on the second rotating disc;
in the step 3), the second rotating disc drives the second manipulator to face the preheating machine, and then the second rotating disc drives the first manipulator to face the preheating machine;
in the step 5), the first manipulator is driven by the second rotating disc to face the spinning machine, and then the second manipulator is driven by the second rotating disc to face the spinning machine.
After the structure is adopted, the conveying method for the automobile hub spinning production line can complete a complete conveying project of the automobile hub spinning production line through the whole conveying method, and comprises the steps of conveying a blank of a hub to be preheated to a preheating furnace, conveying the preheated blank of the hub to a spinning machine and taking a semi-finished product of a hub plate out of the spinning machine. In batch production, the conveying work is circulated wirelessly, the step 1) is continued to be started after the step 6) is completed, and the whole conveying is smooth and orderly and is tightly connected.
Compared with the prior art, the scheme has the following technical effects at least:
the preheating furnace is provided with the annular conveying track, and the wheel hub blanks to be preheated are conveyed and preheated in the preheating furnace along an annular route, so that the occupied area of the preheating furnace is reduced, the inlet and the outlet are the same, only one operator can supervise and operate, and two mechanical arms can finish conveying and transferring, and labor and equipment cost are saved;
and secondly, the mechanical arm assembly, the first conveying belt and the second conveying belt are arranged between the preheating furnace and the spinning machine, the first mechanical arm and the second mechanical arm alternately clamp and place the automobile, the preheating and spinning processes are closely linked by utilizing the ingenious matching of the time required in the preheating and spinning processes, the conveying is smooth and orderly, the conveying distance is greatly reduced, and the efficiency of manufacturing the automobile by spinning in batches is improved.
Drawings
FIG. 1 is a schematic structural view of an automobile hub spinning production line of the present invention;
FIG. 2 is a schematic view of a robot assembly according to the present invention；
In the figure:
spinning machine-1;
a preheating furnace-2, a furnace body-21, a first furnace door-22, a second furnace door-23 and a third furnace door-24;
the robot assembly-3, the supporting table-31, the first rotating disc-32, the second rotating disc-33, the first robot arm-34, the second robot arm-35, the connecting seat-36, the connecting column-37, the first robot arm-38 and the second robot arm-39;
a first conveyor belt-4;
a second conveyor belt-5.
Detailed Description
In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following specific examples.
As shown in figure 1, the conveying method of the automobile hub spinning production line comprises a spinning machine 1, a preheating furnace 2, a manipulator assembly 3 arranged between the spinning machine 1 and the preheating furnace 2, a first conveying belt 4 and a second conveying belt 5, wherein the conveying belts comprise motors, transmission chain wheels and a plurality of rotating rollers, and the transmission chain wheels drive a plurality of transmission rollers to synchronously rotate, so that conveying is realized. The preheating furnace 2 comprises a furnace body 21 and an annular conveying track arranged in the furnace body 21, the annular conveying track can refer to the prior art such as a belt, a furnace door is arranged on the furnace body 21, the manipulator assembly 3 comprises a first manipulator 38 and a second manipulator 39 which are linked, and the two manipulators move synchronously.
The conveying method comprises the following steps:
1) placing the wheel hub blank to be preheated on a second conveyer belt 5, and conveying the wheel hub blank to be preheated to the front of the manipulator assembly 3 by the second conveyer belt 5;
2) the first manipulator 38 clamps the wheel hub blank to be preheated from the second conveyer belt 5;
3) the first mechanical arm 38 and the second mechanical arm 39 move together to the front of the furnace door, the second mechanical arm 39 extends into the furnace door to clamp the preheated wheel hub blank which is preheated, and then the first mechanical arm 38 extends into the furnace door to place the wheel hub blank to be preheated on the annular conveying track;
4) the annular conveying track conveys the wheel hub blank to be preheated to rotate and preheat in the furnace body 21, namely the wheel hub blank to be preheated rotates and preheats at the same time, becomes a preheated wheel hub blank after the completion of preheating and conveys the preheated wheel hub blank to a furnace door;
5) the first manipulator 38 and the second manipulator 39 move together to the side edge of the spinning machine 1, the first manipulator 38 extends into the spinning machine 1 to clamp the hub semi-finished product which is spun, and then the second manipulator 39 extends into the spinning machine 1 to place the preheated hub blank;
6) the hub semifinished product is placed on the first conveyor belt 4 by a first robot 38.
So far, a complete conveying project of the automobile hub spinning production line can be completed through the whole conveying method, and the complete conveying project comprises the steps of conveying a to-be-preheated hub blank to the preheating furnace 2, conveying a preheated hub blank to the spinning machine 1 and taking a hub plate semi-finished product out of the spinning machine 1. In batch production, the conveying work is circulated wirelessly, the step 1) is continued to be started after the step 6) is completed, and the whole conveying is smooth and orderly and is tightly connected.
The scheme has at least the following technical effects:
firstly, the preheating furnace 2 is provided with an annular conveying track, and a wheel hub blank to be preheated is conveyed and preheated in the preheating furnace 2 along an annular route, so that the occupied area of the preheating furnace 2 is reduced, and the inlet and the outlet are the same, so that only one operator can supervise and operate and two manipulators can finish conveying and transferring, and labor and equipment cost are saved;
secondly, establish manipulator assembly 3, first conveyer belt 4 and second conveyer belt 5 between preheater 2 and spinning-lathe 1, press from both sides in turn and get and place the action by first manipulator 38 and second manipulator 39, utilize and preheat and the ingenious cooperation of the required time of spinning in-process, make and preheat and spinning technology closely link up, carry smoothly orderly, the conveying distance that significantly reduces to promote the efficiency of spinning preparation car in batches.
Because the time required for preheating the workpiece is long, preferably, the annular conveying tracks comprise a first annular conveying track, a second annular conveying track and a third annular conveying track which are sequentially arranged from top to bottom, and the furnace body 21 is provided with a first furnace door 22, a second furnace door 23 and a third furnace door 24 corresponding to the three annular conveying tracks.
Each annular conveying track can be used for placing an automobile hub to be preheated, in the step 3), the first mechanical arm 38 and the second mechanical arm 39 both extend into the first furnace door 22, the second furnace door 23 or the third furnace door 24, so that the furnace doors opened in the step 2) of two adjacent conveying methods are different, the interval between two adjacent opening of the same furnace door is longer, and sufficient conveying and preheating time is provided for each annular conveying track.
More preferably, the first mechanical arm 38 and the second mechanical arm 39 sequentially and circularly enter the first furnace door 22, the second furnace door 23 and the third furnace door 24, so that according to the time required for preheating, the time spent by two adjacent door opening times of each furnace door for at least two complete conveying works is ensured not to accidentally take out the automobile hub which is not preheated yet, and the preheated automobile hub is not rotated in the furnace body 21, thereby avoiding resource waste.
As a more specific embodiment of the present disclosure, the robot assembly 3 further includes a support table 31, a first rotating disc 32, a first robot arm 34, a second robot arm 35, a connecting seat 36 and a connecting column 37. Support table 31 is fixed to be established between preheater 2 and spinning-lathe 1, first rotary disk 32 rotates to be established support table 31 is last, 34 one end of first robotic arm is rotated to be connected and is connected on the first rotary disk 32 and other end connecting seat 36 rotate to be connected, the one end and the connecting seat 36 of second robotic arm 35 rotate to be connected, the other end and the spliced pole 37 of second robotic arm 35 rotate to be connected, first robotic arm 38 and second robotic arm 39 are established on spliced pole 37. As shown in the figure, the axis of rotation of first rotor disc 32 is L1, the axis of rotation of first robotic arm 34 is L2, the axis of rotation of connecting seat 36 is L3, and the axis of rotation of second robotic arm 35 is L4, the axis of rotation of spliced pole 37 is L5, L1 keeps extending along vertical direction, L2, L3 and L5 keep extending along horizontal direction, L4 extending direction is perpendicular with L3, so can realize diversified rotation, imitate the active mode of human arm joint.
In this manner, in the step 3), the first robot 38 and the second robot 39 are driven by the first rotary disk 32 to turn to the preheating furnace 2, and the first robot 34 and the second robot 35 approach the preheating furnace 2 in a rotary manner, thereby controlling the first robot 38 or the second robot 39 to extend into the furnace body 21;
in the step 5), the first rotary disc 32 drives the first manipulator 38 and the second manipulator 39 to rotate towards the spinning machine 1, and the first manipulator 34 and the second manipulator 35 control the first manipulator 38 or the second manipulator 39 to extend into the spinning machine 1.
The approach of the first manipulator 38 to the second conveyor belt 5 or the first conveyor belt 4 is also controlled in steps 2) and 6) by a robot arm, a connecting base 36 and a connecting column 37.
The manipulator assembly 3 further comprises a second rotating disc 33, the second rotating disc 33 is rotatably connected to the connecting column 37, the first manipulator 38 and the second manipulator 39 are relatively arranged on the second rotating disc 33, the rotating shaft of the second rotating disc 33 is L6, and the extending direction of the rotating shaft is perpendicular to L5. The second turn disc 33 enables the two robot arms to be switched to face the preheating furnace 2 or the spinning machine 1.
In the step 3), the second rotating disc 33 drives the second mechanical arm 39 to face the preheating machine so as to extend into the furnace door to clamp the preheated wheel hub blank which is preheated, and then the second rotating disc 33 drives the first mechanical arm 38 to face the preheating machine so as to align with the furnace door and place the wheel hub blank to be preheated on the annular conveying track;
in the step 5), the second rotating disc 33 drives the first manipulator 38 to face the spinning machine 1 so as to extend into the spinning machine 1 to clamp the hub semi-finished product which is subjected to spinning, and then the second rotating disc 33 drives the second manipulator 39 to face the spinning machine 1 so as to extend into the spinning machine 1 to place the preheated hub blank.
The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications thereof by those skilled in the art should be considered as not departing from the scope of the present invention.
Claims (5)
1. The utility model provides a conveying method of automobile wheel hub spinning production line, automobile wheel hub spinning production line include spinning-lathe, preheater and establish manipulator assembly, first conveyer belt and the second conveyer belt between spinning-lathe and preheater, the preheater includes the furnace body and arranges the cyclic annular delivery track in the furnace body in, and the furnace gate has been seted up to this furnace body, the manipulator assembly is including the first manipulator and the second manipulator of linkage, its characterized in that, conveying method includes following step:
1) placing the wheel hub blank to be preheated on a second conveying belt;
2) the first manipulator clamps a wheel hub blank to be preheated from the second conveyor belt;
3) the first mechanical arm and the second mechanical arm move together to the front of the furnace door, the second mechanical arm extends into the furnace door to clamp the preheated wheel hub blank which is preheated, and then the first mechanical arm extends into the furnace door to place the wheel hub blank to be preheated on the annular conveying track;
4) the annular conveying track conveys the wheel hub blank to be preheated to rotate and preheat in the furnace body, the wheel hub blank becomes a preheated wheel hub blank after the completion of preheating, and the preheated wheel hub blank is conveyed to the furnace door;
5) the first mechanical arm and the second mechanical arm move together to the side edge of the spinning machine, the first mechanical arm extends into the spinning machine to clamp the wheel hub semi-finished product which is spun, and then the second mechanical arm extends into the spinning machine to place the preheated wheel hub blank;
6) the hub semi-finished product is placed on a first conveyor belt by a first manipulator.
2. The method for conveying the spinning process of the automobile hub according to claim 1, wherein the annular conveying tracks comprise a first annular conveying track, a second annular conveying track and a third annular conveying track which are arranged from top to bottom in sequence, and the furnace body is provided with a first furnace door, a second furnace door and a third furnace door corresponding to the three annular conveying tracks;
in the step 3), the first mechanical arm and the second mechanical arm both extend into the first furnace door, the second furnace door or the third furnace door.
3. The method for conveying the automobile hub spinning process according to claim 2, wherein the first mechanical arm and the second mechanical arm sequentially and circularly enter the first furnace door, the second furnace door and the third furnace door.
4. The conveying method for the spinning process of the automobile hub according to claim 3, wherein the manipulator assembly further comprises a support table, a first rotating disc, a first manipulator arm, a second manipulator arm, a connecting seat and a connecting column, the support table is arranged between the preheating furnace and the spinning machine, the first rotating disc is rotatably arranged on the support table, one end of the first manipulator arm is rotatably connected to the first rotating disc, the other end of the first manipulator arm is rotatably connected to the connecting seat, one end of the second manipulator arm is rotatably connected to the connecting seat, the other end of the second manipulator arm is rotatably connected to the connecting column, and the first manipulator arm and the second manipulator arm are arranged on the connecting column;
in the step 3), the first rotating disc drives the first manipulator and the second manipulator to rotate to the preheating furnace, and the first manipulator or the second manipulator is controlled by the first mechanical arm and the second mechanical arm to extend into the preheating furnace;
in the step 5), the first rotating disc drives the first manipulator and the second manipulator to rotate to the spinning machine, and the first manipulator or the second manipulator is controlled by the first mechanical arm and the second mechanical arm to extend into the spinning machine.
5. The method for conveying the spinning process of the automobile hub according to claim 4, wherein the manipulator assembly further comprises a second rotating disc, the second rotating disc is rotatably connected to the connecting column, and the first manipulator and the second manipulator are oppositely arranged on the second rotating disc;
in the step 3), the second rotating disc drives the second manipulator to face the preheating machine, and then the second rotating disc drives the first manipulator to face the preheating machine;
in the step 5), the first manipulator is driven by the second rotating disc to face the spinning machine, and then the second manipulator is driven by the second rotating disc to face the spinning machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910999463.6A CN110756679A (en) | 2019-10-21 | 2019-10-21 | Conveying method for automobile hub spinning production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910999463.6A CN110756679A (en) | 2019-10-21 | 2019-10-21 | Conveying method for automobile hub spinning production line |
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| CN110756679A true CN110756679A (en) | 2020-02-07 |
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| CN201910999463.6A Pending CN110756679A (en) | 2019-10-21 | 2019-10-21 | Conveying method for automobile hub spinning production line |
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| CN110239948A (en) * | 2019-07-15 | 2019-09-17 | 重庆文理学院 | A kind of robot for heating furnace handling material |
| CN110666065A (en) * | 2019-10-21 | 2020-01-10 | 福建申利卡铝业发展有限公司 | Spinning production line for automobile hub |
| CN210877247U (en) * | 2019-10-21 | 2020-06-30 | 福建申利卡铝业发展有限公司 | Spinning production line for automobile hub |
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| JPH1089851A (en) * | 1996-09-17 | 1998-04-10 | Murata Mfg Co Ltd | Continuous heat treatment furnace |
| CN202359158U (en) * | 2011-11-17 | 2012-08-01 | 周厚宏 | Heating furnace |
| CN102642207A (en) * | 2012-04-12 | 2012-08-22 | 华北电力大学 | Multifunctional actuator for nuclear power plant operation and control method thereof |
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