CN205201515U - Automatic sabot system of carbide blade of integrated manipulator - Google Patents
Automatic sabot system of carbide blade of integrated manipulator Download PDFInfo
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- CN205201515U CN205201515U CN201520972052.5U CN201520972052U CN205201515U CN 205201515 U CN205201515 U CN 205201515U CN 201520972052 U CN201520972052 U CN 201520972052U CN 205201515 U CN205201515 U CN 205201515U
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Abstract
The utility model discloses an automatic sabot system of carbide blade of integrated manipulator, detect sensor, mounting panel, system's regulator cubicle including industrial control computer host computer, display, press and press controller, manipulator, manipulator controller, in line brush, trash receptacle, electronic scale, extension arm, first blade tray, second blade tray, the first pallet detection sensor and second tray. The utility model discloses a become a complete system with each subassembly, adopt manual command's mode simultaneously, accomplish the manipulator and draws alloy blade, alloy blade brush was handled, measurings is weighed in turn to the alloy blade, blade tray or trash receptacle are gone into to alloy blade blowing circulation flow in the press, solve that alloy blade production sabot in -process production efficiency is low, the amount of labour is big, alloy blade qualification rate is hanged down, the system is with high costs, inefficiency, human -computer interaction these problems of close friend inadequately.
Description
Technical field
The utility model relates to automatic field, particularly relates to a kind of carbide chip automation disk loading system of integrated manipulator, is mainly used in the automatic material flow carrying of carbide chip and piles up.
Background technology
China is one and manufactures big country, and the demand of annual alloy blade is very huge.Traditional carbide chip production procedure relies on press cycle compacting blade, artificial feeding, manual hairbrush to clear up blade face burr, artificial experience visual inspection, detection of weighing, finally more qualified blade is put into charging tray.In above flow process, pile up from feeding to alloy blade and all need artificial participation, not only task is heavy, inefficiency, product percent of pass be low, and very large security risk is existed to operator.Although there are some enterprises to do technique improvement to this production model, for every platform carbide chip press is equipped with separate machine hand system, complete partial automation task.But its single-deck changes, and the dish time is long, interactive interface is friendly not, check fee time, high, the system complex of cost, be difficult to be applied to actual alloy blade detect, pile up in go.
And the blade of above-mentioned automated system is weighed link, adopt blade to place, the pattern of stable, reading, a blade of often weighing, will expend the time waiting for electronic scale data stabilization more.On the other hand to change that disc system is huge, single-deck changes dish holding time long for single-deck.Therefore, such mode of production, reduces production efficiency.And the artificial blade sale at reduced prices scheme of main flow employing at present, speed of manually piling up is slow, puts irregular, even piles up in process and causes damage to the qualified blade of script, causes blade to cancel.Thus, need to propose a kind of method and system adopting the efficient blade automatic Picking of the manipulator of improvement/pile up, this method and system can successfully manage the requirement reducing hand labor intensity, enhance productivity, improve the blade quality of production and qualification rate.
Utility model content
The utility model is in order to overcome the shortcoming that workman's amount of labour is large, production efficiency is low, product percent of pass is low, system cost is high and locus is limited in alloy blade production process, propose a kind of carbide chip automation disk loading system of integrated manipulator, this system can be used in the Aulomatizeted Detect sabot of alloy blade.
The utility model adopts following technical scheme to realize:
A kind of carbide chip automation disk loading system of integrated manipulator, comprise industrial control computer main frame, display, press and press controller, manipulator, Manipulator Controller, in line hairbrush, trash receptacle, electronic scale, extension arm, the first blade pallet, the second blade pallet, the first pallet detecting sensor and the second pallet detecting sensor, installing plate, system electrical cabinet, wherein:
Described manipulator is arranged on the extension pedestal on the right side of press, the extension arm that described manipulator front end dress rotates around U axle 28, described system electrical cabinet is fixed on the side of press, described Manipulator Controller is fixed on the side of manipulator, described installing plate is arranged on the extension pedestal on front side of press, described in line hairbrush is installed on a mounting board, its position is between electronic scale and press, electronic scale is installed on a mounting board, its position is 345mm-355mm from the X-direction distance of manipulator base central, Y-direction distance is 60-65mm place, described trash receptacle is installed on a mounting board, its position is on the left side of electronic scale, described first blade pallet, second blade pallet is arranged on press extension pedestal, distance mechanical hand base central Y-direction distance is 340-360, X-direction is symmetrical, described first pallet detecting sensor and the second pallet detecting sensor are separately positioned on the first blade pallet, on second blade pallet, and by sensor signal lines connected system regulator cubicle,
In industrial control computer main frame, PCI slot loads one piece of Phototube Coupling digital I/O card, is connected by the corresponding I/O signal of system I/O signal bus and manipulator I/O signal bus, be connected with the corresponding I/O signal of press I/O signal bus,
Described industrial control computer main frame obtains I/O signal that in system I/O signal bus, corresponding input I/O signal or output are specified to I/O signal corresponding to system I/O signal bus by the built-in command function of call number IO card, display screen to connect industrial control computer main frame, for man-machine interaction by video signal cable;
Connected by netting twine between described industrial control computer main frame and Manipulator Controller, complete the data interaction between industrial control computer main frame and Manipulator Controller by Transmission Control Protocol;
Weight information data by Serial Port Line, are sent to industrial control computer main frame by RS232 agreement by described electronic scale.
Further, the precision of described electronic scale is 0.01g.
Further, be also connected with electronic scale between described electronic scale and system electrical cabinet and reset I/O signal line.
Further, described extension arm length is 175mm, U axial coordinate when being 0, and extension arm length direction is identical with manipulator X positive direction.
Further, whether described first blade pallet, the second blade pallet shape are square or circular, detected respectively put in place by the first pallet detecting sensor, the second pallet detecting sensor.
Based on a carbide chip automation disc filling method for described system, comprise step:
1) after system starts, first waiting system is ready, and after system is ready, waiting system powers on instruction, after system completes and powers on, check that whether Start signal is effective, if Start invalidating signal, system enters teaching pattern, until Start signal effectively after, system enters into production model;
2), after entering production model, first system has checked whether that alarm and mistake produce, if having, then need first to sound all clear and mistake, need manual confirmation alarm and false solution to remove after releasing, system just continues to run, otherwise is in wait acknowledge state always, and if mistake, then system Start invalidating signal, removes backed off after random production model in confirmation, now needs to re-enter beginning production ordering, make Start signal effective, and then enter production model;
3) after system successfully enters production model, press prepares, manipulator returns normal bit, electronic scale resets, enter production sabot task subsequently, in sabot process, first system checks whether the condition of press compacting blade meets, if meet, then controls appropriate alloy powder and enters in press, press is suppressed, blade is shaping, if do not meet, then press waiting system permission always throttle signal, suppresses successfully, compacting OK signal is effective, and waits for that manipulator enters and take blade away and allow throttle signal next time;
4) manipulator enters in press absorption blade process, carry out three times at the most to draw, if three absorptions are unsuccessful, manipulator is parked in normal bit, system alarm, if draw successfully in three times, then carry out hairbrush process, system exports feeding pass signal, allows throttle signal subsequently, compacting OK invalidating signal, and starting the compacting blade of a new round, compacting successful subsequent continues and exports compacting OK signal effectively and wait for the throttle signal of next round;
5) after burr process completes, alloy blade is placed on electronic scale and weighs, the first feeding of manipulator is put on the position one that the electronic scale scale pan specifies, and then go feeding, during this, weight information data are sent to industrial control computer main frame by electronic scale, current blade is placed on the position two that the electronic scale scale pan specifies by manipulator, arrive previous position one simultaneously and take the blade of having weighed away, judge that whether alloy blade is qualified according to the data that industrial control computer main frame receives, if qualified, put into charging tray, otherwise, put into trash receptacle;
6) when systems inspection equals periodicity N=T-1 to the quantity of having put blade apart from electronic scale clearing last time, system WgtZero signal is effective, manipulator no longer goes to press place to draw the blade of compacting, but by the remaining blade of weighing on electronic scale, according to weighing, whether whether qualified decision puts into the first blade pallet or the second blade pallet, electronic scale reset signal is effective subsequently, electronic scale zeros data, meanwhile, press, manipulator continues production sabot flow process, manipulator goes press place feeding more subsequently, be put on position one that the electronic scale scale pan specifies again, go again previous position two takes the blade of having weighed away, so repeatedly,
7) at the end of producing, last material on the electronic scale scale pan is directly taken in final step away, and after selecting discharge position according to Qualification of weighing, then manipulator returns normal bit set, and press idle waiting, electronic scale weighing reset, and system is produced and terminated.
Further, the pickup of alloy blade adopts sucker to draw.
Further, draw before alloy blade, place alloy blade after all carry out airs blowing removal surface impurity.
The utility model adopts above-mentioned technical scheme, has following technological merit:
1 adopt this system can greatly reduce workman the amount of labour, enhance productivity, improve product percent of pass, and make a workman to operate multiple devices.
2 whole systems are compared to traditional artificial production sabot, and many-sided I/O signal detects and replaces press feeding all to drastically increase the security of workman with manipulator.
3 adopt electronic scale on the scale pan, arrange two weighs and a little alternately weighs, and do not adopt blowing once, wait for the form claiming the heavy data stabilization of electronic scale to send data again, make the data stabilization of electronic scale reliable, and wait for electronic scale data stabilization without spended time, substantially increase system production sabot efficiency.
4 hairbrush are between electronic scale and press, and trash receptacle is in electronic scale side, shorten the robot movement time, improve production efficiency.
The mode of 5 employings, two pallets, still can continue production sabot after making single dishful, improve the production efficiency of system equally.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model system.
Fig. 2 is the information interaction schematic diagram of the utility model system.
Fig. 3 is the instructions query flow chart of the utility model method.
Fig. 4 is the protocol procedures figure of the utility model method.
Shown in figure be: 1-industrial control computer main frame; 2-display; 3-press; 4-press controller; 5-manipulator; 6-Manipulator Controller; 7-extension arm; 8-trash receptacle; The in line hairbrush of 9-; 10-electronic scale; 11-first blade pallet; 12-second blade pallet; 13-first pallet detecting sensor; 14-second pallet detecting sensor; 15-Serial Port Line; 16-video signal cable; 17-netting twine; 18-press control signal bus; 19-system I/O signal bus; 20-electronic scale resets I/O signal line; 21-sensor signal lines; 22-manipulator I/O signal bus; 23-manipulator control signal bus; 24-system electrical cabinet; 25-extension pedestal; 26-installing plate; 27-robot base center; 28-U axle; 29-press I/O signal bus.
Detailed description of the invention
Now with detailed description of the invention, the utility model is further illustrated by reference to the accompanying drawings, but embodiment of the present utility model is not limited thereto:
As shown in Figure 1, a kind of carbide chip automation disk loading system of integrated manipulator, comprise industrial control computer main frame 1, display 2, press 3 and press controller 4, manipulator 5, Manipulator Controller 6, in line hairbrush 9, trash receptacle 8, electronic scale 10, extension arm 7, first blade pallet 11, second blade pallet 12, first pallet detecting sensor 13 and the second pallet detecting sensor 14, installing plate 26, system electrical cabinet 24, wherein:
Manipulator 5 is arranged on press 3 and extends on pedestal 25, in manipulator 5 front end, one extension arm 7 is housed, its length is 175mm, when U axle 28 coordinate is 0, it is identical with manipulator X positive direction, this extension arm 7 can ensure that manipulator enters in press 3 smoothly and be taken out by alloy blade, expands the range of movement of manipulator 5 simultaneously.System electrical cabinet 24 is fixed on the side of press 3, and Manipulator Controller 6 is fixed on the side of manipulator 3, carries out data interaction and command transfer between Manipulator Controller 6 and industrial control computer main frame 1 by Transmission Control Protocol.
In line hairbrush 9 is arranged on installing plate 26, its position is between electronic scale 10 and press 3, blade can be moved left and right nearby to remove burr in line hairbrush 9 after making manipulator 5 take out blade like this, ensure the reliable in quality of blade, improve production efficiency simultaneously.
Electronic scale 10 is arranged on installing plate 26, its position is 345-355mm from the X-direction distance of manipulator 5 base central 27, Y-direction distance is 60-65mm place, make manipulator 5 can along clockwise or counterclockwise 90-degree rotation on new U axle 28, to ensure that manipulator 5 can go according to extension arm 7 attitude of specifying to capture the blade that electronic scale 10 has been weighed.
Trash receptacle 8 is arranged on installing plate 26, and its position is on the left side of electronic scale 10, and the underproof alloy blade that makes to weigh can be put into trash receptacle 8 fast, improves efficiency.
The first square blade pallet 11, second blade pallet 12 is arranged on press extension pedestal 25, distance 27Y direction, robot base center distance is 340-360, X-direction is symmetrical, described first pallet detecting sensor 13 and the second pallet detecting sensor 14 are separately positioned on the first blade pallet 11, second blade pallet 12, and by sensor signal lines 21 connected system regulator cubicle 24; When after a pallet dishful, system automatically switches to another pallet sabot.
As shown in Figure 2, in industrial control computer main frame 1, PCI slot loads one piece of Phototube Coupling digital I/O card, be connected with the corresponding I/O signal of manipulator I/O signal bus 22 by system I/O signal bus 19, be connected with the corresponding I/O signal of press I/O signal bus 29.
Industrial control computer main frame 1 obtains I/O signal that in system I/O signal bus 19, corresponding input I/O signal or output the are specified I/O signal to system I/O signal bus 19 correspondence by the built-in command function of call number IO card,
Connected by netting twine 17 between industrial control computer main frame 1 and Manipulator Controller 6, complete the data interaction between industrial control computer main frame 1 and Manipulator Controller 6 by Transmission Control Protocol,
Weight information data by Serial Port Line 15, are sent to industrial control computer main frame 1 by RS232 agreement by electronic scale 10, and the precision of electronic scale 10 is 0.01g.
Display screen 2 connects industrial control computer main frame 1, for real-time display system operational factor by video signal cable 16.
In the carbide chip assembling control method instruction flow that is mainly reflected in Fig. 3, Fig. 4 of whole system and system cloud gray model flow process.
As shown in Figure 3, the major instruction flow process of whole system is: after start up system, first waiting system is ready, after system is ready, enter recursion instruction check process, system according to different conditions of work successively to product edition instruction, teaching instruction, system electrification instruction, start production ordering, suspend production ordering, continue production ordering, stop production ordering, log off production ordering and the inner instruction automatically generated carry out circular test, and make corresponding system decision and task according to different instructions input, specific as follows:
1, whether industrial control computer main frame 1 waiting system is ready, and the ready rear record of production being loaded into last time of system, selects subsequently whether to carry out product edition, then enter Dynamic System instruction wait state, waits for the various operational orders that operator and system generate;
2, after systems inspection to system electrification instruction, PowSys signal is effective, complete that manipulator powers on subsequently, network connect, system data is mutual, the I/O signal initialization operation of press controller 4 and Manipulator Controller 6, manipulator 5 checks that whether enabled instruction is effective subsequently, if invalid, system enters teaching pattern, can carry out on-line teaching and online product edition;
3, after systems inspection to startup production ordering, system Start signal is effective, and first system checks mistake and warning, if wrong, then and Start invalidating signal, and wait for that operator processes mistake, after processing, wait for that operator re-enters startup production ordering.If there is warning, wait for that operator processes warning, after processing, wait for that operator confirms all clear, after systems inspection confirms releasing to alarm, enable Con signal, continue next step, subsequently Con Signal Fail, if there is no mistake and warning, now manipulator 3, press 5, electronic scale 10 carry out manipulator 3 return respectively, press 5 prepares and electronic scale 10 resets, and the blade carrying out requirement is subsequently produced and sabot process;
4, when after systems inspection to pause instruction, Pause signal is effective, and whole system suspends production, is checked through after continuing production ordering, Pause invalidating signal, continues the production just suspended after time-out;
5, when after systems inspection to clear command of weighing, electronic scale 10 reset signal WgtZero signal is effective, and system completes the clearing process to electronic scale 10, has reset rear WgtZero invalidating signal;
6, when systems inspection is to sampling instruction, sampled signal Sample is effective, and system completes the sampling to current blade, rear Sample invalidating signal of having sampled;
7, when systems inspection is to stopping production ordering, it is effective that stopping prepares StpRdy signal, and system prepares the work before stopping production, and system stops producing subsequently, stops producing rear StpRdy invalidating signal;
8, when systems inspection is to cut-offing instruction, PowSys invalidating signal, manipulator 5 power-off, press 3 enters idle condition, and program enters idle condition;
9, systems inspection to log off instruction time, systematic conservation data, program exits.
Specifically, whole production process speed is adjustable; The pickup of alloy blade adopts the method for sucker absorption; Air blowing removal surface impurity is all carried out before drawing alloy blade, after placement alloy blade; Production process to be weighed qualified detection to each alloy blade; Electronic scale 10 is after the alloy blade of some cycles of weighing, and electronic scale resets I/O signal 20 effectively, thus electronic scale 10 zeros data, use Single Electron scale 10 to carry out reloading weighing; Weigh simultaneously reloading, manipulator 5 changes the attitude between alloy blade.
Specifically, except the instruction that logs off, outside system electrification instruction, other instruction all must perform in system electrification instruction and PowSys signal effectively after just can become effective instruction, other instruction described is except startup production ordering, and remaining instruction just must can become effective instruction again after startup production ordering performs and Start signal is effective.
As shown in Figure 4, according to instruction flow, described carbide chip automation disc filling method comprises step:
1, after system starts, first waiting system is ready, and after system is ready, waiting system powers on instruction, after system completes and powers on, check that whether Start signal is effective, if Start invalidating signal, system enters teaching pattern, until Start signal effectively after, system enters into production model;
2, after entering production model, first system has checked whether that alarm and mistake produce, if having, then need first to sound all clear and mistake, need manual confirmation alarm and false solution to remove after releasing, system just continues to run, otherwise is in wait acknowledge state always, and if mistake, then system Start invalidating signal, removes backed off after random production model in confirmation, now needs to re-enter beginning production ordering, make Start signal effective, and then enter production model;
3, after system successfully enters production model, press 3 prepares, manipulator 5 times normal bit, electronic scale 10 resets, enter production sabot task subsequently, in sabot process, first system checks whether the condition that blade suppressed by press 3 meets, if meet, then controls appropriate alloy powder and enters in press 3, press 3 is suppressed, blade is shaping, if do not meet, then press 3 waiting system permission always throttle signal, suppresses successfully, compacting OK signal is effective, and waits for that manipulator 5 enters and take blade away and allow throttle signal next time;
4, manipulator 5 enters press 3 and draws in blade process, carry out three times at the most and draw 48, if three absorptions are unsuccessful, manipulator 5 is parked in normal bit, system alarm, if draw successfully in three times, then carry out hairbrush process, system exports feeding pass signal, allows throttle signal subsequently, compacting OK invalidating signal, and starting the compacting blade of a new round, compacting successful subsequent continues and exports compacting OK signal effectively and wait for the throttle signal of next round;
5, after burr process completes, alloy blade is placed on electronic scale 10 and weighs, the first feeding of manipulator 5 is put on the position one that electronic scale 10 scale pan specifies, and then go feeding, during this, weight information data are sent to industrial control computer main frame 1 by electronic scale 10, current blade is placed on the position two that electronic scale 10 scale pan specifies by manipulator 5, arrive previous position one simultaneously and take the blade of having weighed away, judge that whether alloy blade is qualified according to the data that industrial control computer main frame 1 receives, if qualified, put into charging tray, otherwise, put into trash receptacle 8;
6, when systems inspection to distance electronic scale 10 last time reset the quantity of putting blade equal periodicity N=T-1 time, system WgtZero signal is effective, manipulator 5 no longer goes to press 3 place to draw the blade of compacting, but by the remaining blade of weighing on electronic scale 10, according to weighing, whether whether qualified decision puts into the first blade pallet 11 or the second blade pallet 12, electronic scale 10 reset signal is effective subsequently, electronic scale 10 zeros data, meanwhile, press 3, manipulator 5 continues production sabot flow process, manipulator 5 goes press 3 place feeding 43 more subsequently, be put on position 1 that electronic scale 10 scale pan specifies again, go again previous position two takes the blade of having weighed away, so repeatedly,
7, at the end of producing, last material on electronic scale 10 scale pan is directly taken in final step away, and according to weighing, Qualification is selected after discharge position, then manipulator 5 times normal bit set, and press 3 idle waiting, electronic scale 10 are weighed clearings, and system produces end.
Specifically, the pickup of alloy blade adopts sucker to draw.
Specifically, draw before alloy blade, place alloy blade after all carry out airs blowing removal surface impurity.
Above-described embodiment of the present utility model is only for the utility model example is clearly described, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.All do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., within the protection domain that all should be included in the utility model claim.
Claims (5)
1. the carbide chip automation disk loading system of an integrated manipulator, it is characterized in that: comprise industrial control computer main frame (1), display (2), press (3) and press controller (4), manipulator (5), Manipulator Controller (6), in line hairbrush (9), trash receptacle (8), electronic scale (10), extension arm (7), first blade pallet (11), second blade pallet (12), first pallet detecting sensor (13) and the second pallet detecting sensor (14), installing plate (26), system electrical cabinet (24), wherein:
Described manipulator (5) is arranged on the extension pedestal (25) on press (3) right side, described manipulator (5) front end fills the extension arm (7) rotated around U axle (28), described system electrical cabinet (24) is fixed on the side of press (3), described Manipulator Controller (6) is fixed on the side of manipulator (3), described installing plate (26) is arranged on the extension pedestal (25) of press (3) front side, described in line hairbrush (9) is arranged on installing plate (26), its position is between electronic scale (10) and press (3), electronic scale (10) is arranged on installing plate (26), its position is 345mm-355mm from the X-direction distance of manipulator base central (27), Y-direction distance is 60-65mm place, described trash receptacle (8) is arranged on installing plate (26), its position is on the left side of electronic scale (10), described first blade pallet (11), second blade pallet (12) is arranged on press extension pedestal (25), distance mechanical hand base central (27) Y-direction distance is 340-360, X-direction is symmetrical, described first pallet detecting sensor (13) and the second pallet detecting sensor (14) are separately positioned on the first blade pallet (11), on second blade pallet (12), and by sensor signal lines 21 connected system regulator cubicle (24),
The interior PCI slot of industrial control computer main frame (1) loads one piece of Phototube Coupling digital I/O card, be connected with manipulator I/O signal bus (22) corresponding I/O signal by system I/O signal bus (19), be connected with press I/O signal bus (18) corresponding I/O signal
Described industrial control computer main frame (1) obtains I/O signal that the upper corresponding input I/O signal of system I/O signal bus (19) or output the specifies I/O signal to system I/O signal bus (19) correspondence by the built-in command function of call number IO card
Connected by netting twine (17) between described industrial control computer main frame (1) and Manipulator Controller (6), the data interaction between industrial control computer main frame (1) and Manipulator Controller (6) is completed by Transmission Control Protocol, described electronic scale (10) by weight information data by Serial Port Line (15), send to industrial control computer main frame (1) by RS232 agreement, display screen (2) connects industrial control computer main frame (1) by video signal cable (16).
2. the carbide chip automation disk loading system of integrated manipulator according to claim 1, is characterized in that: the precision of described electronic scale (10) is 0.01g.
3. the carbide chip automation disk loading system of integrated manipulator according to claim 1, is characterized in that: be also connected with electronic scale between described electronic scale (10) and system electrical cabinet (24) and reset I/O signal line (20).
4. the carbide chip automation disk loading system of integrated manipulator according to claim 1, it is characterized in that: described extension arm (7) length is 175mm, when U axle (28) coordinate is 0, extension arm (7) length direction is identical with manipulator X positive direction.
5. the carbide chip automation disk loading system of integrated manipulator according to claim 1, it is characterized in that: described first blade pallet (11), the second blade pallet (12) shape are square or circular, detected respectively whether put in place by the first pallet detecting sensor (13), the second pallet detecting sensor (14).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520972052.5U CN205201515U (en) | 2015-11-28 | 2015-11-28 | Automatic sabot system of carbide blade of integrated manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520972052.5U CN205201515U (en) | 2015-11-28 | 2015-11-28 | Automatic sabot system of carbide blade of integrated manipulator |
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| CN205201515U true CN205201515U (en) | 2016-05-04 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106808463A (en) * | 2015-11-28 | 2017-06-09 | 华南理工大学 | Carbide chip automation disk loading system and the method for a kind of integrated manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106808463A (en) * | 2015-11-28 | 2017-06-09 | 华南理工大学 | Carbide chip automation disk loading system and the method for a kind of integrated manipulator |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160504 Termination date: 20181128 |