CN114453786B - Circular metal barrel lid equipment welding equipment - Google Patents
Circular metal barrel lid equipment welding equipment Download PDFInfo
- Publication number
- CN114453786B CN114453786B CN202210041050.9A CN202210041050A CN114453786B CN 114453786 B CN114453786 B CN 114453786B CN 202210041050 A CN202210041050 A CN 202210041050A CN 114453786 B CN114453786 B CN 114453786B
- Authority
- CN
- China
- Prior art keywords
- welding
- round cover
- round
- component
- cover
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention discloses a circular metal barrel cover assembling and welding device which comprises a circular cover feeding mechanism, a circular cover conveying and orienting mechanism and an assembling and welding mechanism; the round cover conveying and orienting mechanism comprises a round cover pushing component and a round cover orienting component, wherein the round cover pushing component is provided with a feeding station, an orienting station and a welding station in sequence along the pushing direction, and the round cover orienting component comprises a machine vision shooting component, a round cover positioning component and an orienting rotary driving component; the round cover feeding mechanism comprises a round cover storage part for storing round covers and a round cover taking part for taking the round covers on the round cover storage part one by one and putting the round covers on a feeding station; the assembly welding mechanism comprises a welding compacting component and a welding paint conveying and breaking component which are oppositely arranged at a welding station. The technology can realize automatic orientation of the round cover, and can realize automatic paint breaking and welding, thereby improving efficiency.
Description
Technical Field
The invention relates to the technical field of barrel cover assembly, in particular to a circular metal barrel cover assembly welding device.
Background
In the prior art, a round metal container is widely applied to chemical liquid, food and other packages, and for convenient extraction, a handle is generally assembled on a round metal barrel cover, and the handle is generally welded on the round metal barrel cover through a handle. The mode of manual welding processing is generally used in the tradition, and is inefficiency, although some automatic bung automatic assembly welding equipment appears in the market, but current equipment is all not directed against circular metal bung, be different from square bung, because circular bung can't carry out the location of part direction through the sharp limit of part, and the handle needs the orientation gesture to weld again, so when the equipment welds, be difficult to accurately weld the handle in the gesture position that matches with circular metal bung, in addition, welded efficiency is lower.
Disclosure of Invention
The invention aims to provide a circular metal barrel cover assembling and welding device, which solves one or more technical problems in the prior art and at least provides a beneficial choice or creation condition.
The technical scheme adopted for solving the technical problems is as follows:
the invention provides a circular metal barrel cover assembling and welding device which comprises a circular cover feeding mechanism, a circular cover conveying and orienting mechanism and an assembling and welding mechanism; the round cover conveying and orienting mechanism comprises a round cover pushing component and a round cover orienting component, wherein the round cover pushing component is provided with a feeding station, an orienting station and a welding station which are sequentially arranged along the pushing direction, the round cover orienting component is arranged at the orienting station and comprises a machine vision shooting component, a round cover positioning component and an orienting rotary driving component, the round cover positioning component is used for locking a round cover on the orienting station, the machine vision shooting component is used for shooting and taking an image of the round cover on the orienting station, and the orienting rotary driving component is used for driving the round cover positioning component to drive the round cover on the round cover positioning component to rotate around an axis of the round cover positioning component; the round cover feeding mechanism comprises a round cover storage part for storing round covers and a round cover taking part for taking and putting the round covers on the round cover storage part to a feeding station one by one; the assembly welding mechanism comprises a welding pressing part and a welding paint conveying and breaking part which are oppositely arranged at the welding station, wherein the welding pressing part and the welding paint conveying and breaking part are respectively arranged at two sides of the round cover on the welding station, the welding pressing part comprises a first welding die holder and a first welding driving assembly used for driving the first welding die holder to abut against one side face of the round cover on the welding station, and the welding paint conveying and breaking part comprises a second welding die holder, a second welding driving assembly used for driving the second welding die holder to abut against the other side face of the round cover on the welding station and a paint breaking rotary driving assembly used for driving the second welding die holder to rotate.
The beneficial effects of the invention are as follows: when the automatic welding device is used, the round metal barrel is stacked on the round cap stock part, the round cap material taking part takes and puts one round cap on the round cap stock part to the feeding station, the round cap pushing part pushes the round cap to the directional station from the feeding station in sequence, the welding station, when the round cap is pushed to the directional station, the machine vision shooting component shoots and takes an image on the round cap on the directional station, the angle direction of the round cap is identified and analyzed, the round cap positioning component is locked on the round cap on the directional station, the directional rotation driving component drives the round cap positioning component to drive the round cap on the round cap positioning component to rotate around the axis of the round cap, the round cap pushing part rotates to an angle required by assembly welding, then the round cap pushing part pushes the round cap on the directional station to the welding station, as a paint layer and a plating layer are arranged on the surface of the metal barrel cap and the metal lug, the welding effect is affected, the welding lug and the handle are placed on the second welding die holder before welding, then the second welding die holder is driven to abut against the round cap through the second welding driving component, the second welding die holder is driven to touch the other side face, the welding lug is driven to touch the welding die holder, and the welding die holder is driven to touch the welding die, and the welding efficiency is improved, and the welding die is achieved.
As a further improvement of the technical scheme, the round cover stock component comprises a stacking storage channel arranged on the upper side of the feeding station and a cover falling component arranged at the lower end of the stacking storage channel, wherein the cover falling component comprises a cover clamping positioning component and a discharging component which are arranged on the side face of the stacking storage channel up and down, the cover clamping positioning component comprises a clamping plate block and a clamping driving unit used for driving the clamping plate block to clamp and fix a round cover in the stacking storage channel, the discharging component comprises a material blocking plate and a discharging driving unit used for driving the material blocking plate to extend into the stacking storage channel and blocking the round cover from falling, and the round cover material taking component comprises a material taking sucker below the stacking storage channel and a material taking lifting driving unit used for driving the material taking sucker to move up and down.
The dome is deposited through piling up the storage channel to this scheme, realizes the blowing of dome through the intermittent type action of clamping lid locating member and blowing component, specifically: the clamping plate block is higher than the material blocking plate, and when the material is stored, the material blocking plate is driven by the material discharging driving unit to extend into the stacking storage channel to prevent the round cover from falling; when discharging, the clamping driving unit drives the clamping plate blocks to clamp the round caps stacked in the stacking storage channel, then the discharging driving unit drives the baffle plates to retract, the baffle plates are withdrawn, a plurality of round metal barrel covers which are not clamped by the clamping plate blocks drop downwards due to the height difference between the clamping plate blocks and the baffle plates, after discharging is completed, the baffle plates extend into, the clamping plate blocks retract and loosen, and in order to improve the smoothness of storing and discharging the round caps, the baffle plates and the clamping plate blocks are arranged in a plurality of annular intervals; this scheme absorbs the dome through getting the material sucking disc, specifically: when the material is taken, the material taking lifting driving unit drives the material taking sucker to move upwards and contact with the fallen round cover, the material taking sucker opens negative pressure to adsorb the barrel cover, and the material taking lifting driving unit drives the barrel cover to pull downwards and place the barrel cover in the material loading station.
As a further improvement of the technical scheme, a magnetic channel is arranged between the material taking sucker and the lower end of the stacking storage channel, and a plurality of magnetic force tension splitters are uniformly distributed around the magnetic channel.
The magnetic channel is further arranged to automatically separate the round covers at intervals, a plurality of round metal barrel covers can fall into the magnetic channel, a magnetic field is generated through the magnetic force splitters, and the round metal barrel covers are automatically separated at intervals and suspended under the influence of the magnetic field and are taken out after the follow-up procedure.
As the further improvement of above-mentioned technical scheme, dome propelling movement part includes dome fixture, reciprocal propelling movement mechanism and fixed transport bottom plate that sets up, dome fixture including set up respectively in two dome holders of dome propelling movement part direction both sides, be used for driving two dome holders and be close to each other or keep away from the centre gripping drive assembly, two dome holders are relative setting, the dome holder is followed dome propelling movement part's propelling movement direction extends, reciprocal propelling movement mechanism is used for driving dome fixture along dome propelling movement part direction reciprocating movement, all be provided with at least clamping part more than two in two dome holders inboard in opposite directions, at least more than two clamping part is followed dome propelling movement part's direction is the interval arrangement setting, the clamping part sets up in the upside of transport bottom plate, the transport bottom plate is provided with the material loading fretwork mouth in the position that corresponds with the material loading station, the material fretwork mouth supplies the material sucking disc passes from top to bottom the material sucking disc is provided with magnet all around the material fretwork mouth.
This scheme has set up the conveying bottom plate and has come the bearing dome, and the dome can slide on the top surface of conveying bottom plate at the in-process of propelling movement, gets the material sucking disc and places the dome in the top of material loading fretwork mouth. Wherein the dome pushing member firstly clamps the dome by the dome clamping mechanism, and then pushes the dome forward by the reciprocating pushing mechanism, specifically: the round cover clamping mechanism drives the two round cover clamping seats to be close to or far away from each other through the clamping driving assembly, the round cover clamping seats clamp the round cover through the clamping portions, the clamping portions reciprocate between the two adjacent stations, the specific structure of the clamping portions can be set according to the structure of the round cover and can be set to be a concave clamping groove structure or a boss structure, clamping and loosening of the round cover are achieved, the reciprocating pushing mechanism is used for driving the round cover clamping mechanism to move along the conveying direction of the round cover pushing component, driving the round cover to push a distance of one station towards the conveying direction, the round cover clamping seats can clamp the round cover on all the stations simultaneously, and the reciprocating pushing mechanism enables the round cover on all the stations to leave the original station and enter the next station, so that reciprocating intermittent circular pushing is achieved. And the magnets are arranged around the feeding hollowed-out opening, so that the barrel cover is adsorbed to avoid position shifting.
As a further improvement of the technical scheme, the conveying bottom plate is provided with an orientation hollow-out opening at a position corresponding to the orientation station, the round cover positioning assembly comprises an orientation rotary table arranged in the orientation hollow-out opening, the orientation rotary driving assembly is in transmission connection with the orientation rotary table, a locking positioning member for locking the round cover is arranged on the orientation rotary table, and the machine vision shooting assembly is erected above the orientation rotary table.
According to the scheme, the round cover positioning assembly carries the pushed round cover through the directional turntable, the round cover is locked through the locking positioning member, then the directional rotation driving assembly drives the directional turntable to rotate by a set angle, the locking positioning member can prevent relative displacement between the round cover and the directional turntable in the rotation process, and the locking positioning member also adopts a magnet.
As a further improvement of the technical scheme, the conveying bottom plate is provided with a welding hollow opening at a position corresponding to the welding station, the first welding die holder and the second welding die holder are arranged on the upper side and the lower side of the welding hollow opening in an up-down opposite mode, and the welding compacting component further comprises a compacting block arranged on the upper side of the welding hollow opening and a compacting driving assembly used for driving the compacting block to compact the round cover on the welding station. The round cover after rotation orientation is pushed onto the welded hollow opening, so that the barrel cover rotates when paint is prevented from being broken, and the pressing block is driven to press the round cover downwards by the pressing driving assembly, so that the metal barrel cover is pressed on the welding station to prevent the rotation when paint is prevented from being broken.
As a further improvement of the technical scheme, the plurality of compressing blocks are arranged in a plurality of annular interval arrangement, and the first welding die holder is arranged at the center of an area surrounded by the plurality of compressing blocks.
In order to improve stability when welding broken lacquer, this scheme has set up a plurality of compact heap and has carried out the dome and press, and wherein the compact heap adopts insulating silica gel component, also has insulating piece around welding fretwork mouth top, can make the dome be in insulating state.
As a further improvement of the technical scheme, the paint conveying and welding breaking component further comprises a conveying and welding fixing frame and a lifting plate seat which is slidably mounted on the conveying and welding fixing frame, the paint breaking rotary driving assembly and the second welding die holder are arranged on the lifting plate seat, and the second welding driving assembly is in transmission connection with the lifting plate seat. The paint conveying and welding and breaking component in the scheme drives the paint breaking rotary driving component and the second welding die holder to lift synchronously through the up-down movement of the lifting plate seat, and the paint breaking rotary driving component directly and independently drives the second welding die holder to rotate around when the paint breaking rotates, so that the structure is simple.
As a further improvement of the technical scheme, the circular metal barrel cover assembling and welding equipment further comprises a handle feeding mechanism and a welding lug feeding mechanism, wherein the handle feeding mechanism is provided with a handle feeding and discharging end arranged on the moving track of the second welding die holder, and the welding lug feeding mechanism is provided with a welding lug feeding and discharging end arranged on the moving track of the second welding die holder.
This scheme has set up handle feeding mechanism, has welded the lug feeding mechanism and has realized the automatic feeding of handle and lug respectively, improves degree of automation.
As the further improvement of above-mentioned technical scheme, handle feeding mechanism includes handle vibration dish, handle track, handle feed subassembly, handle track coupling is between handle vibration dish and handle feed subassembly, handle feed subassembly includes handle feed seat, sets up the pushing block on handle feed seat, is used for driving pushing block removal's pushing block driving unit, handle feed seat set up in the push away silo way with handle track coupling, the pushing block will handle in the push away silo way is released to the removal orbit of second welding die holder, lug feeding mechanism includes lug vibration dish, lug track, lug feed subassembly, lug track coupling is between lug vibration dish and lug feed subassembly, lug feed subassembly includes lug feed driving unit, lug push structure for driving lug feed seat sideslip, lug push structure on the lug feed seat is used for releasing the lug on the second welding die holder.
The handle track and the bottom of lug track in this scheme all are provided with linear vibrator, and linear vibrator can carry the part in the track to appointed direction through the mode of vibration. When detecting that the lug reaches the lug material distributing seat, the lug material distributing driving unit pushes the lug material distributing seat to push forward to push out, the lug at the forefront end is separated from the lug track, the lug in the track is blocked to move forward, after the lug is separated, the lug in the lug material distributing seat is pushed out to a welding position by the lug pushing structure, namely, the second welding die holder, to be assembled and welded, and after the lug pushing structure and the lug material distributing seat are respectively returned to reset, the next working cycle is entered. When the lifting handle is detected to reach the pushing groove on the lifting handle distributing seat, the pushing driving unit drives the pushing seat to push the lifting handle in the pushing groove out to a welding position, namely, the moving track of the second welding die holder, and simultaneously, the plastic lifting handle in the track is prevented from moving forwards. After pushing in place, the pushing seat is reset. At this time, the handle and the lug are all sent to the welding position to wait for welding.
Drawings
The invention is further described below with reference to the drawings and examples;
FIG. 1 is a schematic view of an embodiment of a circular metal drum cover assembly welding apparatus according to the present invention;
FIG. 2 is a schematic view of an embodiment of a dome conveying and orienting mechanism according to the present invention;
FIG. 3 is a schematic view of an embodiment of a handle feeding mechanism and a lug feeding mechanism according to the present invention;
FIG. 4 is a schematic view of a dome stock component according to an embodiment of the present invention;
FIG. 5 is a schematic view of an embodiment of a dome pick-up assembly according to the present invention;
fig. 6 is a schematic structural view of an embodiment of a welding-type paint delivery and breaking component provided by the present invention.
Detailed Description
Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present invention, but not to limit the scope of the present invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, if there is a word description such as "a plurality" or the like, the meaning of a plurality is one or more, and the meaning of a plurality is two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Referring to fig. 1 to 6, the circular metal tub cover assembly welding apparatus of the present invention makes the following embodiments:
the circular metal barrel cover assembling and welding equipment comprises a frame, a circular cover feeding mechanism arranged on the frame, a circular cover conveying and orienting mechanism and an assembling and welding mechanism.
As shown in fig. 2, the dome conveying and orienting mechanism includes a dome pushing member 100 and a dome orienting member, where the dome pushing member 100 is provided with a feeding station 110, an orienting station 120 and a welding station 130 in sequence along a pushing direction, specifically: the dome pushing component 100 comprises a dome clamping mechanism, a reciprocating pushing mechanism and a conveying bottom plate 140 fixedly arranged, the dome clamping mechanism comprises two dome clamping seats 150 respectively arranged on two sides of the conveying direction of the dome pushing component 100, clamping driving components used for driving the two dome clamping seats 150 to be close to or far away from each other, the two dome clamping seats 150 are oppositely arranged, the dome clamping seats 150 extend along the conveying direction of the dome pushing component 100, the reciprocating pushing mechanism is used for driving the dome clamping mechanism to reciprocate along the conveying direction of the dome pushing component 100, at least more than two clamping portions 151 are arranged on opposite inner sides of the two dome clamping seats 150, the at least more than two clamping portions 151 are arranged at intervals along the conveying direction of the dome pushing component 100, the clamping portions 151 are arranged on the upper side of the conveying bottom plate 140, the conveying bottom plate 140 is used for supporting the dome, and the dome can slide on the top surface of the conveying bottom plate 140 in the pushing process. The specific structure of the clamping portion 151 may be set according to the structure of the dome, and may be provided as a concave card slot structure or a boss structure.
In this embodiment, three clamping portions 151 are disposed on each dome clamping seat 150, two front clamping portions 151 are respectively disposed between the feeding station 110 and the orientation station 120, between the orientation station 120 and the welding station 130, and one rear clamping portion 151 can push the welded dome on the welding station 130. The reciprocating pushing mechanism comprises a sliding seat connected with the frame in a sliding manner, and a reciprocating pushing driving unit for driving the sliding seat to reciprocate along the conveying direction of the dome pushing component 100, the dome clamping seat 150 is slidably mounted on the sliding seat, the clamping driving assembly comprises two clamping driving units, the two clamping driving units are respectively connected with the two dome clamping seats 150 in a transmission manner, the two dome clamping seats 150 are respectively driven to be close to or far away from each other by the two clamping driving units, the structure is simpler, the clamping driving unit can adopt a conventional linear driving structure, the clamping driving unit is an air cylinder, and the reciprocating pushing mechanism drives the sliding seat to reciprocate along the conveying direction of the dome pushing component 100 through the reciprocating pushing driving unit so as to drive the dome clamping mechanism on the sliding seat to reciprocate, wherein the reciprocating pushing driving unit can adopt driving units such as an electric push rod, a screw rod transmission unit, an air cylinder and the like.
The round cover clamping mechanism drives the two round cover clamping seats 150 to be close to or far away from each other through the clamping driving assembly, the round cover clamping seats 150 clamp round covers through the clamping portions 151, the clamping portions 151 reciprocate between the two adjacent stations, the specific structure of the clamping portions 151 can be set according to the structure of the round cover and can be set to be a concave clamping groove structure or a boss structure, clamping and loosening of the round covers are achieved, the reciprocating pushing mechanism is used for driving the round cover clamping mechanism to move along the conveying direction of the round cover pushing component, driving the round cover to push a distance of one station towards the conveying direction, accordingly the round cover clamping seats can clamp round covers on all stations simultaneously, and the reciprocating pushing mechanism enables the round cover on all stations to leave an original station and enter the next station, so that reciprocating intermittent circular pushing is achieved.
The dome orientation component set up in directional station 120, the dome orientation component include machine vision shoot subassembly, dome locating component, directional rotatory drive assembly, the dome locating component is used for locking the dome on the directional station 120, the machine vision shoot subassembly is used for taking a photograph the image to the dome on the directional station 120, directional rotatory drive assembly is used for the drive the dome locating component is in order to drive the dome on the dome locating component is rotatory around self axis, specifically: the conveying bottom plate 140 is provided with an orientation hollowed-out opening 142 at a position corresponding to the orientation station 120, the dome positioning assembly comprises an orientation turntable 160 arranged in the orientation hollowed-out opening 142, the orientation rotation driving assembly is in transmission connection with the orientation turntable 160, a locking positioning member used for locking the dome is arranged on the orientation turntable 160, the machine vision shooting assembly is arranged above the orientation turntable 160, the dome positioning assembly bears the pushed dome through the orientation turntable 160 and locks the dome through the locking positioning member, then the orientation rotation driving assembly drives the orientation turntable 160 to rotate by a set angle, the locking positioning member can prevent relative displacement with the orientation turntable 160 in the rotation process of the dome, the locking positioning member also adopts a magnet, and the orientation rotation driving assembly of the embodiment adopts a servo motor. A controller is arranged between the servo motor and the machine vision shooting assembly, and is used for receiving and analyzing the shooting image of the machine vision shooting assembly and then controlling the servo motor to drive the angle of the directional turntable 160 to rotate.
As shown in fig. 1 and fig. 4, the dome feeding mechanism includes a dome storage part 200 for storing the domes, a dome material taking part 300 for taking the domes on the dome storage part 200 into the stacking storage channel one by one, where the dome storage part 200 includes a stacking storage channel disposed on the upper side of the loading station 110, a cover dropping assembly disposed at the lower end of the stacking storage channel, the cover dropping assembly includes a dome positioning member 210 and a material placing member 220 disposed up and down on the side of the stacking storage channel, the dome positioning member 210 includes a chuck block 211, a clamp driving unit for driving the chuck block 211 to clamp and fix the domes in the stacking storage channel, the material placing member 220 includes a material blocking plate 221, a material placing driving unit for driving the material blocking plate 221 to stretch into the stacking storage channel and blocking dropping of the domes, as shown in fig. 5, the dome storage part 300 includes a suction cup 310 disposed below the stacking storage channel, a lifting and material taking driving unit for driving the suction cup 310 to move up and down, and a material taking device for driving the suction cup 310 to move up and down, and a material taking member 141 is disposed at the position of the dome positioning member 141 and the hollow out position 141 corresponding to the material taking position of the dome material taking part and the hollow member 141, and the material taking part is realized by the material taking and the material taking position 141. The clamping plate 211 is higher than the material blocking plate 221, and when material is stored, the material blocking plate 221 is driven by the material discharging driving unit to extend into the stacking storage channel to block the round cover from falling; when the round caps stacked in the stacking storage channel are discharged, the clamping driving unit drives the clamping plate blocks 211 to clamp the round caps stacked in the stacking storage channel, then the discharging driving unit drives the baffle plates 221 to retract, the baffle plates 221 are retracted, a plurality of round metal barrel covers which are not clamped by the clamping plate blocks 211 drop downwards due to the height difference between the clamping plate blocks 211 and the baffle plates 221, after the discharging is finished, the baffle plates 221 extend into the round barrel covers, the clamping plate blocks 211 retract and loosen, and the baffle plates 221 and the clamping plate blocks 211 are all arranged in a plurality of annular intervals for improving the smoothness of storing and discharging the round caps; the present solution sucks the dome by the material-taking suction cup 310, specifically: when the material is taken, the material taking lifting driving unit drives the material taking sucker 310 to move upwards and contact with the fallen round cover, the material taking sucker 310 opens negative pressure to adsorb the barrel cover, and the material taking lifting driving unit drives the barrel cover to pull downwards and place the barrel cover in the material loading station 110. The clamping driving unit, the discharging driving unit and the material taking lifting driving unit of the embodiment all adopt air cylinders, and other linear driving structures can be adopted in other embodiments.
Further, a magnetic channel is arranged between the material taking sucker 310 and the lower end of the stacking storage channel, a plurality of magnetic force separating devices 230 are uniformly distributed around the magnetic channel, the magnetic channel is further arranged to automatically separate round covers at intervals, a plurality of round metal barrel covers can fall into the magnetic channel, a magnetic field is generated through the magnetic force separating devices 230, the round metal barrel covers are automatically separated at intervals and suspended under the influence of the magnetic field, and the round metal barrel covers are taken out after the follow-up procedure, and the material taking sucker 310 adsorbs the round metal barrel covers at the lowest positions.
And magnets are arranged around the feeding hollow-out opening 141 to adsorb the barrel cover to avoid position shifting.
The assembly welding mechanism comprises a welding pressing part 400 and a welding paint conveying and breaking part 500 which are oppositely arranged at the welding station 130, wherein the welding pressing part 400 and the welding paint conveying and breaking part 500 are respectively arranged at two sides of a round cover on the welding station 130, the welding pressing part 400 comprises a first welding die holder 410 and a first welding driving assembly for driving the first welding die holder 410 to abut against one side face of the round cover on the welding station 130, and the welding paint conveying and breaking part 500 comprises a second welding die holder 510, a second welding driving assembly for driving the second welding die holder 510 to abut against the other side face of the round cover on the welding station 130 and a paint breaking rotary driving assembly for driving the second welding die holder 510 to rotate.
When in use, the round metal barrel covers are stacked on the round cover stock component 200, the round cover material taking component 300 takes and puts one round cover on the round cover stock component 200 to the feeding station 110, the round cover pushing component 100 pushes the round cover to the orientation station 120 and the welding station 130 from the feeding station 110 in sequence, when the round cover is pushed to the orientation station 120, the machine vision shooting component shoots and takes images of the round cover on the orientation station 120, the angle direction of the round cover is identified and analyzed, the round cover positioning component locks the round cover on the orientation station 120, the directional rotation driving component drives the round cover positioning component to drive the round cover on the round cover positioning component to rotate around the axis of the round cover according to the signal of the machine vision shooting component, the round cover is rotated to the angle required by assembly welding, then the round cover pushing component pushes the round cover on the orientation station 120 to the welding station 130, because the surfaces of the metal barrel cover and the metal welding lug are provided with a paint layer and a plating layer to influence the welding effect, paint breaking is needed before welding, the welding lug and the handle are placed on the second welding die holder 510, then the second welding die holder 510 is driven by the second welding driving component to abut against the other side surface of the round cover on the welding station 130, the second welding die holder 510 is driven by the paint breaking rotation driving component to rotate, so that the metal barrel cover and the welding lug are tightly pressed and mutually rubbed by a small angle, the paint layer of the contact surface is scraped off, during welding, the first welding driving component drives the first welding die holder 410 to abut against one side surface of the round cover on the welding station 130, the welding operation is completed under the interaction of the first welding die holder 410 and the second welding die holder 510, and the repeated operation is realized, the technology can realize the automatic orientation of the round cover, and the automatic paint breaking welding can be realized, the efficiency is improved.
The conveying bottom plate 140 is provided with a welding hollow opening 143 at a position corresponding to the welding station 130, and the first welding die holder 410 and the second welding die holder 510 are disposed on the upper side and the lower side of the welding hollow opening 143 in a vertically opposite manner.
The round cover after rotation orientation is pushed onto the welding hollow opening 143, so as to prevent the rotation of the barrel cover during paint breaking, the welding pressing component 400 further comprises a pressing block 420 arranged on the upper side of the welding hollow opening 143, and a pressing driving assembly used for driving the pressing block 420 to press the round cover on the welding station 130, and the pressing block 420 is driven to press the round cover downwards through the pressing driving assembly, so that the metal barrel cover is pressed on the welding station 130 to prevent the rotation during paint breaking.
The compacting driving assembly, the paint breaking rotary driving assembly, the second welding driving assembly and the first welding driving assembly of the embodiment all adopt air cylinders, and other driving structures can be adopted in other embodiments.
Further, in order to improve stability during paint breaking during welding, the plurality of pressing blocks 420 are arranged in a plurality of annular and spaced arrangement, the first welding die holder 410 is arranged at the center of an area surrounded by the plurality of pressing blocks 420, the pressing blocks 420 are insulating silica gel members, insulating sheets are attached to the periphery of the top of the welding hollow opening 143, and the dome is in an insulating state.
As shown in fig. 6, the paint-breaking part 500 further includes a welding-sending fixing frame 520 fixedly connected to the frame, and a lifting plate seat 530 slidably mounted on the welding-sending fixing frame 520, where the paint-breaking rotary driving assembly and the second welding die holder 510 are disposed on the lifting plate seat 530, and the second welding driving assembly is in transmission connection with the lifting plate seat 530. The paint feeding and breaking component 500 in the scheme drives the paint breaking rotary driving component and the second welding die holder 510 to lift synchronously through the up-down movement of the lifting plate base 530, and the paint breaking rotary driving component directly and independently drives the second welding die holder 510 to rotate around when the paint breaking rotates, so that the structure is simple.
Still further, in order to realize the automatic feeding of handle and lug, improve degree of automation, circular metal bung equipment welding equipment of this embodiment still includes handle feeding mechanism 600, lug feeding mechanism 700, handle feeding mechanism 600 has the handle feed discharge end that sets up on the second welding die holder 510 moving track, lug feeding mechanism 700 has the lug feed discharge end that sets up on the second welding die holder 510 moving track.
Specifically: as shown in fig. 3, the handle feeding mechanism 600 includes a handle vibration tray 610, a handle rail 620, and a handle distributing component, the handle rail 620 is connected between the handle vibration tray 610 and the handle distributing component, the handle distributing component includes a handle distributing seat 630, a pushing seat 640 disposed on the handle distributing seat 630, a pushing driving unit for driving the pushing seat 640 to move, the handle distributing seat 630 is disposed on a pushing channel 631 connected with the handle rail 620, the pushing seat 640 pushes a handle in the pushing channel 631 out onto a moving track of the second welding die holder 510, the welding lug feeding mechanism 700 includes a welding lug vibration tray 710, a welding lug rail 720, and a welding lug distributing component, the welding lug rail 720 is connected between the welding lug vibration tray 710 and the welding lug distributing component, the welding lug distributing component includes a welding lug sideslip distributing seat 730, a welding lug distributing driving unit for driving the welding lug distributing seat 730, and a welding lug pushing structure 740, and the welding lug pushing structure 740 is used for pushing a welding lug on the welding lug distributing seat 730 out onto the second welding lug 510.
The bottoms of the handle rail 620 and the lug rail 720 are both provided with linear vibrators, and the linear vibrators can convey parts in the rails to specified directions in a vibrating manner. When it is detected that the lug reaches the lug separating seat 730, the lug separating driving unit pushes the lug separating seat 730 to push forward to eject the forefront lug from the lug track 720, and simultaneously blocks the lug in the track to move forward, after the lug is ejected, the lug pushing structure 740 pushes the lug in the lug separating seat 730 to a welding position, namely, the second welding die holder 510, to be assembled and welded, and after that the lug pushing structure 740 and the lug separating seat 730 are respectively returned to reset to enter the next working cycle. When the handle is detected to reach the pushing channel 631 on the handle distributing seat 630, the pushing driving unit drives the pushing seat 640 to push out the handle in the pushing channel 631 to the welding position, that is, the moving track of the second welding die holder 510, and simultaneously, the plastic handle in the track is blocked from moving forward. After pushing in place, the pushing block 640 is reset. At this time, the handle and the lug are all sent to the welding position to wait for welding.
The lug material-distributing driving unit, the rear lug pushing structure 740 and the rear lug pushing structure 740 of the embodiment all adopt air cylinders.
And, the export of pushing away the silo way 631 still is provided with the handle branch material dog that is used for carrying out spacing handle, and handle branch material dog adopts the cylinder drive to reciprocate.
While the preferred embodiments of the present invention have been illustrated and described, the present invention is not limited to the embodiments, and various equivalent modifications and substitutions can be made by one skilled in the art without departing from the spirit of the present invention, and these are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (7)
1. A circular metal barrel lid equipment welding equipment, its characterized in that: the device comprises a round cover feeding mechanism, a round cover conveying and orienting mechanism and an assembling and welding mechanism;
the round cover conveying and orienting mechanism comprises a round cover pushing component (100) and a round cover orienting component, wherein the round cover pushing component (100) is sequentially provided with a feeding station (110), an orienting station (120) and a welding station (130) along the pushing direction, the round cover orienting component is arranged on the orienting station (120) and comprises a machine vision shooting component, a round cover locating component and an orienting rotation driving component, the round cover locating component is used for locking a round cover on the orienting station (120), the machine vision shooting component is used for shooting and taking an image of the round cover on the orienting station (120), and the orienting rotation driving component is used for driving the round cover locating component to drive the round cover on the round cover locating component to rotate around the axis of the round cover locating component;
the round cover feeding mechanism comprises a round cover storage part (200) for storing round covers and a round cover taking part (300) for taking and putting the round covers on the round cover storage part (200) to a feeding station (110) one by one;
the assembly welding mechanism comprises a welding pressing part (400) and a welding paint feeding and breaking part (500) which are oppositely arranged at the welding station (130), wherein the welding pressing part (400) and the welding paint feeding and breaking part (500) are respectively arranged at two sides of a round cover on the welding station (130), the welding pressing part (400) comprises a first welding die holder (410) and a first welding driving assembly for driving the first welding die holder (410) to abut against one side surface of the round cover on the welding station (130), and the welding paint feeding and breaking part (500) comprises a second welding die holder (510), a second welding driving assembly for driving the second welding die holder (510) to abut against the other side surface of the round cover on the welding station (130) and a paint breaking rotary driving assembly for driving the second welding die holder (510) to rotate;
the round cover material storage component (200) comprises a stacking storage channel arranged on the upper side of the material loading station (110) and a cover falling assembly arranged at the lower end of the stacking storage channel, wherein the cover falling assembly comprises a cover clamping positioning member (210) and a material discharging member (220) which are arranged on the side surface of the stacking storage channel up and down, the cover clamping positioning member (210) comprises a clamping plate block (211) and a clamping driving unit for driving the clamping plate block (211) to clamp and fix round covers in the stacking storage channel, the material discharging member (220) comprises a material blocking plate (221) and a material discharging driving unit for driving the material blocking plate (221) to extend into the stacking storage channel and blocking the round covers from falling, and the round cover material taking component (300) comprises a material taking sucker (310) below the stacking storage channel and a material taking lifting driving unit for driving the material taking sucker (310) to move up and down;
the round cover pushing component (100) comprises a round cover clamping mechanism, a reciprocating pushing mechanism and a conveying bottom plate (140) which is fixedly arranged, the round cover clamping mechanism comprises two round cover clamping seats (150) which are respectively arranged at two sides of the conveying direction of the round cover pushing component (100), clamping driving components which are used for driving the two round cover clamping seats (150) to be close to or far away from each other, the two round cover clamping seats (150) are oppositely arranged, the round cover clamping seats (150) extend along the pushing direction of the round cover pushing component (100), the reciprocating pushing mechanism is used for driving the round cover clamping mechanism to reciprocate along the conveying direction of the round cover pushing component (100), three clamping parts (151) are respectively arranged at the inner sides of the two round cover clamping seats (150) in opposite directions, the three clamping parts (151) are arranged at intervals along the conveying direction of the round cover pushing component (100), the two clamping parts (151) are respectively arranged at the upper side of the conveying bottom plate (140), the two clamping parts (151) in front are respectively arranged between the upper material loading (110) and the oriented position (120), the welding position (130) of the upper work position (120) of the work position (120) can be welded with the work position (130) corresponding to the work position (120), the feeding hollow opening (141) is used for the material taking sucker (310) to pass through up and down, and magnets are arranged around the feeding hollow opening (141);
the conveying bottom plate (140) is provided with an orientation hollow-out opening (142) at a position corresponding to the orientation station (120), the dome positioning assembly comprises an orientation rotary table (160) arranged in the orientation hollow-out opening (142), the orientation rotary driving assembly is in transmission connection with the orientation rotary table (160), the orientation rotary table (160) is provided with a locking positioning member for locking the dome, and the machine vision shooting assembly is erected above the orientation rotary table (160);
the locking and positioning component adopts a magnet.
2. The circular metal tub cover assembly welding apparatus of claim 1, wherein:
a magnetic channel is arranged between the material taking sucker (310) and the lower end of the stacking storage channel, and a plurality of magnetic tension separators (230) are uniformly distributed around the magnetic channel.
3. The circular metal tub cover assembly welding apparatus of claim 1, wherein:
the conveying bottom plate (140) is provided with a welding hollow opening (143) at a position corresponding to the welding station (130), the first welding die holder (410) and the second welding die holder (510) are arranged on the upper side and the lower side of the welding hollow opening (143) in an up-down opposite mode, and the welding compacting component (400) further comprises a compacting block (420) arranged on the upper side of the welding hollow opening (143) and a compacting driving assembly used for driving the compacting block (420) to compact a round cover on the welding station (130).
4. A circular metal tub cover assembly welding apparatus as claimed in claim 3, wherein:
the plurality of the compression blocks (420) are arranged in an annular interval mode, and the first welding die holder (410) is arranged at the center of an area surrounded by the plurality of the compression blocks (420).
5. The circular metal tub cover assembly welding apparatus of claim 1, wherein:
the paint conveying and welding breaking component (500) further comprises a conveying and welding fixing frame (520) and a lifting plate seat (530) which is slidably mounted on the conveying and welding fixing frame (520), the paint breaking rotary driving assembly and the second welding die holder (510) are arranged on the lifting plate seat (530), and the second welding driving assembly is in transmission connection with the lifting plate seat (530).
6. The circular metal tub cover assembly welding apparatus of claim 1, wherein:
the circular metal barrel cover assembling and welding equipment further comprises a handle feeding mechanism (600) and a lug feeding mechanism (700), wherein the handle feeding mechanism (600) is provided with a handle feeding discharging end arranged on the moving track of the second welding die holder (510), and the lug feeding mechanism (700) is provided with a lug feeding discharging end arranged on the moving track of the second welding die holder (510).
7. The circular metal tub cover assembly welding apparatus of claim 6, wherein:
handle feeding mechanism (600) are including handle vibration dish (610), handle track (620), handle feed subassembly, handle track (620) are connected between handle vibration dish (610) and handle feed subassembly, handle feed subassembly includes handle feed seat (630), sets up push away feed seat (640) on handle feed seat (630), is used for driving the push away the material drive unit that feed seat (640) removed, handle feed seat (630) set up in the push away silo way (631) of being connected with handle track (620), push away feed seat (640) will handle in push away on the removal orbit of handle release silo way (631) to second welding die holder (510), lug feed mechanism (700) are including lug vibration dish (710), lug track (720), lug feed subassembly, lug track (720) are connected between lug vibration dish (710) and lug feed subassembly, lug feed subassembly includes lug feed seat (730), lug drive unit that is used for driving lug feed seat (730) push away lug drive unit that lug (740) to push away lug structure (740) to second welding die holder (740) and be used for pushing away the structure (740) to second welding die holder (740).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210041050.9A CN114453786B (en) | 2022-01-13 | 2022-01-13 | Circular metal barrel lid equipment welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210041050.9A CN114453786B (en) | 2022-01-13 | 2022-01-13 | Circular metal barrel lid equipment welding equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114453786A CN114453786A (en) | 2022-05-10 |
| CN114453786B true CN114453786B (en) | 2023-06-06 |
Family
ID=81409555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210041050.9A Active CN114453786B (en) | 2022-01-13 | 2022-01-13 | Circular metal barrel lid equipment welding equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114453786B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115041805A (en) * | 2022-07-22 | 2022-09-13 | 苏州明益信智能设备有限公司 | Ultrasonic welding positioning device and welding positioning method for power battery cover plate |
| CN115626425B (en) * | 2022-11-28 | 2023-03-10 | 武汉当代华路光电技术有限公司 | Camera module packaging equipment and method for intelligent automobile |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207876101U (en) * | 2018-03-01 | 2018-09-18 | 中山市华海塑料制品有限公司 | A kind of stacking blanking mechanism of plastics tray salver |
| CN213536455U (en) * | 2020-11-11 | 2021-06-25 | 无锡米多智能技术有限公司 | Plastic cover feeding mechanism |
| CN113320990A (en) * | 2021-06-30 | 2021-08-31 | 深圳市众锦鑫科技有限公司 | Lunch box cover pull-down type material distributing device |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5045668A (en) * | 1990-04-12 | 1991-09-03 | Armco Inc. | Apparatus and method for automatically aligning a welding device for butt welding workpieces |
| US6675984B1 (en) * | 2001-06-20 | 2004-01-13 | Jessup Engineering, Inc. | Metal finishing barrel cover locking system |
| CN105479088B (en) * | 2015-12-31 | 2017-06-09 | 惠州金源精密自动化设备有限公司 | Column type battery assembly welding machine |
| CN106493495A (en) * | 2016-12-03 | 2017-03-15 | 无锡职业技术学院 | High-accuracy machine vision alignment system |
| CN107081582B (en) * | 2017-06-21 | 2023-05-30 | 常州胜威塑料有限公司 | Automatic assembly production line for barrel handles and container barrels |
| CN108161226B (en) * | 2018-02-27 | 2024-02-27 | 江苏联赢激光有限公司 | Automatic welding machine for cover plate of power lithium ion battery |
| CN108213792B (en) * | 2018-03-09 | 2024-02-02 | 长沙红点自动化科技有限公司 | Battery continuous automatic welding grouping production line and working method |
| CN111741828B (en) * | 2018-10-24 | 2022-01-11 | 深圳配天智能技术研究院有限公司 | Automatic welding workstation |
| CN110977266A (en) * | 2020-01-03 | 2020-04-10 | 广东旭日电器设备有限公司 | Automatic assembling and welding equipment for barrel covers |
| CN213470049U (en) * | 2020-08-26 | 2021-06-18 | 广东旭日电器设备有限公司 | Automatic assembling and welding device for barrel covers |
-
2022
- 2022-01-13 CN CN202210041050.9A patent/CN114453786B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207876101U (en) * | 2018-03-01 | 2018-09-18 | 中山市华海塑料制品有限公司 | A kind of stacking blanking mechanism of plastics tray salver |
| CN213536455U (en) * | 2020-11-11 | 2021-06-25 | 无锡米多智能技术有限公司 | Plastic cover feeding mechanism |
| CN113320990A (en) * | 2021-06-30 | 2021-08-31 | 深圳市众锦鑫科技有限公司 | Lunch box cover pull-down type material distributing device |
Non-Patent Citations (2)
| Title |
|---|
| 一种球形瓶盖自动理料系统的设计分析与应用;关玉权;李增;高志远;郝标;孟献彬;王法利;孙卫国;张杰;;轻工科技(09);全文 * |
| 电机端盖旋转式自动焊接设备的设计与应用;徐平凡;肖文勋;王哲;王文彬;;组合机床与自动化加工技术(06);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114453786A (en) | 2022-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114453786B (en) | Circular metal barrel lid equipment welding equipment | |
| CN108075167B (en) | Power battery production system | |
| CN212577734U (en) | Integrated production line for welding and assembling transformer | |
| JP2003152000A (en) | Mechanism for exchanging chip-carrier plate for use in hybrid chip-bonding machine | |
| CN211222178U (en) | Graphite bipolar plate compression molding system | |
| CN106865211B (en) | Full-automatic laminating machine of cell-phone vibrations motor | |
| CN214378368U (en) | Magazine clamp, magazine conveyer and semiconductor production line | |
| CN116810336B (en) | Carousel contact pin system | |
| CN116604332A (en) | Gasket and rotating shaft assembling mechanism | |
| CN110615247A (en) | Integrated automatic material taking and placing mechanism | |
| CN209157573U (en) | Modular assembly production line | |
| CN114348596B (en) | Automatic welding, assembling and packaging machine | |
| CN114211217B (en) | Gasket loading attachment and bottle lid kludge | |
| CN216541853U (en) | Automatic coil receiving and spot welding cutting equipment suitable for multiple material rack putting modes | |
| CN215885432U (en) | Feeding device | |
| CN214794839U (en) | Pretreatment device for testing and medical equipment | |
| CN212225710U (en) | Standing solidification equipment | |
| CN210914118U (en) | Integrated automatic material taking and placing mechanism | |
| CN114850670A (en) | Full-automatic welding method and equipment | |
| CN113998169A (en) | Nucleic acid detection box merges packing integration equipment | |
| CN109352154B (en) | Automatic welding equipment for stainless steel cup | |
| CN112782415A (en) | Test pretreatment device, medical equipment and detection method | |
| CN218175083U (en) | Dispensing dust removal device | |
| CN218655895U (en) | Ultrasonic dust removal device | |
| CN213969844U (en) | Assembly device of top cover and pore plate |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |