CN111152058A - Fast switching flexible system suitable for multi-variety small-batch production - Google Patents
Fast switching flexible system suitable for multi-variety small-batch production Download PDFInfo
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- CN111152058A CN111152058A CN202010004389.2A CN202010004389A CN111152058A CN 111152058 A CN111152058 A CN 111152058A CN 202010004389 A CN202010004389 A CN 202010004389A CN 111152058 A CN111152058 A CN 111152058A
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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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/18—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for positioning only
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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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/08—Protective coverings for parts of machine tools; Splash guards
- B23Q11/0891—Protective coverings for parts of machine tools; Splash guards arranged between the working area and the operator
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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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Abstract
The invention relates to a flexible system capable of being switched rapidly and suitable for multi-variety small-batch production, which comprises a zero point quick-change module, a machine tool automatic door module, a movable robot platform module and an adjustable equipment cushion block, wherein the zero point quick-change module is connected with the machine tool automatic door module; the zero quick-change module comprises a positioning disc, a tray and a pneumatic control device, and a pneumatic locking mechanism on the positioning disc is controlled by the pneumatic control device to be locked or unlocked; the automatic door module of the machine tool comprises a support section bar, an air cylinder, a sliding block and an L-shaped connecting plate, wherein the air cylinder is arranged on the support section bar, the sliding block is arranged on the air cylinder, the L-shaped connecting plate is fixedly arranged on the sliding block, and the L-shaped connecting plate is connected with the numerical control machining center door; the mobile robot platform module comprises a five-axis horizontal robot, a mobile platform, a stock bin and a system control cabinet; the adjustable equipment cushion block is arranged on the lower part of the movable platform and used for lifting and adjusting the movable platform. The invention realizes the quick switching of numerical control production, ensures the processing quality of products and greatly improves the processing efficiency.
Description
Technical Field
The invention relates to the field of automation, in particular to a flexible system capable of being switched quickly and suitable for multi-variety small-batch production.
Background
With the diversification and individuation of market demands, the production of multiple varieties and small batches has gradually become the main production form of small and medium-sized production processing enterprises. Under the background of market reformation of related industries and increasingly intense market competition, for small and medium-sized production and processing enterprises, the method can better master the production of complex structural parts with multiple varieties, small batches and high precision, and wins competitive advantages. The flexible manufacturing system is one of effective means for improving the processing and production efficiency of various and small-batch parts, can be quickly switched from the production of one product to the production of another product at low cost by means of a flexible manufacturing technology, uses the same set of equipment to produce different products, fully excavates the processing and production capacity of the equipment, and is of great importance to the improvement of the market competitiveness of enterprises.
The production line formed by the existing flexible system is mainly applied to a large-scale production line type production mode, is applied to enterprises with single variety, large yield and certain scale, and for most small and medium-sized manufacturing enterprises, the existing production and processing tasks are characterized by multiple varieties, small batch, high precision and short construction period, the existing production line type production mode based on the flexible manufacturing technology is difficult to copy in practical application, and the existing production line type production mode taking manpower as a main production mode is difficult to get rid of in a short time.
Disclosure of Invention
The invention aims to provide a flexible system capable of being switched quickly, which is suitable for multi-variety small-batch production, can be switched quickly, ensures the processing quality of products and greatly improves the processing efficiency.
The technical problem to be solved by the invention is realized by the following technical scheme:
the utility model provides a but quick switch flexible system suitable for production of many varieties small batch, its characterized in that: the system comprises a zero point quick-change module, a machine tool automatic door module, a mobile robot platform module and an adjustable equipment cushion block;
the zero point quick-change module comprises a positioning disc, a tray and a pneumatic control device, the tray locks a pneumatic locking mechanism positioned on the positioning disc, and the pneumatic locking mechanism on the positioning disc is controlled by the pneumatic control device to be locked or unlocked;
the automatic door module of the machine tool comprises a support section bar, a cylinder, a sliding block and an L-shaped connecting plate, wherein the support piece is arranged and connected to the outer side of the machine tool body of the numerical control machining center equipment;
the mobile robot platform module comprises a five-axis horizontal robot, a mobile platform, a stock bin and a system control cabinet, wherein the five-axis horizontal robot is fixedly installed at one end of the upper part of the mobile platform, the stock bin is placed at the other end of the upper part of the mobile platform, and the five-axis horizontal robot is connected to the system control cabinet;
the adjustable equipment cushion block is arranged on the lower portion of the movable platform and used for adjusting the movable platform in a lifting mode.
And the zero point quick-change module comprises a plurality of positioning discs, pneumatic locking mechanisms are installed on the positioning discs, the pneumatic locking mechanisms are ball locking mechanisms, a plurality of pull nails are fixedly installed at positions, corresponding to the positioning disc ball locking mechanisms, of the lower surface of the tray, the pneumatic control device comprises a pneumatic control box, a gas circuit and a PLC (programmable logic controller), the gas circuit is connected to the ball locking mechanisms of the positioning discs, and the ball locking mechanisms are controlled to be locked and unlocked.
And the adjustable equipment cushion block comprises a base, a fixed cushion block, a sliding cushion block, a connecting seat, an adjusting screw, a fixing screw and a positioning pin, wherein the base is arranged on the bottom surface through the positioning pin and the fixing screw, the fixed cushion block is fixedly arranged on the upper surface of the base, an inclined surface is formed on the upper surface of the fixed cushion block, the sliding cushion block is arranged on the fixed cushion block, the inclined surface is formed on the lower surface of the sliding cushion block, the adjusting screw is arranged on the sliding cushion block, the adjusting screw is meshed and arranged on the connecting seat, and the.
And the feed bin comprises a plurality of layers of supporting plates, and a tray positioning block is arranged on each layer of supporting plate and is a bowl-shaped tray positioning block.
The invention has the advantages and beneficial effects that:
1. the invention relates to a fast switching flexible system suitable for multi-variety small-batch production, which consists of a zero point quick-changing module, a machine tool automatic door module, a mobile robot platform module and an adjustable equipment cushion block, wherein a set of flexible production system can be quickly built by the modules for the automatic production of parts, and meanwhile, the flexible production system can be quickly removed under the working condition that a traditional manual production mode is needed without influencing the normal operation of the manual production mode; the flexible system can ensure the processing quality of products and greatly improve the processing efficiency, and the characteristic of quick switching is particularly suitable for the current production state of small and medium-sized production processing enterprises.
Drawings
Fig. 1 is a schematic structural diagram of a zero-point quick-change module according to the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is an enlarged view of the construction of the puck of the present invention;
FIG. 4 is a schematic structural view of an automatic door module of the machine tool of the present invention;
FIG. 5 is a top view of FIG. 4;
FIG. 6 is a schematic diagram of a mobile platform of the mobile robotic platform module of the present invention;
FIG. 7 is a schematic diagram of a five-axis horizontal robot in a mobile robotic platform module according to the present invention;
fig. 8 is a schematic structural diagram of a bin in the mobile robot platform module of the present invention.
Description of the reference numerals
1-tray, 2-positioning disc, 3-machining center equipment workbench, 4-workpiece, 5-pneumatic control box, 6-rivet, 7-ball locking mechanism, 8-numerical control machining center equipment, 9-supporting section bar, 10-L connecting plate, 11-first cylinder, 12-second cylinder, 13-sliding block, 14-numerical control machining center door, 15-movable platform, 16-adjustable equipment cushion block mounting hole, 17-Fuma wheel, 18-five-axis horizontal robot, 19-vertical lifting shaft, 20-rotating shaft, 21-bin, 22-supporting plate and 23-bowl-shaped tray positioning block.
Detailed Description
The present invention is further illustrated by the following specific examples, which are intended to be illustrative, not limiting and are not intended to limit the scope of the invention.
A flexible system capable of being switched rapidly and suitable for multi-variety small-batch production comprises a zero point quick-change module, a machine tool automatic door module, a mobile robot platform module and an adjustable equipment cushion block.
As shown in fig. 1-3, the zero-point quick-change module includes a positioning plate 2, a tray 1 and a pneumatic control device, the tray locks a pneumatic locking mechanism positioned on the positioning plate, and the pneumatic locking mechanism on the positioning plate is controlled by the pneumatic control device to be locked or unlocked; the positioning disc is arranged on a machining center equipment workbench 3. The zero quick-change module comprises a plurality of positioning discs, pneumatic locking mechanisms are mounted on the positioning discs and are ball locking mechanisms 7, more than 100 threaded holes are uniformly formed in the upper surfaces of the trays, the zero quick-change module is suitable for mounting various tool fixtures with different sizes, a workpiece 4 is fixed, a plurality of pull nails 6 are fixedly mounted on the lower surfaces of the trays corresponding to the ball locking mechanisms of the positioning discs, a pneumatic control device comprises a pneumatic control box 5, an air circuit and a PLC (programmable logic controller), the air circuit is connected to the ball locking mechanisms of the positioning discs, and the ball locking mechanisms are controlled to be locked and loosened. A manual switch is arranged on the pneumatic control box, so that a manual control air path can be realized. The PLC controller is connected with the master control cabinet to realize automatic control of the gas circuit.
The automatic door module of the machine tool comprises a supporting section bar 9, a first air cylinder 11, a second air cylinder 12, a sliding block 13 and an L connecting plate 10, wherein a supporting piece is arranged and connected between the machine tool bodies of the numerical control machining center equipment 8; the gas circuit is controlled by the PLC controller to realize the left and right movement of the sliding block on the cylinder. One end of the L-shaped connecting plate is connected with the air cylinder through a screw, and the other end of the L-shaped connecting plate is connected with the numerical control machining center door 14. Two doors of the numerical control machining center controlled by the PLC are automatically opened and closed.
The L-shaped connecting plate is slightly smaller than 90 degrees in bent angle, when the automatic door is not needed, only the connecting screw of the L-shaped connecting plate and the air cylinder needs to be screwed out, the L-shaped connecting plate has a gap with the air cylinder because the bent angle is slightly smaller than 90 degrees, and when the machine tool door is pushed and pulled manually, the L-shaped connecting plate does not collide and interfere with the air cylinder although moving left and right together with the pneumatic door, and the manual operation is not affected.
The mobile robot platform module comprises a five-axis horizontal robot 18, a mobile platform 15, a stock bin 21 and a system control cabinet, wherein the five-axis horizontal robot is fixedly mounted at one end of the upper portion of the mobile platform, the stock bin is placed at the other end of the upper portion of the platform, and the five-axis horizontal robot is connected to the system control cabinet. The upper end of the movable platform is provided with an adjustable equipment cushion block mounting hole 16 for connecting with an adjustable equipment cushion block. Five horseshoes 17 are installed below the movable platform, and the horseshoes have strong bearing capacity and reliable self-locking function relative to common universal wheels, and are high in safety. The movable platform is formed by connecting the structures in a welding mode, so that the movable platform has enough integral rigidity, and the bearing capacity can reach 3 tons. In addition, the platform can be easily pushed only by manpower, and the working position of the five-axis horizontal robot can be conveniently changed.
The five-axis horizontal robot consists of 4 rotating shafts 20 and 1 vertical lifting shaft 19. The maximum effective load of the robot is 200kg, and the requirements of production tasks of most processing type enterprises are met. This robot effective arm exhibition 2.2m can serve two machining center equipment simultaneously, owing to adopt 4 rotation axis structural layout, can realize the action of contracting soon of C type simultaneously, and the minimum radius of passing through is 0.9m, adaptable because of many machining center equipment place the distance too near, leads to the narrow operational environment of robot working space, space suitability is strong. Compared with a common six-axis robot, the horizontal five-axis robot has the advantages of low acquisition cost, simplicity in maintenance, convenience in operation and control, small occupied space at the same load level, and strong application advantages to small and medium-sized enterprises.
The storage bin comprises a plurality of layers of supporting plates 22, and a tray positioning block is arranged on each layer of supporting plate and is a bowl-shaped tray positioning block 23. The number and the position of the bowl-shaped tray positioning blocks and the blind rivet arranged below the tray of the zero point quick-change module form a one-to-one correspondence relationship, and when the tray is placed, the blind rivet slides to the central position of the bottom of the bowl-shaped structural member along the inner wall of the bowl-shaped structural member, so that the rapid self-positioning of the tray on the stock bin is realized.
And a flexible control system based on a PLC (programmable logic controller) is integrated in the system control cabinet. The bottom is provided with the universal wheel, and the side is provided with the connecting piece, and the connecting piece can with portable platform high-speed joint, with the help of the universal wheel simultaneously, the switch board can move together by portable platform. On the internal program, the robot action programs of a plurality of machining center devices can be compiled and stored, and the programs can be quickly called through the control display on the control cabinet.
The system control cabinet realizes the control of the pneumatic control device of the zero point quick change module, the automatic door module of the machine tool and the action of the five-axis horizontal robot. The control cabinet and the cable joint of each module all adopt the form of aviation plug, not only can realize quick plug, avoid the condition of the positive and negative misplugging of line to appear moreover, the operator operation of being convenient for.
The adjustable equipment cushion block is arranged on the lower part of the movable platform and used for lifting and adjusting the movable platform. The adjustable equipment cushion block comprises a base, a fixed cushion block, a sliding cushion block, a connecting seat, an adjusting screw, a fixing screw and a positioning pin, wherein the base is arranged on the bottom surface through the positioning pin and the fixing screw, the fixed cushion block is fixedly arranged on the upper surface of the base, an inclined plane is formed on the upper surface of the fixed cushion block, the sliding cushion block is arranged on the fixed cushion block, the inclined plane is formed on the lower surface of the sliding cushion block, the adjusting screw is arranged on the sliding cushion block, the adjusting screw is meshed and arranged on the connecting seat.
The sliding cushion block is screwed in and out through the adjusting screw, so that small lifting on the inclined plane of the fixed cushion block is realized, small fine adjustment of the height position of the movable platform is realized, and the purpose of accurate positioning is achieved.
The adjustable equipment cushion block has simple structure and accurate positioning. The upper surface of the fixed cushion block is provided with two groups of 24 threaded holes for penetrating screws to fix the relative positions of the sliding cushion block and the fixed cushion block, marks can be made beside the threaded holes, each mark corresponds to one machining center device, and therefore when the station of the robot changes, the accurate position can be quickly adjusted to be preset according to the marks, and the height of the movable platform can be quickly positioned and adjusted.
The working process of the flexible system capable of being rapidly switched and suitable for multi-variety small-batch production comprises the following steps:
1. basic work
1) The zero quick-change module is the most basic module of the flexible system, and the establishment of the flexible system capable of being quickly switched firstly requires the installation of the zero quick-change module on the processing center equipment. The positioning disc is arranged on a workbench of machining center equipment, the air path is arranged, and the PLC and the pneumatic control box of the air path are connected. The tray is connected with the positioning disc through the blind rivet, and positioning and installation of the tray are achieved. The basic work is completed by manually locking the blind rivet through the pneumatic control box. In the manual production mode, the part to be processed is not fixed with the workbench of the processing center equipment, but is fixed on the tray. Because the tray is the same with machining center equipment workstation size, no matter this equipment is with the operation of automated mode or rely on the manual work to control, can not exert an influence to original machining center equipment function.
2) The adjustable equipment cushion block is the basis for accurate positioning of the relative position of the robot and the equipment of the numerical control machining center. And positioning the placing position of an adjustable equipment cushion block connected with the movable platform on the ground, punching on the ground, and nailing a bolt with an internal thread. Each five-axis horizontal robot working station needs four adjustable equipment cushion blocks, and each adjustable equipment cushion block needs to be pre-punched with three hole sites on the ground. And one positioning pin hole site. Two set screw hole sites. The basic work of the flexible system capable of being switched rapidly is completed.
2. The flexible system is applied to automatic production
1) And an adjustable equipment cushion block is installed, the adjustable equipment cushion block base realizes coarse positioning on the ground through a positioning pin, and fine positioning and fixing on the ground are realized through two fixing screws. And installing other components of the adjustable equipment cushion block, and adjusting the sliding cushion block to the lowest position. This installation process took 2 minutes.
2) And positioning the mobile robot platform, manually pushing the mobile platform bearing the five-axis horizontal robot, the storage bin and the system control cabinet to a required station, and finely adjusting to enable each cushion block mounting hole on the mobile platform to correspond to the adjustable equipment cushion block. And (3) slightly jacking the mobile platform by adopting a jack, respectively rotating adjusting screws on four adjustable equipment cushion blocks to adjust the sliding cushion block to the pre-marked position of the five-axis robot station, fixing the sliding cushion block and the fixed cushion block, removing the jack, and penetrating a cushion block mounting hole on the mobile robot platform by using a screw to be fixed with the sliding cushion block, thereby completing the positioning of the mobile robot platform. This conditioning process took 5 minutes.
3) And calling a control program. Rotating the connecting piece to loosen the system control cabinet and the movable platform and moving the system control cabinet to a safe position; connecting the system control cabinet with the aviation plugs of the modules; and (5) switching on a system power supply, and calling a program required by the current station of the five-axis horizontal robot through a display screen of a system control cabinet. This preparation took 2 minutes.
4) Other preparation work. A manual lifting vehicle is used for arranging the tray for clamping the parts to be processed at the corresponding position of the storage bin; and isolating the working area of the robot and setting a safety warning sign. This preparation took 3 minutes.
5) And pressing a system control cabinet button to execute a preset program, and automatically producing the flexible system capable of being switched rapidly. The whole system installation preparation time can be only 12 minutes to enter the automatic production state.
3. Removing the system, and executing artificial production mode
1) The mobile platform is removed. Executing a flexible system safety program, and returning the five-axis horizontal robot to a zero position, namely, achieving a C-shaped crimping state and reducing the lifting shaft to the lowest; the system is powered off, and an aviation plug connected with a system control cabinet is pulled out; connecting the system control cabinet with the movable platform through a connecting piece; screwing out a connecting screw of a cushion block mounting hole and a sliding cushion block on the mobile robot platform; adjusting screws on the four adjustable equipment cushion blocks are respectively rotated to enable the sliding cushion block to be adjusted to the lowest position, and at the moment, the horse-riding wheel arranged on the mobile robot platform is in contact with the ground; and manually pushing the movable platform to move out of the working area. This removal process took 5 minutes.
2) And removing the adjustable equipment cushion block. Screwing out 4 fixing screws for connecting the adjustable equipment cushion blocks with the ground, pulling out the positioning pins, and removing the adjustable equipment cushion blocks; the dust cover is buckled into the mounting hole on the ground, so that the upper surface of the dust cover is flush with the ground, and the influence on normal walking of an operator is prevented. This removal process took 2 minutes.
The automatic production mode under the flexible system is switched back to the manual production mode for only 7 minutes.
Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and the accompanying drawings.
Claims (4)
1. The utility model provides a but quick switch flexible system suitable for production of many varieties small batch, its characterized in that: the system comprises a zero point quick-change module, a machine tool automatic door module, a mobile robot platform module and an adjustable equipment cushion block;
the zero point quick-change module comprises a positioning disc, a tray and a pneumatic control device, the tray locks a pneumatic locking mechanism positioned on the positioning disc, and the pneumatic locking mechanism on the positioning disc is controlled by the pneumatic control device to be locked or unlocked;
the automatic door module of the machine tool comprises a support section bar, a cylinder, a sliding block and an L-shaped connecting plate, wherein the support piece is arranged and connected to the outer side of the machine tool body of the numerical control machining center equipment;
the mobile robot platform module comprises a five-axis horizontal robot, a mobile platform, a stock bin and a system control cabinet, wherein the five-axis horizontal robot is fixedly installed at one end of the upper part of the mobile platform, the stock bin is placed at the other end of the upper part of the mobile platform, and the five-axis horizontal robot is connected to the system control cabinet;
the adjustable equipment cushion block is arranged on the lower portion of the movable platform and used for adjusting the movable platform in a lifting mode.
2. The fast switchable flexible system of claim 1, adapted for multiple varieties low volume production, wherein: the zero point quick-change module comprises a plurality of positioning discs, pneumatic locking mechanisms are mounted on the positioning discs and are ball locking mechanisms, a plurality of pull nails are fixedly mounted on the lower surface of the tray corresponding to the positions of the positioning disc ball locking mechanisms, the pneumatic control device comprises a pneumatic control box, a gas circuit and a PLC (programmable logic controller), the gas circuit is connected to the ball locking mechanisms of the positioning discs, and the ball locking mechanisms are controlled to be locked and unlocked.
3. The fast switchable flexible system of claim 1, adapted for multiple varieties low volume production, wherein: the adjustable equipment cushion block comprises a base, a fixed cushion block, a sliding cushion block, a connecting seat, an adjusting screw, a fixing screw and a positioning pin, wherein the base is arranged on the bottom surface through the positioning pin and the fixing screw, the fixed cushion block is fixedly arranged on the upper surface of the base, an inclined plane is formed on the upper surface of the fixed cushion block, the sliding cushion block is arranged on the fixed cushion block, the inclined plane is formed on the lower surface of the sliding cushion block, the adjusting screw is arranged on the sliding cushion block, the adjusting screw is meshed and arranged on the connecting seat, and.
4. The fast switchable flexible system of claim 1, adapted for multiple varieties low volume production, wherein: the storage bin comprises a plurality of layers of supporting plates, and a tray positioning block is arranged on each layer of supporting plate and is a bowl-shaped tray positioning block.
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| CN202010004389.2A CN111152058A (en) | 2020-01-03 | 2020-01-03 | Fast switching flexible system suitable for multi-variety small-batch production |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113245884A (en) * | 2021-02-09 | 2021-08-13 | 北京卫星制造厂有限公司 | Quick reloading system and method based on zero point positioning |
| CN114055229A (en) * | 2021-11-18 | 2022-02-18 | 四川航天长征装备制造有限公司 | Automatic machining production line changing and rapid production line changing method |
| CN115674723A (en) * | 2022-10-27 | 2023-02-03 | 中国航空制造技术研究院 | Quick change device and fiber placement machine |
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| CN113245884B (en) * | 2021-02-09 | 2022-08-12 | 北京卫星制造厂有限公司 | Quick reloading system and method based on zero point positioning |
| WO2022170796A1 (en) * | 2021-02-09 | 2022-08-18 | 北京卫星制造厂有限公司 | Quick replacement system and method based on zero point positioning |
| CN114055229A (en) * | 2021-11-18 | 2022-02-18 | 四川航天长征装备制造有限公司 | Automatic machining production line changing and rapid production line changing method |
| CN114055229B (en) * | 2021-11-18 | 2023-09-26 | 四川航天长征装备制造有限公司 | Machining automatic production line and quick production changing method |
| CN115674723A (en) * | 2022-10-27 | 2023-02-03 | 中国航空制造技术研究院 | Quick change device and fiber placement machine |
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Application publication date: 20200515 |