CN106903570A - The grinding pressure control device of diamond abrasive intelligent robot - Google Patents
The grinding pressure control device of diamond abrasive intelligent robot Download PDFInfo
- Publication number
- CN106903570A CN106903570A CN201710202376.4A CN201710202376A CN106903570A CN 106903570 A CN106903570 A CN 106903570A CN 201710202376 A CN201710202376 A CN 201710202376A CN 106903570 A CN106903570 A CN 106903570A
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- China
- Prior art keywords
- parallel bar
- grinding
- stepper motor
- motor
- intelligent robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 229910003460 diamond Inorganic materials 0.000 title claims abstract description 41
- 239000010432 diamond Substances 0.000 title claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 241001074085 Scophthalmus aquosus Species 0.000 claims description 4
- 239000004575 stone Substances 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000003028 elevating effect Effects 0.000 description 13
- 230000033001 locomotion Effects 0.000 description 9
- 238000005553 drilling Methods 0.000 description 8
- 239000013078 crystal Substances 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000003595 mist Substances 0.000 description 4
- 241001661918 Bartonia Species 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 238000005498 polishing Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007688 edging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- 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
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/06—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain
- B24B9/16—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain of diamonds; of jewels or the like; Diamond grinders' dops; Dop holders or tongs
-
- 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
-
- 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
-
- 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
-
- 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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
-
- 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
Abstract
The invention discloses a kind of grinding pressure control device of diamond abrasive intelligent robot, it is characterized in that, it includes controller and the elastic supporting mechanism coordinated with the slider assembly support for installing grinding work head of diamond abrasive intelligent robot, elastic supporting mechanism includes the motor mount, stepper motor, eccentric wheel, extension spring, spring adjustment screw, parallel bar, the parallel bar fixed seat that are arranged on base, controller connection control stepper motor；One end of parallel bar is hinged with parallel bar fixed seat, motor mount is fixed on base, stepper motor is fixed on motor mount, eccentric wheel is connected on the output shaft of stepper motor, one end of extension spring is connected with eccentric wheel, and the other end is connected by spring adjustment screw with the other end of parallel bar；Plain thrust bearing is provided with work head assembly to coordinate with parallel bar top pressure.Simple structure of the present invention, using just, compared to the product of same type, significantly improves production efficiency, and reliable in quality.
Description
Technical field
The present invention relates to diamond technical field of processing equipment, a kind of grinding for diamond abrasive intelligent robot is specifically related to
Mill pressure control device.
Background technology
It is processed into the diamond referred to as diamond of jewellery.There are various flaws on the crystal face of natural diamond crystal, in crystal
Also can there are bubble, crackle, breach and other flaws in portion.For being processed into the rough diamond of ornaments, designed by decomposing scheme, divided
After the operations such as the grinding and polishing in solution (split, saw or be cut by laser), wagon drill (edging line), corase grind (grinding core), table top and valve face
Diamond finished product-jewellery could be turned into bore.
Abrasive drilling (grinding and polishing) is operation the most complicated, the most key during diamond is processed.In order to do to the limit
Ground represents the optical characteristics of diamond, and modern diamond cut is designed as magnificent type cut, generally refers to the magnificent type of standard work
Round bur.The reflection and refraction of table top and each valve face that light passes through the type finished diamond, can make " the going out fire " of diamond and gloss
Optimum degree is reached, the natural beauty of diamond crystal is played incisively and vividly.
The shape of chiseling of magnificent type round bur is made up of middle part sideline, face and bottom.Face is except perpendicular to diamond centers line
There are 32 valve faces into three circle arrangements outside table top, be referred to as valvula (16), main lobe (8) and star valve (8).This three circle
The geometric molding in valve face is the how equilateral pyramid of three different cone angles and different faces number.24 valve faces into two circle rows are arranged at bottom
Row, are referred to as bottom valvula (16) and bottom main lobe (8).The geometric molding in this two circles valve face is also two different cone angles and not
The pyramid of coplanar number.Bottom main lobe is finally all converged to a bit, referred to as the vertex (vertices) of finished diamond.
Abrasive drilling operation seeks to perfect realize above-mentioned chiseling shape.The fixture of machine of the invention can be adjusted out and different inclined
Angle, and 57 faces of finished product brill around the axis automatic indexing of itself, can be accurately ground by process.The formation problems that finished product is bored
After solution, key is to improve the production efficiency of abrasive drilling.The efficiency of abrasive drilling can be described with abrasive drilling intensity, i.e. the unit interval
Interior rough diamond top layer removal amount.
The factor of grinding intensity is influenceed to be mainly following four：1, speed of grinding plate rotating speed is higher, and the grinding intensity of diamond is got over
Greatly；2, unit pressure increases diamond and the pressure of mill contact band can increase the stock removal of diamond, but unit pressure crosses conference very
Diamond micro mist is wiped off soon, and accelerates the abrasion of mill, or even rupture diamond；3, coating of the diamond micro mist in mill working face
Diamond micro mist particulate specification increases grinding intensity increase, but finish can be deteriorated, micro mist coating density abrasive drilling within the specific limits
Efficiency highest, this respect have accumulated rich experience data；4, the orientation of grinding.
Therefore, for first in aforementioned four factor, we have incited somebody to action in supporting bench drilling burrstone mill of the invention
Speed of grinding plate is increased substantially.This is reached by fine dynamic balancing technique and variable-frequency driving technique.The present invention will be to
2nd, compressive load per unit area during 4 two factors, i.e. abrasive drilling and the aspect of grinding orientation two implement intelligent solution.
The crystal structure of diamond causes the anisotropy of its hardness.The position of veil must be found during grinding, and brill
Stone is positioned along the minimum direction of hardness, could produce highest grinding intensity.Rotation driving aligning device of the invention is continuous
Change direction during intelligent decision preferential orientation, give and position.And by a set of automatic change in grinding process
The mechanism regulation grinding force , And of spring tension produce optimum pressure value of the workpiece to mill by intelligent decision.
Thus, it is contemplated that the life of shape accuracy, grinding surface quality and grinding is chiseled in the perfect grinding for solving finished product brill
Efficiency is produced, in the hope of reaching the economic benefit of maximum.
The content of the invention
The purpose of the present invention is exactly that the one kind provided to solve the deficiency of prior art can significantly improve production efficiency,
And the grinding pressure control device of the diamond abrasive intelligent robot of reliable in quality.
The present invention is to realize above-mentioned purpose using following technical solution：A kind of diamond abrasive intelligent robot grinds
Mill pressure control device, it is characterised in that it includes controller and with diamond abrasive intelligent robot for installing grinding work
Make the elastic supporting mechanism that the slider assembly support of head coordinates, elastic supporting mechanism includes that the motor being arranged on base is installed
Seat, stepper motor, eccentric wheel, extension spring, spring adjustment screw, parallel bar, parallel bar fixed seat, controller connection control step
Stepper motor；One end of parallel bar is hinged with parallel bar fixed seat, and motor mount is fixed on base, and stepper motor is fixed on electricity
In machine mounting seat, eccentric wheel is connected on the output shaft of stepper motor, and one end of extension spring is connected with eccentric wheel, and the other end leads to
Spring adjustment screw is crossed to be connected with the other end of parallel bar；Plain thrust bearing and parallel bar top pressure are provided with work head assembly
Coordinate；The self gravitation of mechanism's part is offset using spring tension, using the residual gravity after counteracting as grinding pressure, is led to
Cross the adjustment that stepper motor connecting eccentric wheel control spring elongation length realizes grinding pressure.
As further illustrating for such scheme, be provided with eccentric rod on the eccentric wheel, one end of extension spring with
Eccentric rod is connected, and the other end is connected on parallel bar by spring adjustment screw.
Further, the armature spindle of stepper motor is horizontally disposed with.
It is of the invention to be using the above-mentioned technical solution beneficial effect to be reached：
The present invention offsets a part of self gravitation of mechanism using spring tension, using the residual gravity after counteracting as grinding
Mill pressure, controls spring elongation length to realize the adjustment of grinding pressure by stepper motor connecting eccentric wheel, and simple structure is installed
It is easy to adjust.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is grinding pressure control device structural representation of the invention；
Fig. 3 is slider assembly structural representation of the invention；
Fig. 4 is table assembly structural representation of the invention；
Fig. 5 is elevating movement of the invention and rotary device structure schematic diagram；
Fig. 6 is diamond bottom surface grinding angular adjustment apparatus structural representation of the invention.
Description of reference numerals：1st, base 2, slider assembly 3, work head assembly 3-1, chuck component 3-2, micrometering first thousand
Divide chi 3-3, fixed seat 3-4, connecting seat 3-5, micro- micrometer footstock 4, control assembly 5, grinding pressure control device
It is 5-1, motor mount 5-2, stepper motor 5-3, eccentric wheel 5-4, extension spring 5-5, spring adjustment screw 5-6, parallel
It is bar 5-7, parallel bar fixed seat 6, elevating movement and whirligig 6-1, stepper motor 6-2, connection motor gear 6-3, interior
Helical gear 6-4, elevating screw mandrel 6-41, locating slot 6-42, flange 6-5, lifting rotation guide pillar 6-6, guide pin bushing column
6-7, guide pin bushing 6-8, ball sleeve 6-9, elevating screw stem spacer pin 7, diamond bottom surface grinding angular adjustment apparatus 7-1, chuck
Component 7-2, micro- micrometer 7-3, fixed seat 7-4, connecting seat 7-5, micro- micrometer footstock 8, eccentric shaft are oriented to
Fixed seat 9, eccentric shaft guide wheel 10, eccentric shaft 11, planetary motor device 11-1, planetary motor 11-2, planetary motor are slowed down
Device 12, motor installs column.
Specific embodiment
The technical program is explained in detail below in conjunction with specific embodiment.
As shown in figs 1 to 6, the present invention is a kind of grinding pressure control device of diamond abrasive intelligent robot, wherein,
Diamond abrasive intelligent robot in the technical program includes base 1, slider assembly 2, work head assembly 3 and control assembly 4, bottom
Grinding pressure control device 5 is provided with seat 1, slider assembly 2 is provided with elevating movement and whirligig 6, and work head assembly 3 sets
It is equipped with diamond bottom surface grinding angular adjustment apparatus 7；Control assembly is provided with master controller, and connection drives grinding pressure control dress
Put, elevating movement and whirligig, realize automatic indexing pivot angle, adjust automatically grinding pressure, Automatic-searching with reference to electrical system
Diamond most preferably grinds direction, and whole working cycles are automatically performed.
Grinding pressure control device 5 includes the elastic supporting mechanism coordinated with slider assembly support, elastic supporting mechanism bag
Include motor mount 5-1, stepper motor 5-2, eccentric wheel 5-3, extension spring 5-4, spring adjustment screw 5-5, parallel bar 5-6,
Parallel bar fixed seat 5-7, one end and the parallel bar fixed seat of parallel bar are hinged, and motor mount is fixed on base, stepping electricity
Machine is fixed on motor mount, and eccentric wheel is connected on the output shaft of stepper motor, and one end and the eccentric wheel of extension spring connect
Connect, the other end is connected by spring adjustment screw with the other end of parallel bar；Plane thrust is provided with grinding work head assembly
Bearing coordinates with parallel bar top pressure；The self gravitation of mechanism's part is offset using spring tension, by the residue weight after counteracting
Masterpiece is grinding pressure, controls spring elongation length to realize the adjustment of grinding pressure by stepper motor connecting eccentric wheel.It is described
Eccentric rod is provided with eccentric wheel, one end of extension spring is connected with eccentric rod, the other end is connected by spring adjustment screw
It is connected on parallel bar.Further, the armature spindle of stepper motor is horizontally disposed with.
Elevating movement and whirligig 6 include stepper motor 6-1, connection motor gear 6-2, internal thread gear 6-3, lifting
Screw mandrel mandrel 6-4, lifting rotation guide pillar 6-5, guide pin bushing column 6-6, guide pin bushing 6-7, stepper motor are fixed on slider assembly, connection
Motor gear is fixed on the armature spindle of stepper motor, and elevating screw mandrel is engaged by internal thread gear with motor gear is connected
Transmission, lifting rotation guide column sleeve is outside elevating screw mandrel；Guide pin bushing column is stood to being arranged on base, and guide pin bushing is arranged on guide pin bushing
In column, lifting rotation guide pillar inserts the interstitial hole of guide pin bushing together with elevating screw mandrel, between lifting rotation guide pillar and guide pin bushing
Ball sleeve 6-8 is provided with, locating slot 6-41 is in axial direction provided with the bottom of elevating screw mandrel, lifting rotation guide pillar
Sidepiece is provided with the corresponding elevating screw stem spacer pin 6-9 of locating slot, limits the stroke for moving up and down of elevating screw stem；
Linear motion and rotary motion are realized using guide pin bushing, ball sleeve, lifting rotation guide pillar combination stepper motor, the liter of mechanism can be met
Drop motion and the smooth and wear-resisting requirement of rotary motion.Further, the top of the lifting rotation guide pillar is provided with flange 6-
42, flange is connected with slider assembly, eccentric shaft is arranged with below flange and is oriented to fixed seat 8, and eccentric shaft is oriented to be fixed
The end of seat is provided with eccentric shaft guide wheel 9, and the corresponding eccentric shaft 10 stood to setting is provided with the outside of eccentric shaft guide wheel,
The planetary motor device 11 for driving it to rotate is connected with below the eccentric shaft, motor peace is connected with below planetary motor device
The dress connection of column 12 is supported on base.Planetary motor device 11 includes planetary motor 11-1 and the planet being connected with planetary motor
Motor reducer 11-2, eccentric shaft is connected to the output end of planetary motor decelerator.
Further, diamond bottom surface grinding angular adjustment apparatus 7 include chuck component 7-1 and the micrometering first thousand for setting thereon
Divide chi 7-2, fixed seat 7-3, connecting seat 7-4 and micro- micrometer footstock 7-5, fixed seat is connected with slider assembly, even
Joint chair is hinged with fixed seat, and fixed seat is connected with chuck component, and micro- micrometer is articulated with connecting seat, micrometering first thousand
Point chi footstock is fixed on chuck component, the end of micro- micrometer and micro- micrometer footstock movable top press-fit；Profit
Trigonometric function principle is used, using 1 acute angle intersection point as pivot, acute angle is adjusted to edge lengths control by micro- micrometer
Grinding angle.
Through experiment, the technical indicator that can be reached after implementing for the technical program below：
Compared with prior art, grinding pressure control device offsets oneself of mechanism's part using spring tension to the present invention
Body gravity, using the residual gravity after counteracting as grinding pressure, spring elongation length is controlled by stepper motor connecting eccentric wheel
Realize the adjustment of grinding pressure.
Above-described is only the preferred embodiment of the present invention, it is noted that for one of ordinary skill in the art
For, without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to the present invention
Protection domain.
Claims (3)
1. a kind of grinding pressure control device of diamond abrasive intelligent robot, it is characterised in that it include controller and with brill
The elastic supporting mechanism that the slider assembly support for installing grinding work head of stone grinding intelligent robot coordinates, resilient support
Mechanism includes being arranged on motor mount on base, stepper motor, eccentric wheel, extension spring, spring adjustment screw, parallel
Bar, parallel bar fixed seat, controller connection control stepper motor；One end of parallel bar is hinged with parallel bar fixed seat, motor peace
Dress seat is fixed on base, and stepper motor is fixed on motor mount, and eccentric wheel is connected on the output shaft of stepper motor, is drawn
The one end for stretching spring is connected with eccentric wheel, and the other end is connected by spring adjustment screw with the other end of parallel bar；Work head group
Plain thrust bearing is provided with part to coordinate with parallel bar top pressure.
2. the grinding pressure control device of diamond abrasive intelligent robot according to claim 1, it is characterised in that described
Eccentric rod is provided with eccentric wheel, one end of extension spring is connected with eccentric rod, the other end is connected by spring adjustment screw
It is connected on parallel bar.
3. the grinding pressure control device of diamond abrasive intelligent robot according to claim 1, it is characterised in that stepping
The armature spindle of motor is horizontally disposed with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710202376.4A CN106903570B (en) | 2017-03-30 | 2017-03-30 | Grinding pressure control device of intelligent diamond grinding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710202376.4A CN106903570B (en) | 2017-03-30 | 2017-03-30 | Grinding pressure control device of intelligent diamond grinding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106903570A true CN106903570A (en) | 2017-06-30 |
| CN106903570B CN106903570B (en) | 2023-12-19 |
Family
ID=59194933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710202376.4A Active CN106903570B (en) | 2017-03-30 | 2017-03-30 | Grinding pressure control device of intelligent diamond grinding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106903570B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109719625A (en) * | 2019-02-27 | 2019-05-07 | 库卡机器人制造（上海）有限公司 | Power control device and robot |
| CN117506644A (en) * | 2024-01-05 | 2024-02-06 | 广东若铂智能机器人有限公司 | Diamond polishing robot and diamond three-dimensional reconstruction method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2058361U (en) * | 1989-08-25 | 1990-06-20 | 河南省新乡市电气控制设备厂 | Cantilever welding machine |
| JPH0577127A (en) * | 1991-09-20 | 1993-03-30 | Takahiro Imahashi | Machining pressure control method and device therefor |
| CN201077019Y (en) * | 2007-05-28 | 2008-06-25 | 重庆大学 | Gantry type numeric control edge grinding machine tool |
| CN203652997U (en) * | 2013-12-11 | 2014-06-18 | 张夏 | Tensioning device of speed limiter steel wire rope |
| CN105798732A (en) * | 2016-05-13 | 2016-07-27 | 吴子龙 | Automatic polisher capable of rotating diamonds at all-dimensional angles |
| CN206588734U (en) * | 2017-03-30 | 2017-10-27 | 佛山市业鹏机械有限公司 | The grinding pressure control device of diamond abrasive intelligent robot |
-
2017
- 2017-03-30 CN CN201710202376.4A patent/CN106903570B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2058361U (en) * | 1989-08-25 | 1990-06-20 | 河南省新乡市电气控制设备厂 | Cantilever welding machine |
| JPH0577127A (en) * | 1991-09-20 | 1993-03-30 | Takahiro Imahashi | Machining pressure control method and device therefor |
| CN201077019Y (en) * | 2007-05-28 | 2008-06-25 | 重庆大学 | Gantry type numeric control edge grinding machine tool |
| CN203652997U (en) * | 2013-12-11 | 2014-06-18 | 张夏 | Tensioning device of speed limiter steel wire rope |
| CN105798732A (en) * | 2016-05-13 | 2016-07-27 | 吴子龙 | Automatic polisher capable of rotating diamonds at all-dimensional angles |
| CN206588734U (en) * | 2017-03-30 | 2017-10-27 | 佛山市业鹏机械有限公司 | The grinding pressure control device of diamond abrasive intelligent robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109719625A (en) * | 2019-02-27 | 2019-05-07 | 库卡机器人制造（上海）有限公司 | Power control device and robot |
| CN109719625B (en) * | 2019-02-27 | 2021-07-06 | 库卡机器人制造（上海）有限公司 | Force control device and robot |
| CN117506644A (en) * | 2024-01-05 | 2024-02-06 | 广东若铂智能机器人有限公司 | Diamond polishing robot and diamond three-dimensional reconstruction method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106903570B (en) | 2023-12-19 |
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