CN111687691A - Metal blank six-face grinding center and grinding method thereof - Google Patents

Metal blank six-face grinding center and grinding method thereof Download PDF

Info

Publication number
CN111687691A
CN111687691A CN201910183411.1A CN201910183411A CN111687691A CN 111687691 A CN111687691 A CN 111687691A CN 201910183411 A CN201910183411 A CN 201910183411A CN 111687691 A CN111687691 A CN 111687691A
Authority
CN
China
Prior art keywords
grinding
blank
transfer
feeding
controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910183411.1A
Other languages
Chinese (zh)
Inventor
苏荣欣
苏霄天
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Xinmingtian Alloy Material Co ltd
Original Assignee
Shenyang Xinmingtian Alloy Material Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenyang Xinmingtian Alloy Material Co ltd filed Critical Shenyang Xinmingtian Alloy Material Co ltd
Priority to CN201910183411.1A priority Critical patent/CN111687691A/en
Publication of CN111687691A publication Critical patent/CN111687691A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B1/00Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00Other grinding machines or devices
    • B24B27/0023Other grinding machines or devices grinding machines with a plurality of working posts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Grinding Of Cylindrical And Plane Surfaces (AREA)

Abstract

本发明公开了一种金属坯料六面磨削中心,包括,上料机构,其包括上料装置和上料控制器,上料装置与上料控制器电连接;三个磨削机构,所述的磨削机构包括磨削装置和磨削控制器,磨削装置与磨削控制器电连接;下料机构,其包括下料装置和下料控制器,下料装置与下料控制器电连接;三个转移机构,所述的转移机构包括转移装置和转移控制器,转移装置与转移控制器电连接;两个中转台,中转台设置在相邻两个磨削机构之间,本发明一次可以完成坯料多面磨削,无多次上下料环节,极大的节省了每次磨削间坯料转移的时间,通过智能数控精准控制,每个操作员可以同时管理多台磨削中心,通过一体化管理。

Figure 201910183411

The invention discloses a six-sided grinding center for metal blanks, comprising: a feeding mechanism, which includes a feeding device and a feeding controller, the feeding device is electrically connected with the feeding controller; three grinding mechanisms, the The grinding mechanism includes a grinding device and a grinding controller, and the grinding device is electrically connected with the grinding controller; the blanking mechanism includes a blanking device and a blanking controller, and the blanking device is electrically connected with the blanking controller ; Three transfer mechanisms, the transfer mechanism includes a transfer device and a transfer controller, and the transfer device is electrically connected with the transfer controller; Two transfer tables, the transfer table is arranged between two adjacent grinding mechanisms, the present invention is once It can complete the multi-face grinding of blanks without multiple loading and unloading links, which greatly saves the time of blank transfer between each grinding. Through intelligent numerical control precise control, each operator can manage multiple grinding centers at the same time. management.

Figure 201910183411

Description

金属坯料六面磨削中心及其磨削方法Metal blank six-sided grinding center and its grinding method

技术领域technical field

本发明属于磨削技术领域,具体涉及一种金属坯料六面磨削中心及其磨削方法。The invention belongs to the technical field of grinding, and in particular relates to a six-sided grinding center for metal blanks and a grinding method thereof.

背景技术Background technique

磨削加工是应用较为广泛的切削加工方法之一,当矩形钢板完成主体部分的加工之后,均需要将其表面多处的尺寸进行去毛刺或切除。其中,磁钢从坯料到可以组装使用的成品也需要磨削加工,传统的磨削加工设备对矩形磁钢表面进行磨削加工时,大多为单面或双面磨削,完成对磁钢的六面磨削,需要多次上料、下料以及每次磨削后坯料的转移,消耗了大量的人力和物力以及时间成本。Grinding is one of the most widely used cutting methods. After the main body of the rectangular steel plate is processed, it is necessary to deburr or cut off the dimensions of the surface. Among them, the magnetic steel also needs to be ground from the blank to the finished product that can be assembled and used. When the traditional grinding equipment grinds the surface of the rectangular magnetic steel, most of them are single-sided or double-sided grinding to complete the grinding of the magnetic steel. Six-sided grinding requires multiple loading, unloading and blank transfer after each grinding, which consumes a lot of manpower, material resources and time costs.

由此,一种从上料到下料一次完成六面磨削的磨削中心即为需要解决的技术问题,能够减少流程间的时间成本和提高整体加工流程的流畅度。Therefore, a grinding center that completes six-sided grinding at one time from loading to unloading is a technical problem that needs to be solved, which can reduce the time cost between processes and improve the fluency of the overall processing process.

发明内容SUMMARY OF THE INVENTION

本发明公开的一方面解决的一个技术问题是提供一种从上料到下料一次完成六面磨削的磨削中心及其磨削方法,该磨削中心通过自动上料,自动磨削,自动翻转,自动下料等数个智能控制机构,一次流水作业完成坯料多面的磨削加工。One technical problem to be solved by one aspect disclosed by the present invention is to provide a grinding center and a grinding method for completing six-sided grinding at one time from feeding to unloading. Several intelligent control mechanisms, such as automatic turning and automatic blanking, can complete the multi-face grinding of blanks in one flow operation.

为实现上述目的,本发明采用如下技术方案,本发明包括,上料机构,其包括上料装置和上料控制器,上料装置与上料控制器电连接;In order to achieve the above object, the present invention adopts the following technical solutions. The present invention includes a feeding mechanism, which includes a feeding device and a feeding controller, and the feeding device is electrically connected to the feeding controller;

三个磨削机构,所述的磨削机构包括磨削装置和磨削控制器,磨削装置与磨削控制器电连接;three grinding mechanisms, the grinding mechanisms include a grinding device and a grinding controller, and the grinding device and the grinding controller are electrically connected;

下料机构,其包括下料装置和下料控制器,下料装置与下料控制器电连接;A blanking mechanism, which includes a blanking device and a blanking controller, and the blanking device is electrically connected with the blanking controller;

三个转移机构,所述的转移机构包括转移装置和转移控制器,转移装置与转移控制器电连接,其用于坯料在上述各机构之间转移;three transfer mechanisms, the transfer mechanisms include a transfer device and a transfer controller, the transfer device is electrically connected with the transfer controller, and is used for transferring the blanks between the above-mentioned mechanisms;

两个中转台,中转台设置在相邻两个磨削机构之间;Two turntables, which are arranged between two adjacent grinding mechanisms;

总控制器,其用于对上述机构同步作业提供总控,上料控制器、磨削控制器、下料控制器、转移控制器分别与其电连接;a general controller, which is used to provide general control for the synchronous operation of the above-mentioned mechanisms, and the feeding controller, the grinding controller, the discharging controller, and the transfer controller are respectively electrically connected to it;

上料机构、第一个磨削机构、第一个中转台通过一个转移机构相连接,第一个中转台、第一个磨削机构、第二个中转台通过二个转移机构相连接,第二个中转台、第三个磨削机构、下料机构通过三个转移机构相连接。The feeding mechanism, the first grinding mechanism, and the first transfer table are connected by a transfer mechanism, and the first transfer table, the first grinding mechanism, and the second transfer table are connected by two transfer mechanisms. The two turntables, the third grinding mechanism and the blanking mechanism are connected by three transfer mechanisms.

进一步的,所述上料装置包括上料台及用于转移坯料的上料机械臂,上料机械臂与上料控制器电连接。Further, the feeding device includes a feeding table and a feeding mechanical arm for transferring the blank, and the feeding mechanical arm is electrically connected with the feeding controller.

进一步的,所述上料装置包括中空的上料装置本体,本体的内部设有上料车,上料车的上方设有上下活动的上料台,上料台的下方设有自动升降装置,自动升降装置的活动端的顶端与上料台相连接、固定端与上料车的底部固定连接,本体的上方、上料车的两侧分别设有上料推送装置和上料输送装置,升降装置、推送装置、上料输送装置分别与上料控制器电连接。Further, the feeding device comprises a hollow feeding device body, a feeding car is arranged inside the body, a feeding platform that moves up and down is arranged above the feeding car, and an automatic lifting device is arranged below the feeding platform. The top of the movable end of the automatic lifting device is connected with the feeding table, and the fixed end is fixedly connected with the bottom of the feeding car. The upper part of the main body and the two sides of the feeding car are respectively provided with a feeding pushing device and a feeding conveying device. The lifting device , the pushing device and the feeding conveying device are respectively electrically connected with the feeding controller.

进一步的,所述磨削装置包括,Further, the grinding device includes,

磨削总成,其具有一个对坯料进行磨削的磨轮;A grinding assembly having a grinding wheel for grinding the blank;

横向移动装置,其用于磨轮顶面横向移动坯料对坯料进行磨削;A lateral moving device, which is used to move the blank laterally on the top surface of the grinding wheel to grind the blank;

磨削液供应装置,其用于对坯料进行磨削时提供磨削液;A grinding fluid supply device, which is used to provide grinding fluid when grinding blanks;

磨削液过滤装置,其用于为使用后的磨削液进行多级过滤,为上述磨削液供应装置提供磨削液,磨削液为全合成磨削液;A grinding fluid filtering device, which is used to perform multi-stage filtration for the grinding fluid after use, and provide grinding fluid for the above-mentioned grinding fluid supply device, and the grinding fluid is a fully synthetic grinding fluid;

磨削总成、横向移动装置、磨削液供应装置、磨削液过滤装置分别与磨削控制器电连接。The grinding assembly, the lateral moving device, the grinding fluid supply device, and the grinding fluid filtering device are respectively electrically connected with the grinding controller.

进一步的,所述磨削装置设有两个磨削总成,两个磨削总成的磨轮水平相对设置,横向移动装置设置在两个磨削总成之间。Further, the grinding device is provided with two grinding assemblies, the grinding wheels of the two grinding assemblies are arranged horizontally opposite to each other, and the lateral moving device is arranged between the two grinding assemblies.

进一步的,所述中转台设有对坯料进行旋转和反转的转换装置。Further, the turntable is provided with a conversion device for rotating and reversing the blank.

进一步的,所述机械手臂设有对坯料进行旋转和反转的转换装置。Further, the mechanical arm is provided with a conversion device for rotating and reversing the blank.

进一步的,所述下料装置包括下料台及用于转移坯料的下料机械臂。Further, the blanking device includes a blanking table and a blanking robotic arm for transferring blanks.

进一步的,所述的转移机构包括转移轨道、两个机械手臂,机械手臂与转移控制器电连接。Further, the transfer mechanism includes a transfer track and two robotic arms, and the robotic arms are electrically connected to the transfer controller.

金属坯料六面磨削中心的磨削方法,包括如下步骤:The grinding method of a six-sided grinding center for metal blanks includes the following steps:

S1.上料装置检测上料台上若有坯料执行S2;S1. The feeding device detects that there is a blank on the feeding table and executes S2;

S2.上料装置检测上料既定位置是否有坯料,若有坯料执行S3,若没有坯料,上料装置将上料台上的坯料转移到上料既定位置;S2. The feeding device detects whether there is a blank at the predetermined position of the feeding. If there is a blank, perform S3. If there is no blank, the feeding device transfers the blank on the feeding table to the predetermined position of the feeding;

S3.第一个转移装置检测第一个磨削装置的既定位置是否有坯料,若有坯料执行S4,若没有坯料,第一个转移装置的第一个机械手臂将上料既定位置的坯料转移至第一个磨削装置的既定位置,然后启动第一个磨削装置对坯料进行磨削加工;S3. The first transfer device detects whether there is a blank in the predetermined position of the first grinding device. If there is a blank, perform S4. If there is no blank, the first robot arm of the first transfer device will transfer the blank at the predetermined position of the feeding. to the predetermined position of the first grinding device, and then start the first grinding device to grind the blank;

S4.第二个转移装置检测第一个中转台的既定位置是否有坯料,若有坯料执行S5,若没坯料,第一个转移装置的第二个机械手臂将第一个磨削装置磨削后的坯料转移至第一个中转台的既定位置,第一个中转台对坯料在垂直方向进行90度的旋转;S4. The second transfer device detects whether there is a blank at the predetermined position of the first transfer table. If there is a blank, execute S5. If there is no blank, the second robotic arm of the first transfer device will grind the first grinding device. After the blank is transferred to the predetermined position of the first transfer table, the first transfer table rotates the blank 90 degrees in the vertical direction;

S5.第二个转移装置检测第二个磨削装置的既定位置是否有坯料,若有坯料执行S6,若没有坯料,第二个转移装置的第一个机械手臂将第一个中转台的既定位置的坯料转移至第二个磨削装置的既定位置,然后启动第二个磨削装置对坯料进行磨削加工;S5. The second transfer device detects whether there is a blank in the predetermined position of the second grinding device. If there is a blank, execute S6. If there is no blank, the first robot arm of the second transfer device will transfer the predetermined position of the first transfer table. The blank in position is transferred to the predetermined position of the second grinding device, and then the second grinding device is started to grind the blank;

S6.第三个转移装置检测第二个中转台的既定位置是否有坯料,若有坯料执行S7,若没坯料,第二个转移装置的第二个机械手臂将第二个磨削装置磨削后的坯料转移至第二个中转台的既定位置,第二个中转台对坯料在水平方向进行90度的旋转;S6. The third transfer device detects whether there is a blank at the predetermined position of the second transfer table. If there is a blank, execute S7. If there is no blank, the second mechanical arm of the second transfer device will grind the second grinding device. After the blank is transferred to the predetermined position of the second turntable, the second turntable rotates the blank 90 degrees in the horizontal direction;

S7.第三个转移装置检测第三个磨削装置的既定位置是否有坯料,若有坯料执行S8,若没有坯料,第三个转移装置的第一个机械手臂将第二个中转台的既定位置的坯料转移至第三个磨削装置的既定位置,然后启动第三个磨削装置对坯料进行磨削加工;S7. The third transfer device detects whether there is a blank in the predetermined position of the third grinding device. If there is a blank, execute S8. If there is no blank, the first robot arm of the third transfer device will transfer the predetermined position of the second transfer table. The blank in position is transferred to the predetermined position of the third grinding device, and then the third grinding device is started to grind the blank;

S8.下料装置检测下料既定位置是否有坯料,若有坯料执行S9,若没有坯料,第三个转移装置的第二个机械手臂将第三个磨削装置磨削后的坯料转移至下料既定位置;S8. The blanking device detects whether there is a blank at the predetermined position of the blanking. If there is a blank, execute S9. If there is no blank, the second robotic arm of the third transfer device will transfer the blank after grinding by the third grinding device to the bottom. the predetermined location of the material;

S9.下料装置检测下料台上是否有空余位置,若有,下料装置将下料既定位置的坯料转移到下料台上的空余位置。S9. The unloading device detects whether there is a spare position on the unloading table. If there is, the unloading device transfers the blank at the predetermined position for unloading to the spare position on the unloading table.

上述S1-S9步骤循环执行。The above steps S1-S9 are executed cyclically.

本发明与现有技术相比,有以下优点,本磨削中心一次可以完成坯料多面磨削,无多次上下料环节,极大的节省了每次磨削间坯料转移的时间。磨削中心为智能数控精准控制,每个操作员可以同时管理多台磨削中心。磨削中心为一体化管理,磨削期间的蒸汽、磨削液经过净化后无害排放,或重复使用。Compared with the prior art, the present invention has the following advantages. The grinding center can complete the multi-faceted grinding of the blank at one time without multiple loading and unloading links, which greatly saves the time for transferring the blank between each grinding. The grinding center is precisely controlled by intelligent numerical control, and each operator can manage multiple grinding centers at the same time. The grinding center is managed in an integrated manner, and the steam and grinding fluid during grinding are purified and discharged harmlessly or reused.

附图说明Description of drawings

图1是根据本公开的一个方面的结构示意图;1 is a schematic structural diagram according to an aspect of the present disclosure;

图2是根据本公开的另一个方面的结构示意图;2 is a schematic structural diagram according to another aspect of the present disclosure;

图3是根据本公开的一个方面的上料装置结构示意图;3 is a schematic structural diagram of a feeding device according to an aspect of the present disclosure;

图中:1-上料机构、101-上料装置本体、102-上料车、103-上料台、104-上料推送装置、105-上料输送装置、2-磨削机构、201-横向移动装置、202-磨轮、3-下料机构、4-转移机构、401-机械臂、5-中转台。In the picture: 1-feeding mechanism, 101-feeding device body, 102-feeding car, 103-feeding table, 104-feeding push device, 105-feeding conveying device, 2-grinding mechanism, 201- Lateral moving device, 202-grinding wheel, 3-unloading mechanism, 4-transfer mechanism, 401-robot arm, 5-transfer table.

具体实施方式Detailed ways

下面将结合具体的实施方案对本发明进行进一步的解释,但并不局限本发明,说明书附图所绘示的结构、比例、大小等,均仅用以配合说明书所揭示的内容,以供熟悉此技术的人士了解与阅读,并非用以限定本发明可实施的限定条件,故不具技术上的实质意义,任何结构的修饰、比例关系的改变或大小的调整,在不影响本发明所能产生的功效及所能达成的目的下,均应仍落在本发明所揭示的技术内容所能涵盖的范围内。同时,本说明书中所引用的如“上”、“下”、“前”、“后”、“中间”等用语,亦仅为便于叙述的明了,而非用以限定本发明可实施的范围,其相对关系的改变或调整,在无实质变更技术内容下,当亦视为本发明可实施的范畴。The present invention will be further explained below in conjunction with specific embodiments, but it is not limited to the present invention. The structures, proportions, sizes, etc. shown in the accompanying drawings are only used to cooperate with the contents disclosed in the description, so as to be familiar with the present invention. Those skilled in the art understand and read, it is not used to limit the conditions for the implementation of the present invention, so it has no technical significance. Any modification of structure, change of proportional relationship or adjustment of size will not affect the The effect and the achievable purpose should still fall within the scope covered by the technical content disclosed in the present invention. Meanwhile, terms such as "upper", "lower", "front", "rear" and "middle" quoted in this specification are only for the convenience of description and clarity, and are not used to limit the scope of the present invention. , the change or adjustment of the relative relationship, without substantial change of the technical content, should also be regarded as the scope of the present invention.

本公开的实施例一,如图1所示,一种金属坯料六面磨削中心包括,Embodiment 1 of the present disclosure, as shown in FIG. 1 , a six-sided grinding center for a metal blank includes:

上料机构,其包括上料装置和上料控制器,上料装置与上料控制器电连接,上料装置包括上料台及用于转移坯料的上料机械臂。The feeding mechanism includes a feeding device and a feeding controller, the feeding device is electrically connected with the feeding controller, and the feeding device includes a feeding table and a feeding mechanical arm for transferring blanks.

三个磨削机构,所述的磨削机构包括磨削装置和磨削控制器,磨削装置与磨削控制器电连接,所述磨削装置包括,磨削总成,其具有一个对坯料进行磨削的磨轮,以及横向移动装置,其用于磨轮顶面横向移动坯料对坯料进行磨削;以及磨削液供应装置,其用于对坯料进行磨削时提供磨削液;以及磨削液过滤装置,其用于为使用后的磨削液进行多级过滤,为上述磨削液供应装置提供磨削液,磨削液为全合成磨削液,该磨削液过滤装置为长方形槽体结构,槽体中部设有多个隔断,磨削时使用后的磨削液被引入槽体的上游,磨削液经过多个隔断自然沉淀后流至槽体的下游,磨削液供应装置将槽体的下游的磨削液引入。所述磨削装置设有两个磨削总成,两个磨削总成的磨轮水平相对设置,两个磨削总成均可沿两个磨削总成相对的水平方向前后平移,横向移动装置设置在两个磨削总成之间。Three grinding mechanisms, the grinding mechanism includes a grinding device and a grinding controller, the grinding device is electrically connected with the grinding controller, the grinding device includes a grinding assembly, which has a pair of blanks A grinding wheel for grinding, and a lateral moving device, which is used for the top surface of the grinding wheel to move the blank laterally to grind the blank; and a grinding fluid supply device, which is used for providing grinding fluid when grinding the blank; and grinding Liquid filtration device, which is used for multi-stage filtration for the used grinding fluid, provides grinding fluid for the above-mentioned grinding fluid supply device, the grinding fluid is a fully synthetic grinding fluid, and the grinding fluid filtering device is a rectangular groove Body structure, there are multiple partitions in the middle of the tank body, the grinding fluid used during grinding is introduced into the upstream of the tank body, and the grinding fluid flows to the downstream of the tank body after natural precipitation through multiple partitions. Introduce the grinding fluid downstream of the tank. The grinding device is provided with two grinding assemblies, the grinding wheels of the two grinding assemblies are arranged horizontally opposite to each other, and the two grinding assemblies can translate forward and backward along the relative horizontal direction of the two grinding assemblies, and move laterally. The device is placed between the two grinding assemblies.

该磨削中心设有总控制器,上料控制器、磨削控制器、下料控制器、转移控制器分别与总控制器电连接,总控制器用于管理控制整个磨削中心各个机构的执行顺序,使磨削中心处于最佳的工作状态。The grinding center is provided with a master controller. The feeding controller, grinding controller, unloading controller, and transfer controller are respectively electrically connected to the master controller. The master controller is used to manage and control the execution of each mechanism of the entire grinding center. order, so that the grinding center is in the best working condition.

下料机构,其包括下料装置和下料控制器,下料装置与下料控制器电连接,下料装置包括下料台及用于转移坯料的下料机械臂。The blanking mechanism includes a blanking device and a blanking controller, the blanking device is electrically connected with the blanking controller, and the blanking device includes a blanking table and a blanking mechanical arm for transferring blanks.

三个转移机构,所述的转移机构包括转移轨道、两个机械手臂和转移控制器,机械手臂与转移控制器电连接,机械手臂设有对坯料进行旋转和反转的转换装置。Three transfer mechanisms. The transfer mechanism includes a transfer track, two mechanical arms and a transfer controller. The mechanical arms are electrically connected to the transfer controller. The mechanical arms are provided with a conversion device for rotating and reversing the blank.

两个中转台,中转台设置在相邻两个磨削机构之间,中转台设有对坯料进行旋转和反转的转换装置。Two transfer tables, the transfer table is arranged between two adjacent grinding mechanisms, and the transfer table is provided with a conversion device for rotating and reversing the blank.

上料机构、第一个磨削机构、第一个中转台通过一个转移机构相连接,第一个中转台、第一个磨削机构、第二个中转台通过二个转移机构相连接,第二个中转台、第三个磨削机构、下料机构通过三个转移机构相连接。The feeding mechanism, the first grinding mechanism, and the first transfer table are connected by a transfer mechanism, and the first transfer table, the first grinding mechanism, and the second transfer table are connected by two transfer mechanisms. The two turntables, the third grinding mechanism and the blanking mechanism are connected by three transfer mechanisms.

金属坯料六面磨削中心的磨削方法,包括如下步骤:The grinding method of a six-sided grinding center for metal blanks includes the following steps:

S1.上料装置检测上料台上若有坯料执行S2;S1. The feeding device detects that there is a blank on the feeding table and executes S2;

S2.上料装置检测上料既定位置是否有坯料,若有坯料执行S3,若没有坯料,上料机械臂将上料台上的坯料转移到上料既定位置;S2. The feeding device detects whether there is a blank at the predetermined position of the feeding. If there is a blank, perform S3. If there is no blank, the feeding robot arm transfers the blank on the feeding table to the predetermined position of the feeding;

S3.第一个转移装置检测第一个磨削装置的既定位置是否有坯料,若有坯料执行S4,若没有坯料,第一个转移装置的第一个机械手臂将上料既定位置的坯料转移至第一个磨削装置的既定位置,然后启动第一个磨削装置对坯料进行磨削加工;S3. The first transfer device detects whether there is a blank in the predetermined position of the first grinding device. If there is a blank, perform S4. If there is no blank, the first robot arm of the first transfer device will transfer the blank at the predetermined position of the feeding. to the predetermined position of the first grinding device, and then start the first grinding device to grind the blank;

S4.第二个转移装置检测第一个中转台的既定位置是否有坯料,若有坯料执行S5,若没坯料,第一个转移装置的第二个机械手臂将第一个磨削装置磨削后的坯料转移至第一个中转台的既定位置,第一个中转台对坯料在垂直方向进行90度的旋转;S4. The second transfer device detects whether there is a blank at the predetermined position of the first transfer table. If there is a blank, execute S5. If there is no blank, the second robotic arm of the first transfer device will grind the first grinding device. After the blank is transferred to the predetermined position of the first transfer table, the first transfer table rotates the blank 90 degrees in the vertical direction;

S5.第二个转移装置检测第二个磨削装置的既定位置是否有坯料,若有坯料执行S6,若没有坯料,第二个转移装置的第一个机械手臂将第一个中转台的既定位置的坯料转移至第二个磨削装置的既定位置,然后启动第二个磨削装置对坯料进行磨削加工;S5. The second transfer device detects whether there is a blank in the predetermined position of the second grinding device. If there is a blank, execute S6. If there is no blank, the first robot arm of the second transfer device will transfer the predetermined position of the first transfer table. The blank in position is transferred to the predetermined position of the second grinding device, and then the second grinding device is started to grind the blank;

S6.第三个转移装置检测第二个中转台的既定位置是否有坯料,若有坯料执行S7,若没坯料,第二个转移装置的第二个机械手臂将第二个磨削装置磨削后的坯料转移至第二个中转台的既定位置,第二个中转台对坯料在水平方向进行90度的旋转;S6. The third transfer device detects whether there is a blank at the predetermined position of the second transfer table. If there is a blank, execute S7. If there is no blank, the second mechanical arm of the second transfer device will grind the second grinding device. After the blank is transferred to the predetermined position of the second turntable, the second turntable rotates the blank 90 degrees in the horizontal direction;

S7.第三个转移装置检测第三个磨削装置的既定位置是否有坯料,若有坯料执行S8,若没有坯料,第三个转移装置的第一个机械手臂将第二个中转台的既定位置的坯料转移至第三个磨削装置的既定位置,然后启动第三个磨削装置对坯料进行磨削加工;S7. The third transfer device detects whether there is a blank in the predetermined position of the third grinding device. If there is a blank, execute S8. If there is no blank, the first robot arm of the third transfer device will transfer the predetermined position of the second transfer table. The blank in position is transferred to the predetermined position of the third grinding device, and then the third grinding device is started to grind the blank;

S8.下料装置检测下料既定位置是否有坯料,若有坯料执行S9,若没有坯料,第三个转移装置的第二个机械手臂将第三个磨削装置磨削后的坯料转移至下料既定位置;S8. The blanking device detects whether there is a blank at the predetermined position of the blanking. If there is a blank, execute S9. If there is no blank, the second robotic arm of the third transfer device will transfer the blank after grinding by the third grinding device to the bottom. the predetermined location of the material;

S9.下料装置检测下料台上是否有空余位置,若有,下料机械臂将下料既定位置的坯料转移到下料台上的空余位置。S9. The unloading device detects whether there is a spare position on the unloading table. If there is, the unloading robotic arm transfers the blank at the predetermined position to the spare position on the unloading table.

上述S1-S9步骤循环执行。The above steps S1-S9 are executed cyclically.

该磨削方法中,每个磨削装置在坯料加工时,根据实际需要选择对坯料磨削的次数,以达到规定标准,即步骤S3、S5、S7中磨削装置对坯料进行磨削加工时的磨削次数可能相同或不同。In this grinding method, each grinding device selects the number of times of grinding the blank according to actual needs when processing the blank, so as to reach the specified standard, that is, when the grinding device grinds the blank in steps S3, S5 and S7 The number of grindings may be the same or different.

为了进一步实现智能化生产,工厂内采用AGV无人搬运车运送坯料,包括加工前的原始坯料和加工后的坯料,该方案中,上料机构和下料机构预留AGV车位,上料时,上料AGV车将代加工的坯料运送至上料台上,下料时,下料AGV车停放在下料机构位置,接收加工后的坯料,待下料台的坯料装满后,下料AGV车将下料台的坯料运送到后续指定位置。In order to further realize intelligent production, AGV unmanned trucks are used in the factory to transport the blanks, including the original blanks before processing and the processed blanks. In this scheme, the feeding mechanism and the feeding mechanism reserve AGV parking spaces. The loading AGV transports the processed blanks to the loading table. When unloading, the unloading AGV is parked at the position of the unloading mechanism to receive the processed blanks. After the blanks on the unloading table are filled, the unloading AGV will The blank of the unloading table is transported to the subsequent designated position.

本公开的实施例二,如图2、3所示,结合实施例一,其中上料装置更换为,包括中空的上料装置本体,本体的内部设有上料车,上料车的上方设有上下活动的上料台,上料台的下方设有自动升降装置,自动升降装置的活动端的顶端与上料台相连接、固定端与上料车的底部固定连接,本体的上方、上料车的两侧分别设有上料推送装置和上料输送装置。首先,将坯料以行列的形式摆放在上料台上,上料车推至上料装置的本体内,启动升降装置将上料台升至推送装置的下沿略低之处,启动推送装置,将上料台上最前排的坯料推送至上料输送装置的上方,启动上料输送装置,将上料输送装置最前方的坯料输送至上料既定位置。Embodiment 2 of the present disclosure, as shown in Figures 2 and 3, combined with Embodiment 1, wherein the feeding device is replaced with a hollow feeding device body, the interior of the body is provided with a feeding car, and the upper part of the feeding car is provided with There is a feeding table that can move up and down, and an automatic lifting device is arranged below the feeding table. The top of the movable end of the automatic lifting device is connected with the feeding table, and the fixed end is fixedly connected with the bottom of the feeding car. The two sides of the car are respectively provided with a feeding pushing device and a feeding conveying device. First, place the blanks on the feeding table in the form of rows and columns, push the feeding car into the body of the feeding device, start the lifting device to raise the feeding table to the lower edge of the pushing device, and start the pushing device. Push the blanks in the front row on the loading table to the top of the loading conveying device, start the loading conveying device, and transport the blanks at the front of the loading conveying device to the predetermined position for loading.

采用实施例二的技术方案,其磨削方法的步骤为:Adopt the technical scheme of embodiment two, the steps of its grinding method are:

S1.上料装置检测上料台上若有坯料执行S2;S1. The feeding device detects that there is a blank on the feeding table and executes S2;

S2.上料装置检测上料既定位置是否有坯料,若有坯料执行S3,若没有坯料,上料检测装置检测上料输送装置上是否有坯料,若有坯料启动上料输送装置,将坯料输送至上料既定位置,暂停上料输送装,若没有坯料启动上料推送装置,将上料台上的坯料推送至上料输送装置的上方,启动上料输送装置,将坯料输送至上料既定位置,暂停上料输送装;S2. The feeding device detects whether there is a blank at the predetermined position of the feeding. If there is a blank, execute S3. If there is no blank, the feeding detection device detects whether there is a blank on the feeding conveying device. If there is a blank, start the feeding and conveying device to convey the blank. When there is no blank, start the feeding pushing device, push the blank on the feeding table to the top of the feeding conveying device, start the feeding conveying device, and transport the blank to the predetermined position of feeding, and pause. Loading and conveying equipment;

S3.第一个转移装置检测第一个磨削装置的既定位置是否有坯料,若有坯料执行S4,若没有坯料,第一个转移装置的第一个机械手臂将上料既定位置的坯料转移至第一个磨削装置的既定位置,然后启动第一个磨削装置对坯料进行磨削加工;S3. The first transfer device detects whether there is a blank in the predetermined position of the first grinding device. If there is a blank, perform S4. If there is no blank, the first robot arm of the first transfer device will transfer the blank at the predetermined position of the feeding. to the predetermined position of the first grinding device, and then start the first grinding device to grind the blank;

S4.第二个转移装置检测第一个中转台的既定位置是否有坯料,若有坯料执行S5,若没坯料,第一个转移装置的第二个机械手臂将第一个磨削装置磨削后的坯料转移至第一个中转台的既定位置,第一个中转台对坯料在垂直方向进行90度的旋转;S4. The second transfer device detects whether there is a blank at the predetermined position of the first transfer table. If there is a blank, execute S5. If there is no blank, the second robotic arm of the first transfer device will grind the first grinding device. After the blank is transferred to the predetermined position of the first transfer table, the first transfer table rotates the blank 90 degrees in the vertical direction;

S5.第二个转移装置检测第二个磨削装置的既定位置是否有坯料,若有坯料执行S6,若没有坯料,第二个转移装置的第一个机械手臂将第一个中转台的既定位置的坯料转移至第二个磨削装置的既定位置,然后启动第二个磨削装置对坯料进行磨削加工;S5. The second transfer device detects whether there is a blank in the predetermined position of the second grinding device. If there is a blank, execute S6. If there is no blank, the first robot arm of the second transfer device will transfer the predetermined position of the first transfer table. The blank in position is transferred to the predetermined position of the second grinding device, and then the second grinding device is started to grind the blank;

S6.第三个转移装置检测第二个中转台的既定位置是否有坯料,若有坯料执行S7,若没坯料,第二个转移装置的第二个机械手臂将第二个磨削装置磨削后的坯料转移至第二个中转台的既定位置,第二个中转台对坯料在水平方向进行90度的旋转;S6. The third transfer device detects whether there is a blank at the predetermined position of the second transfer table. If there is a blank, execute S7. If there is no blank, the second mechanical arm of the second transfer device will grind the second grinding device. After the blank is transferred to the predetermined position of the second turntable, the second turntable rotates the blank 90 degrees in the horizontal direction;

S7.第三个转移装置检测第三个磨削装置的既定位置是否有坯料,若有坯料执行S8,若没有坯料,第三个转移装置的第一个机械手臂将第二个中转台的既定位置的坯料转移至第三个磨削装置的既定位置,然后启动第三个磨削装置对坯料进行磨削加工;S7. The third transfer device detects whether there is a blank in the predetermined position of the third grinding device. If there is a blank, execute S8. If there is no blank, the first robot arm of the third transfer device will transfer the predetermined position of the second transfer table. The blank in position is transferred to the predetermined position of the third grinding device, and then the third grinding device is started to grind the blank;

S8.下料装置检测下料既定位置是否有坯料,若有坯料执行S9,若没有坯料,第三个转移装置的第二个机械手臂将第三个磨削装置磨削后的坯料转移至下料既定位置;S8. The blanking device detects whether there is a blank at the predetermined position of the blanking. If there is a blank, execute S9. If there is no blank, the second robotic arm of the third transfer device will transfer the blank after grinding by the third grinding device to the bottom. the predetermined location of the material;

S9.下料装置检测下料台上是否有空余位置,若有,下料机械臂将下料既定位置的坯料转移到下料台上的空余位置。S9. The unloading device detects whether there is a spare position on the unloading table. If there is, the unloading robotic arm transfers the blank at the predetermined position to the spare position on the unloading table.

上述S1-S9步骤循环执行。The above steps S1-S9 are executed cyclically.

尽管已经示出和描述了本发明的实施例,对于本领域的普通技术人员而言,可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型,本发明的范围由所附权利要求及其等同物限定。Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (10)

1.金属坯料六面磨削中心,其特征在于:包括,1. A six-sided grinding center for metal blanks, characterized in that: including, 上料机构,其包括上料装置和上料控制器,上料装置与上料控制器电连接;a feeding mechanism, which includes a feeding device and a feeding controller, and the feeding device is electrically connected with the feeding controller; 三个磨削机构,所述的磨削机构包括磨削装置和磨削控制器,磨削装置与磨削控制器电连接;three grinding mechanisms, the grinding mechanisms include a grinding device and a grinding controller, and the grinding device and the grinding controller are electrically connected; 下料机构,其包括下料装置和下料控制器,下料装置与下料控制器电连接;A blanking mechanism, which includes a blanking device and a blanking controller, and the blanking device is electrically connected with the blanking controller; 三个转移机构,所述的转移机构包括转移装置和转移控制器,转移装置与转移控制器电连接,其用于坯料在上述各机构之间转移;three transfer mechanisms, the transfer mechanisms include a transfer device and a transfer controller, the transfer device is electrically connected with the transfer controller, and is used for transferring the blanks between the above-mentioned mechanisms; 两个中转台,其设置在相邻两个磨削机构之间;two turntables, which are arranged between two adjacent grinding mechanisms; 总控制器,其用于对上述机构流程作业提供总控,上料控制器、磨削控制器、下料控制器分别、转移控制器、中转台与其电连接;a general controller, which is used to provide general control for the above-mentioned institutional process operations, and the feeding controller, the grinding controller, the unloading controller, the transfer controller, and the turntable are respectively electrically connected to them; 上料机构、第一个磨削机构、第一个中转台通过一个转移机构相连接,第一个中转台、第一个磨削机构、第二个中转台通过二个转移机构相连接,第二个中转台、第三个磨削机构、下料机构通过三个转移机构相连接。The feeding mechanism, the first grinding mechanism, and the first transfer table are connected by a transfer mechanism, and the first transfer table, the first grinding mechanism, and the second transfer table are connected by two transfer mechanisms. The two turntables, the third grinding mechanism and the blanking mechanism are connected by three transfer mechanisms. 2.根据权利要求1所述的金属坯料六面磨削中心,其特征在于:所述上料装置包括上料台及用于转移坯料的上料机械臂。2 . The six-side grinding center for metal blanks according to claim 1 , wherein the feeding device comprises a feeding table and a feeding robot arm for transferring the blanks. 3 . 3.根据权利要求1所述的金属坯料六面磨削中心,其特征在于:所述上料装置包括中空的上料装置本体,本体的内部设有上料车,上料车的上方设有上下活动的上料台,上料台的下方设有自动升降装置,自动升降装置的活动端的顶端与上料台相连接、固定端与上料车的底部固定连接,本体的上方、上料车的两侧分别设有上料推送装置和上料输送装置。3 . The six-sided grinding center for metal blanks according to claim 1 , wherein the feeding device comprises a hollow feeding device body, a feeding car is arranged inside the body, and a feeding car is provided above the feeding car. 4 . The upper and lower movable feeding table, the lower part of the feeding table is provided with an automatic lifting device, the top of the movable end of the automatic lifting device is connected with the feeding table, the fixed end is fixedly connected with the bottom of the feeding car, the upper part of the body, the feeding car There are feeding push device and feeding conveying device on both sides respectively. 4.根据权利要求1所述的金属坯料六面磨削中心,其特征在于:所述磨削装置包括,4. The six-sided grinding center for metal blanks according to claim 1, wherein the grinding device comprises: 磨削总成,其具有一个对坯料进行磨削的磨轮;A grinding assembly having a grinding wheel for grinding the blank; 横向移动装置,其用于磨轮顶面横向移动坯料对坯料进行磨削;A lateral moving device, which is used to move the blank laterally on the top surface of the grinding wheel to grind the blank; 磨削液供应装置,其用于对坯料进行磨削时提供磨削液;A grinding fluid supply device, which is used to provide grinding fluid when grinding blanks; 磨削液过滤装置,其用于为使用后的磨削液进行多级过滤,为上述磨削液供应装置提供磨削液。The grinding fluid filtering device is used for multi-stage filtration for the grinding fluid after use, and provides the grinding fluid for the above-mentioned grinding fluid supply device. 5.根据权利要求4所述的金属坯料六面磨削中心,其特征在于:所述磨削装置设有两个磨削总成,两个磨削总成的磨轮水平相对设置,横向移动装置设置在两个磨削总成之间。5 . The six-sided grinding center for metal blanks according to claim 4 , wherein the grinding device is provided with two grinding assemblies, the grinding wheels of the two grinding assemblies are horizontally opposite to each other, and the lateral moving device Set between the two grinding assemblies. 6.根据权利要求1所述的金属坯料六面磨削中心,其特征在于:所述中转台设有具有旋转和反转的转换装置。6 . The six-side grinding center for metal blanks according to claim 1 , wherein the turntable is provided with a conversion device with rotation and reversal. 7 . 7.根据权利要求1所述的金属坯料六面磨削中心,其特征在于:所述机械手臂设有具有旋转和反转的转换装置。7 . The six-sided grinding center for metal blanks according to claim 1 , wherein the mechanical arm is provided with a conversion device with rotation and reversal. 8 . 8.根据权利要求1所述的金属坯料六面磨削中心,其特征在于:所述下料装置包括下料台及用于转移坯料的下料机械臂。8 . The six-side grinding center for metal blanks according to claim 1 , wherein the blanking device comprises a blanking table and a blanking robot arm for transferring blanks. 9 . 9.根据权利要求1所述的金属坯料六面磨削中心,其特征在于:所述的转移装置包括转移轨道、两个机械手臂,机械手臂与转移控制器电连接。9 . The six-side grinding center for metal blanks according to claim 1 , wherein the transfer device comprises a transfer track and two mechanical arms, and the mechanical arms are electrically connected to the transfer controller. 10 . 10.根据权利要求1所述的金属坯料六面磨削中心的磨削方法,其特征在于,包括如下步骤:10. The grinding method of metal blank six-sided grinding center according to claim 1, is characterized in that, comprises the steps: S1.上料装置检测上料台上若有坯料执行S2;S1. The feeding device detects that there is a blank on the feeding table and executes S2; S2.上料装置检测上料既定位置是否有坯料,若有坯料执行S3,若没有坯料,上料装置将上料台上的坯料转移到上料既定位置;S2. The feeding device detects whether there is a blank at the predetermined position of the feeding. If there is a blank, perform S3. If there is no blank, the feeding device transfers the blank on the feeding table to the predetermined position of the feeding; S3.第一个转移装置检测第一个磨削装置的既定位置是否有坯料,若有坯料执行S4,若没有坯料,第一个转移装置的第一个机械手臂将上料既定位置的坯料转移至第一个磨削装置的既定位置,然后启动第一个磨削装置对坯料进行磨削加工;S3. The first transfer device detects whether there is a blank in the predetermined position of the first grinding device. If there is a blank, perform S4. If there is no blank, the first robot arm of the first transfer device will transfer the blank at the predetermined position of the feeding. to the predetermined position of the first grinding device, and then start the first grinding device to grind the blank; S4.第二个转移装置检测第一个中转台的既定位置是否有坯料,若有坯料执行S5,若没坯料,第一个转移装置的第二个机械手臂将第一个磨削装置磨削后的坯料转移至第一个中转台的既定位置,第一个中转台对坯料在垂直方向进行90度的旋转;S4. The second transfer device detects whether there is a blank at the predetermined position of the first transfer table. If there is a blank, execute S5. If there is no blank, the second robotic arm of the first transfer device will grind the first grinding device. After the blank is transferred to the predetermined position of the first transfer table, the first transfer table rotates the blank 90 degrees in the vertical direction; S5.第二个转移装置检测第二个磨削装置的既定位置是否有坯料,若有坯料执行S6,若没有坯料,第二个转移装置的第一个机械手臂将第一个中转台的既定位置的坯料转移至第二个磨削装置的既定位置,然后启动第二个磨削装置对坯料进行磨削加工;S5. The second transfer device detects whether there is a blank in the predetermined position of the second grinding device. If there is a blank, execute S6. If there is no blank, the first robot arm of the second transfer device will transfer the predetermined position of the first transfer table. The blank in position is transferred to the predetermined position of the second grinding device, and then the second grinding device is started to grind the blank; S6.第三个转移装置检测第二个中转台的既定位置是否有坯料,若有坯料执行S7,若没坯料,第二个转移装置的第二个机械手臂将第二个磨削装置磨削后的坯料转移至第二个中转台的既定位置,第二个中转台对坯料在水平方向进行90度的旋转;S6. The third transfer device detects whether there is a blank at the predetermined position of the second transfer table. If there is a blank, execute S7. If there is no blank, the second mechanical arm of the second transfer device will grind the second grinding device. After the blank is transferred to the predetermined position of the second turntable, the second turntable rotates the blank 90 degrees in the horizontal direction; S7.第三个转移装置检测第三个磨削装置的既定位置是否有坯料,若有坯料执行S8,若没有坯料,第三个转移装置的第一个机械手臂将第二个中转台的既定位置的坯料转移至第三个磨削装置的既定位置,然后启动第三个磨削装置对坯料进行磨削加工;S7. The third transfer device detects whether there is a blank in the predetermined position of the third grinding device. If there is a blank, execute S8. If there is no blank, the first robot arm of the third transfer device will transfer the predetermined position of the second transfer table. The blank in position is transferred to the predetermined position of the third grinding device, and then the third grinding device is started to grind the blank; S8.下料装置检测下料既定位置是否有坯料,若有坯料执行S9,若没有坯料,第三个转移装置的第二个机械手臂将第三个磨削装置磨削后的坯料转移至下料既定位置;S8. The blanking device detects whether there is a blank at the predetermined position of the blanking. If there is a blank, execute S9. If there is no blank, the second robotic arm of the third transfer device will transfer the blank after grinding by the third grinding device to the bottom. the predetermined location of the material; S9.下料装置检测下料台上是否有空余位置,若有,下料装置将下料既定位置的坯料转移到下料台上的空余位置。S9. The unloading device detects whether there is a spare position on the unloading table. If there is, the unloading device transfers the blank at the predetermined position for unloading to the spare position on the unloading table. 上述S1-S9步骤循环执行。The above steps S1-S9 are executed cyclically.
CN201910183411.1A 2019-03-12 2019-03-12 Metal blank six-face grinding center and grinding method thereof Pending CN111687691A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910183411.1A CN111687691A (en) 2019-03-12 2019-03-12 Metal blank six-face grinding center and grinding method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910183411.1A CN111687691A (en) 2019-03-12 2019-03-12 Metal blank six-face grinding center and grinding method thereof

Publications (1)

Publication Number Publication Date
CN111687691A true CN111687691A (en) 2020-09-22

Family

ID=72475243

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910183411.1A Pending CN111687691A (en) 2019-03-12 2019-03-12 Metal blank six-face grinding center and grinding method thereof

Country Status (1)

Country Link
CN (1) CN111687691A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115365164A (en) * 2022-09-08 2022-11-22 内蒙古第一机械集团股份有限公司 Double-gripper robot motion system and method

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000000741A (en) * 1998-06-15 2000-01-07 Sanyo Machine Kk Six-surface continuous automatic finishing machine and machining method using the finishing machine
CN102601699A (en) * 2012-03-14 2012-07-25 安徽同步自动化科技有限公司 Automatic grinding/slitting system for refractory bricks
CN203281744U (en) * 2013-04-28 2013-11-13 东莞广泽汽车饰件有限公司 Mold feeding cart and liftable mold feeding cart
CN203676331U (en) * 2013-12-18 2014-07-02 浙江名媛工艺饰品有限公司 Automatic linear crystal blank polishing system
CN104057375A (en) * 2014-07-16 2014-09-24 王和能 Six-face grinding process method for fireproof green bricks
CN104117905A (en) * 2011-04-01 2014-10-29 哈里斯股份有限公司 Machining device for thin-plate-like object and manufacturing method for thin-plate-like member
CN105523069A (en) * 2015-12-08 2016-04-27 常州星宇车灯股份有限公司 Feeding rack cart with adjustable height
CN106002530A (en) * 2016-06-04 2016-10-12 杭州拓川机械有限公司 Glass edge grinding machine
CN106334984A (en) * 2016-08-27 2017-01-18 宿州市天艺钢化玻璃有限公司 Automatic double-edge glass edge grinding production line
CN106813992A (en) * 2017-01-18 2017-06-09 刘肖俊 A kind of novel mobile phone touch-screen strength testing device
CN206664652U (en) * 2017-03-28 2017-11-24 合肥汇通控股股份有限公司 A kind of mould skip car based on the translation of support board leading screw and scissors type elevating
CN107792139A (en) * 2017-11-22 2018-03-13 十堰五优汽配实业有限公司 A kind of engine cylinder-body stream carrier vehicle
CN207511442U (en) * 2017-12-06 2018-06-19 佛山市顺德区正意玻璃机械有限公司 A kind of full-automatic glass relay device
CN209681783U (en) * 2019-03-12 2019-11-26 沈阳新铭天合金材料有限公司 Six face grinding center of metal stock

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000000741A (en) * 1998-06-15 2000-01-07 Sanyo Machine Kk Six-surface continuous automatic finishing machine and machining method using the finishing machine
CN104117905A (en) * 2011-04-01 2014-10-29 哈里斯股份有限公司 Machining device for thin-plate-like object and manufacturing method for thin-plate-like member
CN102601699A (en) * 2012-03-14 2012-07-25 安徽同步自动化科技有限公司 Automatic grinding/slitting system for refractory bricks
CN203281744U (en) * 2013-04-28 2013-11-13 东莞广泽汽车饰件有限公司 Mold feeding cart and liftable mold feeding cart
CN203676331U (en) * 2013-12-18 2014-07-02 浙江名媛工艺饰品有限公司 Automatic linear crystal blank polishing system
CN104057375A (en) * 2014-07-16 2014-09-24 王和能 Six-face grinding process method for fireproof green bricks
CN105523069A (en) * 2015-12-08 2016-04-27 常州星宇车灯股份有限公司 Feeding rack cart with adjustable height
CN106002530A (en) * 2016-06-04 2016-10-12 杭州拓川机械有限公司 Glass edge grinding machine
CN106334984A (en) * 2016-08-27 2017-01-18 宿州市天艺钢化玻璃有限公司 Automatic double-edge glass edge grinding production line
CN106813992A (en) * 2017-01-18 2017-06-09 刘肖俊 A kind of novel mobile phone touch-screen strength testing device
CN206664652U (en) * 2017-03-28 2017-11-24 合肥汇通控股股份有限公司 A kind of mould skip car based on the translation of support board leading screw and scissors type elevating
CN107792139A (en) * 2017-11-22 2018-03-13 十堰五优汽配实业有限公司 A kind of engine cylinder-body stream carrier vehicle
CN207511442U (en) * 2017-12-06 2018-06-19 佛山市顺德区正意玻璃机械有限公司 A kind of full-automatic glass relay device
CN209681783U (en) * 2019-03-12 2019-11-26 沈阳新铭天合金材料有限公司 Six face grinding center of metal stock

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115365164A (en) * 2022-09-08 2022-11-22 内蒙古第一机械集团股份有限公司 Double-gripper robot motion system and method

Similar Documents

Publication Publication Date Title
CN209997856U (en) omnidirectional conveying and spraying production line
CN205325188U (en) Full -automatic high efficiency high accuracy of differential mechanism casing intelligence automated processing system
CN102874611B (en) Intelligent loading and unloading machine system
CN207551267U (en) A kind of panel turnover device
CN204897298U (en) AGV is with lifting rotary composite set
CN206104427U (en) Cell -phone screen self -cleaning equipment
CN201685134U (en) Machine tool scrap discharging vehicle
CN105856033A (en) Polishing machine capable of rotationally polishing product
CN111687691A (en) Metal blank six-face grinding center and grinding method thereof
CN205674006U (en) A kind of polishing machine for automobile luggage racks
CN205930781U (en) Car body turnover vehicle
CN104495345A (en) Submit outlet moving machine
CN203863238U (en) Tire mold replacing car
CN205660520U (en) Can to product circulate delivery burnishing machine
CN111169943B (en) Material tray unloading line and loading and unloading method
CN204525436U (en) A kind of four-wheel drive transfer robot
CN103496543B (en) Wheel hub convey tilter
CN209491273U (en) A kind of full-automatic reinforcing bar shear-bow device
CN209110676U (en) A loading and unloading device of a CNC machine tool
CN209681783U (en) Six face grinding center of metal stock
CN114229469A (en) Automatic vertical conveying device and method for plate glass with interchangeable lines
CN104555312A (en) Industrial transportation robot
CN205075848U (en) Vehicle translation adjusting device
CN102672570A (en) Edge-grinding automatic turnover machine for printed circuit board
CN222680476U (en) Wire drawing system of processing

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20200922