CN108608296A - Mould cast grinding apparatus - Google Patents
Mould cast grinding apparatus Download PDFInfo
- Publication number
- CN108608296A CN108608296A CN201810617089.4A CN201810617089A CN108608296A CN 108608296 A CN108608296 A CN 108608296A CN 201810617089 A CN201810617089 A CN 201810617089A CN 108608296 A CN108608296 A CN 108608296A
- Authority
- CN
- China
- Prior art keywords
- slide unit
- mould cast
- robot
- leading screw
- industrial robot
- 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.)
- Granted
Links
- 238000005266 casting Methods 0.000 claims description 9
- 238000005498 polishing Methods 0.000 abstract description 31
- 125000006850 spacer group Chemical group 0.000 description 11
- 230000000694 effects Effects 0.000 description 5
- 210000004209 hair Anatomy 0.000 description 4
- 239000012636 effector Substances 0.000 description 3
- 238000007667 floating Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000004512 die casting Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 206010039509 Scab Diseases 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 235000019504 cigarettes Nutrition 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- 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
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
- B24B27/04—Grinding machines or devices in which the grinding tool is supported on a swinging arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D31/00—Cutting-off surplus material, e.g. gates; Cleaning and working on castings
- B22D31/002—Cleaning, working on castings
-
- 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
- B24B41/02—Frames; Beds; Carriages
-
- 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
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- 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
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
- B24B41/042—Balancing mechanisms
-
- 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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/02—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
- B24B47/04—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables by mechanical gearing only
-
- 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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
Abstract
The invention discloses a kind of mould cast grinding apparatus, including industrial robot, it is set on industrial robot and the sanding component for polishing to mould cast, robot truss, the slide unit being movably arranged, is set on robot truss and for controlling the first driving means and the second driving device for being set on slide unit and being moved in a second direction for controlling industrial robot that slide unit is moved along first direction, industrial robot is connect with the second driving device, and first direction and second direction are horizontal direction.The mould cast grinding apparatus of the present invention, working space range is big, and adaptability is good, can improve the grinding efficiency of mould cast, and can improve operating environment, reduce labor intensity.
Description
Technical field
The invention belongs to casting technology fields, specifically, the present invention relates to a kind of mould cast grinding apparatus.
Background technology
Press Tools for Automobiles demand is big at present, since mould cast weight ton is differed from tens kilograms to tens, mold
The cleaning of casting, which relies primarily on, is manually polished using abrasive machine, and labor intensity is big, and working environment is severe.Mould cast table
The scab in face, especially iron burnt-in sand are difficult manually that polishing is clean, need to carry out burn off using oxygen melting bar, there are a large amount of cigarettes in workshop
Dirt, and the operation under this working environment for a long time, the influence to human body are very big.
Invention content
The present invention provides a kind of mould cast grinding apparatus, it is therefore an objective to improve mould cast grinding efficiency.
To achieve the goals above, the technical solution that the present invention takes is：Mould cast grinding apparatus, including industrial machine
People is set on industrial robot and the sanding component for polishing to mould cast, robot truss, is movably arranged
Slide unit, be set on robot truss and for controlling the first driving means and setting that slide unit is moved along first direction
In the second driving device for carrying out movement on slide unit and for controlling industrial robot in a second direction, industrial robot and second
Driving device connects, and first direction and second direction are horizontal direction.
The artificial six-DOF robot of industrial machine.
The first driving means include the first leading screw being rotatably arranged on the robot truss, are set to machine
First motor on device people's truss and the first nut seat for being sheathed on the first leading screw and being connect with the slide unit, the first nut seat
Worm drive are constituted with the first leading screw.
The first driving means are arranged two, and the first leading screw of two first driving means is parallel, two first drives
First nut seat of dynamic device is connect in one end of the slide unit with slide unit respectively.
Second driving device includes the second leading screw being rotatably arranged on the slide unit, is set on slide unit
Second motor and the second nut seat for being sheathed on the second leading screw and being connect with the industrial robot, the second nut seat and second
Leading screw constitutes worm drive.
The first direction and the second direction are perpendicular.
The mould cast grinding apparatus of the present invention, working space range is big, and adaptability is good, can improve beating for mould cast
Efficiency is ground, and operating environment can be improved, is reduced labor intensity.
Description of the drawings
This specification includes the following drawings, and shown content is respectively：
Fig. 1 is the front view of inventive die casting grinding equipment；
Fig. 2 is the vertical view of inventive die casting grinding equipment；
Fig. 3 is the sectional view of sanding component；
In figure label for：1, mould cast；2, industrial robot；3, sanding component；301, electro spindle；302, spacer；
303, oscillating bearing；304, fixed plate；305, cylinder is compensated；306, flange；307, polishing tool；308, outer housing；4, slide unit；
5, robot truss；6, first motor；7, the second motor.
Specific implementation mode
Below against attached drawing, by the description of the embodiment, making to the specific implementation mode of the present invention further details of
Explanation, it is therefore an objective to those skilled in the art be helped to have more complete, accurate and deep reason to the design of the present invention, technical solution
Solution, and contribute to its implementation.
As depicted in figs. 1 and 2, the present invention provides a kind of mould cast grinding apparatus, including industrial robot 2, setting
In sanding component 3, robot truss 5, the cunning being movably arranged on industrial robot 2 and for polishing mould cast
Platform 4 is set on robot truss 5 and for controlling the first driving means and setting that slide unit 4 is moved along first direction
In carrying out the second mobile driving device in a second direction on slide unit 4 and for controlling industrial robot 2, industrial robot 2 with
Second driving device connects, and first direction and second direction are horizontal direction.
Specifically, as depicted in figs. 1 and 2, robot truss 5 is tower structure, robot truss 5 is used for slide unit
4 provide a supporting role, and industrial robot 2 is located at the lower section of slide unit 4 and the top positioned at mould cast, the mould cast that need to be polished
It is horizontal and is positioned over the lower section of industrial robot 2, industrial robot 2 drives sanding component 3 to be moved, and coordinates first
Driving device and the second driving device so that sanding component 3 can be moved on mould cast each position for needing to polish
Place.
Preferably, industrial robot 2 is six-DOF robot, structure is as known to one of skill in the art
As, details are not described herein.Sanding component 3 is mounted on the end effector of industrial robot 2, using six degree of freedom machine
People, job area is wide, and flexibility is good, and grinding efficiency is high.
As depicted in figs. 1 and 2, industrial robot 2 is to be mounted on slide unit 4 in suspension type, and industrial robot 2 is suspended on cunning
On platform 4 and industrial robot 2 is slidably connected with slide unit 4, and slide unit 4 plays guiding role to industrial robot 2.First driving dress
It sets including the first leading screw being rotatably arranged on robot truss 5,6 and of first motor being set on robot truss 5
The first nut seat for being sheathed on the first leading screw and being connect with slide unit 4, first motor 6 are fixedly connected with the first leading screw, the first spiral shell
Female seat and the first leading screw are is threadedly coupled, the first nut seat and the composition worm drive of the first leading screw, the axis of the first leading screw and the
One direction is parallel, and first direction and second direction are perpendicular.After first motor 6 operates, the rotation of the first leading screw, and then drive
Slide unit 4 is moved in a straight line along first direction, and slide unit 4 drives industrial robot 2 and 3 synchronizing moving of sanding component thereon.Using
Leadscrew-nut mechanism, can accurately control the position of sanding component 3, and sanding component 3 helps to improve grinding efficiency and polishing matter
Amount.
As depicted in figs. 1 and 2, preferably, first driving means are arranged two, two first driving means be in
On the parallel same straight line of second direction, industrial robot 2 is located between two first driving means, two first driving dresses
The first leading screw set is parallel, and the first nut seat of two first driving means is fixed in one end of slide unit 4 and slide unit 4 respectively to be connected
It connects.By the way that two first driving means are arranged, it can be ensured that 4 stable operation of slide unit.
As depicted in figs. 1 and 2, the second driving device includes the second leading screw being rotatably arranged on slide unit 4, is set to
The second motor 7 on slide unit 4 and the second nut seat for being sheathed on the second leading screw and being connect with industrial robot 2, the second motor 7
It is fixedly connected with the second leading screw, the second nut seat is to be threadedly coupled with the second leading screw, and the second nut seat and the second leading screw constitute spiral shell
Rotation transmission, the axis of the second leading screw are parallel with second direction.Slide unit 4 plays guiding role to industrial robot 2, when the second electricity
After machine 7 operates, the rotation of the second leading screw, and then industrial robot 2 is driven to be moved in a straight line in a second direction on slide unit 4, industry
Robot 2 drives 3 synchronizing moving of sanding component thereon.Equally, the second driving device uses leadscrew-nut mechanism, can be accurate
The position of sanding component 3 is controlled, sanding component 3 helps to improve grinding efficiency and polishing quality.
Preferably, to ensure the home position of mould cast hoisting material feeding, first laser pen is equipped on slide unit 4,
Second laser pen is equipped on robot truss 5, first laser pen is movably to be set on slide unit 4 and first laser pen
Moving direction is parallel with second direction, and second laser pen is moveable is set on robot truss 5 and second laser pen
Moving direction be vertical direction, first laser pen is located at the surface of mould cast, and second laser pen is located at mould cast
Oblique upper, second laser pen are located at the side-lower of first laser pen, and first laser pen and second laser pen generate directive casting and put
Setting region, (the casting placement region refers to the region for placing the mould cast that need to be polished, and is located at slide unit 4 and industrial robot
2 lower section) laser beam, the laser rays that first laser pen is formed in casting placement region is with second laser pen in casting rest area
The laser rays that domain is formed is perpendicular, to by the cooperation of first laser pen and second laser pen, be used in casting placement region
Cross hairs mark line is formed, which provides eye-catching position mark, cross hairs mark for artificial mould cast of placing
Line is remembered as the telltale mark for determining mould cast placement position, and locating effect and positioning so as to improve mould cast are imitated
Rate realizes quick, the accurate positionin of mould cast.First laser pen and second laser pen are arranged to position-adjustable, it can
So that can be adjusted in the position of the cross hairs mark line of casting placement region formation, it is suitable for various sizes of mould cast
Positioning, so as to meet the quick and precisely positioning of different size of mould cast, adaptability is good.
Preferably, industrial robot 2 is equipped with the vision system of the polishing position on mould cast for identification, depending on
Feel system is set on the end effector of industrial robot 2, and flexibility is good, and identification range is wide.Vision system includes mainly light
Source, industrial camera and the industrial lens being set on industrial camera.Industrial camera is located at the top of light source, the light that light source is sent out
Mould cast below directive, light source are to illuminate the surface of mould cast for polishing, are conducive to obtain clearly picture.Work
Industry camera lens and the device that industrial camera is Image Acquisition, imaging is focused on work by the surface of mould cast by industrial lens
On the target surface of industry camera, to complete Image Acquisition.When carrying out polishing processing to mould cast, need to be known by vision system first
Need the polishing position polished and polishing region on other mould cast, including determine spur location on mould cast, size,
Then shape fits machining locus, finally by sanding component 3 to each of mould cast after vision system completes information collection
Polishing processing is carried out at a polishing position.
As shown in figure 3, sanding component 3 include outer housing 308, electro spindle 301, be set on electro spindle 301 and for pair
Polishing tool 307 that mould cast is polished, spacer 302, oscillating bearing 303 and the outer housing being sheathed on electro spindle 301
308 fixed plates 304 being fixedly connected and the compensation cylinder 305 being set to inside outer housing 308.Outer housing 308 and industrial machine
People 2 connect, electro spindle 301 is rotatable relative to outer housing 308, electro spindle 301 for drive polishing tool 307 around its axis into
Row rotation, and then can polish mould cast surface, the structure of electro spindle 301 and polishing tool 307 is such as this field skill
As well known to art personnel, details are not described herein.Fixed plate 304 is cirque structure, fixed plate 304 and outer housing 308
One end is fixedly connected, and the other end of outer housing 308 is fixedly connected by bolt with the end effector of industrial robot 2, joint
Bearing 303 is set in the centre bore of fixed plate 304, and fixed plate 304 plays position-limiting action to oscillating bearing 303 in the axial direction,
Oscillating bearing 303 is simultaneously sheathed on spacer 302, and spacer 302 is also cirque structure, and spacer 302 is coaxial set with electro spindle 301
It sets and spacer 302 keeps being relatively fixed radially with electro spindle 301.Outer housing 308 is the structure of inner hollow, compensates cylinder
305 settings are multiple, and all compensation cylinders 305 are located in the inner chamber body of outer housing 308, and a part for electro spindle 301 is inserted into shell
In the inner chamber body of body 308, another part of electro spindle 301 is located at the outside of outer housing 308, and polishing tool 307 also is located at shell
The outside of body 308.Compensation cylinder 305 is fixed in the inner chamber body of outer housing 308, and all compensation cylinders 305 are distributed in electricity
The surrounding of main shaft 301 and all compensation cylinders 305 are that line is uniformly distributed circumferentially centered on the axis of electro spindle 301, compensation
Cylinder 305 is to carry out floating control for the angle of inclination to electro spindle 301, and then finally realize inclining to polishing tool 307
The floating control of rake angle, the polishing being suitable on mould cast at different parts can effectively avoid causing cutter and workpiece
Damage, improves adaptability.The axis for compensating cylinder 305 is parallel with the axis of electro spindle 301, all compensation cylinders 305
Piston rod is contacted with the end face of the flange 306 of 302 end set of spacer, the flange 306 be cirque structure and flange 306 with every
Set 302 is coaxial arrangement, and the overall diameter of flange 306 is more than the overall diameter of spacer 302, and flange 306 and one end of spacer 302 are fixed
The piston rod of connection, compensation cylinder 305 can be movable along the axial direction, and compensation cylinder 305 applies spacer 302 by flange 306
Add active force.The end for compensating the piston rod of cylinder 305 is spherical structure, is connect for point between piston rod and the end face of flange 306
It touches, frictional force is small, and piston rod and flange 306 are inconsistent.Before polishing mould cast, the piston rod of cylinder 305 is compensated
Spacer 302 is firmly withstood.When polishing mould cast, polishing tool 307 touches mould cast, and by certain
Outer force effect.Electro spindle 301 is turned an angle by oscillating bearing 303 under the effect of external force at this time, at the same drive every
The compensation cylinder 305 of 302 pairs of some angles of set compresses.When the external force that polishing tool 307 is subject to is more than compensation cylinder 305
When air pressure, the piston rod of compensation cylinder 305 is compressed, and polishing tool 307 generates being angled to accommodate at this time for certain angle at this time
External force, can effectively avoid excessive external force and damage polishing tool 307.When polish process finishing after, the external force of polishing tool 307
It disappears, the piston rod of compensation cylinder 305 restores automatically under the influence of air pressure, and then polishing tool 307 is reset to raw bits
It sets, floating compensation effect can be generated in 360 degree of radial extensions, for the irregular shapes hair such as unmanageable side, angle, cross bore
Thorn and the sanding and polishing in face can allow relocation mechanism and cutter that can be directed to Work-piece burr face can be along with processing, and simulation human hand carries out soft
Property removal sanding burr polishing, adaptability is good, improves polishing effect.
The present invention is exemplarily described above in association with attached drawing.Obviously, present invention specific implementation is not by above-mentioned side
The limitation of formula.As long as using the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress；Or not
It is improved, the above-mentioned design of the present invention and technical solution are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (6)
1. mould cast grinding apparatus, it is characterised in that：Including industrial robot, it is set on industrial robot and for mould
Tool casting polish sanding component, robot truss, the slide unit being movably arranged, be set on robot truss and be used for
The first driving means and be set on slide unit and be used to control industrial robot edge that control slide unit is moved along first direction
Second direction carries out the second mobile driving device, and industrial robot is connect with the second driving device, first direction and second party
To being horizontal direction.
2. mould cast grinding apparatus according to claim 1, it is characterised in that：The artificial six degree of freedom of industrial machine
Robot.
3. mould cast grinding apparatus according to claim 1 or 2, it is characterised in that：The first driving means include
It the first leading screw for being rotatably arranged on the robot truss, the first motor being set on robot truss and is sheathed on
The first nut seat being connect on first leading screw and with the slide unit, the first nut seat and the first leading screw constitute worm drive.
4. mould cast grinding apparatus according to claim 3, it is characterised in that：The first driving means setting two
A, the first leading screw of two first driving means is parallel, and the first nut seat of two first driving means is respectively in the cunning
One end of platform is connect with slide unit.
5. mould cast grinding apparatus according to claim 3 or 4, it is characterised in that：Second driving device includes
The second leading screw for being rotatably arranged on the slide unit, the second motor being set on slide unit and be sheathed on the second leading screw and
The second nut seat being connect with the industrial robot, the second nut seat and the second leading screw constitute worm drive.
6. mould cast grinding apparatus according to any one of claims 1 to 5, it is characterised in that：The first direction and institute
It is perpendicular to state second direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810617089.4A CN108608296B (en) | 2018-06-15 | 2018-06-15 | Die casting polishing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810617089.4A CN108608296B (en) | 2018-06-15 | 2018-06-15 | Die casting polishing equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108608296A true CN108608296A (en) | 2018-10-02 |
| CN108608296B CN108608296B (en) | 2024-04-26 |
Family
ID=63665176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810617089.4A Active CN108608296B (en) | 2018-06-15 | 2018-06-15 | Die casting polishing equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108608296B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109500823A (en) * | 2018-10-24 | 2019-03-22 | 武汉理工大学 | A kind of bowl-type titanium alloy casting oxide layer technique based on robot |
| CN109623608A (en) * | 2018-12-06 | 2019-04-16 | 陕西迈拓克能源科技有限公司 | A kind of lorry water tank detecting instrument that can remove scale automatically |
| CN111136477A (en) * | 2018-11-05 | 2020-05-12 | 宫晓东 | Pneumatic control floating head |
| CN113211231A (en) * | 2021-05-13 | 2021-08-06 | 苏州迪宏人工智能科技有限公司 | Grinding production method and system capable of automatically identifying cast iron blank and control system thereof |
| US20220126319A1 (en) * | 2019-02-05 | 2022-04-28 | 3M Innovative Properties Company | Paint repair process by scenario |
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| CN107378780A (en) * | 2017-07-19 | 2017-11-24 | 江苏大学 | A kind of robot casting grinding adaptive approach of view-based access control model system |
| CN208304718U (en) * | 2018-06-15 | 2019-01-01 | 芜湖泓鹄材料技术有限公司 | Mould cast grinding apparatus |
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| DE102014003485A1 (en) * | 2014-03-14 | 2015-10-01 | PWG Präzisions-Werkzeugbau Geißler GmbH | Multi-axis honing machine |
| CN103831695A (en) * | 2014-03-28 | 2014-06-04 | 中国科学院自动化研究所 | Large free-form surface robot polishing system |
| CN105598777A (en) * | 2016-03-08 | 2016-05-25 | 济南大学 | Workpiece clamping structure for grinding tool, and tracking type casting edging machine and method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109500823A (en) * | 2018-10-24 | 2019-03-22 | 武汉理工大学 | A kind of bowl-type titanium alloy casting oxide layer technique based on robot |
| CN111136477A (en) * | 2018-11-05 | 2020-05-12 | 宫晓东 | Pneumatic control floating head |
| CN109623608A (en) * | 2018-12-06 | 2019-04-16 | 陕西迈拓克能源科技有限公司 | A kind of lorry water tank detecting instrument that can remove scale automatically |
| US20220126319A1 (en) * | 2019-02-05 | 2022-04-28 | 3M Innovative Properties Company | Paint repair process by scenario |
| CN113211231A (en) * | 2021-05-13 | 2021-08-06 | 苏州迪宏人工智能科技有限公司 | Grinding production method and system capable of automatically identifying cast iron blank and control system thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108608296B (en) | 2024-04-26 |
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