CN115122132A - Method for robot to automatically replace cutter and automatically compensate cutter compensation - Google Patents
Method for robot to automatically replace cutter and automatically compensate cutter compensation Download PDFInfo
- Publication number
- CN115122132A CN115122132A CN202210914817.4A CN202210914817A CN115122132A CN 115122132 A CN115122132 A CN 115122132A CN 202210914817 A CN202210914817 A CN 202210914817A CN 115122132 A CN115122132 A CN 115122132A
- Authority
- CN
- China
- Prior art keywords
- cutter
- tool
- robot
- shaped
- automatically
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000007514 turning Methods 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 7
- 238000012545 processing Methods 0.000 abstract description 2
- 239000000047 product Substances 0.000 description 10
- 238000004544 sputter deposition Methods 0.000 description 5
- 229920000742 Cotton Polymers 0.000 description 4
- 238000005498 polishing Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005477 sputtering target Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000000151 deposition Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002274 desiccant Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Images
Classifications
-
- 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
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
-
- 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
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
- B23Q15/22—Control or regulation of position of tool or workpiece
-
- 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
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a method for automatically replacing a cutter and automatically compensating a cutter compensation by a robot, which comprises the following steps: (1) the robot clamps the cutter bar and installs the cutter bar on the cutter frame; (2) carrying out tool setting operation to obtain tool compensation data, and storing the tool compensation data into a chip embedded in a tool; then, placing the cutter at a specified position; (3) the robot clamps the tools at the designated positions in sequence according to the program, the turning equipment obtains data in the tool chip, then the tools are installed and fixed on a tool bar of the turning equipment, and turning operation is started; according to the method, the robot, the torque wrench and the gripping clamp are improved, so that the automatic replacement of the cutter bar and the cutter is realized, the cutter setting process is optimized, the quality and the qualified rate of product processing are ensured, and the qualified rate of products is improved by 50% compared with the existing manual operation.
Description
Technical Field
The invention belongs to the technical field of automatic machining, and particularly relates to a method for automatically replacing a cutter and automatically compensating a cutter compensation by a robot.
Background
The sputtering technology is one of the common processes in the field of semiconductor manufacturing, and with the increasing development of the sputtering technology, the sputtering target plays an increasingly important role in the sputtering technology, and the quality of the sputtering target directly influences the film forming quality after sputtering.
In the field of sputtering target manufacturing, a target assembly is composed of a blank meeting sputtering performance and a back plate combined with the blank by welding, and generally, after a semi-finished blank is welded on the back plate, turning is performed on the semi-finished blank, and the semi-finished blank is machined to a finished size and shape.
However, in the turning process, the tool wear period is short, the tool needs to be replaced manually and frequently, and the phenomenon that the tool is not installed in place frequently occurs, so that the product is over-cut and the production is influenced. And after the cutter is replaced each time, the cutter correcting operation is needed, and the manual operation is easy to mistake the cutter compensation value. Therefore, it is very important to provide a more accurate tool mounting method and a tool calibration method.
CN213617660U discloses a diamond micro-cutting knife tooth supplement that can replace automatically, including depositing the case, deposit one side fixed mounting of incasement chamber and have first pearl cotton, deposit the opposite side fixed mounting of incasement chamber and have second pearl cotton, deposit the bottom fixed mounting of incasement chamber and have third pearl cotton, solid desiccant has been placed at the top of the cotton inner chamber of second pearl, deposit the top movable mounting of case and have the case lid, the top welding of case lid has the handle, the inner chamber of depositing the case has placed the micro-cutting knife.
CN215470170U discloses a polishing manipulator with adaptability and capable of automatic tool changing, including: a manipulator body; the driving box is fixed at the moving end of the manipulator body; the first polishing knife assembly is connected to one side of the driving box in a sliding mode; the second grinding cutter assembly is connected to one side, far away from the second grinding cutter assembly, of the driving box in a sliding mode; and the driving mechanism is fixed on the inner side of the driving box and used for driving the first polishing knife assembly and the second polishing knife assembly to move relatively to complete the knife changing work.
In summary, how to use the above scheme to realize automatic replacement of the tool in the target turning process and optimize the tool calibration process becomes a problem to be solved at present.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a method for automatically replacing a cutter and automatically compensating for cutter compensation by a robot, which realizes automatic replacement of a cutter bar and a cutter by the design of a robot program and the improvement of a torque wrench and a grab clamp, optimizes a cutter setting process and ensures the quality and the qualified rate of product processing.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a method for automatically replacing a cutter and automatically compensating a cutter compensation of a robot, which comprises the following steps:
(1) the robot clamps the cutter bar and installs the cutter bar on the cutter frame;
(2) carrying out tool setting operation to obtain tool compensation data, and storing the tool compensation data into a chip embedded in a tool; then, placing the cutter in a designated position;
(3) the robot clamps the cutter according to the procedure in proper order at the assigned position, goes the turning equipment and acquires the data in the cutter chip, then fixes the cutter installation on the cutter arbor of turning equipment, begins to carry out the turning operation.
According to the invention, the automatic replacement of the cutter rod and the cutter is realized by using the robot, so that the product scrapping caused by the condition that the cutter is not installed in place due to manual cutter replacement is prevented; meanwhile, cutter compensation data are recorded in a chip mode, and a design program of a robot is matched, so that cutter collision accidents and the like caused by manual error transmission of the cutter compensation data are avoided, and the product yield is improved.
It should be noted that step (2) of the present invention is accomplished by human assistance.
The following technical solutions are preferred technical solutions of the present invention, but not limited to the technical solutions provided by the present invention, and technical objects and advantageous effects of the present invention can be better achieved and achieved by the following technical solutions.
As a preferred technical scheme of the invention, the robot comprises a movable base, a fixed supporting arm, a movable arm and a replacing mechanism which are sequentially connected from bottom to top;
the replacing mechanism comprises a tail end connector, a carrier connected with the tail end connector, a torque motor, a gripping clamp and a laser sensor which are respectively connected with the carrier, and a torque wrench connected with the torque motor;
the inner wall of the grabbing clamp is provided with a V-shaped groove, so that the V-shaped grabbing clamp is formed and matched with the groove in the cutter base, and the grabbing clamp is firm.
The tail end connector is used for being connected with the mobile arm; the torque wrench is used for installing and disassembling a cutter on the cutter rod. The laser sensor is used for detecting whether the tool is successfully clamped.
In a preferred embodiment of the invention, the thickness of the gripper is 4-5mm, for example 4mm, 4.2mm, 4.4mm, 4.6mm, 4.8mm or 5mm, but is not limited to the values listed, and other values not listed in this range are equally suitable.
In a preferred embodiment of the present invention, the opening angle of the V-shaped groove is 100-120 °, such as 100 °, 102 °, 104 °, 106 °, 108 °, 110 °, 112 °, 114 °, 116 °, 118 °, or 120 °, but not limited to the values listed, and other values not listed in the range of the values are also applicable.
In a preferred embodiment of the present invention, the depth of the V-shaped groove is 7 to 8mm, for example, 7mm, 7.2mm, 7.4mm, 7.6mm, 7.8mm, or 8mm, but the depth is not limited to the above-mentioned values, and other values not shown in the above-mentioned range are also applicable.
In the invention, the depth of the V-shaped groove refers to the distance from the bottom end to the top end of the V shape.
As the preferable technical scheme of the invention, the V-shaped groove is internally provided with a pattern structure.
In a preferred embodiment of the invention, the depth of the pattern structure is 1 to 2mm, for example 1mm, 1.2mm, 1.4mm, 1.6mm, 1.8mm or 2mm, but the pattern structure is not limited to the values listed, and other values not listed in the range of the values are also applicable.
In the present invention, the pattern structure includes but is not limited to wave shape, fold line shape, N shape, and V shape. The setting up of decorative pattern structure can increase the roughness, and then promote to get firm degree.
As a preferable technical scheme of the invention, the cutter bar in the step (1) is a C-shaped cutter bar.
As a preferable technical scheme of the invention, the tool setting operation in the step (2) is carried out by adopting a tool setting instrument.
Preferably, the tool in step (2) is a C-shaped tool.
As a preferred technical solution of the present invention, the operation of installing and fixing in step (3) includes: the robot firstly arranges a cutter in the installation position of the cutter bar and then adopts a torque wrench to tighten the clamping groove on the cutter bar.
In the invention, after the turning procedure is finished, the robot also adopts a torque wrench to open the clamping groove on the cutter bar, takes out the cutter and puts the cutter back to the designated position for the next process.
Compared with the prior art, the invention has the following beneficial effects:
according to the method for automatically replacing the cutter and automatically compensating the cutter compensation of the robot, disclosed by the invention, the automatic replacement of the cutter rod and the cutter by the robot is realized through the optimization and improvement of the structure of the robot, and the product scrapping caused by the fact that the cutter is not installed in place due to manual cutter replacement is prevented; meanwhile, cutter compensation data are recorded in a chip mode, and a design program of a robot is matched, so that cutter collision accidents and the like caused by manual error of cutter compensation data are avoided, the qualified rate of products is improved, and compared with the whole manual operation, the qualified rate of the products is improved by 50%.
Drawings
Fig. 1 is a schematic structural diagram of a replacing mechanism in an automatic tool replacing and automatic tool compensation method for a robot according to embodiment 1 of the present invention.
Fig. 2 is an enlarged view of a gripper in the method for automatically replacing a tool and automatically compensating for a tool change by a robot according to embodiment 1 of the present invention.
Fig. 3 is a schematic structural diagram of a tool in the automatic tool changing and automatic tool compensation method for a robot according to embodiment 1 of the present invention.
The device comprises a terminal connector 1, a carrier 2, a torque motor 3, a torque wrench 31, a gripper 4, a groove 41-V, a laser sensor 5, a cutter 6-C and a chip 61.
Detailed Description
It is to be understood that in the description of the present invention, the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be taken as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
It should be noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected" and "connected" in the description of the present invention are to be construed broadly and may include, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The technical solution of the present invention is further explained by the following embodiments. It should be understood by those skilled in the art that the examples are only for the understanding of the present invention and should not be construed as the specific limitations of the present invention.
The following are typical, but non-limiting, examples of the present invention:
example 1:
the embodiment provides a method for automatically replacing a cutter and automatically compensating a cutter compensation of a robot, wherein the robot comprises a movable base, a fixed supporting arm, a movable arm and a replacing mechanism which are sequentially connected from bottom to top;
the replacing mechanism comprises a terminal connector 1, a carrier 2 connected with the terminal connector 1, a torque motor 3, a gripping clamp 4 and a laser sensor 5 which are respectively connected with the carrier 2, and a torque wrench 31 connected with the torque motor 3;
the inner wall of the gripping clamp 4 is provided with a V-shaped groove 41.
The thickness of the gripping clamp 4 is 4 mm.
The opening angle of the V-shaped groove 41 is 100 degrees, and the depth of the V-shaped groove 41 is 7 mm.
The structure of the replacing mechanism in the robot is schematically shown in fig. 1, and the detailed enlarged schematic view of the gripper 4 is shown in fig. 2.
The method comprises the following steps:
(1) the robot clamps the C-shaped cutter bar and installs the C-shaped cutter bar on the cutter frame;
(2) carrying out tool setting operation on the C-shaped tool 6 by using a tool setting gauge to obtain tool compensation data, namely X is 35.029mm, and Z is 60.591mm, and storing the tool compensation data into a chip 61 embedded in the C-shaped tool 6; then, the C-shaped cutter 6 is placed at a designated position; the structural schematic diagram of the C-shaped cutter 6 is shown in fig. 3.
(3) The robot clamps the C-shaped tool 6 at the designated position in sequence according to the program, the turning device obtains the data in the chip 61, then the C-shaped tool 6 is placed on the mounting position of the C-shaped tool bar, the torque wrench 31 is adopted to tighten the clamping groove, and the turning operation is started.
Example 2:
the embodiment provides a method for automatically replacing a cutter and automatically compensating a cutter compensation of a robot, wherein the robot comprises a movable base, a fixed supporting arm, a movable arm and a replacing mechanism which are sequentially connected from bottom to top;
the replacing mechanism comprises a terminal connector 1, a carrier 2 connected with the terminal connector 1, a torque motor 3, a gripping clamp 4 and a laser sensor 5 which are respectively connected with the carrier 2, and a torque wrench 31 connected with the torque motor 3;
the inner wall of the gripping clamp 4 is provided with a V-shaped groove 41.
The thickness of the gripping clamp 4 is 5 mm.
The opening angle of the V-shaped groove 41 is 110 degrees, and the depth of the V-shaped groove 41 is 8 mm.
The inside of V type groove 41 is provided with wave decorative pattern structure, the degree of depth 1.5mm of wave decorative pattern structure.
The method comprises the following steps:
(1) the robot clamps the C-shaped cutter bar and installs the C-shaped cutter bar on the cutter frame;
(2) carrying out tool setting operation on the C-shaped tool 6 by using a tool setting gauge to obtain tool compensation data, namely X is 35.021mm, Z is 60.595mm, and storing the tool compensation data into a chip 61 embedded in the C-shaped tool 6; then, the C-shaped cutter 6 is placed at a designated position;
(3) the robot clamps the C-shaped tool 6 at the designated position in sequence according to the program, the turning device obtains the data in the chip 61, then the C-shaped tool 6 is placed on the mounting position of the C-shaped tool bar, the torque wrench 31 is adopted to tighten the clamping groove, and the turning operation is started.
Example 3:
the embodiment provides a method for automatically replacing a cutter and automatically compensating a cutter compensation of a robot, wherein the robot comprises a movable base, a fixed supporting arm, a movable arm and a replacing mechanism which are sequentially connected from bottom to top;
the replacing mechanism comprises a terminal connector 1, a carrier 2 connected with the terminal connector 1, a torque motor 3, a gripping clamp 4 and a laser sensor 5 which are respectively connected with the carrier 2, and a torque wrench 31 connected with the torque motor 3;
the inner wall of the gripping clamp 4 is provided with a V-shaped groove 41.
The thickness of the gripping clamp 4 is 4.5 mm.
The opening angle of the V-shaped groove 41 is 120 degrees, and the depth of the V-shaped groove 41 is 7.5 mm.
The inside of V type groove 41 is provided with dog-ear shaped decorative pattern structure, dog-ear shaped decorative pattern structure's degree of depth 1 mm.
The method comprises the following steps:
(1) the robot clamps the C-shaped cutter bar and installs the C-shaped cutter bar on the cutter frame;
(2) carrying out tool setting operation on the C-shaped tool 6 by using a tool setting gauge to obtain tool compensation data, namely X is 35.019mm, and Z is 60.587mm, and storing the tool compensation data into a chip 61 embedded in the C-shaped tool 6; then, the C-shaped cutter 6 is placed at a designated position;
(3) the robot clamps the C-shaped tool 6 at the designated position in sequence according to the program, the turning device obtains the data in the chip 61, then the C-shaped tool 6 is placed on the mounting position of the C-shaped tool bar, the torque wrench 31 is adopted to tighten the clamping groove, and the turning operation is started.
According to the embodiment, the method for automatically replacing the cutter and automatically compensating the cutter compensation of the robot realizes the automatic replacement of the cutter rod and the cutter by the robot through the optimization and improvement of the structure of the robot, and prevents the product from being scrapped due to the fact that the cutter is not installed in place when the cutter is manually replaced; meanwhile, cutter compensation data are recorded in a chip mode, and a design program of a robot is matched, so that cutter collision accidents and the like caused by manual error transmission of the cutter compensation data are avoided, the qualified rate of products is improved, and compared with the whole manual operation, the qualified rate of the products is improved by 50%.
The present invention is illustrated in detail by the examples described above, but the present invention is not limited to the details described above, i.e., it is not intended that the present invention be implemented by relying on the details described above. It will be apparent to those skilled in the art that any modifications to the present invention, equivalents thereof, additions of additional operations, selection of specific ways, etc., are within the scope and disclosure of the present invention.
Claims (10)
1. A method for automatically replacing a cutter and automatically compensating a cutter compensation by a robot is characterized by comprising the following steps:
(1) the robot clamps the cutter bar and installs the cutter bar on the cutter frame;
(2) carrying out tool setting operation to obtain tool compensation data, and storing the tool compensation data into a chip embedded in a tool; then, placing the cutter at a specified position;
(3) the robot clamps the cutter according to the procedure in proper order at the assigned position, goes the turning equipment and acquires the data in the cutter chip, then fixes the cutter installation on the cutter arbor of turning equipment, begins to carry out the turning operation.
2. The method according to claim 1, wherein the robot comprises a moving base, a fixed supporting arm, a moving arm and a replacing mechanism which are connected in sequence from bottom to top;
the replacing mechanism comprises a tail end connector, a carrier connected with the tail end connector, a torque motor, a gripping clamp and a laser sensor which are respectively connected with the carrier, and a torque wrench connected with the torque motor;
the inner wall of the gripping clamp is provided with a V-shaped groove.
3. A method according to claim 2, wherein the thickness of the gripper is 4-5 mm.
4. The method as claimed in claim 2 or 3, wherein the opening angle of the V-shaped groove is 100-120 °.
5. A method according to any one of claims 2 to 4, wherein the depth of the V-grooves is 7 to 8 mm.
6. Method according to any one of claims 2-5, characterized in that the inside of the V-groove is provided with a pattern structure.
7. Method according to claim 6, characterized in that the depth of the tread structure is 1-2 mm.
8. The method according to any one of claims 1-7, wherein the tool holder of step (1) is a C-shaped tool holder.
9. The method according to any one of claims 1 to 8, wherein the tool setting operation of step (2) is performed using a tool setting gauge;
preferably, the tool in the step (2) is a C-shaped tool.
10. The method of any one of claims 1-9, wherein the operation of installing a fixture of step (3) comprises: the robot firstly arranges a cutter in the installation position of the cutter bar and then adopts a torque wrench to tighten the clamping groove on the cutter bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210914817.4A CN115122132A (en) | 2022-08-01 | 2022-08-01 | Method for robot to automatically replace cutter and automatically compensate cutter compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210914817.4A CN115122132A (en) | 2022-08-01 | 2022-08-01 | Method for robot to automatically replace cutter and automatically compensate cutter compensation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115122132A true CN115122132A (en) | 2022-09-30 |
Family
ID=83385388
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210914817.4A Pending CN115122132A (en) | 2022-08-01 | 2022-08-01 | Method for robot to automatically replace cutter and automatically compensate cutter compensation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115122132A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110614523A (en) * | 2019-10-15 | 2019-12-27 | 沈阳中捷航空航天机床有限公司 | Robot tool magazine tool changing device for machine tool |
| CN212599220U (en) * | 2020-04-28 | 2021-02-26 | 宁波敏实汽车零部件技术研发有限公司 | Device for automatically replacing milling cutter and enabling ABB robot to have compensation function |
| CN114310282A (en) * | 2022-01-27 | 2022-04-12 | 国电联合动力技术(连云港)有限公司 | Yaw variable pitch bolt recognition grabbing robot |
| US20220168858A1 (en) * | 2019-03-08 | 2022-06-02 | Doosan Machine Tools Co., Ltd. | Automatic tool changer and control method therefor and machine tool including same |
-
2022
- 2022-08-01 CN CN202210914817.4A patent/CN115122132A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220168858A1 (en) * | 2019-03-08 | 2022-06-02 | Doosan Machine Tools Co., Ltd. | Automatic tool changer and control method therefor and machine tool including same |
| CN110614523A (en) * | 2019-10-15 | 2019-12-27 | 沈阳中捷航空航天机床有限公司 | Robot tool magazine tool changing device for machine tool |
| CN212599220U (en) * | 2020-04-28 | 2021-02-26 | 宁波敏实汽车零部件技术研发有限公司 | Device for automatically replacing milling cutter and enabling ABB robot to have compensation function |
| CN114310282A (en) * | 2022-01-27 | 2022-04-12 | 国电联合动力技术(连云港)有限公司 | Yaw variable pitch bolt recognition grabbing robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103124602A (en) | Bending press with a workpiece positioning device and an operating method | |
| CN217412490U (en) | Self-centering robot end effector | |
| CN115122132A (en) | Method for robot to automatically replace cutter and automatically compensate cutter compensation | |
| JP4572133B2 (en) | Internal processing equipment for hollow workpieces | |
| JPH07237036A (en) | Gear finish-machining device | |
| CN114147504B (en) | Lens fixing device and ultra-precise turning method of lens | |
| CN101642885A (en) | Grinding machine tool | |
| CN112947302A (en) | Numerical control turning machining work piece center positioning error correcting unit | |
| CN212240183U (en) | Commercial car oil tank fixed pin processing frock | |
| CN218533555U (en) | Clamping mechanism | |
| CN217045584U (en) | Cylindrical thin-wall part machining clamp | |
| JP2020157337A (en) | Punch press machine | |
| CN212239678U (en) | Wire feeding laser welding tool fixture | |
| CN219484920U (en) | Multipurpose quick-change clamp for flexible processing | |
| CN214816455U (en) | Thin wall aluminum component both ends head processing positioner | |
| CN218775703U (en) | Hydraulic chuck clamp | |
| CN213615409U (en) | Milling machine fixture | |
| CN216178291U (en) | Multi-station inflating valve machining device | |
| CN213317770U (en) | Lathe batch workpiece length fixing jig | |
| CN112059672A (en) | Commercial car oil tank fixed pin processing frock | |
| CN213795459U (en) | Automatic feeding and discharging mechanism of milling cutter processing machine | |
| CN213002698U (en) | Clamping jig for inner hole cutter | |
| CN219786818U (en) | Automatic assembly line | |
| CN215199669U (en) | Automatic numerical control machining lathe of unloading | |
| CN217433712U (en) | Small-size spare part is with adjusting accurate adds clamping apparatus |
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 |