CN105269329B - A kind of unmanned machining robot system integration - Google Patents
A kind of unmanned machining robot system integration Download PDFInfo
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- CN105269329B CN105269329B CN201510866127.6A CN201510866127A CN105269329B CN 105269329 B CN105269329 B CN 105269329B CN 201510866127 A CN201510866127 A CN 201510866127A CN 105269329 B CN105269329 B CN 105269329B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/06—Metal-working plant comprising a number of associated machines or apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Automatic Assembly (AREA)
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Abstract
The present invention relates to a kind of unmanned machining robot system integrations of industrial robot application field, mainly form the unmanned system of processing of multi-process by robot, fixture unit, detection unit, supply unit, processing unit and control unit etc.；Including workpiece transmission belt（0）, along workpiece transmission belt（0）It has been set gradually from left to right robot parallel fabrication unit (1), robot annular processing combination (2), Robot polisher group（3）, Liang Zu robots polish unit（4）, robot workpiece assemble unit（5）, robot workpiece weld unit（6）, robot workpiece test unit（7）, robot workpiece sort unit（8）, robot Workpiece painting unit（9）, robot workpiece handling unit（10）.It is additionally provided with isolation protective net (11) and surrounds each unit, system is provided with central control cabinet（12）It is connected with each machine set control cabinet；The present invention uses robot, realizes that carry out multi-process to metal parts processes automatically, replaces manual operation, stable quality at low cost.
Description
Technical field
The present invention relates to industrial robot application field, in particular to mainly by robot, fixture unit, detection unit,
Supply unit, processing unit and control unit etc. form a kind of unmanned machining robot system integration of multi-process.
Background technology
Foreign countries have the research and development and application of industrial robot more than 50 years history, currently, with Japan and the United States, moral, method, Korea Spro
Robot industry Deng many countries for representative reaches its maturity and perfect, and the industrial robot produced has become a kind of standard
Equipment waits until extensive use in the whole world.In developed country, industrial robot automatic production line complete set of equipments has become automatically
Disguise standby mainstream.The large number of rows such as Automotive Industry Abroad, electronic enterprises, mechanical processing are already through largely using industrial machine
People's automatic production line, automatization level is high, and performance is stablized, and product quality is effectively ensured, and improves production efficiency, avoids simultaneously
A large amount of industrial accident.
With industrial 4.0 tides being surging forward in China, made in China is just being accelerated to Chinese " intelligence is made " transformation.At this
In transitional period, the extensive application of industrial robot is increasingly becoming the new normality of enterprise intelligentization upgrading.Robot is considered as " manufacture
The jewel on industry imperial crown top ", the industry are included into appearance in 2015《Made in China 2025》（《Chinese manufacturing development outline
（2015-2025）》）Ten give priority to field greatly.In the strategy times promoted IT application with industrialization depth integration that outline proposes
In business, the application of the technology and equipments such as industrial robot to be accelerated in process of production is highlighted, pushes manufacturing process intelligence
Change.Chinese Robot industry just welcomes high-speed development period.
The automated production formed in Robot industry chain, be roughly divided into spare and accessory parts, industrial robot, service robot and
Four class of the system integration.By the two-way pulling of demand and technology, industrial robot and the system integration will be following main development sides
To.Although China's industrial robot and system integration industry development begin to take shape at this stage, but still based on import foreign brand name,
Maximum reason is exactly Key technique problem, and domestic robot slowly cannot achieve large-scale production.Following domestic
Robot wants if occupying most of market, grasps core technology, break-through skill threshold is unique channel.
It looks into newly, looks into through entrusting Guangdong Science and Technology Information Inst. to carry out the country with regard to the unmanned machining robot system integration
Newly conclusion is:" the unmanned machining robot system integration " project that client carries out, has no the identical document report of technical characterstic
Road.
Based on above-mentioned background, the integrated structure of unmanned processing workshop robot system realizes the processing of stability and high efficiency
Pattern helps speed up the development of the integrated application of robot, has very huge economic benefit and social benefit.
Invention content
In order to solve to apply one-sidedness existing for the unmanned machining robot system integration of the prior art, system is not perfect, valence
Lattice are high, complicated, ropy problem, and the present invention proposes a kind of multi-process cooperation, reasonable design, and perfect in shape and function links up
Property is good, system stability is high, quality conformance is good, a kind of dependable performance unmanned machining robot system integration.
The technical solution that the present invention uses is as follows：
A kind of unmanned machining robot system integration, including workpiece transmission belt（0）, along workpiece transmission belt（0）From a left side to
The right side has set gradually robot parallel fabrication unit (1), robot annular processing combination (2), Robot polisher group（3）, two
Group robot polishes unit（4）, robot workpiece assemble unit（5）, robot workpiece weld unit（6）, robot workpiece surveys
Test-run a machine group（7）, robot workpiece sort unit（8）, robot Workpiece painting unit（9）, robot workpiece handling unit（10）.
It is additionally provided with isolation protective net (11) and surrounds each unit, system is provided with central control cabinet（13）With each machine set control cabinet（12）
It is connected.By Ethernet interconnection and by a host computer between switch board（13A）Control, host computer（13A）MES is inside installed
Industrial information control system（13B）.
The robot parallel fabrication unit (1) includes line slide rail（14）, the robot that is set on the upside of line slide rail
（15）, robot（15）Front end is equipped with fixture（16）；Line slide rail（14）Front side is provided with feeding unit material（17）With lower material list
Member（18）, both sides are respectively arranged with three numerical control machining centers（19）, numerical control machining center（19）On-line checking list is inside installed
First (20), numerical control machining center（19）Numerical control five-axle rotary table is provided on workbench（21）Gentle cleaning system（22）,
Line slide rail（14）Front side is provided with CCD camera systems（23）, numerical control machining center（19）Centre is provided with transfer platform（24）.
The robot annular processing combination (2) includes robot（25）, with robot（25）For middle position annular point
Cloth four numerically controlled processing equipments（26）, numerical control five-axle rotary table is provided in process equipment（21）Gentle cleaning system
（22）, robot（25）Front side is provided with feeding unit（27）With blanking component（28）, it is additionally provided with the inspection of sensing contact formula position
Survey unit（29）, robot（25）Rear side is provided with transfer mechanism（30）.
The Robot polisher group（3）Including grinding apparatus unit（31）, robot（32）, relay unit（33）, connect
Touch sensor-type position detection unit（34）, gas cleaning system（35）.
The robot polishes unit（4）Including polissoir unit（36）, robot（37）, relay unit（38）, connect
Touch sensor-type position detection unit（39）, gas cleaning system（40）.
The robot workpiece assembles unit（5）Including left side robot（41）, right side robot（42）, assembling fixture list
Member（43）, sensing contact formula position detection unit（44）, gas cleaning system（45）.
The robot workpiece welds unit（6）Including robot（46）, robot clamp unit（47）, welding fixture list
Member（48）, welding robot（49）, bonding machine unit（50）, sensing contact formula position detection unit（51）, gas cleaning system
（52）.
The robot workpiece tests unit（7）Including robot（53）, robot clamp unit（54）, test fixture list
Member（55）, test machine people（56）, test element unit（57）.
The robot workpiece sorts unit（8）Including robot（58）, robot clamp unit（59）, collector unit
（60）.
The robot Workpiece painting unit（9）Including robot（61）, robot clamp unit（62）, spray robot
（63）, spraying water-screen cabinet（64）, cycle gear unit（65）, drying oven unit（66）, air cooling cabinet unit（67）.
The robot workpiece handling unit（10）Including robot（68）, robot clamp unit（69）, stacking machine
People（70）, stacker robot fixture unit（71）, collector unit（72）, palletized unit（73）.
The beneficial effects of the invention are as follows：
1）Multi-process robot automatic integratedization system is effectively realized, using automatic loading and unloading system, automatic processing, automatic
Grinding workpieces, automatic workpiece polish, the assembling of automatic workpiece, the welding of automatic workpiece, automatic workpiece is tested, automatic workpiece sorts, certainly
The integrated robot automatic processing methods of multi-process such as the automatic transmission of dynamic Workpiece painting, automatic workpiece handling, workpiece, realization pair
Workpiece carries out the continuity and consistency of unmanned system of processing, and the efficiency and quality to product obtain higher controllability；
2）It detected, cleaned automatically using robot, the work auxiliary system such as reliable location, safety, using sensor, CCD
Camera shooting, on-line detector, gas cleaning system, water cleaning system, automatic reversing mechanism, isolation protecting device, soft or hard double safety locks
The composition reliably working auxiliary system such as dead system realizes the high reliability, high stability, high security of unmanned system of processing operation
And high efficiency；
3）Unmanned workshop MES industrial informations are built using bus, data collecting card, CPU, communications protocol, software systems etc.
Resource, information, object and people are effectively closely connected together by control system, realize information exchange inside and outside unmanned workshop,
The functions such as remote monitoring, visualized operation monitoring, failure Suo Yuan follow-ups, have saved management cost；
4）The present invention is automatically finished work pieces process operation by multi-process, the cooperation of multirobot unit, replaces artificial behaviour
Make, production efficiency is high, and stable quality is at low cost.
Description of the drawings
Fig. 1 is a kind of unmanned machining robot system integration floor map of the present invention.
Fig. 1 remarks：Direction shown in arrow is workpiece transmission locus in figure.
Fig. 2 is Tu1Zhong robots parallel fabrication unit（1）Broken section enlarged diagram.
Fig. 3 is the ring-like processing combination of Fig. 1 robots（2）Broken section enlarged diagram.
Fig. 4 is Robot polisher group in Fig. 1（3）Broken section enlarged diagram.
Fig. 5 is that Tu1Zhong robots polish unit（4）Broken section enlarged diagram.
Fig. 6 is that Tu1Zhong robots assemble unit（5）Broken section enlarged diagram.
Fig. 7 is robot welding unit in Fig. 1（6）Broken section enlarged diagram.
Fig. 8 is robot testing's unit in Fig. 1（7）Broken section enlarged diagram.
Fig. 9 is that Tu1Zhong robots sort unit（8）Broken section enlarged diagram.
Figure 10 is Control During Paint Spraying by Robot unit in Fig. 1（9）Broken section enlarged diagram.
Figure 11 is that unit is carried by Tu1Zhong robots（10）Broken section enlarged diagram.
Figure 12 is online detection unit schematic diagram.
Figure 13 is numerical control five-axle rotary table (21) schematic diagram.
Figure 14 is robot (15) schematic diagram.
Figure 15 is process flow diagram.
Figure 16 is workpiece A schematic diagrames.
Figure 17 is workpiece B schematic diagrames.
Figure 18 is workpiece C schematic diagrames.
In figure：0- workpiece transmission belts；1- robots parallel fabrication unit；2- robots annular processing combination；3- robots
Polishing unit；4- Liang Zu robots polish unit；5- robots workpiece assembles unit；6- robots workpiece welds unit；7- machines
The artificial part of device tests unit；8- robots workpiece sorts unit；9- robots Workpiece painting unit；10- robots workpiece handling
Unit；11- isolation protective nets；12- central control cabinets；13- central control cabinets；14- line slide rails；15- robots；16- machines
People's fixture unit；17- loading assemblies；18- blanking components；19- numerical control machining centers；20- online detection units；21- numerical controls five
Axis rotary table；22- gas cleaning systems；23-CCD camera systems；24- relay units；25- robots；26- digital control processings are set
It is standby；27- loading assemblies；28- blanking components；29- sensing contact formula position detection units；30- relay units；31- grinding apparatus
Unit；32- robots；33- relay units；34- sensing contact formula position detection units；35- gas cleaning systems；36- polishings are set
Standby unit；37- robots；38- relay units；39- sensing contact formula position detection units；40- gas cleaning systems；On the left of 41-
Robot；Robot on the right side of 42-；43- assembling fixture units；44- sensing contact formula position detection units；45- gas cleaning systems；
46- robots；47- robot clamp units；48- welding fixture units；49- welding robots；50- bonding machine units；51- connects
Touch sensor-type position detection unit；52- gas cleaning systems；53- robots；54- robot clamp units；55- test fixture lists
Member；56- test machine people；57- test element units；58- robots；59- robot clamp units；60- collector units；61-
Packet device people；62- robot clamp units；63- spray robots；64- sprays water-screen cabinet；65- recycles gear unit；66- is dried
Stove unit；67- air cooling cabinet units；68- robots；69- robot clamp units；70- robot palletizers；71- robot palletizers
Fixture unit；72- collector units；73- palletized units；74- workpiece A；75- workpiece B；76- combination workpieces.
Specific implementation mode
The course of work of the present invention is as follows：
Before booting, first the trolley equipped with A workpiece and B workpiece is shifted onto robot parallel fabrication unit respectively respectively
(1) and in the feeding unit material of robot annular processing combination (2), after booting, parallel fabrication unit (1) and robot annular add
Work unit (2) is carried out at the same time processing.
Robot in robot parallel fabrication unit (1)（15）The fixture of front end（16）Work is clamped from the feeding unit material of front side
Part A, in CCD camera systems（23）Position detection is carried out, then along line slide rail（14）It is mobile that workpiece A, from front side, numerical control adds
Work center is transplanted on middle side numerical control machining center and is transplanted on downside numerical control machining center again, and workpiece A, which is finally positioned over workpiece, passes
Defeated band（0）On, numerical control machining center（19）It is interior to be mounted on numerical control five-axle rotary table（21）On fixture grip workpiece A
It is respectively completed respective manufacturing procedure, gas cleaning system after processing（22）Workpiece and fixture are cleaned, detected according to setting
Period, using online detection unit（20）Workpiece A detections to completion, in the transfer platform of numerical control machining center（24）For reality
The transformation of existing numerical control machining center clamping face.Line slide rail（14）Two workpiece A's of each three numerical control machining centers realization in both sides
Synchronous processing；Blanking unit（18）Single power set running can be achieved, increase the flexible operation of system.
Robot in robot annular processing combination (2)（25）The fixture of front end（16）From front side feeding unit material（27）Middle folder
Workpiece B is held, in position detection unit（29）Position detection is carried out by touching point contact mode, then passes through robot（25）Turn
It is dynamic that workpiece B is transplanted on downside numerical control machining center from front side numerical control machining center, workpiece B is finally positioned over workpiece transmission belt
（0）On, numerical control machining center（26）It is interior to be mounted on numerical control five-axle rotary table（21）On fixture grip workpiece B difference
Respective manufacturing procedure is completed, gas cleaning system after processing（22）Workpiece and fixture are cleaned, according to setting detection cycle,
Using online detection unit（20）Workpiece B detections to completion, in the relay unit of numerical control machining center（30）For realizing number
Control the transformation of machining center clamping face.Robot（25）Each two numerical control machining centers in both sides realize that the synchronization of two workpiece B adds
Work；Blanking unit（28）Single power set running can be achieved, increase the flexible operation of system.
Two groups of Robot polisher groups（3）Middle robot（32）Workpiece A, B are corresponded to respectively carries out polishing operation（It polishes below
Flow workpiece A, B are referred to as " workpiece "）；Robot（32）In workpiece transmission belt（0）Upper clamping workpiece, in position detection unit（34）
Location of workpiece detection is carried out by touching point contact mode, then robot（32）Clamping workpiece passes through grinding apparatus unit（31）Into
The polishing that row technology requires, gas cleaning system after polishing（35）Workpiece is cleaned, last robot（32）Workpiece is placed
Workpiece transmission belt（0）On, relay unit（33）It is changed for realizing polishing the curved of clamping face.
Liang Zu robots polish unit（4）Middle robot（37）Workpiece A, B are corresponded to respectively is polished process（It polishes below
Flow workpiece A, B are referred to as " workpiece "）；Robot（37）In workpiece transmission belt（0）Upper clamping workpiece, in position detection unit（39）
Location of workpiece detection is carried out by touching point contact mode, then robot（37）Clamping workpiece passes through polissoir unit（36）Into
The polishing that row technology requires, gas cleaning system after polishing（40）Workpiece is cleaned, last robot（37）Workpiece is placed
Workpiece transmission belt（0）On, wherein in relay unit（38）For realizing the transformation of polishing clamping face.
Robot assembles unit（5）Middle robot（41）、（42）Simultaneously respectively in workpiece transmission belt（0）Upper clamping workpiece A,
B passes through assembling fixture unit（43）Positioning assembling is carried out, then robot（42）Clamping workpiece C（After assembling）It is cleaned by gas
System is to workpiece C（After assembling）It is cleaned, last robot（42）Clamping workpiece C（After assembling）Place workpiece transmission belt（0）
On.
Robot welding unit（6）Robot（46）Front end fixture（47）From workpiece transmission belt（0）Upper clamping workpiece C（Group
After dress）, place welding fixture unit（48）On, welding robot（49）Use bonding machine unit（50）Pass through welding fixture unit
（48）To workpiece C（After assembling）It is welded, robot（46）Front end fixture（47）From welding fixture unit（48）Upper clamping work
Part C（After welding）By air purge cleaning system to workpiece C（After welding）It is cleaned, last robot（46）By workpiece C（Welding
Afterwards）It is placed on workpiece transmission belt（0）On.
Robot testing's unit（7）Robot（53）Front end fixture（54）From workpiece transmission belt（0）Upper clamping workpiece C（Weldering
After connecing）, place test fixture unit（55）On, test machine people（56）Use test element unit（57）Pass through test fixture list
Member（55）To workpiece C（After welding）It is tested, robot（53）Front end fixture（54）From test fixture unit（55）Upper clamping
Workpiece C（After test）It is placed on workpiece transmission belt（0）On.
Robot testing's unit（8）Robot（58）Front end fixture（59）From workpiece transmission belt（0）Upper clamping robot surveys
Test-run a machine group（7）The workpiece C of institute's test failure, robot（58）Front end fixture（59）Underproof workpiece C is clamped and is placed on receipts
Collect unit（60）It is interior.
Control During Paint Spraying by Robot unit（9）Robot（61）Front end fixture（62）From workpiece transmission belt（0）Upper clamping robot surveys
Test-run a machine group（7）The workpiece C of institute's test passes, passes through front end fixture（62）Double-station clamp cycle gear unit（65）Shang pair
Workpiece C（Spray finished product）It is taken out from fixture, then rapid translating is by workpiece C（Before spraying）It is placed on cycle gear unit（65）On,
Robot（61）By workpiece C（Spray finished product）It is placed in workpiece transmission belt；Workpiece C（Before spraying）By recycling gear unit
（65）Loopy moving is carried out, in spraying water-screen cabinet（64）In by spray robot（63）Workpiece C is sprayed, workpiece C（Spraying
Afterwards）By recycling gear unit（65）It is moved to drying oven（66）With air cooling cabinet unit（67）Carry out respectively drying with it is air-cooled.
Unit is carried by robot（10）Robot（68）Front end fixture（69）From workpiece transmission belt（0）Upper clamping workpiece C, puts
It sets in collector unit（72）Pallet in, finally by robot palletizer（70）Front end fixture（71）From collector unit（72）It has collected
Palletized unit is got at the pallet of workpiece C（73）Stacking placement is carried out, thus entire unmanned process is fully completed.
Claims (8)
1. a kind of unmanned machining robot system integration, it is characterized in that:Including workpiece transmission belt（0）, along workpiece transmission belt（0）
It has been set gradually from left to right robot parallel fabrication unit (1), robot annular processing combination (2), Robot polisher group
（3）, Liang Zu robots polish unit（4）, robot workpiece assemble unit（5）, robot workpiece weld unit（6）, robot
Workpiece tests unit（7）, robot workpiece sort unit（8）, robot Workpiece painting unit（9）, robot workpiece handling machine
Group（10）;It is additionally provided with isolation protective net (11) and surrounds each unit, system is provided with central control cabinet (13) and each unit control
Cabinet processed（12）It is connected;By Ethernet interconnection and by a PC control, host computer between switch board（13A）Inside it is equipped with
MES industrial informations control system (13B)；
The robot parallel fabrication unit (1), including line slide rail（14）, the robot that is set on the upside of line slide rail
（15）, robot（15）Front end is equipped with fixture（16）；Line slide rail（14）Front side is provided with feeding unit（17）With blanking group
Part（18）, both sides are respectively arranged with three numerical control machining centers（19）, numerical control machining center（19）On-line checking list is inside installed
First (20), numerical control machining center（19）Numerical control five-axle rotary table is provided on workbench（21）Gentle cleaning system（22）,
Line slide rail（14）Front side is provided with CCD camera systems（23）, numerical control machining center（19）Centre is provided with transfer platform（24）；
The robot annular processing combination (2) includes robot（25）, with robot（25）It for middle position annular spread
Four numerically controlled processing equipments（26）, numerical control five-axle rotary table is provided in process equipment（21）Gentle cleaning system（22）,
Robot（25）Front side is provided with feeding unit material（27）And blanking unit（28）, it is additionally provided with sensing contact formula position detection unit
（29）, robot（25）Rear side is provided with relay unit（30）.
2. a kind of unmanned machining robot system integration according to claim 1, it is characterised in that：The robot polishing
Unit（3）Including grinding apparatus unit（31）, robot（32）, relay unit（33）, sensing contact formula position detection unit
（34）, gas cleaning system（35）.
3. a kind of unmanned machining robot system integration according to claim 1, it is characterised in that：The robot polishing
Unit（4）Including polissoir unit（36）, robot（37）, relay unit（38）, sensing contact formula position detection unit
（39）, gas cleaning system（40）.
4. a kind of unmanned machining robot system integration according to claim 1, it is characterised in that：The robot workpiece
Assemble unit（5）Including left side robot（41）, right side robot（42）, assembling fixture unit（43）, sensing contact formula position
Detection unit（44）, gas cleaning system（45）.
5. a kind of unmanned machining robot system integration according to claim 1, it is characterised in that：The robot workpiece
Weld unit（6）Including robot（46）, robot clamp unit（47）, welding fixture unit（48）, welding robot（49）、
Bonding machine unit（50）, sensing contact formula position detection unit（51）, gas cleaning system（52）.
6. a kind of unmanned machining robot system integration according to claim 1, it is characterised in that：The robot workpiece
Test unit（7）Including robot（53）, robot clamp unit（54）, test fixture unit（55）, test machine people（56）、
Test element unit（57）;The robot workpiece sorts unit（8）Including robot（58）, robot clamp unit（59）、
Collector unit（60）.
7. a kind of unmanned machining robot system integration according to claim 1, it is characterised in that：The robot workpiece
Spray unit（9）Including robot（61）, robot clamp unit（62）, spray robot（63）, spraying water-screen cabinet（64）, follow
Ring gear unit（65）, drying oven unit（66）, air cooling cabinet unit（67）.
8. a kind of unmanned machining robot system integration according to claim 1, it is characterised in that：The robot workpiece
Carry unit（10）Including robot（68）, robot clamp unit（69）, robot palletizer（70）, stacker robot fixture list
Member（71）, collector unit（72）, palletized unit（73）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510866127.6A CN105269329B (en) | 2015-12-01 | 2015-12-01 | A kind of unmanned machining robot system integration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510866127.6A CN105269329B (en) | 2015-12-01 | 2015-12-01 | A kind of unmanned machining robot system integration |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105269329A CN105269329A (en) | 2016-01-27 |
| CN105269329B true CN105269329B (en) | 2018-10-09 |
Family
ID=55139634
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510866127.6A Active CN105269329B (en) | 2015-12-01 | 2015-12-01 | A kind of unmanned machining robot system integration |
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| WO2020239198A1 (en) * | 2019-05-27 | 2020-12-03 | Rud. Starcke Gmbh & Co. Kg | Method for coordinating an identification and the processing of a defect of a workpiece, and device for carrying out the method |
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