CN107052959B - Intelligent polishing system for processing chair legs - Google Patents

Intelligent polishing system for processing chair legs Download PDF

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Publication number
CN107052959B
CN107052959B CN201710149834.2A CN201710149834A CN107052959B CN 107052959 B CN107052959 B CN 107052959B CN 201710149834 A CN201710149834 A CN 201710149834A CN 107052959 B CN107052959 B CN 107052959B
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China
Prior art keywords
clamping
support rod
limiting
chair
tensioning
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CN201710149834.2A
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Chinese (zh)
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CN107052959A (en
Inventor
冯耀权
罗智文
袁小云
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Guangdong LXD Robotics Co Ltd
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Guangdong LXD Robotics Co Ltd
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Priority to CN201710149834.2A priority Critical patent/CN107052959B/en
Publication of CN107052959A publication Critical patent/CN107052959A/en
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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
    • B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/16—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape
    • 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
    • B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/18—Accessories
    • 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
    • B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/18—Accessories
    • B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
    • 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
    • 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
    • B24B41/06—Work supports, e.g. adjustable steadies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0047—Gripping heads and other end effectors for internally gripping hollow or recessed objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

The invention discloses an intelligent polishing system for processing chair legs, which comprises a robot and a polisher, wherein the polisher is arranged in a working area of the robot, the robot comprises a robot body and a chair leg grabber, and the chair leg grabber comprises a clamping driving cylinder, a clamping supporting rod, a clamping head and a guiding connecting piece. The intelligent polishing system for processing the chair legs is used for grabbing the office chair legs through a robot and polishing the polishing machine. The robot is provided with the chair leg grabber and is used for clamping office chair legs. The chair foot grabber is used for controlling the telescopic action of the clamping support rod through the clamping driving cylinder, and adjusting the outer supporting degree of the clamping outer supporting piece, so that the clamping degree of clamping the office chair feet is controlled, the deformation of the office chair feet is adapted, the influence of clearance problems on grabbing the office chair feet is reduced, and the operation is more convenient and rapid.

Description

Intelligent polishing system for processing chair legs
Technical Field
The invention relates to the field of hardware processing equipment, in particular to an intelligent polishing system for processing chair legs.
Background
The office chair leg is generally composed of a base and a plurality of supporting legs, as shown in fig. 1, one end of each supporting leg 72 is connected with the base 71, and the whole body is radial; the seat 71 is provided with a seat bar mounting hole 711. Because the structure of office chair foot is comparatively complicated, when the robot snatches office chair foot and adds man-hour, the clearance control requirement between anchor clamps and the office chair foot is very high: if the gap between the clamp and the office chair leg is too large, the clamp cannot clamp the office chair leg, so that the office chair leg is loosened, and the clamp shifts during processing, thereby affecting the processing quality; if the gap between the clamp and the office chair leg is too small, the clamping difficulty is increased, the robot can successfully grasp the office chair leg only by accurately aligning the clamping position, and the control difficulty is increased. Moreover, even the office chair foot of same model also has certain deformation, and shape and size can not be the same completely, and current office chair foot anchor clamps can not be adjusted along with the deformation of office chair foot, have the clamping position that partial office chair foot can't aim at anchor clamps, and anchor clamps adaptability is relatively poor.
Moreover, because the office chair foot structure is various, there is a large amount of complicated curved surfaces, and the degree of difficulty of polishing is big, uses the manual work at present to polish, and inefficiency, the difference is great between the product individual, and quality stability is poor. Moreover, the existing tensioning and leveling mechanism of the grinding machine has the following defects when manufacturing, using and replacing consumable materials: 1. the structure is complex, the assembly requirement is high, the structural space is large, and the parts are more; 2. the processing and purchasing cost is high; 3. when the abrasive belt is replaced, the operation steps are more, and the abrasive belt needs to be leveled again.
Disclosure of Invention
The invention aims to provide an intelligent polishing system for processing chair legs, which can reduce the influence of clearance on grabbing the chair legs of an office chair, realize automation of polishing the chair legs of the office chair and is easy to replace polishing abrasive belts.
To achieve the purpose, the invention adopts the following technical scheme:
the intelligent polishing system for processing the chair legs comprises a robot and a polisher, wherein the polisher is arranged in a working area of the robot;
the robot comprises a robot body and a chair leg grabber, wherein the chair leg grabber is arranged on an output shaft of the robot body; the chair leg grabber comprises a clamping driving cylinder, a clamping supporting rod, a chuck and a guiding connecting piece, wherein the guiding connecting piece comprises a supporting rod guiding pipe, and the clamping driving cylinder is arranged at one end of the supporting rod guiding pipe;
the clamping support rod is arranged in the support rod guide tube, one end of the clamping support rod is connected with an output shaft of the clamping driving cylinder, and the clamping driving cylinder drives the clamping support rod to move in the support rod guide tube; the clamping head comprises at least two clamping outer support pieces, wherein each clamping outer support piece comprises a support rod sliding groove, and the support rod sliding grooves are arranged on the inner side of one end of each clamping outer support piece; the clamping head is arranged at the other end of the support rod guide pipe, and the support rod sliding groove of the clamping outer support piece is jointed to form a clamping head movable sleeve hole;
when the clamping support rod extends out and is inserted into the chuck movable sleeve hole of the chuck, the clamping outer support piece is outwards supported;
the sanding machine comprises an abrasive belt tensioning mechanism and an abrasive belt wheel, wherein the abrasive belt tensioning mechanism comprises a tensioning guide shaft, a tensioning cylinder, a tensioning turbine and a tensioning worm, the abrasive belt wheel is installed at one end of the tensioning guide shaft, the tensioning turbine is sleeved on the tensioning guide shaft, the tensioning turbine is meshed with the tensioning worm and connected with the tensioning worm, and the tensioning cylinder is connected with the other end of the tensioning guide shaft.
Preferably, the grinding machine further comprises a grinding machine frame, a grinding abrasive belt, a grinding wheel and a grinding driving motor, wherein the grinding driving motor is arranged on the grinding machine frame, the grinding wheel is connected with an output shaft of the grinding driving motor, and the grinding driving motor drives the grinding wheel to rotate;
the abrasive belt tensioning mechanism is arranged on the polishing machine frame, and the centers of the abrasive belt wheel, the tensioning cylinder and the polishing wheel are on the same horizontal line;
the sanding belt surrounds the belt wheel and the sanding wheel.
Preferably, the clamping outer support piece further comprises a support rod positioning groove, a chuck positioning convex edge and a ferrule mounting groove, wherein the support rod positioning groove is arranged on the inner side of the other end of the clamping outer support piece, and one end of the support rod positioning groove is connected with one end of the support rod sliding groove;
the chuck positioning convex edge is arranged on the outer side of the proximal end part of one end of the clamping outer supporting piece; the ferrule mounting groove is arranged on the outer side of one end of the clamping outer supporting piece, and is arranged above the chuck positioning convex edge;
the clamping ring is sleeved in the ring mounting groove;
the supporting rod positioning groove for clamping the outer supporting piece is attached to form a chuck limiting sleeve hole, and the aperture of the chuck limiting sleeve hole is smaller than that of the chuck movable sleeve hole.
Preferably, the guide connection comprises a driver connection flange and at least two collet mounting plates;
the cylinder connecting flange is arranged at one end of the support rod guide pipe, the cylinder body of the clamping driving cylinder is connected with the cylinder connecting flange, the piston rod of the clamping driving cylinder is connected with one end of the clamping support rod, and the clamping driving cylinder drives the clamping support rod to move in the support rod guide pipe;
the clamping head mounting plates are symmetrically arranged at the other end of the support rod guide tube, the guide connecting piece further comprises at least two clamping head mounting pins, and the two opposite clamping head mounting plates are connected through the clamping head mounting pins;
the clamping outer support piece further comprises a clamping head installation through hole, the clamping head installation through hole is formed in the outer side of one end of the clamping outer support piece, and one end of the clamping outer support piece is sleeved on the clamping head installation pin through the clamping head installation through hole.
Preferably, the support rod guide tube comprises a bearing accommodating cavity and a support rod limiting cavity, the bearing accommodating cavity is arranged at one end of the support rod guide tube, the support rod limiting cavity is arranged at the other end of the support rod guide tube, and the bearing accommodating cavity is communicated with the support rod limiting cavity;
the guide connecting piece further comprises a support rod guide bearing, the support rod guide bearing is sleeved on the clamping support rod, the support rod guide bearing is arranged in the bearing accommodating cavity, and the clamping support rod sequentially penetrates through the bearing accommodating cavity and the support rod limiting cavity.
Preferably, the device further comprises a feeding device, wherein the feeding device is arranged on one side in the working area of the robot, and the polishing machine is arranged on the other side in the working area of the robot;
the feeding device comprises a feeding base, a feeding conveying plate, a feeding guide rail, a plurality of feeding limiting blocks, a conveying plate fixing mechanism and a plurality of chair leg limiting mechanisms; the feeding guide rail is arranged on the feeding base, the feeding conveying plate is movably propped against the feeding guide rail, the conveying plate fixing mechanism is arranged at one end, close to the robot, of the feeding base, and the feeding limiting blocks are arranged at two ends of the feeding base;
the chair leg limiting mechanisms are uniformly arranged on the feeding conveying plate at intervals, and the central axes of two adjacent chair leg limiting mechanisms are intersected;
the chair foot limiting mechanism comprises a chair foot limiting base, a plurality of chair foot limiting vertical rods and a plurality of chair foot limiting cross rods, wherein the chair foot limiting vertical rods are vertically arranged at two ends of the chair foot limiting base, and two opposite chair foot limiting vertical rods are connected through the chair foot limiting cross rods.
Preferably, the chair leg grabber further comprises a limiting extending rod and an electric limiting rod, wherein one end of the limiting extending rod is connected with the outer side of the supporting rod guide tube, and the electric limiting rod is arranged at the other end of the limiting extending rod;
the limiting extension rod is of an L-shaped structure, and a motor is arranged in the limiting extension rod to drive the electric limiting rod to lift.
Preferably, the feeding device further comprises a positioning table, wherein the positioning table is arranged close to one side of the feeding device;
the positioning table comprises a chair foot positioning disc, a plurality of chair foot positioning sheets and a plurality of chair foot positioning blocks, wherein the plurality of chair foot positioning sheets are uniformly arranged at the edge of the chair foot positioning disc along the circumferential direction at intervals;
the chair leg positioning blocks are arranged on the chair leg positioning pieces, and chair leg positioning grooves are radially formed in the tops of the chair leg positioning blocks.
Preferably, the automatic feeding device further comprises a feeding device, wherein the feeding device is arranged on one side, close to the positioning table, of the feeding device, and a feeding conveyor belt is arranged at the top of the feeding device;
the robot body comprises a mechanical arm and a rotating table, wherein the mechanical arm is arranged on the rotating table, and the chair leg grabber is arranged at the tail end of the mechanical arm.
The intelligent polishing system for processing the chair legs is used for grabbing the office chair legs through a robot and polishing the polishing machine. The robot is provided with the chair leg grabber and is used for clamping office chair legs. The chair foot grabber is used for controlling the telescopic action of the clamping support rod through the clamping driving cylinder, and adjusting the outer supporting degree of the clamping outer supporting piece, so that the clamping degree of clamping the office chair feet is controlled, the deformation of the office chair feet is adapted, the influence of clearance problems on grabbing the office chair feet is reduced, and the operation is more convenient and rapid. The abrasive belt tensioning mechanism is further provided with a tensioning turbine and a tensioning worm which are meshed with each other and used for adjusting flatness of the abrasive belt to be polished and preventing the abrasive belt to be polished from deviating. The tensioning worm is rotated, and then the tensioning turbine is driven to rotate, so that proper adjustment flatness and alignment degree are achieved, and the abrasive belt is prevented from being deviated, so that the abrasive belt is polished conveniently and rapidly.
Drawings
The present invention is further illustrated by the accompanying drawings, which are not to be construed as limiting the invention in any way.
FIG. 1 is a schematic view of a prior art office chair leg according to one embodiment of the present invention;
FIG. 2 is a front view of a smart grinding system of one embodiment of the invention;
FIG. 3 is a top view of the intelligent polishing system of one embodiment of the present invention;
FIG. 4 is a schematic view of a foot gripper according to one embodiment of the present invention;
FIG. 5 is a front view of a foot gripper according to one embodiment of the present invention;
FIG. 6 is a schematic view of an assembled state of the clamping outer strut according to one embodiment of the present invention;
FIG. 7 is a diagram of the inside construction of a clamping outer strut in accordance with one embodiment of the present invention;
FIG. 8 is a diagram of the outside construction of a clamping outer strut in accordance with one embodiment of the present invention;
FIG. 9 is a block diagram of a clamp support bar according to one embodiment of the present invention;
FIG. 10 is a block diagram of a guide link according to one embodiment of the present invention;
FIG. 11 is a schematic view of a sander according to one embodiment of the present invention;
FIG. 12 is a block diagram of a belt tensioning mechanism according to one embodiment of the present invention;
FIG. 13 is a block diagram of a loading device according to one embodiment of the present invention;
FIG. 14 is a block diagram of a positioning stage according to one embodiment of the present invention;
fig. 15 is a structural view of a robot according to one embodiment of the present invention.
Wherein: a robot 1; a polisher 2; a robot body 11; a chair leg gripper 12; a clamp driving cylinder 13; clamping the support bar 17; a chuck 18; a guide link 14; a support rod guide tube 142; clamping the outer stay 181; a support bar sliding groove 191; chuck movable sleeve hole 197; abrasive belt tensioning mechanism 25; a sand wheel 24; tensioning the guide shaft 26; a tensioning cylinder 27; tensioning turbine 28; a tensioning worm 29; a base 71; support feet 72; chair pole mounting holes 711; a grinding frame 21; sanding belt 22; grinding wheel 23; a support bar positioning groove 192; chuck positioning ledge 196; a ferrule mounting recess 195; closing the ferrule 182; a collet limit sleeve 198; a driver connection flange 141; a collet mounting plate 143; a collet mounting pin 145; a collet mounting through hole 194; a bearing receiving cavity 146; a support rod limiting cavity 147; a support rod guide bearing 144; a feeding device 3; a loading base 31; a loading conveyor plate 32; a loading guide rail 33; a feed stopper 34; a conveying plate fixing mechanism 35; a chair leg limit mechanism 36; chair leg limit bases 363; chair leg limiting upright 361; a foot-limiting rail 362; a limit extension rod 15; an electric limit lever 16; a positioning table 4; a chair leg positioning disk 41; a chair leg positioning piece 42; a leg positioning block 43; a foot positioning groove 44; a blanking device 5; a blanking conveyor belt 51; a robot arm 111; a rotary table 112.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
The intelligent polishing system for processing chair legs of the embodiment, as shown in fig. 2, comprises a robot 1 and a polishing machine 2, wherein the polishing machine 2 is arranged in a working area of the robot 1;
the robot 1 comprises a robot body 11 and a chair leg grabber 12, wherein the chair leg grabber 12 is arranged on an output shaft of the robot body 11; as shown in fig. 4, the chair leg grabber 12 includes a clamping driving cylinder 13, a clamping support rod 17, a chuck 18, and a guide connection member 14, the guide connection member 14 includes a support rod guide tube 142, and the clamping driving cylinder 13 is disposed at one end of the support rod guide tube 142;
the clamping support rod 17 is arranged in the support rod guide pipe 142, one end of the clamping support rod 17 is connected with the output shaft of the clamping driving cylinder 13, and the clamping driving cylinder 13 drives the clamping support rod 17 to move in the support rod guide pipe 142; the clamping head 18 comprises at least two clamping outer support pieces 181, as shown in fig. 7, the clamping outer support pieces 181 comprise support rod sliding grooves 191, and the support rod sliding grooves 191 are arranged on the inner side of one end of the clamping outer support pieces 181; the clamping head 18 is arranged at the other end of the supporting rod guide tube 142, and the supporting rod sliding groove 191 of the clamping outer supporting piece 181 is jointed to form a clamping head movable sleeve hole 197, as shown in fig. 6;
when the clamping support rod 17 is extended and inserted into the chuck movable sleeve hole 197 of the chuck 18, the clamping outer support piece 181 is outwardly spread;
as shown in fig. 11, the sanding machine 2 comprises a sanding belt tensioning mechanism 25 and a sanding belt wheel 24, wherein the sanding belt tensioning mechanism 25 comprises a tensioning guide shaft 26, a tensioning cylinder 27, a tensioning turbine 28 and a tensioning worm 29, the sanding belt wheel 24 is installed at one end of the tensioning guide shaft 26, the tensioning turbine 28 is sleeved on the tensioning guide shaft 26, the tensioning turbine 28 is in meshed connection with the tensioning worm 29, and the tensioning cylinder 27 is connected to the other end of the tensioning guide shaft 26.
The intelligent polishing system for processing the chair legs is used for grabbing the office chair legs through the robot 1 and polishing the polishing machine 2. The robot 1 is provided with the chair leg grabber 12 for clamping office chair legs. The office chair leg is generally composed of a seat body 71 and a plurality of supporting legs 72, wherein one end of each supporting leg 72 is connected with the seat body 71, and the whole body is radial; the seat 71 is provided with a seat bar mounting hole 711. Because the structure of office chair foot is comparatively complicated, when robot 1 snatches office chair foot and adds the time of processing, the clearance control requirement between anchor clamps and the office chair foot is very high: if the gap between the clamp and the office chair leg is too large, the clamp cannot clamp the office chair leg, so that the office chair leg is loosened, and the clamp shifts during processing, thereby affecting the processing quality; if the gap between the clamp and the office chair leg is too small, the clamping difficulty is increased, the robot 1 needs to be accurately aligned to the clamping position to successfully grasp the office chair leg, and the control difficulty is increased. Moreover, even the office chair foot of same model also has certain deformation, and shape and size can not be the same completely, and current office chair foot anchor clamps can not be adjusted along with the deformation of office chair foot, have the clamping position that partial office chair foot can't aim at anchor clamps, and anchor clamps adaptability is relatively poor.
The clamping head 18 is inserted into a seat rod mounting hole 711 of an office chair seat during processing, and the seat body 71 of the office chair seat is clamped by interaction with the support rod guide tube 142. The chuck 18 includes at least two clamping outer support plates 181, and two clamping outer support plates 181 are taken as an example: the two clamping outer support pieces 181 are symmetrically arranged at the other end of the support rod guide tube 142, namely, the support rod sliding grooves 191 of the two clamping outer support pieces 181 are attached to form a chuck movable sleeve hole 197. The clamping outer support piece 181 is movably connected with the support rod guide pipe 142, and the clamping outer support piece 181 can rotate around one end of the clamping outer support piece 181.
In operation, the robot 1 drives the collet 18 of the foot gripper 12 to be inserted into the rod mounting hole 711 of the base 71. The clamping support rod 17 extends from the other end of the support rod guide tube 142 and then continues to slide in the chuck movable sleeve hole 197, at this time, the clamping support rod 17 extrudes the clamping outer support pieces 181 at two sides, so that the clamping outer support pieces 181 at two sides are outwards spread, and therefore the hole walls of the clamping outer support pieces 181 and the chair rod mounting holes 711 are mutually extruded, and the clamping and fixing effects of the chuck 18 on the seat body 71 of the office chair foot are achieved. The chair foot grabber 12 controls the telescopic action of the clamping support rod 17 through the clamping driving cylinder 13, and adjusts the outer supporting degree of the clamping outer supporting piece 181, so that the clamping degree of the clamping office chair foot is controlled, the deformation of the office chair foot is adapted, the influence of clearance problem on grabbing the office chair foot is reduced, and the operation is more convenient and rapid.
The sander 2 is provided with a sanding belt tensioning mechanism 25 to adjust the tension of the sanding belt 22. The tensioning cylinder 27 drives the belt pulley 24 connected with the tensioning guide shaft 26 to move back and forth through a telescopic piston rod so as to adjust the tension of the sanding belt 22. Tensioning cylinder 27 is a large travel cylinder, and cooperates with the existing small travel cylinder and manual long distance guide rail mechanism, so that belt tensioning mechanism 25 has the following advantages: 1. the tensioning guide is simplified, the assembly process is simple, required parts are relatively reduced, the tensioning structure is compact, movable parts are reduced, vibration points are reduced, and the structure is more stable; 2. when the sanding belt 22 is replaced, only the tensioning cylinder 27 is needed to be retracted, so that the step of replacing the sanding belt 22 is reduced, and the processing cost is reduced.
The belt tensioning mechanism 25 is further provided with a tensioning turbine 28 and a tensioning worm 29 which are meshed with each other, and the tensioning turbine and the tensioning worm are used for adjusting flatness of the sanding belt 22 and preventing the sanding belt 22 from deviating. The tensioning worm 29 is rotated to drive the tensioning turbine 28 to rotate, so that appropriate flatness and alignment degree adjustment are achieved, and the sanding belt 22 is prevented from deviating, so that the sanding belt 22 works conveniently and quickly. Compared to the existing cooperative work of thread and spindle adjustment, this results in the belt tensioning mechanism 25 having the following advantages: 1. the matching back clearance between the tensioning turbine 28 and the tensioning worm 29 is small, so that the virtual position is reduced to the maximum extent, and the vibration is reduced; 2. the speed ratio between the tensioning turbine 28 and the tensioning worm 29 is large, so that fine adjustment can be realized, and the balance adjustment of the sanding belt 22 is more accurate; 3. the tensioning worm 28 and the tensioning worm 29 can be self-locking in opposite directions, the balance not being destroyed when the sander 2 is running.
Preferably, as shown in fig. 11, the polishing machine 2 further includes a polishing frame 21, a polishing abrasive belt 22, a polishing wheel 23, and a polishing driving motor, where the polishing driving motor is installed on the polishing frame 21, the polishing wheel 23 is connected with an output shaft of the polishing driving motor, and the polishing driving motor drives the polishing wheel 23 to rotate; the abrasive belt tensioning mechanism 25 is arranged on the grinding frame 21, and the centers of the abrasive belt wheel 24, the tensioning cylinder 27 and the grinding wheel 23 are on the same horizontal line; the sanding belt 22 surrounds the belt wheel 24 and the sanding wheel 23.
The grinding machine 2 takes a grinding wheel 23 as a driving wheel and drives the grinding wheel 23 to rotate through a grinding abrasive belt 22. The abrasive belt tensioning mechanism 25 is arranged on the grinding frame 21, the centers of the abrasive belt wheel 24, the tensioning cylinder 27 and the grinding wheel 23 are positioned on the same horizontal line, and the abrasive belt wheel 24 not only transmits grinding power, but also adjusts the tension of the grinding abrasive belt 22; the tensioning guide is simplified, the assembly process is simple, required parts are relatively reduced, the tensioning structure is compact, movable parts are reduced, vibration points are reduced, and the structure is more stable.
Preferably, as shown in fig. 7 and 8, the outer clamping brace 181 further includes a support bar positioning groove 192, a chuck positioning flange 196 and a ferrule mounting groove 195, wherein the support bar positioning groove 192 is disposed on the inner side of the other end of the outer clamping brace 181, and one end of the support bar positioning groove 192 is connected with one end of the support bar sliding groove 191;
the chuck positioning flange 196 is arranged outside the proximal end part of one end of the clamping outer support piece 181; the ferrule mounting groove 195 is provided on the outer side of one end of the clamping outer stay 181, and the ferrule mounting groove 195 is provided above the collet positioning flange 196;
as shown in fig. 5, the device further comprises a tightening ring 182, wherein the tightening ring 182 is sleeved on the ring mounting groove 195;
as shown in fig. 6, the supporting rod positioning groove 192 of the outer clamping supporting piece 181 is attached to form a chuck limiting sleeve hole 198, and the aperture of the chuck limiting sleeve hole 198 is smaller than that of the chuck movable sleeve hole 197.
The ferrule mounting groove 195 is used for fixedly supporting the tight-fitting ferrule 182, so that the tight-fitting ferrule 182 is sleeved on the outer side of one end of the outer clamping support piece 181, when the outer clamping support piece 181 on two sides is extruded by the clamping support rod 17 to enable the outer clamping support piece 181 on two sides to be outwards stretched, due to the sleeving effect of the tight-fitting ferrule 182, the outer clamping support piece 181 on two sides is not easy to outwards stretch and has the extrusion effect on the clamping support rod 17, and therefore when the seat body 71 of an office chair leg is clamped, the outer clamping support piece 181 keeps the outer supporting included angle unchanged, the outer clamping support piece 181 is prevented from loosening and cannot clamp the seat body 71, and the tight-fitting ferrule 182 can enhance the clamping reliability of the clamping head 18. The ferrule mounting recess 195 also prevents the cinching ferrule 182 from shifting to affect the clamping effect.
The inner side of the other end of the clamping outer support piece 181 is provided with a support rod positioning groove 192, the two support rod positioning grooves 192 of the clamping outer support piece 181 are attached to form a clamping head limiting sleeve hole 198, the aperture of the clamping head limiting sleeve hole 198 is smaller than that of a clamping head movable sleeve hole 197, so that the clamping support rod 17 cannot extend outwards continuously due to the fact that the clamping support rod 17 cannot be inserted into the clamping head limiting sleeve hole 198, the support rod positioning groove 192 can play a limiting role on the clamping support rod 17, the extending amount of the clamping support rod 17 is prevented from exceeding an allowable value, and further the outer support force of the clamping outer support piece 181 to the seat body 71 of an office chair foot is too large, damage is caused to the office chair foot, and the processing quality is affected. The clip positioning lip 196 serves as a stop to prevent the clip 18 from being inserted into the rod mounting hole 711 of the office chair leg to damage the office chair leg.
Preferably, as shown in fig. 4, the guide connection 14 includes a driver connection flange 141 and at least two collet mounting plates 143;
the cylinder connecting flange 141 is arranged at one end of the support rod guide pipe 142, the cylinder body of the clamping driving cylinder 13 is connected with the cylinder connecting flange 141, the piston rod of the clamping driving cylinder 13 is connected with one end of the clamping support rod 17, and the clamping driving cylinder 13 drives the clamping support rod 17 to move in the support rod guide pipe 142;
the chuck mounting plates 143 are symmetrically arranged at the other end of the support rod guide tube 142, the guide connecting piece 14 further comprises at least two chuck mounting pins 145, and the two opposite chuck mounting plates 143 are connected through the chuck mounting pins 145;
as shown in fig. 8, the outer clamping brace 181 further includes a clip mounting through hole 194, the clip mounting through hole 194 is disposed outside one end of the outer clamping brace 181, and one end of the outer clamping brace 181 is sleeved on the clip mounting pin 145 through the clip mounting through hole 194.
The clamping driving cylinder 13 drives the clamping supporting rod 17 to move in the supporting rod guide pipe 142, and the output of the clamping driving cylinder 13 is stable, so that the clamping supporting rod 17 is stable when clamping the chair legs of the office chair, and the clamping reliability is good. One end of the clamping outer support piece 181 is sleeved on the chuck mounting pin 145 between the two chuck mounting plates 143, so that the clamping outer support piece 181 can rotate around one end of the clamping outer support piece 181, and the clamping outer support piece 181 can be outwards supported under the extrusion action of the clamping support rod 17.
Preferably, as shown in fig. 10, the support rod guiding tube 142 includes a bearing accommodating cavity 146 and a support rod limiting cavity 147, the bearing accommodating cavity 146 is disposed at one end of the support rod guiding tube 142, the support rod limiting cavity 147 is disposed at the other end of the support rod guiding tube 142, and the bearing accommodating cavity 146 is communicated with the support rod limiting cavity 147;
as shown in fig. 9, the guiding connection member 14 further includes a supporting rod guiding bearing 144, the supporting rod guiding bearing 144 is sleeved on the clamping supporting rod 17, the supporting rod guiding bearing 144 is disposed in the bearing accommodating cavity 146, and the clamping supporting rod 17 passes through the bearing accommodating cavity 146 and the supporting rod limiting cavity 147 in sequence.
The bearing accommodating cavity 146 and the supporting rod limiting cavity 147 play a role in guiding the telescopic movement of the clamping supporting rod 17, the supporting rod guiding bearing 144 is arranged and sleeved on the clamping supporting rod 17, the clamping supporting rod 17 can be further supported and guided, friction between the clamping supporting rod 17 and the supporting rod guiding tube 142 is reduced, and energy consumption is reduced.
Preferably, as shown in fig. 2, the device further comprises a feeding device 3, wherein the feeding device 3 is arranged at one side in the working area of the robot 1, and the polishing machine 2 is arranged at the other side in the working area of the robot 1;
as shown in fig. 3, the loading device 3 includes a loading base 31, a loading conveying plate 32, a loading guide rail 33, a plurality of loading limiting blocks 34, a conveying plate fixing mechanism 35 and a plurality of chair leg limiting mechanisms 36; the feeding guide rail 33 is arranged on the feeding base 31, the feeding conveying plate 32 is movably abutted against the feeding guide rail 33, the conveying plate fixing mechanism 35 is arranged at one end of the feeding base 31, which is close to the robot 1, and the feeding limiting blocks 34 are arranged at two ends of the feeding base 31;
the plurality of chair leg limiting mechanisms 36 are uniformly arranged on the feeding conveying plate 32 at intervals, and the central axes of two adjacent chair leg limiting mechanisms 36 are intersected;
as shown in fig. 13, the foot limiting mechanism 36 includes a foot limiting base 363, a plurality of foot limiting uprights 361 and a plurality of foot limiting rails 362, the foot limiting uprights 361 are vertically mounted at two ends of the foot limiting base 363, and two opposite foot limiting uprights 361 are connected by the foot limiting rails 362.
The feeding device 3 is provided with a feeding conveying plate 32 for bearing office chair legs to be polished, and the office chair legs to be polished are conveyed into a working area of the robot 1 through a feeding guide rail 33, so that the clamping heads 18 of the robot 1 are inserted into the chair rod mounting holes 711 of the office chair legs, and the office chair legs to be polished are grabbed. The two ends of the feeding base 31 are provided with feeding limiting blocks 34, which limit the feeding conveying plate 32 and prevent the feeding conveying plate 32 from sliding off the feeding base 31. Preferably, a pressure sensor is arranged in the feeding limiting block 34, and when the feeding conveying plate 32 contacts the feeding limiting block 34, the feeding guide rail 33 stops conveying the feeding conveying plate 32, so that feeding automation is realized. The conveying plate fixing mechanism 35 is used for fixing the feeding conveying plate 32, when the feeding conveying plate 32 moves to one end of the feeding base 31, the conveying plate fixing mechanism 35 locks the feeding conveying plate 32, so that the feeding conveying plate 32 is prevented from shifting when the robot 1 grabs office chair feet to be polished, the grabbing effect is affected, and potential safety hazards are eliminated.
The feeding conveying plate 32 is provided with a plurality of chair leg limiting mechanisms 36, the chair leg limiting mechanisms 36 are used for limiting and fixing the supporting legs 72 of the bearing office chair legs, so that the office chair legs are prevented from shifting in the feeding and grabbing processes, and the robot is convenient to grab the office chair legs. Since the plurality of supporting legs 72 of the office chair leg are radially mounted on the base 71, the plurality of chair leg limiting mechanisms 36 are uniformly arranged on the feeding conveying plate 32 at intervals, and the central axes of the two adjacent chair leg limiting mechanisms 36 intersect, so that the supporting legs 72 are fixed in the gaps of the two adjacent chair leg limiting mechanisms 36. Moreover, the included angle between two adjacent chair leg limit mechanisms 36 is the same as the included angle between two adjacent support legs 72 in the office chair legs, taking an office chair leg provided with five support legs 72 and having an included angle between two adjacent support legs 72 of 108 ° as an example, correspondingly, the feeding conveying plate 32 is provided with three chair leg limit mechanisms 36, and the included angle between two adjacent chair leg limit mechanisms 36 is 108 ° so as to be attached to the support legs 72; and three leg limit mechanisms 36 are provided on the same side of the loading conveyor 32 to facilitate quick placement of the office chair legs. The two plurality of leg limiting uprights 361 of the leg limiting mechanism 36 are used for limiting the supporting legs 72, and the leg limiting uprights 361 have a certain height, so that a plurality of office chair legs can be carried at a time, and the bottom surfaces of the office chair legs are upward during feeding so as to facilitate grabbing and polishing of the robot 1; the chair leg limiting cross rod 362 is arranged, so that the structural strength of the two opposite chair leg limiting vertical rods 361 can be improved, and the chair leg limiting cross rod can also serve as a handle, so that an operator can conveniently extract and transport the feeding conveying plate 32.
Preferably, as shown in fig. 5, the chair leg grabber 12 further includes a limit extension rod 15 and an electric limit rod 16, wherein one end of the limit extension rod 15 is connected to the outer side of the support rod guide tube 142, and the electric limit rod 16 is mounted at the other end of the limit extension rod 15; the limiting extension rod 15 is of an L-shaped structure, and a motor is arranged in the limiting extension rod 15 to drive the electric limiting rod 16 to lift.
One end of the limiting extension rod 15 is connected with the outer side of the support rod guide tube 142, the limiting extension rod 15 is L-shaped, and the limiting extension rod 15 can be tightly attached to the support leg 72 of the office chair leg by aligning the position between the limiting extension rod 15 and the support leg 72; then, the supporting legs 72 of the office chair legs are connected with the limit extension rods 15 by descending the electric limit rods 16, so that the supporting legs 72 of the office chair legs are clamped and fixed, and the supporting legs 72 of the office chair legs are prevented from rotating during processing to damage processing equipment.
Preferably, as shown in fig. 2 and 3, the feeding device further comprises a positioning table 4, wherein the positioning table 4 is arranged close to one side of the feeding device 3; the positioning table 4 comprises a seat positioning disc 41, a plurality of seat positioning pieces 42 and a plurality of seat positioning blocks 43, wherein the seat positioning pieces 42 are uniformly arranged at the edge of the seat positioning disc 41 along the circumferential direction at intervals; as shown in fig. 14, the seat positioning block 43 is mounted on the seat positioning plate 42, and a seat positioning groove 44 is radially provided at the top of the seat positioning block 43.
Since the robot is only gripping the seat body 71 of the office chair leg by the interaction of the gripping head 18 and the support bar guide tube 142 during loading, the limit extension bar 15 is not aligned with one of the support legs 72. Thus, the positioning table 4 is provided to position the legs of the office chair such that the limit extension bar 15 is aligned with one of the support legs 72. The positioning table 4 is provided with a plurality of chair leg positioning pieces 42 for positioning each supporting leg 72 of the office chair legs; the foot positioning block 43 is provided with a foot positioning groove 44 to limit the supporting foot 72, so as to prevent the robot 1 from being completely fixed due to the offset of the supporting foot 72 when the electric limiting rod 16 is lowered to fix the supporting foot 72. The seat leg rotating disc 41 is provided with a position sensor for detecting the position of each support leg 72, so that the seat leg positioning block 43 is rotated to make the seat leg positioning block 43 and the support leg 72 correspond one by one. Specifically, after the robot 1 grabs the office chair legs from the feeding device 3, the office chair legs are carried to the position right above the positioning table 4, and the chair leg rotating disc 41 rotates to enable the chair leg positioning blocks 43 and the supporting legs 72 to correspond to each other one by one; then, the robot 1 places the office chair legs on the positioning table 4, and the chair leg grabber 12 is separated from the office chair legs; then, the seat leg rotating disc 41 rotates to enable the seat leg positioning block 43 to return to the original position, the robot 1 pre-stores the original position of the seat leg positioning block 43, and the robot body 11 drives the seat leg grabber 12 to rotate so as to enable the limit extension rod 15 to be aligned with one of the supporting legs 72; finally, the robot 1 grabs the office chair legs again, and descends the electric limit rod 16 to connect the support legs 72 of the office chair legs with the limit extension rod 15, thereby clamping and fixing the support legs 72 of the office chair legs.
By arranging the positioning table 4, the robot 1 does not need to arrange a precise sensor and a complex algorithm to detect the position of the supporting leg 72, so that the quick alignment of the limiting extension rod 15 and the supporting leg 72 is realized, the control difficulty is reduced, and the alignment precision is improved.
Preferably, as shown in fig. 15, the device further comprises a blanking device 5, wherein the blanking device 5 is arranged at one side close to the positioning table 4, and a blanking conveyor belt 51 is arranged at the top of the blanking device 5; the robot body 11 includes a robot arm 111 and a rotary table 112, the robot arm 111 is mounted on the rotary table 112, and the foot grippers 12 are mounted at the ends of the robot arm 111. The rotating table 112 drives the mechanical arm 111 to rotate, and the mechanical arm 111 drives the chair leg grabber 12 to lift and rotate, so that the robot 1 can grab office chair legs and move among the feeding device 3, the grinding machine 2, the positioning table 4 and the discharging device 5. The robot 1 grabs office chair feet by the chair foot grabber 12 on the feeding device 3, then conveys to the positioning table 4 to position and fix the supporting feet 72, then moves to the polisher 2 to polish, and after polishing, the robot 1 places the office chair feet on the blanking conveyor belt 51 of the blanking device 5, and finished products are output by the blanking conveyor belt 51.
The technical principle of the present invention is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the invention and should not be taken in any way as limiting the scope of the invention. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.

Claims (7)

1. An intelligent polishing system for processing chair feet comprises a robot and a polishing machine, wherein the polishing machine is arranged in a working area of the robot, and is characterized in that:
the robot comprises a robot body and a chair leg grabber, wherein the chair leg grabber is arranged on an output shaft of the robot body; the chair leg grabber comprises a clamping driving cylinder, a clamping supporting rod, a chuck and a guiding connecting piece, wherein the guiding connecting piece comprises a supporting rod guiding pipe, and the clamping driving cylinder is arranged at one end of the supporting rod guiding pipe;
the clamping support rod is arranged in the support rod guide tube, one end of the clamping support rod is connected with an output shaft of the clamping driving cylinder, and the clamping driving cylinder drives the clamping support rod to move in the support rod guide tube; the clamping head comprises at least two clamping outer support pieces, wherein each clamping outer support piece comprises a support rod sliding groove, and the support rod sliding grooves are arranged on the inner side of one end of each clamping outer support piece; the clamping head is arranged at the other end of the support rod guide pipe, and the support rod sliding groove of the clamping outer support piece is jointed to form a clamping head movable sleeve hole;
when the clamping support rod extends out and is inserted into the chuck movable sleeve hole of the chuck, the clamping outer support piece is outwards supported;
the grinding machine comprises an abrasive belt tensioning mechanism and an abrasive belt wheel, wherein the abrasive belt tensioning mechanism comprises a tensioning guide shaft, a tensioning cylinder, a tensioning worm wheel and a tensioning worm, the abrasive belt wheel is installed at one end of the tensioning guide shaft, the tensioning worm wheel is sleeved on the tensioning guide shaft, the tensioning worm wheel is in meshed connection with the tensioning worm, and the tensioning cylinder is connected with the other end of the tensioning guide shaft;
the grinding machine is arranged on the other side in the working area of the robot;
the chair leg grabber further comprises a limiting extending rod and an electric limiting rod, one end of the limiting extending rod is connected with the outer side of the supporting rod guide tube, and the electric limiting rod is arranged at the other end of the limiting extending rod;
the limiting extension rod is of an L-shaped structure, and a motor is arranged in the limiting extension rod to drive the electric limiting rod to lift;
the feeding device further comprises a positioning table, wherein the positioning table is arranged at one side close to the feeding device;
the positioning table comprises a chair foot positioning disc, a plurality of chair foot positioning sheets and a plurality of chair foot positioning blocks, wherein the plurality of chair foot positioning sheets are uniformly arranged at the edge of the chair foot positioning disc along the circumferential direction at intervals;
the chair leg positioning blocks are arranged on the chair leg positioning pieces, and chair leg positioning grooves are radially formed in the tops of the chair leg positioning blocks.
2. The intelligent polishing system for machining chair feet of claim 1, wherein: the grinding machine further comprises a grinding machine frame, a grinding abrasive belt, a grinding wheel and a grinding driving motor, wherein the grinding driving motor is arranged on the grinding machine frame, the grinding wheel is connected with an output shaft of the grinding driving motor, and the grinding driving motor drives the grinding wheel to rotate;
the abrasive belt tensioning mechanism is arranged on the polishing machine frame, and the centers of the abrasive belt wheel, the tensioning cylinder and the polishing wheel are on the same horizontal line;
the sanding belt surrounds the belt wheel and the sanding wheel.
3. The intelligent polishing system for machining chair feet of claim 1, wherein: the clamping outer support piece further comprises a support rod positioning groove, a chuck positioning convex edge and a ferrule mounting groove, wherein the support rod positioning groove is formed in the inner side of the other end of the clamping outer support piece, and one end of the support rod positioning groove is connected with one end of the support rod sliding groove;
the chuck positioning convex edge is arranged on the outer side of the proximal end part of one end of the clamping outer supporting piece; the ferrule mounting groove is arranged on the outer side of one end of the clamping outer supporting piece, and is arranged above the chuck positioning convex edge;
the clamping ring is sleeved in the ring mounting groove;
the supporting rod positioning groove for clamping the outer supporting piece is attached to form a chuck limiting sleeve hole, and the aperture of the chuck limiting sleeve hole is smaller than that of the chuck movable sleeve hole.
4. The intelligent polishing system for machining chair feet of claim 1, wherein: the guide connecting piece comprises an air cylinder connecting flange and at least two chuck mounting plates;
the cylinder connecting flange is arranged at one end of the support rod guide pipe, the cylinder body of the clamping driving cylinder is connected with the cylinder connecting flange, the piston rod of the clamping driving cylinder is connected with one end of the clamping support rod, and the clamping driving cylinder drives the clamping support rod to move in the support rod guide pipe;
the clamping head mounting plates are symmetrically arranged at the other end of the support rod guide tube, the guide connecting piece further comprises at least two clamping head mounting pins, and the two opposite clamping head mounting plates are connected through the clamping head mounting pins;
the clamping outer support piece further comprises a clamping head installation through hole, the clamping head installation through hole is formed in the outer side of one end of the clamping outer support piece, and one end of the clamping outer support piece is sleeved on the clamping head installation pin through the clamping head installation through hole.
5. The intelligent polishing system for machining chair feet of claim 1, wherein: the support rod guide tube comprises a bearing accommodating cavity and a support rod limiting cavity, the bearing accommodating cavity is arranged at one end of the support rod guide tube, the support rod limiting cavity is arranged at the other end of the support rod guide tube, and the bearing accommodating cavity is communicated with the support rod limiting cavity;
the guide connecting piece further comprises a support rod guide bearing, the support rod guide bearing is sleeved on the clamping support rod, the support rod guide bearing is arranged in the bearing accommodating cavity, and the clamping support rod sequentially penetrates through the bearing accommodating cavity and the support rod limiting cavity.
6. The intelligent polishing system for machining chair feet of claim 1, wherein: the feeding device comprises a feeding base, a feeding conveying plate, a feeding guide rail, a plurality of feeding limiting blocks, a conveying plate fixing mechanism and a plurality of chair leg limiting mechanisms; the feeding guide rail is arranged on the feeding base, the feeding conveying plate is movably propped against the feeding guide rail, the conveying plate fixing mechanism is arranged at one end of the feeding base, which is close to the robot, and the feeding limiting blocks are arranged at two ends of the feeding base;
the chair leg limiting mechanisms are uniformly arranged on the feeding conveying plate at intervals, and the central axes of two adjacent chair leg limiting mechanisms are intersected;
the chair foot limiting mechanism comprises a chair foot limiting base, a plurality of chair foot limiting vertical rods and a plurality of chair foot limiting cross rods, wherein the chair foot limiting vertical rods are vertically arranged at two ends of the chair foot limiting base, and two opposite chair foot limiting vertical rods are connected through the chair foot limiting cross rods.
7. The intelligent polishing system for machining chair feet of claim 1, wherein: the blanking device is arranged at one side close to the positioning table, and a blanking conveyor belt is arranged at the top of the blanking device;
the robot body comprises a mechanical arm and a rotating table, wherein the mechanical arm is arranged on the rotating table, and the chair leg grabber is arranged at the tail end of the mechanical arm.
CN201710149834.2A 2017-03-14 2017-03-14 Intelligent polishing system for processing chair legs Active CN107052959B (en)

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DE102018102994B4 (en) * 2018-02-09 2020-01-23 Haux Maschinenbau Gmbh DEVICE FOR MUTUAL POSITIONING OF A WORKPIECE AND TOOL
CN111203765B (en) * 2019-07-29 2020-12-22 安吉洪晟家具有限公司 Automatic office chair foot polishing method
CN111152103B (en) * 2020-01-17 2021-10-19 义乌市龙川农业开发有限公司 Overturning and polishing device for trapezoidal strip-shaped stool legs
CN114074277A (en) * 2021-10-16 2022-02-22 湖南千源铝业有限公司 Polishing device for aluminum alloy machining and machining method

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CA1312349C (en) * 1986-11-08 1993-01-05 Genzo Fuse Robot apparatus
EP2882358B1 (en) * 2012-08-09 2019-04-24 Université de Strasbourg (Etablissement Public National à Caractère Scientifique, Culturel et Professionnel) Device for grasping an elongated body, such as a needle, and robotized device comprising the same
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Denomination of invention: An intelligent polishing system for processing chair legs

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