CN108274365A - A kind of aluminum hull robot automatically grinding polishing station - Google Patents
A kind of aluminum hull robot automatically grinding polishing station Download PDFInfo
- Publication number
- CN108274365A CN108274365A CN201810264826.7A CN201810264826A CN108274365A CN 108274365 A CN108274365 A CN 108274365A CN 201810264826 A CN201810264826 A CN 201810264826A CN 108274365 A CN108274365 A CN 108274365A
- Authority
- CN
- China
- Prior art keywords
- robot
- workstation
- consumable
- clamp
- polishing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005498 polishing Methods 0.000 title claims abstract description 44
- 238000000227 grinding Methods 0.000 title claims abstract description 21
- 229910052782 aluminium Inorganic materials 0.000 title claims abstract description 18
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 title claims abstract description 18
- 239000000463 material Substances 0.000 claims abstract description 41
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 20
- 239000000428 dust Substances 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000003825 pressing Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 4
- 238000003801 milling Methods 0.000 abstract 1
- 210000000078 claw Anatomy 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 238000007517 polishing process Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 239000002360 explosive Substances 0.000 description 2
- 239000013072 incoming material Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004630 mental health Effects 0.000 description 2
- 244000137852 Petrea volubilis Species 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000009991 scouring Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
-
- 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
-
- 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
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/006—Quick mount and release means for disc-like wheels, e.g. on power tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention relates to a kind of aluminum hull robot automatically grinding polishing station, including working station and the robot and control system that are separately positioned in working station；The working station includes rack, middle part is provided with workbench in the rack, machine frame inside is divided into the first workspace and the second workspace by the workbench, it include the robot of setting on the table in first workspace, it is provided with the paw for sanding and polishing in the robot and paw is driven to move, it has been sequentially arranged consumptive material gripping body, consumptive material feed bin, feeding pallet, secondary positioning module and sanding and polishing jig in the working region of the robot, has included the control system being arranged under workbench in second workspace；The present invention integrates more milling tools and product fetching device by individual machine human hand pawl, effectively promotes working efficiency, keeps the continuity of various processes.
Description
Technical Field
The invention relates to the technical field of industrial robot application, in particular to an automatic polishing workstation of an aluminum shell robot.
Background
Among the prior art, there is the multistation segmentation execution in the aluminium hull burnishing and polishing, can not keep the uniformity of product processing, and the in-process of polishing can produce a large amount of metal dust, and the site environment is abominable, influences the on-the-spot personnel physical and mental health, has inflammable and explosive potential safety hazard simultaneously, and traditional material loading mode adopts the manual work to take out the material from the charging tray and puts to the fixed position, and the material loading action is complicated, consumes the manpower.
Based on this, it is required that an aluminum shell robot automatic polishing workstation which can ensure the consistency of product processing, improve the working efficiency, save energy, protect environment and be safe is designed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and obtain the aluminum shell robot automatic polishing workstation which can ensure the processing consistency of products, improve the working efficiency, save energy, protect environment and be safe.
The invention is realized by the following technical scheme:
an automatic aluminum shell robot polishing workstation comprises a workstation body, a robot and a control system, wherein the robot and the control system are respectively arranged in the workstation body; wherein,
the workstation body comprises a frame, a worktable is arranged in the middle of the frame, the worktable divides the interior of the frame into a first working area and a second working area, the first working area comprises a robot arranged on the working table, the robot is provided with a paw for grinding and polishing and drives the paw to move, a consumable clamping mechanism, a consumable bin, a feeding tray, a secondary positioning module and a polishing jig are sequentially arranged in the working area of the robot, the second working area comprises a control system arranged below the workbench, the control system comprises a control electric cabinet and a water circulation system, the control electric cabinet is respectively connected with the consumable clamping mechanism, the feeding tray, the secondary positioning module and the robot, the water circulation system is connected with the grinding and polishing jig, and the control electric cabinet is communicated with the water circulation system to realize corresponding control.
Furthermore, still be provided with the emergency exit of switch in the frame, the emergency exit is used for making the side of first workspace and second workspace form a confined space.
Further, still be provided with the work pilot lamp in the frame, work pilot lamp and control electric cabinet electric connection.
Further, a dust filter screen is arranged in the water circulation system.
Further, secondary location module is including installing the location base on the workstation, it places the district to be provided with the work piece on the location base, the work piece is placed and is provided with on the district and is close the inductor, the work piece is placed the horizontal of district adjacent side and vertically to correspond respectively and is provided with horizontal centre gripping cylinder and vertical centre gripping cylinder, the work piece is placed the district and is provided with respectively on horizontal centre gripping cylinder and vertical centre gripping cylinder offside and leans on the round pin, lean on the round pin and form the centre gripping district of centre gripping work piece with horizontal centre gripping cylinder, vertical centre gripping cylinder.
Furthermore, air pressure adjusting devices are respectively arranged in the transverse clamping cylinder and the longitudinal clamping cylinder.
Further, the hand claw upper end is provided with mounting flange, the mounting flange lower extreme is provided with the cable fixation clamp, the side of hand claw is provided with corase grind bobbing machine, correct grinding bobbing machine and disc burnishing machine respectively, the lower extreme middle part of hand claw is provided with the material inductor, the lower extreme of hand claw still centers on the central equipartition and is provided with gets material vacuum chuck, it still corresponds and is provided with equal altitude spacing post to get the material vacuum chuck outside.
Further, the consumptive material feed bin includes the consumptive material base, consumptive material base below is provided with the feed bin cylinder, consumptive material base top is provided with the centre gripping post around central equipartition, the centre gripping post outside still is provided with equal altitude support column, support column upper end is provided with the inductor.
Further, the consumable base is square or circular.
Further, the mechanism is got to consumptive material clamp is including installing the clamp on the workstation and getting the base, it gets the cylinder to get to be provided with the clamp on the base to get the clamp, it is portable to be provided with first clamp and gets the board to get cylinder tip to get the clamp, the offside that the board was got to first clamp is provided with the second and presss from both sides and gets the board, the second is got the board and is fixed to be set up on getting the base pressing from both sides, first clamp is got board and second clamp and is got to form between the board and press from both sides and get the region, the.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention uses the combination of the robot and the polisher to replace manual polishing, thus keeping the consistency of product processing;
2. the invention is also provided with a water circulation system, which can effectively inhibit metal dust generated in the grinding and polishing process, improve the field working environment and avoid potential safety hazard caused by dust explosion;
3. according to the invention, the secondary positioning module is arranged to realize the precise positioning of the product, a special tray is not required to be specially customized, and the incoming material requirement and the feeding and discharging complexity of staff are reduced;
4. according to the invention, the polishing consumable can be automatically replaced according to the program setting through the control system, so that the field labor is effectively saved.
5. According to the invention, a single robot paw integrates a plurality of grinding tools and product taking and placing mechanisms, so that the working efficiency is effectively improved, and the continuity of different production processes is maintained.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top plan structural layout view of FIG. 1;
figure 3 is a front view of the gripper 7 of the present invention;
FIG. 4 is a schematic perspective view of FIG. 3;
FIG. 5 is a schematic structural diagram of the secondary positioning module 11 according to the present invention;
FIG. 6 is a schematic structural view of a square base of the consumable material in the consumable material bin 9 of the present invention;
FIG. 7 is a schematic view of a circular consumable base of the consumable material bin 9 of the present invention;
fig. 8 is a schematic structural view of the consumable clamping mechanism 8 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 8, an aluminum-shell robot automatic polishing workstation includes a workstation body, and a robot 1 and a control system 2 respectively disposed in the workstation body; wherein,
the workstation body comprises a frame 3, a workbench 4 is arranged in the middle of the frame 3, the workbench 4 divides the inside of the frame 3 into a first working area 5 and a second working area 6, a robot 1 arranged on the workbench 4 is arranged in the first working area 5, a paw 7 for polishing is arranged on the robot 1 and drives the paw 7 to move, a consumable clamping mechanism 8, a consumable bin 9, a feeding tray 10, a secondary positioning module 11 and a polishing jig 12 are sequentially arranged in the working area of the robot 1, a control system 2 arranged under the workbench 4 is arranged in the second working area 6, the control system 2 comprises a control electric cabinet and a water circulation system, the control electric cabinet is respectively connected with the consumable clamping mechanism 8, the feeding tray 10, the secondary positioning module 11 and the robot 1, the water circulation system is connected with the polishing jig 12, the control electric cabinet is communicated with the water circulation system to realize corresponding control.
When the machine is specifically implemented, the frame 3 is further provided with a switchable safety door 13, and the safety door 13 is used for enabling the side edges of the first working area 5 and the second working area 6 to form a closed space.
During specific implementation, still be provided with work pilot lamp 14 on the frame 3, work pilot lamp 14 and control electrical cabinet electric connection.
When the dust filter screen is arranged in the water circulation system, a large amount of metal dust can be generated in the polishing process, the field environment is severe, the physical and mental health of field personnel is influenced, meanwhile, the flammable and explosive potential safety hazards exist, each polishing workstation is provided with the independent water circulation system, the polishing processing process uses circulating water to flush the surface of the polishing tool and the surface of a product, and the dust is taken away. The water after washing flows back to the water tank, and the water circulating system is provided with a special dust filter screen, so that the dust can be effectively filtered and polished, the circulating water is kept clean, and the environment is protected.
In specific implementation, the secondary positioning module 11 comprises a positioning base 11-1 installed on a workbench, a workpiece placing area 11-2 is arranged on the positioning base 11-1, a proximity sensor 11-3 is arranged on the workpiece placing area 11-2, whether the material is in a normal state after being clamped is judged through the proximity sensor 11-3, a transverse clamping cylinder 11-4 and a longitudinal clamping cylinder 11-5 are respectively and correspondingly arranged on the adjacent sides of the workpiece placing area 11-2 in the transverse direction and the longitudinal direction, a leaning pin 11-6 is respectively arranged on the opposite sides of the transverse clamping cylinder 11-4 and the longitudinal clamping cylinder 11-5 in the workpiece placing area 11-5, the leaning pin 11-6, the transverse clamping cylinder 11-4 and the longitudinal clamping cylinder 11-5 form a clamping area for clamping the workpiece, traditional material loading mode adopts the manual work to take out the material from the charging tray and puts to the fixed position, and the work station of polishing simplifies the material loading action, directly uses the on-the-spot incoming material tray material loading of customer, carries out the essence location to the product through the secondary positioning mode, and the material does not have the requirement at the tray state, can simplify the material loading action, sparingly operates the manpower.
During specific implementation, air pressure adjusting devices are respectively arranged in the transverse clamping cylinder 11-4 and the longitudinal clamping cylinder 11-5, pressing force can be adjusted, and workpieces are prevented from being crushed and deformed.
In the specific implementation, the upper end of the paw 7 is provided with an installation flange 7-1, the lower end of the installation flange 7-1 is provided with a cable fixing clamp 7-2, the side surface of the paw 7 is respectively provided with a rough grinding vibrator 7-3, a fine grinding vibrator 7-4 and a disc polisher 7-5, the middle part of the lower end of the paw 7 is provided with a material sensor 7-6, the lower end of the paw 7 is uniformly provided with material taking vacuum chucks 7-7 around the center, the outer sides of the material taking vacuum chucks 7-7 are correspondingly provided with equal-height limiting columns 7-8, in the technical scheme, the multifunctional paw 7 finishes taking and placing of products through the vacuum generator and the chucks, whether material is picked up at a material taking position can be judged through the vacuum sensor during material taking, two vibrators and one disc polisher can be attached to polishing consumables of different specifications and models, the whole polishing process flow of coarse grinding, fine grinding and surface polishing of the product is realized.
When the consumable material storage bin is implemented specifically, the consumable material storage bin 9 comprises a consumable material base, a storage bin air cylinder 9-1 is arranged below the consumable material base, clamping columns 9-2 are uniformly distributed above the consumable material base around the center, equal-height supporting columns 9-3 are further arranged on the outer sides of the clamping columns 9-2, and an inductor is arranged at the upper end portions of the supporting columns 9-3.
In specific implementation, the consumable base is square or circular.
During specific implementation, the consumable clamping mechanism 8 comprises a clamping base 8-1 installed on a workbench, a clamping cylinder 8-2 is arranged on the clamping base 8-1, the end portion of the clamping cylinder 8-2 is movably provided with a first clamping plate 8-3, a second clamping plate 8-4 is arranged on the opposite side of the first clamping plate 8-3, the second clamping plate 8-4 is fixedly arranged on the clamping base 8-1, a clamping area is formed between the first clamping plate 8-3 and the second clamping plate 8-4, and a photoelectric inductor 8-5 is arranged on the side of the clamping area.
In the above technical scheme, the process of automatically replacing consumables is as follows:
1. before the equipment is produced, consumables (sand paper, scouring pad and the like) with various specifications are manually loaded into a consumable stock bin;
2. after the polishing processing with the set number is finished, the robot paw moves to a consumable clamping position, and the consumable is clamped by a clamping cylinder;
3. changing the posture of the arm through the robot 1, and tearing off the consumables from the magic tape of the grinding machine;
4. the manipulator moves above the corresponding stock bin, the bottom of the consumable is tightly attached to the magic tape of the grinding machine through the clamping cylinder, and the replacement of single consumable is completed;
5. other consumable parts can be replaced in the same way without manual interference.
The working process of the invention is as follows:
1. the robot 1 sucks a product to be processed from the tray in vacuum and puts the product into the secondary positioning module 11;
2. the secondary positioning module 11 carries out fine positioning on the product;
3. the robot 1 sucks the product after the fine positioning, and places the product into a grinding and polishing jig 12;
4. the robot grinding and polishing paw 7 grinds and polishes the product according to a program, and meanwhile, a water circulation system is started to inhibit grinding dust;
5. after polishing, the robot takes down the processed product and puts the processed product into a tray;
6. the robot paw 7 to the consumable replacing module removes the consumables used after grinding and polishing;
7. the robot paw to the consumable material bin 9 automatically replaces new consumable materials;
8. and (5) repeating the step 1.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An automatic aluminum shell robot polishing workstation is characterized by comprising a workstation body, a robot and a control system, wherein the robot and the control system are respectively arranged in the workstation body; wherein,
the workstation body comprises a frame, a worktable is arranged in the middle of the frame, the worktable divides the interior of the frame into a first working area and a second working area, the first working area comprises a robot arranged on the working table, the robot is provided with a paw for grinding and polishing and drives the paw to move, a consumable clamping mechanism, a consumable bin, a feeding tray, a secondary positioning module and a polishing jig are sequentially arranged in the working area of the robot, the second working area comprises a control system arranged below the workbench, the control system comprises a control electric cabinet and a water circulation system, the control electric cabinet is respectively connected with the consumable clamping mechanism, the feeding tray, the secondary positioning module and the robot, the water circulation system is connected with the grinding and polishing jig, and the control electric cabinet is communicated with the water circulation system to realize corresponding control.
2. The aluminum hull robotic automated polishing workstation of claim 1, wherein: but still be provided with the emergency exit of switch in the frame, the emergency exit is used for making the side of first workspace and second workspace form a confined space.
3. The aluminum hull robotic automated polishing workstation of claim 1, wherein: still be provided with the work pilot lamp in the frame, work pilot lamp and control electric cabinet electric connection.
4. The aluminum hull robotic automated polishing workstation of claim 1, wherein: and a dust filter screen is arranged in the water circulation system.
5. The aluminum hull robotic automated polishing workstation of claim 1, wherein: the secondary location module is including installing the location base on the workstation, it places the district to be provided with the work piece on the location base, the work piece is placed and is provided with on the district and is close the inductor, the work piece is placed the horizontal and vertical correspondence respectively of district's adjacent side and is provided with horizontal centre gripping cylinder and vertical centre gripping cylinder, the work piece is placed the district and is provided with respectively on horizontal centre gripping cylinder and vertical centre gripping cylinder offside and leans on the round pin, lean on round pin and horizontal centre gripping cylinder, vertical centre gripping cylinder to form the centre gripping district of centre gripping work piece.
6. The aluminum hull robotic automated polishing workstation of claim 5, wherein: and air pressure adjusting devices are respectively arranged in the transverse clamping cylinder and the longitudinal clamping cylinder.
7. The aluminum hull robotic automated polishing workstation of claim 1, wherein: the utility model discloses a material taking device, including gripper, mounting flange, fine grinding bobbing machine, material inductor, gripper's lower extreme, gripper upper end is provided with mounting flange, the mounting flange lower extreme is provided with the cable fixation clamp, the side of gripper is provided with corase grind bobbing machine, fine grinding bobbing machine and disc burnishing machine respectively, the lower extreme middle part of gripper is provided with the material inductor, the lower extreme of gripper still is provided with around central equipartition and gets material vacuum chuck, it still corresponds and is provided with equal.
8. The aluminum hull robotic automated polishing workstation of claim 1, wherein: the consumable stock bin comprises a consumable base, a stock bin cylinder is arranged below the consumable base, a clamping column is arranged above the consumable base around the center uniformly distributed, equal-height supporting columns are further arranged outside the clamping column, and an inductor is arranged at the upper end of each supporting column.
9. The aluminum hull robotic automated polishing workstation of claim 8, wherein: the consumable base is square or round.
10. The aluminum hull robotic automated polishing workstation of claim 1, wherein: the mechanism is got to consumptive material clamp is including installing the clamp on the workstation and getting the base, it gets the cylinder to get to be provided with the clamp on the base to get the clamp, it is portable to be provided with first clamp and gets the board to get cylinder tip to get the clamp, the offside that the board was got to first clamp is provided with the second and presss from both sides and gets the board, the second is got the board and is fixed to be set up on pressing from both sides the base, first clamp is got board and second clamp and is got to form between the board and press from both sides and get the region.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810264826.7A CN108274365A (en) | 2018-03-28 | 2018-03-28 | A kind of aluminum hull robot automatically grinding polishing station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810264826.7A CN108274365A (en) | 2018-03-28 | 2018-03-28 | A kind of aluminum hull robot automatically grinding polishing station |
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| CN108274365A true CN108274365A (en) | 2018-07-13 |
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| CN201810264826.7A Pending CN108274365A (en) | 2018-03-28 | 2018-03-28 | A kind of aluminum hull robot automatically grinding polishing station |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108747715A (en) * | 2018-08-28 | 2018-11-06 | 艾尔发智能科技股份有限公司 | A kind of wet type automatically grinding polishing machine |
| CN109277918A (en) * | 2018-11-05 | 2019-01-29 | 王�华 | A kind of full-automatic sanding polissoir and method |
| CN109333316A (en) * | 2018-12-04 | 2019-02-15 | 成都市瑞研光科技有限公司 | Full-automatic polishing production line |
| CN109848777A (en) * | 2019-03-28 | 2019-06-07 | 上海爱仕达机器人有限公司 | A kind of safety cabinet surface polishing work station and its polishing process |
| CN110052915A (en) * | 2019-04-16 | 2019-07-26 | 随州市固德智能科技有限公司 | A kind of eyeglass automatically processing device |
| CN110434711A (en) * | 2019-09-10 | 2019-11-12 | 昆山汇之胜电子科技有限公司 | Square plastic spue line full-automatic sanding device |
| CN111571383A (en) * | 2020-04-30 | 2020-08-25 | 重庆市计量质量检测研究院 | Multi-degree-of-freedom automatic grinding and polishing device of aluminum shell robot |
| CN112157542A (en) * | 2020-09-28 | 2021-01-01 | 江苏中科云控智能工业装备有限公司 | Double-station middle feeding type deburring machine |
| CN113651100A (en) * | 2021-08-11 | 2021-11-16 | 深圳市速程精密科技有限公司 | ABB robot-based material taking and placing method |
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