CN108000217A - A kind of robot hub machining center - Google Patents
A kind of robot hub machining center Download PDFInfo
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- CN108000217A CN108000217A CN201810035594.8A CN201810035594A CN108000217A CN 108000217 A CN108000217 A CN 108000217A CN 201810035594 A CN201810035594 A CN 201810035594A CN 108000217 A CN108000217 A CN 108000217A
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- wheel hub
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- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims description 13
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- 230000005540 biological transmission Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000013499 data model Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
-
- 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
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- 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
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
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Abstract
The invention discloses a kind of robot hub machining center, a kind of robot hub machining center, including wheel hub pipeline, wheel hub system of processing, robot clamping jaw system, robot walking guide rail, wheel hub mounting table, wheel hub decision mechanism, wherein, the robot clamping jaw system includes robot firm banking, mechanical arm, robot end, robot end's contiguous block, pulley, gripping cylinder and clamping jaw；The robot walking guide rail includes guide rail, guide rail fixed feet and robot ambulation base.A kind of the present invention is intended to provide robot hub machining center, the transmission of its wheel hub can classify and stablize, and can make robot clamping jaw is smooth to complete the multiple instructions such as gripping wheel hub, transmission wheel hub, the sequence of more beats, greatly improves the degree of automation of machining center.
Description
Technical field
The invention belongs to wheel hub processing equipment field, and in particular to a kind of robot hub machining center.
Background technology
At present in wheel hub process complex procedures, it is necessary to manually carry or manually wheel hub is carried.Conventional robot
System job radius is smaller, and wheel hub transmits position and is not fixed, and need to artificially carry the upper discharge position of correction wheel hub, if live work
When condition is complicated, operator cannot correct the upper discharge position of wheel hub in time, it will cause gripping efficiency low, it is most likely that damage gripping
Equipment.And the high efficiency for the workpiece for being used in manufacturing complex shapes that machining center is made of mechanical equipment and digital control system is certainly
Dynamicization lathe.Efficiency can be greatly improved using machining center, saves the time.
The content of the invention
It is an object of the invention to provide a kind of robot hub machining center, the transmission of its wheel hub can classify and stablize, can
Make robot clamping jaw is smooth to complete the multiple instructions such as gripping wheel hub, transmission wheel hub, the sequence of more beats, is greatly improved
The degree of automation of machining center, improves efficiency.
To achieve these goals, the present invention uses following technical scheme：
A kind of robot hub machining center, including wheel hub pipeline, wheel hub system of processing, robot clamping jaw system, robot
Walking guide rail, wheel hub mounting table, wheel hub decision mechanism, wherein,
The robot clamping jaw system includes robot firm banking, mechanical arm, robot end, robot end's connection
Block, pulley, gripping cylinder and clamping jaw；
The robot walking guide rail includes guide rail, guide rail fixed feet and robot ambulation base；
One end of the wheel hub pipeline is equipped with wheel hub decision mechanism, and the other end is equipped with robot walking guide rail；The robot
Clamping jaw system is fixed on robot ambulation base；What the robot ambulation base slided is fixed on guide rail；The guide rail leads to
Guide rail fixed feet is crossed to be fixed on ground；The mechanical arm is equipped with robot end；The clamping jaw passes through robot end
Contiguous block is connected with robot end；The clamping jaw is equipped with gripping cylinder, and moves fixed pulley by screw.
Further, the wheel hub pipeline is equipped with the first blanking point and the second blanking point.
Further, the wheel hub system of processing is divided into two groups, every group 4, is placed in robot walking guide rail both sides, described
Wheel hub mounting table is placed between two groups of wheel hub systems of processing.
Further, the wheel hub pipeline uses stepper motor.
Further, the clamping jaw number is 2.
Further, the pulley number is 4.
Further, the interpretable automotive hub size of the wheel hub decision mechanism be respectively 22.5 × 8.25,22.5 ×
9th, 22.5 × 7.5, it is inch.
Further, a kind of operational process of robot hub machining center, comprises the following steps：
The first step：Wheel hub transmits：
The feeding beat of wheel hub pipeline is 1 minute/part, and it is 4 that stepper motor used, which is reckoned by the piece and counted, when hub workpiece number to be conveyed
During to 4, wheel hub pipeline starts to transmit wheel hub, and wheel hub can be judged that sort pass is close to wheel hub pipeline by wheel hub decision mechanism
One end of robot walking guide rail：First blanking and the second blanking point, and transmit accurately without manual synchronizing, pressed from both sides easy to robot
Jaw system grips；
Second step：Wheel hub feeding：
When two groups of wheel hub systems of processing process the wheel hub A and B of two kinds of different models respectively, first group of robot clamping jaw system from
First blanking point gripping wheel hub A, which is transported in first group of hub machining center, to be processed；Then first group of clamping jaw system of robot
System after the second blanking point gripping wheel hub B, moves, picked up wheel hub B is placed on wheel hub puts on robot walking guide rail again
Put on platform, second group of robot clamping jaw system grips wheel hub B from wheel hub mounting table again, is transported to second group of wheel hub system of processing
In be processed；
3rd step：Wheel hub blanking：
During B wheel hub blankings, according to the good program of default, second group of robot clamping jaw system is from second group of wheel hub system of processing
Machined wheel hub B is gripped, is transmitted to subsequent processing；
During A wheel hub blankings, according to the good program of default, first group of robot clamping jaw system is from first group of wheel hub system of processing
After gripping manufactured wheel hub A, moved on robot walking guide rail, wheel hub A is placed on wheel hub mounting table, then by
Two groups of robot clamping jaw system grippings, are transmitted to subsequent processing.
Compared with prior art, the present invention has the advantage that：
Wheel hub processing operating mode is severe, present invention can ensure that whole prosthetic participates in, improves automatization level, reduces artificial correction
Discharge position on wheel hub, meanwhile, make the action beat of robot compact, process actions are smooth, while labor intensity is reduced
Production efficiency is greatly improved, meanwhile, by reasonable arrangement process and beat, allow wheel hub not prolong too much in process
By mistake.Greatly reduce fund and place takes；The meaningless carrying of machinery compartment is eliminated, reduces the dependence to handbarrow；Effectively contracting
The short process-cycle, on the premise of quality is ensured, realizes maximization of economic benefit.
Brief description of the drawings
Fig. 1 is the schematic diagram of the present invention.
Fig. 2 is the schematic diagram of robot clamping jaw system of the present invention.
Fig. 3 is the schematic diagram of wheel hub pipeline of the present invention and wheel hub decision mechanism.
Fig. 4 is the schematic diagram of robot walking guide rail of the present invention.
Fig. 5 is the robot part schematic diagram of robot clamping jaw system of the present invention.
Fig. 6 is the gripping portions schematic diagram of robot clamping jaw system of the present invention
In figure：1st, wheel hub pipeline；2nd, wheel hub system of processing；3rd, robot clamping jaw system；4th, robot walking guide rail；5th, wheel hub
Mounting table；6th, wheel hub decision mechanism；301st, robot firm banking；302nd, mechanical arm；303rd, robot end；304th, machine
People end contiguous block；305th, pulley；306th, cylinder is gripped；307th, clamping jaw；401st, guide rail；402nd, guide rail fixed feet；403rd, machine
People's walking basal seat.
Embodiment
The invention will now be further described with reference to specific embodiments, but embodiment is only exemplary, not to this hair
Bright scope forms any restrictions.It will be understood by those skilled in the art that without departing from the spirit and scope of the invention
The details and form of technical solution of the present invention can be modified or replaced, but these modifications and replacement each fall within the present invention's
In protection domain.
As shown in figures 1 to 6, a kind of robot hub machining center, it is characterised in that including wheel hub pipeline 1, wheel hub adds
Work system 2, robot clamping jaw system 3, robot walking guide rail 4, wheel hub mounting table 5, wheel hub decision mechanism 6, wherein,
The robot clamping jaw system 3 includes robot firm banking 301, mechanical arm 302, robot end 303, robot
End contiguous block 304, pulley 305, gripping cylinder 306 and clamping jaw 307；
The robot walking guide rail 4 includes guide rail 401, guide rail fixed feet 402 and robot ambulation base 403；
One end of the wheel hub pipeline 1 is equipped with wheel hub decision mechanism 6, and the other end is equipped with robot walking guide rail 4；The machine
People's clamping jaw system 3 is fixed on robot ambulation base 403；What the robot ambulation base 403 slided is fixed on guide rail
401, the robot clamping jaw system 3 is moved on guide rail 401；The guide rail 401 is fixed on by guide rail fixed feet 402
On ground；The mechanical arm 302 is equipped with robot end 303；The clamping jaw 307 passes through robot end's contiguous block 304
It is connected with robot end 303, can be driven and overturn by mechanical arm 302, the multidimensional action such as extension；On the clamping jaw 307
Fixed pulley 305 is moved equipped with gripping cylinder 306, and by screw, pulley 305 is during wheel hub is gripped by gripping cylinder
306 drive, and do slip correction clamping activity；The wheel hub system of processing 2 is divided to for two groups, every group 4, is distributed in machine two-by-two
4 both sides of people's walking guide rail；The robot clamping jaw system 3 has 2, and robot walking guide rail 4 has 2,1 clamping jaw system of robot
3 and 1 robot walking guide rails 4 of system correspond to one group of hub machining center 2；The wheel hub mounting table 5 is placed in two groups of wheel hub processing
Between system 2, robot clamping jaw system 3 is facilitated to transmit wheel hub；The wheel hub pipeline 1 uses stepper motor；The clamping jaw
307 numbers are 2；Described 305 numbers of pulley are 4；The interpretable automotive hub size of wheel hub decision mechanism 6 is respectively
22.5 × 8.25,22.5 × 9,22.5 × 7.5, it is inch.
When wheel hub transmits：
The feeding beat of wheel hub pipeline 1 is 1 minute/part, and it is 4 that stepper motor used, which is reckoned by the piece and counted, when hub workpiece to be conveyed
When counting to 4, wheel hub pipeline 1 starts to transmit wheel hub, and wheel hub decision mechanism 6 can judge wheel hub sort pass to wheel hub pipeline
1 close to one end of robot walking guide rail 4：First blanking 101 and the second blanking point 102, and transmit accurately without manual synchronizing,
Gripped easy to robot clamping jaw system 3.
During wheel hub feeding：
When two groups of wheel hub systems of processing 2 process the wheel hub A and B of two kinds of different models respectively, first group of robot clamping jaw system 3
It is transported in first group of hub machining center 2 and is processed from the first blanking point 101 gripping wheel hub A；Then first group of robot
Clamping jaw system 3 after the second blanking point 102 gripping wheel hub B, moves on robot walking guide rail 4 again, picked up wheel hub B is put
Put on wheel hub mounting table 5, second group of robot clamping jaw system 3 grips wheel hub B from wheel hub mounting table 5 again, is transported to second
It is processed in group wheel hub system of processing 2.
During wheel hub blanking：
During B wheel hub blankings, according to the good program of default, second group of robot clamping jaw system 3 is from second group of wheel hub processing
The machined wheel hub B of the gripping of system 2, is transmitted to subsequent processing.
During A wheel hub blankings, according to the good program of default, first group of robot clamping jaw system 3 adds from first group of wheel hub
After work system 2 grips manufactured wheel hub A, moved on robot walking guide rail 4, wheel hub A is placed on wheel hub mounting table 5
On, then gripped by second group of robot clamping jaw system 3, it is transmitted to subsequent processing.
When wheel hub grips：
Clamping jaw 307 is driven by mechanical arm 303, is directed at the wheel hub classified through wheel hub decision mechanism 6, it is ensured that wheel hub is in clamping jaw 307
Clamping range in, 307 clamping wheel hub of clamping jaw is driven by gripping cylinder 306.
The data model of the feeding beat of wheel hub pipeline 1 and the processing beat of wheel hub system of processing 2：
The time that robot clamping jaw system 3 transmits wheel hub is ignored, if first group of 2 process time of wheel hub system of processing is 10 points
Clock, second group of 2 process time of wheel hub system of processing is 10 minutes, is processed by two groups of wheel hub systems of processing 2 with a collection of workpiece, to two
During group feeding, second group of 2 feeding of wheel hub system of processing is given if first group of wheel hub system of processing 2 is working, if second
Group wheel hub system of processing 2 is working just to first group of 2 feeding of wheel hub system of processing, if production effect when feeding beat is X minutes
Rate highest, and ensure two groups of wheel hub systems of processing 2 not empty wagons.
Model 1：
Condition is：{ non-first group of wheel hub system of processing 2 is second group of wheel hub system of processing 2 }
{ two groups of 2 process times of wheel hub system of processing are identical }
It can be considered absolute value problem.
If first group of 2 feeding time of wheel hub system of processing X is equal to second group of 2 machined time of wheel hub system of processing.
|10-X|=X
10-X=X
10=2X
X=5
Model 2：
The 1 feeding time of wheel hub pipeline is X, and the 2 machined time of wheel hub system of processing is Y.
Can be established an equation group
10-X=Y
→X=Y=5
10-Y=X
The feeding beat of wheel hub pipeline 1 is 1 minute/part, and it is 4 that stepper motor used, which is reckoned by the piece and counted, is transmitted since stepper motor
Wheel hub, by that need to take one minute at identification and classification to the first blanking point 101 or the second blanking point 102, and every wheel hub is from wheel
One minute need to be taken at the first blanking point 101 or the second blanking point 102 at 1 feeding of hub pipeline, then 4 wheel hubs are defeated from wheel hub
Needed 5 minutes at the first blanking point 101 or the second blanking point 102 at 1 feeding of line sending.The beat of wheel hub system of processing 2 is 10 points
Clock/part.This flow can reach effect, have four wheel hubs to be fed sequentially into the first blanking point 101 or the second blanking within every five minutes
At point 102.When Production line, any one group of wheel hub system of processing 2 completes work, treats that robot clamping jaw system 3 will be machined
After wheel hub is removed, wheel hub is delivered at the first blanking point 101 or the second blanking point 102 by wheel hub pipeline 1 in time, first group and
Second group of wheel hub system of processing 2 carried out blanking and feeding successively with five minutes intervals, avoided 2 empty wagons of wheel hub system of processing to treat substantially
Load situation.
In actual moving process, the transmission wheel hub time of robot clamping jaw system 3 cannot be ignored, and hub machining center processing
Number of packages is 4, it is contemplated that the feeding beat of wheel hub pipeline 1 is 1 minute/part, and stepper motor is counted and is set to 4.From stepping
Motor starts to transmit wheel hub, by that need to take one minute at identification and classification to the first blanking point 101 or the second blanking point 102.
Can reach effect is, 4 wheel hubs need not at 1 feeding of wheel hub pipeline at 3 operating point of robot clamping jaw system
By 5 minutes.
Because robot clamping jaw system can be linked up by program setting and feeding beat rapidly, by the time on wheel hub pipeline
Allowance is used to transmit wheel hub between robot, and approximation meets two mathematical models.
Claims (8)
1. a kind of robot hub machining center, it is characterised in that including wheel hub pipeline（1）, wheel hub system of processing（2）, machine
Device people's clamping jaw system（3）, robot walking guide rail（4）, wheel hub mounting table（5）, wheel hub decision mechanism（6）, wherein,
The robot clamping jaw system（3）Including robot firm banking（301）, mechanical arm（302）, robot end
（303）, robot end's contiguous block（304）, pulley（305）, gripping cylinder（306）And clamping jaw（307）；
The robot walking guide rail（4）Including guide rail（401）, guide rail fixed feet（402）With robot ambulation base（403）；
The wheel hub pipeline（1）One end be equipped with wheel hub decision mechanism（6）, the other end is equipped with robot walking guide rail（4）；Institute
State robot clamping jaw system（3）It is fixed on robot ambulation base（403）On；The robot ambulation base（403）Slide
It is fixed on guide rail（401）；The guide rail（401）Pass through guide rail fixed feet（402）It is fixed on ground；The mechanical arm
（302）It is equipped with robot end（303）；The clamping jaw（307）Pass through robot end's contiguous block（304）With robot end
（303）Connection；The clamping jaw（307）It is equipped with gripping cylinder（306）, and fixed pulley is moved by screw（305）.
A kind of 2. robot hub machining center according to claim 1, it is characterised in that the wheel hub pipeline（1）
It is equipped with the first blanking point（101）With the second blanking point（102）.
A kind of 3. robot hub machining center according to claim 1, it is characterised in that the wheel hub system of processing
（2）It is divided into two groups, every group 4, is placed in robot walking guide rail（4）Both sides, the wheel hub mounting table（5）Two groups of wheel hubs are placed in add
Work system（2）Between.
A kind of 4. robot hub machining center according to claim 1, it is characterised in that the wheel hub pipeline（1）
Using stepper motor.
A kind of 5. robot hub machining center according to claim 1, it is characterised in that the clamping jaw（307）Number
For 2.
A kind of 6. robot hub machining center according to claim 1, it is characterised in that the pulley（305）Number
For 4.
A kind of 7. robot hub machining center according to claim 1, it is characterised in that the wheel hub decision mechanism
（6）Interpretable automotive hub size is respectively 22.5 × 8.25,22.5 × 9,22.5 × 7.5, is inch.
8. a kind of operational process of robot hub machining center, it is characterised in that comprise the following steps：
The first step：Wheel hub transmits：
Wheel hub pipeline（1）Feeding beat be 1 minute/part, stepper motor used number of reckoning by the piece is 4, when hub workpiece to be conveyed
It is a when counting to 4, wheel hub pipeline（1）Start to transmit wheel hub, wheel hub decision mechanism（6）Sort pass can be judged to wheel hub wheel hub
Pipeline（1）Close to robot walking guide rail（4）One end：First blanking（101）With the second blanking point（102）, and transmit essence
Really without manual synchronizing, easy to robot clamping jaw system（3）Gripping；
Second step：Wheel hub feeding：
When two groups of wheel hub systems of processing（2）Respectively during the wheel hub A and B of two kinds of different models of processing, first group of clamping jaw system of robot
System（3）From the first blanking point（101）Gripping wheel hub A is transported to first group of hub machining center（2）In be processed；Then first
Group robot clamping jaw system（3）Again from the second blanking point（102）After gripping wheel hub B, in robot walking guide rail（4）Upper movement,
Picked up wheel hub B is placed on wheel hub mounting table（5）On, second group of robot clamping jaw system（3）Again from wheel hub mounting table（5）On
Wheel hub B is gripped, is transported to second group of wheel hub system of processing（2）In be processed；
3rd step：Wheel hub blanking：
During B wheel hub blankings, according to the good program of default, second group of robot clamping jaw system（3）Processed from second group of wheel hub
System（2）Machined wheel hub B is gripped, is transmitted to subsequent processing；
During A wheel hub blankings, according to the good program of default, first group of robot clamping jaw system（3）Processed from first group of wheel hub
System（2）After gripping manufactured wheel hub A, in robot walking guide rail（4）Upper movement, is placed on wheel hub by wheel hub A and places
Platform（5）On, then by second group of robot clamping jaw system（3）Gripping, is transmitted to subsequent processing.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810035594.8A CN108000217A (en) | 2018-01-15 | 2018-01-15 | A kind of robot hub machining center |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810035594.8A CN108000217A (en) | 2018-01-15 | 2018-01-15 | A kind of robot hub machining center |
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| Publication Number | Publication Date |
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| CN108000217A true CN108000217A (en) | 2018-05-08 |
Family
ID=62050297
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| CN201810035594.8A Pending CN108000217A (en) | 2018-01-15 | 2018-01-15 | A kind of robot hub machining center |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108655701A (en) * | 2018-06-15 | 2018-10-16 | 中信戴卡股份有限公司 | A kind of device for aluminum-alloy wheel press mounting bolt auxiliary feeding |
| CN108788643A (en) * | 2018-06-21 | 2018-11-13 | 海安金锻工业有限公司 | A kind of hub spindle wheel processing method and system of processing |
| CN110202347A (en) * | 2019-07-05 | 2019-09-06 | 湖北天华智能装备股份有限公司 | Automobile engine speed changer upper housing pressing sleeve production line conveying apparatus |
| CN113635335A (en) * | 2021-10-13 | 2021-11-12 | 江苏莱克智能电器有限公司 | Robot clamp, robot, automatic system and robot control method |
| TWI788575B (en) * | 2018-06-20 | 2023-01-01 | 日商迪思科股份有限公司 | Processing Equipment |
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| CN108655701A (en) * | 2018-06-15 | 2018-10-16 | 中信戴卡股份有限公司 | A kind of device for aluminum-alloy wheel press mounting bolt auxiliary feeding |
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| CN108788643A (en) * | 2018-06-21 | 2018-11-13 | 海安金锻工业有限公司 | A kind of hub spindle wheel processing method and system of processing |
| CN110202347A (en) * | 2019-07-05 | 2019-09-06 | 湖北天华智能装备股份有限公司 | Automobile engine speed changer upper housing pressing sleeve production line conveying apparatus |
| CN113635335A (en) * | 2021-10-13 | 2021-11-12 | 江苏莱克智能电器有限公司 | Robot clamp, robot, automatic system and robot control method |
| CN113635335B (en) * | 2021-10-13 | 2022-04-12 | 江苏莱克智能电器有限公司 | Automatic system for processing and flatness detection |
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