CN109623587B - Robot polishing workstation - Google Patents
Robot polishing workstation Download PDFInfo
- Publication number
- CN109623587B CN109623587B CN201910055476.8A CN201910055476A CN109623587B CN 109623587 B CN109623587 B CN 109623587B CN 201910055476 A CN201910055476 A CN 201910055476A CN 109623587 B CN109623587 B CN 109623587B
- Authority
- CN
- China
- Prior art keywords
- polishing
- robot
- main shaft
- force control
- wheel
- 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.)
- Active
Links
- 238000005498 polishing Methods 0.000 title claims abstract description 120
- 230000007246 mechanism Effects 0.000 claims abstract description 50
- 239000000463 material Substances 0.000 claims abstract description 35
- 239000000428 dust Substances 0.000 claims abstract description 31
- 238000007599 discharging Methods 0.000 claims abstract description 18
- 230000009467 reduction Effects 0.000 claims abstract description 10
- 230000001360 synchronised effect Effects 0.000 claims description 38
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 24
- 239000003638 chemical reducing agent Substances 0.000 claims description 21
- 239000003292 glue Substances 0.000 claims description 6
- 239000000758 substrate Substances 0.000 claims description 6
- 230000035939 shock Effects 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 3
- 238000005299 abrasion Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 13
- 238000013016 damping Methods 0.000 description 5
- 210000000078 claw Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001256 stainless steel alloy Inorganic materials 0.000 description 1
- 230000003313 weakening effect Effects 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/008—Machines comprising two or more tools or having several working posts
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
- B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
-
- 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
- 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
- B24B41/06—Work supports, e.g. adjustable steadies
-
- 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
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
-
- 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
- B24B49/16—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 taking regard of the load
-
- 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
- B24B55/08—Dust extraction equipment on grinding or polishing machines specially designed for belt grinding machines
-
- 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
- B25J11/0065—Polishing or grinding
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a robot polishing workstation, comprising: the automatic polishing machine comprises a base, an upper material discharging table, a lower material discharging table, a robot body, a polishing machine and a control cabinet, wherein the upper material discharging table, the robot body and the polishing machine are arranged on the base, the upper material discharging table comprises an upper material discharging table and a lower material discharging table, the robot body comprises a robot big arm and a robot small arm, the polishing machine comprises a mounting plate and a vertical cabinet, at least one polishing machine module is arranged on the vertical cabinet, each polishing machine module corresponds to one dust collection device, and the control cabinet is connected with the upper material discharging table, the robot body and the polishing machine respectively. The invention has high degree of automation and multiple adjustable parameters, and has a main shaft driving mechanism, a grinding force control mechanism, a wheel feed control feeding mechanism, an abrasive belt tension adjustment, a deviation adjusting device and a dust collection device, thereby completely meeting the requirements of golf club head grinding and other workpiece grinding, and obviously improving the grinding yield reduction and grinding efficiency reduction caused by workpiece deformation, abrasive belt and polishing wheel abrasion.
Description
Technical Field
The invention relates to the technical field of robot polishing, in particular to a robot polishing workstation.
Background
Along with the development of science and technology, the policy direction of robot replacement is along with the progress of automation technology, and many traditional industries all face industry upgrades, especially operation intensity is big, have professional disease harm, polishing professional's shortage's polishing field of polishing, and the application of robot replacement manual polishing is imperative.
The polishing and grinding of stainless steel and titanium alloy by using the abrasive belt by using the robot is extremely important in the control and treatment of the problems of abrasion force weakening of the abrasive belt, spark and dust protection, recovery removal and the like, and when the traditional polishing equipment is used for polishing, the workpiece is easy to deform, the abrasive belt is worn, the grinding yield is reduced after the polishing wheel is worn, the grinding efficiency is low, so that the polishing requirement of the robot cannot be met.
Disclosure of Invention
The invention aims to provide a robot polishing workstation which has the advantages of high automation degree, more adjustable parameters, main shaft driving mechanism, grinding force control mechanism, wheel drive control feeding mechanism, abrasive belt tension control, deviation adjusting device and dust collection device, completely meets the requirements of golf club head polishing and other workpiece polishing, remarkably improves the reduction of grinding yield and grinding efficiency caused by workpiece deformation, abrasive belt abrasion and polishing wheel abrasion, and solves the problems raised by the technical background.
In order to achieve the above purpose, the present invention provides the following technical solutions: a robotic polishing workstation comprising: a base;
the feeding and discharging table comprises two first guide shaft guide rails which are arranged in parallel, the first guide shaft guide rails are fixedly connected with the feeding table at the upper layer through an upper layer connecting plate, the two first guide shaft guide rails are arranged in first linear bearings in a sliding mode, the first linear bearings are fixedly connected with a table module bottom plate through fasteners, an upper table driving cylinder is arranged at one side of the bottom of the feeding table, the upper table moves back and forth along the length direction of the first guide shaft guide rails under the driving of the upper table driving cylinder, a second linear bearing is arranged at one side of the table module bottom plate, which is positioned at the first linear bearings, the second guide shaft guide rails are fixedly connected with the feeding table at the lower layer, and a lower table driving cylinder which drives the feeding table to move back and forth along the length direction of the second guide shaft guide rails is arranged on the feeding table;
the robot comprises a robot body, wherein the robot body is arranged on a base, the robot body comprises a robot heightening connection base, a robot waist base fixedly connected with the robot heightening connection base and a waist arranged on the robot waist base, a robot big arm is arranged on the waist, a robot small arm is arranged on the robot big arm, the robot big arm is movably connected with the robot small arm, a hand claw is arranged on the robot small arm, and the hand claw is used for grabbing a workpiece on a loading and unloading table;
the polishing machine comprises a mounting plate and a vertical cabinet vertically mounted on the mounting plate, at least one polishing machine module is arranged on the vertical cabinet, a dust suction device is correspondingly arranged on each polishing machine module, the dust suction device comprises a dust suction hood, a dust suction hood door plate is arranged on one side of the dust suction hood, a water tank is arranged in the dust suction hood, the water tank is communicated with a drain pipe, the polishing machine module comprises a first tensioning wheel, a main shaft sliding plate, a polishing wheel and a main shaft driving mechanism, the first tensioning wheel and the polishing wheel are arranged at two ends of the main shaft sliding plate, the first tensioning wheel and the polishing wheel are connected through abrasive belts, four third linear bearings are arranged on the main shaft sliding plate, a guide shaft is arranged in each third linear bearing, the guide shaft is arranged on two sides of a module substrate and is close to the edge position, the module substrate is fixedly connected with a polishing force control die core through a connecting piece, the polishing force control die core is detachably connected with the vertical cabinet, a wheel feeding control mechanism and a groove hole driving mechanism are arranged on the polishing force control die core, the polishing force control die core is rotatably connected with the vertical cabinet, the main shaft sliding plate is rotatably provided with a main shaft driving mechanism, and a groove hole driving mechanism is arranged on one side of the main shaft sliding plate, and the main shaft sliding plate is rotatably connected with the main shaft driving mechanism through a groove hole driving mechanism, and the main shaft driving mechanism passes through the polishing wheel driving mechanism;
the control cabinet is arranged on one side of the base and is connected with the feeding and discharging table, the robot body and the polishing machine respectively, the control cabinet comprises a polishing machine electric control cabinet, a man-machine interface and a robot body electric control cabinet which are arranged on the polishing machine electric control cabinet, and a PLC programmable controller which is arranged in the polishing machine electric control cabinet, and the polishing machine electric control cabinet, the man-machine interface and the robot body electric control cabinet are all connected with the PLC programmable controller.
Preferably, the feeding and discharging table further comprises a frame, and the top of the frame is fixedly connected with the bottom plate of the material table module.
Preferably, the wheel advances control feed mechanism and includes main shaft feed connecting piece, speed reducer seat and wheel and advance control servo motor, install the speed reducer on the speed reducer seat, and speed reducer seat one side and polishing power control mold core fixed connection, the speed reducer is connected with wheel and advance control servo motor, and is provided with feed screw in the speed reducer, be provided with the external screw thread on the feed screw, and feed screw passes through external screw thread and nut swing joint, nut one side is provided with the shock attenuation and glues, the shock attenuation is glued with main shaft feed connecting piece and is connected, main shaft feed connecting piece is the U-shaped shape, and main shaft feed connecting piece deviates from U-shaped opening one end and main shaft slide fixed connection.
Preferably, the grinding force control mechanism comprises a grinding force control servo motor, a force control connecting piece and a force control synchronous belt tensioning piece, an output shaft of the grinding force control servo motor is rotationally connected with a second tensioning wheel through a first synchronous belt, the second tensioning wheel is arranged on the force control synchronous belt tensioning piece, the force control synchronous belt tensioning piece is connected with a polishing force control mold core through the connecting piece, a force control synchronous belt connecting plate is arranged on the first synchronous belt, the force control synchronous belt connecting plate is vertically arranged with the force control connecting piece, and the force control connecting piece is fixedly connected with a spindle slide plate.
Preferably, the main shaft driving mechanism comprises a main shaft driving servo motor and a main shaft body, an output shaft of the main shaft driving servo motor is connected with the synchronous belt pulley through a second synchronous belt, the synchronous belt pulley is arranged on the main shaft body, one end of the main shaft body, which is away from the synchronous belt pulley, is designed into a cone part, and the cone part is detachably connected with the polishing wheel.
Preferably, the speed reducer is a turbine worm speed reducer.
Preferably, the clothes closet is further provided with a water tank water supply pipe and an exhaust pipe, the water tank water supply pipe is connected with the water tank, and two ends of the exhaust pipe penetrate through the clothes closet and extend to the outer side of the clothes closet to be connected with exhaust equipment.
Preferably, the deflection adjusting device comprises a three-rod air cylinder connecting plate and a main shaft sliding plate connecting plate, wherein the three-rod air cylinder connecting plate is connected with the main shaft sliding plate connecting plate through a hinge shaft, one end of the hinge shaft is deviated from the three-rod air cylinder connecting plate and the main shaft sliding plate connecting plate through a spring, the main shaft sliding plate connecting plate is connected with the main shaft sliding plate, an extension rod is arranged on the main shaft sliding plate connecting plate, the extension rod is connected with a deflection adjusting screw through a deflection adjusting screw connecting seat, and the deflection adjusting screw connecting seat is fixedly connected with the three-rod air cylinder.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the control cabinet is provided, the PLC programmable controller is arranged in the control cabinet and is respectively connected with the feeding and discharging table, the robot body and the polishing machine, and the PLC programmable controller is used for controlling the driving of the PLC programmable controller, so that the effects of high automation degree and multiple adjustable parameters are achieved.
2. According to the invention, the main shaft driving mechanism, the grinding force control mechanism, the wheel feeding control feeding mechanism, the abrasive belt tension control, the deviation adjusting device and the dust collection device are arranged on the polishing machine, and the mechanisms are mutually matched to work so as to completely meet the requirements of golf club head polishing and other workpiece polishing, thereby remarkably improving the reduction of grinding yield and grinding efficiency caused by workpiece deformation and abrasive belt abrasion.
3. According to the invention, the polishing machine modules are arranged on the clothes closet, and a plurality of polishing machine modules can be arranged, so that different workpieces can be processed conveniently and simultaneously, and the practicability is high.
4. According to the invention, the cone part is arranged on the main shaft body and is detachably connected with the polishing wheel, so that the polishing wheel is convenient to assemble and replace, and the effect of strong practicability is achieved.
5. According to the invention, the spindle drive servo motor, the wheel drive control servo motor and the grinding force control servo motor are arranged, and the spindle drive servo motor, the wheel drive control servo motor and the grinding force control servo motor are controlled by the PLC, so that the revolution of the polishing wheel, the feeding amount of the spindle slide plate and the grinding force can be accurately controlled, the accuracy of a processed product is further improved, and the error of the polished product is reduced.
Drawings
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a block diagram of the loading and unloading station of the present invention;
FIG. 3 is a block diagram of a robot body according to the present invention;
FIG. 4 is a view of one embodiment of the polisher of the present invention;
figure 5 is a block diagram of the dust extraction device of the invention;
FIG. 6 is a block diagram of a polisher set according to the present invention;
FIG. 7 is a second block diagram of the polishing machine module of the present invention;
FIG. 8 is a block diagram of the wheel feed control feed mechanism of the present invention;
FIG. 9 is a block diagram of a spindle feed connection of the present invention;
FIG. 10 is a block diagram of the grinding force control mechanism of the present invention;
FIG. 11 is a block diagram of a spindle drive mechanism of the present invention;
FIG. 12 is a block diagram of a spindle body according to the present invention;
FIG. 13 is a block diagram of a bias arrangement of the present invention;
fig. 14 is a schematic block diagram of a control system of the present invention.
Reference numerals and names in the drawings are as follows:
1. a base; 2. feeding and discharging tables; 201. a first guide shaft rail; 202. an upper layer connecting plate; 203. an upper material stage; 204. a first linear bearing; 205. a material platform module bottom plate; 206. the upper material platform drives a cylinder; 207. a second linear bearing; 208. a second guide shaft guide rail; 209. a lower material stage; 210. the lower layer material table drives an air cylinder; 211. a frame; 3. a robot body; 301. the robot is heightened and connected with the base; 302. a robot boom; 303. a robot forearm; 304. a paw; 305. robot waist frame; 306. a waist portion; 4. polishing machine; 41. a mounting plate; 42. a clothes closet; 421. an exhaust tube; 422. a water tank water supply pipe; 43. a dust collection device; 431. a dust hood; 432. a dust hood door panel; 433. a water tank; 434. a drain pipe; 44. a polishing machine module; 441. a first tensioning wheel; 442. a spindle slide plate; 443. a polishing wheel; 444. a wheel feeding control feeding mechanism; 4441. a feed screw; 4442. an external thread; 4443. a nut; 4444. a spindle feed connection; 4445. damping glue; 4446. a speed reducer base; 4447. a wheel-in control servo motor; 4448. a speed reducer; 445. a grinding force control mechanism; 4451. a grinding force control servo motor; 4452. a first timing belt; 4453. a force control synchronous belt connecting plate; 4454. a force control connection; 4455. a second tensioning wheel; 4456. a force-controlled synchronous belt tensioning member; 446. a spindle drive mechanism; 4461. the main shaft drives a servo motor; 4462. a second timing belt; 4463. a synchronous pulley; 4464. a cone portion; 4465. a main shaft body; 447. a deviation adjusting device; 4471. a spring; 4472. a three-rod cylinder connecting plate; 4473. a spindle slide plate connecting plate; 4474. an extension bar; 4475. an offset adjusting screw; 4476. a deflection adjusting screw connecting seat; 4477. a hinge shaft; 448. a three-rod cylinder; 449. abrasive belt; 4410. a grinding force control mold core; 4411. a third linear bearing; 4412. a guide shaft; 4413. a module substrate; 5. a control cabinet; 51. an electric control cabinet of the polishing machine; 52. a human-machine interface; 53. robot body electric control cabinet.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 14, an embodiment of the present invention provides: a robot polishing workstation comprises a base 1, an upper and lower material table 2, a robot body 3, a polishing machine 4 and a control cabinet 5; the feeding and discharging table 2 is arranged on the base 1, the feeding and discharging table 2 comprises two first guide shaft guide rails 201 which are arranged in parallel, the first guide shaft guide rails 201 are fixedly connected with the feeding table 203 at the upper layer through an upper layer connecting plate 202, the two first guide shaft guide rails 201 are arranged in a first linear bearing 204 in a sliding manner, the first linear bearing 204 is fixedly connected with a table module base plate 205 through a fastening piece, an upper layer table driving cylinder 206 is arranged at one side of the bottom of the feeding table 203, the feeding table 203 moves back and forth along the length direction of the first guide shaft guide rails 201 under the driving of the upper layer table driving cylinder 206, a second linear bearing 207 is arranged at one side of the table module base plate 205, a second guide shaft guide rail 208 is arranged on the second linear bearing 207, the second guide shaft guide rail 208 is fixedly connected with the feeding table 209, a feeding table 210 which drives the feeding table to move back and forth along the length direction of the second guide shaft guide rail 208 is arranged on the feeding table 209, the feeding table module base plate 205 further comprises a frame 211 and a frame 211 which is fixedly connected with the frame 2; the robot comprises a robot body 3, wherein the robot body 3 is arranged on a base 1, the robot body 3 comprises a robot heightening connection base 301, a robot waist base 305 fixedly connected with the robot heightening connection base 301, and a waist 306 arranged on the robot waist base 305, a robot big arm 302 is arranged on the waist 306, a robot small arm 303 is arranged on the robot big arm 302, the robot big arm 302 is movably connected with the robot small arm 303, a paw 304 is arranged on the robot small arm 303, and the paw 304 is used for grabbing a workpiece on a loading and unloading table 2; the polishing machine 4 is arranged on the base 1, the polishing machine 4 comprises a mounting plate 41 and a clothes closet 42 vertically arranged on the mounting plate 41, at least one polishing machine module 44 is arranged on the clothes closet 42, a dust suction device 43 is correspondingly arranged on each polishing machine module 44, in the embodiment, two polishing machine modules 44 are arranged on the clothes closet 42 in parallel, the dust suction device 43 comprises a dust suction cover 431, one side of the dust suction cover 431 is provided with a dust suction cover door plate 432, a water tank 433 is arranged inside the dust suction cover 431, the water tank 433 is communicated with a drain pipe 434, the polishing machine modules 44 comprise a first tensioning wheel 441, a main shaft sliding plate 442, a polishing wheel 443 and a main shaft driving mechanism 446, the first tensioning wheel 441 and the polishing wheel 443 are arranged at two ends of the main shaft sliding plate 442, the first tensioning wheel 441 and the polishing wheel 443 are connected through an abrasive belt 449, four third linear bearings 4411 are arranged on the main shaft sliding plate 442, one guide shaft 4412 is arranged in each two third linear bearings 4411, the guide shafts 4412 are arranged at two sides of the module base plate 4413 and are close to the edge positions, the module base plate 4413 is fixedly connected with a polishing force control mold core 4410 through a connecting piece, a slotted hole is formed in the module base plate 4413, the polishing force control mold core 4410 is detachably connected with the clothes closet 42, a wheel feeding control feeding mechanism 444 and a grinding force control mechanism 445 are arranged on the polishing force control mold core 4410, the wheel feeding control feeding mechanism 444 and the grinding force control mechanism 445 are connected with the main shaft sliding plate 442 through the slotted hole, a three-bar cylinder 448 is arranged on one side of the first tensioning wheel 441, a deviation adjusting device 447 is arranged on the three-bar cylinder 448, the main shaft driving mechanism 446 is arranged on the main shaft sliding plate 442 and drives a polishing wheel 443 to rotate, the clothes closet 42 is also provided with a water tank water supply pipe 422 and an exhaust pipe 421, the water tank water supply pipe 422 is connected with a water tank 433, and two ends of the exhaust pipe 421 penetrate through the clothes closet 42 and extend to the outer side of the clothes closet 42 to be connected with exhaust equipment; the control cabinet 5 is arranged on one side of the base 1, the control cabinet 5 is respectively connected with the feeding and discharging table 2, the robot body 3 and the polishing machine 4, the control cabinet 5 comprises a polishing machine electric control cabinet 51, a man-machine interface 52 and a robot body electric control cabinet 53 which are arranged on the polishing machine electric control cabinet 51, and a PLC programmable controller which is arranged in the polishing machine electric control cabinet 51, the man-machine interface 52 and the robot body electric control cabinet 53 are all connected with the PLC programmable controller, the PLC programmable controller is a KV-N series controller, in the embodiment, the PLC programmable controller is a PLC programmable controller with a model KV-N60AT, the PLC programmable controller is convenient to program, a program can be edited on site, and the man-machine interface 52 is TK6071iP.
Specifically, the wheel feeding control feeding mechanism 444 includes a spindle feeding connector 4444, a speed reducer base 4446 and a wheel feeding control servo motor 4447, the speed reducer base 4446 is provided with a speed reducer 4448, one side of the speed reducer base 4446 is fixedly connected with a polishing force control mold core 4410, the speed reducer 4448 is connected with the wheel feeding control servo motor 4447, a feeding screw 4441 is arranged in the speed reducer 4448, an external thread 4442 is arranged on the feeding screw 4441, the feeding screw 4441 is movably connected with a nut 4443 through the external thread 4442, one side of the nut 4443 is provided with a damping rubber 4445, the damping rubber 4445 is connected with the spindle feeding connector 4444, the spindle feeding connector 4444 is in a U-shaped shape, and one end of the spindle feeding connector 4444, which is away from the U-shaped opening, is fixedly connected with the spindle sliding plate 442.
Specifically, the grinding force control mechanism 445 includes a grinding force control servo motor 4451, a force control connecting piece 4454 and a force control synchronous belt tensioning piece 4456, an output shaft of the grinding force control servo motor 4451 is rotationally connected with a second tensioning wheel 4455 through a first synchronous belt 4452, the second tensioning wheel 4455 is arranged on the force control synchronous belt tensioning piece 4456, the force control synchronous belt tensioning piece 4456 is connected with the grinding force control mold core 4410 through the connecting piece, a force control synchronous belt connecting plate 4453 is arranged on the first synchronous belt 4452, the force control synchronous belt connecting plate 4453 is perpendicular to the force control connecting piece 4454, and the force control connecting piece 4454 is fixedly connected with the spindle slide plate 442.
Specifically, the spindle driving mechanism 446 includes a spindle driving servo motor 4461 and a spindle body 4465, an output shaft of the spindle driving servo motor 4461 is connected with a synchronous pulley 4463 through a second synchronous belt 4462, the synchronous pulley 4463 is disposed on the spindle body 4465, one end of the spindle body 4465, which is away from the synchronous pulley 4463, is designed into a cone 4464, the cone 4464 is detachably connected with the polishing wheel 443, and the cone 4464 is designed to facilitate the disassembly and replacement of the polishing wheel 443, which is convenient and practical.
Specifically, the offset adjusting device 447 includes a three-bar cylinder connecting plate 4472 and a main shaft sliding plate 4473, the three-bar cylinder connecting plate 4472 is connected with the main shaft sliding plate 4473 through a hinge shaft 4477, one ends of the three-bar cylinder connecting plate 4472 and the main shaft sliding plate 4473, which deviate from the hinge shaft 4477, are connected with the main shaft sliding plate 442 through springs 4471, extension bars 4474 are arranged on the main shaft sliding plate 4473, the extension bars 4474 are connected with offset adjusting screws 4475 through offset adjusting screw connecting seats 4476, and the offset adjusting screw connecting seats 4476 are fixedly connected with the three-bar cylinder 448.
In this embodiment, the speed reducer 4448 is preferably a worm gear speed reducer.
In practical implementation, programming is written into a PLC (programmable logic controller) to enable a workstation to enter a preset program, a processed product is manually placed on an upper layer material table 203 or a lower layer material table 209 of an upper material table 2 and a lower layer material table 2, the PLC controls and drives a lower layer material table driving cylinder 210 and the upper layer material table driving cylinder 206, when the upper layer material table driving cylinder 206 is driven, the output end of the upper layer material table driving cylinder 206 pushes the upper layer material table 203 to move back and forth in a first linear bearing 204 along the length direction of a first guide shaft guide rail 201, when the lower layer material table driving cylinder 210 is driven, the lower layer material table driving cylinder 210 pushes the lower layer material table 209 to move back and forth in a second linear bearing 207 along the length direction of a second guide shaft guide rail 208, and the PLC controls the interval time between the upper layer material table driving cylinder 206 and the lower layer material table driving cylinder 210 to move back and forth so that the upper layer material table 203 and the lower layer material table 209 are in a back and forth staggered mode; when the upper material table 203 or the lower material table 209 runs to the working area of the robot body 3, the robot body 3 clamps and moves the processed products on the upper material table 203 or the lower material table 209 to the polishing machine 4 for grinding and polishing under the control of the PLC; during grinding, the PLC controls the polishing machine 4 to operate, when the polishing machine 4 works, the spindle drive servo motor 4461 drives the polishing wheel 443 to rotate, the abrasive belt 449 on the polishing wheel 443 carries out grinding on a processed product, meanwhile, the grinding force control servo motor 4451 rotates to drive the force control synchronous belt connecting plate 4453 on the first synchronous belt 4452 to move, and further, the spindle slide plate 442 connected with the force control connecting piece 4454 is driven to move towards one end of the polishing wheel 443 until the damping glue 4445 is in contact with the nut 4443, the spindle slide plate 442 stops moving, at the moment, the force of the grinding force control servo motor 4451 keeps consistent with a set value and is in a floating state, thereby achieving the purpose of constant force grinding, sparks and small chips in the grinding process firstly strike into the water tank 443 in the dust collection device 43, dust is concentrated to be processed through the flowing water flow, dust and smoke in the grinding are sucked out by the exhaust pipe 421 on the clothes closet 42, when the grinding wheel 443 or the abrasive belt 449 on the polishing wheel 443 appears, the feeding screw 4441 on the feeding control feeding mechanism 444 moves in a matched mode with the speed reducer 4448 until the damping glue 4445 is in contact with the nut 4443, the force of the spindle connecting piece 4445 and the spindle connecting piece 4474 moves towards the cylinder 4473, and the grinding screw is in a state of being in contact with the grinding wheel 4473, and the purpose of the grinding screw is changed, and the grinding screw is in a practical mode, and the grinding screw is in contact with the grinding screw, and the purpose is achieved, and the grinding screw is in a special mode.
By adopting the technical scheme, the PLC is adopted to control the automation degree to be high, the adjustable parameters are more, and the device has the functions of a main shaft driving mechanism, a grinding force control mechanism, a wheel feeding control feeding mechanism, an abrasive belt tensioning force control, a deviation adjusting device and a dust collection device, so that the requirements of golf ball head grinding and other workpiece grinding are completely met, and the problems of workpiece deformation, abrasive belt abrasion and polishing wheel abrasion are remarkably improved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. A robot polishing workstation, characterized in that: comprising the following steps:
a base (1);
the feeding and discharging device comprises a feeding table (2), wherein the feeding table (2) is arranged on a base (1), the feeding table (2) comprises two first guide shaft guide rails (201) which are arranged in parallel, the first guide shaft guide rails (201) are fixedly connected with a feeding table (203) through an upper connecting plate (202), the two first guide shaft guide rails (201) are slidably arranged in a first linear bearing (204), the first linear bearing (204) is fixedly connected with a table module base plate (205) through a fastener, an upper table driving cylinder (206) is arranged on one side of the bottom of the upper table (203), the upper table (203) moves back and forth along the length direction of the first guide shaft guide rails (201) under the driving of the upper table driving cylinder (206), a second linear bearing (207) is arranged on one side of the first linear bearing (204) on the table module base plate (205), a second guide shaft guide rail (208) is arranged on the second linear bearing (207), and the second guide shaft guide rail (208) is connected with a lower table driving cylinder (209) in a back and forth mode along the length direction of the first guide shaft guide rail (209);
the robot comprises a robot body (3), wherein the robot body (3) is arranged on a base (1), the robot body (3) comprises a robot heightening connection base (301), a robot waist base (305) fixedly connected with the robot heightening connection base (301) and a waist (306) arranged on the robot waist base (305), a robot big arm (302) is arranged on the waist (306), a robot small arm (303) is arranged on the robot big arm (302), the robot big arm (302) is movably connected with the robot small arm (303), a gripper (304) is arranged on the robot small arm (303), and the gripper (304) is used for grabbing a machined piece on a feeding and discharging table (2);
the polishing machine (4), polishing machine (4) is established on base (1), polishing machine (4) include mounting panel (41) and install clothes closet (42) on mounting panel (41) perpendicularly, be provided with at least one polishing machine module (44) on clothes closet (42), every polishing machine module (44) is last to be provided with a dust extraction (43) corresponding, dust extraction (43) include dust hood (431), dust hood (431) one side is provided with dust hood door plant (432), and dust hood (431) inside is provided with basin (433), basin (433) are linked together with drain pipe (434), polishing machine module (44) include first take-up pulley (441), main shaft slide (442), polishing wheel (443) and main shaft actuating mechanism (446), first take-up pulley (441) and polishing wheel (443) set up in main shaft slide (442) both ends, and first take-up pulley (441) and polishing wheel (443) are connected through abrasive band (449), be provided with four third linear bearings (4411) on main shaft (442) are provided with each linear bearing (4412) and are equipped with one and are led in the position of the both sides of the linear bearings (4412) in 4412, the polishing machine comprises a module substrate (4413), a polishing force control mold core (4410) and a polishing force control mold core (4413), wherein the module substrate (4413) is fixedly connected with the polishing force control mold core (4410) through a connecting piece, a slotted hole is formed in the module substrate (4410), the polishing force control mold core (4410) is detachably connected with a clothes closet (42), a wheel feeding control feeding mechanism (444) and a polishing force control mechanism (445) are arranged on the polishing force control mold core (4410), the wheel feeding control feeding mechanism (444) and the polishing force control mechanism (445) penetrate through the slotted hole to be connected with a main shaft sliding plate (442), a three-rod cylinder (448) is arranged on one side of a first tensioning wheel (441), an offset adjusting device (447) is arranged on the three-rod cylinder (448), and the main shaft driving mechanism (446) is arranged on the main shaft sliding plate (442) and drives the polishing wheel (443) to rotate;
the control cabinet (5), switch board (5) sets up in one side of base (1), and switch board (5) are connected with last unloading platform (2), robot body (3) and burnishing machine (4) respectively, and switch board (5) are including burnishing machine automatically controlled cabinet (51), man-machine interface (52) and robot body automatically controlled cabinet (53) that set up on burnishing machine automatically controlled cabinet (51), and set up the PLC programmable controller in burnishing machine automatically controlled cabinet (51), man-machine interface (52) and robot body automatically controlled cabinet (53) all are connected with the PLC programmable controller.
2. A robotic polishing workstation as claimed in claim 1, wherein: the feeding and discharging table (2) further comprises a frame (211), and the top of the frame (211) is fixedly connected with the material table module base plate (205).
3. A robotic polishing workstation as claimed in claim 1, wherein: the wheel advances control feed mechanism (444) including main shaft feed connecting piece (4444), speed reduction frame (4446) and wheel advance control servo motor (4447), install speed reduction machine (4448) on speed reduction frame (4446), and speed reduction frame (4446) one side and polishing power control mold core (4410) fixed connection, speed reduction machine (4448) are connected with wheel advance control servo motor (4447), and are provided with feed screw (4441) in speed reduction machine (4448), be provided with external screw thread (4442) on feed screw (4441), and feed screw (4441) pass through external screw thread (4442) and nut (4443) swing joint, nut (4443) one side is provided with shock attenuation glue (4445), shock attenuation glue (4445) are connected with main shaft feed connecting piece (4444), main shaft feed connecting piece (4444) are U-shaped shape, and main shaft feed connecting piece (4444) deviate from U-shaped opening one end and main shaft slide (442) fixed connection.
4. A robotic polishing workstation as claimed in claim 1, wherein: the grinding force control mechanism (445) comprises a grinding force control servo motor (4451), a force control connecting piece (4454) and a force control synchronous belt tensioning piece (4456), an output shaft of the grinding force control servo motor (4451) is rotationally connected with a second tensioning wheel (4455) through a first synchronous belt (4452), the second tensioning wheel (4455) is arranged on the force control synchronous belt tensioning piece (4456), the force control synchronous belt tensioning piece (4456) is connected with a grinding force control mold core (4410) through the connecting piece, a force control synchronous belt connecting plate (4453) is arranged on the first synchronous belt (4452), and the force control synchronous belt connecting plate (4453) is perpendicularly arranged with the force control connecting piece (4454) and fixedly connected with a main shaft sliding plate (442).
5. A robotic polishing workstation as claimed in claim 1, wherein: the spindle driving mechanism (446) comprises a spindle driving servo motor (4461) and a spindle body (4465), an output shaft of the spindle driving servo motor (4461) is connected with a synchronous belt pulley (4463) through a second synchronous belt (4462), the synchronous belt pulley (4463) is arranged on the spindle body (4465), one end, deviating from the synchronous belt pulley (4463), of the spindle body (4465) is designed into a cone portion (4464), and the cone portion (4464) is detachably connected with the polishing wheel (443).
6. A robotic polishing workstation as claimed in claim 3, wherein: the speed reducer (4448) is a turbine worm speed reducer.
7. A robotic polishing workstation as claimed in claim 1, wherein: the clothes closet is characterized in that a water tank water supply pipe (422) and an exhaust pipe (421) are further arranged on the clothes closet (42), the water tank water supply pipe (422) is connected with the water tank (433), and two ends of the exhaust pipe (421) penetrate through the clothes closet (42) and extend to the outer side of the clothes closet (42) to be connected with exhaust equipment.
8. A robotic polishing workstation as claimed in claim 1, wherein: the deviation adjusting device (447) comprises a three-rod air cylinder connecting plate (4472) and a main shaft sliding plate connecting plate (4473), the three-rod air cylinder connecting plate (4472) is connected with the main shaft sliding plate connecting plate (4473) through a hinge shaft (4477), the three-rod air cylinder connecting plate (4472) and the main shaft sliding plate connecting plate (4473) are separated from each other, one end of the hinge shaft (4477) is connected through a spring (4471), the main shaft sliding plate connecting plate (4473) is connected with a main shaft sliding plate (442), an extension rod (4474) is arranged on the main shaft sliding plate connecting plate (4473), the extension rod (4474) is connected with a deviation adjusting screw (4475) through a deviation adjusting screw connecting seat (4476), and the deviation adjusting screw connecting seat (4476) is fixedly connected with the three-rod air cylinder (448).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910055476.8A CN109623587B (en) | 2019-01-21 | 2019-01-21 | Robot polishing workstation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910055476.8A CN109623587B (en) | 2019-01-21 | 2019-01-21 | Robot polishing workstation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109623587A CN109623587A (en) | 2019-04-16 |
| CN109623587B true CN109623587B (en) | 2023-12-15 |
Family
ID=66062390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910055476.8A Active CN109623587B (en) | 2019-01-21 | 2019-01-21 | Robot polishing workstation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109623587B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110355651B (en) * | 2019-06-19 | 2024-02-06 | 禹奕智能科技(杭州)有限公司 | Stamping die robot intelligent grinding and polishing system |
| CN110948345A (en) * | 2019-11-26 | 2020-04-03 | 福尼斯智能装备(珠海)有限公司 | Force-control abrasive belt grinding machine |
| CN111015696B (en) * | 2019-12-25 | 2021-05-18 | 中南大学 | A force-controlled connecting device for flexible operation of industrial robots |
| CN111438680A (en) * | 2020-05-26 | 2020-07-24 | 华中科技大学无锡研究院 | Lifting type robot guide rail |
| CN112428114A (en) * | 2020-12-03 | 2021-03-02 | 广东博科数控机械有限公司 | Stainless steel pot courage grinds throws production line |
| CN112605808A (en) * | 2020-12-11 | 2021-04-06 | 上海爱仕达机器人有限公司 | Double-station abrasive belt machine |
| CN112847056A (en) * | 2021-01-13 | 2021-05-28 | 东莞市照亮智能装备科技有限公司 | Automatic polishing equipment |
| CN112847057A (en) * | 2021-04-20 | 2021-05-28 | 浙江宇邦机械科技有限公司 | Robot polishing workstation |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101462250A (en) * | 2009-01-07 | 2009-06-24 | 上海劳达斯洁具有限公司 | Series parallel movement polisher with six freedom degrees |
| JP2013027955A (en) * | 2011-07-28 | 2013-02-07 | Dai Ichi High Frequency Co Ltd | Polishing apparatus |
| CN202804873U (en) * | 2012-09-27 | 2013-03-20 | 天津石泰集团有限公司 | Facade grinding system used for tableware processing |
| CN106078427A (en) * | 2016-08-15 | 2016-11-09 | 重庆三磨海达磨床有限公司 | A kind of for seamless tubular goods wall thickness external cylindrical abrasive belt Regrinding System |
| CN106863082A (en) * | 2017-03-23 | 2017-06-20 | 福建工程学院 | A kind of ratary mixer of high intensity hank knotting pipe |
| CN207915182U (en) * | 2018-02-01 | 2018-09-28 | 北京华航唯实机器人科技股份有限公司 | A kind of double industrial robot sanding and polishing work stations |
| CN209551398U (en) * | 2019-01-21 | 2019-10-29 | 东莞市照亮智能装备科技有限公司 | A kind of robot polishing station |
-
2019
- 2019-01-21 CN CN201910055476.8A patent/CN109623587B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101462250A (en) * | 2009-01-07 | 2009-06-24 | 上海劳达斯洁具有限公司 | Series parallel movement polisher with six freedom degrees |
| JP2013027955A (en) * | 2011-07-28 | 2013-02-07 | Dai Ichi High Frequency Co Ltd | Polishing apparatus |
| CN202804873U (en) * | 2012-09-27 | 2013-03-20 | 天津石泰集团有限公司 | Facade grinding system used for tableware processing |
| CN106078427A (en) * | 2016-08-15 | 2016-11-09 | 重庆三磨海达磨床有限公司 | A kind of for seamless tubular goods wall thickness external cylindrical abrasive belt Regrinding System |
| CN106863082A (en) * | 2017-03-23 | 2017-06-20 | 福建工程学院 | A kind of ratary mixer of high intensity hank knotting pipe |
| CN207915182U (en) * | 2018-02-01 | 2018-09-28 | 北京华航唯实机器人科技股份有限公司 | A kind of double industrial robot sanding and polishing work stations |
| CN209551398U (en) * | 2019-01-21 | 2019-10-29 | 东莞市照亮智能装备科技有限公司 | A kind of robot polishing station |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109623587A (en) | 2019-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109623587B (en) | Robot polishing workstation | |
| CN113001311B (en) | A robot polishing workstation for aluminum castings | |
| CN108994441B (en) | Automobile door plate machining assembly line | |
| CN103158051B (en) | A kind of full-automatic grinding machine | |
| CN205363519U (en) | Multistation orthoscopic burnishing machine system | |
| CN206286816U (en) | A kind of multi-shaft interlocked drilling and milling machine | |
| CN115464454B (en) | Electromagnetic adsorption type metal cutting machine tool capable of automatically feeding and discharging | |
| CN106475886A (en) | A kind of novel metal bool burnishing device | |
| CN104308699A (en) | Numerical control full-automatic double-side polishing machine | |
| US6722959B2 (en) | Combination 2-plane CNC positioning grinder with CNC positioning drill | |
| CN108340243B (en) | Full-automatic numerical control compound internal surface grinding machine | |
| CN110842714A (en) | Multifunctional grinding machine | |
| CN110948345A (en) | Force-control abrasive belt grinding machine | |
| CN206578661U (en) | Opposed type sbrasive belt grinding machine people | |
| CN217097806U (en) | Automatic feeding manipulator | |
| CN209551398U (en) | A kind of robot polishing station | |
| CN214080756U (en) | Full-automatic polishing system | |
| CN118832511B (en) | An automated production grinder for high-precision machining | |
| CN204604061U (en) | A multi-station curved surface polishing machine | |
| CN112847057A (en) | Robot polishing workstation | |
| CN204094600U (en) | The two-sided polishing and burnishing machine of numerical-control full-automatic | |
| CN206998546U (en) | A kind of infrared profiling arc stone machining equipment | |
| CN205630214U (en) | Full automatic machine tool of oilstone circular arc processing | |
| CN117182162A (en) | Automatic orthopedic chamfer burring equipment of work piece | |
| CN209793436U (en) | Automatic copying grinding equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240308 Address after: Building 17, Taishan Intelligent Equipment Industrial Park, No.1 Fu'an West Road, Dajiang Town, Taishan City, Jiangmen City, Guangdong Province, 529200 Patentee after: Illuminating intelligent equipment (Jiangmen) Co.,Ltd. Country or region after: China Address before: 523000 D2, No.142, Tangqing East Road, Hengtang, Tangxia Town, Dongguan City, Guangdong Province Patentee before: DONGGUAN ZHAOLIANG INTELLIGENT EQUIPMENT TECHNOLOGY CO.,LTD. Country or region before: China |
|
| TR01 | Transfer of patent right |