CN210231519U - Automatic production line of centrifugal cast pipe - Google Patents
Automatic production line of centrifugal cast pipe Download PDFInfo
- Publication number
- CN210231519U CN210231519U CN201920380852.6U CN201920380852U CN210231519U CN 210231519 U CN210231519 U CN 210231519U CN 201920380852 U CN201920380852 U CN 201920380852U CN 210231519 U CN210231519 U CN 210231519U
- Authority
- CN
- China
- Prior art keywords
- robot
- machine
- pipe
- feeding
- furnace
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an automatic production line of centrifugal cast tubes, which comprises a batching library, wherein one end of the batching library is provided with a feeding device, the feeding device comprises a feeding robot, four feeding trolleys, a first track for supporting the feeding robot and a second track for supporting the feeding trolleys, the other end of the second track is provided with a smelting device, the other end of the smelting device is provided with a tube drawing robot, the other end of the tube drawing robot is provided with a steering robot, the steering robot comprises a rotary robot and a sliding track, the other side of the sliding track is provided with a shot blasting machine and a straightening machine, the other end of the straightening machine is provided with a head cutting device, the head cutting device comprises a running head cutting machine, a double-head lathe, a laser marking machine and a running robot, one side of the laser marking machine is provided with a PT pool, the other side of the PT pool is provided with a transfer channel, the other end of the transfer channel is provided with a first, a boring machine is arranged below the boring machine robot, and a second transfer frame is arranged at the other end of the boring machine.
Description
Technical Field
The utility model relates to a casting field, concretely relates to automatic production line of centrifugal cast tube.
Background
The casting is widely applied to the production of large-sized workpieces, the technological requirements of people are higher and higher along with the development of science and technology, and the production efficiency is low in the traditional existing casting technology; manual intervention is more in the casting process, improper operation is easy to occur, personnel injury is caused, and manpower is wasted; the production process of the casting cannot be tracked, so that real-time monitoring cannot be realized, when an accident or a product quality problem occurs, the problem cannot be found, solved and further improved in time, a lot of working hours can be wasted, and the production efficiency is reduced; and the quality of the product can not be well controlled, so that the quality of the product is uneven, and the qualification rate is reduced.
Disclosure of Invention
For solving the not enough of prior art, the utility model aims to provide an automatic production line and a production mode of the centrifugal cast tube, which have high production efficiency, are fully automatic and can control the product quality.
In order to achieve the above object, the following technical solutions are adopted in the present application:
an automatic production line of centrifugal cast tubes comprises a batching library, wherein one end of the batching library is provided with a feeding device, the feeding device comprises a feeding robot, four feeding trolleys, a first rail for supporting the feeding robot and a second rail for supporting the feeding trolleys, the other end of the second rail is provided with a smelting device, the other end of the smelting device is provided with a tube drawing robot, the other end of the tube drawing robot is provided with a steering robot, the steering robot comprises a rotary robot and a sliding rail, the other side of the sliding rail is provided with a shot blasting machine and a straightening machine, the other end of the straightening machine is provided with a head cutting device, the head cutting device comprises an operating head cutting machine, a double-head lathe, a laser marking machine and an operating robot, one side of the laser marking machine is provided with a detection pool for detecting defects, the other side of the detection pool is provided with a transfer channel, the other end of the transfer channel is provided with a first transfer frame, a boring machine is arranged below the boring machine robot, and a second transfer frame is arranged at the other end of the boring machine.
Preferably, the aforesaid smelting device includes a set of first smelting furnace and a set of second smelting furnace, and a set of first smelting furnace includes two first smelting furnaces, and a set of second smelting furnace includes two second smelting furnaces, and a set of first smelting furnace and a set of second smelting furnace all include middle package dolly and two centrifuge, and two sets of different volumetric smelting furnaces can select according to the product demand of difference, and is more convenient, rational distribution, improvement production efficiency.
Still preferably, aforementioned tube drawing robot includes tube drawing mechanism, clearance mechanism, spraying mechanism, dolly mechanism and tube storage mechanism, and wherein, tube drawing mechanism, clearance mechanism and spraying mechanism share a zero point in the X direction, share a zero point, can better pass through PLC control, and is more accurate.
More preferably, the boring machine robot comprises a pipe loading robot and a pipe unloading robot, the pipe unloading robot has higher priority than the pipe loading robot, and the pipe loading robot can stop loading pipes and unload the loaded pipes at the first time when a fault occurs, so that the loss is reduced.
Further preferably, the operation robot comprises a first cross beam, a second cross beam and a third cross beam which are respectively responsible for feeding and discharging the operation crop, the double-head lathe and the laser marking machine, so that the working process is more continuous and rapid, the working efficiency is improved, and the product quality is ensured.
An automatic production line and a production mode of centrifugal cast tubes comprise the following steps: the method comprises the following steps that (I) batching is carried out, a batching warehouse receives batching information (batching total amount, ingredients, sequence and batching furnace number) from a terminal, furnace burden is conveyed into a hopper of a feeding robot, and a furnace is fed; when the furnace burden of each component is loaded, the batching library determines the loading times according to the required mass of the furnace burden of the component and the capacity of a loading robot hopper; for each feeding, when the weight of the weighing conveyor belt reaches the material loading weight, the vibration hopper stops vibrating, and when all furnace materials in the weighing conveyor belt are conveyed into the hopper of the material loading robot, the material loading robot carries out filling on a specified furnace according to furnace number information transmitted from the batching library, generates material information and sends the material information to the corresponding furnace and a terminal; (II) feeding: according to the received furnace number information, the feeding robot automatically shields position sensors at other furnace numbers, the feeding robot firstly makes horizontal linear motion, when the feeding robot moves to the unshielded position sensor, the robot stops the horizontal linear motion, and after 3s, the cylinder of the hopper retracts to open the bottom plate door of the hopper, and furnace burden is dumped into the furnace; after 3s, the hopper moves upwards by 200mm in the vertical direction, then moves downwards by 200mm, then moves up and down again for circulation once, after dumping is finished, the cylinder of the hopper extends out, so that the bottom plate door of the hopper is closed, and then returns to the zero position of the feeding robot to wait for next feeding; (III) furnace: after the furnace reaches the casting state, the furnace pours the molten steel into a tundish of a tundish trolley according to the production requirement sent by final control; before molten steel is poured, the molten steel can be poured only when the five conditions of slag skimming completion (slag skimming signals), qualified temperature (temperature signals), qualified components (component signals), completion of a baffle on a centrifugal machine and the molten steel receiving position of a tundish trolley are all met; when the slag skimming signal, the temperature signal, the component signal and the baffle on the centrifuge are met, the furnace sends a signal to be poured to the centrifuge, so that the centrifuge reaches the casting rotating speed, the tundish trolley reaches the molten steel receiving position, the furnace starts to pour when the centrifuge reaches the casting rotating speed and the tundish trolley is positioned at the molten steel receiving position, the tundish contains a weighing sensor, when the mass of the poured molten steel reaches 90% of the mass required by each furnace pipe group, the pouring speed of the furnace is reduced, the mass reaches the mass required by each furnace pipe, the pouring is finished, a furnace batch number is automatically generated, the furnace returns to the original position, the next casting is waited, the number of times of casting is automatically recorded by the furnace, when the residual molten steel in the furnace is less than the mass required by one steel pipe, the furnace sends a filling signal to the terminal; (IV) tundish trolley: the initial position of the tundish trolley is at the zero position (in a natural gas flame-spraying heat preservation state), after a molten steel receiving signal is received from the furnace, the tundish trolley moves along the x direction, the furnace starts to pour molten steel after the molten steel receiving signal moves to the molten steel receiving level, a weight sensor below the tundish starts to measure the mass of the poured molten steel, when the mass of each steel pipe reaches 90%, the pouring speed of the furnace is reduced, and when the mass of the whole steel pipe reaches, pouring is stopped; after pouring, the furnace is recovered, the tundish trolley moves along the y direction and moves to the casting position of the centrifugal machine, and the electric push rod at the tundish extends out (the extending speed needs to be determined by a field test), so that the molten steel in the tundish is quickly poured into the ox horn ladle, and the casting of a single steel pipe is completed; after the casting is finished, the tundish trolley moves along the y direction firstly, then moves along the x direction, returns to the zero position and waits for the next casting; (V) centrifuge: before the centrifugal machine is cast, the centrifugal machine needs to be preprocessed, a molding cylinder is taken out from a drying room and manually installed on the centrifugal machine, a temperature sensor is arranged near the molding cylinder, and casting environment temperature information sent by a terminal is used as a judgment basis for judging whether the external environment of the molding cylinder is heated or cooled; before casting, cleaning and spraying the mould cylinder, wherein a centrifugal machine needs to be matched with the rotary speed, after the cleaning and spraying are finished, a baffle plate robot near the centrifugal machine is used for baffle plate mounting on the mould cylinder, and after the preparation work (cleaning, spraying and baffle plate mounting) is finished, a prepared signal is transmitted to a corresponding furnace; after the furnace sends out a casting signal, the centrifuge starts to operate to a casting rotating speed state and transmits the casting rotating speed state to the corresponding furnace, and the tundish trolley starts to cast; after the casting is finished, the centrifuge stops running, the baffle robot unloads the baffles at the two ends of the profile cylinder, and a tube drawing signal is sent to the tube drawing robot; after a pipe drawing end signal is received, cleaning, spraying and baffle mounting work are carried out on the profile cylinder; (VI), a tube drawing robot: comprises pipe drawing, cleaning and spraying; (VII), steering the robot: after the rotary robot receives the steering signal, a grabbing claw of the steering robot starts from a zero position and moves downwards to a position for grabbing the steel pipe, and the grabbing claw clamps the steel pipe and returns to the zero position; then the grabbing paw moves to a turning position along the x direction, the grabbing paw rotates 90 degrees, the steel pipe rotates 90 degrees, finally the grabbing paw moves downwards to the position above the sliding track, the grabbing paw is released, and then the turning robot hand returns to the initial zero state; the steel pipe is automatically conveyed to a shot blasting and straightening mechanism along a sliding track; (eighth), shot blasting and straightening mechanism: after the shot blasting and straightening mechanism receives the information of the furnace tube, the straightening machine automatically adjusts the straightening diameter; conveying the steel pipe from the sliding track to a track at the inlet of a shot blasting machine for shot blasting, and after the shot blasting is finished, straightening in a straightening machine; and after straightening is finished, sending an operation head cutting instruction: (nine) running and cropping: after the operation cropping command is sent out, the grabbing claw of the operation robot 1 moves downwards from the cropping zero point, grabs the steel pipe after moving to the grabbing position, then moves upwards to the zero point position, moves to the upper part of the cropping machine along the y direction, moves downwards, puts the steel pipe on a bracket of the cropping machine, and returns to the cropping zero point position; the clamping device of crop machine presss from both sides tightly, and crop machine crop, crop machine crop completion back, clamping device loosen, send crop completion instruction: the double-end lathe automatically finishes the position adjustment of the cutter according to the received steel pipe information; after a cropping completion instruction is sent out, a grabbing claw of the robot 2 is operated to move downwards from the zero position of the double-end lathe, grab the steel pipe after moving to a grabbing position, then move upwards to the zero position, move to the position above the double-end lathe along the y direction, move downwards, place the steel pipe on a bracket of the double-end lathe, and return the grabbing claw to the zero position of the double-end lathe; clamping by a clamping device of the double-end lathe, starting the double-end lathe to work to finish the machining of the guide hole and the bright band of the steel pipe, and after the machining is finished, loosening the clamping device to send a machining finishing instruction; (eleven) laser marking: after a double-end lathe machining completion instruction is sent, a grabbing claw of a robot 3 is operated to move downwards from a laser marking zero position, a steel pipe is grabbed after the grabbing claw moves to a grabbing position, then the steel pipe moves upwards to a marking zero position, the grabbing claw moves downwards above a laser marking machine along the y direction, the steel pipe is placed on a bracket of the laser marking machine, a clamping device of the laser marking machine clamps the steel pipe, the laser marking machine marks the steel pipe according to received steel pipe information, after marking is completed, the clamping device is loosened, the grabbing claw clamps the steel pipe, the steel pipe moves upwards, the steel pipe moves along the y direction, the steel pipe is placed on a pt storage pipe frame, then the steel pipe returns to the marking zero position, and a marking completion instruction is sent; (twelfth), PT: spraying a penetrant on the steel pipe one batch every ten times by adopting a batch processing mode, cleaning the penetrant by using water after 10 minutes, spraying a developer after 5 minutes, judging whether the steel pipe has defects or not after 10 minutes, removing the defects or not, and entering the next working link; after a Pt finishing instruction is sent, a grabbing claw of the upper pipe robot moves downwards from an upper pipe zero point, grabs a steel pipe after the grabbing claw moves to a grabbing position, returns to the zero point position, then moves to the upper part of the boring machine along the y direction (plc sequentially puts the steel pipes on each boring machine), the grabbing claw moves downwards, the steel pipe is placed on a bracket of the boring machine, a clamping device of the boring machine clamps the steel pipe, the boring machine bores holes, and the grabbing claw returns to the upper pipe zero point position; after boring is finished, a clamping device of the boring machine is loosened, the pipe unloading robot starts to move from a zero point of a self-unloading pipe and moves to the position above the boring machine to be unloaded, the grabbing claw moves downwards to a clamping position to clamp the steel pipe, the grabbing claw moves upwards and then returns to the zero point of the self-unloading pipe, the grabbing claw moves downwards to a pipe unloading position, the steel pipe is placed on a bracket of a groove lathe and returns to the zero point, and a groove command is sent; (fourteen), boring machine robot: the boring machine has the main function of cutting the inner diameter of the cast pipe to ensure that the inner wall of the cast pipe reaches the specified surface precision; the boring machine starts to work, after boring is finished, workers separate the cast tube from a clamping device of the boring machine and press a discharging button, and a discharging robot of the boring machine robot carries the cast tube away; and (fifteen) groove turning lathe.
Preferably, the hopper of the feeding robot contains 500KG of the maximum charge.
Still preferably, the operation sequence of the centrifuge comprises: s1, manually installing the molding cylinder A and the molding cylinder B on corresponding centrifuges; s2, cleaning and spraying the centrifuge A by using a tube drawing robot (power-on self-checking action of the tube drawing robot), and then, blocking the centrifuge A by using a blocking plate robot; s3, cleaning and spraying the centrifuge B by using a tube drawing robot (power-on self-checking action of the tube drawing robot), and then, blocking the centrifuge B by using a blocking plate robot; s4, casting the centrifuge A firstly after casting conditions are met, unloading the baffle plate of the centrifuge A by the baffle plate robot after casting is finished, and sending a tube drawing signal to the tube drawing robot by the centrifuge after the baffle plate is unloaded; the tube drawing robot receives the tube drawing signal and then draws the tube of the centrifuge A, after the tube drawing is finished, the tube drawing robot is used for cleaning and spraying the centrifuge A, and meanwhile, the centrifuge B can be cast; after cleaning and spraying are finished, the baffle robot baffles the centrifuge A; s5, after the casting of the centrifuge B is finished, the baffle unloading robot unloads the baffle of the centrifuge B (the priority of the baffle unloading is lower than that of the baffle loading), and then the tube drawing robot draws the tube of the centrifuge B (the priority of the action is arranged after the tube drawing robot cleans and sprays the centrifuge A); after the tube drawing of the centrifuge B is finished, cleaning and spraying the centrifuge B, and meanwhile, casting the centrifuge A; the above steps are circulated;
more preferably, the specific working process of the tube drawing robot is as follows: s1, tube drawing: after a centrifuge sends a tube drawing signal, a tube drawing manipulator firstly moves to a centrifuge type cylinder position from an X-direction zero position along an X direction and then stops moving (a tube drawing position sensor X), the tube drawing manipulator moves to a tube drawing position (a tube drawing position sensor Y) from a Y-direction zero position along a Y direction, the tube drawing manipulator expands and tightens a steel tube from the interior of the steel tube, and then the tube drawing manipulator reversely moves to a Y-direction zero position along the Y direction; simultaneously, a hydraulic device on the trolley works, the trolley rises, and the steel pipe is supported; when the tube drawing manipulator returns to the position 100mm before the zero point in the y direction, the manipulator expansion device is loosened, the tube drawing manipulator returns to the zero point position in the y direction, and then the tube drawing manipulator moves to the zero point position along the x direction; thirdly, the trolley moves to a pipe storage mechanism (a pipe storage position sensor) along the x direction, the steel pipe is conveyed to the pipe storage mechanism by the trench, and the pipe storage mechanism rotates around a fulcrum through side plates at two ends to convey the steel pipe to a station along the x direction; the rotating and conveying period is the next tube drawing end time of the tube drawing robot; when the steel pipe finally moves to the edge of the pipe storage mechanism, lifting a ditch on the middle conveying device, and conveying the steel pipe to the middle conveying device; at the moment, the tube drawing of the tube is finished, and a tube drawing finishing signal is sent to the centrifugal machine, the steering robot and the terminal; after receiving the tube drawing finishing command, the centrifugal machine sends a cleaning and spraying instruction to a tube drawing robot; s2, cleaning: moving a cleaning mechanism from a zero point in the x direction to a cylinder needing cleaning (a cleaning position sensor x) along the x direction; moving the cleaning manipulator to a cleaning finishing position (a cleaning position sensor Y) along the Y direction from the zero point of the Y direction, and then returning to the zero position of the Y direction; thirdly, the cleaning manipulator moves to a cleaning position along the Y direction and then returns to the zero position of the Y direction; fourthly, the cleaning manipulator moves to the x zero point position along the x direction, and cleaning is finished; after cleaning, sending a spraying starting instruction; s3, spraying: firstly, the spraying mechanism moves from the zero point in the X direction to a cylinder to be sprayed (a spraying position sensor X) along the X direction; secondly, the spraying mechanical arm moves to a spraying starting position (a spraying position sensor Y1) along the Y direction from the zero point of the Y direction, and the spray head starts to spray the coating; after the spraying manipulator moves to the spraying finishing position (the spraying position sensor y2), the spray head stops spraying the coating, and then the spraying manipulator returns to the zero position in the y direction; and (IV) moving the spraying manipulator to the x zero point position along the x direction, finishing spraying, and sending cleaning and spraying finishing instructions to the centrifugal machine and the terminal after finishing spraying.
Further preferably, the boring machine needs to satisfy the following conditions before working: firstly, installing the boring cutter by workers; and (II) adjusting the centering of the cast pipe by the worker, and fixing the cast pipe on a clamping device of the boring machine.
The utility model has the advantages that: each device on the casting production line is controlled through the PLC, so that automation is realized, and the production efficiency is greatly improved; manual operation is reduced, damage to operators is avoided, and working efficiency and precision can be improved; the whole process of the production process of the casting is tracked, the specific production condition of each step can be known in time, the problem is treated in time, the hidden problem can be effectively avoided, and the improvement can be further realized; the surplus production is green and environment-friendly, and energy is saved; the quality of the product is monitored to the maximum extent, and the qualification rate and the high-quality product rate are improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a tube drawing robot;
FIG. 3 is a schematic view of the construction of the steering robot;
FIG. 4 is a schematic diagram of the operation of the present invention;
FIG. 5 is a schematic view of the operation of the ingredients;
FIG. 6 is a schematic diagram of the operation of the loading robot;
FIG. 7 is a schematic view of the operation of the furnace;
FIG. 8 is a schematic view of the operation of the tundish car;
FIG. 9 is a schematic diagram of the operation of the centrifuge;
fig. 10 is a schematic view of the operation process of the tube drawing robot.
The meaning of the reference symbols in the figures: 1A, a first smelting furnace, 1B, a second smelting furnace, 2, a feeding robot, 3, a feeding trolley, 4, a centrifugal machine, 5, a steering robot, 51, a rotating robot, 52, a sliding track, 6, a pipe drawing robot, 61, a pipe drawing mechanism, 62, a cleaning mechanism, 63, a spraying mechanism, 64, a trolley mechanism, 65, a pipe storage mechanism, 7, a shot blasting machine, 8, a running cutting head, 9, a detection pool, 10, a transfer channel, 11, a first transfer frame, 12, a boring machine robot, 13, a boring machine, 14, a second transfer frame, 15, a double-head lathe, 16, a batching library, 17, a first track, 18, a second track, 19, a tundish trolley, 20, a laser marking machine, 21, a straightening machine, 22 and a running robot.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
An automatic production line of centrifugal cast tubes comprises a batching storehouse 16, one end of the batching storehouse 16 is provided with a feeding device, the feeding device comprises a feeding robot 2 and four feeding trolleys 3, support first track 17 of material loading robot 2 and the second track 18 of support material loading dolly 3, the other end of second track 18 is provided with the smelting device, the smelting device includes a set of first smelting furnace and a set of second smelting furnace (the volume of first smelting furnace is 1 ton, the volume of first smelting furnace is 2 tons), a set of first smelting furnace includes two first smelting furnaces 1A, a set of second smelting furnace includes two second smelting furnaces 1B, a set of first smelting furnace and a set of second smelting furnace all include middle package dolly 19 and two centrifuge 4, two sets of different volumetric smelting furnaces can select according to the product demand of difference, and is more convenient, the rational distribution, and the production efficiency is improved.
The other end of the smelting device is provided with a tube drawing robot 6, the tube drawing robot 6 comprises a tube drawing mechanism 61, a cleaning mechanism 62, a spraying mechanism 63, a trolley mechanism 64 and a tube storage mechanism 65, wherein the tube drawing mechanism 61, the cleaning mechanism 62 and the spraying mechanism 63 share one zero point in the X direction, share one zero point, can better pass through PLC control, and is more accurate.
The other end of the pipe drawing robot 6 is provided with a turning robot 5, the turning robot 5 comprises a rotary robot 51 and a sliding track 52, the other side of the sliding track 52 is provided with a shot blasting machine 7 and a straightening machine 21, the other end of the straightening machine 21 is provided with a head cutting device, the head cutting device comprises an operation head cutting 8, a double-head lathe 15, a laser marking machine 20 and an operation robot 22, the operation robot 22 comprises a first beam, a second beam and a third beam, the operation head cutting 8 is respectively responsible for the operation, the double-head lathe 15 and the laser marking machine 20 are charged and discharged, the working process is more coherent and rapid, the working efficiency is improved, and the product quality is ensured.
A detection pool 9 for detecting defects is installed on one side of the laser marking machine 20, a transfer channel 10 is arranged on the other side of the detection pool 9, and a first transfer frame 11 is arranged at the other end of the transfer channel 10.
The boring machine robot 12 is arranged on the other side of the first transfer frame 11, the boring machine robot 12 comprises a pipe feeding robot and a pipe discharging robot, the priority of the pipe discharging robot is higher than that of the pipe feeding robot, pipe feeding can be stopped at the first time when a fault occurs, the pipe is discharged, loss is reduced, a boring machine 13 is arranged below the boring machine robot 12, and a second transfer frame 14 is arranged at the other end of the boring machine 13.
An automatic production line for centrifugal cast tubes, comprising the steps of:
(I) ingredient storehouse
And the material proportioning bin 16 is used for vibrating the furnace burden from the hopper to the weighing conveyer belt through the vibration of the vibrating hopper, conveying the furnace burden into the hopper of the feeding robot 2 through the conveyer belt, and the maximum furnace burden contained in the hopper of the feeding robot 2 is 500 kg.
The batching library 16 receives batching information (batching total amount, composition, sequence, batching furnace number) from the terminal, delivers the burden into the hopper of the loading robot 2 and loads the furnace; when the furnace burden of each component is loaded, the batching library 16 determines the loading times according to the required mass of the furnace burden of the component and the capacity of the hopper of the loading robot 2; for each feeding, when the weighed mass of the weighing conveyor belt reaches the material loading mass, the vibration hopper stops vibrating, and when all furnace materials in the weighing conveyor belt are conveyed into the hopper of the feeding robot 2, the feeding robot 2 carries out filling on the specified furnace according to the furnace number information transmitted from the material proportioning bin 16, generates material information and transmits the material information to the corresponding furnace and the corresponding terminal.
Note:
1. the batching storehouse 16 can only carry out batching work when the hopper of the feeding robot 2 is in a zero position;
2. because the feeding time interval between various furnace materials of each furnace is long, the burdening can carry out staggered burdening on the two furnaces;
3. if the chemical component detection is unqualified after the melting of furnace materials in the furnace is finished, and if the mass of the furnace materials to be added is more than 5kg, the material warehouse is required to preferentially carry out material proportioning and filling on the furnace materials;
4. the ingredient repository 16 is to send the real-time status information of the ingredient repository 16 to the control terminal; if the batch silo 16 fails, the batch silo 16 and the subsequent loading robots 2 stop moving and give an alarm, but without affecting the normal operation of the furnace and the subsequent equipment of the furnace.
(II) feeding robot
After the loading robot 2 receives the burden at the zero point position, the specified furnace is charged according to the furnace number information sent by the batching library 16.
The specific process is as follows: according to the received furnace number information, the feeding robot 2 automatically shields position sensors at other furnace numbers, the feeding robot 2 firstly makes horizontal linear motion, when the feeding robot moves to the unshielded position sensor, the robot stops the horizontal linear motion, and after 3s, the cylinder of the hopper retracts to open the bottom plate door of the hopper, and furnace burden is dumped into the furnace; after 3s, the hopper upwards moves by 200mm in the vertical direction, then downwards moves by 200mm, then moves up and down again for circulation, after dumping is finished, the cylinder of the hopper stretches out, the bottom plate door of the hopper is closed, and then the cylinder returns to the zero position of the feeding robot 2 to wait for next feeding.
Note:
1. when the feeding robot 2 works, the furnaces are required to be at original positions, namely the furnaces cannot be in a molten steel pouring state;
2. the two position sensors are arranged on the feeding robot 2 corresponding to each position sensor of the furnace and are in series connection, and if one of the position sensors is abnormal, the feeding robot 2 sends an alarm;
3. the feeding robot 2 is to send the real-time state information of the feeding robot 2 to the control terminal;
4. if the feeding robot 2 breaks down, the feeding robot 2 and the batching library 16 stop working and give out warning, but the normal operation of subsequent equipment is not influenced;
5. the feeding of the returned materials is finished manually.
(III) furnace
The industrial furnace of the workshop has four industrial furnaces, two of 1T and 2T respectively adopt a one-to-two control mode (wherein one group of 1T and one group of 2T are respectively provided with a tundish trolley 19, two centrifuges 4 and a pipe drawing robot 6 at the back).
After the furnace reaches the casting state, the furnace pours the molten steel into the tundish of the tundish car 19 according to the production requirements sent by the final control.
Before molten steel is poured, the molten steel can be poured only if the five conditions of slag skimming completion (slag skimming signals), qualified temperature (temperature signals), qualified components (component signals), completion of baffle on the centrifugal machine 4 and molten steel receiving position of the tundish trolley 19 are all met.
When the slag skimming signal, the temperature signal, the component signal and the baffle on the centrifuge 4 are met, the furnace sends a signal to be poured to the centrifuge 4, so that the centrifuge 4 reaches the casting rotating speed, the tundish trolley 19 reaches the molten steel receiving position, the furnace starts to pour when the centrifuge 4 reaches the casting rotating speed and the tundish trolley 19 is at the molten steel receiving position, the tundish contains a weighing sensor, when the mass of the poured molten steel reaches 90% of the mass required by each furnace pipe group, the pouring speed of the furnace is reduced, the mass reaches the mass required by each furnace pipe, the pouring is finished, the furnace batch number is automatically generated, the furnace returns to the original position, and the next casting is waited; the furnace automatically records the casting times, when the residual molten steel in the furnace is less than the mass required by one steel pipe, the furnace sends a filling signal to a terminal, and the total filling mass is the mass of the molten steel cast in the furnace.
Note:
1. the temperature signal, the slag removing signal and the component signal are manual signals, which are equivalent to normally open switches, for each furnace of molten steel, when the casting condition is met, the first casting needs to be manually pressed, the switches are closed, the subsequent casting does not need to be pressed, but when the furnace is refilled with furnace burden, the switches are disconnected again, the casting is stopped, and the button is manually pressed again until the casting condition is met;
2. the furnace sends the real-time state information, material information and furnace batch number of the furnace to the tundish trolley 19 and a control terminal;
3. under normal working conditions, one of the two types of furnaces is in a casting state, and the other one is in a melting state;
4. when a furnace fails, a warning is given to the terminal, and the furnace stops working but does not affect the normal working of other furnaces.
(IV) tundish trolley
The initial position of the tundish trolley 19 is at the zero position (in a natural gas flame-spraying heat preservation state), after a signal of receiving molten steel is received from the furnace, the tundish trolley 19 moves along the x direction, the furnace starts to pour the molten steel after the molten steel signal moves to the molten steel receiving level, a weight sensor below the tundish starts to measure the mass of the poured molten steel, when the mass of each steel pipe reaches 90%, the pouring speed of the furnace is reduced, and when the mass of the whole steel pipe reaches, pouring is stopped; after pouring, the furnace is recovered, the tundish trolley 19 moves along the y direction and moves to the casting position of the centrifuge 4, and the electric push rod at the tundish extends out (the extending speed needs to be determined by field tests), so that the molten steel in the tundish is quickly poured into the ox horn ladle, and the casting of a single steel pipe is completed; after the casting is finished, the tundish car 19 moves along the y direction firstly, then moves along the x direction, returns to the zero position and waits for the next casting.
Note:
1. the tundish trolley 19 is divided into two trolleys, wherein one trolley corresponds to two 1t furnaces, and the other trolley corresponds to a 2t furnace;
2. the tundish car 19 is to send the real-time state information of the tundish car 19 to the control terminal;
3. if the tundish trolley 19 breaks down, the corresponding furnace is in a reset state (heat preservation and no casting), the centrifuge 4 and the tube drawing robot 6 stop working, but the subsequent equipment continues working from the turning robot 5;
4. the ox horn ladle of each tundish trolley 19 corresponds to a type of steel pipe.
(V) centrifuge
Before casting, the centrifuge 4 needs to be preprocessed, the molding cylinder is taken out from a drying room and manually installed on the centrifuge 4, a temperature sensor is arranged near the molding cylinder, and casting environment temperature information sent by a terminal is used as a judgment basis for judging whether the external environment of the molding cylinder is heated or cooled.
Before casting, cleaning and spraying work needs to be carried out on the mould cylinder, the centrifugal machine 4 needs to be matched with the rotating speed in the process, after the cleaning and spraying are finished, a baffle plate robot near the centrifugal machine 4 is used for baffle plate mounting on the mould cylinder, and after the preparation work (cleaning, spraying and baffle plate mounting) is finished, a signal of the completion of the preparation is transmitted to a corresponding furnace; after the furnace sends out a casting signal, the centrifuge 4 starts to operate to a casting rotating speed state and transmits the casting rotating speed state to the corresponding furnace, and the tundish trolley 19 starts to cast; after the casting is finished, the centrifuge 4 stops running, the baffle robot unloads the baffles at the two ends of the profile cylinder, and a tube drawing signal is sent to the tube drawing robot 6; and after a pipe drawing end signal is received, cleaning, spraying and baffle plate mounting work are carried out on the mould cylinder.
Note: the centrifuge 4 transmits the real-time status information, the material information, the furnace batch number of the centrifuge 4 to the tube drawing robot 6 and the control terminal.
The workshop can be divided into two groups of four centrifuges 4, each group of the centrifuges is divided into two groups, each group of the centrifuges 4 shares a pair of baffle dismounting robots, and each group of the centrifuges 4 is provided with a set of tube drawing robots 6; for each set of centrifuges 4, the corresponding cylinders are labeled as cylinder a and cylinder B; the working procedures are as follows:
1. manually installing the molding cylinder A and the molding cylinder B on the corresponding centrifugal machine 4;
2. cleaning and spraying the centrifuge A by using a tube drawing robot 6 (power-on self-checking action of the tube drawing robot 6), and then, blocking the centrifuge A by using a blocking robot;
3. cleaning and spraying work (power-on self-checking action of the tube drawing robot 6) is carried out on the centrifuge B by using the tube drawing robot 6, and then a baffle plate is arranged on the centrifuge B by using the baffle plate robot;
4. after the casting condition is met, firstly, casting is carried out on the centrifuge A, after the casting is finished, the baffle plate is dismounted from the centrifuge A by the baffle plate robot, and after the baffle plate is dismounted, the centrifuge 4 sends a tube drawing signal to the tube drawing robot 6; the tube drawing robot 6 draws the tube of the centrifuge A after receiving the tube drawing signal, and after the tube drawing is finished, the tube drawing robot 6 is used for cleaning and spraying the centrifuge A, and meanwhile, the centrifuge 4B can be cast; after cleaning and spraying are finished, the baffle plate robot carries out baffle plate feeding on the centrifuge A,
5. after the casting of the centrifuge B is finished, the baffle unloading robot unloads the baffle of the centrifuge B (the priority of the baffle unloading is lower than that of the upper baffle), and then the tube drawing robot 6 draws the tube of the centrifuge B (the priority of the action is arranged after the tube drawing robot 6 cleans and sprays the centrifuge A); after the tube drawing of the centrifuge B is finished, cleaning and spraying the centrifuge B, and meanwhile, casting the centrifuge A; and the process is circulated.
Note that:
1. the pipe drawing robot 6 can finish three actions of drawing a steel pipe, cleaning a profile barrel and spraying the profile barrel;
2. when a certain centrifuge 4 malfunctions, the centrifuge 4 should be stopped immediately, but the normal operation of the other centrifuges 4 is not affected.
(VI) tube drawing robot
The tube drawing robot 6 comprises a tube drawing mechanism 61, a cleaning mechanism 62, a spraying mechanism 63, a trolley mechanism 64 and a tube storage mechanism 65, wherein the cleaning mechanism 62, the tube drawing mechanism 61 and the spraying mechanism 63 share a zero point in the x direction.
Tube drawing: 1. when a tube drawing signal is sent by the centrifugal machine 4, the tube drawing manipulator firstly moves to the position of a 4-shaped cylinder of the centrifugal machine along the X direction from the zero position in the X direction and then stops moving (a tube drawing position sensor X), the tube drawing manipulator moves to the tube drawing position (a tube drawing position sensor Y) along the Y direction from the zero position in the Y direction, the tube drawing manipulator expands and tightens a steel tube from the inside of the steel tube, and then the tube drawing manipulator reversely moves to the zero position in the Y direction along the Y direction; 2. meanwhile, a hydraulic device on the trolley works, the trolley rises, and the steel pipe is supported; when the pipe drawing manipulator returns to the position 100mm before the zero point in the y direction, the manipulator expansion device is loosened, the pipe drawing manipulator returns to the zero point position in the y direction, and then the pipe drawing manipulator moves to the zero point position along the x direction; 3. the trolley moves to a pipe storage mechanism 65 (a pipe storage position sensor) along the x direction, the steel pipe is transferred to the pipe storage mechanism 65 through the lifting groove, and the pipe storage mechanism 65 rotates around a fulcrum through side plates at two ends to convey the steel pipe to a station along the x direction; the rotating conveying period is the next tube drawing ending time of the tube drawing robot 6; when the steel pipe finally moves to the edge of the pipe storage mechanism 65, the lifting groove on the middle conveying device is lifted, and the steel pipe is conveyed to the middle conveying device; at the moment, the tube drawing of the tube is finished, and a tube drawing finishing signal is sent to the centrifuge 4, the steering robot 5 and the terminal; after receiving the tube drawing end command, the centrifuge 4 sends a cleaning and spraying instruction to the tube drawing robot 6.
Cleaning: 1. the cleaning mechanism 62 moves from the zero point of the x direction along the x direction to the mold cylinder to be cleaned (cleaning position sensor x); 2. the cleaning manipulator moves to a cleaning end position (a cleaning position sensor Y) along the Y direction from the zero point of the Y direction and then returns to the zero position of the Y direction; 3. the cleaning manipulator moves to a cleaning position along the Y direction and then returns to the zero position of the Y direction; 4. the cleaning manipulator moves to the x zero point position along the x direction, and cleaning is finished; and after the cleaning is finished, sending a spraying starting instruction.
Spraying: 1. the spraying mechanism 63 moves from the zero point of the X direction to the cylinder to be sprayed (spraying position sensor X) along the X direction; 2. the spraying mechanical arm moves to a spraying starting position (a spraying position sensor Y1) along the Y direction from the zero point of the Y direction, and the spray head starts to spray the coating; 3. when the spraying manipulator moves to the spraying end position (the spraying position sensor y2), the spray head stops spraying the coating, and then the spraying manipulator returns to the zero position in the y direction; 4. the spraying manipulator moves to the x zero point position along the x direction, and spraying is finished; after the spraying is finished, a cleaning and spraying finishing instruction is sent to the centrifuge 4 and the terminal.
Note:
the tube drawing robot 6 transmits the real-time status information, the material information, and the furnace batch number of the centrifuge 4 to the tube drawing robot 6 and the control terminal.
If the tube drawing process is abnormal, a warning needs to be sent to a controller and a terminal of the tube drawing robot 6 immediately, the tube drawing robot 6 stops moving, and meanwhile, a casting mechanism (a casting trolley and a centrifuge 4 unit) corresponding to the tube drawing robot 6 stops completely until the fault is eliminated, but the subsequent equipment is normally used.
(VII) steering robot
After the rotating robot 51 receives the steering signal, the grabbing claw of the steering robot 5 starts from the zero position, moves downwards to the position for grabbing the steel pipe, and clamps the steel pipe by the grabbing claw and returns to the zero position; then the grabbing paw moves to a turning position along the x direction, the grabbing paw rotates 90 degrees, the steel pipe rotates 90 degrees, finally the grabbing paw moves downwards to the position above the sliding track 52, the grabbing paw is released, and then the turning robot hand returns to the initial zero state; the steel pipe is automatically transported to the shot blasting and straightening mechanism 21 along the sliding track.
(eighth) shot blasting and straightening mechanism
After the shot blasting and straightening mechanism 21 receives the information of the furnace tube, the straightening mechanism 21 automatically adjusts the straightening diameter; the steel pipe is conveyed to a rail at the inlet of the shot blasting machine 7 from the sliding rail 52 for shot blasting, and enters the straightening machine 21 for straightening after the shot blasting is finished; after the straightening is finished, an instruction for operating the cropping 8 is given.
(nine) running crop
After the instruction of operating the cropping 8 is sent, the grabbing claw of the robot 221 is operated to move downwards from the cropping zero point, grab the steel pipe after moving to the grabbing position, then move upwards to the zero point position, move to the upper part of the cropping machine along the y direction, move downwards, place the steel pipe on a bracket of the cropping machine, and return to the cropping zero point position; and after the head of the head cutting machine is finished, the clamping device is loosened to send a head cutting finishing instruction.
(Ten) double-head lathe
The double-end lathe 15 automatically completes the position adjustment of the cutter according to the received steel pipe information; after the end-cutting completion instruction is sent, the grabbing claw of the robot 222 is operated to move downwards from the zero position of the double-end lathe 15, grab the steel pipe after moving to the grabbing position, then move upwards to the zero position, move to the position above the double-end lathe 15 along the y direction, move downwards, place the steel pipe on a bracket of the double-end lathe 15, and return to the zero position of the double-end lathe 15; the clamping device of the double-end lathe 15 clamps tightly, the double-end lathe 15 begins to work, the machining of the guide hole and the bright belt of the steel pipe is completed, and after the machining is finished, the clamping device is loosened to send a machining completion instruction.
(eleventh) laser marking
After the double-end lathe 15 finishes processing and instructs to send, the grabbing claw of the running robot 223 starts to move downwards from the zero position of the laser marking, after moving to the grabbing position, the steel pipe is grabbed, then the steel pipe moves upwards to the marking zero position, the steel pipe moves to the upper side of the laser marking machine 20 along the y direction, the grabbing claw moves downwards, the steel pipe is placed on a bracket of the laser marking machine 20, a clamping device of the laser marking machine 20 clamps the steel pipe tightly, the laser marking machine 20 marks the steel pipe according to the received steel pipe information, after marking is finished, the clamping device is loosened, the grabbing claw clamps the steel pipe, the steel pipe moves upwards, the steel pipe moves along the y direction, the steel pipe is placed on a pt storage pipe frame, then the steel pipe returns to the marking zero position, and.
(twelfth), PT
Spraying penetrant on the steel pipe one batch every ten times in a batch processing mode, cleaning the penetrant with water after 10 minutes, spraying developer after 5 minutes, judging whether the steel pipe has defects or not after 10 minutes, removing the defects or not, and entering the next working link.
(thirteen) boring machine robot 12
The boring machine robot 12 comprises a pipe feeding robot and a pipe discharging robot, after a Pt finishing instruction is sent out, a grabbing claw of the pipe feeding robot moves downwards from a pipe feeding zero point, after the grabbing claw moves to a grabbing position, a steel pipe is grabbed and returns to the zero point position, then the grabbing claw moves to the upper part of the boring machine 13 along the y direction (plc sequentially puts the steel pipes on the boring machine 13), the grabbing claw moves downwards, the steel pipe is placed on a bracket of the boring machine 13, a clamping device of the boring machine 13 clamps the steel pipe, the boring machine 13 bores holes, and the grabbing claw returns to the pipe feeding zero point position; after boring is finished, a clamping device of the boring lathe 13 is released, the pipe unloading robot starts to move from the zero point of the pipe to be unloaded to the position above the boring lathe 13 for the pipe to be unloaded, the grabbing claw moves downwards to the clamping position to clamp the steel pipe, the grabbing claw moves upwards and then returns to the zero point of the pipe unloading, the grabbing claw moves downwards to the pipe unloading position, the steel pipe is placed on a bracket of a groove lathe and returns to the zero point, and a groove command is sent
Note: the priority of unloading pipe is higher than that of loading pipe.
(fourteen) boring machines
The boring machine 13 is mainly used for cutting the inner diameter of the cast pipe to ensure that the inner wall of the cast pipe reaches the specified surface precision; before the boring machine 13 works, two conditions need to be satisfied: 1. installing the boring cutter by a worker; 2. the operator adjusts the centering of the cast pipe and fixes the cast pipe on the clamping device of the boring machine 13; after the two conditions are met, the worker presses the working button, and the boring machine 13 starts to work; after boring, a worker separates the cast tube from the clamping device of the boring machine 13, presses the discharging button, and the discharging robot of the robot 12 of the boring machine 13 carries the cast tube away.
(fifteen) groove lathe
After the instruction is received, the clamping device of the groove lathe clamps, the groove lathe starts to work, after the work is finished, the clamping device of the groove lathe releases, and the steel pipe is manually taken down.
The foregoing illustrates and describes the principles, essential features and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent permutations fall within the scope of the present invention.
Claims (6)
1. An automatic production line of centrifugal cast pipes comprises a batching library and is characterized in that one end of the batching library is provided with a feeding device, the feeding device comprises a feeding robot, four feeding trolleys, a first rail for supporting the feeding robot and a second rail for supporting the feeding trolleys, the other end of the second rail is provided with a smelting device, the other end of the smelting device is provided with a pipe drawing robot, the other end of the pipe drawing robot is provided with a steering robot, the steering robot comprises a rotary robot and a sliding rail, the other side of the sliding rail is provided with a shot blasting machine and a straightening machine, the other end of the straightening machine is provided with a head cutting device, the head cutting device comprises an operating head cutting machine, a double-head lathe, a laser marking machine and an operating robot, one side of the laser marking machine is provided with a detection pool for detecting defects, and the other side of the detection pool is provided with a transfer channel, the other end of the transfer channel is provided with a first transfer frame, the other side of the first transfer frame is provided with a boring machine robot, a boring machine is arranged below the boring machine robot, and the other end of the boring machine is provided with a second transfer frame.
2. An automated production line for centrifugally cast pipe according to claim 1, characterized in that said melting means comprises a set of first melting furnaces comprising two first melting furnaces and a set of second melting furnaces comprising two second melting furnaces, each of said set of first melting furnaces and said set of second melting furnaces comprising a tundish car and two centrifuges.
3. The automatic production line of centrifugal cast tubes according to claim 1, wherein the tube drawing robot comprises a tube drawing mechanism, a cleaning mechanism, a spraying mechanism, a trolley mechanism and a tube storage mechanism, wherein the tube drawing mechanism, the cleaning mechanism and the spraying mechanism share a zero point in the X direction.
4. An automated production line for centrifugally cast pipes according to claim 1 wherein the boring robot comprises a pipe-up robot and a pipe-down robot, the pipe-down robot having a higher priority than the pipe-up robot.
5. The automated production line for centrifugally cast pipes of claim 1, wherein the running robot comprises a first beam, a second beam and a third beam, which are respectively responsible for running the feeding and discharging of the cutting head, the double-head lathe and the laser marking machine.
6. The automatic production line of centrifugal cast tubes as claimed in claim 1, wherein the hopper of said feeder robot contains a maximum amount of charge material of 500 KG.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920380852.6U CN210231519U (en) | 2019-03-25 | 2019-03-25 | Automatic production line of centrifugal cast pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920380852.6U CN210231519U (en) | 2019-03-25 | 2019-03-25 | Automatic production line of centrifugal cast pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210231519U true CN210231519U (en) | 2020-04-03 |
Family
ID=69961456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920380852.6U Active CN210231519U (en) | 2019-03-25 | 2019-03-25 | Automatic production line of centrifugal cast pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210231519U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109926574A (en) * | 2019-03-25 | 2019-06-25 | 江苏宇观智能科技有限公司 | A kind of automatic assembly line and production method of spun cast pipe |
| CN111872343A (en) * | 2020-07-27 | 2020-11-03 | 共享智能铸造产业创新中心有限公司 | Drop pipe scheduling system and management control method thereof |
-
2019
- 2019-03-25 CN CN201920380852.6U patent/CN210231519U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109926574A (en) * | 2019-03-25 | 2019-06-25 | 江苏宇观智能科技有限公司 | A kind of automatic assembly line and production method of spun cast pipe |
| CN111872343A (en) * | 2020-07-27 | 2020-11-03 | 共享智能铸造产业创新中心有限公司 | Drop pipe scheduling system and management control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6059011A (en) | Low pressure die-casting plant with improved production capacity | |
| CN111730051B (en) | Automatic production line for casting zinc alloy | |
| CN210231519U (en) | Automatic production line of centrifugal cast pipe | |
| CN109926574A (en) | A kind of automatic assembly line and production method of spun cast pipe | |
| US6725903B2 (en) | Automated casting system | |
| CN106312086A (en) | Push-rod furnace intelligent loading and unloading system | |
| US7475716B2 (en) | Foundry mold handling system with multiple dump outputs and method | |
| US11951541B2 (en) | Robotized ladle turret system | |
| CN108817356B (en) | Casting equipment | |
| CN116329513B (en) | Control system of multi-station rotor core centrifugal casting production equipment | |
| CN210945815U (en) | Rare earth smelting production line | |
| TW201840377A (en) | System for detecting causes of abnormalities in plurality of devices constituting casting equipment | |
| CN208583965U (en) | A kind of cinder ladle cast gate of long casting automatically removes device | |
| CN216656332U (en) | Metal casting equipment | |
| US2873716A (en) | Apparatus for lining centrifugal casting molds | |
| CN208413279U (en) | A kind of intelligence boat shedding mechanism | |
| CN111906293B (en) | Full-automatic diesel engine pouring production line | |
| JP4156263B2 (en) | Pouring method and pouring system in centrifugal casting equipment | |
| CN114313504A (en) | Automatic integrated packaging production line and system for finished magnesite | |
| RU2818157C1 (en) | Ladle transfer robot system with built-in manipulator | |
| CN221460203U (en) | Automatic production line for crucible fusion forming | |
| CN114518058B (en) | Automatic production line and production method for civil explosive product explosive column | |
| CN110479974A (en) | A kind of fast quick change slag method of continuous cast mold automatic slag adding machine | |
| CN108687675B (en) | Cleaning and conveying production process for cylinder cover casting of environment-friendly vehicle diesel engine | |
| CN212634305U (en) | Long nozzle changing platform of double-flow bale robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220330 Address after: 200335 6th floor, No.3 Lane 268, Linxin Road, Changning District, Shanghai Patentee after: SHANGHAI SUPEZET ENGINEERING TECHNOLOGY Co.,Ltd. Patentee after: Beijing Jike automation equipment Co., Ltd Address before: 214500 Wanfugang Road, Jingjiang Economic Development Zone, Taizhou City, Jiangsu Province Patentee before: JIANGSU YUGUAN INTELLIGENT TECHNOLOGY CO.,LTD. Patentee before: Beijing Jike automation equipment Co., Ltd |