CN203792158U - Deoiling machine-flat-stone mill automation trussed robot - Google Patents

Deoiling machine-flat-stone mill automation trussed robot Download PDF

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Publication number
CN203792158U
CN203792158U CN201420195509.1U CN201420195509U CN203792158U CN 203792158 U CN203792158 U CN 203792158U CN 201420195509 U CN201420195509 U CN 201420195509U CN 203792158 U CN203792158 U CN 203792158U
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China
Prior art keywords
cylinder
cylinder workpiece
oil remover
stone mill
manipulator
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Expired - Fee Related
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CN201420195509.1U
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Chinese (zh)
Inventor
杨海邦
李卫彤
吴少威
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Guangdong He Shi Autotek S R L
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Guangdong He Shi Autotek S R L
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Priority to CN201420195509.1U priority Critical patent/CN203792158U/en
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Expired - Fee Related legal-status Critical Current
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Abstract

The utility model provides a deoiling machine-flat-stone mill automation trussed robot which comprises a rack part, an undertaking mechanism, a position searching and positioning mechanism and a transferring mechanism, wherein the undertaking mechanism is used for undertaking an air cylinder workpiece from the discharge end of a deoiling machine and performing coarse positioning on the air cylinder workpiece; the position searching and positioning mechanism is used for receiving the air cylinder workpiece from the undertaking mechanism and performing accurate positioning on the air cylinder workpiece; the transferring mechanism is used for firstly transferring the air cylinder workpiece from the undertaking mechanism to the position searching and positioning mechanism and then transferring air cylinder workpiece from the position searching and positioning mechanism to the feed end of a flat-stone mill; the position searching and positioning mechanism and the transferring mechanism are arranged on the rack part. The deoiling machine-flat-stone mill automation trussed robot is convenient to operate, stable in performance, high in positioning searching and positioning accuracy, and high in degree of automation, so that the technological requirements of automatic position searching and material loading of a station can be met in a better manner.

Description

Oil remover-flat stone mill automation gantry robot
Technical field
The utility model relates to automation equipment, relates in particular to a kind of oil remover-flat stone mill automation gantry robot, for realizing the automatic supply material loading of cylinder workpiece.
Background technology
Low-carbon energy-saving environmental protection is the theme of current household electric appliances development, has welcome efficiency upgrading as electric power rich and influential family's air conditioner industry, and the convertible frequency air-conditioner of environmental protection and energy saving has welcome new opportunity to develop simultaneously.Chinese market, just there is convertible frequency air-conditioner from the end of the nineties, failed to open up new prospect in Chinese market but experienced the development convertible frequency air-conditioner of more than ten years always.Until nearly 2 years, domestic main flow native country air-conditioning brand marches frequency conversion market, and the promotional positive to convertible frequency air-conditioner, has caused keen competition, has promoted the maturation of convertible frequency air-conditioner technology.China is air-conditioning production and marketing big country simultaneously, and following have huge demand to frequency converting air-conditioner compressor, produces frequency converting air-conditioner compressor so domestic main compressor of air conditioner producer all actively expands line, improves production capacity.
But the cylinder work piece production line automation degree of existing compressor producer is low, need in process of production a large amount of workmans to participate in, thereby cost of labor is higher, and then the production cost of cylinder workpiece is higher, has reduced the market competitiveness of whole compressor.Therefore, need to carry out automation line to cylinder work piece production line, reduce the workman's demand on production line, improve the production efficiency of cylinder workpiece.
In order to cater to each compressor producer actual operation requirements, cylinder flat stone mill station is the important station in cylinder fine-processing production line, and so that cylinder workpiece is carried out to deburring and polishing, cylinder workpiece feeding is before surface grinding machine, need to carry out angle orientation, required precision is very high.Existing production line station adopts material loading and the angle orientation of manually carrying out workpiece, because positioning tool easily produces wearing and tearing after working long hours, thereby causes workpiece location inaccurate, and then causes the processing of workpiece undesirable and produce bad product.
Utility model content
The purpose of this utility model is the defect for prior art, provides a kind of easy to operate, positioning precision and the high oil remover-flat stone mill automation gantry robot of automaticity, to meet better the automatic localization material loading technological requirement of cylinder workpiece.
For solving the problems of the technologies described above, the utility model has adopted following technical scheme: design a kind of oil remover-flat stone mill automation gantry robot, be suitable for being arranged between oil remover and surface grinding machine, this automation gantry robot comprises rack section, accept cylinder workpiece and it is carried out to the support structure of coarse positioning from the discharge end of described oil remover, receive described cylinder workpiece and it is carried out to the detent mechanism of seeking of fine positioning from described support structure, and described in being transferred to by described support structure, described cylinder workpiece seeks a detent mechanism, and by the described transfer mechanism of seeking a detent mechanism and be transferred to the feed end of described surface grinding machine, describedly seek a detent mechanism and described transfer mechanism is arranged on described rack section.
From such scheme, oil remover-flat stone mill automation gantry robot of the present utility model adopts support structure to accept cylinder workpiece and it is carried out to coarse positioning from the discharge end of oil remover, employing is sought a detent mechanism and is received cylinder workpiece and it is carried out to fine positioning from support structure, and adopt transfer mechanism that cylinder workpiece is transferred to and is sought a detent mechanism by support structure, and by the feed end of seeking a detent mechanism and be transferred to surface grinding machine, it is easy to operate, stable performance, seek a positioning precision high, and automaticity is high, thereby can meet better the automatic localization material loading technological requirement of cylinder workpiece.
Further technical scheme is, described support structure comprises the catching device that described cylinder workpiece is guided to cylinder workpiece described in the jacking apparatus of accepting the guide lip of station, the described cylinder workpiece of accepting station described in being positioned at is held up and horizontal support.
In one embodiment, described jacking apparatus comprises jacking cylinder and the jacking piece by this jacking air cylinder driven lifting, and described jacking piece has the endoporus that is suitable for inserting described cylinder workpiece to realize the pointed cone of coarse positioning of this cylinder workpiece.Said structure makes cylinder workpiece become the state of horizontal positioned from original heeling condition, provides coarse positioning for Pneumatic clamping jaw below captures simultaneously.
In one embodiment, described catching device comprises flat-removing air cyclinder and is driven the horizontal bearing plate of translation by this flat-removing air cyclinder, has the opening passing can supply described jacking piece lifting time on described horizontal bearing plate.This structure provides platform for Pneumatic clamping jaw grabbing workpiece.
Further technical scheme is, described in seek a detent mechanism and comprise and rotatably support seeking a free-wheeling system, seeking level sensor and sensor guiding mechanism of described cylinder workpiece, described in seek level sensor and be arranged on described sensor guiding mechanism.
In one embodiment, described in seek the motor that a free-wheeling system comprises workseat and drives the rotation of this workseat, described sensor guiding mechanism is provided with manual fine-tuning bolt and sensor telescopic cylinder.Adopting this structure to be convenient to staff finely tunes the position of sensor.
Further technical scheme is, described transfer mechanism is duplex shifting mechanical arm mechanism, this mechanism comprises the first manipulator and the second manipulator transferring guide rail, transfer cylinder and can be moved back and forth along described handover guide rail by described handover air cylinder driven, and described the first manipulator and the second manipulator move simultaneously and realize simultaneously pick-and-place action; Wherein, described the first manipulator is for seeking a detent mechanism described in described cylinder workpiece is transferred to by described support structure, described the second manipulator for by described cylinder workpiece by the described feed end of seeking a detent mechanism and be transferred to described surface grinding machine.Adopt duplex jaw can reduce by the material loading time of one times, enhance productivity.
In one embodiment, described the first manipulator and the second manipulator have respectively three-pawl type Pneumatic clamping jaw, drive the jaw lift cylinder of described Pneumatic clamping jaw lifting and regulate the air inlet pressure-reducing valve of described Pneumatic clamping jaw clamping force size.Adopt this structure, Pneumatic clamping jaw can not cause because chucking power is excessive fractureing.
In one embodiment, described Pneumatic clamping jaw is provided with and prevents the buffer unit of misoperation and for responding to the misoperation sensor of this buffer unit, described misoperation sensor is connected in siren.In the time there is misoperation, can not cause Pneumatic clamping jaw to clash into fracture and the fracture of frock pin, remind staff to check mistake simultaneously.
In one embodiment, the discharge end of described oil remover be the drum-type that tilts from the line sending that sheaves, the feed end of described surface grinding machine is feeding web, the blowing station place of this feeding web is provided with infrared induction probe.Adopt this structure can prevent that cylinder workpiece is not because there is no to carry the problem that causes folded material of leaving.
Brief description of the drawings
Fig. 1 is a kind of oil remover-flat stone mill automation gantry robot's of the present utility model stereogram.
Fig. 2 is the scheme of installation of the automation of oil remover-flat stone mill shown in Fig. 1 gantry robot's support structure.
Fig. 3 is the structural representation of support structure shown in Fig. 1.
Fig. 4 is the automation of oil remover-flat stone mill shown in Fig. 1 gantry robot's the front view of seeking a detent mechanism and transfer mechanism.
Fig. 5 is the side view of seeking a detent mechanism and transfer mechanism shown in Fig. 4.
Fig. 6 is the top view of seeking a detent mechanism and transfer mechanism shown in Fig. 4.
Detailed description of the invention
To describe various embodiment of the present utility model below in detail, embodiment wherein describes in conjunction with the accompanying drawings and hereinafter.Although the utility model describes in connection with illustrative embodiments, be to be understood that the utility model is not limited to these illustrative embodiments.On the contrary, the utility model not only comprises these embodiments, but also comprises various distortion, improvement.
Fig. 1 to Fig. 4 shows oil remover-flat stone mill automation gantry robot of a kind of embodiment of the present utility model, be suitable for being arranged between the discharge end of oil remover 50 and the feed end of surface grinding machine 60, so that the feed end by the cylinder workpiece 70 via after oil remover 50 cleaning from the discharge end automatic transferring of oil remover 50 to surface grinding machine 60, thereby realize the automatic supply material loading of cylinder workpiece 70.In the middle of the present embodiment, the discharge end of oil remover 50 is that the drum-type that tilts is from the line sending 51 that sheaves, the feed end of surface grinding machine 60 is feeding web 61, the blowing station place of this feeding web 61 is provided with infrared induction probe 62, whether be accurately in place to detect workpiece, move charging thereby start feeding web 61.
As Fig. 1, this automation gantry robot mainly comprises rack section 10, support structure 20, seeks a detent mechanism 30 and transfer mechanism 40, and unshowned controller (being for example PLC).Seek a detent mechanism 30 and transfer mechanism 40 and be arranged on rack section 10, support structure 20 is arranged on the discharge end of oil remover 50.Wherein, described support structure 20 is for accepting cylinder workpiece 70 and it being carried out to coarse positioning from the discharge end of described oil remover 50, the described detent mechanism 30 of seeking is for receiving cylinder workpiece 70 and it being carried out to fine positioning from support structure 20, make cylinder workpiece 70 rotation to required orientation, described transfer mechanism 40 is for being transferred to cylinder workpiece 70 to seek a detent mechanism 30 and by the feed end of seeking a detent mechanism 30 and be transferred to surface grinding machine 30 by support structure 20.
As Fig. 2 and Fig. 3, described support structure 20 comprises guide lip 21, jacking apparatus and catching device, guide lip 21 is for cylinder workpiece 70 is guided to and accepts station, and jacking apparatus is for holding up being positioned at the cylinder workpiece 70 of accepting station place, and catching device is for horizontal support cylinder workpiece 70.Wherein, described jacking apparatus comprises jacking cylinder 22 and driven the jacking piece 23 of lifting by this jacking cylinder 22, and this jacking piece 23 has the endoporus 71 that is suitable for inserting cylinder workpiece 70 to realize the pointed cone 24 of coarse positioning of this cylinder workpiece 70.Described catching device comprises flat-removing air cyclinder 25 and horizontal bearing plate 26, and horizontal bearing plate 26 can be driven and along horizontal guide rail 28 translations, be had the opening 27 passing can supply 23 lifting of jacking piece time on this horizontal bearing plate 26 by flat-removing air cyclinder 25.Because the discharge end of oil remover 50 is that the drum-type that tilts is from the line sending 51 that sheaves, cylinder workpiece 70 is don't care state when by drum-type, from sheaving, line sending 51 is exported, by guide lip 21, cylinder workpiece 70 is guided to and accepts station, insert again the endoporus of cylinder workpiece 70 by the pointed cone 24 on jacking piece 23, to realize the coarse positioning of cylinder workpiece 70, by flat-removing air cyclinder 25, horizontal bearing plate 26 is moved to again to the below of cylinder workpiece 70, then by jacking cylinder 22, cylinder workpiece 70 is moved down, horizontal bearing plate 26 is caught cylinder workpiece 70 reposefully, make it become level from heeling condition, the crawl of the convenient manipulator that will mention below.
As Fig. 4 to Fig. 6, the described detent mechanism 30 of seeking comprises and seeks a free-wheeling system 31, seeks level sensor 32 and sensor guiding mechanism 33, seek a free-wheeling system 31 and comprise the workseat 34 for rotatably supporting cylinder workpiece 70 and the motor 35 that drives this workseat 34 to rotate, seek level sensor 32 and be arranged on sensor guiding mechanism 33, this sensor guiding mechanism 33 is provided with manual fine-tuning bolt 36 and sensor telescopic cylinder 37.In the time that cylinder workpiece 70 is positioned on workseat 34, seeking level sensor 32 is driven by sensor telescopic cylinder 37 and stretches out, motor 35 drive workseat 34 and on cylinder workpiece 70 rotate, after seeking level sensor 32 and responding to cylinder workpiece 70 and be rotated in place, send induced signal to controller, controller sends instruction makes motor 35 stop driving, and seeks level sensor 32 and is driven by sensor telescopic cylinder 37 and retract.So that the cylinder workpiece 70 of compatible different model.Seeking the position of level sensor 32 can adjust by manual fine-tuning bolt 36, so that the cylinder workpiece 70 of compatible different size model.
Described transfer mechanism 40 is duplex shifting mechanical arm mechanism, this mechanism comprises and transfers frame 41, transfers guide rail 42, transfers cylinder 43 and can be by transferring that cylinder 43 drives and along transferring guide rail 42 the first manipulator 44 and the second manipulator 45 that move back and forth, described the first manipulator 44 and the second manipulator 45 move simultaneously and realize simultaneously pick-and-place and move.Wherein, described the first manipulator 44 is for being transferred to workseat 34, the second manipulators 45 of seeking a detent mechanism 30 for cylinder workpiece 70 is transferred to the blowing station place of the feeding web 61 of surface grinding machine 60 by workseat 34 by cylinder workpiece 70 by the horizontal bearing plate 26 of support structure 20.Described the first manipulator 44 and the second manipulator 45 have respectively three-pawl type Pneumatic clamping jaw 46, drive the jaw lift cylinder 48 of Pneumatic clamping jaw 46 liftings and regulate the air inlet pressure-reducing valve of Pneumatic clamping jaw 46 clamping force sizes, and described air inlet pressure-reducing valve is connected with source of the gas.Pneumatic clamping jaw 46 can insert the endoporus of cylinder workpiece 70 and struts and realize the crawl to cylinder workpiece 70, by regulating air inlet pressure-reducing valve, make Pneumatic clamping jaw 46 produce suitable clamping force according to the endoporus specification of cylinder workpiece 70, prevent from damaging Pneumatic clamping jaw 46.In addition, described Pneumatic clamping jaw 46 is also provided with and prevents the buffer unit of misoperation and for responding to the misoperation sensor of this buffer unit, described misoperation sensor is connected in siren.The buffer unit that install at Pneumatic clamping jaw 46 places damages jaw can prevent from makeing mistakes time by pressure, and, in the time that buffer is had an effect, misoperation sensor sensing to and give the alarm by connected siren.
Below above-mentioned automation gantry robot's the course of work is briefly described:
Cylinder workpiece 70 from oil remover 50 out in random heeling condition, the jacking piece 23 of support structure 20 inserts in the endoporus of cylinder workpiece 70, horizontal bearing plate 26 moves to left and catches cylinder workpiece 70, support structure 20 resets.The first manipulator 44 in transfer mechanism 40 captures the cylinder workpiece 70 on horizontal bearing plate 26, and is transplanted on the workseat 34 of seeking a detent mechanism 30.The duplex manipulator of transfer mechanism 40 resets, and the cylinder workpiece 70 of simultaneously seeking in a detent mechanism 30 carries out automatic localization.After seeking position, the cylinder workpiece 70 on the second manipulator 45 grabbing workpiece seats 34 is also transplanted on the feeding web 61 of surface grinding machine 60, and the first manipulator 44 repeats previous action simultaneously, completes the automatic handover process of a cylinder workpiece 70.
Above-described is only preferred embodiment of the present utility model; it should be pointed out that for the person of ordinary skill of the art, do not departing under the prerequisite of the present utility model design; can also make some distortion and improvement, these all belong to protection domain of the present utility model.

Claims (10)

1. oil remover-flat stone mill automation gantry robot, be suitable for being arranged between oil remover and surface grinding machine, this automation gantry robot comprises rack section, it is characterized in that: also comprise from the discharge end of described oil remover and accept cylinder workpiece and it is carried out to the support structure of coarse positioning, receive described cylinder workpiece and it is carried out to the detent mechanism of seeking of fine positioning from described support structure, and described in being transferred to by described support structure, described cylinder workpiece seeks a detent mechanism, and by the described transfer mechanism of seeking a detent mechanism and be transferred to the feed end of described surface grinding machine, describedly seek a detent mechanism and described transfer mechanism is arranged on described rack section.
2. oil remover-flat stone mill automation gantry robot according to claim 1, is characterized in that: described support structure comprises the catching device that described cylinder workpiece is guided to cylinder workpiece described in the jacking apparatus of accepting the guide lip of station, the described cylinder workpiece of accepting station described in being positioned at is held up and horizontal support.
3. oil remover-flat stone mill automation gantry robot according to claim 2, it is characterized in that: described jacking apparatus comprises jacking cylinder and the jacking piece by this jacking air cylinder driven lifting, described jacking piece has the endoporus that is suitable for inserting described cylinder workpiece to realize the pointed cone of coarse positioning of this cylinder workpiece.
4. oil remover-flat stone mill automation gantry robot according to claim 3, it is characterized in that: described catching device comprises flat-removing air cyclinder and driven the horizontal bearing plate of translation by this flat-removing air cyclinder, has the opening passing can supply described jacking piece lifting time on described horizontal bearing plate.
5. oil remover-flat stone mill automation gantry robot according to claim 1, it is characterized in that: described in seek a detent mechanism and comprise and rotatably support seeking a free-wheeling system, seeking level sensor and sensor guiding mechanism of described cylinder workpiece, described in seek level sensor and be arranged on described sensor guiding mechanism.
6. oil remover-flat stone mill automation gantry robot according to claim 5, it is characterized in that: described in seek the motor that a free-wheeling system comprises workseat and drives the rotation of this workseat, described sensor guiding mechanism is provided with manual fine-tuning bolt and sensor telescopic cylinder.
7. oil remover-flat stone mill automation gantry robot according to claim 1, it is characterized in that: described transfer mechanism is duplex shifting mechanical arm mechanism, this mechanism comprises the first manipulator and the second manipulator transferring guide rail, transfer cylinder and can be moved back and forth along described handover guide rail by described handover air cylinder driven, and described the first manipulator and the second manipulator move simultaneously and realize simultaneously pick-and-place action; Wherein, described the first manipulator is for seeking a detent mechanism described in described cylinder workpiece is transferred to by described support structure, described the second manipulator for by described cylinder workpiece by the described feed end of seeking a detent mechanism and be transferred to described surface grinding machine.
8. oil remover-flat stone mill automation gantry robot according to claim 7, is characterized in that: described the first manipulator and the second manipulator have respectively three-pawl type Pneumatic clamping jaw, drive the jaw lift cylinder of described Pneumatic clamping jaw lifting and regulate the air inlet pressure-reducing valve of described Pneumatic clamping jaw clamping force size.
9. oil remover-flat stone mill automation gantry robot according to claim 8, it is characterized in that: described Pneumatic clamping jaw is provided with and prevents the buffer unit of misoperation and for responding to the misoperation sensor of this buffer unit, described misoperation sensor is connected in siren.
10. oil remover-flat stone mill automation gantry robot according to claim 1, it is characterized in that: the discharge end of described oil remover is that the drum-type that tilts is from the line sending that sheaves, the feed end of described surface grinding machine is feeding web, and the blowing station place of this feeding web is provided with infrared induction probe.
CN201420195509.1U 2014-04-21 2014-04-21 Deoiling machine-flat-stone mill automation trussed robot Expired - Fee Related CN203792158U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104440908A (en) * 2014-10-29 2015-03-25 安庆安帝技益精机有限公司 Control method based on PLC pneumatic transfer robot
CN105234954A (en) * 2015-11-13 2016-01-13 武汉工程大学 Mechanical carrying gripper
CN105290926A (en) * 2014-12-16 2016-02-03 电子科技大学 Blade intelligent grinding flexible manufacturing system
CN105965219A (en) * 2016-05-20 2016-09-28 新昌县万成科技有限公司 Automatic assembly special machine for automobile water pumps
CN108436198A (en) * 2018-06-07 2018-08-24 芜湖隆深机器人有限公司 A kind of cylinder end piece tapping processing automatic line
CN109366307A (en) * 2018-10-19 2019-02-22 泉州市智通联科技发展有限公司 A kind of intelligent zirconia ceramics material phone housing equipment

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104440908A (en) * 2014-10-29 2015-03-25 安庆安帝技益精机有限公司 Control method based on PLC pneumatic transfer robot
CN105290926A (en) * 2014-12-16 2016-02-03 电子科技大学 Blade intelligent grinding flexible manufacturing system
CN105234954A (en) * 2015-11-13 2016-01-13 武汉工程大学 Mechanical carrying gripper
CN105965219A (en) * 2016-05-20 2016-09-28 新昌县万成科技有限公司 Automatic assembly special machine for automobile water pumps
CN108436198A (en) * 2018-06-07 2018-08-24 芜湖隆深机器人有限公司 A kind of cylinder end piece tapping processing automatic line
CN109366307A (en) * 2018-10-19 2019-02-22 泉州市智通联科技发展有限公司 A kind of intelligent zirconia ceramics material phone housing equipment

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C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140827

Termination date: 20170421

CF01 Termination of patent right due to non-payment of annual fee