CN101284278B - Robot for cleaning inner part of box body - Google Patents
Robot for cleaning inner part of box body Download PDFInfo
- Publication number
- CN101284278B CN101284278B CN2008100584892A CN200810058489A CN101284278B CN 101284278 B CN101284278 B CN 101284278B CN 2008100584892 A CN2008100584892 A CN 2008100584892A CN 200810058489 A CN200810058489 A CN 200810058489A CN 101284278 B CN101284278 B CN 101284278B
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- guide rail
- cleaning
- robot
- box body
- inner part
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- 238000004140 cleaning Methods 0.000 title claims abstract description 63
- 230000033001 locomotion Effects 0.000 claims abstract description 75
- 239000000428 dust Substances 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 16
- 239000007921 spray Substances 0.000 claims description 13
- 238000012360 testing method Methods 0.000 claims description 13
- 230000003028 elevating effect Effects 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 5
- 238000005507 spraying Methods 0.000 claims description 4
- 238000007664 blowing Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000009434 installation Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000013590 bulk material Substances 0.000 description 1
- 239000011538 cleaning material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
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Abstract
An internal cleaning robot of a box body comprises a support (1), a guide track motion device (2) which is arranged at the front end of the support and a cleaning device (3) which is arranged on the guide track motion device; the guide track motion device comprises a transverse guide track (4), a longitudinal guide track (5) and a lifting guide track (6) which are mutually vertical, arranged by arectangular coordinate system and provided with execution devices; the cleaning device comprises a rotary shaft (7) and a cleaning hand (8) which is arranged at the front end of the rotary shaft, therotary shaft (7) is arranged in the longitudinal guide track (5), and the rotary shaft (7) is linked with a rotary drive motor (9). The internal cleaning robot has simple structure, low manufacture and maintenance costs, reliable work, high working efficiency and good cleaning effect, which can realize the internal automatic cleaning of the box body.
Description
Technical field
The present invention relates to a kind of robot architecture's technical field that box house is cleaned.
Background technology
In industrial production, be used for storing the large-size box of bulk material,, after use or before using, all need to clean processing for the cleannes of box house in guaranteeing to use.At present, the cleaning of this box house is mainly adopted the mode of artificial cleaning, and the instrument of cleaning mainly adopts hairbrush or besom, the employing dust catcher that also has cleans, but all be based on the mode of manual cleaning, labour intensity is big and have artificial unsafe factor, can not realize the automated job of whole logistics system, difficult satisfied in enormous quantities, mechanization quantity-produced needs.At this deficiency, some industries have adopted industrial robot to finish the automatic cleaning of box house at present, but the robot that adopts generally all is the multi-joint all-purpose robot, cost of investment height, technical sophistication, and inefficiency.And the cleaning device function that is equipped with is too simple, mainly be on the terminal paw of robot, to install hairbrush or brush roll additional, in use inevitable hairbrush falls a mao phenomenon, causes the secondary pollution of box house, has in the industry that the food-grade cleannes require and can't use at some.In addition, the clean-up paw of existing sweeping robot does not possess functions such as the paw anticollision detects, cleaning pressure adaptive, often causes the damage of casing or paw self.
Summary of the invention
Purpose of the present invention is just in order to solve above-mentioned the deficiencies in the prior art, at the drawback that present sweeping robot exists, provide a kind of simple in structure, manufacturing and maintenance cost is low, reliable operation, high efficiency, cleaning are effective, can realize the box house robot for cleaning inner part of box body of cleaning automatically.
The objective of the invention is to be achieved through the following technical solutions.
Robot for cleaning inner part of box body, comprise support, be installed on the support front end the guide rail movement device, be installed on the clearing apparatus on the guide rail movement device; Described guide rail movement device comprises cross slide way, longitudinal rail and the riser guide of the band performer that vertical mutually at right angles coordinate system is arranged; Described clearing apparatus comprises rotating shaft, is installed on the clean-up paw of rotating shaft front end; Rotating shaft is installed on longitudinal rail inside, and rotating shaft is linked with rotary drive motor.
The rectangular co-ordinate that cross slide way of the present invention, longitudinal rail and riser guide constitute is the inclination coordinate system, and the angle between this coordinate system and the horizontal plane is not more than 30 °.Described riser guide comprises parallel main transmission guide rail and auxiliary driving guide rail, be connected with horizontal synchronous transfer bar between main transmission guide rail and the auxiliary driving guide rail, the performer of main transmission guide rail is linked with the lifting drive motors, is fitted with the elevating movement slide block respectively on main transmission guide rail and auxiliary driving guide rail; The cross slide way two ends are installed on the elevating movement slide block, and the performer of cross slide way is linked with horizontal drive motor, are fitted with the transverse movement slide block on cross slide way; Be fitted with the lengthwise movement slide block on longitudinal rail, the lengthwise movement slide block is installed on the transverse movement slide block, and the performer of longitudinal rail is linked with vertical drive motor.Riser guide is provided with the lifting counter weight device, this lifting counter weight device comprises the pulley assembly that is installed in main transmission guide rail and auxiliary driving guide rail top respectively, stride the sliding rope that is enclosed within on the pulley assembly, an end of sliding rope is connected with balancing weight, and the other end is connected on the elevating movement slide block.The performer of cross slide way, longitudinal rail and riser guide is the rectilinear motion pair.Described rectilinear motion pair is for ball screw assembly, or rack-and-pinion or be with guideway synchronously.Described clean-up paw comprises anticollision testing agency, cleaning agency and air pressure blow-spraying mechanism; Anticollision testing agency comprises mounting flange and the adpting flange that is positioned at two ends, by the horizontal or oblique stretching motion pair that is articulated between mounting flange and the adpting flange of linkwork, is installed on the position-detection sensor on the stretching motion pair; Cleaning agency comprises scraper stent on the adpting flange that is installed on anticollision testing agency, is installed on the flexible scraper cleaner of scraper stent outer end; Air pressure blows spray apparatus and is installed on the scraper stent, comprises blowing air jet pipe, being connected in the spray nozzle of atmospheric pressure on the tracheae of being communicated with air-channel system.Dust exhaust apparatus also is installed on scraper stent, comprises the dust suction tracheae that is communicated with the negative pressure air-channel system, be connected with the dust suction tracheae and be fixed on cleaner head on the scraper stent.The stretching motion pair that is articulated between mounting flange and the adpting flange is in parallel 2～6.The linkwork of hinged mounting flange and stretching motion pair is single-degree-of-freedom linkwork or double freedom cross linkwork; The linkwork of flange and the stretching motion pair of being articulated and connected is a double freedom cross linkwork.
The present invention compared with prior art has tangible characteristics and advantage.The telecontrol equipment of robot adopts rectangular co-ordinate version, can freely realize the motion of front and back six direction up and down, and the axial rotation with clearing apparatus of joining makes clean-up paw can move to any position of cleaning that needs and finishes cleaning works.It is simple and compact for structure, is easy to control, the functional reliability height, and manufacturing and maintenance cost are low.Because clearing apparatus adopts the rotary cleaning mode, the sweeping efficiency height is effective, can improve the automaticity of casing purging system.
The rectangular co-ordinate structure that the present invention's cross slide way, longitudinal rail and riser guide are set to tilt can be tilted to down the casing opening of need cleaning, and the slag dirt cleaning under easier will the cleaning is clean.The telecontrol equipment that is adopted, its cross slide way, longitudinal rail and riser guide are interconnective simple and reasonable, and Stability Analysis of Structures, can make the clearing apparatus that is mounted thereon move to desired location nimbly and freely and reposefully.The optional scope of the performer of all guide rails is big, can select for use flexibly according to the requirement of various working conditions.The lifting counter weight device that is arranged on the riser guide can reduce the lifting transmission power, and energy efficient reduces the difficulty of controlling.The anticollision checkout gear that on clearing apparatus, is provided with, it is secondary and with the articulated structure of two ends mounting flange and adpting flange and be installed on position-detection sensor on the stretching motion pair to pass through the stretching motion that adopted, has realized that dexterously the space multiple degrees of freedom anticollision of control clearing apparatus detects.Adopt the space multi-freedom parallel connection structure of 2～6 stretching motion pairs, can realize that clearing apparatus anticollision in any direction detects.The distortion that can guarantee clearing apparatus adaptation casing by automatic control stretching motion pair is attached to cabinet wall reliably, and the size that attaches power can also realize by the pressure of control cylinder or hydraulic cylinder or electronic cylinder, improves the reliability of clearing apparatus.Set air pressure blow spray apparatus can to some ad-hoc locations in the casing such as clearing apparatus touch less than dead zone blow the spray cleaning.Set dust exhaust apparatus can clean the powdery foreign material such as dust that can't be cleaned away by clearing apparatus, makes casing clean totallyer.The present invention can clean casing comparatively completely by the applied in any combination of flexible scraper cleaner, spray nozzle of atmospheric pressure, dust exhaust apparatus.Adopt flexible scraper plate, and, can avoid hairbrush to fall secondary pollutions such as hair without hairbrush.Make the use of system safer, reliable.
Further set forth content of the present invention below in conjunction with Figure of description.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is the structural representation of clean-up paw.
The specific embodiment
As shown in Figure 1 and Figure 2.The present invention includes support 1, be installed on the support front end guide rail movement device 2, be installed on the clearing apparatus 3 on the guide rail movement device.Support 1 is the carrier of robot motion system, is the planer-type support, is provided with protection face board in the top and the side of support, and transparent windows 22,23 is installed on protection face board.Be provided with maintenance door 24 in the support bottom, be convenient to the access arrangement internal maintenance, adjustable pad pin 25 is installed in the bottom of support, in order to levelling equipment attitude.The guide rail movement device comprises cross slide way 4, longitudinal rail 5 and the riser guide 6 of the band performer that vertical mutually at right angles coordinate system is arranged.Clearing apparatus comprises rotating shaft 7, is installed on the clean-up paw 8 of rotating shaft front end, and rotating shaft 8 is installed on longitudinal rail 5 inside, and rotating shaft 8 is linked with rotary drive motor 9.The rectangular co-ordinate that cross slide way 4, longitudinal rail 5 and riser guide 6 constitute is the inclination coordinate system, and the angle α between this coordinate system and the horizontal plane is not more than 30 °, and present embodiment is 10 °, and the size at angle of inclination is identical with the angle that is tilted by the cleaning casing.Riser guide 6 comprises parallel main transmission guide rail 10 and auxiliary driving guide rail 11, be connected with horizontal synchronous transfer bar 12 between main transmission guide rail 10 and the auxiliary driving guide rail 11, the performer of main transmission guide rail is linked with lifting drive motors 13, is fitted with elevating movement slide block 14 respectively on main transmission guide rail 10 and auxiliary driving guide rail 11; Cross slide way 4 two ends are installed on the elevating movement slide block 14, and the performer of cross slide way 4 is linked with horizontal drive motor 15, are fitted with transverse movement slide block 16 on cross slide way 4; Be fitted with lengthwise movement slide block 17 on longitudinal rail 5, lengthwise movement slide block 17 is installed on the transverse movement slide block 16, and the performer of longitudinal rail 5 is linked with vertical drive motor 18.Riser guide 6 is provided with the lifting counter weight device, this lifting counter weight device comprises the pulley assembly 19 that is installed in main transmission guide rail 10 and auxiliary driving guide rail 11 tops respectively, stride the sliding rope 20 that is enclosed within on the pulley assembly, one end of sliding rope is connected with balancing weight 21, and the other end is connected on the elevating movement slide block 14.The performer of cross slide way, longitudinal rail and riser guide is the rectilinear motion pair, and the rectilinear motion pair can be ball screw assembly, or rack-and-pinion or is with guideway synchronously, and present embodiment is to be with guideway synchronously.The synchronous band of cross slide way 4 is along with the moving line of elevating movement slide block 14 is done elevating movement, and the synchronous band of longitudinal rail 5 is along with the moving line of transverse slider 16 is done transverse movement.The synchronous band that vertical drive motor 18 drives longitudinal rail 5 is made stretching motion.Rotary drive motor 9 drives rotating shaft 8, rotates thereby drive clean-up paw.Clean-up paw comprises anticollision testing agency, cleaning agency and air pressure blow-spraying mechanism as shown in Figure 3; Anticollision testing agency comprises mounting flange 26 and the adpting flange 27 that is positioned at two ends, by linkwork 28, the 29 horizontal or oblique stretching motion pairs 30 that are articulated between mounting flange 26 and the adpting flange 27, be installed on the position-detection sensor 31 on the stretching motion pair 30.Stretching motion pair 30 can adopt cylinder or hydraulic cylinder or electronic cylinder or gas spring or hydraulic spring grease cup, and present embodiment adopts cylinder, and its cylinder barrel is connected on the linkwork 28, and piston-rod end is connected on the linkwork 29.Position-detection sensor 31 is arranged on the cylinder block, is used for detecting the position of cylinder piston.Cleaning agency comprises scraper stent 32 on the adpting flange 27 that is installed on anticollision testing agency, is installed on the flexible scraper cleaner 33 of scraper stent outer end; Air pressure blows spray apparatus and is installed on the scraper stent 32, comprises blowing air jet pipe 34, being connected in the spray nozzle of atmospheric pressure 35 on the tracheae of being communicated with air-channel system.Spray nozzle of atmospheric pressure is provided with pressure regulator valve and regulates the pressure blow the spray air, also is provided with the pressure air switch valve and is used for controlling and blows cut-offfing of spouted work.Dust exhaust apparatus also is installed on scraper stent 32, comprises the dust suction tracheae 36 that is communicated with the negative pressure air-channel system, be connected with the dust suction tracheae and be fixed on cleaner head 37 on the scraper stent 32, flexible scraper plate 38 is installed in cleaner head import department.Flexible scraper cleaner 33 and flexible scraper plate 38 can adopt flexible material such as polyurethane to manufacture.The stretching motion secondary 30 that is articulated between mounting flange and the adpting flange is in parallel 2～6, and present embodiment is 3.The linkwork 28 of hinged mounting flange and stretching motion pair can be single-degree-of-freedom linkwork or double freedom cross linkwork, and present embodiment is the single-degree-of-freedom linkwork; The linkwork 29 of flange and the stretching motion pair of being articulated and connected is double freedom cross linkwork.Anticollision testing agency shown in Figure 3, adopt space three-freedom connection-in-parallel mechanism on the structure, horizontal hinged 3 the stretching motion pairs 30 that are equipped with in parallel between mounting flange 26 and adpting flange 27, these 3 stretching motion parafacies are 120 ° mutually and evenly arrange, but the motion of two rotations in implementation space and a rectilinear direction, the anticollision of finishing this three degree of freedom direction detects.The anticollision detection range of clearing apparatus is determined by the scope of activities of the stroke of three stretching motion pairs, installation site, linkwork.The impact force size that need to detect, and the size of the damping force between clearing apparatus and tank wall during the cleaning casing realize by the pressure of regulating the stretching motion pair.Anticollision checkout gear of the present invention also is a mounting seat simultaneously, and the one end is to connect robot guide rail movement Unit Installation flange, and the adpting flange of the other end is used for installing cleaning devices such as clean-up paw.
During work, after the casing of required cleaning is turned to predetermined obliquity, the cylinder of all stretching motion pairs 30 of anticollision testing agency is supplied with the compressed air of certain pressure, the piston rod of cylinder is all stretched out.The kinematic system of robot action then, drive its cross slide way 4, longitudinal rail 5 and riser guide 6 and make moving interpolation, the clean-up paw of robot is moved to the tank wall place of required cleaning, and flexible scraper cleaner 33 and flexible scraper plate 38 are clung on the tank wall, and the size that is adjacent to power is adjusted by the supply gas pressure of regulating cylinder, utilize the spring damping effect of cylinder to guarantee that scraper plate can adapt to the distortion of tank wall automatically, reaches the effect of thorough cleaning.Robot continues to drive its each motion guide rail and carries out moving interpolation then, guarantees that clean-up paw is surperficial by certain orbiting motion, with being swept into outside the case by cleaning material of box house along tank wall.In the cleaning process, when the collision of certain direction took place, certain or certain several cylinders of anticollision testing agency can further be compressed, and when decrement acquired a certain degree, position-detection sensor 31 detected position of piston, sent the collision warning signal.If do not need to use scraper plate cleaning, and when needing specific position such as the angle seam of box house or special material cleaned, the kinematic system of robot will be blown spray apparatus and be moved to corresponding position, blow the spray cleaning.And when using the scraper plate cleaning, when also needing to use dust exhaust apparatus to carry out cleaning such as dust, dust suction tracheae 36 is connected negative pressure, carries out the dust suction cleaning.In the present embodiment, for the ease of using, cleaning agency, air pressure blow-spraying mechanism and the equal symmetric arrangement of dust exhaust apparatus two covers.According to different cleaning requirements, when changing other cleaning device as if palpus, do not need anticollision testing agency is changed in addition, only need the different cleaning device of installation on its adpting flange, the action of cooperation robot can be finished different cleaning works.As the occasion that some is not had the food-grade cleannes require, can simply retrofit to cleaning device, cleaning devices such as hairbrush or brush roll are installed on the adpting flange, obtain to expand preferably to use.After cleaning is finished, the synchronous band withdrawal of longitudinal rail, the synchronous band of all the other each motion guide rails also returns to position of readiness, waits for the cleaning works of next chest.
As mentioned above, only be specific embodiments of the invention, can not limit scope of the present invention with this, i.e. equivalent variations and the modification of being done according to patent application protection domain of the present invention all should still belong to the scope that patent of the present invention contains.
Claims (9)
1. robot for cleaning inner part of box body is characterized in that,
1. comprise support (1), be installed on the support front end guide rail movement device (2), be installed on the clearing apparatus (3) on the guide rail movement device;
2. described guide rail movement device (2) comprises cross slide way (4), longitudinal rail (5) and the riser guide (6) of the band performer that vertical mutually at right angles coordinate system is arranged;
3. described clearing apparatus comprises rotating shaft (7), is installed on the clean-up paw (8) of rotating shaft front end, and rotating shaft (7) is installed on longitudinal rail (5) inside, and rotating shaft (7) is linked with rotary drive motor (9).
2. robot for cleaning inner part of box body according to claim 1, it is characterized in that, described riser guide (6) comprises parallel main transmission guide rail (10) and auxiliary driving guide rail (11), be connected with horizontal synchronous transfer bar (12) between main transmission guide rail (10) and the auxiliary driving guide rail (11), the performer of main transmission guide rail is linked with lifting drive motors (13), is fitted with elevating movement slide block (14) respectively on main transmission guide rail (10) and auxiliary driving guide rail (11); Cross slide way (4) two ends are installed on the elevating movement slide block (14), and the performer of cross slide way (4) is linked with horizontal drive motor (15), are fitted with transverse movement slide block (16) on cross slide way (4); Be fitted with lengthwise movement slide block (17) on longitudinal rail (5), lengthwise movement slide block (17) is installed on the transverse movement slide block (16), and the performer of longitudinal rail (5) is linked with vertical drive motor (18).
3. robot for cleaning inner part of box body according to claim 2, it is characterized in that, riser guide (6) is provided with the lifting counter weight device, this lifting counter weight device comprises the pulley assembly (19) that is installed in main transmission guide rail (10) and auxiliary driving guide rail (11) top respectively, stride the sliding rope (20) that is enclosed within on the pulley assembly (19), one end of sliding rope is connected with balancing weight (21), and the other end is connected on the elevating movement slide block (14).
4. robot for cleaning inner part of box body according to claim 1 and 2 is characterized in that, the performer of cross slide way (4), longitudinal rail (5) and riser guide (6) is the rectilinear motion pair.
5. robot for cleaning inner part of box body according to claim 4 is characterized in that, described rectilinear motion pair is for ball screw assembly, or rack-and-pinion or be with guideway synchronously.
6. robot for cleaning inner part of box body according to claim 1 is characterized in that, described clean-up paw comprises anticollision testing agency, cleaning agency and air pressure blow-spraying mechanism; Anticollision testing agency comprises mounting flange (26) and the adpting flange (27) that is positioned at two ends, by the horizontal or oblique stretching motion pair (30) that is articulated between mounting flange (26) and the adpting flange (27) of linkwork (28,29), be installed on the position-detection sensor (31) on the stretching motion pair (30); Cleaning agency comprises scraper stent (32) on the adpting flange (27) that is installed on anticollision testing agency, is installed on the flexible scraper cleaner (33) of scraper stent (32) outer end; Air pressure blows spray apparatus and is installed on the scraper stent (32), comprises blowing air jet pipe (34), being connected in the spray nozzle of atmospheric pressure (35) on the tracheae of being communicated with air-channel system.
7. robot for cleaning inner part of box body according to claim 6, it is characterized in that, on scraper stent (32), dust exhaust apparatus is installed also, comprises the dust suction tracheae (36) that is communicated with the negative pressure air-channel system, be connected with the dust suction tracheae and be fixed on cleaner head (37) on the scraper stent.
8. robot for cleaning inner part of box body according to claim 6 is characterized in that, the stretching motion pair (30) that is articulated between mounting flange (26) and the adpting flange (27) is in parallel 2～6.
9. according to claim 6 or 8 described robot for cleaning inner part of box body, it is characterized in that the linkwork (28) of hinged mounting flange (26) and stretching motion pair (30) is single-degree-of-freedom linkwork or double freedom cross linkwork; The linkwork (29) of flange (27) and the stretching motion pair (30) of being articulated and connected is a double freedom cross linkwork.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100584892A CN101284278B (en) | 2008-06-03 | 2008-06-03 | Robot for cleaning inner part of box body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100584892A CN101284278B (en) | 2008-06-03 | 2008-06-03 | Robot for cleaning inner part of box body |
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| Publication Number | Publication Date |
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| CN101284278A CN101284278A (en) | 2008-10-15 |
| CN101284278B true CN101284278B (en) | 2010-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2008100584892A Active CN101284278B (en) | 2008-06-03 | 2008-06-03 | Robot for cleaning inner part of box body |
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Cited By (1)
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| CN102060057A (en) * | 2010-12-27 | 2011-05-18 | 中国民航大学 | Robot system for inspecting airplane fuel tank and control method thereof |
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| NO342469B1 (en) * | 2016-02-01 | 2018-05-28 | Autostore Tech As | Cleaning bin for cleaning a storage grid of a storage system and method for the same |
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| CN111299280A (en) * | 2020-03-04 | 2020-06-19 | 宝悦自动化装备（上海）有限公司 | Cleaning system of transport tank |
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| EP0700733A1 (en) * | 1994-09-10 | 1996-03-13 | INDA INDUSTRIEAUSRÜSTUNGEN GmbH | Apparatus for cleaning and/or deburring of workpieces by liquid jetting |
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Non-Patent Citations (1)
| Title |
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| JP特开2005-24191A 2005.01.27 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102060057A (en) * | 2010-12-27 | 2011-05-18 | 中国民航大学 | Robot system for inspecting airplane fuel tank and control method thereof |
| CN102060057B (en) * | 2010-12-27 | 2012-09-26 | 中国民航大学 | Robot system for inspecting airplane fuel tank and control method thereof |
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| Publication number | Publication date |
|---|---|
| CN101284278A (en) | 2008-10-15 |
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