CN106312751A - Automatic coated railway vehicle external wall polishing system - Google Patents
Automatic coated railway vehicle external wall polishing system Download PDFInfo
- Publication number
- CN106312751A CN106312751A CN201610976091.1A CN201610976091A CN106312751A CN 106312751 A CN106312751 A CN 106312751A CN 201610976091 A CN201610976091 A CN 201610976091A CN 106312751 A CN106312751 A CN 106312751A
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- China
- Prior art keywords
- exterior wall
- polishing
- external wall
- sensor
- vehicle exterior
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/22—Equipment for exact control of the position of the grinding tool or work at the start of the grinding operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an automatic coated railway vehicle external wall polishing system which comprises the three main portions including a grinding system, a vehicle external wall pose adjusting system and a vehicle external wall flatness detecting device. Lots of problems exist due to manual railway vehicle external wall grinding, and a vehicle external wall pose and vehicle external wall flatness are difficult to adjust and detect through manual polishing, so that the wholevehicle external wall polishing quality is influenced, and an adverse effect is produced on external wall coating. The automatic coated railway vehicle external wall polishing system adopts robot grinding to replace manual polishing, adjusts the railway vehicle external wall pose and detects the whole external wall flatness, and robot polishing errors caused by external wall pose deviations and external wall surface unevenness are solved fundamentally, so that the vehicle external wall polishing effect and quality are improved, the polishing cost is reduced, a polishing environment is improved, and good conditions are provided for a coating process after whole external wall polishing.
Description
Technical field
The present invention relates to automatization's grinding technology field before rail vehicle exterior wall sprays paint, particularly relate to a kind of rail vehicle
Exterior wall application automatically grinding system.
Background technology
Along with expanding economy and the innovation of technology, robot automatically grinding technology is widely used in factory and enterprise produces
Each fermentation, rail vehicle have also been obtained development at full speed in the last few years, but owing to rail vehicle exterior wall is huge, surface is not
Smooth, required by vehicle exterior wall, obtain flatness higher, the domestic mode of operation for the polishing of rail vehicle exterior wall is also limited to
Manual polishing in pipeline system.Manual polishing also exists the biggest drawback in the bruting process of rail vehicle exterior wall, first
The physical and mental health of workman can be caused strong influence by dust and noise, and secondly manual polishing greatly reduces the efficiency of polishing,
Having elongated the time of polishing, and the exterior wall flaw that manual polishing is crossed is more, the application of these flaws meeting External Wall causes the biggest
Impact, thus affect actual performance and the outward appearance tidiness of whole rail vehicle.All these drawbacks are the biggest
Reduce greatly the production efficiency of factory and enterprise, add production cost, and the application of robot automatically grinding technology can be very
Good solution problem above.The key factor of three impact polishing quality is there is in the vehicle exterior wall bruting process of present stage,
One is the polishing commonly used manual polishing of exterior wall, and two is vehicle exterior wall position and attitude error, and three is vehicle exterior wall flatness error.Manually
The shortcoming of polishing is it is clear that robot is before carrying out vehicle exterior wall polishing, and vehicle exterior wall to be polished is placed into trailer plate
Certainly existing position deviation time upper, it is the most identical to add each trailer height, is very difficult to adjust by manpower, then under connecing
In the vehicle exterior wall bruting process come, the pose deviation of exterior wall will certainly have influence on the quality of whole polishing.That is polisher
The position of manipulator of device people and polishing path all determine that, are all to perform, according to the program set, work of polishing, as
The vehicle exterior wall pose that fruit is polished is not adjusted, then some places there will be polishing and lacked or the most do not polished,
This block of exterior wall can protrude, and polishing is many, and this block of exterior wall can fall in.So for exterior wall position before rail vehicle exterior wall is polished
The regulation of appearance is necessary, and is so possible not only to improve the grinding efficiency of milling robot, it is also possible to improve further
The polishing quality of whole exterior wall.After exterior wall pose has adjusted, owing to rail vehicle exterior wall is to be welded by a lot of block plates, weldering
Leave a lot of solder joint between the weld seam after having connect, and exterior wall is the most uneven, in order to remove the solder joint between plate and improve recessed
Convex uneven phenomenon, typically scratches powder of lacquer putty for use at application forward direction exterior wall.Although blade coating powder of lacquer putty for use on can improve the indenture of exterior wall surface,
But for the rail vehicle exterior wall of big plane, its planarization still allows of no optimist, robot subsequently can be polished by this
Outer wall operation makes a big impact, because milling robot is all to polish according to the dynamics set, exterior wall planarization is poor
The solder joint that there will be this polishing does not polish off, and the convex place of exterior wall does not the most polish flat, and also scrapes the ground being painted with powder of lacquer putty for use on
Seldom or the most not polishing of side's polishing, causes this block to compare other parts rougher.So scraping at rail vehicle exterior wall
After being painted with powder of lacquer putty for use on, it is necessary to carry out exterior wall flatness detection, the purpose of exterior wall flatness detection is in order to exterior wall is through polishing
After the polishing of robot, macroscopical height of concave convex relative ideal plane of its plane is improved, and the exterior wall namely making polishing complete becomes
Smooth height of concave convex must not had poor.After whole exterior wall surface is carried out flatness detection, the data that detection analyzes can be led to
Crossing terminal to be controlled polisher device people's mechanical hand, the place that error is little can be beaten less by milling robot according to data result
Mill, local many polishings that error is big, finally can improve the flatness of whole vehicle exterior wall.
Summary of the invention
In order to improve rail vehicle exterior wall polishing precision, shorten the exterior wall polishing time, improve workman's working condition, also for
The operations such as the application after exterior wall polishing.The present invention uses robot polishing vehicle exterior wall to replace manual polishing, by using machine
People polishes replacement manual grinding, and the whole exterior wall that rail vehicle exterior wall pose is adjusted sum carries out flatness detection,
From the basic uneven robot polishing error caused solved due to exterior wall pose deviation and exterior wall surface, compare and manually beat
Mill not only increases efficiency and the quality of vehicle exterior wall polishing, reduces polishing cost, improves polishing environment, and be whole
Coating process after exterior wall polishing provides good condition.
Technical scheme
A kind of rail vehicle exterior wall application automatically grinding system, it is characterised in that: include polishing system, vehicle exterior wall pose
Regulation system and three major parts of vehicle exterior wall flatness detecting device；Wherein, described polishing system, including support, crossbeam,
Milling robot track and milling robot；Described support is arranged on platform, in order to support crossbeam；Described crossbeam is arranged on and props up
On frame, in order to install milling robot track；Described milling robot rail is fixed on crossbeam, and described milling robot stands upside down and pacifies
It is contained on milling robot track；Described vehicle exterior wall pose regulation system, including ranging unit and regulating positioning device；Described
Ranging unit includes laser range sensor and the display screen that three specifications are identical, and sensor uses short distance laser displacement sensing
Device；In two two notches being arranged in platform inside edge in the laser range sensor that three specifications are identical, the 3rd cloth
Putting in the middle of two sleepers, display screen is connected with laser range sensor；Described regulating positioning device is an independent device, peace
It is contained on the sleeper immediately below trailer two ends, including lifting hydraulic cylinder, traversing hydraulic cylinder, two joints, bearing, bases；Lifting
Hydraulic cylinder is arranged on base；Traversing hydraulic cylinder is arranged on bearing, is connected with base simultaneously；Two joints are arranged in act
Rise on hydraulic cylinder and traversing hydraulic cylinder；Floor installation is on bearing, and base welds phase below by slideway with traversing hydraulic cylinder
Even, submounts is weldingly connected with lifting hydraulic cylinder, can relative slide through traversing slideway between base with bearing simultaneously.Described
Vehicle exterior wall smooth detection device, including exterior wall detection door, detection door track and selection two dimensional laser scanning sensor；Outside described
Wall detection be arranged on detection door track on；Described selection two dimensional laser scanning sensor is arranged on inside detection door.
The present invention is had the advantages that a kind of rail vehicle exterior wall application automatically grinding system, uses polishing machine
People, by the polishing system of automatization, vehicle exterior wall pose regulation system and vehicle exterior wall flatness detecting device, can be complete
Avoid polish in rail vehicle exterior wall bruting process dust and the polishing noise injury to workman's health, and people can be solved
The vehicle exterior wall pose regulation difficulty faced in work polishing, operating process is complicated, and degree of regulation is low, and grinding efficiency is low, cost
Putting into big, painting operation weak effect and exterior wall flatness such as cannot detect at the problem.Faced according to the polishing of rail vehicle exterior wall
Polishing problem and adjust the technical problem of the aspects such as detection, rail vehicle exterior wall application automatically grinding can realize rail vehicle
The pose regulation operation of exterior wall, improves the degree of polishing flat of exterior wall surface, thus improves the polishing precision of whole exterior wall, for application
Operation is ready.
Accompanying drawing explanation
Fig. 1 is the regulating positioning device perspective illustration of the present invention；
Fig. 2 is the regulating positioning device schematic sectional view of the present invention；
Fig. 3 is the exterior wall application automatically grinding system schematic arrangement perspective view of the present invention；
Fig. 4 is the exterior wall application automatically grinding system schematic arrangement semi-cutaway of the present invention；
Fig. 5 is the two dimensional laser scanning sensor scan exterior wall signal schematic diagram of the present invention.
Lifting hydraulic cylinder 1, traversing hydraulic cylinder 2, jacking 3, joint 4 and 5, bearing 6, base 7, traversing slideway 8, traversing chamber 9,
Trailer 10, vehicle exterior wall 11, range finding mouth 12, laser range sensor 13,14 and 15, notch 16 and 17, regulating positioning device 18
With 19, milling robot track 20, polisher robot 21, platform 22, track 23, wheel 24, sleeper 25, two dimensional laser scanning
Sensor 26,27 and 28, exterior wall detection door 29, detection door track 30 and 31, semiconductor laser generator 32, lens 33, scanning
Contour line 34, eyeglass 35, two dimension CMOS array 36, signal processor 37, signal output part 38, support 39, crossbeam 40
Detailed description of the invention
Embodiment in conjunction with accompanying drawing detailed description present configuration:
A kind of rail vehicle exterior wall application automatically grinding system, it is characterised in that: include polishing system, vehicle exterior wall pose
Regulation system and three major parts of vehicle exterior wall flatness detecting device；Wherein, described polishing system, including support, crossbeam,
Milling robot track and milling robot；Described vehicle exterior wall pose regulation system, including ranging unit and regulation location dress
Put；Described vehicle exterior wall smooth detection device, including exterior wall detection door, detection door track and selection two dimensional laser scanning sensing
Device.First milling robot 21 stands upside down and is arranged on milling robot track 20, does not so interfere with beating of milling robot 21
Mill operation, it is often more important that ground space can be saved and divert to other purpose.Rail vehicle vehicle exterior wall 11 with trailer 10 through vehicle rail
After road 23 arrives the precalculated position of platform 22, the laser range sensor 13,14 and 15 that three specifications are identical is used for detecting self
And the distance between polishing vehicle exterior wall, uses short distance laser displacement sensor.At laser range sensor 13 and 14
In the same horizontal line and be arranged in platform 22 inside edge, now two sensors is used for surveying after notch 16 and 17 slowly rises
Amount vehicle exterior wall 11 and the distance of self, sensor 15 is arranged in the middle of two sleepers 25, measures sleeper 25 through range finding mouth 12 and arrives
The distance of vehicle exterior wall 11.Because the position of manipulator of milling robot and polishing path all determine that, so two Laser Measuring
Distance away from sensor 13,14 and sleeper 25 to vehicle exterior wall 11 is a definite value.
After three sensor instrument distances, surveyed numerical value can show on three display screens being connected with sensor, display screen
It is used for showing the data that sensor is surveyed.When there is deviation with set distance definite value in the numerical value that display screen shows, regulation location
Device 18 and 19 will be started working, and regulating positioning device is an independent device, be arranged on the rail immediately below trailer 10 two ends
On pillow 25, the extreme lower position of its actual height wheel to be less than 24 axle.First regulating positioning device joint 4 and 5 and hydraulic tube
Road connects pressurizes to oil cylinder, and regulating positioning device 18 and 19 is according to set distance definite value, by the lifting liquid being arranged on base 7
Cylinder pressure 1 (base 7 and lifting hydraulic cylinder 1 are weldingly connected) lifts trailer 10 through torr fixed 3 and regulates the longitudinal bias of vehicle exterior wall 11, directly
To identical with the display screen display distance numerical value that sensor 15 is connected and set distance definite value.
Traversing hydraulic cylinder 2 is connected with base 7, and base 7 is used for installing lifting hydraulic cylinder 1, and is connected with traversing hydraulic cylinder 2
Being directly installed on bearing 6, bearing 6 is played a supporting role for whole regulating positioning device, through traversing between bearing 6 and base 7
Slideway 8 can slide relatively, and base 7 and lifting hydraulic cylinder 1 are by being weldingly connected, so traversing hydraulic cylinder 2 moves in traversing chamber 9
Dynamic whole trailer 10 and vehicle exterior wall 11 can be driven to move left and right, thus according to the connected display screen of sensor 13 and 14 show away from
The lateral deviation of vehicle exterior wall it has been automatically adjusted from numerical value and set distance definite value deviation.Pass through being automatically adjusted three laser rangings
After sensor 13,14 is identical with its connected display screen distance values and set distance definite value with 15, vehicle exterior wall 11 will be in be beaten
The optimum position of mill robot 21 polishing, the milling robot 21 being then fitted in robot track 20 starts beam worker of polishing
Making, now vehicle exterior wall pose regulation is complete.
In two dimensional laser scanning sensor 26,27 and 28 two are arranged in exterior wall detection door 29 two sides symmetrically
Side, the 3rd is arranged on exterior wall detection door 29 inner side above, is namely arranged on exterior wall detection centre position (two, door 29 top
Depending on dimension scanning laser sensor arranges that quantity is according to scanning accuracy).Owing to rail vehicle exterior wall is huge, swashing of general sampling site formula
Optical sensor scanning is wasted time and energy, and the two dimensional laser scanning sensor selected here is that optically-based principle of triangulation scans
Exterior wall, its topmost feature is that scanning range is big, it is not necessary to need controller, and direct network interface exports (the most optional simulation output),
Scanning survey is not affected by color, Facing material or discrete light institute, and two dimensional laser scanning sensor has synchronization input
End, can make multiple sensor work asynchronously.Two dimensional laser scanning sensor 26,27 and 28 is carrying out vehicle exterior wall 11 scanning operation
Time, semiconductor laser generator 32 emits beam, and forms plane light curtain through lens 33, forms one on vehicle exterior wall 11 simultaneously
The bar scan wheel profile 34 scanning range of sensor (the contour line length be exactly), light through vehicle exterior wall 11 reflective projection to two
On Vc MOS array 36, now vehicle exterior wall 11 outline is defeated from signal output part 38 after signal processor 37 analyzes and processes
Go out.
Exterior wall detection door 29 is arranged on exterior wall detection track 30 and 31, its both sides and be the most all straight, two corners
Place is smooth curved state, depending on the size of exterior wall detection door 29 sweep limits according to three scanning laser sensor, at car
When exterior wall 11 is through exterior wall detection door 29, it is possible to ensure that the scope of sweeping retouches the whole vehicle exterior wall 11 of covering, and cross-sectional width is also
The installation of sensor be ensure that.After vehicle exterior wall pose adjusts, exterior wall detection door 29 is along detection door track 30 and 31 at the uniform velocity
Mobile, detection door track 30 is concordant with platform 22 with 31, is the operating path of exterior wall detection door 29, when exterior wall detection door 29 and car
During the alignment of exterior wall 11 front end, two dimensional laser scanning sensor 26,27 and 28 starts External Wall and is scanned detecting operation, works as inspection
When survey door 29 aligns with vehicle exterior wall 11 rear end, two dimensional laser scanning sensor 26,27 and 28 stops the Scanning Detction of External Wall
Operation, so far Scanning Detction operation completes, and detection door 29 will automatically reset.By the profile scan of vehicle exterior wall 11 is detected,
Can quickly measure the flatness of whole exterior wall, the data surveyed exported control signal after entering analyzing and processing, controlled peace
It is contained on milling robot track 20 two milling robots 21 and starts polishing operation.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert
Being embodied as of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
Substitute or obvious modification without departing from making some equivalents on the premise of present inventive concept, and performance or purposes are identical, then should
It is considered as belonging to the protection domain that claims that the present invention submitted to determine.
Claims (6)
1. a rail vehicle exterior wall application automatically grinding system, it is characterised in that: include that polishing system, vehicle exterior wall pose are adjusted
Joint system and three major parts of vehicle exterior wall flatness detecting device；Wherein, described polishing system, including support, crossbeam, beat
Mill robot track and milling robot；Described vehicle exterior wall pose regulation system, including ranging unit and regulating positioning device；
Described vehicle exterior wall smooth detection device, is arranged on the sleeper immediately below trailer two ends, including exterior wall detection door, detection door track
Road and selection two dimensional laser scanning sensor.
Polishing system the most according to claim 1, is characterized in that, described support is arranged on platform, in order to support crossbeam,
Described crossbeam is rack-mount, and in order to install milling robot track, described milling robot rail is fixed on crossbeam, described
Milling robot stands upside down and is arranged on milling robot track.
Vehicle exterior wall pose the most according to claim 1 regulation system, is characterized in that, described ranging unit specifically includes:
The laser range sensor that three specifications are identical, in two two notches being arranged in platform inside edge, the 3rd layout
In the middle of two sleepers, sensor uses short distance laser displacement sensor, is all used to detect vehicle exterior wall to be polished
Distance with self；
The display screen that three specifications are identical, is connected with laser range sensor, is used for showing the distance values that sensor is surveyed.
Vehicle exterior wall pose the most according to claim 1 regulation system, is characterized in that, described regulating positioning device specifically wraps
Include:
Lifting hydraulic cylinder, makes jacking hold up trailer, the lengthwise position of regulation polishing vehicle body；
Traversing hydraulic cylinder, lifting hydraulic cylinder, after its trailer of jacking top, regulates the lateral attitude of polishing vehicle body；
Joint, is connected with fluid pressure line and pressurizes oil cylinder；
Bearing, for the support of whole regulating positioning device；
Base, is used for installing lifting hydraulic cylinder, and is connected with traversing hydraulic cylinder, and base is below by slideway and traversing hydraulic cylinder
It is weldingly connected, is weldingly connected with lifting hydraulic cylinder above, can relative slide through traversing slideway between base with bearing simultaneously.
Vehicle exterior wall the most according to claim 1 smooth detection device, is characterized in that:
Described exterior wall detection door, is arranged on exterior wall detection track, in order to install sensor, outside band dynamic sensor is to whole vehicle
Wall flatness carries out comprehensive Scanning Detction；
Described detection door track, is arranged on inside milling robot two track, is the operating path of vehicle body detection door；
Described selection two dimensional laser scanning sensor, the laser scanning identical by three specifications forms, two in sensor
Being arranged on inside vehicle body detection door two sides symmetrically, the 3rd is arranged on inner side above exterior wall detection door, namely installs
Centre position, door top is detected at exterior wall.
Exterior wall the most according to claim 4 detection door, is characterized in that, both sides and be the most all straight, two corners are
Smooth curved state, depending on the exterior wall detection door size sweep limits according to three laser scanning surface sensors, wears at vehicle exterior wall
When crossing exterior wall detection door, it is possible to ensureing that scanning covers whole exterior wall, its cross-sectional width ensure that the installation of sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610976091.1A CN106312751A (en) | 2016-11-07 | 2016-11-07 | Automatic coated railway vehicle external wall polishing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610976091.1A CN106312751A (en) | 2016-11-07 | 2016-11-07 | Automatic coated railway vehicle external wall polishing system |
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| Publication Number | Publication Date |
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| CN106312751A true CN106312751A (en) | 2017-01-11 |
Family
ID=57817471
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610976091.1A Pending CN106312751A (en) | 2016-11-07 | 2016-11-07 | Automatic coated railway vehicle external wall polishing system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107253146A (en) * | 2017-07-11 | 2017-10-17 | 重庆华数机器人有限公司 | A kind of robot polishing system of multifunctional polishing head assembly and its composition |
| CN108161633A (en) * | 2018-03-14 | 2018-06-15 | 天津智通信息系统集成有限公司 | A kind of high ferro side wall weld seam milling combination unit |
| CN108500783A (en) * | 2018-04-10 | 2018-09-07 | 芜湖立普德机械科技有限公司 | A kind of glacing flatness detection correcting device |
| CN110153026A (en) * | 2019-05-21 | 2019-08-23 | 江苏理工学院 | A kind of ball size detection sorter |
| CN110525463A (en) * | 2019-07-30 | 2019-12-03 | 武钢资源集团有限公司 | Underground mine track transportation rail checks vehicle and inspection method |
| CN110605628A (en) * | 2019-09-16 | 2019-12-24 | 安徽金诚复合材料有限公司 | Flatness detection tool for machining back door of passenger car and detection method thereof |
| CN111203719A (en) * | 2020-02-03 | 2020-05-29 | 丁翔 | Magnetic suspension H-shaped sleeper milling and drilling device |
| CN111879264A (en) * | 2020-06-30 | 2020-11-03 | 武汉数字化设计与制造创新中心有限公司 | Flatness measurement and evaluation system based on line structured light |
| CN112743431A (en) * | 2020-12-25 | 2021-05-04 | 广州飞机维修工程有限公司 | Aircraft surface polishing robot device and polishing method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107253146A (en) * | 2017-07-11 | 2017-10-17 | 重庆华数机器人有限公司 | A kind of robot polishing system of multifunctional polishing head assembly and its composition |
| CN108161633A (en) * | 2018-03-14 | 2018-06-15 | 天津智通信息系统集成有限公司 | A kind of high ferro side wall weld seam milling combination unit |
| CN108161633B (en) * | 2018-03-14 | 2023-07-25 | 天津智通信息系统集成有限公司 | High-speed railway side wall welding seam mills grinds composite set |
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| CN110153026A (en) * | 2019-05-21 | 2019-08-23 | 江苏理工学院 | A kind of ball size detection sorter |
| CN110525463A (en) * | 2019-07-30 | 2019-12-03 | 武钢资源集团有限公司 | Underground mine track transportation rail checks vehicle and inspection method |
| CN110605628A (en) * | 2019-09-16 | 2019-12-24 | 安徽金诚复合材料有限公司 | Flatness detection tool for machining back door of passenger car and detection method thereof |
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