CN110682143A - Automatic tool changing device for spacer bush cutter - Google Patents
Automatic tool changing device for spacer bush cutter Download PDFInfo
- Publication number
- CN110682143A CN110682143A CN201911034849.XA CN201911034849A CN110682143A CN 110682143 A CN110682143 A CN 110682143A CN 201911034849 A CN201911034849 A CN 201911034849A CN 110682143 A CN110682143 A CN 110682143A
- Authority
- CN
- China
- Prior art keywords
- receiving device
- material receiving
- tool
- cutter
- moving
- 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.)
- Granted
Links
- 125000006850 spacer group Chemical group 0.000 title claims abstract description 57
- 239000000463 material Substances 0.000 claims abstract description 251
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 230000007704 transition Effects 0.000 claims description 47
- 230000007246 mechanism Effects 0.000 claims description 27
- 238000003860 storage Methods 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 210000001503 joint Anatomy 0.000 claims description 7
- 238000009826 distribution Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 13
- 238000010008 shearing Methods 0.000 description 8
- 238000001514 detection method Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000007599 discharging Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000011232 storage material Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/15513—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being taken from a storage device and transferred to a tool holder by means of transfer devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses an automatic tool changer for a spacer bush tool, which belongs to the technical field of transformer manufacturing, and comprises the following components: the tool magazine is connected with the cutter feeding device through the cutter moving portal frame mechanical arm, the first material receiving device is connected with the second material receiving device in an inserting mode, the second material receiving device is connected with the third material receiving device in an inserting mode, the fourth material receiving device is located on the side face of the third material receiving device, and the fourth material receiving device is connected with the third material receiving device in an inserting mode in the radial direction of the third material receiving device. The precision is high in the motion process; the cutter taking device can take a plurality of blades or spacer bushes at one time, can take the lower blades when the cutter taking device is turned into a rotating device, and has compact working beat and high efficiency. The automation degree of the equipment is improved, and the investment of the automation upgrading cost is reduced.
Description
Technical Field
The invention belongs to the technical field of transformer manufacturing, and particularly relates to an automatic tool changing device for a spacer bush tool.
Background
Strip material is generally sheared in a rolling shearing mode of a sleeve cutter in a plate shearing line, and the strip material is divided into a plurality of narrow materials. However, most scissors are manually assembled by workers, the workers manually assemble the spacers and the blades one by one to complete the assembly, and the working efficiency is low and the working strength is high.
At present, a small part of the shearing line adopts automatic tool changing equipment, but most of the automatic tool changing equipment is an open type automatic tool changing structure, the occupied area is large, and the automatic tool changing equipment is not suitable for the shearing line used at present. If the whole line is replaced, the plant layout needs to be redesigned, and the price is high.
Disclosure of Invention
The invention provides an automatic tool changing device for a spacer bush tool, which aims to solve the problems and solve the problems that at present, a small part of a shearing line adopts automatic tool changing equipment, but most of the automatic tool changing equipment adopts an open type automatic tool changing structure, the occupied area is large, and the automatic tool changing device is not suitable for the shearing line used at present. If the whole line is replaced, the plant layout needs to be redesigned, and the cost is high.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an automatic tool changer for a spacer cutter, comprising:
a tool magazine, the tool magazine comprising:
the three-dimensional warehouse 3-4 is provided with a plurality of storage positions;
the three-axis portal frame mechanical arm 1 is arranged on the three-dimensional warehouse 3-4;
the cutter taking device 2 is arranged at the end part of a manipulator of the three-axis portal frame mechanical arm 1;
a plurality of material storage positions of the three-dimensional warehouse 3-4 are all in the range of a manipulator of the three-axis portal frame mechanical arm 1;
the end part of the mechanical arm of the knife-moving portal frame mechanical arm 4 is provided with a knife-moving swing mechanism 5-1 and an excessive knife shaft 5-2, and the excessive knife shaft 5-2 is connected with the knife-moving portal frame mechanical arm 4 through the knife-moving swing mechanism 5-1;
a blade feeding device, the blade feeding device comprising:
a frame body 6-1;
a lateral moving device 7-1;
a longitudinal moving device 6-2;
moving a blade 7-2;
the longitudinal moving device 6-2 is connected to the frame body 6-1, the transverse moving device 7-1 is arranged on the longitudinal moving device 6-2, and the moving blade 7-2 is arranged at the end part of the transverse moving device 7-1;
the tool magazine is connected with the upper tool device through a tool moving gantry mechanical arm 4, the three-axis gantry mechanical arm 1 in the tool magazine is in butt joint with the tool moving gantry mechanical arm 4, and the tool moving gantry mechanical arm 4 is in butt joint with a tool moving blade 7-2.
Every storage material position has the first receiving device who is used for depositing the cutter, gets 2 tip of sword device and has the second receiving device that is used for taking the cutter off from first receiving device, and excessive arbor 5-2 tip has the third receiving device that is used for taking the cutter off from second receiving device, moves blade 7-2 tip and has the fourth receiving device that is used for taking the cutter off from the third device, first receiving device with second receiving device plug-in connection, second receiving device with third receiving device plug-in connection, fourth receiving device is located third receiving device's side, fourth receiving device is plug-in connection with third receiving device in third receiving device's radial direction.
The tool moving portal frame mechanical arm 4 is a linear conveying device, a conveying end of the linear conveying device is connected with the transition cutter shaft 5-2 through a cutter moving rotating mechanism 5-1, the position of the transition cutter shaft 5-2 is provided with a first position and a second position, the transition cutter shaft 5-2 is switched between the first position and the second position through the cutter moving rotating mechanism 5-1, when the transition cutter shaft 5-2 is located at the first position, the transition cutter shaft 5-2 faces the tool magazine, a third material receiving device on the transition cutter shaft 5-2 is coaxial with a second material receiving device, when the transition cutter shaft 5-2 is located at the second position, the transition cutter shaft 5-2 faces the cutter upward, and the third material receiving device on the transition cutter shaft 5-2 is perpendicular to the fourth material receiving device.
The cutter taking device 2 comprises a spacer sleeve cutter magazine taking device and a rotary mechanism 2-1, and the spacer sleeve cutter magazine taking device is connected with the end part of a manipulator of the three-axis portal frame mechanical arm 1 through the rotary mechanism 2-1.
The spacer tool magazine taking device comprises an installation frame 100, a material pushing device, a material distributing device 2-2 and a material receiving device 2-3, wherein the material pushing device comprises a first telescopic device and a material pushing plate 300, and the installation frame 100 is connected with the material pushing plate 300 through the telescopic device; the material distribution device 2-2 comprises a second telescopic device and an extensible part 500, the mounting frame 100 is connected with the extensible part 500 through the second telescopic device, and the extensible part 500 is located at the end part of the second telescopic device; the material receiving device 2-3 is connected with the mounting frame 100 through the material pushing device, the material distributing device 2-2 is arranged on one side of the material receiving device 2-3, the stretching direction of the material distributing device 2-2 is the same as that of the material pushing device, and the stretching direction of the extensible piece 500 faces towards the material receiving device 2-3.
A distance detection device 600 is arranged between the mounting frame 100 and the material pushing plate 300, the distance detection device 600 is fixed on the mounting frame 100, and a detection port of the distance detection device 600 is opposite to the material pushing plate 300; and the second telescopic device is provided with a displacement sensor, and the displacement sensor is arranged between the body and the telescopic end of the second telescopic device.
The three-dimensional warehouse 3-4 comprises strip-shaped frame bodies 3-2 and hangers 3-1, wherein the strip-shaped frame bodies 3-2 are arranged side by side on a plane, each strip-shaped frame body 3-2 is provided with a plurality of hangers 3-1, and the hangers 3-1 on the strip-shaped frame bodies 3-2 are arranged in a matrix in the plane.
The first material receiving device comprises a first hanging rod and a second hanging rod, a distance is reserved between the first hanging rod and the second hanging rod, and the relative positions of the first hanging rod and the second hanging rod are fixed; the second material receiving device is a strip body, and when the first material receiving device is connected with the second material receiving device in an inserting mode, the strip body extends into a position between the first hanging rod and the second hanging rod.
The third material receiving device is cylindrical or cylindrical, a groove is formed in the upper end of the third material receiving device, the length direction of the groove is the same as that of the strip body, when the second material receiving device is connected with the third material receiving device in an inserting mode, the strip body is inserted into the groove, and when the strip body is inserted into the groove, a distance is formed between the bottom of the strip body and the bottom of the groove.
The fourth material receiving device is a sheet-shaped body, a semicircular notch is formed in the end portion of the sheet-shaped body, and when the sheet-shaped body is connected with the third material receiving device in an inserting mode in the radial direction of the third material receiving device, the cylindrical or cylindrical third material receiving device enters the semicircular notch of the sheet-shaped body.
The automatic tool changing device has the advantages that the three-dimensional tool magazine is adopted for placing the spacer bushes and the blades in a classified manner, so that the occupied area is saved; the cutter taking device is connected to the multi-degree-of-freedom portal frame mechanical arm to take cutters, a certain thickness is arranged, the cutters are turned into the turning transition device, and then the cutters are loaded into the cutter shaft through the turning transition device; the gantry type mechanical arm is high in strength and high in precision in the movement process; the cutter taking device can take a plurality of blades or spacer bushes at one time, can take the lower blades when the cutter taking device is turned into a rotating device, and has compact working beat and high efficiency. The automation degree of the equipment is improved, and the investment of the automation upgrading cost is reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of an automatic tool changer for a spacer tool according to the present invention;
FIG. 2 is a schematic view of the overall structure from another perspective of FIG. 1;
FIG. 3 is a schematic front view of a three-dimensional library;
fig. 4 is a schematic view of the overall structure of the spacer magazine material taking device.
Description of reference numerals: 1. a three-axis gantry mechanical arm; 2. a knife taking device; 2-1, a slewing mechanism; 2-2, a material distributing device; 2-3, a material receiving device; 3. a tool magazine; 3-1, hanging racks; 3-2, strip-shaped frame bodies; 3-3, a cutter; 3-4, a stereo library; 4. a cutter moving portal frame mechanical arm; 5. a swing transition device; 5-1, moving a cutter rotating mechanism; 5-2, transition cutter shaft; 6. an upper tool rest; 6-1, a frame body; 6-2, a longitudinal moving device; 7. a cutter mounting device; 7-1, a transverse moving device; 7-2, moving the blade.
Detailed Description
It should be noted that, in the embodiments of the present invention, the terms referred to are:
the first material receiving device can be used for placing, hanging or magnetically attracting a device for storing the cutter, and can be attracted by an electromagnet, placed by a material discharging groove or hung by a hanging frame 3-1 in the figure 1.
The second material receiving device is used for receiving the cutters from the first material receiving device, and particularly, when the first material receiving device stores the cutters in a placing mode, the second material receiving device is matched with the shape of the first material receiving device, and the first material receiving device is received from the bottom of the cutters or the cutters are clamped from the upper parts of the cutters; when the first material receiving device stores the cutter in a hanging mode, the second material receiving device is matched with the shape of the first material receiving device, and the cutter is received from the first material receiving device from the other receiving point of the cutter; when the first material receiving device stores the cutters in a magnetic suction mode, the second material receiving device can receive the cutters from the first material receiving device in a magnetic suction mode.
And the third material receiving device is used for receiving the cutter from the second material receiving device, and further, the specific implementation mode of the third material receiving device is the same as the matching rule of the first material receiving device and the second material receiving device.
The fourth material receiving device is used for accurately loading the cutter on the third material receiving device, in the invention, the fourth material receiving device adopts a push-in mode to load the cutter, the fourth material receiving device is positioned on the side surface of the third material receiving device, the fourth material receiving device is inserted into the bottom of the cutter on the third material receiving device from the side surface of the third material receiving device, and the fourth material receiving device pushes the cutter into the final cutter loading from the bottom of the cutter under the driving of the transverse moving device 7-1 and the longitudinal moving device 6-2.
The automatic tool changing scheme of the spacer tool provided by the embodiment of the invention is described in detail by using several specific embodiments.
Example 1
Referring to fig. 1 to 3, which are schematic diagrams illustrating an overall structure of an automatic tool changer for a spacer cutter according to an embodiment of the present invention, the automatic tool changer for a spacer cutter includes:
a tool magazine, the tool magazine comprising:
the three-dimensional warehouse 3-4 is provided with a plurality of storage positions;
the three-axis portal frame mechanical arm 1 is arranged on the three-dimensional warehouse 3-4;
the cutter taking device 2 is arranged at the end part of a manipulator of the three-axis portal frame mechanical arm 1;
a plurality of material storage positions of the three-dimensional warehouse 3-4 are all in the range of a manipulator of the three-axis portal frame mechanical arm 1;
the end part of the mechanical arm of the knife-moving portal frame mechanical arm 4 is provided with a knife-moving swing mechanism 5-1 and an excessive knife shaft 5-2, and the excessive knife shaft 5-2 is connected with the knife-moving portal frame mechanical arm 4 through the knife-moving swing mechanism 5-1;
a blade feeding device, the blade feeding device comprising:
a frame body 6-1;
a lateral moving device 7-1;
a longitudinal moving device 6-2;
moving a blade 7-2;
the longitudinal moving device 6-2 is connected to the frame body 6-1, the transverse moving device 7-1 is arranged on the longitudinal moving device 6-2, and the moving blade 7-2 is arranged at the end part of the transverse moving device 7-1;
the tool magazine is connected with the upper tool device through a tool moving gantry mechanical arm 4, the three-axis gantry mechanical arm 1 in the tool magazine is in butt joint with the tool moving gantry mechanical arm 4, and the tool moving gantry mechanical arm 4 is in butt joint with a tool moving blade 7-2.
In the above embodiment, the tools are stored in the tool magazine, as shown in fig. 3, the three-dimensional magazine 3-4 is provided with a plurality of storage locations, the tools are stored in a suspension manner in the storage locations, the three-axis gantry mechanical arm 1 can be moved to any one of the storage locations in the three-dimensional magazine 3-4, and the tools are taken down by the tool taking device 2 and provided for the next material transferring device;
the tool shifting gantry mechanical arm 4 is provided with a tool shifting slewing mechanism 5-1 and a transition tool shaft 5-2 which cooperate with each other to convey tools provided by the tool magazine to the next device, and the tool shifting gantry mechanical arm serves as a transfer mechanism;
the upper cutter device is responsible for installing cutters on the transition cutter shaft 5-2, the transverse moving device 7-1 and the longitudinal moving device 6-2 are used for accurately positioning the movable cutter 7-2, the fourth material receiving device on the movable cutter 7-2 is aligned to the cutters, and the cutters are installed in a pushing mode;
specifically, the three-axis portal frame mechanical arm 1 in the tool magazine takes the tool down from the storage position in the three-dimensional magazine 3-4, the tool is transferred to the tool moving portal frame mechanical arm 4 after being taken down, the tool moving portal frame mechanical arm 4 is transferred to the tool feeding device after receiving the tool, and the tool is aligned to the tool feeding position by the tool moving portal frame mechanical arm 4, and then the tool is finally pushed into the device to be subjected to tool feeding by the tool moving blade 7-2.
Example 2
Further, referring to fig. 1 to 3, in another embodiment of an automatic tool changer for a spacer bush tool according to the present invention, each storage location has a first material receiving device for storing tools, an end of the tool taking device 2 has a second material receiving device for taking the tools off the first material receiving device, an end of the transition cutter shaft 5-2 has a third material receiving device for taking the tools off the second material receiving device, an end of the blade moving blade 7-2 has a fourth material receiving device for taking the tools off the third material receiving device, the first material receiving device and the second material receiving device are connected in an inserting way, the second material receiving device and the third material receiving device are connected in an inserting way, the fourth material receiving device is located on the side face of the third material receiving device, and the fourth material receiving device is connected with the third material receiving device in an inserting mode in the radial direction of the third material receiving device.
In the above embodiment, the specific first material receiving device is located in the tool magazine, the tool is stored, the second material receiving device is located on the three-axis gantry mechanical arm 1, the tool magazine supplies the tool to the third material receiving device on the tool moving gantry mechanical arm 4 through the second material receiving device, the tool moving gantry mechanical arm 4 transfers the tool to the tool loading position of the tool loading device, and then the tool loading device pushes the tool into the tool loading device through the fourth material receiving device.
Automatic pick-up process of the tool: an operator puts qualified cutters 3-3 or spacer bushes to be detected on the hangers 3-1 at different positions of the three-dimensional warehouse 3-4 to form a cutter warehouse 3; and calculating which specification of spacer bush or cutter 3-3 is required according to the size of the plate to be cut. After receiving the instruction, the cutter taking device 2 moves to the front of a spacer bush or a cutter 3-3 to be used through a three-axis portal frame mechanical arm 1, the material receiving device 2-3 penetrates into the spacer bush or the cutter for a certain distance, the size of the spacer bush or the cutter 3-3 is selected, then the spacer bush or the cutter is lifted for a certain distance, and the material distributing device 2-2 penetrates into the cutter to pull back the selected spacer bush or the cutter 3-3; the rotary mechanism 2-1 rotates and then is in butt joint with the transition cutter shaft 5-2, and the spacer bush or the blade is accurately arranged in the transition cutter shaft 5-2. After rotating a certain angle, the cutter moving slewing mechanism 5-1 moves up to the coaxial position of the cutter loading shaft on the cutter moving portal frame mechanical arm 4, and after being butted with the cutter shaft of the shearing line, the cutter shaft is loaded under the pushing of the upper cutter device; and then the transition cutter shaft 5-2 retreats to wait for the next time of loading the cutter 3-3 or the spacer bush by the cutter taking device, the steps are repeated until all the cutters and the spacer bushes are loaded, the cutter 3-3 is locked, and the next time of shearing production is waited.
Example 3
Further, referring to fig. 2, another embodiment of an automatic tool changer for spacer cutters according to the present invention, the tool moving gantry mechanical arm 4 is a linear conveying device, a conveying end of the linear conveying device is connected with the transition cutter shaft 5-2 through a tool moving rotary mechanism 5-1, the position of the transition cutter shaft 5-2 is provided with a first position and a second position, the transition cutter shaft 5-2 is switched between the first position and the second position through the tool moving rotary mechanism 5-1, when the transition cutter shaft 5-2 is at the first position, the transition cutter shaft 5-2 faces the tool magazine, a third material receiving device on the transition cutter shaft 5-2 is coaxial with a second material receiving device, when the transition cutter shaft 5-2 is located at the second position, the transition cutter shaft 5-2 faces the cutter position upwards, and the third material receiving device on the transition cutter shaft 5-2 is perpendicular to the fourth material receiving device.
In the above embodiment, the tool-moving gantry robot 4 is a linear conveyor with at least two coordinates, and conveys the tool to the tool-loading position through the transition tool shaft 5-2, the tool-moving gantry robot 4 conveys the tool to the tool-loading position from the tool magazine, and in the tool-receiving position and the tool-loading position, the tool-moving revolving mechanism 5-1 respectively aligns the transition tool shaft 5-2 with the tool magazine and aligns the transition tool shaft 5-2 with the tool-loading position through rotation. In an embodiment, the height of the transition cutter shaft 5-2 is the same as that of the cutter loading position, the transition cutter shaft 5-2 only needs to be directly transported to the cutter loading position after obtaining the cutter from a tool magazine, and when obtaining the cutter at the tool magazine position, the transition cutter shaft 5-2 can be loaded with the cutter by the three-shaft gantry mechanical arm 1 of the tool magazine.
When the transition cutter shaft 5-2 faces the tool magazine in the first position, the tools from the tool magazine can be received, and when the transition cutter shaft 5-2 is in the second position, the third material receiving device is perpendicular to the fourth material receiving device, and the tools can be smoothly unloaded by the fourth material receiving device.
Example 4
Further, referring to fig. 2, according to another embodiment of the spacer bush cutter automatic tool changer of the present invention, the tool taking device 2 includes a spacer bush tool magazine taking device and a swing mechanism 2-1, and the spacer bush tool magazine taking device is connected to the end of the manipulator of the three-axis gantry robot 1 through the swing mechanism 2-1.
In the above embodiment, the spacer magazine material taking device may be configured to take off the tool provided by the magazine, and may be a mechanical arm device mature in the prior art, and the revolving mechanism 2-1 is responsible for rotating the tool from the material taking position to the material discharging position.
Example 5
Further, referring to fig. 2 and 4, according to another embodiment of the spacer magazine automatic tool changer of the present invention, the material taking device of the spacer magazine comprises an installation frame 100, a material pushing device, a material distributing device 2-2 and a material receiving device 2-3, the material pushing device comprises a first telescoping device 700 and a material pushing plate 300, and the installation frame 100 is connected to the material pushing plate 300 through the first telescoping device 700; the material separating device 2-2 comprises a second telescopic device and an extensible member 500, the mounting frame 100 is connected with the extensible member 500 through the second telescopic device 400, and the extensible member 500 is located at the end part of the second telescopic device 400; the material receiving device 2-3 is connected with the mounting frame 100 through the material pushing device, the material distributing device 2-2 is arranged on one side of the material receiving device 2-3, the stretching direction of the material distributing device 2-2 is the same as that of the material pushing device, and the stretching direction of the extensible piece 500 faces towards the material receiving device 2-3.
In the above embodiment, the mounting frame 100 is respectively connected with a material pushing device for enabling the pieces to be taken to be in seamless contact with each other, and is responsible for pressing the pieces to be taken together; the material distributing device is used for selecting a proper number of pieces to be taken, in order to ensure the accuracy of the selection of the pieces to be taken, gaps among the pieces to be taken are eliminated by the material pushing device, the pieces to be taken can be selected by a standard telephone when the material distributing device takes materials, the material receiving device can carry and load the pieces to be taken, and the pieces to be taken selected by the material distributing device are carried and transported by the material receiving device;
the material pushing device is driven by the first telescopic device, a material pushing plate 300 of the material pushing device is responsible for pressing a piece to be taken, an extensible piece 500 is arranged at the end part of the material distributing device, the extensible piece 500 can be extended directionally, when the material distributing device is provided with a second telescopic device for adjusting the extensible piece 500 to the tail end of the piece to be taken, the extensible piece 500 can extend to the rear part of the piece to be taken and clamp the piece to be taken from the rear end of the piece to be taken, and the piece to be taken is detached when the material pushing device and the material pushing device retract backwards.
The material pushing device and the material receiving device are parallel and do independent linear motion, when a plurality of pieces of materials are taken, the pieces to be taken are pre-pressed by the material pushing device, the extensible piece 500 of the material distributing device moves to the depth of the pieces to be taken, the tail end of the extensible piece 500 extends out, the extensible piece extends into a gap between the pieces to be taken to divide the required number of pieces to be taken, and the selected pieces to be taken are moved out of the three-dimensional warehouse.
Example 6
Further, referring to fig. 2 and 4, in another embodiment of the automatic tool changer for the spacer bush cutter according to the present invention, a distance detecting device 600 is disposed between the mounting frame 100 and the material pushing plate 300, the distance detecting device 600 is fixed on the mounting frame 100, and a detecting opening of the distance detecting device 600 faces the material pushing plate 300. And the second telescopic device is provided with a displacement sensor, and the displacement sensor is arranged between the body and the telescopic end of the second telescopic device.
In the above embodiment, in some cases, the to-be-taken piece is in a circular ring shape, so that the receiving device is set to be in a pipe column shape, one or more grooves are formed in the top end of the inner wall of the receiving device, the grooves are matched with the bearing part used for hanging the to-be-taken piece in the three-dimensional library, the pipe column-shaped receiving device can extend into the bearing part and the middle part of the inner ring of the to-be-taken piece, and after the receiving device is lifted for a certain distance, the to-be-taken piece can be transferred to the receiving device through the bearing part.
In one embodiment, the multiple embodiments of the spacer magazine extracting apparatus are as follows:
further, referring to fig. 4, in another embodiment of the extracting device of the compartment magazine, a distance detecting device 600 is disposed between the mounting frame 100 and the material pushing plate 300, the distance detecting device 600 is fixed on the mounting frame 100, and a detecting opening of the distance detecting device 600 faces the material pushing plate 300.
In the above embodiment, in order to more accurately select the to-be-picked piece by using the material distribution device, the distance detection device 600 is disposed between the mounting frame 100 and the material pushing plate 300, and is used for determining the position of the material pushing plate 300, and after determining the position of the material pushing plate 300, the position of the end portion to be picked can be further determined, so that the material distribution device selects the to-be-picked piece with an appropriate length from the end portion to be picked, and performs more accurate selection.
Further, referring to fig. 4, in another embodiment of the extracting device of the compartment magazine, the second telescoping device 400 is provided with a displacement sensor, and the displacement sensor is disposed between the body and the telescoping end of the second telescoping device 400.
In the above embodiment, in order to more accurately select the to-be-taken piece by using the material distribution device, the displacement sensor provided in the second expansion device detects the extension distance of the second expansion device, so that the material distribution device can more accurately select the to-be-taken piece.
Further, referring to fig. 4, in another embodiment of the extracting device of the compartment magazine, the first telescopic device 700 includes a first driving device, a first connecting rod and a first linear moving device, an output end of the first driving device is connected with the first linear moving device in a transmission manner, and the first linear moving device is connected with the material pushing plate 300 through the first connecting rod.
In the above embodiment, the first telescopic device is composed of a first driving device, a first connecting rod and a first linear motion device, an output end of the first driving device is in transmission connection with the first linear motion device, the first linear motion device is connected with the material pushing plate 300 through the first connecting rod, the first driving device provides power for the first linear motion device, and the first connecting rod is used for extending a distance between the material pushing plate 300 and the first linear motion device, so as to prevent the material pushing plate 300 from colliding with the first linear motion device.
Further, referring to fig. 4, in another embodiment of the extracting device of the compartment magazine, a linear transmission device 200 is disposed between the mounting frame 100 and the pushing device, a track of the linear transmission device 200 is connected to the pushing plate 300, a slider of the linear transmission device 200 is connected to the mounting frame 100, and a through groove for accommodating the track of the linear transmission device 200 is disposed in the mounting frame 100 in a track direction of the linear transmission device 200.
In the above embodiment, in order to make the pushing device move more stably and make the butting precision between the pushing device and the bearing part on the three-dimensional warehouse higher, the linear transmission device 200 is arranged between the pushing device and the bearing part on the three-dimensional warehouse for guiding, in this embodiment, the slider of the linear transmission device 200 is equivalent to a positioning device, and the rail side of the linear transmission device 200 is equivalent to a sliding device, so that a through groove into which the rail capable of accommodating the linear transmission device 200 extends needs to be arranged in the mounting rack 100.
Further, referring to fig. 4, in another embodiment of the extracting device of the spacer magazine, the second telescoping device 400 includes a second driving device, a second connecting rod and a second linear motion device, an output end of the second driving device is connected with the second linear motion device in a transmission manner, and the second linear motion device is connected with the extensible member 500 through the second connecting rod.
In the above embodiment, the second telescopic device is composed of a second driving device, a second connecting rod and a second linear motion device, an output end of the second driving device is in transmission connection with the second linear motion device, the second linear motion device is connected with the extensible member 500 through the second connecting rod, the second driving device provides power for the second linear motion device, and the second connecting rod is used for extending the distance between the extensible member 500 and the second linear motion device, so as to prevent the extensible member 500 from colliding with the second linear motion device.
Further, referring to fig. 4, in another embodiment of the extracting device for the compartment magazine, a shaft sleeve is disposed between the second connecting rod and the mounting block 100, the shaft sleeve is fixed on the mounting block 100, and the shaft sleeve is slidably connected to the second connecting rod.
In the above embodiment, in order to make the feed divider travel more smoothly, a shaft sleeve is additionally installed between the second link and the mounting bracket 100, and the shaft sleeve performs an axial guiding function on the second link.
Further, referring to fig. 4, in another embodiment of the magazine taking device, the number of the extendable members 500 is multiple, and a dividing piece is connected to an end of each extendable member 500, and a width direction of the dividing piece is perpendicular to an axial direction of the receiving device.
In the above embodiment, the use of a dispensing sheet extending into the gap between the member to be removed and the member to be removed, in turn, ensures that the extensible member 500 can be properly extended therein, since the gap between the members to be removed is small.
Further, referring to fig. 4, in another embodiment of the extracting device of the compartment magazine, the diameter of the material pushing device is larger than that of the material receiving device 800.
In the above embodiment, the receiving device needs to extend into the to-be-taken piece to be in clearance fit with the to-be-taken piece, so that the pushing device is larger than the receiving device in diameter to contact the bottom of the to-be-taken piece to push the to-be-taken piece.
Example 7
Further, referring to fig. 3, according to another embodiment of the automatic tool changer for the spacer bush cutters of the present invention, the three-dimensional magazine 3-4 includes strip-shaped frame bodies 3-2 and hangers 3-1, wherein a plurality of strip-shaped frame bodies 3-2 are arranged side by side on a plane, each strip-shaped frame body 3-2 is provided with a plurality of hangers 3-1, and the hangers 3-1 on the plurality of strip-shaped frame bodies 3-2 are arranged in a matrix in a plane.
In the above embodiment, the rack body of the three-dimensional magazine 3-4 is composed of a plurality of strip rack bodies 3-2, the strip rack bodies 3-2 are arranged side by side on a plane, the strip rack bodies 3-2 are respectively provided with a plurality of racks 3-1, the racks 3-1 on the strip rack bodies 3-2 are arranged in a matrix in the plane, and the matrix arrangement can enable the magazine to quickly and effectively complete the loading and unloading actions in the loading and unloading processes.
Example 8
Further, referring to fig. 3, according to another embodiment of the automatic tool changer for the spacer bush cutters, the first material receiving device includes a first hanging rod and a second hanging rod, a distance is provided between the first hanging rod and the second hanging rod, and the relative positions of the first hanging rod and the second hanging rod are fixed; the second material receiving device is a strip body, and when the first material receiving device is connected with the second material receiving device in an inserting mode, the strip body extends into a position between the first hanging rod and the second hanging rod.
In the above embodiment, the cutter is borne by two hanging rods, a gap is formed between the two hanging rods, the two hanging rods are the first material receiving device, and when the second material receiving device receives and takes the cutter from the first material receiving device, the second material receiving device can penetrate and take the cutter from bottom to top between the first hanging rod and the second hanging rod. The structure ensures that the three-axis portal frame mechanical arm 1 is safe, effective and quick when a tool is taken.
Example 9
Further, referring to fig. 1 and 2, according to another embodiment of the spacer tool automatic tool changer of the present invention, the third material receiving device is cylindrical or cylindrical, a groove is formed at an upper end of the third material receiving device, a length direction of the groove is the same as a length direction of the elongated body, when the second material receiving device and the third material receiving device are connected in an insertable manner, the elongated body is inserted into the groove, and when the elongated body is inserted into the groove, a distance is formed between a bottom of the elongated body and a bottom of the groove.
In the above embodiment, the third material receiving device needs to be connected with the second material receiving device in a matching manner, therefore, in an embodiment, the third material receiving device is cylindrical or cylindrical, a groove is formed in the upper end of the third material receiving device, the strip body can be inserted into the groove and can also ascend or descend in the groove, when the third material receiving device receives a cutter from the second material receiving device, the cylindrical or cylindrical third material receiving device is aligned with an inner hole of the cutter, because the groove is formed in the upper end of the third material receiving device, the strip body can stretch into the groove from the upper end of the third material receiving device, after the third material receiving device stretches into the interior of the cutter, the third material receiving device slightly lifts, and the cutter is transferred to the third material receiving device from the second material receiving device, so that the switching work of the cutter is realized.
Example 10
Further, referring to fig. 1 and fig. 2, in another embodiment of the spacer cutter automatic tool changer according to the present invention, the fourth material receiving device is a sheet-shaped body, an end of the sheet-shaped body has a semicircular notch, and when the sheet-shaped body is insertably connected to the third material receiving device in a radial direction of the third material receiving device, the cylindrical or cylindrical third material receiving device enters the semicircular notch of the sheet-shaped body.
In the above embodiment, the fourth material receiving device mainly performs an operation of mounting a tool on the third material receiving device to a tool position, the fourth material receiving device is a sheet-shaped body, the semicircular notch at the end portion is used for extending into the cylindrical or cylindrical side wall of the third material receiving device, the fourth material receiving device extends into the bottom of the tool after extending into the side wall of the third material receiving device, and the fourth material receiving device can push the tool to mount the tool on the tool position.
Example 11
Further, referring to fig. 2, according to another embodiment of the automatic tool changer for the spacer bush cutters of the present invention, the tool feeding device is disposed on the conveying path of the tool-moving gantry robot 4.
In the above embodiment, the cutter feeding device can conveniently feed the cutter to the upper material level by the cutter feeding device 7 on the conveying path of the cutter moving gantry mechanical arm 4.
In one embodiment, the turning transition device 5 is arranged on the cutter-moving gantry mechanical arm 4 in fig. 1, and the upper cutter frame 6 comprises a frame body 6-1 and a longitudinal moving device in fig. 2;
it should be noted that all the directional indications (such as up, down, left, right, front, and rear … …) in the present embodiment are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly.
In addition, descriptions related to "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Technical solutions between various embodiments may be combined with each other, but must be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Claims (10)
1. The utility model provides an automatic tool changing device of spacer bush sword which characterized in that includes:
a tool magazine, the tool magazine comprising:
the three-dimensional warehouse (3-4), wherein a plurality of storage positions are arranged on the three-dimensional warehouse (3-4);
the three-axis portal frame mechanical arm (1), the three-axis portal frame mechanical arm (1) is arranged on the three-dimensional warehouse (3-4);
the cutter taking device (2), the cutter taking device (2) is arranged at the end part of a mechanical arm of the three-axis portal frame mechanical arm (1);
a plurality of material storage positions of the three-dimensional warehouse (3-4) are all in the range of a manipulator of the three-axis portal frame mechanical arm (1);
the end part of the mechanical arm of the knife-moving portal frame mechanical arm (4) is provided with a knife-moving swing mechanism (5-1) and an excessive knife shaft (5-2), and the excessive knife shaft (5-2) is connected with the knife-moving portal frame mechanical arm (4) through the knife-moving swing mechanism (5-1);
a blade feeding device, the blade feeding device comprising:
a frame body (6-1);
a lateral movement device (7-1);
a longitudinal moving device (6-2);
moving a blade (7-2);
the longitudinal moving device (6-2) is connected to the frame body (6-1), the transverse moving device (7-1) is arranged on the longitudinal moving device (6-2), and the moving blade (7-2) is arranged at the end part of the transverse moving device (7-1);
the tool magazine is connected with the upper tool device through a tool moving gantry mechanical arm (4), the three-axis gantry mechanical arm (1) in the tool magazine is in butt joint with the tool moving gantry mechanical arm (4), and the tool moving gantry mechanical arm (4) is in butt joint with a tool moving blade (7-2).
2. The automatic tool changer for the spacer cutters as claimed in claim 1, wherein each storage position has a first material receiving device for storing the tools, the end of the tool taking device (2) has a second material receiving device for taking the tools from the first material receiving device, the end of the transition cutter shaft (5-2) has a third material receiving device for taking the tools from the second material receiving device, the end of the blade (7-2) has a fourth material receiving device for taking the tools from the third material receiving device, the first material receiving device and the second material receiving device are connected in an inserting way, the second material receiving device and the third material receiving device are connected in an inserting way, the fourth material receiving device is located on the side face of the third material receiving device, and the fourth material receiving device is connected with the third material receiving device in an inserting mode in the radial direction of the third material receiving device.
3. The automatic spacer cutter changing device as claimed in claim 1, wherein the cutter-moving gantry robot arm (4) is a linear conveyor, the conveying end of the linear conveyor is connected with the transition cutter shaft (5-2) through a cutter-moving swing mechanism (5-1), the position of the transition cutter shaft (5-2) has a first position and a second position, the transition cutter shaft (5-2) is switched between the first position and the second position through the cutter-moving swing mechanism (5-1), when the transition cutter shaft (5-2) is at the first position, the transition cutter shaft (5-2) faces the magazine, the third material receiving device on the transition cutter shaft (5-2) is coaxial with the second material receiving device, when the transition cutter shaft (5-2) is at the second position, the transition cutter shaft (5-2) faces upward to the cutter position, and a third material receiving device on the transition cutter shaft (5-2) is vertical to the fourth material receiving device.
4. The automatic spacer tool changer according to claim 1, characterized in that the tool taking device (2) comprises a spacer tool magazine taking device and a swing mechanism (2-1), and the spacer tool magazine taking device is connected with the end of the manipulator of the three-axis gantry robot (1) through the swing mechanism (2-1).
5. The automatic tool changer for the spacer cutters as claimed in claim 4, wherein the spacer cutter magazine extracting device comprises a mounting frame (100), a material pushing device, a material separating device (2-2) and a material receiving device (2-3), the material pushing device comprises a first telescopic device and a material pushing plate (300), and the mounting frame (100) is connected with the material pushing plate (300) through the telescopic device; the material distribution device (2-2) comprises a second telescopic device and an extensible part (500), the mounting frame (100) is connected with the extensible part (500) through the second telescopic device, and the extensible part (500) is located at the end part of the second telescopic device; the material receiving device (2-3) is connected with the mounting rack (100) through the material pushing device, the material distributing device (2-2) is arranged on one side of the material receiving device (2-3), the telescopic direction of the material distributing device (2-2) is the same as that of the material pushing device, and the telescopic direction of the extensible piece (500) faces towards the material receiving device (2-3).
6. The automatic spacer tool changing device as claimed in claim 5, wherein a distance detecting device (600) is arranged between the mounting frame (100) and the material pushing plate (300), the distance detecting device (600) is fixed on the mounting frame (100), and a detecting opening of the distance detecting device (600) is opposite to the material pushing plate (300); and the second telescopic device is provided with a displacement sensor, and the displacement sensor is arranged between the body and the telescopic end of the second telescopic device.
7. The automatic tool changer for the spacer bush cutters as claimed in claim 1, wherein the three-dimensional magazine (3-4) comprises strip-shaped frame bodies (3-2) and hangers (3-1), a plurality of strip-shaped frame bodies (3-2) are arranged side by side on a plane, a plurality of hangers (3-1) are arranged on each strip-shaped frame body (3-2), and the hangers (3-1) on the plurality of strip-shaped frame bodies (3-2) are arranged in a matrix in a plane.
8. The automatic tool changer for the spacer bush cutter as claimed in claim 2, wherein the first material receiving device comprises a first hanging rod and a second hanging rod, a distance is reserved between the first hanging rod and the second hanging rod, and the first hanging rod and the second hanging rod are fixed in relative positions; the second material receiving device is a strip body, and when the first material receiving device is connected with the second material receiving device in an inserting mode, the strip body extends into a position between the first hanging rod and the second hanging rod.
9. The automatic tool changer for the spacer bush cutters as claimed in claim 8, wherein the third material receiving device is cylindrical or cylindrical, a groove is formed in the upper end of the third material receiving device, the length direction of the groove is the same as the length direction of the strip body, when the second material receiving device and the third material receiving device are connected in an inserting mode, the strip body is inserted into the groove, and when the strip body is inserted into the groove, a distance is formed between the bottom of the strip body and the bottom of the groove.
10. The automatic tool changer for the spacer tool as claimed in claim 9, wherein the fourth material receiving device is a sheet-shaped body, the end of the sheet-shaped body has a semicircular notch, and when the sheet-shaped body is insertably connected to the third material receiving device in the radial direction of the third material receiving device, the cylindrical or cylindrical third material receiving device enters the semicircular notch of the sheet-shaped body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911034849.XA CN110682143B (en) | 2019-10-29 | 2019-10-29 | Automatic cutter changing device for spacer bush cutter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911034849.XA CN110682143B (en) | 2019-10-29 | 2019-10-29 | Automatic cutter changing device for spacer bush cutter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110682143A true CN110682143A (en) | 2020-01-14 |
| CN110682143B CN110682143B (en) | 2024-05-07 |
Family
ID=69114346
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911034849.XA Active CN110682143B (en) | 2019-10-29 | 2019-10-29 | Automatic cutter changing device for spacer bush cutter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110682143B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111069954A (en) * | 2020-01-16 | 2020-04-28 | 无锡新松机器人自动化有限公司 | Automatic tool changing system for slitting line |
| CN111515738A (en) * | 2020-04-20 | 2020-08-11 | 厦门奇达电子有限公司 | Three-dimensional tool warehouse, tool warehousing method and tool ex-warehouse method |
| CN113814450A (en) * | 2021-10-08 | 2021-12-21 | 宁波华源精特金属制品有限公司 | Milling equipment for support plate of track inspection robot |
| CN114102730A (en) * | 2021-11-05 | 2022-03-01 | 青岛海尔电冰箱有限公司 | Refrigerator inner container trimming die replacing system |
| CN114102731A (en) * | 2021-11-05 | 2022-03-01 | 青岛海尔电冰箱有限公司 | Control method of refrigerator liner trimming die replacement system and system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1295693A (en) * | 1969-02-28 | 1972-11-08 | ||
| JP3167303U (en) * | 2011-02-02 | 2011-04-14 | コーヨー プレシジョン カンパニー リミテッド | Tool magazine and tool changer for cutting machine |
| CN201970132U (en) * | 2010-11-16 | 2011-09-14 | 深圳市精一智能机械有限公司 | Knife arm type knife library |
| CN103801969A (en) * | 2012-11-09 | 2014-05-21 | 西安扩力机电科技有限公司 | Computer numerical control machining center based on quick and automatic tool changing system |
| CN108214052A (en) * | 2018-03-23 | 2018-06-29 | 昆山北钜机械有限公司 | The tool magazine mechanism of vertical central processing machine and gantry Machining Center machine |
| CN208681081U (en) * | 2018-09-07 | 2019-04-02 | 江苏康迅数控装备科技有限公司 | The compound numerical control machining center of automatic tool changer |
| CN109605100A (en) * | 2018-12-21 | 2019-04-12 | 广州鑫利数控科技有限公司 | A kind of numerically-controlled machine tool automatic tool changer and method |
| CN208744302U (en) * | 2018-07-19 | 2019-04-16 | 广东科杰机械自动化有限公司 | A kind of array tool magazine |
| CN211332347U (en) * | 2019-10-29 | 2020-08-25 | 中节能西安启源机电装备有限公司 | Automatic tool changing device for spacer bush cutter |
-
2019
- 2019-10-29 CN CN201911034849.XA patent/CN110682143B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1295693A (en) * | 1969-02-28 | 1972-11-08 | ||
| CN201970132U (en) * | 2010-11-16 | 2011-09-14 | 深圳市精一智能机械有限公司 | Knife arm type knife library |
| JP3167303U (en) * | 2011-02-02 | 2011-04-14 | コーヨー プレシジョン カンパニー リミテッド | Tool magazine and tool changer for cutting machine |
| CN103801969A (en) * | 2012-11-09 | 2014-05-21 | 西安扩力机电科技有限公司 | Computer numerical control machining center based on quick and automatic tool changing system |
| CN108214052A (en) * | 2018-03-23 | 2018-06-29 | 昆山北钜机械有限公司 | The tool magazine mechanism of vertical central processing machine and gantry Machining Center machine |
| CN208744302U (en) * | 2018-07-19 | 2019-04-16 | 广东科杰机械自动化有限公司 | A kind of array tool magazine |
| CN208681081U (en) * | 2018-09-07 | 2019-04-02 | 江苏康迅数控装备科技有限公司 | The compound numerical control machining center of automatic tool changer |
| CN109605100A (en) * | 2018-12-21 | 2019-04-12 | 广州鑫利数控科技有限公司 | A kind of numerically-controlled machine tool automatic tool changer and method |
| CN211332347U (en) * | 2019-10-29 | 2020-08-25 | 中节能西安启源机电装备有限公司 | Automatic tool changing device for spacer bush cutter |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111069954A (en) * | 2020-01-16 | 2020-04-28 | 无锡新松机器人自动化有限公司 | Automatic tool changing system for slitting line |
| CN111515738A (en) * | 2020-04-20 | 2020-08-11 | 厦门奇达电子有限公司 | Three-dimensional tool warehouse, tool warehousing method and tool ex-warehouse method |
| CN113814450A (en) * | 2021-10-08 | 2021-12-21 | 宁波华源精特金属制品有限公司 | Milling equipment for support plate of track inspection robot |
| CN114102730A (en) * | 2021-11-05 | 2022-03-01 | 青岛海尔电冰箱有限公司 | Refrigerator inner container trimming die replacing system |
| CN114102731A (en) * | 2021-11-05 | 2022-03-01 | 青岛海尔电冰箱有限公司 | Control method of refrigerator liner trimming die replacement system and system |
| CN114102731B (en) * | 2021-11-05 | 2024-03-15 | 重庆海尔制冷电器有限公司 | Control method of refrigerator liner trimming die replacement system and system |
| CN114102730B (en) * | 2021-11-05 | 2024-03-15 | 重庆海尔制冷电器有限公司 | Refrigerator inner bag side cut mould change system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110682143B (en) | 2024-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110682143A (en) | Automatic tool changing device for spacer bush cutter | |
| CN101715381B (en) | Loading/unloading system serving a sheet cutting centre, feeding tray therefor and relative handling method | |
| EP3280552B1 (en) | A stacking line system, and a method for stacking blanks which are outputted from a blanking shear or press | |
| CN110267749B (en) | Bending tool storage device and method for supplying a press brake | |
| CN110695747B (en) | Intelligent processing production line and processing technology for tungsten-molybdenum parts | |
| CN109484792B (en) | Automatic feeding method and device for transverse shearing line of silicon steel coil stock | |
| CN108274133A (en) | A kind of feeding device and system of processing for pcb board | |
| CN211332347U (en) | Automatic tool changing device for spacer bush cutter | |
| CN110722299A (en) | Positioning and clamping device and heat exchanger production line | |
| CN208181833U (en) | Large capacity variable bit is accurately positioned feed bin | |
| CN209561356U (en) | A kind of transistor bending spot-welding equipment | |
| CN108581804A (en) | Automatic polishing machine for aviation precision shaft member | |
| CN108127463B (en) | Intelligent automatic special machine equipment | |
| CN114012429A (en) | Electronic component assembly machine | |
| CN210335274U (en) | CNC full-automatic send and receive storage system of processing | |
| CN203449071U (en) | Automatic feeding mechanism | |
| CN211109279U (en) | Extracting device for spacer tool magazine | |
| CN216607938U (en) | Electronic component assembly machine | |
| KR102324545B1 (en) | Automatic attachment changer and boring machine including the same | |
| CN104797127A (en) | Loading and feeding device with disc | |
| CN210360501U (en) | Full-automatic unloader that goes up of CNC | |
| CN210360512U (en) | CNC full-automatic clamping combination tool | |
| CN215357918U (en) | Cell-phone screen grinding feeder | |
| CN208391793U (en) | Burnishing device for aviation precision shaft member | |
| JP7186403B2 (en) | MOUNTING BOARD MANUFACTURING SYSTEM, COMPONENT MOUNTING SYSTEM, AND CONTAINER TRANSFER METHOD |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |