CN110978037A - Dot-matrix feeder and automatic loading and unloading system of machine tool comprising same - Google Patents
Dot-matrix feeder and automatic loading and unloading system of machine tool comprising same Download PDFInfo
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- CN110978037A CN110978037A CN201911168966.5A CN201911168966A CN110978037A CN 110978037 A CN110978037 A CN 110978037A CN 201911168966 A CN201911168966 A CN 201911168966A CN 110978037 A CN110978037 A CN 110978037A
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- 239000011159 matrix material Substances 0.000 title claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 103
- 239000000463 material Substances 0.000 claims abstract description 11
- 230000001681 protective effect Effects 0.000 claims abstract description 5
- 238000001746 injection moulding Methods 0.000 claims description 5
- 238000004512 die casting Methods 0.000 claims description 3
- 238000003801 milling Methods 0.000 claims description 3
- 238000007599 discharging Methods 0.000 abstract 3
- 238000010586 diagram Methods 0.000 description 5
- 238000003754 machining Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a dot-matrix feeder and an automatic loading and unloading system of a machine tool comprising the same. The lattice type feeding machine mainly comprises a frame, a push-pull mechanism, a jig tray, a positioning mechanism and a secondary positioning mechanism; all the blank blanks are placed on the jig tray in an array mode to form coarse positioning, and all the blank blanks need to be precisely positioned on the secondary positioning mechanism before being placed into a machine tool. The automatic feeding and discharging system of the machine tool mainly comprises a dot-matrix feeder, a robot clamp, a control system and a protective fence. The end of robot is provided with the robot anchor clamps, through control system and dot-matrix feeder communication, accomplishes following action automatically: 1) the robot takes out the blank materials on the jig tray one by one according to a matrix mode; 2) the robot puts the blank material on a secondary positioning mechanism for fine positioning; 3) the robot takes out the finished product processed in the machine tool; 4) the robot puts the blank material on a chuck of a machine tool or in a die; 5) the robot puts the finished product to a designated position; 6) repeating steps 1) to 5). The dot-matrix feeder and the automatic feeding and discharging system of the machine tool comprising the same replace manual feeding and discharging, greatly reduce the labor intensity of workers, improve the efficiency, have novelty and creativity, and are important components of an intelligent factory.
Description
Technical Field
The invention relates to mechanical equipment and a production system comprising the same, in particular to an automatic feeding machine and an automatic production system, and further relates to a dot-matrix feeding machine and an automatic loading and unloading system comprising the same for a machine tool.
Background
With the popularization of the industrial 4.0 concept and the emphasis of various production enterprises on the automation system, the concept of robot replacement is more and more accepted by the public. A robot substitute is a system engineering, and relates to the technical fields of machinery, electronics, optics, graphics and the like. The robot replaces people not only for saving labor, but also for improving efficiency on the premise of ensuring functional requirements, and better ensuring the quality of products.
Machine tool machining is a traditional industry, and the loading of blank parts and the unloading of finished products after machining are finished manually. At present, the robot rapid development replaces artifical realization lathe with the robot and goes up unloading to be the first choice of reduce cost, and especially CNC machining center (after the program is compiled, only need the workman to go to accomplish and go up unloading work) demand is more urgent. The robot applied to the loading and unloading industry of the machine tool at present has two types, namely a joint robot and a truss type robot, wherein the joint robot has high flexibility and degree of freedom, but the cost is relatively expensive and the speed is relatively slow; the latter has high relative speed and low price, but the flexibility is relatively poor because all the mechanisms of the former move linearly. No matter which kind of robot is adopted to realize the lathe and goes up unloading, the feeder is essential equipment in its system. At present, vibration discs are mostly adopted for feeding blanks without direction requirements, and the feeding device is high in efficiency and high in speed. However, when the machine tool has a direction requirement for the blank (that is, the blank has a precise positioning and direction requirement for the placement position of the blank in the chuck or the die of the machine tool), the blank must be precisely positioned before entering the machine tool, and the robot can place the blank into the machine tool precisely. The mainstream method is to use CCD (robot vision) to solve the problem, but the cost is high. The invention discloses a dot matrix feeding machine, wherein a secondary positioning mechanism arranged on the dot matrix feeding machine can easily solve the problems, and has practical engineering significance.
Disclosure of Invention
The invention aims to solve the problems and discloses a dot matrix feeder and an automatic loading and unloading system of a machine tool comprising the same.
The object of the invention can be achieved by the following technical measures:
the dot matrix feeder mainly comprises a frame 11, a push-pull mechanism 12, a jig tray 13, a positioning mechanism 14 and a secondary positioning mechanism 15; the number of the push-pull mechanisms 12 is not less than one; the jig tray 13 is positioned on the push-pull mechanism 12; the positioning mechanism 14 is arranged at the tail end of the push-pull mechanism 12 and forms shaft hole matching with the push-pull mechanism 12, and the number of the positioning mechanism is the same as that of the push-pull mechanism 12; the secondary positioning mechanism 15 is disposed on the frame 11 near one end of the positioning mechanism 14.
The push-pull mechanism 12 mainly comprises a linear motion mechanism 121, a guide mechanism 122 and a platform base 123; the linear motion mechanisms 121 and the guide mechanisms 122 are arranged in parallel, and the number of the guide mechanisms 122 is more than or equal to one; the platform base 123 is disposed on the upper side of the guiding mechanism 122, a positioning hole 1231 is disposed on the side surface of the platform base, positioning posts 1232 are disposed on the upper side of the platform base, and the number of the positioning posts 1232 is three.
The linear motion mechanism 121 is a cylinder, and the guiding mechanism 122 is a set of guide rail and slider mechanisms.
The jig tray 13 is mainly composed of a jig bottom plate 131, a positioning block 132 and a tray handle 133; the jig base plate 131 is provided with jig positioning holes 1311, and the number of the jig positioning holes is three; one jig positioning hole 1311 is larger in diameter than the other two jig positioning holes, and the jig positioning hole 1311 is matched with the positioning column 1232.
The positioning mechanism 14 is a cylinder mechanism disposed on the side of the push-pull mechanism 12, and a positioning sleeve 141 is disposed at the head of the cylinder, and the positioning sleeve 141 and the positioning hole 1231 form a shaft hole matching relationship.
The secondary positioning mechanism 15 is essentially a positioning device fixed on the frame 11 and forms a precise fit with the blank 00.
The automatic loading and unloading system of the machine tool mainly comprises a dot-matrix feeder 1, a robot 2, a robot clamp 3, a control system and a protective fence 4; the robot clamp 3 is arranged at the tail end of the arm of the robot 2; the robot 2 is communicated with the dot-matrix feeder 1 and the machine tool 5 through a control system, and automatically completes the following actions:
1) the robot 2 takes out the blank blanks 00 on the jig tray 13 one by one in a matrix manner;
2) the robot 2 places the blank material 00 on the secondary positioning mechanism 15 for fine positioning;
3) the robot 2 takes out the finished product 000 processed in the machine tool 5;
4) the robot 2 places the blank material 00 on a chuck of a machine tool 5 or in a die;
5) the robot 2 puts the finished product 000 to a designated position;
6) repeating steps 1) to 5).
The robot 2 may be a truss-like robot arm, which is erected above the machine tool 5; and is fixedly connected with the machine tool 5; the robot clamp 3 is fixed at the end of an arm which moves up and down.
The robot 2 may be an articulated robot, which is erected on the side of the machine tool 5 and fixed on the ground; the robot clamp 3 is fixed at the end of its last joint arm.
The moving area of the robot 2 outside the machine tool 5 is completely contained in the protection range of the protection fence 4; the machine tool 5 includes, but is not limited to: a numerical control lathe, a numerical control milling machine, a CNC machining center, an injection molding machine, a die casting machine and the like. .
The invention has the following beneficial effects:
by adopting the dot-matrix feeder and the automatic loading and unloading system of the machine tool comprising the feeder, automatic loading and unloading work of machine tool machining can be realized, robot replacement is realized, and working efficiency is improved. The blank 00 is manually placed on the dot matrix feeding machine 1, the processed finished product 000 is taken away, and other work is finished by the system, so that the system has great popularization value.
Drawings
Fig. 1 is a schematic view of the overall structure of the dot-matrix feeder and an automatic loading and unloading system of a machine tool including the feeder;
fig. 2 is a schematic diagram of the overall structure of the dot matrix feeder 1;
fig. 3 is a top view of the lattice feeder 1;
fig. 4 is a schematic diagram showing the mutual positions of the frame 11, the push-pull mechanism 12 and the positioning mechanism 14 in the lattice type feeder 1;
fig. 5 is a schematic view of the overall structure of the jig tray 13;
fig. 6 is a schematic view of the overall structure of the positioning mechanism 14;
fig. 7 is a schematic view of the overall mechanism of the secondary positioning mechanism 15;
fig. 8 is a state diagram showing the robot gripper 3 gripping the blank 00 and the finished product 000;
FIG. 9 is a system layout diagram when the robot 2 is an articulated robot and the machine tool 5 is an injection molding machine
Number in the figure: 00 blank, 000 finished products, 1 dot matrix feeder, 11 frames, 12 push-pull mechanisms, 121 linear motion mechanisms, 122 guide mechanisms, 123 platform seats, 1231 positioning holes, 1232 positioning columns, 13 jig trays, 131 jig bottom plates, 1311 jig positioning holes, 132 positioning blocks, 133 tray handles, 14 positioning mechanisms, 141 positioning sleeves, 15 secondary positioning mechanisms, 2 robots, 3 robot clamps, 4 protection fences and 5 machine tools.
Detailed Description
As shown in fig. 1, the invention discloses an automatic loading and unloading system of a machine tool, which mainly comprises a dot-matrix feeder 1, a robot 2, a robot clamp 3, a control system and a protective fence 4; the robot clamp 3 is arranged at the tail end of the arm of the robot 2; the robot 2 is communicated with the dot-matrix feeder 1 and the machine tool 5 through a control system, and the following key steps are automatically realized:
1) the robot 2 takes out the blank blanks 00 on the jig tray 13 one by one in a matrix manner;
2) the robot 2 places the blank material 00 on the secondary positioning mechanism 15 for fine positioning;
3) the robot 2 takes out the finished product 000 processed in the machine tool 5;
4) the robot 2 places the blank material 00 on a chuck of a machine tool 5 or in a die;
5) the robot 2 puts the finished product 000 to a designated position;
6) repeating steps 1) to 5).
In order to ensure the smooth implementation of the steps and ensure that the blank 00 has enough positioning precision (particularly angle) before being grabbed by the robot, the invention discloses a dot matrix feeding machine 1, which is characterized in that the dot matrix feeding machine 1 comprises the following technical characteristics:
as shown in fig. 2 and 3, the dot matrix feeder 1 mainly comprises a frame 11, a push-pull mechanism 12, a jig tray 13, a positioning mechanism 14 and a secondary positioning mechanism 15; the number of the push-pull mechanisms 12 is not less than one, and the larger the number is, the longer the interval period of manual feeding is. The jig tray 13 is positioned on the push-pull mechanism 12, and the positioning mechanism 14 is arranged at the tail end of the push-pull mechanism 12 and forms shaft hole fit with the push-pull mechanism 12, so that the positioning accuracy of the jig tray 13 is ensured. Each push-pull mechanism 12 is provided with a group of jig trays 13, that is, the number of the jig trays 13 is the same as that of the push-pull mechanisms 12. Secondary positioning mechanism 15 sets up in frame 11 and be close to positioning mechanism 14's one end, makes things convenient for robot 2 to get the material. The robot 2 takes the blank 00 off the jig tray 13 and then puts the blank 00 on the secondary positioning mechanism 15, the secondary positioning mechanism 15 and the blank 00 form a matching relationship (for example, matching relationship such as shaft hole matching and edge positioning), and the blank 00 is precisely positioned.
As shown in fig. 4, 5 and 6, the push-pull mechanism 12 is mainly composed of a linear motion mechanism 121, a guide mechanism 122 and a platform base 123; the linear motion mechanism 121 is parallel to the guide mechanism 122, and the number of the guide mechanisms 122 is more than or equal to one; the optimal two groups can ensure the running stability and save the cost. The platform base 123 is arranged on the upper side of the guide mechanism 122, the side face of the platform base 123 is provided with a positioning hole 1231, the upper side is provided with positioning columns 1232, and the number of the positioning columns 1232 is three. The positioning hole 1231 is matched with the positioning sleeve 141 in the positioning mechanism 14 to realize the positioning of the platform base 123; the positioning posts 1232 form a shaft hole fit with the jig positioning holes 1311 in the jig tray 13, so as to position the jig tray 13 on the platform 123. All of the positioning posts 1232 are three in number, so as to prevent the jig tray 13 from being placed in a wrong direction.
As shown in fig. 1, 3 and 4, the linear motion mechanism 121 is substantially a cylinder, and the guide mechanism 122 is substantially a set of rail-slider mechanisms. When the air cylinder is in a first limit state (or a fully-retracted state), manually placing the blank blanks 00 on the positioning blocks 132 on the jig tray 13 one by one to form coarse positioning; or manually place the blank materials 00 on the positioning blocks 132 on the jig tray 13 one by one, and then place the whole jig tray 13 on the platform base 123. When the cylinder is in the second limit state (or fully extended state), the jig tray 13 is in the material taking working area of the robot 2. In the two extreme states, the jig tray 13 is in different areas, and the middle of the jig tray is separated by the protective fence 4, so that the jig tray is an important safety protection means.
As shown in fig. 3, the jig tray 13 is mainly composed of a jig bottom plate 131, a positioning block 132, and a tray handle 133; the jig base plate 131 is provided with three jig positioning holes 1311, the number of the jig positioning holes 1311 is three, the diameter of one jig positioning hole 1311 is larger than that of the other two jig positioning holes, and the two jig positioning holes 1311 with smaller diameters are matched with the positioning columns 1232. When the jig tray 13 is correctly placed on the platform base 123 in the direction, the two smaller jig positioning holes 1311 and the positioning posts 1232 form a shaft hole fit, so that positioning is achieved. The third positioning post 1232 can pass through the jig positioning hole 1311 with a larger diameter, and positioning is not affected. When the jig tray 13 is placed on the platform 123 in the opposite direction, although the two smaller jig positioning holes 1311 are matched with the positioning posts 1232 through the shaft holes, the third positioning posts 1232 are not matched with the corresponding jig positioning holes 1311, so as to form interference, and the jig tray cannot be placed normally. Ensuring that the tool tray 13 is properly placed on the platform 123.
As shown in fig. 6, the positioning mechanism 14 is substantially an air cylinder mechanism disposed on the side surface of the push-pull mechanism 12, the head of the air cylinder is provided with a positioning sleeve 141, when the push-pull mechanism 12 pushes all the articles thereon to the limit position, the positioning mechanism 14 extends out, the positioning sleeve 141 and the positioning hole 1231 form a shaft hole matching relationship, so as to position the positioning seat 123, and the jig tray 13 thereon is also positioned.
As shown in fig. 7, the secondary positioning mechanism 15 is essentially a positioning device fixed on the frame 11, and forms a precise fit with the blank 00 to ensure the relative position accuracy of the blank.
Fig. 8 is a schematic diagram of the overall structure of the robot gripper 3, in which the robot gripper 3 is provided with two gripping jaws, one gripping blank 00 and the other gripping finished product 000, so that switching can be realized in the machine tool more efficiently.
As shown in fig. 1, the robot 2 may be a truss-type robot arm, which is erected above a machine tool 5; and is fixedly connected with the machine tool 5; the robot clamp 3 is fixed to the end of the arm that moves up and down.
As shown in fig. 9, the robot 2 may also be an articulated robot, which is mounted on the side of the machine tool 5 and fixed on the ground; the robot clamp 3 is fixed at the end of its last joint arm.
The robot 2 is completely contained in the protection range of the protection fence 4 in the moving area outside the machine tool 5, and safe production is guaranteed.
The machine tool 5 may be a lathe, a milling machine, a CNC machining center, an injection molding machine, a die casting machine, etc. As shown in fig. 9, the robot 2 is an articulated robot, the machine tool 5 is an injection molding machine, and the technical solution is also included in the automatic loading and unloading system of the machine tool of the present invention.
The invention has the following beneficial effects:
by adopting the dot-matrix feeder and the automatic loading and unloading system of the machine tool comprising the feeder, automatic loading and unloading work of machine tool machining can be realized, robot replacement is realized, and working efficiency is improved. The blank is manually placed on the dot matrix feeding machine, and the processed finished product is taken away, so that the method has great popularization value.
The above description is only a preferred embodiment of the present invention, but does not limit the scope of the present invention. All insubstantial creations made based on this embodiment are considered to be legally protected against tampering or hacking of the invention.
Claims (10)
1. Dot-matrix feeder, its characterized in that: the dot matrix feeder is mainly composed of a frame (11), a push-pull mechanism (12), a jig tray (13), a positioning mechanism (14) and a secondary positioning mechanism (15); the number of the push-pull mechanisms (12) is not less than one; the jig tray (13) is positioned on the push-pull mechanism (12); the positioning mechanism (14) is arranged at the tail end of the push-pull mechanism (12) and forms shaft hole matching with the push-pull mechanism (12), and the number of the positioning mechanism is the same as that of the push-pull mechanism (12); the secondary positioning mechanism (15) is arranged on the frame (11) and close to one end of the positioning mechanism (14).
2. The lattice feed machine of claim 1, wherein: the push-pull mechanism (12) mainly comprises a linear motion mechanism (121), a guide mechanism (122) and a platform base (123); the linear motion mechanism (121) and the guide mechanism (122) are arranged in parallel, and the number of the guide mechanisms (122) is more than or equal to one group; platform seat (123) set up the upside at guiding mechanism (122), and its side is provided with locating hole (1231), and its upside is provided with reference column (1232), and the quantity of reference column (1232) is three.
3. The lattice feeder according to claim 1 and claim 2, wherein: the linear motion mechanism (121) is a cylinder in nature, and the guide mechanism (122) is a group of guide rail sliding block mechanisms in nature.
4. The lattice feed machine of claim 1, wherein: the jig tray (13) mainly comprises a jig bottom plate (131), a positioning block (132) and a tray handle (133); the jig bottom plate (131) is provided with jig positioning holes (1311), and the number of the jig positioning holes is three; one jig positioning hole (1311) is larger in diameter than the other two jig positioning holes, and the jig positioning holes (1311) are matched with the positioning columns (1232).
5. The lattice feed machine of claim 1, wherein: the positioning mechanism (14) is essentially an air cylinder mechanism arranged on the side surface of the push-pull mechanism (12), the head of the air cylinder is provided with a positioning sleeve (141), and the positioning sleeve (141) and the positioning hole (1231) form a shaft hole matching relationship.
6. The lattice feed machine of claim 1, wherein: the secondary positioning mechanism (15) is essentially a positioning device fixed on the frame (11) and forms precise fit with the blank (00).
7. Automatic unloading system of going up of lathe, its characterized in that: the automatic loading and unloading system of the machine tool mainly comprises a dot-matrix feeder (1), a robot (2), a robot clamp (3), a control system and a protective fence (4); the robot clamp (3) is arranged at the tail end of the arm of the robot (2); the robot (2) is communicated with the dot-matrix feeder (1) and the machine tool (5) through a control system, and automatically completes the following actions:
1) the robot (2) takes out the blank blanks (00) on the jig tray (13) one by one according to a matrix mode;
2) the robot (2) puts the blank material (00) on the secondary positioning mechanism (15) for fine positioning;
3) the robot (2) takes out the finished product (000) processed in the machine tool (5);
4) the robot (2) places the blank (00) on a chuck of a machine tool (5) or in a die;
5) the robot (2) puts the finished product (000) to a specified position;
6) repeating steps 1) to 5).
8. The automatic loading and unloading system of the machine tool as claimed in claim 7, wherein: the robot (2) is a truss type mechanical arm and is erected above the machine tool (5); and is fixedly connected with a machine tool (5); the robot clamp (3) is fixed at the tail end of an arm which moves up and down.
9. The automatic loading and unloading system of the machine tool as claimed in claim 7, wherein: the robot (2) is a joint robot, is erected on the side surface of the machine tool (5) and is fixed on the ground; the robot clamp (3) is fixed at the end of the last joint arm.
10. The automatic loading and unloading system of the machine tool as claimed in claim 7, wherein: the robot (2) is completely contained in the protection range of the protection fence (4) in the moving area outside the machine tool (5); the machine tool (5) includes but is not limited to: a numerical control lathe, a numerical control milling machine, a CNC machining center, an injection molding machine, a die casting machine and the like.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911168966.5A CN110978037B (en) | 2019-11-25 | 2019-11-25 | Dot matrix type feeding machine and automatic feeding and discharging system of machine tool comprising same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911168966.5A CN110978037B (en) | 2019-11-25 | 2019-11-25 | Dot matrix type feeding machine and automatic feeding and discharging system of machine tool comprising same |
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| CN110978037A true CN110978037A (en) | 2020-04-10 |
| CN110978037B CN110978037B (en) | 2024-08-06 |
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| US20150117990A1 (en) * | 2013-10-30 | 2015-04-30 | Barload Machine Co., Ltd | Front door-type automatic material-taking device |
| CN206484379U (en) * | 2017-02-21 | 2017-09-12 | 东莞市晋拓自动化科技有限公司 | A kind of flat panel products polissoir automatic loading and unloading system |
| CN107471885A (en) * | 2017-09-13 | 2017-12-15 | 西安精雕软件科技有限公司 | A kind of flexible automatic manufacturing device of carving machine |
| CN207155358U (en) * | 2017-05-23 | 2018-03-30 | 深圳市连硕教育投资管理有限公司 | A kind of Digit Control Machine Tool automates machining production line |
| CN211388847U (en) * | 2019-11-25 | 2020-09-01 | 郑州弗曼智能设备科技有限公司 | Dot-matrix feeder and automatic loading and unloading system of machine tool comprising same |
-
2019
- 2019-11-25 CN CN201911168966.5A patent/CN110978037B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150117990A1 (en) * | 2013-10-30 | 2015-04-30 | Barload Machine Co., Ltd | Front door-type automatic material-taking device |
| CN206484379U (en) * | 2017-02-21 | 2017-09-12 | 东莞市晋拓自动化科技有限公司 | A kind of flat panel products polissoir automatic loading and unloading system |
| CN207155358U (en) * | 2017-05-23 | 2018-03-30 | 深圳市连硕教育投资管理有限公司 | A kind of Digit Control Machine Tool automates machining production line |
| CN107471885A (en) * | 2017-09-13 | 2017-12-15 | 西安精雕软件科技有限公司 | A kind of flexible automatic manufacturing device of carving machine |
| CN211388847U (en) * | 2019-11-25 | 2020-09-01 | 郑州弗曼智能设备科技有限公司 | Dot-matrix feeder and automatic loading and unloading system of machine tool comprising same |
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