CN112935974A - Force compensation-based non-circular part deburring robot for motor production - Google Patents
Force compensation-based non-circular part deburring robot for motor production Download PDFInfo
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- CN112935974A CN112935974A CN202011544620.3A CN202011544620A CN112935974A CN 112935974 A CN112935974 A CN 112935974A CN 202011544620 A CN202011544620 A CN 202011544620A CN 112935974 A CN112935974 A CN 112935974A
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- fixedly connected
- motor
- shaft
- force compensation
- robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/22—Equipment for exact control of the position of the grinding tool or work at the start of the grinding operation
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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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a force compensation based non-circular part deburring robot for motor production, and relates to the technical field of machining. The multi-axis manipulator comprises a base and a multi-axis manipulator, wherein the multi-axis manipulator is arranged on the upper surface of the base and is rotatably connected with the base. According to the invention, the first polishing wheel and the second polishing wheel are used, so that the side surfaces of the part can be polished by using the peripheral side surface of the first polishing wheel in the polishing process, and meanwhile, the lower surface of the second polishing wheel is used for polishing the upper surface of the part, so that burrs are removed rapidly, and the polishing efficiency is improved; the electric cylinder, the limiting disc, the upper base plate, the lower base plate and the connecting rods are used, so that the height difference between the second sanding wheel and the first sanding wheel can be conveniently adjusted, and the electric cylinder and the limiting disc are suitable for sanding burrs of parts with different thicknesses.
Description
Technical Field
The invention belongs to the technical field of machining, and particularly relates to a force compensation based non-circular part deburring robot for motor production.
Background
The burrs mean that the surface of the metal piece has residual scraps and microscopic metal particles with extremely fine surfaces, and the quality standard of the metal piece is lower as the number of the burrs is larger. Deburring is therefore an important step in the mechanical manufacturing process. The burrs have great influence on the appearance and the use of the product, the processing process should be avoided as much as possible, and when the burrs cannot be avoided, a subsequent deburring process is needed, so that the appearance and the practicability of the product are ensured.
However, the existing deburring device can only perform deburring treatment on one surface in a single working step, and the working efficiency needs to be improved.
Disclosure of Invention
The invention aims to provide a force compensation based non-circular part deburring robot for motor production, which solves the problems that the existing deburring device can only perform deburring treatment on one surface in a single process step and the working efficiency needs to be improved.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a force compensation based non-circular part deburring robot for motor production, which comprises a base and a multi-shaft manipulator, the multi-axis manipulator is arranged on the upper surface of the base and is rotationally connected with the base, one end of the multi-shaft manipulator is provided with a grinding device, the grinding device comprises a shell, a first grinding wheel and a second grinding wheel, a motor and an electric cylinder are arranged in the shell, a motor shaft of the motor extends to the outer side of the shell, the end of the motor shaft is fixedly connected with the first sanding wheel, the electric cylinder shaft of the electric cylinder extends to the outer side of the shell, the cylinder shaft is matched with a driven gear in a rotating way, the lower surface of the driven gear is fixedly connected with a second grinding wheel, the second sanding wheel is positioned on one side of the first sanding wheel, the driven gear is meshed with a driving gear, and the driving gear is arranged on the peripheral side surface of the motor shaft; in the structure, the first polishing wheel can polish the side surface of the part, and the second polishing wheel can polish the surface of the part, so that the polishing efficiency is improved.
The motor shaft is further connected with a fixing plate in a sliding mode, a plurality of fixing rods are fixedly connected between the fixing plate and the shell, the fixing plate is further connected with a plurality of connecting rods in a sliding mode, the connecting rods are located on the periphery side of the electric cylinder shaft, an upper padding plate and a lower padding plate are fixedly connected to two ends of each connecting rod respectively, a limiting disc is arranged on one side of the upper padding plate and in threaded connection with the electric cylinder shaft, and the lower padding plate abuts against the driven gear; in the structure, the electric cylinder shaft of the electric cylinder can stretch out and draw back, so that the position of the second grinding wheel can be adjusted, the grinding wheel is convenient to grind for parts with different thicknesses, and the position of the second grinding wheel can be finely adjusted through the limiting disc, so that the grinding wheel is more precise.
Preferably, a stop block is connected in the driven gear in a sliding manner, and the stop block is fixedly connected with the electric cylinder shaft, so that the driven gear can be fixed on the electric cylinder shaft and cannot be separated.
Preferably, the lower end face of the stop block is fixedly connected with a first spring, one end of the first spring is fixedly connected with a rotating piece, the rotating piece is rotatably connected with the driven gear, and the first spring can enable the device to have a certain buffering effect when the surface of a workpiece is polished.
Preferably, the side surface of the periphery of the electric cylinder shaft is further provided with a second spring, and two ends of the second spring are respectively and fixedly connected with the fixed plate and the lower backing plate; the lower backing plate is prevented from directly colliding with the fixed plate.
Preferably, the peripheral side surface of the shell is also provided with vent holes for facilitating ventilation.
Preferably, the peripheral side surface of the motor shaft is also fixedly connected with a first helical gear, the first helical gear is meshed with a second helical gear, one end surface of the second helical gear is fixedly connected with a rotating shaft, and the peripheral side surface in the middle of the rotating shaft is provided with fan blades; in the structure, when the motor works, the fan blades can be driven to rotate through the gear transmission effect, and the heat is rapidly dissipated.
Preferably, the rotating shaft is rotatably connected with the housing, so that the rotating shaft is rotationally stable.
The invention has the following beneficial effects:
1. according to the invention, the first polishing wheel and the second polishing wheel are used, so that the side surfaces of the part can be polished by the side surfaces of the first polishing wheel in the polishing process, and meanwhile, the upper surface of the part is polished by the lower surface of the second polishing wheel, so that burrs are removed rapidly, and the polishing efficiency is improved;
2. according to the invention, the electric cylinder, the limiting disc, the upper backing plate, the lower backing plate and the connecting rods are used, so that when the device is used, on one hand, the electric cylinder shaft of the electric cylinder can drive the second polishing wheel to move up and down, the effect of adjusting the height difference between the second polishing wheel and the first polishing wheel is realized, then the limiting disc can be used for adjusting the positions of the upper backing plate and the lower backing plate on the electric cylinder shaft, the buffer distance is provided, and the height difference between the second polishing wheel and the first polishing wheel can be conveniently adjusted through the structures, so that the device is suitable for polishing burrs of parts with different thicknesses.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic three-dimensional structure diagram of a force compensation based non-circular part deburring robot for motor production according to the present invention;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a right side view of FIG. 1;
FIG. 4 is a block diagram of a grinding device of the present invention for a non-round part deburring robot for motor production based on force compensation;
FIG. 5 is a right side view of FIG. 4;
FIG. 6 is a cross-sectional view taken along the line A-A in FIG. 5;
FIG. 7 is an enlarged view of area A of FIG. 2;
fig. 8 is an enlarged view of the region B in fig. 6.
In the drawings, the components represented by the respective reference numerals are listed below:
1-base, 2-multi-axis manipulator, 3-shell, 301-vent, 4-first grinding wheel, 5-motor, 501-motor shaft, 6-second grinding wheel, 7-driven gear, 8-driving gear, 9-fixing plate, 10-fixing rod, 11-electric cylinder, 1101-electric cylinder shaft, 12-first bevel gear, 13-second bevel gear, 14-rotating shaft, 15-fan blade, 16-limiting plate, 17-upper backing plate, 18-connecting rod, 19-lower backing plate, 20-stop block, 21-rotating part, 22-first spring, 23-second spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper," "middle," "outer," "inner," "around," and the positional relationships are used merely for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Referring to fig. 1-8, the present invention is a force compensation based non-circular part deburring robot for motor production, including a base 1 and a multi-axis manipulator 2, the multi-axis manipulator 2 is installed on the upper surface of the base 1, the multi-axis manipulator 2 is rotatably connected with the base 1, one end of the multi-axis manipulator 2 is installed with a polishing device, the polishing device includes a housing 3, a first polishing wheel 4 and a second polishing wheel 6, a motor 5 and an electric cylinder 11 are installed inside the housing 3, a motor shaft 501 of the motor 5 extends to the outside of the housing 3, the end of the motor shaft 501 is fixedly connected with the first polishing wheel 4, an electric cylinder shaft 1101 of the electric cylinder 11 extends to the outside of the housing 3, the electric cylinder shaft 1101 is rotatably matched with a driven gear 7, the lower surface of the driven gear 7 is fixedly connected with the second polishing wheel 6, the second polishing wheel 6 is located on one side of the first polishing wheel 4, the driving gear 8 is arranged on the peripheral side surface of the motor shaft 501; in the structure, the first polishing wheel 4 can polish the side surface of the part, and the second polishing wheel 6 can polish the surface of the part, so that the polishing efficiency is improved.
The motor shaft 501 is further connected with a fixing plate 9 in a sliding manner, a plurality of fixing rods 10 are fixedly connected between the fixing plate 9 and the shell 3, the fixing plate 9 is further connected with a plurality of connecting rods 18 in a sliding manner, the connecting rods 18 are located on the periphery of the electric cylinder shaft 1101, an upper cushion plate 17 and a lower cushion plate 19 are respectively and fixedly connected to two ends of each connecting rod 18, a limiting disc 16 is arranged on one side of the upper cushion plate 17, the limiting disc 16 is in threaded connection with the electric cylinder shaft 1101, and the lower cushion plate 19 abuts against the driven; in the above-mentioned structure, electric jar axle 1101 of electric jar 11 can stretch out and draw back, therefore the position of second wheel 6 of polishing can be adjusted, is convenient for be suitable for the part of different thickness and polishes, can finely tune the position of second wheel 6 of polishing through spacing dish 16 in addition, makes more meticulously.
Furthermore, a stopper 20 is slidably connected to the driven gear 7, and the stopper 20 is fixedly connected to the electric cylinder shaft 1101, so that the driven gear 7 can be fixed to the electric cylinder shaft 1101 and cannot be disengaged.
Further, the lower end face of the stop block 20 is fixedly connected with a first spring 22, one end of the first spring 22 is fixedly connected with a rotating piece 21, the rotating piece 21 is rotatably connected with the driven gear 7, and the first spring 22 can enable the device to have a certain buffering effect when the surface of a workpiece is polished.
Further, a second spring 23 is further arranged on the circumferential side surface of the electric cylinder shaft 1101, and two ends of the second spring 23 are respectively fixedly connected with the fixed plate 9 and the lower backing plate 19; avoiding the lower pad 19 from directly colliding with the fixed plate 9.
Furthermore, the peripheral side surface of the shell 3 is also provided with a vent hole 301 for facilitating ventilation.
Furthermore, the peripheral side surface of the motor shaft 501 is also fixedly connected with a first helical gear 12, the first helical gear 12 is meshed with a second helical gear 13, one end surface of the second helical gear 13 is fixedly connected with a rotating shaft 14, and the middle peripheral side surface of the rotating shaft 14 is provided with fan blades 15; in the structure, when the motor 5 works, the fan blades 15 can be driven to rotate through the gear transmission effect, and the heat is rapidly dissipated.
Further, the rotating shaft 14 is rotatably connected to the housing 3, so that the rotating shaft 14 is rotationally stabilized.
Referring to fig. 1 to 8, the present invention is a robot for deburring non-circular parts based on force compensation for motor production, wherein the output power of a motor 5 is 200W-3000W, and the using method comprises:
the method comprises the following steps: inputting a corresponding coordinate grinding program in a computer of the multi-axis manipulator 2 according to the shape of the part, and clamping the part below the multi-axis manipulator 2;
step two: opening the electric cylinder 11, the electric cylinder shaft 1101 of the electric cylinder 11 can be extended and contracted, the length of the electric cylinder shaft 1101 exposed outside the shell 3 is determined, so that the height difference between the second grinding wheel 6 and the first grinding wheel 4 is limited, and then the position of the limiting disc 16 on the electric cylinder shaft 1101 is adjusted to provide a buffer distance when the limiting disc 16 is rotated;
step three: the grinding is started, the first grinding wheel 4 grinds along the peripheral side surface of the part, and the second grinding wheel 6 grinds on the upper surface of the part.
It should be noted that, if the limiting disc 16 moves a certain distance to the left, during grinding, the second grinding wheel 6 presses the upper surface of the part, and then the pressure makes the second grinding wheel 6 and the driven gear 7 slide up along the cylinder shaft 1101 until the upper padding plate 17 abuts against the limiting disc 16, in this process, the first spring 22 and the second spring 23 are both pressed, so as to play a role in buffering protection, and contribute to prolonging the service life of the part.
It should be further noted that the rotating member 21 can rotate in the driven gear 7, so that the first spring 22 can reduce the torsion force applied to it to the maximum extent when the cylinder shaft 1101 rotates relative to the driven gear 7, which is beneficial to protecting the first spring 22.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not exhaustive and do not limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (7)
1. The utility model provides a be used for motor production with non-round part burring robot based on force compensation, includes base (1) and multi-axis manipulator (2), install at base (1) upper surface multi-axis manipulator (2), multi-axis manipulator (2) are connected its characterized in that with base (1) rotation:
one end of the multi-shaft manipulator (2) is provided with a grinding device, the grinding device comprises a shell (3), a first grinding wheel (4) and a second grinding wheel (6), a motor (5) and an electric cylinder (11) are arranged in the shell (3), a motor shaft (501) of the motor (5) extends to the outer side of the shell (3), the tail end of the motor shaft (501) is fixedly connected with the first sanding wheel (4), an electric cylinder shaft (1101) of the electric cylinder (11) extends to the outer side of the shell (3), the cylinder shaft (1101) is matched with a driven gear (7) in a rotating way, the lower surface of the driven gear (7) is fixedly connected with a second grinding wheel (6), the second sanding wheel (6) is positioned on one side of the first sanding wheel (4), the driven gear (7) is meshed with a driving gear (8), and the driving gear (8) is installed on the peripheral side surface of the motor shaft (501);
motor shaft (501) sliding connection still has fixed plate (9), a plurality of dead levers of fixedly connected with (10) between fixed plate (9) and casing (3), fixed plate (9) sliding connection still has a plurality of connecting rods (18), connecting rod (18) are located cylinder axle (1101) week side, connecting rod (18) both ends are fixedly connected with upper padding plate (17) and lower padding plate (19) respectively, upper padding plate (17) one side is provided with spacing dish (16), spacing dish (16) and cylinder axle (1101) threaded connection, lower padding plate (19) offset with driven gear (7).
2. The robot for deburring non-circular parts based on force compensation for motor production as claimed in claim 1, characterized in that a stop block (20) is slidably connected in said driven gear (7), said stop block (20) being fixedly connected with an electric cylinder shaft (1101).
3. The robot for deburring non-circular parts based on force compensation for motor production as claimed in claim 2, characterized in that a first spring (22) is fixedly connected to the lower end face of the stop block (20), a rotating member (21) is fixedly connected to one end of the first spring (22), and the rotating member (21) is rotatably connected with the driven gear (7).
4. The robot for deburring non-circular parts based on force compensation for motor production as claimed in claim 1, characterized in that the peripheral side surface of said cylinder shaft (1101) is further provided with a second spring (23), and both ends of said second spring (23) are respectively fixedly connected with a fixed plate (9) and a lower backing plate (19).
5. The robot for deburring non-round parts based on force compensation for motor production as claimed in claim 1, characterized in that said housing (3) is also vented (301) at the peripheral side.
6. The robot for deburring non-circular parts based on force compensation for motor production according to claim 1, characterized in that a first bevel gear (12) is fixedly connected to the peripheral side surface of the motor shaft (501), a second bevel gear (13) is meshed with the first bevel gear (12), a rotating shaft (14) is fixedly connected to one end surface of the second bevel gear (13), and fan blades (15) are arranged on the central peripheral side surface of the rotating shaft (14).
7. A non-circular part deburring robot based on force compensation for motor production according to claim 6 characterized in that said spindle (14) is rotationally connected with the housing (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011544620.3A CN112935974B (en) | 2020-12-24 | 2020-12-24 | Force compensation-based non-circular part deburring robot for motor production |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011544620.3A CN112935974B (en) | 2020-12-24 | 2020-12-24 | Force compensation-based non-circular part deburring robot for motor production |
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| Publication Number | Publication Date |
|---|---|
| CN112935974A true CN112935974A (en) | 2021-06-11 |
| CN112935974B CN112935974B (en) | 2022-06-14 |
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| CN202011544620.3A Active CN112935974B (en) | 2020-12-24 | 2020-12-24 | Force compensation-based non-circular part deburring robot for motor production |
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| KR101805142B1 (en) * | 2017-05-02 | 2018-01-11 | (주)청호열처리 | Automatic deburring apparatus for detent plate |
| CN107791131A (en) * | 2017-10-27 | 2018-03-13 | 无锡龙博机械有限公司 | A kind of sheet fabrication grinding apparatus easy to use |
| CN108015638A (en) * | 2017-12-28 | 2018-05-11 | 昆山锐莱恩特精密机械有限公司 | Robot apparatus for automatically removing burr |
| CN109304662A (en) * | 2018-10-16 | 2019-02-05 | 陈伟伟 | A kind of quick milling robot |
| CN109318090A (en) * | 2018-10-24 | 2019-02-12 | 武汉理工大学 | Size compensation method and system in a kind of ring-shaped work pieces robot technique for grinding |
| CN209207181U (en) * | 2018-11-29 | 2019-08-06 | 大连沃达丰管道联接技术有限公司 | Grinding device is used in a kind of processing of lock sheet |
| CN112059786A (en) * | 2020-09-23 | 2020-12-11 | 安徽富坤机械设备有限公司 | Washing machine motor casing surface burring processing apparatus |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020173226A1 (en) * | 2001-05-18 | 2002-11-21 | Carlson Glen A. | Multi-spindle end effector |
| CN205520951U (en) * | 2016-04-28 | 2016-08-31 | 广东利迅达机器人系统股份有限公司 | Quick response pressure control mechanism and use its polishing system of polishing |
| CN205685358U (en) * | 2016-04-28 | 2016-11-16 | 广东利迅达机器人系统股份有限公司 | A kind of high accuracy bathtub milling robot |
| CN105856014A (en) * | 2016-06-02 | 2016-08-17 | 镇江大力液压马达股份有限公司 | Noncircular part deburring robot based on force compensation |
| KR101805142B1 (en) * | 2017-05-02 | 2018-01-11 | (주)청호열처리 | Automatic deburring apparatus for detent plate |
| CN107791131A (en) * | 2017-10-27 | 2018-03-13 | 无锡龙博机械有限公司 | A kind of sheet fabrication grinding apparatus easy to use |
| CN108015638A (en) * | 2017-12-28 | 2018-05-11 | 昆山锐莱恩特精密机械有限公司 | Robot apparatus for automatically removing burr |
| CN109304662A (en) * | 2018-10-16 | 2019-02-05 | 陈伟伟 | A kind of quick milling robot |
| CN109318090A (en) * | 2018-10-24 | 2019-02-12 | 武汉理工大学 | Size compensation method and system in a kind of ring-shaped work pieces robot technique for grinding |
| CN209207181U (en) * | 2018-11-29 | 2019-08-06 | 大连沃达丰管道联接技术有限公司 | Grinding device is used in a kind of processing of lock sheet |
| CN112059786A (en) * | 2020-09-23 | 2020-12-11 | 安徽富坤机械设备有限公司 | Washing machine motor casing surface burring processing apparatus |
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| Publication number | Publication date |
|---|---|
| CN112935974B (en) | 2022-06-14 |
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