CN115091249A - Numerical control machine tool production line control system and method - Google Patents
Numerical control machine tool production line control system and method Download PDFInfo
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Classifications
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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
- B23Q7/003—Cyclically moving conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0258—Weight of the article
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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application provides a control system and a control method for a production line of a numerical control machine tool, wherein the control system comprises a conveyor belt, and a feeding and discharging station, a cutting station and a polishing station are correspondingly arranged on the conveyor belt; the processing assembly comprises a cutting machine tool and a polishing machine tool, and the cutting machine tool and the polishing machine tool are arranged on one side or two sides of the conveyor belt and respectively correspond to the cutting station and the polishing station; the workpiece transfer assembly comprises a feeding mechanism, a connecting and conveying mechanism and a discharging mechanism, the connecting and conveying mechanism is arranged on the conveying belt and can reciprocate along the extension direction of the conveying belt along with the conveying belt, and the feeding mechanism and the discharging mechanism are respectively arranged on two sides of the same end of the conveying belt and are respectively used for feeding and discharging workpieces; and the state monitoring assembly comprises a weight monitoring mechanism arranged on the connection conveying mechanism. The control system can improve the processing efficiency of the production line and monitor the running state of the production line at any time.
Description
Technical Field
The specification relates to the field of production line control, in particular to a system and a method for controlling a production line of a numerical control machine tool.
Background
The numerical control machining center is a high-efficiency automatic machine tool which consists of mechanical equipment and a numerical control system and is suitable for machining complex parts. The machine can complete the processing which can not be completed by a plurality of common devices, and is more suitable for single-piece processing or small-batch multi-variety production with more complex shapes and high precision requirements. The functions of milling, boring, drilling, tapping, cutting threads and the like are integrated on one device, so that the device has multiple processing procedures.
At present, a numerical control machining center on the market generally operates independently, a workpiece to be machined is manually installed in a machining workbench in the numerical control machining center, then the numerical control machining center is started to perform machining, and after machining is finished, the workpiece is manually disassembled. This makes whole numerical control machining center's machining efficiency still low, and in the production flow of whole production processing line, intelligent degree is low, needs operating personnel to carry out artifical supplementary for a long time.
Therefore, it is desirable to provide a system and a method for controlling a production line of a numerical control machine tool, so as to improve the processing efficiency of the production line and monitor the operation state of the production line at any time.
Disclosure of Invention
One of the embodiments of the present disclosure provides a control system for a production line of a numerically controlled machine tool. This digit control machine tool production line control system includes: the conveying belt is correspondingly provided with a feeding and discharging station, a cutting station and a polishing station; the machining assembly comprises a cutting machine tool and a grinding machine tool, and the cutting machine tool and the grinding machine tool are arranged on one side or two sides of the conveyor belt and respectively correspond to the cutting station and the grinding station; the workpiece transfer assembly comprises a feeding mechanism, a connection conveying mechanism and a discharging mechanism, the connection conveying mechanism is arranged on the conveying belt and can reciprocate along the extension direction of the conveying belt along with the conveying belt, and the feeding mechanism and the discharging mechanism are respectively arranged on two sides of the same end of the conveying belt and are respectively used for feeding workpieces and discharging workpieces; the state monitoring assembly comprises a weight monitoring mechanism arranged on the connection conveying mechanism, and when the weight monitoring mechanism monitors that the weight on the connection conveying mechanism is larger than a first preset weight, the weight monitoring mechanism controls the conveyor belt to drive the connection conveying mechanism to move towards the cutting station; when the weight monitoring mechanism monitors that the weight on the overlap joint conveying mechanism is larger than a second preset weight and smaller than the first preset weight, the weight monitoring mechanism controls the conveyor belt to drive the overlap joint conveying mechanism to move towards the polishing station; when weight monitoring mechanism monitors weight in the connection transport mechanism is greater than the third and predetermines weight and is less than when the weight was predetermine to the second, weight monitoring mechanism control the conveyer belt drives connection transport mechanism moves towards go up the unloading station and remove.
In some embodiments of the present description, the docking transportation mechanism includes a transportation robot, a docking support, a plurality of docking transportation rollers axially fixed and circumferentially rotationally fixed on the docking support, and a docking driving motor driving the docking transportation rollers to circumferentially rotate, and the plurality of docking transportation rollers are linked by a docking transmission member; the weight monitoring mechanism including set up in refute connect on the support pressure sensor and with pressure sensor electric connection's treater, the treater with the electrified nature of conveying is connected.
In some embodiments of the present specification, the docking transportation mechanism further includes an alignment unit, the alignment unit includes a limiting member disposed on the docking bracket and a limiting frame located on one side of the conveyor belt, the limiting frame is provided with a plurality of limiting pins, two adjacent limiting pins cooperate with each other to form a limiting gap, the limiting member includes a fixing sleeve having an internal cavity and a limiting hand grip, the limiting hand grip is disposed in the internal cavity and can slide along an extending direction of the internal cavity, and when the limiting hand grip moves to a first preset position, the limiting hand grip can be fitted with the limiting gap; when the limiting hand grip moves to a second preset position, the limiting hand grip and the limiting gap are separated from each other.
In some embodiments of the present disclosure, the limiting hand grip includes an integrally formed limiting portion and a sliding portion, the limiting portion and the sliding portion cooperate with each other to form an "L" shape of the limiting hand grip, the sliding portion is disposed in the internal cavity and can slide along an extending direction of the internal cavity, and the limiting portion is adapted to fit or separate from the limiting gap.
In some embodiments of the present disclosure, the position-limiting member further includes two guide blocks, the two guide blocks are disposed on the fixing sleeve and cooperate with each other to form a sliding cavity adapted to the internal cavity, and the position-limiting portion is located in the sliding cavity.
In some embodiments of this specification, still include image acquisition device, image acquisition device with processor electric connection, when weight monitoring mechanism monitors the weight on the refute transport mechanism is greater than the third is predetermine weight and is less than the second is predetermine weight, image acquisition device begins work for the finished product quality information of discernment work piece.
In some embodiments of the present disclosure, the cutting machine and the grinding machine are connected to a chip removal machine, and one side of the conveyor belt is provided with a secondary positioning mechanism, and the chip removal machine is located between the secondary positioning mechanism and the grinding machine or between the secondary positioning mechanism and the cutting machine.
In some embodiments of the present description, the secondary positioning mechanism includes a mounting frame, a positioning fixture for placing a workpiece is disposed on the mounting frame, the positioning fixture includes a first positioning support rod and a second positioning support rod for supporting and positioning the workpiece to be processed, the first positioning support rod and the second positioning support rod are provided with an X-axis adjusting component for adjusting a distance between the first positioning support rod and the second positioning support rod in an X-axis direction, and a Y-axis adjusting component for adjusting a distance between the first positioning support rod and the second positioning support rod in a Y-axis direction.
One of the embodiments of the present specification provides a control method for a processing production line, including the following steps: s100, transferring a workpiece to be processed to a connection support through a feeding mechanism and a conveying robot, and when a pressure sensor on the connection support monitors that the weight on the connection support is larger than a first preset weight, sending a control signal by a processor to control a conveyor belt to drive the connection support to move towards a cutting station; s200, cutting operation is carried out on a cutting machine tool, after the cutting operation is finished, a transport robot transports a workpiece to be polished to a docking support from the cutting machine tool, and when the pressure sensor monitors that the weight of the docking support is larger than a second preset weight and smaller than a first preset weight, a processor sends out a control signal to control a conveyor belt to drive the docking support to move towards a polishing station; s300, the lathe of polishing carries out cutting, and after accomplishing cutting, transport robot transports the finished product work piece from the lathe of polishing to refuting and connects the support, works as pressure sensor monitors weight on refuting the support is greater than the third and predetermines weight and be less than when the weight was predetermine to the second, the treater sends control signal to the control conveyer belt drives refuting the support and removing towards last unloading station.
In some embodiments of the present specification, after step S300, the method further includes: s400, after the connecting support is driven by the conveyor belt to move towards the feeding and discharging station, the limiting hand grips in the limiting parts move to the first preset position from the second preset position, and at the moment, limiting gaps formed by the limiting hand grips and two adjacent limiting pins in a matched mode are matched with each other, so that the connecting support is aligned; s500, the image acquisition device starts to work to obtain image information of the finished workpiece at the moment, the finished product quality information of the finished workpiece is judged according to the image information, and if the finished workpiece of which the finished product quality information meets the preset condition is connected into a finished product storage unit of the blanking mechanism in a connection mode, the finished workpiece of which the finished product quality information does not meet the preset condition is connected into a defective product storage unit of the blanking mechanism in a connection mode.
Drawings
The present description will be further explained by way of exemplary embodiments, which will be described in detail by way of the accompanying drawings. These embodiments are not intended to be limiting, and in these embodiments like numerals are used to indicate like structures, wherein:
FIG. 1 is a schematic view of the overall structure of a full-automatic machining production line based on a numerical control machining center according to the present application;
FIG. 2 is a schematic view of a partial structure of a full-automatic machining production line based on a numerical control machining center according to the present application;
FIG. 3 is a schematic view of the overall structure of a single numerical control machine;
FIG. 4 is a schematic structural view of a single numerical control machine with a machine tool housing removed and a part of a column structure removed;
FIG. 5 is a schematic structural view of a transport robot;
FIG. 6 is an enlarged view of portion A of FIG. 5;
FIG. 7 is a schematic structural view of the secondary positioning mechanism with a workpiece;
FIG. 8 is a schematic structural view of a secondary positioning mechanism;
FIG. 9 is an enlarged view of portion B of FIG. 8;
FIG. 10 is a schematic structural diagram of an alignment unit;
fig. 11 is a schematic flow chart illustrating a method for controlling a production line of a numerically controlled machine tool according to some embodiments of the present disclosure.
Icon: 1. a transportation track; 2. a numerical control machine tool; 21. a machine tool housing; 22. processing a base; 23. a workpiece stage; 24. a front door of the housing; 25. a rear door; 251. fixing the side plate; 252. an upper cover plate; 253. a power element; 3. a feeding mechanism; 4. a blanking mechanism; 5. a connection transportation mechanism; 6. a transport robot; 61. a mounting seat; 62. a robot arm; 63. a clamping assembly; 631. a support; 632. a clamping member; 633. a driving cylinder; 7. a chip removal machine; 8. a secondary positioning mechanism; 81. a mounting frame; 82. positioning a jig; 821. a first positioning support bar; 822. a second positioning support rod; 823. an X-axis adjustment assembly; 8231. an X-axis guide rail; 8232. a first drive motor; 8233. a first drive belt; 8234. a first connection block; 8235. a first slider; 824. a Y-axis adjustment assembly; 8241. a Y-axis guide rail; 8242. a second drive motor; 8243. a second belt; 8244. a second connecting block; 8245. a second slider; 91. fixing the sleeve; 92. a limiting gripper; 921. a limiting part; 922. a sliding part; 923. a guide block; 93. a limiting frame; 931. and a limiting pin.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only examples or embodiments of the present description, and that for a person skilled in the art, the present description can also be applied to other similar contexts on the basis of these drawings without inventive effort. Unless otherwise apparent from the context, or stated otherwise, like reference numbers in the figures refer to the same structure or operation.
It should be understood that "system", "apparatus", "unit" and/or "module" as used herein is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.
As used in this specification and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may comprise other steps or elements.
Flowcharts are used in this specification to illustrate the operations performed by the system according to embodiments of the specification. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
FIG. 1 is a schematic view of the overall structure of a full-automatic machining production line based on a numerical control machining center according to the present application; FIG. 2 is a schematic view of a partial structure of a full-automatic machining production line based on a numerical control machining center according to the present application; FIG. 3 is a schematic view of the overall structure of a single numerical control machine; FIG. 4 is a schematic structural view of a single numerical control machine with a machine tool housing removed and a part of a column structure removed; FIG. 5 is a schematic structural view of a transport robot; FIG. 6 is an enlarged view of portion A of FIG. 5; FIG. 7 is a schematic structural view of the secondary positioning mechanism with a workpiece; FIG. 8 is a schematic structural view of a secondary positioning mechanism; FIG. 9 is an enlarged view of portion B of FIG. 8; fig. 10 is a schematic structural view of an alignment unit.
Referring to fig. 1 to 10, the control system for a production line of a numerical control machine 2 includes: the device comprises a conveyor belt, a processing assembly, a workpiece transfer assembly and a state monitoring assembly. A feeding and discharging station, a cutting station and a polishing station are correspondingly arranged on the conveying belt; the processing assembly comprises a cutting machine tool and a grinding machine tool, wherein the cutting machine tool and the grinding machine tool are arranged on one side or two sides of the conveyor belt and respectively correspond to a cutting station and a grinding station; the workpiece transfer assembly comprises a feeding mechanism 3, a connecting and conveying mechanism and a discharging mechanism 4, the connecting and conveying mechanism is arranged on the conveying belt and can reciprocate along the extension direction of the conveying belt along with the conveying belt, and the feeding mechanism 3 and the discharging mechanism 4 are respectively arranged on two sides of the same end of the conveying belt and are respectively used for feeding workpieces and discharging workpieces; the state monitoring assembly comprises a weight monitoring mechanism arranged on the overlap-connection conveying mechanism, and when the weight monitoring mechanism monitors that the weight on the overlap-connection conveying mechanism is larger than a first preset weight, the weight monitoring mechanism controls the conveyor belt to drive the overlap-connection conveying mechanism to move towards the cutting station; when the weight monitoring mechanism monitors that the weight on the overlap joint conveying mechanism is larger than a second preset weight and smaller than a first preset weight, the weight monitoring mechanism controls the conveyor belt to drive the overlap joint conveying mechanism to move towards the polishing station; when the weight monitoring mechanism monitors that the weight on the connection conveying mechanism is larger than the third preset weight and smaller than the second preset weight, the weight monitoring mechanism controls the conveyor belt to drive the connection conveying mechanism to move towards the feeding and discharging station.
In some embodiments, the first preset weight, the second preset weight, and the third preset weight may be determined according to the number of the workpieces to be machined that can be carried by the docking transport mechanism and historical machining data, where the historical machining data may include data of at least one workpiece machining completed by the fully automatic machining line, for example, as shown in fig. 1, the docking transport mechanism may carry 6 workpieces to be machined, and each workpiece to be machined has a weight of about 4 kg before machining, a weight of about 3kg after completing cutting machining, and a weight of about 2.8kg after completing grinding, and then the first preset weight may be 22kg, the second preset weight may be 17kg, and the third preset weight may be 15 kg.
It is worth explaining still that this control system can refute the weight information of connecing the transport mechanism through weight monitoring mechanism real-time supervision to judge its operating condition, move in with the drive work piece in unloading station, cutting station and the station of polishing. In the processing process of the production line, most waste materials can be cut off by the cutting process, and the loss of the grinding process to the workpiece is relatively less, so that the weight detection mechanism at the position can judge the moving direction of the state of the connecting and transporting mechanism according to real-time weight information, and the transmission intellectualization of the connecting and transporting mechanism is realized.
In some embodiments, the first, second, and third preset weights may be adjusted according to the type of the workpiece. The feeding mechanism 3 may be provided with a point cloud collecting device (e.g., scanning of a three-dimensional laser radar device, etc.) for acquiring point cloud information of the workpiece, the point cloud collecting device may send the collected point cloud information to the processor, and the processor may identify the type of the workpiece according to the point cloud information of the workpiece. The processor may have a first preset weight, a second preset weight, and a third preset weight corresponding to different types of workpieces prestored therein, and the first preset weight, the second preset weight, and the third preset weight used in the current machining operation may be set according to the type of the workpiece identified. For example, when the full-automatic processing line completes processing of a workpiece of type B and performs processing of a workpiece of type a, the processor may automatically adjust the first preset weight from 22kg corresponding to the workpiece of type B to 30kg corresponding to the workpiece of type a, adjust the second preset weight from 17kg corresponding to the workpiece of type B to 22kg corresponding to the workpiece of type a, and adjust the third preset weight from 15kg corresponding to the workpiece of type B to 18kg corresponding to the workpiece of type a according to the point cloud information of the workpiece acquired by the point cloud acquisition device.
In some embodiments, the processor may identify the type of the workpiece by the workpiece identification model based on point cloud information of the workpiece acquired by the point cloud acquisition device. The input of the workpiece identification model can be point cloud information of the workpiece acquired by the point cloud acquisition device, and the output of the workpiece identification model can be the type of the workpiece. In some embodiments, the workpiece recognition model may include, but is not limited to, a Convolutional Neural Networks (CNN) model, a Long Short-Term Memory Neural Networks (LSTM) model, a Bi-directional Long Short-Term Memory network (Bi-LSTM) model, ResNet, ResNeXt, ResSE-Net, Denset, MobileNet, ShuffleNet, RegNet, EffectientNet, Incepton, and the like.
It can be understood that the processor may perform similarity calculation on the workpiece information currently acquired by the point cloud acquisition device and the workpiece information last acquired by the point cloud acquisition device, and if the similarity is greater than a preset threshold (e.g., 90%), the processor may not perform workpiece type identification; if the similarity is smaller than a preset threshold (for example, 90%), the processor can identify the type of the workpiece according to the workpiece information currently acquired by the point cloud acquisition device, so that the calculated amount of the processor is reduced, and the efficiency of the full-automatic processing production line is improved.
In some embodiments, the overlap-connection conveying mechanism is further provided with an image acquisition device, the image acquisition device is electrically connected with the processor, and when the weight monitoring mechanism monitors that the weight on the overlap-connection conveying mechanism is greater than a third preset weight and less than the second preset weight, the image acquisition device starts to work so as to identify the finished product quality information of the workpiece. A processor may contain one or more sub-processors (e.g., a single core processing device or a multi-core processing device). Merely by way of example, a processor may include a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), an Application Specific Instruction Processor (ASIP), a Graphics Processor (GPU), a Physical Processor (PPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a programmable logic circuit (PLD), a controller, a micro-controller unit, a Reduced Instruction Set Computer (RISC), a microprocessor, or the like, or any combination thereof.
In some embodiments, the processor may determine the finished product quality information based on the image of the finished machined workpiece (i.e., the finished workpiece) acquired by the image acquisition device through the quality determination model. The input of the quality judgment model can be an image of the workpiece which is acquired by the image acquisition device and is processed, and the output of the quality judgment model can be finished product quality information of the workpiece which is processed.
The quality determination model may include a feature extraction layer and a discrimination layer.
The feature extraction layer can be used for processing the image of the workpiece after the processing, which is acquired by the image acquisition device, and extracting the features of the workpiece after the processing, such as crack features, size features, surface flatness and the like. In some embodiments, the feature extraction layer may include Convolutional Neural Network (CNN) models such as ResNet, ResNeXt, SE-Net, DenseNet, MobileNet, ShuffleNet, RegNet, EffectientNet, or addition, or recurrent Neural network models.
The judging layer can judge the finished product quality information of the machined workpiece according to the characteristics of the machined workpiece extracted by the characteristic extracting layer. In some embodiments, the product quality information may include crack number, crack depth, size, and surface flatness, among others.
In some embodiments, the quality determination model may be a machine learning model of preset parameters. The preset parameters refer to model parameters which are automatically learned in the training process of the machine learning model. Taking a neural network as an example, the model parameters include Weight (Weight) and bias (bias), etc. The preset parameters of the quality judgment model are generated through a training process. For example, the processor may train an initial quality determination model based on a plurality of training samples with labels to obtain a quality determination model. The training sample includes images of one or more finished sample workpieces with labels. The label of the training sample can indicate the finished product quality information of the sample workpiece after finishing processing. In some embodiments, the processor may input the training sample into the initial quality determination model, and update the parameters of the initial feature extraction layer and the initial discrimination layer through training until the updated quality determination model satisfies the preset condition. The updated quality determination model may be designated as a trained quality determination model, wherein the preset condition may be that a loss function of the updated quality determination model is smaller than a threshold, converges, or that a number of training iterations reaches a threshold.
In some embodiments, the processor may train the initial feature extraction layer and the initial discrimination layer in the quality determination model in an end-to-end training manner. The end-to-end training mode is to input training samples into an initial model, determine a loss value based on the output of the initial model, and update the initial model based on the loss value. The initial model may contain a plurality of sub-models or modules for performing different data processing operations, which are considered as a whole in the training, to be updated simultaneously. For example, in the initial quality determination model, an image of a sample workpiece after completion of processing may be input to the initial feature extraction layer, a loss function may be established based on an output result of the initial determination layer and the label, and parameters of each initial layer in the quality determination model may be simultaneously updated based on the loss function.
In this embodiment, the docking transportation mechanism includes a transportation robot 6, a docking support 631, a plurality of docking transportation rollers axially fixed and circumferentially and rotationally fixed on the docking support 631, and a docking driving motor driving the docking transportation rollers to circumferentially rotate, and the plurality of docking transportation rollers are linked by a docking transmission member; the weight monitoring mechanism comprises a pressure sensor arranged on the docking support 631 and a processor electrically connected with the pressure sensor, and the processor is electrically connected with the conveyor belt.
It can be understood that the feeding mechanism 3, the blanking mechanism 4 and the connection conveying mechanism are basically the same in structure and respectively comprise a support 631 and a workpiece conveying component arranged on the support 631, and the workpiece conveying component can be a plurality of conveying rollers and a driving motor for driving the conveying rollers to move; the device also can be a driving motor and a gear rack which are connected in a linkage manner, or a driving motor and a conveyor belt; or a driving air cylinder 633 or a hydraulic cylinder, and a workpiece pushing rod which is connected with the driving air cylinder in a linkage manner.
The transportation robot 6 reciprocates along the transportation rail 1 and transports the unprocessed product from the feeding mechanism 3 to the material-free cutting machine tool and the material-free grinding machine tool, the material is taken out from the machined cutting machine tool and the material is taken out from the machined grinding machine tool and is transported to the blanking mechanism 4, the transportation robot 6 can also be any machine which is purchased from the market and can clamp and transport the workpiece, preferably, the transportation robot 6 comprises a mounting seat 61, a mechanical arm 62 arranged on the mounting seat 61, a clamping assembly 63 arranged at one end of the mechanical arm 62 and used for clamping the material, the clamping assembly 63 comprises a clamping bracket 631 and at least two clamping pieces 632 (such as suction nozzles) arranged on the clamping bracket 631, and the clamping bracket 631 is provided with a driving air cylinder 633 used for driving the two adjacent clamping pieces 632 to approach to each other or to move away from each other.
Referring to fig. 10, in this embodiment, the docking transportation mechanism further includes an alignment unit, the alignment unit includes a limiting member disposed on the docking bracket 631 and a limiting frame 93 located at one side of the conveyor belt, a plurality of limiting pins 931 are disposed on the limiting frame 93, two adjacent limiting pins 931 are mutually matched to form a limiting gap, the limiting member includes a fixing sleeve 91 having an internal cavity and a limiting hand grip 92, the limiting hand grip 92 is disposed in the internal cavity and can slide along an extending direction of the internal cavity, and when the limiting hand grip 92 moves to a first preset position, the limiting hand grip 92 can be mutually matched with the limiting gap; when the limit gripper 92 moves to the second preset position, the limit gripper 92 and the limit gap are separated from each other
Meanwhile, the limiting hand grab 92 comprises a limiting part 921 and a sliding part 922 which are integrally formed, the limiting part 921 and the sliding part 922 are matched with each other to form an L-shaped limiting hand grab 92, the sliding part 922 is arranged in the inner cavity and can slide along the extending direction of the inner cavity, and the limiting part 921 is used for being matched with or separated from the limiting gap.
In this embodiment, the limiting member further includes two guide blocks 923, and the two guide blocks 923 are all disposed on the fixing sleeve 91, and mutually cooperate to form a sliding cavity adapted to the internal cavity, and the limiting portion 921 is located in the sliding cavity. It can be understood that, the guide block 923 is used as a structure for assisting in transmission, which can ensure the precision of the movement of the limit gripper 92 and avoid the phenomenon of the offset or the sliding of the limit gripper 92.
It should be noted that, the relative fixation of the limiting pin 931 and the limiting member can realize the alignment of the docking transportation mechanism, thereby facilitating the guarantee of the accuracy of the subsequent image acquisition and recognition and the workpiece loading and unloading operation.
It can be understood that, after the conveyer belt drives the docking support 631 to move towards the feeding and discharging station, the limiting hand grip 92 in the limiting part moves to the first preset position from the second preset position, and at this time, the limiting hand grip 92 and two adjacent limiting pins 931 are matched to form a limiting gap for mutual adaptation, so as to achieve alignment of the docking support 631.
In the embodiment, the cutting machine tool and the grinding machine tool are both connected with a chip removal machine 7, a secondary positioning mechanism 8 is arranged on one side of the conveyor belt, and the chip removal machine 7 is positioned between the secondary positioning mechanism 8 and the grinding machine tool or between the secondary positioning mechanism 8 and the cutting machine tool.
It should be noted that, in the chip removal machine 7, the influence of the waste on the processing is avoided, the chip removal machine 7 can be directly purchased from the market, and the structure of the chip removal machine 7 is not the innovation point of the application, so that the details are not described herein.
In order to improve the mounting precision of the workpiece on the numerical control machine tool 2 and further improve the machining precision of the whole workpiece, it is preferable that a secondary positioning mechanism 8 is arranged on one side of the transportation rail 1, and the chip removal machine 7 is positioned between the secondary positioning mechanism 8 and the numerical control machine tool 2.
The secondary positioning mechanism 8 comprises a mounting frame 81, a positioning jig 82 for placing a workpiece is arranged on the mounting frame 81, the positioning jig 82 comprises a first positioning support rod 821 and a second positioning support rod 822 for supporting and positioning the workpiece to be processed, the first positioning support rod 821 can be a left support rod and a right support rod, the second positioning support rod 822 can be a front support rod and a rear support rod, the first positioning support rod 821 and the second positioning support rod 822 are not connected and are distributed in a vertically staggered manner, the first positioning support rod 821 is provided with a positioning column in the X-axis direction, the second positioning support rod 822 is provided with a positioning column in the Y-axis direction, the positioning column in the X-axis direction and the positioning column in the Y-axis direction are flush with each other, so as to flatly support the workpiece, the first positioning support rod 821 and the second positioning support rod 822 are provided with an X-axis adjusting component 823 for adjusting the distance between the two in the X-axis direction and a Y-axis adjusting component 824 for adjusting the distance between the two in the Y-axis direction. The X-axis adjusting assembly 823 and the Y-axis adjusting assembly 824 may be configured to adjust the distance between the first positioning support rod 821 and the second positioning support rod 822, for example, a structure using a motor and a ball screw assembly, or a structure using a plurality of positioning holes and a positioning pin to cooperate with each other.
The X-axis adjusting assembly 823 comprises an X-axis guide rail 8231 fixed on the mounting frame 81, a first driving motor 8232, a first driving belt 8233 linked with the first driving motor 8232, and a first connecting block 8234 fixedly connected with the first driving belt 8233, wherein the first positioning support rod 821 is fixedly connected with the first driving belt 8233 through the first connecting block 8234, and the first positioning support rod 821 is slidably connected with the X-axis guide rail 8231 through a first sliding block 8235.
In this embodiment, the Y-axis adjusting assembly 824 includes a Y-axis guide rail 8241, a second driving motor 8242 fixed to the mounting frame 81, a second driving belt 8243 linked to the second driving motor 8242, and a second connecting block 8244 fixedly connected to the second driving belt 8243, wherein the Y-axis positioning support member is fixedly connected to the second driving belt 8243 through the second connecting block 8244, and the second positioning support rod 822 is slidably connected to the Y-axis guide rail 8241 through the second sliding block 8245.
In this embodiment, an independent rail is preferably separately provided, and the length of the independent rail is matched with the total length of the numerically-controlled machine tools 2, so that the transportation robot 6 and the docking transportation mechanism can transport workpieces back and forth between the feeding mechanism 3 and the numerically-controlled machine tool 2 farthest from the feeding mechanism 3 on the transportation rail 1;
it is worth to be further noted that the cutting machine tool and the grinding machine tool are provided with a plurality of tables which are respectively symmetrically and uniformly distributed on two sides of the transportation track 1, so that a plurality of workpieces can be machined at the same time, and different workpieces can also be machined at the same time; specific digit control machine tool 2 can be any one kind of digit control machine tool 2 of processing usefulness on the market, in order to improve this production line's machining efficiency, preferably reform transform this application digit control machine tool 2, this digit control machine tool 2 includes machine tool dustcoat 21, machine tool dustcoat 21 is inside to be provided with processing base 22, processing base 22 slides and is provided with work piece platform 23, machine tool dustcoat 21 is provided with dustcoat qianmen 24, machine tool dustcoat 21 deviates from one side of qianmen and still is equipped with back door 25, back door 25 is including fixing the fixed curb plate 251 of processing base 22 left and right sides, can overturn from top to bottom in order to realize opening or closed upper cover plate 252, the power component 253 of upper cover plate 252 upset from top to bottom drives, the motion stroke of work piece platform 23 on processing base 22 extends to back door 25 department, power component 253 is connected with the controller, controller and work piece platform 23 signal connection.
Fig. 11 is a schematic flow chart illustrating a method for controlling a nc machine tool line according to some embodiments of the present application, and as shown in fig. 11, the present application further provides a method for controlling a machining line, which can be executed by the nc machine tool line control system, including the steps of:
s100, transferring the workpiece to be processed to the docking support 631 through the feeding mechanism 3 and the conveying robot 6, and when the pressure sensor on the docking support 631 monitors that the weight on the docking support 631 is larger than a first preset weight, sending a control signal by the processor to control the conveyor belt to drive the docking support 631 to move towards the cutting station;
s200, cutting operation is carried out on the cutting machine tool, after the cutting operation is finished, the conveying robot 6 conveys a workpiece to be polished to the docking support 631 from the cutting machine tool, and when the pressure sensor monitors that the weight of the docking support 631 is larger than a second preset weight and smaller than a first preset weight, the processor sends out a control signal to control the conveyor belt to drive the docking support 631 to move towards a polishing station;
s300, the grinding machine carries out cutting operation, and after the cutting operation is completed, the conveying robot 6 transfers finished workpieces to the docking support 631 from the grinding machine, and when the pressure sensor monitors that the weight on the docking support 631 is greater than the third preset weight and less than the second preset weight, the processor sends a control signal to control the conveyor belt to drive the docking support 631 to move towards the feeding and discharging station.
S400, after the conveyor belt drives the docking bracket 631 to move towards the loading and unloading station, the limiting hand grips 92 in the limiting parts move to the first preset position from the second preset position, and at the moment, limiting gaps formed by matching the limiting hand grips 92 and two adjacent limiting pins 931 are matched with each other, so that the docking bracket 631 is aligned;
and S500, the image acquisition device starts to work to acquire the image information of the finished workpiece at the moment, the finished product quality information of the finished workpiece is judged according to the image information, and if the finished workpiece of which the finished product quality information meets the preset condition is connected into the finished product storage unit of the blanking mechanism 4, the finished workpiece of which the finished product quality information does not meet the preset condition is connected into the defective product storage unit of the blanking mechanism 4.
The preset condition may include at least one of the number of cracks being smaller than a preset number threshold, the depth of the cracks being smaller than a preset depth threshold, a difference between the size and the preset size being smaller than a preset difference threshold, the surface flatness being larger than a preset flatness threshold, and the like.
Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing detailed disclosure is to be regarded as illustrative only and not as limiting the present specification. Various modifications, improvements and adaptations to the present description may occur to those skilled in the art, although not explicitly described herein. Such modifications, improvements and adaptations are proposed in the present specification and thus fall within the spirit and scope of the exemplary embodiments of the present specification.
Also, the description uses specific words to describe embodiments of the description. Reference throughout this specification to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with at least one embodiment of the specification is included. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, some of the features, structures, or characteristics of one or more embodiments of the present description may be combined as appropriate.
Additionally, the order in which the elements and sequences of the process are recited in the specification, the use of alphanumeric characters, or other designations, is not intended to limit the order in which the processes and methods of the specification occur, unless otherwise specified in the claims. While various presently contemplated embodiments of the invention have been discussed in the foregoing disclosure by way of example, it is to be understood that such detail is solely for that purpose and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements that are within the spirit and scope of the embodiments herein. For example, although the system components described above may be implemented by hardware devices, they may also be implemented by software-only solutions, such as installing the described system on an existing server or mobile device.
Similarly, it should be noted that in the previous description of embodiments of the specification, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to imply that more features than are expressly recited in a claim. Indeed, the embodiments may be characterized as having less than all of the features of a single embodiment disclosed above.
Numerals describing the number of components, attributes, etc. are used in some embodiments, it being understood that such numerals used in the description of the embodiments are modified in some instances by the use of the modifier "about", "approximately" or "substantially". Unless otherwise indicated, "about", "approximately" or "substantially" indicates that the number allows a variation of ± 20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximations that may vary depending upon the desired properties of the individual embodiments. In some embodiments, the numerical parameter should take into account the specified significant digits and employ a general digit preservation approach. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the range are approximations, in the specific examples, such numerical values are set forth as precisely as possible within the scope of the application.
For each patent, patent application publication, and other material, such as articles, books, specifications, publications, documents, etc., cited in this specification, the entire contents of each are hereby incorporated by reference into the specification. Except where the application history document does not conform to or conflict with the contents of the present specification, it is to be understood that the application history document, as used herein in the present specification or appended claims, is intended to define the broadest scope of the present specification (whether presently or later in the specification) rather than the broadest scope of the present specification. It is to be understood that the descriptions, definitions and/or uses of terms in the accompanying materials of this specification shall control if they are inconsistent or contrary to the descriptions and/or uses of terms in this specification.
Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments of the present disclosure. Other variations are possible within the scope of this description. Thus, by way of example, and not limitation, alternative configurations of the embodiments of the specification can be considered consistent with the teachings of the specification. Accordingly, the embodiments of the present description are not limited to only those embodiments explicitly described and depicted herein.
Claims (10)
1. The utility model provides a digit control machine tool production line control system which characterized in that includes:
the conveying belt is correspondingly provided with a feeding and discharging station, a cutting station and a polishing station;
the machining assembly comprises a cutting machine tool and a grinding machine tool, and the cutting machine tool and the grinding machine tool are arranged on one side or two sides of the conveyor belt and respectively correspond to the cutting station and the grinding station;
the workpiece transfer assembly comprises a feeding mechanism, a connection conveying mechanism and a discharging mechanism, the connection conveying mechanism is arranged on the conveying belt and can reciprocate along the extension direction of the conveying belt along with the conveying belt, and the feeding mechanism and the discharging mechanism are respectively arranged on two sides of the same end of the conveying belt and are respectively used for feeding workpieces and discharging workpieces;
the state monitoring assembly comprises a weight monitoring mechanism arranged on the overlap-connection conveying mechanism, and when the weight monitoring mechanism monitors that the weight on the overlap-connection conveying mechanism is larger than a first preset weight, the weight monitoring mechanism controls the conveyor belt to drive the overlap-connection conveying mechanism to move towards the cutting station; when the weight monitoring mechanism monitors that the weight on the overlap joint conveying mechanism is larger than a second preset weight and smaller than the first preset weight, the weight monitoring mechanism controls the conveyor belt to drive the overlap joint conveying mechanism to move towards the polishing station; when weight monitoring mechanism monitors weight in the connection transport mechanism is greater than the third and predetermines weight and is less than when the weight was predetermine to the second, weight monitoring mechanism control the conveyer belt drives connection transport mechanism moves towards go up the unloading station and remove.
2. The numerical control machine tool production line control system according to claim 1, wherein the docking transportation mechanism includes a transportation robot, a docking support, a plurality of docking transportation rollers axially fixed and circumferentially rotatably fixed to the docking support, and a docking driving motor driving the docking transportation rollers to circumferentially rotate, the plurality of docking transportation rollers being linked by a docking transmission member;
the weight monitoring mechanism including set up in refute connect on the support pressure sensor and with pressure sensor electric connection's treater, the treater with the electrified nature of conveying is connected.
3. The numerical control machine tool production line control system according to claim 2, wherein the docking transportation mechanism further comprises an alignment unit, the alignment unit comprises a limiting member disposed on the docking bracket and a limiting frame disposed at one side of the conveyor belt, the limiting frame is provided with a plurality of limiting pins, two adjacent limiting pins are matched with each other to form a limiting gap, the limiting member comprises a fixing sleeve having an inner cavity and a limiting hand grip, the limiting hand grip is disposed in the inner cavity and can slide along the extending direction of the inner cavity, and when the limiting hand grip moves to a first preset position, the limiting hand grip can be matched with the limiting gap; when the limiting hand grip moves to a second preset position, the limiting hand grip and the limiting gap are separated from each other.
4. The numerical control machine tool line control system of claim 3, wherein the limiting hand comprises a limiting portion and a sliding portion which are integrally formed, the limiting portion and the sliding portion are mutually matched to form an L-shaped limiting hand, the sliding portion is arranged in the internal cavity and can slide along the extending direction of the internal cavity, and the limiting portion is used for being mutually matched with or separated from the limiting gap.
5. The numerical control machine tool line control system of claim 4, wherein the position limiter further comprises two guide blocks, the two guide blocks are disposed on the fixing sleeve and cooperate with each other to form a sliding cavity adapted to the internal cavity, and the position limiter is disposed in the sliding cavity.
6. The numerical control machine tool production line control system according to claim 3, further comprising an image acquisition device electrically connected with the processor, wherein when the weight monitoring mechanism monitors that the weight on the docking transportation mechanism is greater than the third preset weight and less than the second preset weight, the image acquisition device starts to operate to identify finished product quality information of the workpiece.
7. The numerical control machine tool production line control system according to claim 1, wherein a chip removal machine is attached to each of the cutting machine tool and the grinding machine tool, and a secondary positioning mechanism is provided on one side of the conveyor belt, the chip removal machine being positioned between the secondary positioning mechanism and the grinding machine tool or between the secondary positioning mechanism and the cutting machine tool.
8. The control system for the production line of the numerical control machine tool according to claim 7, wherein the secondary positioning mechanism comprises a mounting frame, a positioning jig for placing the workpiece is arranged on the mounting frame, the positioning jig comprises a first positioning support rod and a second positioning support rod for supporting and positioning the workpiece to be processed, and the first positioning support rod and the second positioning support rod are provided with an X-axis adjusting component for adjusting the distance between the first positioning support rod and the second positioning support rod in the X-axis direction and a Y-axis adjusting component for adjusting the distance between the first positioning support rod and the second positioning support rod in the Y-axis direction.
9. A control method of a processing production line is characterized by comprising the following steps:
s100, transferring a workpiece to be processed to a connection support through a feeding mechanism and a conveying robot, and when a pressure sensor on the connection support monitors that the weight on the connection support is larger than a first preset weight, sending a control signal by a processor to control a conveyor belt to drive the connection support to move towards a cutting station;
s200, cutting operation is carried out on a cutting machine tool, after the cutting operation is finished, a conveying robot conveys a workpiece to be polished to a connection support from the cutting machine tool, and when the pressure sensor monitors that the weight of the connection support is larger than a second preset weight and smaller than a first preset weight, a processor sends out a control signal to control a conveyor belt to drive the connection support to move towards a polishing station;
s300, the lathe of polishing carries out cutting, and after accomplishing cutting, transport robot transports the finished product work piece from the lathe of polishing to refuting and connects the support, works as pressure sensor monitors weight on refuting the support is greater than the third and predetermines weight and be less than when the weight was predetermine to the second, the treater sends control signal to the control conveyer belt drives refuting the support and removing towards last unloading station.
10. The control method for a manufacturing line according to claim 9, further comprising, after step S300:
s400, after the connecting support is driven by the conveyor belt to move towards the feeding and discharging station, the limiting hand grips in the limiting parts move to the first preset position from the second preset position, and at the moment, limiting gaps formed by the limiting hand grips and two adjacent limiting pins in a matched mode are matched with each other, so that the connecting support is aligned;
s500, the image acquisition device starts to work to obtain image information of the finished workpiece at the moment, the finished product quality information of the finished workpiece is judged according to the image information, and if the finished workpiece of which the finished product quality information meets the preset condition is connected into a finished product storage unit of the blanking mechanism in a connection mode, the finished workpiece of which the finished product quality information does not meet the preset condition is connected into a defective product storage unit of the blanking mechanism in a connection mode.
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| CN111824744A (en) * | 2020-04-02 | 2020-10-27 | 深圳市捷佳伟创新能源装备股份有限公司 | Connection system and production line system |
| CN111661585A (en) * | 2020-06-08 | 2020-09-15 | 大族激光科技产业集团股份有限公司 | Circulation working equipment |
| CN112238393A (en) * | 2020-10-12 | 2021-01-19 | 深圳市久久犇自动化设备股份有限公司 | Horizontal type double-CNC grinding and inspecting integrated machine for medium-size and large-size glass panels and machining method of horizontal type double-CNC grinding and inspecting integrated machine |
| CN112643467A (en) * | 2020-12-25 | 2021-04-13 | 深圳市久久犇自动化设备股份有限公司 | Intelligent grinding and inspecting production line for cover plate |
| CN214767016U (en) * | 2021-01-23 | 2021-11-19 | 广州中草世家化妆品有限公司 | Device for automatically monitoring weight of facial mask |
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| CN113291730A (en) * | 2021-06-18 | 2021-08-24 | 南京禹智智能科技有限公司 | Multidirectional carrying device based on industrial robot and carrying method thereof |
| CN214816018U (en) * | 2021-07-23 | 2021-11-23 | 许永武 | Adjustable fastening connection mechanism |
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Denomination of invention: A CNC machine tool production line control system and method Effective date of registration: 20231221 Granted publication date: 20230321 Pledgee: Shenzhen Rural Commercial Bank Co.,Ltd. (shenzhen Rural Commercial Bank) Pledgor: SHENZHEN JIUJIUBEN AUTOMATION EQUIPMENT CO.,LTD. Registration number: Y2023980073220 |