CN105345039B - Forward type numerically controlled lathe automatic Feeder Manipulator system - Google Patents
Forward type numerically controlled lathe automatic Feeder Manipulator system Download PDFInfo
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- CN105345039B CN105345039B CN201510892916.7A CN201510892916A CN105345039B CN 105345039 B CN105345039 B CN 105345039B CN 201510892916 A CN201510892916 A CN 201510892916A CN 105345039 B CN105345039 B CN 105345039B
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- rewinding
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2707/00—Automatic supply or removal of metal workpieces
- B23Q2707/003—Automatic supply or removal of metal workpieces in a lathe
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Turning (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
The present invention relates to a kind of forward type numerically controlled lathe automatic Feeder Manipulator systems, including rack, in machine frame inside Automatic-feeding unit, X-axis mechanical arm unit, Y-axis mechanical arm unit, Z axis mechanical arm unit and pneumatic clamper unit, X-axis mechanical arm unit includes X-axis arm component, X-axis slide block connecting plate is equipped on X-axis arm component, X-axis servomotor component is equipped on X-axis slide block connecting plate；Y-axis mechanical arm unit includes Y-axis arm component, and Y-axis slider connecting plate is equipped on Y-axis arm component, and Y-axis servomotor component is equipped on Y-axis arm component；Z axis mechanical arm unit includes Z axis slider connecting plate, and Z axis arm component and Z axis servomotor component are equipped on Z axis slider connecting plate.After employing said structure, Automatic-feeding, feeding, being integrated of blanking are realized, it is compact-sized, floor space is reduced, feeding structure is solved and is separated with feeding and baiting structure, production efficiency is high, high degree of automation.
Description
Technical field
The present invention relates to machinery productions and manufacturing automation field, are supplied automatically more particularly, to a kind of forward type numerically controlled lathe
Expect arm-and-hand system.
Background technology
In cost of labor increasingly increased today, in order to reduce the production cost of product, enterprise is forced to update and transform
Process equipment improves the processing efficiency and the degree of automation of equipment, to reduce recruitment cost, improves production efficiency.Existing market
On numerically controlled lathe can realize automation processing, and the heavy underaction of the robot manipulator structure of its loading and unloading design, peace
Dress trouble, and loading and unloading are individually to separate with feed, it is low so as to cause feed efficiency, reduce production efficiency.
The content of the invention
The technical problems to be solved by the invention, which are to provide, a kind of facilitates loading and unloading and feed to improve efficiency and installation side
Just flexible forward type numerically controlled lathe automatic Feeder Manipulator system is moved.
The technical scheme adopted by the invention to solve the technical problem is that：A kind of forward type numerically controlled lathe Automatic-feeding machinery
Including rack, in the machine frame inside Automatic-feeding unit, X-axis mechanical arm is equipped in the upper rack for hand system
Unit is equipped with Y-axis mechanical arm unit on the X-axis mechanical arm unit, is set on the Y-axis mechanical arm unit
There is Z axis mechanical arm unit, pneumatic clamper unit, the X-axis mechanical arm unit are equipped on the Z axis mechanical arm unit
X-axis arm component including being mounted on rack upper top is equipped with X-axis slide block connecting plate, in institute on the X-axis arm component
The X-axis slide block connecting plate stated is equipped with X-axis servomotor component；The Y-axis mechanical arm unit includes being connected with X-axis slide block
The fixed Y-axis arm component of plate is equipped with Y-axis slider connecting plate, in the Y-axis arm group on the Y-axis arm component
Part is equipped with Y-axis servomotor component；The Z axis mechanical arm unit includes and the fixed Z axis sliding block of Y-axis slider connecting plate
Connecting plate is equipped with Z axis arm component and Z axis servomotor component on the Z axis slider connecting plate.
It is described further specifically, the Automatic-feeding unit includes feed device, material collecting device and moves material device
Feed device include being fixed on the feeding retarder bearing of bottom of the frame, feeding is equipped on the feeding retarder bearing
Retarder, a feed screw is equipped on the feeding retarder vertically, and the feeding retarder passes through feeding servomotor
Driving is equipped with feed screw nut on the feed screw, and the feed screw nut is equipped with feeding cartridge holder,
Magazine is set in the feeding cartridge holder, one feeding guiding axis is respectively set in the feed screw both sides, described
Feeding guiding axis be equipped with feeding linear bearing, the feeding linear bearing is fixed in feeding cartridge holder.
Further specifically, the material collecting device includes the rewinding retarder bearing for being fixed on bottom of the frame, described
Rewinding retarder bearing be equipped with rewinding retarder, a rewinding leading screw is equipped on the rewinding retarder vertically, it is described
Rewinding retarder is driven by rewinding servomotor, and rewinding feed screw nut, the rewinding are equipped on the rewinding leading screw
Feed screw nut is equipped with rewinding cartridge holder, magazine is set in the rewinding cartridge holder, in the rewinding leading screw two
Side respectively sets a rewinding guiding axis, and rewinding linear bearing, the rewinding linear bearing are equipped on the rewinding guiding axis
It is fixed in rewinding cartridge holder.
Further specifically, the shifting material device includes two parallel shifting material guide rails for being fixed on central rack,
Shifting material guide rail described in two, which is equipped with, is respectively provided with a guide rail slide block, and a push rod branch is equipped on the guide rail slide block described in two
Seat is equipped with push rod between the handspike bearing described in two, and positioning plate difference is equipped on the handspike bearing described in two
For left positioning plate and right positioning plate, a clamping plate is equipped on the handspike bearing described in two, on the left positioning plate and the right side
A shifting material cylinder is equipped on positioning plate to be connected with clamping plate, is equipped on the right positioning plate and is moved material nut connecting plate, in institute
The central rack stated is fixed with shifting material leading screw, is equipped in one end of the shifting material leading screw and moves material servomotor, described
It moves material leading screw and is equipped with to move and expect feed screw nut, the shifting material feed screw nut is fixed with moving material nut connecting plate.
Further specifically, the pneumatic clamper unit includes the pneumatic clamper fixing piece for being fixed on Z axis arm component bottom, in institute
The pneumatic clamper fixing piece stated is equipped with a rotary cylinder, pneumatic clamper connector is equipped on the rotary cylinder, in the pneumatic clamper
Connector is equipped with the first pneumatic clamper and the second pneumatic clamper.
The beneficial effects of the invention are as follows：After employing said structure, Automatic-feeding, feeding, being integrated of blanking are realized,
It is compact-sized, floor space is reduced, easy for installation, flexible movements solve current feeding structure with feeding structure and baiting structure
Separation, possesses anticollision detection, and securely and reliably, production efficiency is high, and high degree of automation reduces production cost.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the main structure diagram of the present invention；
Fig. 3 is the side structure schematic view of the present invention.
In figure：A, Automatic-feeding unit；B, X-axis mechanical arm unit；C, Y-axis mechanical arm unit；D, Z axis mechanical arm
Unit；E, pneumatic clamper unit；1st, rack；2nd, feeding retarder；3rd, feeding cartridge holder；4th, magazine；5th, material guide rail is moved；6th, guide rail is slided
Block；7th, material nut connecting plate is moved；8th, right positioning plate；9th, handspike bearing；10th, pneumatic clamper fixing piece；11st, Y-axis arm component；12nd, X-axis
Slider connecting plate；13rd, X-axis arm component；14th, Z axis arm component；15th, Y-axis slider connecting plate；16th, rotary cylinder；17th, second
Pneumatic clamper；18th, the first pneumatic clamper；19th, left positioning plate；20th, clamping plate；21st, push rod；22nd, material leading screw is moved；23rd, rewinding retarder；24th, move
Expect servomotor；25th, rewinding feed screw nut；26th, rewinding linear bearing；27th, rewinding cartridge holder；28th, rewinding guiding axis；29、
Rewinding leading screw；30th, rewinding servomotor；31st, feeding servomotor；32nd, feed screw；33rd, feeding guiding axis；34th, feeding silk
Thick stick nut；35th, feeding linear bearing；36th, material feed screw nut is moved；37th, feeding retarder bearing；38th, material cylinder is moved；39th, Z axis is slided
Block connecting plate；40th, Z axis servomotor component；41st, rewinding retarder bearing；42nd, pneumatic clamper connector.
Specific embodiment
The present invention is explained in detail below in conjunction with the accompanying drawings.
A kind of forward type numerically controlled lathe automatic Feeder Manipulator system as shown in FIG. 1 to 3, including rack 1, described
1 inside Automatic-feeding unit A of rack is equipped with X-axis mechanical arm unit B on 1 top of rack, in the X-axis machinery
Hand unit B is equipped with Y-axis mechanical arm unit C, and Z axis mechanical arm unit is equipped on the Y-axis mechanical arm unit C
D, is equipped with pneumatic clamper unit E in the Z axis mechanical arm cells D, and the X-axis mechanical arm unit B includes being mounted on machine
The X-axis arm component 13 of 1 upper top of frame is equipped with X-axis slide block connecting plate 12, in the X on the X-axis arm component 13
Axis slider connecting plate 12 is equipped with X-axis servomotor component；The Y-axis mechanical arm unit C includes and X-axis slide block connecting plate
12 fixed Y-axis arm components 11 are equipped with Y-axis slider connecting plate 15, in the Y-axis on the Y-axis arm component 11
Arm component 11 is equipped with Y-axis servomotor component；The Z axis mechanical arm cells D includes solid with Y-axis slider connecting plate 15
Fixed Z axis slider connecting plate 39 is equipped with Z axis arm component 14 and Z axis servomotor on the Z axis slider connecting plate 39
Component 40.
Automatic-feeding unit A includes feed device, material collecting device and moves material device, and the feed device includes fixing
Feeding retarder bearing 37 in 1 bottom of rack is equipped with feeding retarder 2 on the feeding retarder bearing 37, described
Feeding retarder 2 on be equipped with a feed screw 32 vertically, the feeding retarder 2 driven by feeding servomotor 31,
Feed screw nut 34 is equipped on the feed screw 32, the feed screw nut 34 is equipped with feeding cartridge holder
3, magazine 4 in the feeding cartridge holder 3 is set, one feeding guiding axis is respectively set in 32 both sides of feed screw
33, feeding linear bearing 35 is equipped on the feeding guiding axis 33, the feeding linear bearing 35 is fixed on feeding material
On box support 3；Material collecting device includes the rewinding retarder bearing 41 for being fixed on 1 bottom of rack, in the rewinding retarder branch
Seat 41 is equipped with rewinding retarder 23, is equipped with a rewinding leading screw 29 vertically on the rewinding retarder 23, the rewinding subtracts
Fast device 23 is driven by rewinding servomotor 30, and rewinding feed screw nut 25, the receipts are equipped on the rewinding leading screw 29
Expect that feed screw nut 25 is equipped with rewinding cartridge holder 27, magazine 4 is set in the rewinding cartridge holder 27, in the receipts
Expect that 29 both sides of leading screw respectively set a rewinding guiding axis 28, rewinding linear bearing 26, institute are equipped on the rewinding guiding axis 28
The rewinding linear bearing 26 stated is fixed in rewinding cartridge holder 27；Two that material device includes being fixed in the middle part of rack 1 are moved to put down
Capable shifting material guide rail 5 is equipped on the shifting material guide rail 5 described in two and is respectively provided with a guide rail slide block 6, slided in the guide rail described in two
A handspike bearing 9 is equipped on block 6, push rod 21 is equipped between the handspike bearing 9 described in two, in the push rod branch described in two
It is respectively left positioning plate 19 and right positioning plate 8 to be equipped with a positioning plate on seat 9, is equipped on the handspike bearing 9 described in two
One clamping plate 20 is equipped with a shifting material cylinder 38 on the left positioning plate 19 and right positioning plate 8 and is connected with clamping plate 20, described
Right positioning plate 8 be equipped with and move material nut connecting plate 7, shifting material leading screw 22 is fixed at 1 middle part of the rack, described
The one end for moving material leading screw 22 is equipped with shifting material servomotor 24, is equipped on the shifting material leading screw 22 and moves material feed screw nut 36, institute
The shifting material feed screw nut 36 stated is fixed with moving material nut connecting plate 7.
Pneumatic clamper unit E includes the pneumatic clamper fixing piece 10 for being fixed on 14 bottom of Z axis arm component, in the pneumatic clamper fixing piece
10 are equipped with a rotary cylinder 16, pneumatic clamper connector 42 are equipped on the rotary cylinder 16, in the pneumatic clamper connector
42 are equipped with the first pneumatic clamper 18 and the second pneumatic clamper 17.
Forward type numerically controlled lathe automatic Feeder Manipulator system operation acts principle is,
Feed device：Feeding servomotor 31 drives feed screw 32 to rotate by feeding retarder 2 so that feed screw
Nut 34, which is realized, to move up and down, and for feeding linear bearing 35 by being threadably mounted in feeding cartridge holder 3, feeding guiding axis 33 is solid
It is scheduled in rack 1, feeding cartridge holder 3 moves up and down with its feed screw nut 34, and magazine 4 is placed on feeding cartridge holder
On 3, magazine 4 is sent to designated position by feed screw 32.
Move material device：Moving the material stretching of cylinder 38 promotes clamping plate 20 mobile to centre, magazine 4 is clamped, under feed screw 32
Certain distance drops；It moves material servomotor 24 and drives to move and expect that leading screw 22 rotates, move material feed screw nut 36 and realize horizontal reciprocating movement, it is right
Positioning plate 8 is connected by moving material nut connecting plate 7 with moving material feed screw nut 36, is moved material cylinder 38 and is mounted on left positioning plate 19 and the right side
On positioning plate 8, push rod 21 is linked together left positioning plate 19 and right positioning plate 8 by handspike bearing 9, expects leading screw spiral shell with moving
Mother 36 does horizontal reciprocating movement, and magazine 4 is sent to designated position.
X-axis mechanical arm unit B：X-axis servomotor component drives X-axis arm component 13 to move so that X-axis slide block connects
Plate 12 does horizontal reciprocating movement with it.
Y-axis mechanical arm unit C：Y-axis servomotor component drives Y-axis arm component 11 to move so that Y-axis sliding block connects
Plate 15 does horizontal reciprocating movement with it.
Z axis mechanical arm cells D：Together with Z axis slider connecting plate 39 is bolted with Y-axis slider connecting plate 15, Z
Axis arm component 14 is linked together by Z axis slider connecting plate 39 and Y-axis slider connecting plate 15, with doing horizontal reciprocating fortune
It is dynamic, the discharge position of 4 top of magazine is moved to, Z axis servomotor component 40 drives Z axis arm component 14 to move up and down, under
Drop to the discharge position of magazine 4.
Pneumatic clamper unit E：First pneumatic clamper 18 takes workpiece away, is sent at lathe spindle processing, and the second pneumatic clamper 17 will process
Workpiece take away, rotary cylinder 16 is rotated by 90 °, and workpiece is sent at chuck by the first pneumatic clamper 18, and the second pneumatic clamper 17 is with processing
Workpiece, return to magazine 4, the workpiece processed be placed on the position of workpiece originally, the first pneumatic clamper 18 takes workpiece again, action
It is reciprocal to carry out.
Move material device：After whole box work pieces process is good, moves material leading screw 22 and magazine 4 be sent to 27 top of rewinding cartridge holder,
It moves material cylinder 38 to shrink, clamping plate 20 is moved to both sides, unclamps magazine 4, and magazine 4 is placed in rewinding cartridge holder 27.
Material collecting device：Material collecting device structure passes through rewinding leading screw 29, rewinding feed screw nut as the structure of feed device
25th, rewinding guiding axis 28, rewinding linear bearing 26 catch magazine 4, decline certain distance, fixed with a left side with time shift material leading screw 22
Position plate 19 and right positioning plate 8 return to 3 top of feeding cartridge holder, and feed screw 32 rises the magazine 4 in feeding cartridge holder 3
To designated position.
Fully automatic feeding operation can be completed in above-mentioned actuation cycle.
It is emphasized that：It the above is only presently preferred embodiments of the present invention, not the present invention made in any form
Limitation, any simple modification, equivalent change and modification that every technical spirit according to the invention makees above example,
In the range of still falling within technical solution of the present invention.
Claims (2)
1. a kind of forward type numerically controlled lathe automatic Feeder Manipulator system, including rack, in the rack（1）Internal automatic confession
Material unit（A）, in the rack（1）Top is equipped with X-axis mechanical arm unit（B）, in the X-axis mechanical arm unit
（B）It is equipped with Y-axis mechanical arm unit（C）, in the Y-axis mechanical arm unit（C）It is equipped with Z axis mechanical arm unit
（D）, in the Z axis mechanical arm unit（D）It is equipped with pneumatic clamper unit（E）, which is characterized in that the X-axis mechanical arm
Unit（B）Including being mounted on rack（1）The X-axis arm component of upper top（13）, in the X-axis arm component（13）It is equipped with
X-axis slide block connecting plate（12）, in the X-axis slide block connecting plate（12）It is equipped with X-axis servomotor component；The Y-axis machine
Tool hand unit（C）Including with X-axis slide block connecting plate（12）Fixed Y-axis arm component（11）, in the Y-axis arm component
（11）It is equipped with Y-axis slider connecting plate（15）, in the Y-axis arm component（11）It is equipped with Y-axis servomotor component；It is described
Z axis mechanical arm unit（D）Including with Y-axis slider connecting plate（15）Fixed Z axis slider connecting plate（39）, in the Z
Axis slider connecting plate（39）It is equipped with Z axis arm component（14）And Z axis servomotor component（40）；The Automatic-feeding list
Member（A）Including feed device, material collecting device and material device is moved, the feed device includes being fixed on rack（1）Bottom
Feeding retarder bearing（37）, in the feeding retarder bearing（37）It is equipped with feeding retarder（2）, the feeding subtracts
Fast device（2）It is upper to be equipped with a feed screw vertically（32）, the feeding retarder（2）Pass through feeding servomotor（31）Driving,
In the feed screw（32）It is equipped with feed screw nut（34）, the feed screw nut（35）It is equipped with feeding material
Box support（3）, in the feeding cartridge holder（3）Upper setting magazine（4）, in the feed screw（32）Both sides are respectively set
One feeding guiding axis（33）, in the feeding guiding axis（33）It is equipped with feeding linear bearing（35）, the feeding straight line
Bearing（35）It is fixed on feeding cartridge holder（3）On；The pneumatic clamper unit（E）Including being fixed on Z axis arm component（14）Bottom
The pneumatic clamper fixing piece in portion（10）, in the pneumatic clamper fixing piece（10）It is equipped with a rotary cylinder（16）, in the rotary pneumatic
Cylinder（16）It is equipped with pneumatic clamper connector（42）, in the pneumatic clamper connector（42）It is equipped with the first pneumatic clamper（18）With the second pneumatic clamper
（17）;The shifting material device includes being fixed on rack（1）Two parallel shifting material guide rails at middle part（5）, described in two
Move material guide rail（5）It is equipped with and is respectively provided with a guide rail slide block（6）, in the guide rail slide block described in two（6）On be equipped with a push rod branch
Seat（9）, in the handspike bearing described in two（9）Between be equipped with push rod（21）, in the handspike bearing described in two（9）On be equipped with
One positioning plate is respectively left positioning plate（19）With right positioning plate（8）, in the handspike bearing described in two（9）On be equipped with a clamping plate
（20）, in the left positioning plate（19）With right positioning plate（8）On be equipped with a shifting material cylinder（38）With clamping plate（20）Connection,
The right positioning plate（8）It is equipped with and moves material nut connecting plate（7）, in the rack（1）Middle part is fixed with shifting material leading screw
（22）, in the shifting material leading screw（22）One end be equipped with move material servomotor（24）, in the shifting material leading screw（22）On set
There is shifting material feed screw nut（36）, the shifting material feed screw nut（36）Expect nut connecting plate with moving（7）It is fixed.
2. forward type numerically controlled lathe automatic Feeder Manipulator system according to claim 1, which is characterized in that the receipts
Material device includes being fixed on rack（1）The rewinding retarder bearing of bottom（41）, in the rewinding retarder bearing（41）On
Equipped with rewinding retarder（23）, the rewinding retarder（23）It is upper to be equipped with a rewinding leading screw vertically（29）, the rewinding subtracts
Fast device（23）Pass through rewinding servomotor（30）Driving, in the rewinding leading screw（29）It is equipped with rewinding feed screw nut（25）,
The rewinding feed screw nut（25）It is equipped with rewinding cartridge holder（27）, in the rewinding cartridge holder（27）It is upper that material is set
Box（4）, in the rewinding leading screw（29）Both sides respectively set a rewinding guiding axis（28）, in the rewinding guiding axis（28）On
Equipped with rewinding linear bearing（26）, the rewinding linear bearing（26）It is fixed on rewinding cartridge holder（27）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510892916.7A CN105345039B (en) | 2015-12-08 | 2015-12-08 | Forward type numerically controlled lathe automatic Feeder Manipulator system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510892916.7A CN105345039B (en) | 2015-12-08 | 2015-12-08 | Forward type numerically controlled lathe automatic Feeder Manipulator system |
Publications (2)
| Publication Number | Publication Date |
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| CN105345039A CN105345039A (en) | 2016-02-24 |
| CN105345039B true CN105345039B (en) | 2018-06-05 |
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| CN201510892916.7A Active CN105345039B (en) | 2015-12-08 | 2015-12-08 | Forward type numerically controlled lathe automatic Feeder Manipulator system |
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| CN105598476A (en) * | 2016-03-16 | 2016-05-25 | 温州职业技术学院 | Robot-assisted numerical control full-automatic production line |
| CN105881010A (en) * | 2016-04-25 | 2016-08-24 | 苏州达恩克精密机械有限公司 | Position changing device for automobile exhaust pipe assembling machine |
| CN105945635A (en) * | 2016-06-16 | 2016-09-21 | 苏州红松江精密机械设备有限公司 | Machine tool loading unloading mechanical hand, multi-machine tool linked loading unloading system and method |
| CN106312504B (en) * | 2016-11-04 | 2018-07-27 | 芜湖航天特种电缆厂股份有限公司 | The feeding manipulator of retaining ring feed mechanism |
| CN106334918B (en) * | 2016-11-04 | 2018-07-27 | 芜湖航天特种电缆厂股份有限公司 | Retaining ring feed mechanism |
| CN107443079A (en) * | 2017-09-25 | 2017-12-08 | 福建工程学院 | Digit Control Machine Tool with work compound robot |
| CN109927019A (en) * | 2018-05-04 | 2019-06-25 | 上海翼人机器人有限公司 | A kind of three freedom degree manipulator of quick-replaceable motor |
| CN111215712A (en) * | 2018-11-23 | 2020-06-02 | 北京沃尔德金刚石工具股份有限公司 | Automatic loading and unloading device and control method thereof |
| CN109648102A (en) * | 2019-02-19 | 2019-04-19 | 黄河水利职业技术学院 | A kind of Full-automatic numerical-control lathe manipulator |
| CN110976921A (en) * | 2019-12-19 | 2020-04-10 | 佛山市铭柯智能设备科技有限公司 | Feeding and discharging mechanical arm for lathe |
| CN111069632B (en) * | 2020-02-28 | 2021-06-15 | 众智机械(临沂)有限公司 | Gantry type lathe manipulator |
| CN114227480A (en) * | 2021-12-11 | 2022-03-25 | 宇晶机器（长沙）有限公司 | Multi-station automatic polishing machine |
| CN114535714A (en) * | 2022-04-25 | 2022-05-27 | 深圳市国天电子股份有限公司 | High-precision machining equipment and method for vehicle-mounted millimeter radar cover |
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| CN103009173B (en) * | 2012-12-31 | 2015-08-19 | 合肥工业大学 | Disk-like accessory five axle auto-duplex position charging and discharging mechanism |
| CN103817351B (en) * | 2013-06-28 | 2016-03-02 | 宁波精益微型轴有限公司 | A kind of modularization turnery processing automatic production line |
| CN104289962B (en) * | 2014-10-09 | 2016-07-06 | 苏州市职业大学 | The circular saw bit supply of the automatic reaming device of circular saw bit centre bore and reception device |
| CN205324738U (en) * | 2015-12-08 | 2016-06-22 | 苏州三孚自动化科技有限公司 | Forward type numerical control lathe automatic feed arm -and -hand system |
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| CN105345039A (en) | 2016-02-24 |
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