CN107081772A - A kind of robot flexibility Surface Milling producing unit - Google Patents
A kind of robot flexibility Surface Milling producing unit Download PDFInfo
- Publication number
- CN107081772A CN107081772A CN201710464259.5A CN201710464259A CN107081772A CN 107081772 A CN107081772 A CN 107081772A CN 201710464259 A CN201710464259 A CN 201710464259A CN 107081772 A CN107081772 A CN 107081772A
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- China
- Prior art keywords
- quick change
- sucker
- plate
- workbench
- robot
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
- B23C3/13—Surface milling of plates, sheets or strips
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot flexibility Surface Milling producing unit, including：Feeding bin, blanking bin, workbench, tool holder, industrial robot component and control system.Wherein, feed bin is used to deposit blank and workpiece up and down, and workbench is used for clamping workpiece and completes processing tasks, and tool holder is used to place electro spindle and vacuum cup；Industrial robot realizes the automatic loading/unloading of many size workpieces by vacuum cup, and completing Surface Milling by electro spindle processes.Feeding bin, blanking bin, tool holder and workbench are uniformly distributed centered on robot, improve space availability ratio.The present invention is based on electromechanical integration principle, realizes the operation such as automatic replacing of automatic loading/unloading and instrument of workpiece, simplifies production technology, optimize productive temp, greatly improve production efficiency.
Description
Technical field
The present invention relates to a kind of processing of robots production line, more particularly to a kind of robot flexibility equipped with fast replacing device are bent
Facing cut cuts producing unit.
Background technology
Traditional sheet fabrication is general to be carried out on engraving machine, and the range of work is smaller, while needing workman to carry out by hand
Loading and unloading and clamping, there are problems that efficiency is low, labor intensity is high and.
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, with processing model
The features such as wide, cost is low and flexible high is enclosed, electro spindle is installed in its end to replace engraving machine to complete sheet fabrication task.One
As in the case of, robot end fix clamping tool can complete single task role, complete Milling Process task when be just difficult to use
Uniform machinery people completes loading and unloading task, if realizing loading and unloading and processing respectively with Liang Ge robots, can greatly increase
Production cost.
The content of the invention
To solve problem present in technical background, the invention provides a kind of processing of robot flexibility Surface Milling
Line, the automatic loading/unloading, Surface Milling, the automatic replacing function such as fixture and cutter of workpiece can be realized by a robot, is carried
High production efficiency, reduces production cost, simplifies processing technology.
The technical solution adopted by the present invention is as follows：
A kind of robot flexibility Surface Milling producing unit, including industrial robot component, and around the industrial machine
Workbench, tool holder, feeding bin, blanking bin and the control system of the scattered arrangement of device people component, the industrial robot component
Including industrial robot, force snesor and robot side quick change, described force snesor one end connects industrial robot, and the other end connects
Welding robot side quick change, the workbench includes workbench chopping board, and the workbench chopping board is provided with positioner and dress of blowing
Put, the tool holder includes base, support frame and knife rest, support frame as described above is fixed on the base, the knife rest and institute
Support frame connection is stated, support frame as described above is provided with main shaft quick change component and sucker quick change component.
Preferably, the sucker quick change component include sucker quick change, it is sucker mounting base, sucker, quick change location-plate, fast
Change alignment pin, guide finger, quick change cavity adaptor plate, quick change active side installing plate, sensor holder, sensor, sucker installation side
Plate and sucker clamp installing plate, the quick change cavity adaptor plate are connected with support frame as described above, the quick change location-plate with it is described
Quick change active side installing plate is connected, and connection quick change alignment pin below the quick change location-plate, the guide finger is consolidated with the quick change
Determine side installing plate connection, the quick change active side installing plate is provided with the through hole being engaged with the guide finger, and the sucker is fast
Change and be connected with quick change active side installing plate top, the sucker is connected with sucker mounting base, the sucker mounting base is with inhaling
Disk installation side plate is connected, and the sucker installation side plate is connected with sucker clamp installing plate, the sucker clamp installing plate and quick change
Active side installing plate bottom is connected, and the sensor holder is connected with quick change cavity adaptor plate, and the sensor is arranged on described
On sensor holder, the sensor is located at below the quick change alignment pin.
It is quick change location-plate, fast preferably, the main shaft quick change component includes electro spindle, main shaft quick change, main shaft installing plate
Alignment pin, guide finger, quick change cavity adaptor plate, quick change active side installing plate, sensor holder and sensor are changed, the quick change is consolidated
Determine side installing plate to be connected with support frame as described above, the quick change location-plate is connected with the quick change active side installing plate, the quick change
Connection quick change alignment pin below location-plate, the guide finger is connected with the quick change cavity adaptor plate, the quick change active side
Installing plate is provided with the through hole being engaged with the guide finger, and the main shaft quick change is connected with quick change active side installing plate top,
The electro spindle is connected with main shaft installing plate, and the main shaft installing plate is connected with quick change active side installing plate bottom, the sensing
Device seat is connected with quick change cavity adaptor plate, and the sensor is arranged on the sensor holder, and the sensor is located at described
Below quick change alignment pin.
Preferably, the positioner includes positioning angle bar A, positioning angle bar B, clamping cylinder, positioning fixture and positioning
Cylinder, the positioning angle bar A, positioning angle bar B are fixed on the workbench chopping board, and the positioning fixture connects with positioning cylinder
Connect, the clamping cylinder and positioning cylinder are connected with the workbench chopping board.
Preferably, the clamping cylinder has two, respectively positioned at the left and right sides of the workbench chopping board, and on work
Make platform chopping board center line to be left and right symmetrically arranged.
Preferably, the positioning angle bar A is located at the front side of the workbench chopping board, the positioning angle bar B is located at described
On the right side of workbench chopping board, the positioning cylinder is located at the left back of the workbench chopping board.
Preferably, the industrial robot is connected with main shaft quick change and sucker quick change respectively by robot side quick change.
Preferably, installing much knives tool on the knife rest.
Preferably, the sucker quick change realizes positioning and clamping on support frame by guide finger, while production line
Pass through the positional information of the sensor automatic detection sucker quick change on alignment pin and sensor holder.
Preferably, the main shaft quick change realizes positioning and clamping on support frame by guide finger, while production line
Pass through the positional information of the sensor automatic detection main shaft quick change on alignment pin and sensor holder.
The beneficial effects of the invention are as follows：
The invention provides a kind of robot flexibility Surface Milling producing unit, automatic loading/unloading, the machine of workpiece are realized
The functions such as automatic switchover, the processing of robots of device people end frock clamp and electro spindle.Using fast replacing device, frock folder is solved
The switching problem of tool and electro spindle, it is possible to achieve loading and unloading and processing tasks are completed by a robot；And can be main by electricity
Axle carries out tool changing, can meet different processing technologys.In this production line, workman only need to be responsible for blowing i.e. at feeding bin
Can, the potential safety hazard in production process is greatly reduced, time beat is optimized, greatly improves production efficiency.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is robot end's apparatus structure schematic diagram；
Fig. 3 is the structural representation of workbench；
Fig. 4 is the structural representation figure of tool holder；
Fig. 5 is the structural representation of sucker quick change component；
Fig. 6 is the structural representation of main shaft quick change component.
Reference numerals list：
In figure：100- industrial robot components, 101- industrial robots, 102- force snesors, 103- robots side quick change, 104-
Adpting flange A, 105- adpting flange B, 200- workbench, 201- workbench chopping boards, 202- positioning angle bars A, 203- clamping cylinder,
204- positioning angle bars B, 205- blowning installation, 206- positioning fixtures, 207- positioning cylinders, 208- chip-removal holes, 300- tool holders,
301- electro spindles, 302- main shaft quick changes, 303- quick change active side installing plates, 304- guide fingers, 305- support frames, 306- knife rests,
307- bases, 308- sucker quick changes, 309- sucker mounting bases, 310- suckers, 311- main shafts install version, the positioning of 312- quick changes
Plate, 313- quick change alignment pins, 314- quick change cavity adaptor plates, 315- sensor holders, 316- sensors, 317- sucker installation sides
Plate, 318- sucker clamp installing plates, 400- blanking bins, 500- feeding bins, 600- control systems.
Embodiment
The invention will be further described with reference to the accompanying drawings and detailed description：
As shown in Figures 1 to 6, the present invention includes：Industrial robot component 100, workbench 200, tool holder 300, feeding bin
400th, blanking bin 500 and control system 600；Workbench 200, tool holder 300, feeding bin 400 and blanking bin 500 surround machine
The scattered arrangement of device people component 100, control system 600 is located at the right side of tool holder 300；
Wherein, industrial robot component 100 includes industrial robot 101, force snesor 102, robot side quick change 103, power biography
Sensor one end connects industrial robot, other end connection robot side quick change；Pass through adpting flange A104 and connection method in this example
The connection that blue B105 comes between force sensor and robot side quick change and industrial robot, specifically, robot side quick change
103 and adpting flange A104 is by finger setting and threaded connection, and adpting flange A104 is connected through a screw thread with force snesor 102,
Force snesor 102 is connected through a screw thread with adpting flange B105, and adpting flange B105 is connected with industrial robot 101 by screw thread
Connect.
Workbench 200 includes workbench chopping board 201, workbench chopping board 201 and is provided with positioner and blowning installation 205,
Positioner includes positioning angle bar A202, clamping cylinder 203, positioning angle bar B204, blowning installation 205, positioning fixture 206 and fixed
Position cylinder 207.Positioning angle bar A202 and positioning angle bar B204 are threadedly secured on workbench chopping board 201, positioning fixture 206
It is connected by pin with positioning cylinder 207, positioning cylinder 207 and clamping cylinder 203 are connected by screw thread with workbench chopping board 201
Connect, blowning installation 205 is connected by screw thread with workbench chopping board 201.Wherein, clamping cylinder 203 has two, respectively positioned at work
The left and right sides of platform chopping board 201, and be left and right symmetrically arranged on the center line of workbench chopping board 201.Positioning angle bar A202 is located at work
Make the front side of platform chopping board 201, positioning angle bar B204 is located at the right side of workbench chopping board 201, and positioning cylinder 207 is located at workbench chopping board
201 left back.Positioning angle bar B204 is two, respectively positioned at the both sides of right side clamping cylinder 203.In workbench chopping board 201
The upper side relative with blowning installation 205 is additionally provided with chip-removal hole 208.
Tool holder includes base 307, support frame 305 and knife rest 306, and support frame 305 is fixed on base 307, knife rest
306 are connected by bolt and T-nut with support frame 305, and support frame 305 is provided with main shaft quick change component and sucker quick change group
Part.Support frame 305 in this example is preferably aluminium section bar frame.
Wherein, sucker quick change component includes sucker quick change 308, sucker mounting base 309, sucker 310, quick change location-plate
312nd, quick change alignment pin 313, guide finger 304, quick change cavity adaptor plate 314, quick change active side installing plate 303, sensor holder
315th, sensor 316, sucker installation side plate 317 and sucker clamp installing plate 318, quick change cavity adaptor plate 314 pass through bolt
It is connected with T-nut with support frame 305, quick change location-plate 312 is connected by screw thread with quick change active side installing plate 303, quick change
Alignment pin 313 is connected by screw thread with the bottom of quick change location-plate 312, and guide finger 304 passes through screw thread and quick change cavity adaptor plate
314, quick change active side installing plate 303 is provided with the through hole being engaged with guide finger 304, and sucker 310 is positioned by both sides nut
It is connected with sucker mounting base 309, sucker mounting base 309 is connected through a screw thread with sucker installation side plate 317, sucker installation side
Plate 317 is connected through a screw thread with sucker clamp installing plate 318, and sucker clamp installing plate 318 leads to quick change active side installing plate 303
Threaded connection is crossed, sensor holder 315 is connected by screw thread with quick change cavity adaptor plate 314, sensor 316 is arranged on sensor
On seat 315, sensor 316 is located at the lower section of quick change alignment pin 313.
Main shaft quick change component includes electro spindle 301, main shaft quick change 302, main shaft installing plate 311, quick change location-plate 312, fast
Change alignment pin 313, guide finger 304, quick change cavity adaptor plate 314, quick change active side installing plate 303, sensor holder 315 and pass
Sensor 316, quick change cavity adaptor plate 314 is connected by bolt and T-nut with support frame 305, and quick change location-plate 312 passes through
Screw thread is connected with quick change active side installing plate 303, and quick change alignment pin 313 is connected by screw thread with the bottom of quick change location-plate 312, is led
To pin 304 by screw thread and quick change cavity adaptor plate 314, quick change active side installing plate 303 is provided with to match with guide finger 304
The through hole of conjunction, electro spindle 301 is connected by screw thread with main shaft installing plate 311, and main shaft installing plate 311 passes through screw thread and quick change activity
Side installing plate 303 is connected, by finger setting and threaded connection between quick change active side installing plate 303 and main shaft quick change 302, sensing
Device seat 315 is connected by screw thread with quick change cavity adaptor plate 314, and sensor 316 is arranged on sensor holder 315, sensor
316 are located at the lower section of quick change alignment pin 313.
Further, in workbench 200, positioning angle bar A202, positioning angle bar B204, positioning fixture 206 and positioning cylinder 207
For front and rear and left and right directions positioning, positioning cylinder 207 is adapted to the positioning of different dimension workpieces axially movable；Sucker
Quick change 308 draws workpiece by vacuum cup 310, goes for the loading and unloading of different dimension workpieces, passes through positioning angle bar
A202, positioning angle bar B204, positioning fixture 206 and positioning cylinder 207 and vacuum cup 310 are realized above and below different dimension workpieces
Material and positioning.
Further, industrial robot 101 by robot side quick change 103 respectively with main shaft quick change 302 and sucker quick change 308
Connection, and then automation loading and unloading and the Milling Process of workpiece can be realized by an industrial robot.
Further, much knives tool is installed, industrial robot 101 can pass through the different cutters of the clamping of electro spindle 301 on knife rest 306
To complete workpiece multi-operation processing.
Further, main shaft quick change 302 and sucker quick change 308 by guide finger 304 realize positioning on support frame 305 and
Clamping, while production line passes through the automatic detection main shaft quick change 302 of sensor on alignment pin 313 and sensor holder 315 316 and sucker
The positional information of quick change 308.
The specific implementation process of the present invention is as follows：
Following table is the workflow in a process-cycle, is divided into five beats.
Prepare：Industrial robot 101 is right against workbench 200, the end robot side quick change 103 of industrial robot 101 when initial
In blank state.Production line starts, and industrial robot 101 is moved to just to the position of tool holder 300, then, robot side
Quick change 103 moves to the top of sucker quick change 308, declines and is connected, closes with sucker quick change 308, industrial robot 101 retracts again
To just to the position of tool holder 300, the replacing of completion sucker quick change 308.
First beat：Feeding.Feeding is divided into absorption two steps of workpiece and clamping workpiece.Industrial robot 101 is moved to
Just to the position of feeding bin 500, make the horizontal abutment blank of sucker 310.The work of sucker 310 picks up blank, industrial robot 101
Blank is transported to workbench 200, placed along positioning angle bar A202 and positioning angle bar B204.Then, industrial robot 101 times
Fall back on the initial position just to workbench.Positioning fixture 206 promotes blank in the presence of positioning cylinder 207, in orientation angle
The positioning of workpiece is completed under iron A202 and positioning angle bar B204 position-limiting action.Finally, clamping cylinder 203 is acted, by blank
Compress, positioning cylinder 207 retracts, clamping workpiece is completed.
Second beat：Tool changing.Tool changing is divided into two steps of change owner axle and clamping cutter.First, industrial robot 101 is moved
To just being put to the position of tool holder 300, and by sucker quick change 308 to initial position.Then robot side quick change 103 moves to master
The top of axle quick change 302, declines and is connected, closes with main shaft quick change 302, completes the quick-replaceable of electro spindle 301.Then electro spindle
301 end movements drop to bonding position and then closure, complete the clamping of cutter to the positive handle of a knife position of cutter setting frame 306.Finally,
Industrial robot 101 is return back to just to the position of tool holder 300.So far, tool changing is completed.
3rd beat：Processing.Industrial robot 101 drives electro spindle 301 to move to directly over blank, industrial robot
101 are processed according to set machining locus to workpiece.During processing, force snesor 102 by the data feedback gathered to control
System 600 processed.According to the processing request of workpiece, handle of a knife can be changed after a process terminates, carry out next process
Processing, until work pieces process is completed.
4th beat：Change sucker.After machining, industrial robot 101 drives electro spindle 301 to move to just to workbench
200 initial position.Then industrial robot 101 puts main shaft quick change 302 to initial position, then robot side quick change 103
The top of sucker quick change 308 is moved to, is declined and is connected, closes with sucker quick change 308, the quick-replaceable of sucker quick change 308 is completed.
Finally, industrial robot 101 is return back to just to the position of tool holder 300.So far, sucker completion is changed.
5th beat：Blanking.Industrial robot 101 moves to the position just to workbench 200.The return of clamping cylinder 203,
Workpiece unclamps.Machined part is removed and put to blanking bin location by sucker quick change 308.Then, industrial robot 101 is return back to
Just to the position of tool holder 300.
So far, a Surface Milling cycle completes.
The design principle of the present invention：
The present invention realizes the automation loading and unloading and processing of sheet material, simplifies production technology from electromechanical integration thought,
Cost is saved, production efficiency is improved.In whole process, robot assembly 100 utilizes fast replacing device, changes sucker quick change
308 with main shaft quick change 302, complete the switching of loading and unloading and processing action.Different handle of a knifes are changed by electro spindle 301, it is full
The processing technology requirement of foot workpiece.Off-line procedure is generated using off-line programming software, the Surface Milling processing of workpiece is realized.
Process data is gathered using force snesor 102, power and torque that size and Orientation is continually changing has been monitored, has realized the anti-of Milling Force
Feedback control.
Technological means disclosed in the present invention program is not limited only to the technological means disclosed in above-mentioned embodiment, in addition to
Constituted technical scheme is combined by above technical characteristic.It should be pointed out that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of robot flexibility Surface Milling producing unit, it is characterised in that including industrial robot component, Yi Jiwei
Around workbench, tool holder, feeding bin, blanking bin and the control system of the scattered arrangement of the industrial robot component, the work
Industry robot assembly includes industrial robot, force snesor and robot side quick change, and described force snesor one end connects industrial machine
Device people, other end connection robot side quick change, the workbench includes workbench chopping board, and the workbench chopping board is provided with positioning
Device and blowning installation, the tool holder include base, support frame and knife rest, and support frame as described above is fixed on the base,
The knife rest is connected with support frame as described above, and support frame as described above is provided with main shaft quick change component and sucker quick change component.
2. robot flexibility Surface Milling producing unit as claimed in claim 1, it is characterised in that the sucker quick change
Component includes sucker quick change, sucker mounting base, sucker, quick change location-plate, quick change alignment pin, guide finger, quick change affixed side peace
Plate, quick change active side installing plate, sensor holder, sensor, sucker installation side plate and sucker clamp installing plate are filled, the quick change is consolidated
Determine side installing plate to be connected with support frame as described above, the quick change location-plate is connected with the quick change active side installing plate, the quick change
Connection quick change alignment pin below location-plate, the guide finger is connected with the quick change cavity adaptor plate, the quick change active side
Installing plate is provided with the through hole being engaged with the guide finger, and the sucker quick change is connected with quick change active side installing plate top,
The sucker is connected with sucker mounting base, and the sucker mounting base is connected with sucker installation side plate, the sucker installation side
Plate is connected with sucker clamp installing plate, and the sucker clamp installing plate is connected with quick change active side installing plate bottom, the sensing
Device seat is connected with quick change cavity adaptor plate, and the sensor is arranged on the sensor holder, and the sensor is located at described
Below quick change alignment pin.
3. robot flexibility Surface Milling producing unit as claimed in claim 1, it is characterised in that the main shaft quick change
Component includes electro spindle, main shaft quick change, main shaft installing plate, quick change location-plate, quick change alignment pin, guide finger, quick change affixed side peace
Plate, quick change active side installing plate, sensor holder and sensor are filled, the quick change cavity adaptor plate is connected with support frame as described above,
The quick change location-plate is connected with the quick change active side installing plate, connection quick change alignment pin, institute below the quick change location-plate
State guide finger to be connected with the quick change cavity adaptor plate, the quick change active side installing plate is provided with to match with the guide finger
The through hole of conjunction, the main shaft quick change is connected with quick change active side installing plate top, and the electro spindle is connected with main shaft installing plate, institute
State main shaft installing plate to be connected with quick change active side installing plate bottom, the sensor holder is connected with quick change cavity adaptor plate, institute
Sensor is stated on the sensor holder, the sensor is located at below the quick change alignment pin.
4. robot flexibility Surface Milling producing unit as claimed in claim 1, it is characterised in that the positioner
Including positioning angle bar A, positioning angle bar B, clamping cylinder, positioning fixture and positioning cylinder, the positioning angle bar A, positioning angle bar B consolidate
It is scheduled on the workbench chopping board, the positioning fixture is connected with positioning cylinder, the clamping cylinder and positioning cylinder are and institute
State the connection of workbench chopping board.
5. robot flexibility Surface Milling producing unit as claimed in claim 4, it is characterised in that the clamping cylinder
There are two, respectively positioned at the left and right sides of the workbench chopping board, and be left and right symmetrically arranged on workbench chopping board center line.
6. robot flexibility Surface Milling producing unit as claimed in claim 5, it is characterised in that the positioning angle bar
A is located at the front side of the workbench chopping board, and the positioning angle bar B is located on the right side of the workbench chopping board, the positioning cylinder position
In the left back of the workbench chopping board.
7. robot flexibility Surface Milling producing unit as claimed in claim 1, it is characterised in that the industrial machine
People is connected with main shaft quick change component and sucker quick change component respectively by robot side quick change.
8. robot flexibility Surface Milling producing unit as claimed in claim 1, it is characterised in that pacify on the knife rest
Equipped with much knives tool.
9. robot flexibility Surface Milling producing unit as claimed in claim 2, it is characterised in that the sucker quick change
Positioning and clamping on support frame are realized by guide finger, while production line passes through the sensor on alignment pin and sensor holder
The positional information of automatic detection sucker quick change.
10. robot flexibility Surface Milling producing unit as claimed in claim 3, it is characterised in that the main shaft is fast
Change and positioning and clamping on support frame are realized by guide finger, while production line passes through the sensing on alignment pin and sensor holder
The positional information of device automatic detection main shaft quick change.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710464259.5A CN107081772B (en) | 2017-06-19 | 2017-06-19 | Flexible curved surface milling production device of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710464259.5A CN107081772B (en) | 2017-06-19 | 2017-06-19 | Flexible curved surface milling production device of robot |
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| CN107081772A true CN107081772A (en) | 2017-08-22 |
| CN107081772B CN107081772B (en) | 2023-05-16 |
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