CN111267118A - Finishing platform of online composite finishing robot - Google Patents
Finishing platform of online composite finishing robot Download PDFInfo
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- CN111267118A CN111267118A CN202010136940.9A CN202010136940A CN111267118A CN 111267118 A CN111267118 A CN 111267118A CN 202010136940 A CN202010136940 A CN 202010136940A CN 111267118 A CN111267118 A CN 111267118A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K7/00—Cutting, scarfing, or desurfacing by applying flames
- B23K7/06—Machines, apparatus, or equipment specially designed for scarfing or desurfacing
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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
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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Abstract
The invention discloses a finishing platform of an online composite finishing robot. The platform applies the robot combination of different finishing methods to the rolled piece, the conveying line of the finished piece or the rolling line, can find the defects on the surface of the rolled piece and the finished piece in real time, and can quickly finish and remove the found surface defects on line without influencing the process. The device can be quickly finished on a finishing line; the new surface defects can be removed while rolling on a rolling mill, and the quality of rolled materials is improved. The method is applied to the steel industry, and can improve the hot delivery efficiency of the casting blank and the qualified rate of rolled products. Especially, the qualification rate of the rolled material of continuous casting and rolling can be improved.
Description
Technical Field
The invention relates to the technical field of metallurgy finishing automation, in particular to an online robot finishing platform on a conveying line and a rolling line.
Background
The rolling process requires acceptable raw materials, i.e., no surface and internal defects, and requires surface finishing, otherwise, defective products and inferior products are generated. New defects can also appear in the rolling process of the rolling mill, and the quality of the final product can be influenced. The patent application numbers are as follows: 201910377287.2, a rolling mill and inline robotic finishing station, proposes a solution. However, the implementation of this patent embodiment has the following problems:
1. after finishing (including plasma finishing) by a single arc finishing robot, local high temperature is generated on the surface of a finished part, so that the material of a rolled material is influenced, the local high temperature of the rolled material on a rolling mill line also influences the service life of a roller, and the surface roughness of the rolled material after plasma cleaning cannot meet the requirement, so that the quality of a final product is influenced;
2. local high temperature can be generated by using a single scarfing robot finishing method to influence the material quality of the rolled stock and the service life of the roller, and the surface roughness of the scarfed rolled stock cannot meet the process requirements;
3. the single grinding wheel grinding robot finishing method has limited grinding depth capacity and great grinding wheel implementing difficulty. The reason is as follows: the grinding wheel can be pressed down by high pressure, the grinding depth can be improved, but the operation of a rolled piece on the track is influenced, and the danger of grinding wheel explosion exists and the grinding wheel is very unsafe; the grinding wheel with the large grinding wheel is used for grinding, because the radius of the grinding wheel is large and the axial center is far away from the grinding surface, the grinding wheel bearing can be prevented from being roasted by a high-temperature rolled piece, if the temperature of a hot-rolled steel plate is usually more than 1100 ℃, but the large grinding wheel is limited by the installation space and the number of the large grinding wheel which can be installed, cannot be simultaneously processed when the surface has parallel multi-point defects, and is difficult to meet the requirements of the process and the speed; when a small grinding wheel is used for grinding, the requirements of pressure, high rotating speed, high temperature and long-time working are required, and the bearing suitable for the working condition cannot be industrially realized at present.
The present invention addresses the above problems by providing an in-line composite finishing platform adapted to address the above problems.
The solution of the problems is the problem which is expected to be solved by the steel industry all the time, in terms of hot continuous rolling and hot charging and hot delivery of steel billets, and the defects are removed with the minimum clearing amount while the hot charging and hot delivery rhythm and the hot rolling rhythm are not influenced.
Disclosure of Invention
The technical scheme adopted by the invention for solving the technical problem is realized as follows:
a finishing platform of an online composite finishing robot comprises the following steps:
1. the camera system is configured to collect the images of the surfaces of the rolled piece and the finished piece in real time in the rolling line and the finishing line;
an image processing system configured to detect a defect location from the image in real time;
a robotic system configured to enable a finishing process in real time; the robotic system includes a plurality of finishing robots;
and a control computer configured to control the robot system in real time for defect finishing processing.
The camera system is connected with the image processing system, and the image processing system and the robot system are respectively connected with the control computer.
2. Different finishing robots are adopted for finishing treatment in sequence; the different types of finishing robots use different finishing tools, the different tools having: grinding wheels, milling and planing tools or flame cleaning tools, and also arc-type finishing tools and plasma-containing finishing tools.
Position sensors configured to be able to detect in real time the relative position between the piece being finished and the finishing robot or between the rolled piece and the rolling mill finishing robot, related data sensors configured for calculating the relative position, such as: rolling mill reduction, and software tools required for calculating relative position; the detection data of the relative position sensor, the relative position data calculated from the relative position sensor data, is transmitted to the control computer system that controls the finishing process.
The sequence of the sequential finishing by adopting different finishing robots is as follows: firstly, finishing by a scarfing robot, and then finishing by a grinding wheel robot after grinding.
The sequence of the sequential finishing by adopting different finishing tools comprises the following steps: the arc type finishing tool and a finishing robot containing the plasma finishing tool are used for finishing treatment, and then the finishing wheel robot is used for finishing treatment.
When different finishing robots are adopted to carry out finishing treatment in sequence, the grinding wheel trimming robot is adopted to mainly play a polishing role, and the pressure of the grinding wheel is not more than 200 kg.
The composite finishing line platform is used for roller way transmission.
The finishing tools and the tool units of the various finishing robots are densely arranged, the width finished by more than a single finishing unit can be finished at one time, and the finishing depth is a smooth transition curved surface with deep middle and shallow edges. Wherein each unit comprises a single grinding wheel, a single flame nozzle, a single arc-like finishing tool electrode, including a single plasma gun electrode.
The composite finishing platform is configured to be a sensor capable of detecting the depth of a finished piece after finishing treatment in real time or configured to detect data related to the treatment depth during finishing treatment; the sensor detects depth data or depth data calculated from the relevant depth parameters and transmits the depth data to a finishing control computer system so as to control the finishing process to be finished repeatedly or compositely for multiple times, such as a secondary grinding wheel polishing rapid finishing process.
The finishing platform is configured into an image sensor capable of detecting flame distribution conditions in grinding of the grinding wheel in real time, the image sensor can detect characteristics such as flame uniformity, width and brightness, processing data of the sensor is transmitted to a finishing control computer system, so that the control system can control parameters such as angle, position and pressure of the grinding wheel, the grinding curved surface of the grinding wheel is closer to the surface of a finished piece, and polishing and finishing are rapidly completed.
Compared with the prior process flow, the method has the following advantages: can greatly improve the qualified rate of rolled products. Particularly for hot charging and hot conveying of steel billets, the qualification rate of final products can be greatly improved while the hot charging temperature of hot conveying is not influenced.
Drawings
FIG. 1 is a schematic view of the present invention for the on-line composite finishing of a rolled piece on a conveying line before it is sent to a rolling mill
Wherein: the device comprises a rolled piece, namely a finishing piece 1, a flame cleaning nozzle 2, a coping grinding wheel 3, a surface quality image camera 4, an air cleaning nozzle device 5, a roller way supporting roller 6 and a rolled piece relative position detection camera 7.
FIG. 2 is a schematic diagram of the present invention for the on-line composite finishing of the rolled piece at the entrance of the rolling mill
Wherein: the device comprises a rolled piece 1, a plasma finishing electrode 2, a grinding wheel 3, a camera 4, a rolling mill stand 5, an air cleaning nozzle device 6, a laser distance sensor 7 and a position detection camera 8.
FIG. 3 is a schematic diagram of an online composite finishing section of the invention, which is used for carrying out plasma finishing and then grinding wheel polishing on a rolled piece.
Wherein: plasma finishing electrode 1, rolled piece 2, coping emery wheel 3.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
FIG. 1 is a schematic view of the present invention for the on-line composite finishing of a rolled piece on a conveying line before it is sent to a rolling mill
Wherein: the device comprises a rolled piece (1), a flame nozzle cleaning device (2), a grinding wheel (3), two cameras (4), a shooting area A, B, a gas cleaning device (5), a roller way supporting roller (6) and a casting blank position measuring camera (7). In fig. 1, 2 cameras, 4 sets of scarfing nozzle sets, and 4 sets of grinding wheel sets are used on the upper surface. 2 sets of gas nozzle groups. And 2, shooting the width by a set of cameras to cover the width of the whole rolled piece, moving along with the rolled piece to shoot the splicing drawing of the whole upper surface of the rolled piece and detecting the defect position. The blowing directions of the 4 sets of nozzle groups are respectively diverged, finishing spraying is not mutually influenced as shown in the figure, and the included angle between the finishing spraying direction and the moving direction of a rolled piece is selected between 135 degrees and 45 degrees, so that most of the cleaned slag is separated from the upper surface. And the rolled piece is cleaned through a subsequent air cleaning nozzle. The position camera 7 calculates the moving position of the rolled piece in real time and provides a basis for the control system to compare the defect marking position in the image defect detection and guide the robot to remove the defects.
In fig. 1, further other surfaces, such as the following surfaces, are not shown, and the same finishing is applicable to other surface cleaning.
In fig. 1, the finishing adopts a flame cleaning mode to remove defects, and then adopts a grinding wheel polishing mode. The flame cleaning has no influence on the movement of the rolled piece. As the grinding wheel is mainly used for polishing, the grinding wheel pressure can be very small, the rotating speed does not need to be too high, the polishing time is not long, and an available industrial bearing can be selected. Meanwhile, the grinding wheel can also remove a local high-temperature layer generated by flame cleaning on the surface, and the influence of local overheating is reduced. The grinding wheel pressure is small, the movement of a rolled piece cannot be influenced, and meanwhile, the safety is improved, namely, the grinding wheel is not easy to explode. The grinding wheel is small, the number of the grinding wheels can be increased, and the requirement of fully and reliably removing all surface defects by the process can be met.
The finishing adopts the degree of depth of flame clearance mode clearance can once get rid of the defect, and later with adopting the emery wheel polishing mode to also can accomplish fast, so rolled piece can the unilateral pass this finishing station fast, does not influence by the rolled piece conveying, and this has important meaning to the direct rolling of steel industry's continuous casting billet.
FIG. 2 is a schematic diagram of the present invention for the online finishing of the upper surface during the rolling process of the slab rolling mill
Wherein: the device comprises a rolled plate blank piece (1), a plasma finishing electrode (2), a grinding wheel (3), a surface quality detection camera (4), a rolling mill frame (5), air cleaning nozzle equipment (6), a laser distance measuring instrument (7) and a rolling mill position measurement camera (8). The upper surface in fig. 1 has been used with 2 cameras to respectively capture regions A, B. And 2, shooting width of the cameras covers the width of the whole rolled piece, and shooting the whole upper surface of the rolled piece along with the movement of the rolled piece. 4 sets of plasma finishing electrodes correspond to 4 sets of grinding wheel sets. The figure does not show other finishing equipment for other surfaces, and the same finishing is suitable for other surface cleaning.
In fig. 2, the finishing process first adopts a plasma finishing mode to remove defects, and then adopts a grinding wheel polishing treatment mode. As the grinding wheel is mainly used for polishing, the grinding wheel pressure can be very small, the rotating speed does not need to be too high, the polishing time is not long, and an available industrial bearing can be selected. Meanwhile, the grinding wheel can also remove a surface high-temperature layer, reduce the influence of local overheating, cannot influence the movement of a rolled piece, improves the safety, and can meet the requirement of fully and reliably removing defects by the process.
In fig. 2, the rolling piece position measurement camera can determine the position coordinates of each position of the rolled piece on the rolling line, and the rolled piece becomes thinner and longer after being rolled by the roller, and the relevant corresponding coordinates after the lengthening need to be calculated. And calculating the position change of the rolled piece in the length direction according to parameters such as roll reduction and the like.
In fig. 2, the laser distance measuring instrument scans back and forth to detect depth data of the rolled piece after plasma finishing, and transmits the depth data to the grinding wheel control system for rapid finishing. The depth after the finishing can also be indirectly calculated through the current and related parameters used in the plasma finishing process. Similarly, the depth can be indirectly calculated according to the relevant parameters of the consumed gas for scarfing. The detection depth data of the sensor or the related data of the finishing depth is collected and the calculated depth data is transmitted to a grinding wheel finishing processing system, so that the grinding wheel can be processed quickly.
FIG. 3 is a schematic diagram of an online composite finishing section of the invention, which is used for carrying out plasma finishing and then grinding wheel polishing on a rolled piece.
In fig. 3-1, the plasma electrode is formed by 5 plasma electrodes (1) and is densely arranged, and the finishing depth is a smooth transition curve with deep middle and shallow edges. Curve ABC is shown in the figure. The depth curve of the finished piece after being finished is detected in real time, or the data related to the processing depth during the detection of the finishing processing, such as the current consumed by plasma, and the like, the depth curve is calculated, so that the adjustment direction and the position of the grinding wheel are controlled according to the data, and then the grinding wheel is pressed down, as shown in figure 3-2, the grinding curved surface of the grinding wheel is basically overlapped with the curved surface after being finished by plasma, the polishing is convenient, and the polishing speed is improved. And in the same way, the repeated plasma finishing or flame cleaning finishing can be well finished according to the depth curve.
As shown in fig. 3-2, when the grinding curved surface of the grinding wheel is basically overlapped with the curved surface after plasma finishing, the flame width during polishing is approximately the same as the width of the detected plasma finishing width such as the width of AC in the figure, and the flame distribution is uniform, and the polishing finishing can be well completed by controlling the angle of the grinding wheel according to the flame detection analysis data.
The finishing adopts the depth of the first plasma finishing mode for cleaning to remove the defects at one time, and then adopts the grinding wheel polishing treatment mode to finish quickly, so that the rolled piece can pass through the finishing station quickly in one direction without influencing the transmission of the rolled piece on the rolling mill, and the real online finishing of the rolling mill can be realized only in this way. In addition, compared with the prior finishing by a hot finishing machine only adopting a grinding wheel finishing type, the composite finishing has the advantages of high speed and short time, and can ensure that the temperature of the conveyed casting blank is reduced by more than 150 ℃, thereby having important significance for directly rolling the continuous casting blank in the steel industry.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a system platform, method, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied in the storage media.
The above examples are only examples for assisting understanding of the method and the core concept of the present invention, and are not intended to limit the scope of the implementation of the present invention. The rolled material of the present invention is applicable not only to steel materials but also to other metal materials, and the shape is not limited to a strip rolled material and is also applicable to rolled materials of other shapes.
In conclusion, the invention provides an online composite finishing platform and a platform design method in the whole process from a continuous casting feeding line, rough rolling, finish rolling and final product production.
Claims (10)
1. A finishing platform of an online composite finishing robot, comprising:
the camera system is configured to collect the images of the surfaces of the rolled piece and the finished piece in real time in the rolling line and the finishing line;
an image processing system configured to detect a defect location from the image in real time;
a robotic system configured to enable a finishing process in real time; the robotic system includes a plurality of finishing robots;
a control computer system configured to control the finishing robot system in real time for defect finishing treatment;
the camera system is connected with the image processing system, and the image processing system and the robot system are respectively connected with the control computer.
2. A finishing platform according to claim 1, wherein different kinds of finishing robots are used to perform the finishing process in sequence; the different types of finishing robots use different finishing tools, the different tools having: grinding wheels, milling and planing tools or flame cleaning tools, and also arc-type finishing tools and plasma-containing finishing tools.
3. The finishing platform of claim 1, further comprising: position sensors configured to be able to detect in real time the relative position between the piece being finished and the finishing robot or between the rolled piece and the rolling mill finishing robot, related data sensors configured for calculating the relative position, such as: rolling mill reduction, and software tools required for calculating relative position; the detection data of the relative position sensor, the relative position data calculated from the relative position sensor data, is transmitted to the control computer system that controls the finishing process.
4. A finishing platform according to claim 1, wherein the sequence of finishing in sequence with different kinds of finishing robots is: firstly, finishing treatment is carried out by a scarfing robot, and then finishing treatment is carried out by a grinding wheel robot.
5. A finishing platform according to claim 1, wherein the sequence of finishing in sequence with different kinds of finishing robots is: the arc type finishing tool and the robot containing the plasma finishing tool are used for finishing treatment, and then the grinding wheel robot is used for finishing treatment.
6. A finishing platform according to claim 1, wherein when different finishing robots are used for finishing treatment in sequence, the grinding wheel trimming robot is mainly used for polishing, and the grinding wheel pressure is not more than 200 kg.
7. A finishing platform according to claim 1, wherein the composite finishing line platform is roller table conveyed.
8. The finishing platform of claim 1, wherein the finishing tools, tool units of the various finishing robots are closely spaced, capable of finishing more than a single finishing unit at a time for a finished width, and the finishing depth is a smooth transition curve with a deep middle and shallow edges; wherein each unit comprises a single grinding wheel, a single flame nozzle, a single arc-like finishing tool electrode, including a single plasma gun electrode.
9. The finishing platform of claim 1, further comprising: a sensor configured to detect in real time the depth of the finished piece after finishing treatment, or a sensor configured to detect data relating to the treatment depth at the time of finishing treatment; the sensor detects depth data or depth data calculated from related depth parameters and transmits the depth data to a finishing control computer system so as to control the finishing of multiple repeated finishing or multiple composite finishing.
10. The finishing platform of claim 1, further comprising: the flame distribution condition image sensor is configured to detect the flame distribution condition during grinding of the grinding wheel in real time, the image sensor can detect the characteristics of flame uniformity, width, brightness and the like, and the processing data of the sensor is transmitted to the finishing control computer system, so that the control system can control the parameters of the angle, position, pressure and the like of the grinding wheel, the grinding curved surface of the grinding wheel is closer to the surface of a finished piece, and polishing finishing is rapidly finished.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112428088A (en) * | 2020-11-20 | 2021-03-02 | 中车唐山机车车辆有限公司 | Wire drawing equipment, workpiece wire drawing processing method, control device and storage medium |
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| JPS6156770A (en) * | 1984-08-29 | 1986-03-22 | Sumitomo Metal Ind Ltd | Method for conditioning of billet and automating device thereof |
| JPH05269577A (en) * | 1992-03-25 | 1993-10-19 | Sumitomo Metal Ind Ltd | Hot scarfing control device |
| CN103522190A (en) * | 2013-10-31 | 2014-01-22 | 哈尔滨工业大学 | Electric spark and mechanical composite dressing device for arc diamond grinding wheel |
| CN104742020A (en) * | 2015-04-15 | 2015-07-01 | 山东大学 | Grinding superhard grinding material grinding wheel and cup-shaped grinding wheel-electric spark combined modifying device for outer grinder |
| CN107350303A (en) * | 2017-06-08 | 2017-11-17 | 江阴兴澄特种钢铁有限公司 | A kind of production method of automobile axial workpiece steel |
| CN108465903A (en) * | 2018-02-11 | 2018-08-31 | 福建三钢闽光股份有限公司 | A kind of reconditioning method for cleaning of surface defect of bloom |
| CN110293566A (en) * | 2019-05-07 | 2019-10-01 | 北京鼎新时代科技有限公司 | A kind of online robot finishing platform on milling train and extended line |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6156770A (en) * | 1984-08-29 | 1986-03-22 | Sumitomo Metal Ind Ltd | Method for conditioning of billet and automating device thereof |
| JPH05269577A (en) * | 1992-03-25 | 1993-10-19 | Sumitomo Metal Ind Ltd | Hot scarfing control device |
| CN103522190A (en) * | 2013-10-31 | 2014-01-22 | 哈尔滨工业大学 | Electric spark and mechanical composite dressing device for arc diamond grinding wheel |
| CN104742020A (en) * | 2015-04-15 | 2015-07-01 | 山东大学 | Grinding superhard grinding material grinding wheel and cup-shaped grinding wheel-electric spark combined modifying device for outer grinder |
| CN107350303A (en) * | 2017-06-08 | 2017-11-17 | 江阴兴澄特种钢铁有限公司 | A kind of production method of automobile axial workpiece steel |
| CN108465903A (en) * | 2018-02-11 | 2018-08-31 | 福建三钢闽光股份有限公司 | A kind of reconditioning method for cleaning of surface defect of bloom |
| CN110293566A (en) * | 2019-05-07 | 2019-10-01 | 北京鼎新时代科技有限公司 | A kind of online robot finishing platform on milling train and extended line |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112428088A (en) * | 2020-11-20 | 2021-03-02 | 中车唐山机车车辆有限公司 | Wire drawing equipment, workpiece wire drawing processing method, control device and storage medium |
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