CN113894602A - Automatic feeding and discharging line based on mechanical clamping jaw - Google Patents
Automatic feeding and discharging line based on mechanical clamping jaw Download PDFInfo
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- CN113894602A CN113894602A CN202111203223.4A CN202111203223A CN113894602A CN 113894602 A CN113894602 A CN 113894602A CN 202111203223 A CN202111203223 A CN 202111203223A CN 113894602 A CN113894602 A CN 113894602A
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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 belongs to the technical field of part processing, and particularly relates to an automatic loading and unloading line based on a mechanical clamping jaw, which comprises an operation area for realizing transfer and loading and unloading of rear axle blank parts of two specifications, wherein models of the rear axle blank parts of the two specifications have common structural characteristics after being superposed, and the common structural characteristics comprise three V-shaped grooves, four blank bosses and four lining holes with end faces; the front end of the operation area is provided with a blank taking table, the rear end of the operation area is provided with a semi-finished product transfer table, the left side and the right side of the operation area are respectively provided with at least one machine tool, a robot is installed in the operation area, a seventh shaft of the robot is provided with a six-shaft mechanical arm, and the six-shaft mechanical arm is provided with a mechanical clamping jaw. According to the automatic loading and unloading device, the mechanical clamping jaw is matched with the six-axis mechanical arm and the seventh axis of the robot, so that automatic loading and unloading of the rear axle can be realized, the loading and unloading mode is safe and efficient, the repetition precision is high, the consistency is good, the labor cost can be greatly saved, and the production efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of part machining, and particularly relates to an automatic feeding and discharging line based on a mechanical clamping jaw.
Background
In the prior art, two specifications of automobile rear axle parts as shown in fig. 4 and 5 need to be processed and produced, wherein the two specifications are close in size, the length is about 1.1m, the width is 0.6m, the height is 0.23m, the weight of a blank is about 16kg, and the weight of an additive product is about 14.5 kg. At present, the rear axle is transferred and loaded and unloaded by adopting a manual holding mode or a manual operation power-assisted manipulator mode.
The transfer of rear axle or the feeding and discharging of machine tool are carried out aiming at the mode of manual holding or lifting, and the defects exist: the rear axle has large volume, heavy weight, high labor intensity of manual holding and lifting and high potential safety hazard; the working efficiency is low; the posture of the part is difficult to change; parts are easy to collide with a clamp of a numerical control machine tool or a machine tool in the manual material taking, placing and transferring processes, so that corresponding damage is caused; the labor cost is high, the personnel loss rate is high, and the work willingness is low; the operation consistency and the feeding and discharging assembly precision are difficult to ensure, and the machining quality is influenced; the working environment is poor; is not suitable for batch production and multi-specification collinear production; the occupied area is large.
Transfer and go up unloading to the independent helping hand arm of manual operation or truss helping hand arm come to realize the rear axle, have the shortcoming: the rear axle is large in size and heavy in weight, the visual field of people is greatly influenced in the processes of loading, unloading and transferring, parts are easy to collide with a numerical control machine tool or a machine tool clamp, corresponding damage is caused, and the cost is increased; the manual operation power-assisted mechanical arm is used for loading, unloading and transferring, so that the potential safety hazard is large; the operation is complicated, and the working efficiency is low; the process is switched, and the posture of the part is inconvenient to change; the manpower input cost is high, the personnel loss rate is high, and the work willingness is low; the occupied area is large; the power-assisted mechanical arm and the clamping jaw thereof have insufficient flexibility, so that the requirement of multi-product and multi-platform modularized application is difficult to meet; the labor intensity is high, industrial accidents are easy to occur, the efficiency is low, the stability of the product quality by using manual feeding and discharging is not enough, and the requirement of mass production cannot be met; is not suitable for batch production and multi-specification collinear production.
In view of the above, there is a need for an automatic loading and unloading line based on mechanical clamping jaws.
Disclosure of Invention
The invention aims to overcome the problems in the prior art, provides an automatic loading and unloading line based on a mechanical clamping jaw, can realize automatic loading and unloading and transfer of a rear axle, is safe and efficient in loading and unloading mode, high in repetition precision and good in consistency, and can greatly save labor cost and improve production efficiency.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
an automatic loading and unloading line based on mechanical clamping jaws comprises an operation area for realizing transfer and loading and unloading of rear axle blank parts of two specifications, wherein models of the rear axle blank parts of the two specifications have common structural characteristics after being superposed, and the common structural characteristics comprise three V-shaped grooves, four blank bosses and four lining holes with end faces; the front end in operation district is equipped with the blank and gets the material platform, and the rear end is equipped with semi-manufactured goods transfer station, the left and right sides in operation district is equipped with at least one lathe respectively, install the robot that comprises seventh axle of robot and six manipulators in the operation district, six manipulators are installed to the seventh epaxial six manipulators of installing of robot, install mechanical clamping jaw on the six manipulators.
Further, in the above-mentioned stockline about automation based on mechanical clamping jaw, the blank is got material platform, semi-manufactured goods transfer table and is equipped with rear axle blank part positioning mechanism separately, rear axle blank part positioning mechanism includes fixed tray, elastic positioning taper pin an and support column, install three on the fixed tray and correspond complex elastic positioning pin an with V type groove to and four correspond complex support columns with the blank boss.
Further, in the automatic feeding and discharging line based on the mechanical clamping jaws, the machine tool is provided with a rear axle blank part machine clamping mechanism, the rear axle blank part machine clamping mechanism comprises a movable tray, elastic positioning conical pins b, Z-direction fixed support columns, XY-direction hydraulic floating support cylinders, Z-direction hydraulic lever cylinders, a rotating support seat and a motor box, the movable tray is provided with three elastic positioning conical pins b correspondingly matched with the V-shaped grooves and four Z-direction fixed support columns correspondingly matched with blank bosses, the middle part of the movable tray is provided with the XY-direction hydraulic floating support cylinders for limiting the X direction or the Y direction of rear axle blank parts, the movable tray is provided with the Z-direction hydraulic lever cylinders for limiting the Z direction of the rear axle blank parts near four corners, the two sides of the movable tray are provided with the rotating support seats for providing rotating support for the movable tray, and a motor box for driving the movable tray to turn is arranged on one of the rotary supporting seats.
Further, in the automatic loading and unloading line based on the mechanical clamping jaws, the ejection direction of the XY-direction hydraulic floating support cylinder can be switched between the X direction and the Y direction through a manual rotation mode.
Further, in the automatic feeding and discharging line based on the mechanical clamping jaws, the mechanical clamping jaws are double-station clamping jaws, one surface of each mechanical clamping jaw is used as a blank clamping jaw, the other surface of each mechanical clamping jaw is used as a semi-finished clamping jaw, and the mechanical clamping jaws are matched with a robot to realize quick machine tool changing.
Further, in the above-mentioned stockline about automation based on mechanical clamping jaw, mechanical clamping jaw includes the mounting panel, the side of mounting panel is installed and is used for the flange who uses with six manipulators admittedly, the two sides of mounting panel are located mid-mounting separately and are supported jar, Y to pneumatic unsteady support jar to pneumatic floating, the two sides of mounting panel are close to four corners separately and install rotatory centre gripping cylinder, Z to pneumatic unsteady support jar, the bracing piece that floats and the nozzle of blowing.
Further, in the automatic loading and unloading line based on the mechanical clamping jaw, the mounting plate is located near the connecting flange and is provided with the proximity sensor.
Further, in the automatic feeding and discharging line based on the mechanical clamping jaws, the supporting positions of the mechanical clamping jaws are all selected from the end faces of the bushing holes of the rear axle blank parts.
Further, in the automatic loading and unloading line based on the mechanical clamping jaw, the machine tool changing method of the mechanical clamping jaw comprises the following steps: firstly, six mechanical hands grab a rear axle blank part and then wait for the material outside a machine tool, then semi-finished clamping jaws of the mechanical clamping jaws are blown to clean, then the semi-finished product is grabbed, then a rear axle blank part machining and clamping mechanism at the machine tool is loosened, the six mechanical hands are moved out and turned over, then the six mechanical hands place the rear axle blank part on the rear axle blank part machining and clamping mechanism, then the blank clamping jaws of the mechanical clamping jaws are loosened, the six mechanical hands are moved out of the machine tool, and one-time machine tool material changing is completed.
Further, in the above automatic material loading and unloading line based on the mechanical gripper, the cyclic operation method of the seventh axis of the robot is as follows: the method comprises the following steps that firstly, a rear axle blank part is taken by a six-axis manipulator, then, a seventh axis of the robot translates for the first time, then, the six-axis manipulator reloads in a four-axis numerical control machine, then, the seventh axis of the robot translates for the second time, a semi-finished product is placed in a semi-finished product transfer table, then, the seventh axis of the robot translates for the third time and resets, and a cycle is completed.
The invention has the beneficial effects that:
1. the invention provides an automatic loading and unloading line based on a mechanical clamping jaw, wherein the mechanical clamping jaw is matched with a six-axis manipulator and a seventh axis of a robot to realize automatic loading and unloading of a rear axle.
2. The automatic feeding and discharging line based on the mechanical clamping jaw has strong adaptability to the environment and small potential safety hazard; the motion precision is higher, the flexibility is good, can reduce the precision problem caused by human factor effectively under PLC control; good universality and good quality stability.
Of course, it is not necessary for any one product that embodies the invention to achieve all of the above advantages simultaneously.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic top view of the present invention;
FIG. 2 is a schematic structural view of a robot according to the present invention;
FIG. 3 is an assembly schematic of a six-axis robot and mechanical jaws of the present invention;
FIG. 4 is a schematic view of a first specification of a rear axle blank component of the present invention;
FIG. 5 is a schematic view of a second specification of a rear axle blank component of the present invention;
FIG. 6 is a schematic diagram of common structural features of two models of rear axle blank parts after superposition;
FIG. 7 is a schematic view of a rear axle blank part positioning mechanism according to the present invention in use;
FIG. 8 is a schematic structural view of a rear axle blank part positioning mechanism according to the present invention;
FIG. 9 is a schematic view of a rear axle blank part machining and clamping mechanism in a use state;
FIG. 10 is a schematic top view of the movable tray and its upper part of the present invention;
FIG. 11 is a front view of the movable tray and the upper part thereof;
FIG. 12 is a first view illustrating a first state of use of the mechanical jaw of the present invention;
FIG. 13 is a second view illustrating a state of use of the mechanical jaw of the present invention;
FIG. 14 is a schematic view of a mechanical jaw of the present invention;
FIG. 15 is a schematic flow chart of a method of cyclical operation of a seventh axis of the robot;
FIG. 16 is a schematic flow chart of a machine tool reloading method for a mechanical jaw;
in the drawings, the components represented by the respective reference numerals are listed below:
1-operation area, 2-blank taking table, 201-fixed tray, 202-elastic positioning conical pin a, 203-supporting column, 3-semi-finished product transfer table, 4-machine tool, 401-movable tray, 402-elastic positioning conical pin b, 403-Z fixed supporting column, 404-XY hydraulic floating supporting cylinder, 405-Z hydraulic lever cylinder, 406-rotating supporting seat, 407-motor box, 5-robot seventh shaft, 6-six shaft manipulator, 7-mechanical clamping jaw, 701-mounting plate, 702-connecting flange, 703-X pneumatic floating supporting cylinder, 704-Y pneumatic floating supporting cylinder, 705-rotating clamping cylinder, 706-Z pneumatic floating supporting cylinder, 707-floating supporting rod, 708-blowing nozzle, 709-proximity inductor, 8-rear axle blank part, 801-V-shaped groove, 802-blank boss and 803-bushing hole.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-6, an automatic feeding and discharging line based on mechanical clamping jaws comprises a running area 1 for realizing transfer and feeding and discharging of rear axle blank parts 8 with two specifications, wherein models of the rear axle blank parts 8 with the two specifications have common structural characteristics after being overlapped, and the common structural characteristics comprise three V-shaped grooves 801, four blank bosses 802 and four lining holes 803 with end faces. The rear axle blank part 8 is formed by sand casting, the inner diameters of 4 bushing holes and the upper and lower end faces of the holes (the height of the end face reduced surface is about 3mm) need to be processed in an automatic feeding and discharging line working section, and the processing content of the rest parts which do not influence the positioning is not introduced in the embodiment. The front end of the operation area 1 is provided with a blank taking table 2, the rear end of the operation area is provided with a semi-finished product transfer table 3, the left side and the right side of the operation area 1 are respectively provided with two machine tools 4, a robot composed of a seventh shaft 5 (namely a robot ground rail) of the robot and a six-shaft manipulator 6 is installed in the operation area 1, the seventh shaft 5 of the robot is provided with the six-shaft manipulator 6, and the six-shaft manipulator 6 is provided with a mechanical clamping jaw 7.
In the embodiment, the seventh axis of the robot bears 1.5T, the total length of the seventh axis is 8000mm, the effective stroke is about 7000mm, the maximum speed (the speed determined by the rotating speed of the servo motor) is 1.2m/s, and the repeated positioning precision is +/-0.1 mm; an automatic oiling system. Robot brand: FANUC, specification: r-2000ic/210F, parameters: the maximum load is 210Kg, and the radius can reach 2655 mm.
As shown in fig. 7-8, the blank taking table 2 and the semi-finished product transfer table 3 are respectively provided with a rear axle blank part positioning mechanism. And the rear axle blank part positioning mechanism completes the initial positioning of the blank and waits for the mechanical arm to grab. The rear axle blank part positioning mechanism comprises a fixed tray 201, elastic positioning conical pins a202 and supporting columns 203, wherein the fixed tray 201 is provided with three elastic positioning pins a202 which are correspondingly matched with the V-shaped grooves 801, and four supporting columns 203 which are correspondingly matched with the blank bosses 802.
As shown in fig. 9-11, the machine tool 4 is provided with a rear axle blank part machine clamping mechanism, the rear axle blank part machine clamping mechanism includes a movable tray 401, elastic positioning conical pins b402, Z-direction fixed support columns 403, XY-direction hydraulic floating support cylinders 404, Z-direction hydraulic lever cylinders 405, a rotary support 406 and a motor box 407, the movable tray 401 is provided with three elastic positioning conical pins b402 correspondingly matched with the V-shaped groove 801, and four Z-direction fixed support columns 403 correspondingly matched with the blank bosses 802. The middle part of the movable tray 401 is provided with an XY-direction hydraulic floating supporting cylinder 404 for limiting the X direction or the Y direction of the rear axle blank part 8, and the XY-direction hydraulic floating supporting cylinder 404 can realize the switching of the ejection direction between the X direction and the Y direction through a manual rotation mode. And a Z-direction hydraulic lever cylinder 405 for limiting the Z direction of the rear axle blank part 8 is arranged at the position, close to the four corners, of the movable tray 401. The two sides of the movable tray 401 are provided with rotary supporting seats 406 for providing rotary support for the movable tray, and a motor box 407 for driving the movable tray 401 to turn is installed on one of the rotary supporting seats 406.
As shown in fig. 12 to 14, the mechanical gripper 7 includes a mounting plate 701, and a connection flange 702 for fixedly connecting the six-axis robot 6 is mounted to a side end of the mounting plate 701. An X-direction pneumatic floating supporting cylinder 703 and a Y-direction pneumatic floating supporting cylinder 704 are respectively arranged at the middle parts of two sides of the mounting plate 701, and a rotary clamping cylinder 705, a Z-direction pneumatic floating supporting cylinder 706, a floating supporting rod 707 and a blowing nozzle 708 are respectively arranged at the two sides of the mounting plate 701 close to the four corners. Mounting plate 701 is positioned adjacent to attachment flange 702 and is fitted with proximity sensor 709. The support positions of the mechanical clamping jaws 7 are all selected from the end faces of the bushing holes 803 of the rear axle blank part 8.
In the embodiment, the mechanical clamping jaw 7 is a double-station clamping jaw, one surface of the mechanical clamping jaw is used as a blank clamping jaw, the other surface of the mechanical clamping jaw is used as a semi-finished clamping jaw, and the mechanical clamping jaw is matched with a robot to realize quick machine tool changing. The mechanical clamping jaw 7 adopts a plurality of pneumatic floating supporting cylinders, a rotary clamping cylinder 705 and other structures to realize the positioning of rear axle parts and ensure the relative position precision with a robot in the rear axle transferring and loading and unloading processes; the precise positioning of the blank is consistent with the positioning reference of the machining fixture, the uniform of the precise positioning of the material taking and the feeding reference is ensured, the clamping jaw is provided with a high-pressure air blowing nozzle 708, the clamping and positioning part is cleaned by air blowing, and the part of the clamping and pressing plate, which is in contact with a part, is made of brass material.
In this embodiment, the machine tool changing method of the mechanical clamping jaw 7 is as follows: firstly, a six-axis manipulator 6 grabs a rear axle blank part 8 and then the machine tool 4 waits for material to be fed outside, and then a semi-finished clamping jaw of a mechanical clamping jaw 7 is blown to be clean, so that a corresponding clamping and positioning surface is ensured to have no foreign matter; and then, grabbing the semi-finished product, then loosening the rear axle blank part machining and clamping mechanism at the position of the machine tool 4, moving out and overturning the six-axis manipulator 6, then placing the rear axle blank part 8 on the rear axle blank part machining and clamping mechanism by the six-axis manipulator 6, loosening the blank clamping jaw of the mechanical clamping jaw 7, moving out the six-axis manipulator 6 from the machine tool, and finishing one-time machine tool material changing.
In this embodiment, the cyclic operation method of the seventh axis 5 of the robot is as follows: firstly, a rear axle blank part is taken by a six-axis manipulator 6, then a seventh axis 5 of the robot translates for the first time, then the six-axis manipulator 6 reloads in a four-axis numerical control machine 4, then the seventh axis 5 of the robot translates for the second time, a semi-finished product is placed in a semi-finished product transfer table 3, then the seventh axis 5 of the robot translates and resets for the third time, and a cycle is completed.
The preferred embodiments of the present invention disclosed above are intended to facilitate the explanation of the present invention only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. The utility model provides a stockline about automation based on mechanical clamping jaw which characterized in that: the rear axle blank part transfer and loading and unloading device comprises an operation area for realizing the transfer and loading and unloading of rear axle blank parts with two specifications, wherein models of the rear axle blank parts with the two specifications have common structural characteristics after being superposed, and the common structural characteristics comprise three V-shaped grooves, four blank bosses and four lining holes with end faces; the front end in operation district is equipped with the blank and gets the material platform, and the rear end is equipped with semi-manufactured goods transfer station, the left and right sides in operation district is equipped with at least one lathe respectively, install the robot that comprises seventh axle of robot and six manipulators in the operation district, six manipulators are installed to the seventh epaxial six manipulators of installing of robot, install mechanical clamping jaw on the six manipulators.
2. The mechanical jaw-based automatic loading and unloading line according to claim 1, characterized in that: the blank is got material platform, semi-manufactured goods transfer table and is equipped with rear axle blank part positioning mechanism separately, rear axle blank part positioning mechanism includes fixed tray, elastic positioning taper pin an and support column, install three and correspond complex elastic positioning round pin an with V type groove on the fixed tray to and four correspond complex support columns with the blank boss.
3. The mechanical jaw-based automatic loading and unloading line according to claim 1, characterized in that: the machine tool is provided with a rear axle blank part machining and clamping mechanism which comprises a movable tray, an elastic positioning conical pin b, a Z-direction fixed support column, an XY-direction hydraulic floating support cylinder, a Z-direction hydraulic lever cylinder, a rotary support seat and a motor box, three elastic positioning conical pins b which are correspondingly matched with the V-shaped grooves are arranged on the movable tray, and four Z-direction fixed supporting columns correspondingly matched with the blank bosses, wherein an XY-direction hydraulic floating supporting cylinder for limiting the X direction or the Y direction of the rear axle blank part is arranged in the middle of the movable tray, a Z-direction hydraulic lever cylinder for limiting the Z direction of the rear axle blank part is arranged at the position, close to the four corners, of the movable tray, the both sides of activity tray are equipped with the rotation supporting seat who provides rotation support for it, and install the motor case that is used for driving the upset of activity tray on one of them rotation supporting seat.
4. The mechanical jaw-based automatic loading and unloading line according to claim 3, characterized in that: the XY-direction hydraulic floating support cylinder can realize the switching of the ejection direction between the X direction and the Y direction through a manual rotation mode.
5. The mechanical jaw-based automatic loading and unloading line according to claim 1, characterized in that: the mechanical clamping jaw is a double-station clamping jaw, one side of the mechanical clamping jaw is used as a blank clamping jaw, the other side of the mechanical clamping jaw is used as a semi-finished product clamping jaw, and the mechanical clamping jaw is matched with a robot to realize quick machine tool changing.
6. The mechanical jaw-based automatic loading and unloading line according to claim 5, characterized in that: mechanical clamping jaw includes the mounting panel, the side of mounting panel is installed and is used for the flange with six-shaft mechanical hand rigid coupling usefulness, the two sides of mounting panel are located mid-mounting separately and are had X to pneumatic unsteady support cylinder, Y to pneumatic unsteady support cylinder, the two sides of mounting panel are close to four corners separately and install rotatory centre gripping cylinder, Z to pneumatic unsteady support cylinder, unsteady bracing piece and the nozzle of blowing.
7. The mechanical jaw-based automatic loading and unloading line according to claim 6, characterized in that: the mounting panel is located and is installed near flange and be close to the inductor.
8. The mechanical jaw-based automatic loading and unloading line according to claim 6, characterized in that: and the supporting positions of the mechanical clamping jaws are all selected from the end surface of a bushing hole of the rear axle blank part.
9. The mechanical jaw-based automatic loading and unloading line according to claim 6, characterized in that: the machine tool changing method of the mechanical clamping jaw comprises the following steps: firstly, six mechanical hands grab a rear axle blank part and then wait for the material outside a machine tool, then semi-finished clamping jaws of the mechanical clamping jaws are blown to clean, then the semi-finished product is grabbed, then a rear axle blank part machining and clamping mechanism at the machine tool is loosened, the six mechanical hands are moved out and turned over, then the six mechanical hands place the rear axle blank part into the rear axle blank part machining and clamping mechanism to be loosened, then the blank clamping jaws of the mechanical clamping jaws are loosened, the six mechanical hands are moved out of the machine tool, and one-time machine tool material changing is completed.
10. The automatic loading and unloading line based on the mechanical clamping jaws is characterized in that the circulating operation method of the seventh axis of the robot is as follows: the method comprises the following steps that firstly, a rear axle blank part is taken by a six-axis manipulator, then, a seventh axis of the robot translates for the first time, then, the six-axis manipulator reloads in a four-axis numerical control machine, then, the seventh axis of the robot translates for the second time, a semi-finished product is placed in a semi-finished product transfer table, then, the seventh axis of the robot translates for the third time and resets, and a cycle is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111203223.4A CN113894602A (en) | 2021-10-15 | 2021-10-15 | Automatic feeding and discharging line based on mechanical clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111203223.4A CN113894602A (en) | 2021-10-15 | 2021-10-15 | Automatic feeding and discharging line based on mechanical clamping jaw |
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| Publication Number | Publication Date |
|---|---|
| CN113894602A true CN113894602A (en) | 2022-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111203223.4A Withdrawn CN113894602A (en) | 2021-10-15 | 2021-10-15 | Automatic feeding and discharging line based on mechanical clamping jaw |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116423482A (en) * | 2023-03-01 | 2023-07-14 | 宁波英利汽车工业有限公司 | Transport tongs of motormeter dish crossbeam |
-
2021
- 2021-10-15 CN CN202111203223.4A patent/CN113894602A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116423482A (en) * | 2023-03-01 | 2023-07-14 | 宁波英利汽车工业有限公司 | Transport tongs of motormeter dish crossbeam |
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Application publication date: 20220107 |