CN115123812B - Automatic conveying and processing device for front and back surfaces of workpiece and control method thereof - Google Patents
Automatic conveying and processing device for front and back surfaces of workpiece and control method thereof Download PDFInfo
- Publication number
- CN115123812B CN115123812B CN202210807659.2A CN202210807659A CN115123812B CN 115123812 B CN115123812 B CN 115123812B CN 202210807659 A CN202210807659 A CN 202210807659A CN 115123812 B CN115123812 B CN 115123812B
- Authority
- CN
- China
- Prior art keywords
- workpiece
- clamping jaw
- controlled
- clamping
- feeding mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 175
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000003754 machining Methods 0.000 description 6
- 238000005553 drilling Methods 0.000 description 5
- 238000003801 milling Methods 0.000 description 5
- 238000010079 rubber tapping Methods 0.000 description 5
- 230000009977 dual effect Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007514 turning Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Feeding Of Workpieces (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention relates to the technical field of intelligent manufacturing, in particular to a workpiece front and back automatic conveying processing device and a control method thereof.
Description
Technical Field
The invention relates to the technical field of intelligent manufacturing, in particular to a workpiece front and back automatic conveying and processing device and a control method thereof.
Background
For a workpiece with a complex structure and a complex processing procedure, such as a carburetor pump cover, which needs to be processed on the front side and the back side, a plurality of parts of the front side and the back side of a blank, such as drilling, tapping, turning, milling, boring and the like, if each processing part and each processing technology are processed by a separate machine tool respectively and are automated, a large number of workpiece transferring or orienting mechanisms are needed, and the workpiece is required to be clamped for a plurality of times, so that the defects of low working efficiency, difficult guarantee of processing precision and high equipment cost exist; in addition, in the prior art, full automation is difficult to achieve for machining the front side and the back side of a workpiece, namely after the workpiece is machined on one side, the workpiece on the machined one side needs to be collected, the workpiece on the machined one side is manually transferred to a specific vibration disc again, and then the workpiece is fed through the vibration disc again, so that machining of the other side of the workpiece is performed.
The continuity of the front and back machining of the workpiece is poor, the working efficiency is relatively low, and the transfer switching of the front and back machining of the workpiece needs to be additionally provided with the collecting device and the vibrating disc, so that the equipment cost is increased.
Therefore, how to realize efficient and fully automatic conveying and processing of the front and back surfaces of the workpiece and ensure the processing precision becomes a technical problem to be solved urgently.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: how to realize the efficient and fully automatic conveying and processing of the front and the back of the workpiece and ensure the processing precision.
In order to solve the technical problems, the invention adopts the following technical scheme:
an automatic conveying and processing device for front and back surfaces of a workpiece, comprising:
a first base;
the first feeding mechanism is used for conveying the workpiece body to a first position;
the second feeding mechanism is parallel to the first feeding mechanism, and the feeding direction of the second feeding mechanism is opposite to that of the first feeding mechanism;
the first overturning feeding mechanism comprises a first rotary cylinder and a first connecting arm, the first connecting arm is provided with a first limiting clamping part, the first limiting clamping part is used for limiting and clamping a workpiece body, the first connecting arm is connected to the first rotary cylinder, the first rotary cylinder is positioned between the first feeding mechanism and the second feeding mechanism, the axis of the first rotary cylinder is parallel to the horizontal direction, when the first rotary cylinder rotates to a first angle, the position of the workpiece body clamped by the first limiting clamping part is a second position, the second position and the first position are positioned in the same horizontal plane, the second position is positioned in the X direction of the first position, when the first rotary cylinder rotates to a second angle, the first limiting clamping part is positioned in a third position, the third position is positioned in the Y direction of the second position, and the third position is positioned at the starting end of the second feeding mechanism;
the first fixture is movably connected to the first base, and can move to a fourth position which is located in the X direction of the second position;
the first XZ double-shaft moving mechanism is positioned above the second position and the fourth position;
the first clamping mechanism comprises a first connecting seat, a first clamping jaw and a second clamping jaw, wherein the first connecting seat is connected with the first XZ double-shaft moving mechanism, the first clamping jaw and the second clamping jaw are connected with the first connecting seat, and the first clamping jaw is located in the X direction of the second clamping jaw.
Further, in the structure of the automatic conveying and processing device for the front and back sides of the workpiece, the first base comprises a first rotary table, and the plurality of first tool clamps are distributed on the first rotary table in a circumferential array.
Further, in the structure of the automatic conveying and processing device for the front and back surfaces of the workpiece, the first feeding mechanism comprises a first stepping conveyor belt arranged along the X direction and further comprises a first positioning groove arranged along the Y direction and connected to the tail end of the first stepping conveyor belt, the starting end of the first positioning groove is connected to the tail end of the first stepping conveyor belt, and the first position is located at the tail end of the first positioning groove; the first positioning groove is connected with a first pushing piece, and the first pushing piece is used for pushing the workpiece body at the tail end of the first stepping conveyor belt to a first position along the first positioning groove.
In the structure of the automatic conveying and processing device for the front and back sides of the workpiece, the distance between the first clamping jaw and the second clamping jaw is equal to the distance between the first position and the second position.
In the structure of the automatic conveying and processing device for the front and back surfaces of the workpiece, the second feeding mechanism is used for conveying the workpiece body to a fifth position;
further comprises:
the second overturning feeding mechanism comprises a second rotary cylinder and a second connecting arm, wherein the second connecting arm is provided with a second limiting clamping part, the second limiting clamping part is used for limiting and clamping the workpiece body, the second connecting arm is connected to the second rotary cylinder, the axis of the second rotary cylinder is parallel to the horizontal direction, when the second rotary cylinder rotates to a first angle, the position of the workpiece body clamped by the second limiting clamping part is a sixth position, the sixth position and the fifth position are positioned on the same horizontal plane, the sixth position is positioned on the X direction of the fifth position, and when the second rotary cylinder rotates to a second angle, the second limiting clamping part is positioned at a seventh position, and the seventh position is positioned on the Y direction of the sixth position;
the starting end of the discharge groove is positioned below the seventh position;
a second base;
the second fixture is movably connected to the second base, and can move to an eighth position, and the eighth position is located in the X direction of the sixth position;
a second XZ biaxial movement mechanism located above the sixth position and the eighth position;
the second clamping mechanism comprises a second connecting seat, a third clamping jaw and a fourth clamping jaw, wherein the second connecting seat is connected to the second XZ double-shaft moving mechanism, the third clamping jaw and the fourth clamping jaw are connected to the second connecting seat, and the third clamping jaw is located in the X direction of the fourth clamping jaw.
6. The automatic workpiece conveying and processing device for front and back surfaces according to claim 5, wherein the second base comprises a second turntable, and the plurality of second tool clamps are distributed on the second turntable in a circumferential array.
Further, in the structure of the automatic conveying and processing device for the front and back surfaces of the workpiece, the second feeding mechanism comprises a second stepping conveyor belt arranged along the X direction, and further comprises a lifting mechanism connected to the tail end of the second stepping conveyor belt, the height of the fifth position is higher than that of the second stepping conveyor belt, and the lifting mechanism is used for lifting the workpiece at the tail end of the second stepping conveyor belt to the fifth position.
In the structure of the automatic conveying and processing device for the front and back surfaces of the workpiece, the distance between the third clamping jaw and the fourth clamping jaw is equal to the distance between the fifth position and the sixth position.
The invention also discloses a control method for the automatic conveying and processing device for the front and back surfaces of the workpiece, which comprises the following steps:
the first feeding mechanism is controlled to convey the workpiece to a first position, the first clamping mechanism is controlled to move along the first XZ double-shaft moving mechanism, the first clamping jaw is controlled to clamp the workpiece at the first position, the first clamping mechanism is controlled to move along the first XZ double-shaft moving mechanism, the first clamping jaw is controlled to transfer the workpiece to a fourth position, the first tool clamp clamps the workpiece at the fourth position and transfers the workpiece to a processing station, the processed workpiece is moved to the fourth position, the second clamping jaw is controlled to clamp the workpiece at the fourth position, the first clamping mechanism is controlled to move along the first XZ double-shaft moving mechanism, the second clamping jaw is controlled to transfer the workpiece to the second position, the first clamping jaw is controlled to clamp the workpiece at the first position, and the first rotating cylinder is controlled to drive the first connecting arm to rotate, so that the workpiece at the second position is turned over and transferred to a third position.
Further, the control method of the automatic conveying and processing device for the front and back surfaces of the workpiece further comprises the following steps:
the second feeding mechanism is controlled to convey the workpiece to a fifth position, the second clamping mechanism is controlled to move along the second XZ double-shaft moving mechanism, the third clamping jaw is controlled to clamp the workpiece at the fifth position, the second clamping mechanism is controlled to move along the second XZ double-shaft moving mechanism, the third clamping jaw is controlled to transfer the workpiece to an eighth position, the second tool clamp clamps the workpiece at the eighth position and transfers the workpiece to a processing station, the processed workpiece is moved to the eighth position, the fourth clamping jaw is controlled to clamp the workpiece at the eighth position, the second clamping mechanism is controlled to move along the second XZ double-shaft moving mechanism, the second clamping jaw is controlled to transfer the workpiece to the sixth position, the second clamping jaw is controlled to clamp the workpiece at the fifth position, and the second rotating cylinder is controlled to drive the second connecting arm to rotate, so that the workpiece at the sixth position turns over and transfers the workpiece to the seventh position.
The invention has the beneficial effects that: through design above specific structure and positional relationship's first feeding mechanism, first upset feeding mechanism, first XZ biax moving mechanism and first fixture, can realize work piece autoloading, automatic processing, automatic discharge, pay-off after the automatic upset, the assembly line processing equipment of connecting on the cooperation base can realize the complete automation of work piece front and back processing, does not need the manual work to participate in transferring the work piece entirely midway, has promoted work piece machining efficiency greatly to effectively guarantee the machining precision.
Drawings
FIG. 1 is a schematic diagram of a device for automatically conveying and processing front and back surfaces of a workpiece according to an embodiment of the invention;
FIG. 2 is a schematic view of a partial structure of an apparatus for automatically conveying and processing front and back surfaces of a workpiece according to an embodiment of the present invention;
fig. 3 is an enlarged view of a portion a of fig. 2;
fig. 4 is an enlarged view of a portion B of fig. 2;
description of the reference numerals:
1. a first base;
2. a first feeding mechanism; 21. a first position; 22. a first step conveyor belt; 23. a first positioning groove; 24. a first pushing member;
3. a second feeding mechanism; 31. a fifth position; 32. a second step conveyor belt;
4. the first overturning feeding mechanism; 41. a first rotary cylinder; 42. a first connecting arm; 43. a first limit clamping part; 44. a second position; 45. a third position;
5. a first tool clamp; 51. a fourth position;
6. a first XZ biaxial movement mechanism; 61. a first jaw; 62. a second jaw; 63. a first connection base;
7. a first turntable;
8. a second base;
9. the second overturning feeding mechanism; 91. a second rotary cylinder; 92; a second connecting arm; 93. the second limiting clamping part; 94. a sixth position; 95. a seventh position;
10. a discharge chute;
11. the second fixture clamp; 111. an eighth position;
12. a second XZ biaxial movement mechanism; 121. a third jaw; 122. a fourth jaw; 123. a second connecting seat;
13. and a second turntable.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 4, the present invention relates to an automatic conveying and processing device for front and back surfaces of a workpiece, comprising:
a first base 1;
a first feeding mechanism 2, wherein the first feeding mechanism 2 is used for conveying the workpiece body to a first position 21;
a second feeding mechanism 3, wherein the second feeding mechanism 3 is parallel to the first feeding mechanism 2, and the feeding direction of the second feeding mechanism 3 is opposite to the feeding direction of the first feeding mechanism 2;
the first overturning feeding mechanism 4 comprises a first rotary air cylinder 41 and a first connecting arm 42, wherein the first connecting arm 42 is provided with a first limiting clamping part 43, the first limiting clamping part 43 is used for limiting and clamping a workpiece body, the first connecting arm 42 is connected with the first rotary air cylinder 41, the first rotary air cylinder 41 is positioned between the first feeding mechanism 2 and the second feeding mechanism 3, the axis of the first rotary air cylinder 41 is parallel to the horizontal direction, when the first rotary air cylinder 41 rotates to a first angle, the position of the workpiece body clamped by the first limiting clamping part 43 is a second position 44, the second position 44 and the first position 21 are positioned on the same horizontal plane, the second position 44 is positioned in the X direction of the first position 21, when the first rotary air cylinder 41 rotates to a second angle, the first limiting clamping part 43 is positioned at a third position 45, the third position 45 is positioned in the Y direction of the second position 44, and the third position 45 is positioned at the starting end of the second feeding mechanism 3;
a first fixture 5, wherein the first fixture 5 is movably connected to the first base 1, the first fixture 5 can move to a fourth position 51, and the fourth position 51 is located in the X direction of the second position 44;
a first XZ biaxial movement mechanism 6, the first XZ biaxial movement mechanism 6 being located above the second position 44 and the fourth position 51;
the first fixture, first fixture includes first connecting seat 63, first clamping jaw 61 and second clamping jaw 62, first connecting seat 63 connects in first XZ biax moving mechanism 6, first clamping jaw 61 and second clamping jaw 62 connect in first connecting seat 63, first clamping jaw 61 is located the X of second clamping jaw 62 to.
The invention also discloses a control method for the automatic conveying and processing device for the front and back surfaces of the workpiece, which comprises the following steps:
the first feeding mechanism 2 is controlled to convey the workpiece to the first position 21, the first clamping mechanism is controlled to move along the first XZ double-shaft moving mechanism 6, the first clamping jaw 61 is controlled to clamp the workpiece at the first position 21, the first clamping mechanism is controlled to move along the first XZ double-shaft moving mechanism 6, the first clamping jaw 61 is controlled to transfer the workpiece to the fourth position 51, the first tool clamp 5 clamps the workpiece at the fourth position 51 and transfers the workpiece to the processing station, the processed workpiece is moved to the fourth position 51, the second clamping jaw 62 is controlled to clamp the workpiece at the fourth position 51, the first clamping mechanism is controlled to move along the first XZ double-shaft moving mechanism 6, the second clamping jaw 62 is controlled to transfer the workpiece to the second position 44, the first clamping jaw 61 is controlled to clamp the workpiece at the first position 21, the first rotary cylinder 41 is controlled to drive the first connecting arm 42 to rotate, the workpiece at the second position 44 is turned over, and the processed workpiece is transferred to the third position 45.
In the above structure, the starting end of the first feeding mechanism 2 may be directly connected to a vibration plate for sorting the workpieces, the a face of the workpiece to be processed is upward by the vibration plate, the workpieces are fed into the first feeding mechanism 2 in order, and the workpieces are fed to the first position 21 by the first feeding mechanism 2;
the workpiece shown in fig. 1-4 is the pump cover of a small carburetor, but the above apparatus is not intended for use only in the transportation and processing of pump covers of small carburettors, and any workpiece requiring double sided processing is suitable for use in the above apparatus.
In the above structure, when the workpiece subjected to single-sided processing is placed at the second position 44 by the second clamping jaw 62, after the workpiece is clamped by the first limiting clamping part 43, the first rotary cylinder 41 is controlled to rotate, so that the workpiece at the second position 44 is turned 180 degrees to reach the third position 45, and the third position 45 is the starting end of the second feeding mechanism 3;
in the above structure, the first XZ biaxial movement mechanism 6 may be a vertical cylinder guide rail module group connected to the Z axis direction on a horizontal screw guide rail module group set in the X axis direction, referring to fig. 3, so that the first clamping mechanism can realize bidirectional movement in the X axis direction and the Z axis direction, thereby realizing position transfer of the first clamping jaw 61 and the second clamping jaw 62.
Through the design of the first feeding mechanism 2, the first overturning feeding mechanism 4, the first XZ double-shaft moving mechanism 6 and the first clamping mechanism with the specific structures and the position relationships, automatic feeding, automatic processing, automatic discharging and feeding of workpieces can be realized, the full automation of front and back processing of the workpieces can be realized by matching with the assembly line processing equipment connected to the base, manual work is not needed to be involved in transferring the workpieces in the middle, the processing efficiency of the workpieces is greatly improved, and the processing precision is effectively ensured.
Furthermore, in the structure of the automatic conveying and processing device for front and back surfaces of the workpiece, the first base 1 includes a first turntable 7, and the plurality of first tool fixtures 5 are distributed in the first turntable 7 in a circumferential array.
In the above structure, the first base 1 may be disposed on various processing devices matched with the first fixture 5, including drilling, tapping, boring, edge milling, etc., and the first base 1 may further be provided with a turntable structure, where the plurality of first fixtures 5 are distributed on the turntable in a circumferential array, and the drilling, tapping, boring, edge milling, etc. devices are distributed on the periphery of the turntable in a circumferential array, that is, workpieces mounted and clamped on the first fixtures 5 revolve along with the turntable for a circle, that is, single-sided processing is completed.
Further, as a preferred embodiment, the first feeding mechanism 2 includes a first stepping conveyor 22 disposed along the X direction, and further includes a first positioning slot 23 disposed along the Y direction and connected to the end of the first stepping conveyor 22, where the start end of the first positioning slot 23 is connected to the end of the first stepping conveyor 22, and the first position 21 is located at the end of the first positioning slot 23; the first positioning groove 23 is connected with a first pushing member 24, and the first pushing member 24 is used for pushing the workpiece body at the tail end of the first stepping conveyor belt 22 to the first position 21 along the first positioning groove 23.
In the above structure, through the mechanism of design first constant head tank 23 and first propelling movement piece 24, guarantee that single work piece can carry to first position 21 accurately, avoid first clamping jaw 61 to take place to leak when the work piece is held to first position 21 and press from both sides the risk of askew, if the work piece does not fall in first position 21 accurately, then first clamping jaw 61 can't shift the work piece to first frock clamp 5, then can't accomplish a series of subsequent processing, leads to invalid energy loss and work efficiency's decline.
Further, as a preferred embodiment, the first and second jaws 61, 62 are spaced apart by a distance equal to the distance between the first and second positions 21, 44.
In the above structure, because the distance between the second position 44 and the first position 21 is exactly the distance between the first clamping jaw 61 and the second clamping jaw 62, when the first clamping jaw 61 takes materials from the first position 21, the second clamping jaw 62 just discharges materials at the second position 44, and when the first fixture 5 clamps and unloads workpieces, the second clamping jaw 62 is only required to clamp the first fixture 5 to process the single-sided workpieces and unload the workpieces from the first fixture 5, and then the workpieces clamped by the first clamping jaw 61 are positioned and clamped on the first fixture 5, so that the efficient unloading and clamping of the workpieces on the first fixture 5 can be realized;
further, as a preferred embodiment, the second feeding mechanism 3 is used for conveying the workpiece body to the fifth position 31;
further comprises:
the second overturning feeding mechanism 9, wherein the second overturning feeding mechanism 9 comprises a second rotary cylinder 91 and a second connecting arm, and the second connecting arm is provided with a second limiting clamping part 92; a second connecting arm 93, the second limiting clamping portion 92; the second connecting arm 93 is used for limiting and clamping the workpiece body, the second connecting arm is connected to the second rotary cylinder 91, the axis of the second rotary cylinder 91 is parallel to the horizontal direction, and when the second rotary cylinder 91 rotates to a first angle, the second limiting and clamping part 92; the position of the workpiece body clamped by the second connecting arm 93 is a sixth position 94, the sixth position 94 and the fifth position 31 are located at the same horizontal plane, the sixth position 94 is located in the X direction of the fifth position 31, and when the second rotary cylinder 91 rotates to a second angle, the second limiting clamping part 92; the second connecting arm 93 is located at a seventh position 95, and the seventh position 95 is located in the Y direction of the sixth position 94;
a discharge chute 10, wherein the start end of the discharge chute 10 is positioned below a seventh position 95;
a second base 8;
a second tool holder 11, wherein the second tool holder 11 is movably connected to the second base 8, and the second tool holder 11 is movable to an eighth position 111, and the eighth position 111 is located in the X direction of the sixth position 94;
a second XZ dual axis movement mechanism 12, the second XZ dual axis movement mechanism 12 being located above the sixth position 94 and the eighth position 111;
the second clamping mechanism comprises a second connecting seat 123, a third clamping jaw 121 and a fourth clamping jaw 122, wherein the second connecting seat 123 is connected to the second XZ double-shaft moving mechanism 12, the third clamping jaw 121 and the fourth clamping jaw 122 are connected to the second connecting seat 123, and the third clamping jaw 121 is located in the X direction of the fourth clamping jaw 122.
Correspondingly, the control method of the automatic conveying and processing device for the front and back sides of the workpiece further comprises the following steps:
the second feeding mechanism 3 is controlled to convey the workpiece to the fifth position 31, the second clamping mechanism is controlled to move along the second XZ double-shaft moving mechanism 12, the third clamping jaw 121 is controlled to clamp the workpiece at the fifth position 31, the second clamping mechanism is controlled to move along the second XZ double-shaft moving mechanism 12, the third clamping jaw 121 is controlled to transfer the workpiece to the eighth position 111, the second tool clamp 11 clamps the workpiece at the eighth position 111 and transfers the workpiece to the processing station, the processed workpiece is moved to the eighth position 111, the fourth clamping jaw 122 is controlled to clamp the workpiece at the eighth position 111, the second clamping mechanism is controlled to move along the second XZ double-shaft moving mechanism 12, the fourth clamping jaw 122 is controlled to transfer the workpiece to the sixth position 94, the third clamping jaw 121 is controlled to clamp the workpiece at the fifth position 31, the second rotating cylinder 91 is controlled to drive the second connecting arm to rotate, the workpiece at the sixth position 94 is turned over, and the workpiece at the seventh position 95 is transferred.
In the above structure, the working principle of the second clamping mechanism is the same as that of the first clamping mechanism, and the working principle of the second XZ double-shaft moving mechanism 12 is the same as that of the first XZ double-shaft moving mechanism 6, and will not be described again here; with the above structure, the processing of the B surface of the workpiece can be realized, and after the processing is completed, the workpiece is automatically discharged and collected from the discharge groove 10.
Further, as a preferred embodiment, the second base 8 includes a second turntable 13, and the plurality of second tool holders 11 are distributed in the second turntable 13 in a circumferential array.
In the above structure, the second base 8 can be arranged on various processing devices matched with the second fixture 11, including drilling, tapping, boring, edge milling and other devices, and the second base 8 can be further provided with a turntable structure, the plurality of second fixtures 11 are distributed on the turntable in a circumferential array, the drilling, tapping, boring, edge milling and other devices are distributed on the periphery of the turntable in a circumferential array, namely, workpieces clamped on the second fixtures 11 revolve along with the turntable for a circle, and single-sided processing is completed.
Further, as a preferred embodiment, the second feeding mechanism 3 includes a second stepping conveyor 32 disposed along the X-direction, and further includes a lifting mechanism connected to the end of the second stepping conveyor 32, and the fifth position 31 is higher than the height of the second stepping conveyor 32, and the lifting mechanism is used for lifting the workpiece at the end of the second stepping conveyor 32 to the fifth position 31.
In the above mechanism, through designing the lifting mechanism, it is guaranteed that a single workpiece can be accurately conveyed to the fifth position 31, the risks of missing and clamping distortion of the third clamping jaw 121 when the workpiece is clamped at the fifth position 31 are avoided, if the workpiece does not accurately fall at the fifth position 31, the third clamping jaw 121 cannot transfer the workpiece to the second tool clamp 11, a subsequent series of processing cannot be completed, and invalid energy loss and work efficiency drop are caused.
Further, as a preferred embodiment, the third jaw 121 and the fourth jaw 122 are spaced apart by a distance equal to the distance between the fifth position 31 and the sixth position 94.
Because the distance between the fifth position 31 and the sixth position 94 is exactly the distance between the third clamping jaw 121 and the fourth clamping jaw 122, when the third clamping jaw 121 takes materials from the fifth position 31, the fourth clamping jaw 122 just discharges materials at the sixth position 94, and when the second fixture 11 clamps and unloads workpieces, the first fixture 5 is used for clamping the workpieces with single surfaces, the workpieces are unloaded from the second fixture 11, and then the workpieces clamped by the third clamping jaw 121 are positioned and clamped on the second fixture 11, so that the efficient unloading and clamping of the workpieces on the second fixture 11 can be realized.
Referring to fig. 1 to 4, a first embodiment of the present invention is as follows:
an automatic conveying and processing device for front and back surfaces of a workpiece, comprising: a first base 1; a first feeding mechanism 2, wherein the first feeding mechanism 2 is used for conveying the workpiece body to a first position 21; a second feeding mechanism 3, wherein the second feeding mechanism 3 is parallel to the first feeding mechanism 2, and the feeding direction of the second feeding mechanism 3 is opposite to the feeding direction of the first feeding mechanism 2; the first overturning feeding mechanism 4 comprises a first rotary air cylinder 41 and a first connecting arm 42, wherein the first connecting arm 42 is provided with a first limiting clamping part 43, the first limiting clamping part 43 is used for limiting and clamping a workpiece body, the first connecting arm 42 is connected with the first rotary air cylinder 41, the first rotary air cylinder 41 is positioned between the first feeding mechanism 2 and the second feeding mechanism 3, the axis of the first rotary air cylinder 41 is parallel to the horizontal direction, when the first rotary air cylinder 41 rotates to a first angle, the position of the workpiece body clamped by the first limiting clamping part 43 is a second position 44, the second position 44 and the first position 21 are positioned on the same horizontal plane, the second position 44 is positioned in the X direction of the first position 21, when the first rotary air cylinder 41 rotates to a second angle, the first limiting clamping part 43 is positioned at a third position 45, the third position 45 is positioned in the Y direction of the second position 44, and the third position 45 is positioned at the starting end of the second feeding mechanism 3; a first fixture 5, wherein the first fixture 5 is movably connected to the first base 1, the first fixture 5 can move to a fourth position 51, and the fourth position 51 is located in the X direction of the second position 44; a first XZ biaxial movement mechanism 6, the first XZ biaxial movement mechanism 6 being located above the second position 44 and the fourth position 51; the first fixture, first fixture includes first connecting seat 63, first clamping jaw 61 and second clamping jaw 62, first connecting seat 63 connects in first XZ biax moving mechanism 6, first clamping jaw 61 and second clamping jaw 62 connect in first connecting seat 63, first clamping jaw 61 is located the X of second clamping jaw 62 to. The first base 1 comprises a first turntable 7, and a plurality of first tool clamps 5 are distributed on the first turntable 7 in a circumferential array. The first feeding mechanism 2 comprises a first stepping conveyor belt 22 arranged along the X direction, and further comprises a first positioning groove 23 arranged along the Y direction and connected to the tail end of the first stepping conveyor belt 22, wherein the starting end of the first positioning groove 23 is connected to the tail end of the first stepping conveyor belt 22, and the first position 21 is positioned at the tail end of the first positioning groove 23; the first positioning groove 23 is connected with a first pushing member 24, and the first pushing member 24 is used for pushing the workpiece body at the tail end of the first stepping conveyor belt 22 to the first position 21 along the first positioning groove 23. The first and second jaws 61, 62 are spaced apart by a distance equal to the distance between the first and second positions 21, 44. The second feeding mechanism 3 is used for conveying the workpiece body to a fifth position 31; further comprises: the second overturning feeding mechanism 9, wherein the second overturning feeding mechanism 9 comprises a second rotary cylinder 91 and a second connecting arm, and the second connecting arm is provided with a second limiting clamping part 92; a second connecting arm 93, the second limiting clamping portion 92; the second connecting arm 93 is used for limiting and clamping the workpiece body, the second connecting arm is connected to the second rotary cylinder 91, the axis of the second rotary cylinder 91 is parallel to the horizontal direction, and when the second rotary cylinder 91 rotates to a first angle, the second limiting and clamping part 92; the position of the workpiece body clamped by the second connecting arm 93 is a sixth position 94, the sixth position 94 and the fifth position 31 are located at the same horizontal plane, the sixth position 94 is located in the X direction of the fifth position 31, and when the second rotary cylinder 91 rotates to a second angle, the second limiting clamping part 92; the second connecting arm 93 is located at a seventh position 95, and the seventh position 95 is located in the Y direction of the sixth position 94; a discharge chute 10, wherein the start end of the discharge chute 10 is positioned below a seventh position 95; a second base 8; a second tool holder 11, wherein the second tool holder 11 is movably connected to the second base 8, and the second tool holder 11 is movable to an eighth position 111, and the eighth position 111 is located in the X direction of the sixth position 94; a second XZ dual axis movement mechanism 12, the second XZ dual axis movement mechanism 12 being located above the sixth position 94 and the eighth position 111; the second clamping mechanism comprises a second connecting seat 123, a third clamping jaw 121 and a fourth clamping jaw 122, wherein the second connecting seat 123 is connected to the second XZ double-shaft moving mechanism 12, the third clamping jaw 121 and the fourth clamping jaw 122 are connected to the second connecting seat 123, and the third clamping jaw 121 is located in the X direction of the fourth clamping jaw 122. The second base 8 includes a second turntable 13, and a plurality of second tool fixtures 11 are distributed on the second turntable 13 in a circumferential array. The second feeding mechanism 3 comprises a second stepping conveyor belt 32 arranged along the X direction, and further comprises a lifting mechanism connected to the tail end of the second stepping conveyor belt 32, wherein the height of the fifth position 31 is higher than that of the second stepping conveyor belt 32, and the lifting mechanism is used for lifting the workpiece at the tail end of the second stepping conveyor belt 32 to the fifth position 31. The third jaw 121 and fourth jaw 122 are spaced apart a distance equal to the fifth position 31 and sixth position 94.
The control method of the workpiece front and back automatic conveying and processing device comprises the following steps:
the first feeding mechanism 2 is controlled to convey the workpiece to the first position 21, the first clamping mechanism is controlled to move along the first XZ double-shaft moving mechanism 6, the first clamping jaw 61 is controlled to clamp the workpiece at the first position 21, the first clamping mechanism is controlled to move along the first XZ double-shaft moving mechanism 6, the first clamping jaw 61 is controlled to transfer the workpiece to the fourth position 51, the first tool clamp 5 clamps the workpiece at the fourth position 51 and transfers the workpiece to the processing station, the processed workpiece is moved to the fourth position 51, the second clamping jaw 62 is controlled to clamp the workpiece at the fourth position 51, the first clamping mechanism is controlled to move along the first XZ double-shaft moving mechanism 6, the second clamping jaw 62 is controlled to transfer the workpiece to the second position 44, the first clamping jaw 61 is controlled to clamp the workpiece at the first position 21, the first rotary cylinder 41 is controlled to drive the first connecting arm 42 to rotate, the workpiece at the second position 44 is turned over, and the processed workpiece is transferred to the third position 45.
The second feeding mechanism 3 is controlled to convey the workpiece to the fifth position 31, the second clamping mechanism is controlled to move along the second XZ double-shaft moving mechanism 12, the third clamping jaw 121 is controlled to clamp the workpiece at the fifth position 31, the second clamping mechanism is controlled to move along the second XZ double-shaft moving mechanism 12, the third clamping jaw 121 is controlled to transfer the workpiece to the eighth position 111, the second tool clamp 11 clamps the workpiece at the eighth position 111 and transfers the workpiece to the processing station, the processed workpiece is moved to the eighth position 111, the fourth clamping jaw 122 clamps the workpiece at the eighth position 111, the second clamping mechanism is controlled to move along the second XZ double-shaft moving mechanism 12, the second clamping jaw 62 is controlled to transfer the workpiece to the sixth position 94, the second clamping jaw 62 is controlled to clamp the workpiece at the fifth position 31, the second rotating cylinder 91 is controlled to drive the second connecting arm to rotate, the workpiece at the sixth position 94 is turned over, and the workpiece at the seventh position 95 is transferred.
The control method can be realized by setting corresponding control programs through a PLC. The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a work piece positive and negative automatic conveying processingequipment which characterized in that includes:
a first base;
the first feeding mechanism is used for conveying the workpiece body to a first position;
the second feeding mechanism is parallel to the first feeding mechanism, and the feeding direction of the second feeding mechanism is opposite to that of the first feeding mechanism;
the first overturning feeding mechanism comprises a first rotary cylinder and a first connecting arm, the first connecting arm is provided with a first limiting clamping part, the first limiting clamping part is used for limiting and clamping a workpiece body, the first connecting arm is connected to the first rotary cylinder, the first rotary cylinder is positioned between the first feeding mechanism and the second feeding mechanism, the axis of the first rotary cylinder is parallel to the horizontal direction, when the first rotary cylinder rotates to a first angle, the position of the workpiece body clamped by the first limiting clamping part is a second position, the second position and the first position are positioned in the same horizontal plane, the second position is positioned in the X direction of the first position, when the first rotary cylinder rotates to a second angle, the first limiting clamping part is positioned in a third position, the third position is positioned in the Y direction of the second position, and the third position is positioned at the starting end of the second feeding mechanism;
the first fixture is movably connected to the first base, and can move to a fourth position which is located in the X direction of the second position;
the first XZ double-shaft moving mechanism is positioned above the second position and the fourth position;
the first clamping mechanism comprises a first connecting seat, a first clamping jaw and a second clamping jaw, wherein the first connecting seat is connected with the first XZ double-shaft moving mechanism, the first clamping jaw and the second clamping jaw are connected with the first connecting seat, and the first clamping jaw is located in the X direction of the second clamping jaw.
2. The automatic conveying and processing device for front and back surfaces of workpieces according to claim 1, wherein the first base comprises a first rotary table, and the plurality of first tool clamps are distributed on the first rotary table in a circumferential array.
3. The automatic conveying and processing device for front and back surfaces of a workpiece according to claim 1, wherein the first feeding mechanism comprises a first stepping conveyor belt arranged along the X direction, and further comprises a first positioning groove arranged along the Y direction and connected to the tail end of the first stepping conveyor belt, the starting end of the first positioning groove is connected to the tail end of the first stepping conveyor belt, and the first position is positioned at the tail end of the first positioning groove; the first positioning groove is connected with a first pushing piece, and the first pushing piece is used for pushing the workpiece body at the tail end of the first stepping conveyor belt to a first position along the first positioning groove.
4. The apparatus of claim 1, wherein the first and second jaws are spaced apart by a distance equal to the distance between the first and second positions.
5. The apparatus according to claim 1, wherein the second feeding mechanism is configured to feed the workpiece body to a fifth position;
further comprises:
the second overturning feeding mechanism comprises a second rotary cylinder and a second connecting arm, wherein the second connecting arm is provided with a second limiting clamping part, the second limiting clamping part is used for limiting and clamping the workpiece body, the second connecting arm is connected to the second rotary cylinder, the axis of the second rotary cylinder is parallel to the horizontal direction, when the second rotary cylinder rotates to a first angle, the position of the workpiece body clamped by the second limiting clamping part is a sixth position, the sixth position and the fifth position are positioned on the same horizontal plane, the sixth position is positioned on the X direction of the fifth position, and when the second rotary cylinder rotates to a second angle, the second limiting clamping part is positioned at a seventh position, and the seventh position is positioned on the Y direction of the sixth position;
the starting end of the discharge groove is positioned below the seventh position;
a second base;
the second fixture is movably connected to the second base, and can move to an eighth position, and the eighth position is located in the X direction of the sixth position;
a second XZ biaxial movement mechanism located above the sixth position and the eighth position;
the second clamping mechanism comprises a second connecting seat, a third clamping jaw and a fourth clamping jaw, wherein the second connecting seat is connected to the second XZ double-shaft moving mechanism, the third clamping jaw and the fourth clamping jaw are connected to the second connecting seat, and the third clamping jaw is located in the X direction of the fourth clamping jaw.
6. The automatic workpiece conveying and processing device for front and back surfaces according to claim 5, wherein the second base comprises a second turntable, and the plurality of second tool clamps are distributed on the second turntable in a circumferential array.
7. The apparatus according to claim 5, wherein the second feeding mechanism comprises a second stepping conveyor disposed along the X-direction, and further comprising a lifting mechanism connected to a distal end of the second stepping conveyor, the height of the fifth position being higher than the height of the second stepping conveyor, and the lifting mechanism being configured to lift the workpiece at the distal end of the second stepping conveyor to the fifth position.
8. The apparatus according to claim 5, wherein the distance between the third jaw and the fourth jaw is equal to the distance between the fifth position and the sixth position.
9. The control method of the workpiece front and back automatic conveying processing apparatus according to any one of claims 1 to 8, characterized by comprising the steps of:
the first feeding mechanism is controlled to convey the workpiece to a first position, the first clamping mechanism is controlled to move along the first XZ double-shaft moving mechanism, the first clamping jaw is controlled to clamp the workpiece at the first position, the first clamping mechanism is controlled to move along the first XZ double-shaft moving mechanism, the first clamping jaw is controlled to transfer the workpiece to a fourth position, the first tool clamp clamps the workpiece at the fourth position and transfers the workpiece to a processing station, the processed workpiece is moved to the fourth position, the second clamping jaw is controlled to clamp the workpiece at the fourth position, the first clamping mechanism is controlled to move along the first XZ double-shaft moving mechanism, the second clamping jaw is controlled to transfer the workpiece to the second position, the first clamping jaw is controlled to clamp the workpiece at the first position, and the first rotating cylinder is controlled to drive the first connecting arm to rotate, so that the workpiece at the second position is turned over and transferred to a third position.
10. The method for controlling a workpiece front and back automatic conveying and processing device according to claim 9, further comprising the steps of:
the second feeding mechanism is controlled to convey the workpiece to a fifth position, the second clamping mechanism is controlled to move along the second XZ double-shaft moving mechanism, the third clamping jaw is controlled to clamp the workpiece at the fifth position, the second clamping mechanism is controlled to move along the second XZ double-shaft moving mechanism, the third clamping jaw is controlled to transfer the workpiece to an eighth position, the second tool clamp clamps the workpiece at the eighth position and transfers the workpiece to a processing station, the processed workpiece is moved to the eighth position, the fourth clamping jaw is controlled to clamp the workpiece at the eighth position, the second clamping mechanism is controlled to move along the second XZ double-shaft moving mechanism, the second clamping jaw is controlled to transfer the workpiece to the sixth position, the second clamping jaw is controlled to clamp the workpiece at the fifth position, and the second rotating cylinder is controlled to drive the second connecting arm to rotate, so that the workpiece at the sixth position turns over and transfers the workpiece to the seventh position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210807659.2A CN115123812B (en) | 2022-07-09 | 2022-07-09 | Automatic conveying and processing device for front and back surfaces of workpiece and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210807659.2A CN115123812B (en) | 2022-07-09 | 2022-07-09 | Automatic conveying and processing device for front and back surfaces of workpiece and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115123812A CN115123812A (en) | 2022-09-30 |
| CN115123812B true CN115123812B (en) | 2024-03-01 |
Family
ID=83384530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210807659.2A Active CN115123812B (en) | 2022-07-09 | 2022-07-09 | Automatic conveying and processing device for front and back surfaces of workpiece and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115123812B (en) |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030091911A (en) * | 2003-11-14 | 2003-12-03 | ㈜케이피엠 | The method of Pet bottle machine automatic production line. |
| JP2010247910A (en) * | 2009-04-10 | 2010-11-04 | Mitsubishi Motors Corp | Work reversing device |
| CN104097064A (en) * | 2014-06-24 | 2014-10-15 | 浙江大学台州研究院 | Automatic sewing machine copper connecting rod mechanization processing device and processing method |
| CN104139979A (en) * | 2014-07-08 | 2014-11-12 | 东莞市三信精密机械有限公司 | Feeding device |
| JP2015033751A (en) * | 2013-08-09 | 2015-02-19 | 本田技研工業株式会社 | Gripping mechanism and workpiece moving mechanism |
| CN206065697U (en) * | 2016-08-31 | 2017-04-05 | 圣基恒信（十堰）工业装备技术有限公司 | A kind of high-efficient homework system for robot welding line |
| WO2017113361A1 (en) * | 2015-12-31 | 2017-07-06 | 深圳市大富精工有限公司 | Product turnover mechanism |
| CN209038564U (en) * | 2018-10-24 | 2019-06-28 | 四川格瑞恒辰机电设备有限公司 | A kind of nonstandard device fabrication detection double end clamping device |
| CN209396490U (en) * | 2018-11-26 | 2019-09-17 | 广东顶固集创家居股份有限公司 | Automatic turning device |
| EP3622855A1 (en) * | 2018-05-09 | 2020-03-18 | Shenzhen Hive Box Technology Co., Ltd | Flipping apparatus and locker |
| CN212531373U (en) * | 2020-06-05 | 2021-02-12 | 东莞信丰五金机械塑胶工业有限公司 | Workpiece turnover device |
| CN213090417U (en) * | 2019-11-29 | 2021-04-30 | 群翊工业股份有限公司 | Discharging device |
| CN113118777A (en) * | 2021-04-15 | 2021-07-16 | 太仓威格玛机械设备有限公司 | Photovoltaic aluminium frame processing lines |
| WO2022048207A1 (en) * | 2020-09-03 | 2022-03-10 | 台州隆达科技有限公司 | Conveying device for automatic flipping of bearings |
| CN216612934U (en) * | 2021-12-16 | 2022-05-27 | 浙江云莱汇智能科技有限公司 | Truss robot combination with double-face processing function |
| CN217572035U (en) * | 2022-07-09 | 2022-10-14 | 福鼎市艺双自动化设备制造有限公司 | Automatic conveying mechanism for machining front and back surfaces of workpiece |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2868434A1 (en) * | 2013-10-30 | 2015-05-06 | Barload Machine Co.,Ltd. | Front door-type automatic material-taking device |
-
2022
- 2022-07-09 CN CN202210807659.2A patent/CN115123812B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030091911A (en) * | 2003-11-14 | 2003-12-03 | ㈜케이피엠 | The method of Pet bottle machine automatic production line. |
| JP2010247910A (en) * | 2009-04-10 | 2010-11-04 | Mitsubishi Motors Corp | Work reversing device |
| JP2015033751A (en) * | 2013-08-09 | 2015-02-19 | 本田技研工業株式会社 | Gripping mechanism and workpiece moving mechanism |
| CN104097064A (en) * | 2014-06-24 | 2014-10-15 | 浙江大学台州研究院 | Automatic sewing machine copper connecting rod mechanization processing device and processing method |
| CN104139979A (en) * | 2014-07-08 | 2014-11-12 | 东莞市三信精密机械有限公司 | Feeding device |
| WO2017113361A1 (en) * | 2015-12-31 | 2017-07-06 | 深圳市大富精工有限公司 | Product turnover mechanism |
| CN206065697U (en) * | 2016-08-31 | 2017-04-05 | 圣基恒信（十堰）工业装备技术有限公司 | A kind of high-efficient homework system for robot welding line |
| EP3622855A1 (en) * | 2018-05-09 | 2020-03-18 | Shenzhen Hive Box Technology Co., Ltd | Flipping apparatus and locker |
| CN209038564U (en) * | 2018-10-24 | 2019-06-28 | 四川格瑞恒辰机电设备有限公司 | A kind of nonstandard device fabrication detection double end clamping device |
| CN209396490U (en) * | 2018-11-26 | 2019-09-17 | 广东顶固集创家居股份有限公司 | Automatic turning device |
| CN213090417U (en) * | 2019-11-29 | 2021-04-30 | 群翊工业股份有限公司 | Discharging device |
| CN212531373U (en) * | 2020-06-05 | 2021-02-12 | 东莞信丰五金机械塑胶工业有限公司 | Workpiece turnover device |
| WO2022048207A1 (en) * | 2020-09-03 | 2022-03-10 | 台州隆达科技有限公司 | Conveying device for automatic flipping of bearings |
| CN113118777A (en) * | 2021-04-15 | 2021-07-16 | 太仓威格玛机械设备有限公司 | Photovoltaic aluminium frame processing lines |
| CN216612934U (en) * | 2021-12-16 | 2022-05-27 | 浙江云莱汇智能科技有限公司 | Truss robot combination with double-face processing function |
| CN217572035U (en) * | 2022-07-09 | 2022-10-14 | 福鼎市艺双自动化设备制造有限公司 | Automatic conveying mechanism for machining front and back surfaces of workpiece |
Non-Patent Citations (2)
| Title |
|---|
| 一种新型零件自动输送装置;李培宏;周孜亮;;组合机床与自动化加工技术;20080920(09);86-88 * |
| 农用运输车液压自卸装置的使用与故障排除;王德双;《农机使用与维修》;20110831(第4期);86 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115123812A (en) | 2022-09-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11571774B2 (en) | Intelligent plate parts machining production line combining universal and special equipment | |
| CN111993055B (en) | Battery positive electrode welding automatic production equipment and battery | |
| CN113794083A (en) | Automatic pin inserting equipment for carrier | |
| CN107363589B (en) | Multi-station machining device for valve core | |
| CN114193289A (en) | Equipment and method for continuously feeding and discharging and continuously polishing arc plate for ship | |
| CN112846900A (en) | Automatic unloader that goes up in vertical machining center side | |
| CN216730838U (en) | Clamping equipment | |
| CN114188251A (en) | A automatic PIN production system of inserting for IGBT | |
| CN110216297A (en) | A kind of integrated automation integrated lathe of shaft-like workpiece turning of inclined multistation | |
| CN115123812B (en) | Automatic conveying and processing device for front and back surfaces of workpiece and control method thereof | |
| CN109877654A (en) | A kind of integrated machining production system of intelligence multi-robot | |
| CN111347063B (en) | Automatic double-spindle lathe with feeding and turning functions | |
| CN109465641A (en) | A kind of device of four stations intelligence automatic drilling and boring section fork earhole | |
| CN111230151A (en) | Thin-wall metal piece lathe truss automatic line and control method thereof | |
| CN216228156U (en) | Multi-station rotary fixture platform | |
| CN109849290A (en) | The moulding mouth of a river based on small-sized machine arm automates excision equipment | |
| CN215515732U (en) | Loading and unloading device of manipulator | |
| CN210435371U (en) | Automatic integrative lathe of integrated axle type work piece turning of inclined multistation | |
| CN221313233U (en) | Automatic processing equipment for workpieces | |
| CN114523402A (en) | Multi-surface high-precision polishing device and method | |
| CN210125734U (en) | Processing device | |
| CN114227160A (en) | Cup rim processing technology and assembly line | |
| JPH0473612B2 (en) | ||
| CN208515160U (en) | A kind of quick transfer printing equipment of automation of model vehicle body | |
| CN220944319U (en) | Workpiece overturning and feeding mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |