CN107150345B - Manipulator machining detection system and manipulator machining detection method - Google Patents
Manipulator machining detection system and manipulator machining detection method Download PDFInfo
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- CN107150345B CN107150345B CN201710353639.1A CN201710353639A CN107150345B CN 107150345 B CN107150345 B CN 107150345B CN 201710353639 A CN201710353639 A CN 201710353639A CN 107150345 B CN107150345 B CN 107150345B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/28—Electric drives
Abstract
The invention discloses manipulator machining detection systems, it includes mechanical arm, the cutting insert assembly is mounted on the mounting assembly on the mechanical arm, and the digital control system controlled by machining path of the servo-system to the cutting insert assembly by cutting insert assembly；It further include the online detection unit being mounted on the mechanical arm；Online detection unit includes the detection mounting plate being fixed on the mechanical arm, the detector being mounted on the detection mounting plate and error evaluation system；Wherein, the detector is connected with the error evaluation system, the detector detects workpiece to be machined according to pre-set programs, and it will test result and feed back to the error evaluation system, the error evaluation system will test result and be compared with given processing model, if testing result exceeds default error range, the digital control system generates new machining path, and the cutting insert assembly processes the workpiece to be machined again.
Description
Technical field
The present invention relates to manipulator machining fields, specifically, it is related to a kind of manipulator machining detection system,
And a kind of manipulator machining detection method.
Background technique
In cutting process, it is critical step that precision measurement and detection, which has,；When part after processing is completed, have big
The accuracy detection need of work of amount is completed, and mainly includes the detection of work pieces process scale error, the detection of workpiece surface processing quality etc..
Currently, the method for element precision detection mainly has manual inspection, the detection of offline three-coordinate instrument, on-line checking etc..Hand
Work detection is examined using the conventional measurer such as amesdial, slide calliper rule, amount instrument manual synchronizing, and inefficiency, precision is easy by people
For influence, influence the utilization rate of machining center and the automation processing flow of product.Offline inspection is between manufacturing procedure
Or after processing is completed, workpiece is removed from machining center, is detected using other detection devices, is i.e. processing is examined with dimensional accuracy
Survey does not carry out on the same device, and the two is asynchronous, and the secondary positioning of workpiece and clamping can bring initial error, be unfavorable for protecting
Demonstrate,prove part processing precision；Meanwhile duplicate unloading and clamping can reduce production efficiency；In addition, for large-scale workpieces processing, offline
Detection process is complicated, and time-consuming, and not applicable and mass automatic production process.
On-line checking is to be equipped with a touch trigger probe by machining center and detect macroprogram accordingly, is constituted online
Detection system is processed, while testing result feeds back to error evaluation system, can repair to workpieces processing dimensional accuracy error
Just with compensation, the drawbacks of avoiding manual inspection and offline inspection, that is, ensure that the machining accuracy of workpiece improve again manufacture plus
The production efficiency of work.
Therefore, it now needs to provide a kind of manipulator machining detection system suitable for manipulator and a kind of manipulator
Machining detection method.
Summary of the invention
For this purpose, the present invention provides a kind of manipulator machining detection system suitable for manipulator and a kind of machinery
Hand machining detection method.
In order to solve the above technical problems, the present invention provides a kind of manipulator machining detection systems comprising cutting
The cutting insert assembly is mounted on the mounting assembly on the mechanical arm, and passes through servo-system pair by toolbox
The digital control system that the machining path of the cutting insert assembly is controlled；Further include be mounted on it is online on the mechanical arm
Detection unit；The on-line checking structure includes the detection mounting plate being fixed on the mechanical arm, is mounted on the detection
Detector and error evaluation system on mounting plate；Wherein, the detector is connected with the digital control system, the detection
Head detects workpiece to be machined according to pre-set programs, and will test result and feed back to the error evaluation system, the mistake
Poor assessment system will test result and be compared with given default error range, described if testing result exceeds preset range
Digital control system generates new machining path, and the cutting insert assembly processes the workpiece to be machined again.
The mounting assembly includes the connecting plate being fixedly connected with the mechanical arm, for installing the cutting tool group
The Cutting tool installation manner plate of part, and at least one linking arm that the connecting plate and the Cutting tool installation manner plate are linked into an integrated entity；Its
In, the connecting plate is perpendicular to the Cutting tool installation manner plate.
The linking arm is set as two, and the junction of one of them described linking arm and the Cutting tool installation manner plate is equipped with first
Mounting hole, the second mounting hole is formed on the detection mounting plate, and connector passes through first mounting hole and second peace
The detection mounting plate is fixedly connected by dress hole with the mounting assembly.
The detection mounting plate fastens shape in a ring, described with first through hole, the first buckling parts and the second buckling parts
The second through-hole corresponding with the first through hole is formed in mounting assembly；Wherein, the detector is mounted on described first
In through-hole and second through-hole, and passes through the fastening of first buckling parts and second buckling parts and be fastened on described the
In one through-hole.
At least one first tapped blind hole is formed on first buckling parts, is formed at least on second buckling parts
One the first tapped through hole, the first standing screw pass through first tapped through hole and under the cooperations of first tapped blind hole
First buckling parts and second buckling parts are fastened.
Multiple third through-holes are formed on the connecting plate, multiple connecting screws pass through multiple third through-holes will be described
Connecting plate is fixedly connected with the flange of the mechanical arm.
The Cutting tool installation manner plate fastens shape in a ring, described with fourth hole, third buckling parts and the 4th buckling parts
The electric machine main shaft of cutting insert assembly is mounted in the fourth hole, and is fastened by the third buckling parts and the described 4th
The fastening in portion is fastened in second through-hole.
At least one second tapped blind hole is formed on the third buckling parts, is formed at least on the 4th buckling parts
One the second tapped through hole, the second standing screw pass through second tapped through hole and under the cooperations of second tapped blind hole
The third buckling parts and the 4th buckling parts are fastened.
The cutting insert assembly includes electric machine main shaft, the knife handle being connected with the electric machine main shaft and is mounted on the knife
Cutter on handle.
A kind of manipulator machining detection method suitable for manipulator machining detection system as described above,
Include the following steps:
A, the preset program of detector and the preset range of error evaluation system are set, and servo-system drives the bite
Tool component processes workpiece to be machined；
B, after the workpiece to be machined completion of processing, mechanical arm is rotated by 90 °, and the detector is according to preset program pair
The workpiece to be machined is detected, and be will test result and fed back to the error evaluation system；
C, the error evaluation system will test result and be compared with preset range, if testing result is beyond described default
Range thens follow the steps d；If testing result is resetted without departing from the preset range, the mechanical arm, next quilt is carried out
The processing program of workpieces processing；
D, the digital control system generates new machining path, and the mechanical arm resets, and servo-system drives the cutting
Toolbox processes the workpiece to be machined again, then executes program b and its subsequent step.
The above technical solution of the present invention has the following advantages over the prior art:
In the present invention, the on-line checking structure and the cutting insert assembly are all mounted on the mechanical arm,
After workpiece to be machined completion of processing, need to only rotate the mechanical arm can carry out on-line checking to the workpiece to be machined,
And will test result and feed back to the error evaluation system, realize the error compensation and amendment of workpiece to be machined；Meanwhile it detecting
When or again process when be all not necessarily to workpiece to be machined carry out it is secondary clamp, will not influence cutting again for the workpiece to be machined
It cuts, which ensure that the processed work while providing the machining accuracy of workpiece to be machined
The processing efficiency of part.
Detailed description of the invention
In order to make the content of the present invention more clearly understood, it below according to specific embodiments of the present invention and combines
Attached drawing, the present invention is described in further detail.
Wherein, Fig. 1 is the overall structure diagram of manipulator machining detection system of the present invention；
Fig. 2 is the structural schematic diagram of manipulator machining detection system of the present invention；
Fig. 3 is the structural schematic diagram of mounting assembly of the present invention；
Fig. 4 is the structural schematic diagram of detection mounting plate of the present invention；
Fig. 5 is the module diagram of manipulator machining detection method of the present invention；
Description of symbols: 1- mechanical arm；2- detects mounting plate；3- detector；4- connecting plate；5- Cutting tool installation manner plate；
6- linking arm；The first mounting hole of 7-；The second mounting hole of 8-；9- third through-hole；10- first through hole；The first buckling parts of 11-；12-
Two buckling parts；The second through-hole of 13-；The first tapped blind hole of 14-；The first tapped through hole of 15-；16- fourth hole；17- third fastens
Portion；The 4th buckling parts of 18-；The second tapped blind hole of 19-；The second tapped through hole of 20-；21- electric machine main shaft；22- knife handle；23- cutter.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
Embodiment 1
As shown in Fig. 1,2,3 and 4, the manipulator machining detection system of the present embodiment comprising cutting insert assembly,
The cutting insert assembly is mounted on the mounting assembly on mechanical arm 1, and by servo-system to the cutting tool
The digital control system that the machining path of component is controlled；It further include the online detection unit being mounted on the mechanical arm 1；Institute
Online detection unit is stated to include the detection mounting plate 2 being fixed on the mechanical arm 1 and be mounted on the detection mounting plate 2
On detector 3；Wherein, the detector 3 is connected with the digital control system, and the detector 3 is according to pre-set programs to being added
Work workpiece is detected, and be will test result and fed back to the error evaluation system, and the error evaluation system will test result
It is compared with given default error range, if testing result exceeds preset range, the digital control system generates new processing
Path, the cutting insert assembly process the workpiece to be machined again.
In the present embodiment, the preferably described on-line checking structure is dimensional accuracy online detection unit；Further, the quilt
In the process of workpieces processing, there is a degree of mismachining tolerance for various reasons, so that workpiece to be machined is primary
There are deviations between actual size and intended dimensions after processing, therefore by the dimensional accuracy online detection unit to primary
The workpiece to be machined after processing carries out size detection, and result is fed back to error evaluation system, will test result with to
Fixed error preset range is compared, if testing result exceeds preset range, the digital control system generates new machining path,
The cutting insert assembly processes the workpiece to be machined again.
As preferred embodiment, the detector 3 is set as Reinshaw detector, is equipped in the error evaluation system
Measurement control and error evaluation module, the module will test result and be compared and determine with the preset range, described online
Detection unit and the cutting insert assembly are all mounted on the mechanical arm 1, after workpiece to be machined completion of processing, are only needed
On-line checking can be carried out to the workpiece to be machined by rotating the mechanical arm 1, and be will test result and fed back to the error
Assessment system realizes the error compensation and amendment of workpiece to be machined；Meanwhile it being all not necessarily to when processing when detecting or again to quilt
Workpieces processing progress is secondary to be clamped, and will not influence the cutting again of the workpiece to be machined, the manipulator machining detection system
It unites and ensure that the processing efficiency of the workpiece to be machined while machining accuracy of workpiece to be machined is provided.
Specifically, the mounting assembly includes the connecting plate 4 being fixedly connected with the mechanical arm 1, described for installing
The Cutting tool installation manner plate 5 of cutting insert assembly, and the connecting plate 4 is linked into an integrated entity at least with the Cutting tool installation manner plate 5
One linking arm 6；Wherein, the connecting plate 4 is perpendicular to the Cutting tool installation manner plate 5.In the present embodiment, the linking arm 6 is set
For two and symmetrically connect the connecting plate 4 and the Cutting tool installation manner plate 5；Wherein, as preferred embodiment, the connection
Arm 6 is in " 7 " font.
Further, the junction of one of them linking arm 6 and the Cutting tool installation manner plate 5 is equipped with the first mounting hole 7,
The second mounting hole 8 is formed on the detection mounting plate 2, connector passes through first mounting hole 7 and second mounting hole 8
The detection mounting plate 2 is fixedly connected with the mounting assembly.In the present embodiment, first mounting hole 7 and described
Two mounting holes 8 are all set as two, and two connectors sequentially pass through corresponding first mounting hole 7 and second installation
Realize the on-line checking component in institute to which the detection mounting plate 2 and the mounting assembly be fixed together in hole 8
State the fixed installation on mechanical arm 1；Wherein it is possible to which it is preferred that first mounting hole 7 and second mounting hole 8 are all screw thread
Hole, the connector are set as screw, are used as disposable embodiment certainly, can also can be realized the connection using other
Structure is embodied.
As shown in figure 4, in the present embodiment, the detection mounting plate 2 fastens shape in a ring, with first through hole 10,
It is logical to form corresponding with the first through hole 10 second in the mounting assembly for first buckling parts 11 and the second buckling parts 12
Hole 13；Wherein, the detector 3 is mounted in the first through hole 10 and second through-hole 13, and is detained by described first
The fastening of conjunction portion 11 and second buckling parts 12 is simultaneously fastened in the first through hole 10.Specifically, first buckling parts
At least one first tapped blind hole 14 is formed on 11, forms at least one first tapped through hole on second buckling parts 12
15, the first standing screw passes through first tapped through hole 15 and under the cooperation of first tapped blind hole 14 by described first
Buckling parts 11 and second buckling parts 12 fastening.In the present embodiment, the detector 3 can be placed on first when installation
In the first through hole 10 and second through-hole 13, then first buckling parts 11 and second buckling parts 12 are detained again
Tightly, the adjusting installation to the detector 3 in the axial direction may be implemented using this fastening mode；It certainly can also only will be described
Detector 3 is placed in the first through hole 10, so that the detection mounting plate 2 can be different in other words to different-diameter
The detector 3 of circumferential size carries out installation fixation, and then improves the versatility of the detection mounting plate 2.
Specifically, as shown in figure 3, forming multiple third through-holes 9 on the connecting plate 4, multiple connecting screws pass through more
The connecting plate 4 is fixedly connected by a third through-hole 9 with the flange of the mechanical arm 1, so that above-mentioned connection type, real
The fixed installation of the existing mounting assembly and the mechanical arm 1.
Further, the Cutting tool installation manner plate 5 fastens shape in a ring, with fourth hole 16,17 and of third buckling parts
4th buckling parts 18, the electric machine main shaft 21 of the cutting insert assembly are mounted in the fourth hole 16, and pass through described the
The fastening of three buckling parts 17 and the 4th buckling parts 18 is fastened in second through-hole 13.
At least one second tapped blind hole 19 is formed on the third buckling parts 17, is formed on the 4th buckling parts 18
There is at least one second tapped through hole 20, the second standing screw passes through second tapped through hole 20 and blind in second screw thread
The third buckling parts 17 and the 4th buckling parts 18 are fastened under the cooperation in hole 19.It in the present embodiment, can be with when installation
The electric machine main shaft 21 is placed in the fourth hole 16 first, then again by the third buckling parts 17 and the described 4th
Buckling parts 18 fastens, and the adjusting installation to the electric machine main shaft 21 in its axial direction may be implemented using this fastening mode；When
So it is also possible that the Cutting tool installation manner plate 5 can carry out installation fixation to different-diameter electric machine main shaft 21, and then improve the knife
Has the versatility of mounting plate 5.
In the present embodiment, the cutting insert assembly include electric machine main shaft 21, the knife that is connected with the electric machine main shaft 21
Handle 22 and the cutter 23 being mounted on the knife handle 22.
Embodiment 2
As shown in figure 5, a kind of manipulator machining suitable for manipulator machining detection system as described above
Detection method comprising following steps:
A, be arranged detector 3 preset program and error evaluation system error preset range, servo-system driving described in
Cutting insert assembly processes workpiece to be machined；
B, after the workpiece to be machined completion of processing, mechanical arm 1 is rotated by 90 °, and the detector 3 is according to preset program
The workpiece to be machined is detected, and will test result and feed back to the error evaluation system；
C, the error evaluation system will test result and be compared with error preset range, if testing result is beyond described
Preset range thens follow the steps d；If testing result is resetted, is carried out down without departing from the preset range, the mechanical arm 1
The processing program of one workpiece to be machined；
D, the digital control system generates new machining path, and the mechanical arm 1 resets, and servo-system drives the cutting
Toolbox processes the workpiece to be machined again, then executes program b and its subsequent step.
In the present embodiment, in the present embodiment, the preferably described on-line checking structure is dimensional accuracy online detection unit,
Substantially process is as follows for it:
The preset program of detector 3 and the preset range of error evaluation system are set first, and pass through the digital control system
The machining path for the first time of the cutting insert assembly is set, servo-system is then made to drive the cutting insert assembly to being added
Work workpiece is processed for the first time；After the workpiece to be machined completion of processing, mechanical arm 1 is rotated by 90 °, the detector 3 according to
Predetermined extent detects the workpiece to be machined, and will test result and feed back to measurement knot in the error evaluation system
Fruit and error evaluation module, the measurement result and error evaluation module will test result and be compared with preset range；If inspection
Result is surveyed without departing from the preset range, then the mechanical arm 1 resets, and carries out the processing program of next workpiece to be machined；
If testing result exceeds the preset range, d is thened follow the steps, that is to say, that the digital control system generates new
Machining path, the mechanical arm 1 reset, and servo-system drives the cutting insert assembly to carry out again the workpiece to be machined
Secondary processing, and detected again after completion of processing, and recycle subsequent process, until the testing result is pre- without departing from described
If range.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (8)
1. manipulator machining detection system comprising the cutting insert assembly is mounted on machinery by cutting insert assembly
Mounting assembly on arm (1), and the number controlled by machining path of the servo-system to the cutting insert assembly
Control system；It is characterized by also including the online detection units being mounted on the mechanical arm (1)；The on-line checking list
Member includes the detection mounting plate (2) being fixed on the mechanical arm (1), is mounted on the detection detected on mounting plate (2)
Head (3) and error evaluation system；Wherein, the detector (3) is connected with the error evaluation unit, the detector (3)
Workpiece to be machined is detected according to pre-set programs, and will test result and feed back to the error evaluation system, the error
Assessment system will test result and be compared with given default error range, if testing result exceeds preset range, the number
Control system generates new machining path, and the cutting insert assembly processes the workpiece to be machined again；
The mounting assembly includes the connecting plate (4) being fixedly connected with the mechanical arm (1), for installing the cutting tool
The Cutting tool installation manner plate (5) of component, and the connecting plate (4) and the Cutting tool installation manner plate (5) are linked into an integrated entity at least one
A linking arm (6)；Wherein, the connecting plate (4) is perpendicular to the Cutting tool installation manner plate (5)；
The linking arm (6) is set as two, and the junction of one of them linking arm (6) and the Cutting tool installation manner plate (5) is set
Have the first mounting hole (7), formed the second mounting hole (8) on the detection mounting plate (2), connector is installed by described first
The detection mounting plate (2) is fixedly connected by hole (7) and second mounting hole (8) with the mounting assembly.
2. manipulator machining detection system according to claim 1, it is characterised in that: the detection mounting plate (2)
Shape is fastened in a ring, with first through hole (10), the first buckling parts (11) and the second buckling parts (12), in the mounting assembly
Form the second through-hole (13) corresponding with the first through hole (10)；Wherein, the detector (3) is mounted on described first
In through-hole (10) and second through-hole (13), and pass through the button of first buckling parts (11) and second buckling parts (12)
Merging is fastened in the first through hole (10).
3. manipulator machining detection system according to claim 2, it is characterised in that: first buckling parts (11)
On form at least one first tapped blind hole (14), it is logical that at least one first screw thread is formed on second buckling parts (12)
Hole (15), the first standing screw pass through first tapped through hole (15) and will under the cooperation of first tapped blind hole (14)
First buckling parts (11) and second buckling parts (12) fastening.
4. manipulator machining detection system according to claim 1, it is characterised in that: on the connecting plate (4) at
Type has multiple third through-holes (9), multiple connecting screws pass through multiple third through-holes (9) by the connecting plate (4) with it is described
The flange of mechanical arm (1) is fixedly connected.
5. manipulator machining detection system according to claim 4, it is characterised in that: the Cutting tool installation manner plate (5)
Shape is fastened in a ring, with fourth hole (16), third buckling parts (17) and the 4th buckling parts (18), the cutting tool group
The electric machine main shaft (21) of part is mounted in the fourth hole (16), and passes through the third buckling parts (17) and the 4th button
The fastening in conjunction portion (18) is fastened in the fourth hole (13).
6. manipulator machining detection system according to claim 5, it is characterised in that: the third buckling parts (17)
On form at least one second tapped blind hole (19), it is logical that at least one second screw thread is formed on the 4th buckling parts (18)
Hole (20), the second standing screw pass through second tapped through hole (20) and will under the cooperation of second tapped blind hole (19)
The third buckling parts (17) and the 4th buckling parts (18) fastening.
7. manipulator machining detection system according to claim 1, it is characterised in that: the cutting insert assembly packet
Include electric machine main shaft (21), the knife handle (22) being connected with the electric machine main shaft (21) and the cutter being mounted on the knife handle (22)
(23)。
8. a kind of manipulator suitable for the manipulator machining detection system as described in claim 1-7 any one is cut
Cut machining and testing method, it is characterised in that: it includes the following steps
A, the preset program of detector (3) and the preset range of error evaluation system are set, and servo-system drives the bite
Tool component processes workpiece to be machined；
B, after the workpiece to be machined completion of processing, mechanical arm (1) is rotated by 90 °, and the detector (3) is according to preset program
The workpiece to be machined is detected, and will test result and feed back to the error evaluation system；
C, the error evaluation system will test result and be compared with preset range, if testing result exceeds the default error
Range thens follow the steps d；If testing result is resetted without departing from the preset range, the mechanical arm (1), carry out next
The processing program of a workpiece to be machined；
D, the digital control system generates new machining path, and the mechanical arm (1) resets, and servo-system drives the bite
Tool component processes the workpiece to be machined again, and is detected again after completion of processing, and recycle subsequent process,
Until the testing result is without departing from the preset range.
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| US20210031393A1 (en) * | 2018-02-24 | 2021-02-04 | Dalian University Of Technology | Ultrasonic cutting method employing straight-blade sharp knife and application thereof |
| CN108594759A (en) * | 2018-04-27 | 2018-09-28 | 苏州金世博精密机电有限公司 | A kind of numerically-controlled machine tool processing online test method |
| CN111761394A (en) * | 2019-04-02 | 2020-10-13 | 富泰华工业（深圳）有限公司 | Intelligent tool magazine device and tool management method |
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| CN103367536A (en) * | 2012-03-29 | 2013-10-23 | 库卡系统有限责任公司 | Processing device and processing method |
| CN205437784U (en) * | 2015-12-29 | 2016-08-10 | 上海发那科机器人有限公司 | Automatic brill system of milling and brill mill production line |
| CN106166752A (en) * | 2016-08-24 | 2016-11-30 | 沈阳莱茵机器人有限公司 | The rotary shaft of six axle deburring robots |
| CN106426173A (en) * | 2016-11-04 | 2017-02-22 | 华南理工大学 | Robot grinding system for solving deformation problem and track planning method of robot grinding system |
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