CN205437395U - Processing industrial robot - Google Patents
Processing industrial robot Download PDFInfo
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- CN205437395U CN205437395U CN201620275326.XU CN201620275326U CN205437395U CN 205437395 U CN205437395 U CN 205437395U CN 201620275326 U CN201620275326 U CN 201620275326U CN 205437395 U CN205437395 U CN 205437395U
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Abstract
The utility model provides a processing industrial robot relates to processing industrial technology field. This processing industrial robot's the robot's work piece processing end is connected with electrode assembly, be provided with work piece rotational positioning platform at the electrode assembly lower extreme, work piece rotational positioning platform is used for bearing waits to process the work piece, electrode assembly with wait to process the two poles of the earth that working power supply is connected respectively to the work piece, working power supply is used for making electrode assembly and waits to process and produces arc discharge between the work piece, the motion control ware is connected with the robot, the motion control ware is used for controlling the the robot motion, the rotation sets up the department in electrode assembly towards the liquid device, the rotation is used for providing the working solution to electrode assembly towards the liquid device for electrode assembly is to electrode assembly and wait to process the regional working solution that sprays of arc discharge between the work piece, forms the working solution medium. The utility model discloses the processingquality that can solve current processing industrial robot is relatively poor, and is difficult to process the problem of the work piece material of large -scale high strength.
Description
Technical field
This utility model relates to processing industry technical field, particularly relates to a kind of processing industry robot.
Background technology
Currently, in processing industry, processing industry robot is utilized to carry out work pieces process the most universal.Existing machining robot has the advantage that range of movement is big, flexible and motility is high, in machining field, has begun to substitute Digit Control Machine Tool and completes low cost, high-quality, high efficiency automatization processing method.
Currently, Type of Machining Robot be widely used in weldment polish, cast member deburring, stamping parts deburring, in the material removal process such as the polishing of part with complex appearance such as wheel hub and mould, compared with using with processing industry robot welding, spraying, loading and unloading, piling etc., the machining of processing industry robot needs higher kinematic accuracy and more complicated path planning.But, the Motor execution element of current material removal process robot is elongated industrial arm, and is cantilever beam structure.When this makes the degree of freedom of robot more, the final actuating element of robot is overhanging shape, and this is greatly lowered the integral rigidity of robot, and the load of robot can drastically decline, and kinematic accuracy also geometry level is successively decreased.Especially carrying is perpendicular to the poor ability of arm load, causes being easily generated during machining chatter, and the processing object of current processing industry robot is only limited to softer miniature workpiece material, which suppress the application in part is processed of the processing industry robot.Therefore, robot performance and processing technique optimization aspect there are still and improve space greatly.Wherein, reducing or eliminating robot integral rigidity is that robot performance optimizes particularly important aspect on the impact of the course of processing, and processing of robots quality and processing stability are also had critically important impact.
Utility model content
Embodiment of the present utility model provides a kind of processing industry robot, poor to solve the crudy of current processing industry robot, and the problem being difficult to the workpiece material of large high-strength.
For reaching above-mentioned purpose, this utility model adopts the following technical scheme that
A kind of processing industry robot includes: liquid device and motion controller are rushed in robot body, electrode assembly, working power, rotation；
The work pieces process end of described robot body is connected with described electrode assembly；Described electrode assembly lower end is provided with workpiece rotary locating stand；Described workpiece rotary locating stand is used for carrying workpiece to be processed；Described electrode assembly and workpiece to be processed connect the two poles of the earth of working power respectively, and described working power is used for making to produce between electrode assembly and workpiece to be processed arc discharge；
Described motion controller is connected with described robot body；Described motion controller is used for controlling the motion of described robot body；
Described rotation is rushed liquid device and is arranged at described electrode assembly；Described rotation rushes liquid device for providing working solution to electrode assembly so that electrode assembly sprays working solution to the arc discharge area between electrode assembly and workpiece to be processed, forms working solution medium.
Concrete, described robot body includes: robot base, base mechanism, waist mechanism, big arm mechanism, front arm mechanism, Wrist mechanism, end effector mechanism；
Described robot base is connected by mandrel and connecting key with described base mechanism by base joint；Described base mechanism is connected with one end of described waist mechanism；One end of described waist mechanism is connected by mandrel and connecting key and a waist joint；The other end of described waist mechanism is connected with described big arm mechanism；Described big arm mechanism is connected by mandrel and connecting key and a large-arm joint；Described big arm mechanism also one end with described front arm mechanism is connected, and shoulder joint before one end of described front arm mechanism connects by mandrel and connecting key；The other end of described front arm mechanism is connected with one end of described Wrist mechanism；One end of described Wrist mechanism connects a wrist joint by mandrel and connecting key；The other end of described Wrist mechanism is connected with one end of described end effector mechanism；One end of described end effector mechanism connects an end by mandrel and connecting key and performs joint.
Further, described processing industry robot also includes working solution circulating system；Described working solution circulating system includes: working solution storage tank, liquid supply pressure pump, waste liquid gather compression pump, waste liquid storage tank, defecator, digital pressure controller and gather valve；
The outlet of working solution storage tank is connected with rotating the entrance rushing liquid device；Described liquid supply pressure pump and described collection valve are arranged at the outlet of described working solution storage tank and rotation is rushed on the connecting line between the entrance of liquid device；
Described waste liquid storage tank is arranged at described workpiece rotary locating stand lower end；
The outlet of described waste liquid storage tank is connected with the entrance of working solution storage tank；Described waste liquid gathers compression pump and defecator is set in turn on the connecting line of the outlet of waste liquid storage tank and the entrance of working solution storage tank；
Described digital pressure controller is connected with described collection valve；Described digital pressure controller is used for controlling described collection valve.
Additionally, the other end of described end effector mechanism is bolted to connection described rotation rushes liquid device；Described rotation is rushed liquid device lower center position and is connected described electrode assembly.
Additionally, the centerline of described electrode assembly is provided with tool-electrode；When processing described workpiece to be processed by described electrode assembly, the rotation axis of described tool-electrode overlaps with the normal of the point on the processing curve of workpiece to be processed.
Concrete, described motion controller performs joint with described base joint, waist joint, large-arm joint, front shoulder joint, wrist joint, end and is connected respectively；Described motion controller is for controlling described base joint, waist joint, large-arm joint, front shoulder joint, wrist joint, the motion in end execution joint.
Concrete, described robot base is flat supporting structure；Described robot base is fixed on one by bolt and fixes on work platforms, mobile work platform or machine tool motion platform；Described robot base is connected with described base joint by bolt.
Additionally, described processing industry robot includes multiple described workpiece rotary locating stand；Described workpiece rotary locating stand is indexing positioning table.
Additionally, described working solution is Water-based working liquid for electrical.
A kind of processing industry robot that this utility model embodiment provides, the work pieces process end of the robot body of this processing industry robot is connected with electrode assembly；Electrode assembly lower end is provided with workpiece rotary locating stand；Workpiece rotary locating stand is used for carrying workpiece to be processed；Electrode assembly and workpiece to be processed connect the two poles of the earth of working power respectively, and working power is used for making to produce between electrode assembly and workpiece to be processed arc discharge；Motion controller is connected with robot body；Motion controller is used for controlling robot body motion；Rotation is rushed liquid device and is arranged at electrode assembly；Rotation rushes liquid device for providing working solution to electrode assembly so that electrode assembly sprays working solution to the arc discharge area between electrode assembly and workpiece to be processed, forms working solution medium.So, processing industry robot is combined by this utility model with arc discharge processing technique, achieve efficiently processing accurately of parts, and the material of high intensity difficulty cutting can be processed, the crudy avoiding current processing industry robot is poor, and the problem being difficult to the workpiece material of large high-strength.It addition, processing industry robot is combined with arc discharge processing technique and also overcomes current arc discharge process and be applied to the finite spatial extent such as lathe by this utility model, the problem that working (machining) efficiency is relatively low and processing space is less.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is only embodiments more of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The structural representation one of a kind of processing industry robot that Fig. 1 provides for this utility model embodiment；
The structural representation two of a kind of processing industry robot that Fig. 2 provides for this utility model embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of this utility model protection.
As it is shown in figure 1, this utility model embodiment provides a kind of processing industry robot to include: liquid device 40 and motion controller 50 are rushed in robot body 10, electrode assembly 20, working power 30, rotation.
The work pieces process end of this robot body 10 is connected with electrode assembly 20.Electrode assembly 20 lower end is provided with workpiece rotary locating stand 60；Workpiece rotary locating stand 60 is used for carrying workpiece to be processed 601；Electrode assembly 20 and workpiece to be processed 601 connect the two poles of the earth of working power 30 respectively, and working power 30 can make to produce between electrode assembly 20 and workpiece to be processed 601 arc discharge.This working power 30 can be direct current or the pulse power of high discharge peak currents (10-20000A), and the high-energy-density electric arc produced for electrode assembly 20 and workpiece to be processed 601 provides energy source.
This motion controller 50 is connected with robot body 10；Motion controller 50 can control robot body 10 and move.
Rotation is rushed liquid device 40 and is arranged at electrode assembly 20；Rotation rushes liquid device 40 for providing working solution to electrode assembly 20 so that electrode assembly 20 sprays working solution to the arc discharge area between electrode assembly 20 and workpiece to be processed 601, forms working solution medium.
Additionally, working solution can be Water-based working liquid for electrical.
Further, as in figure 2 it is shown, this robot body 10 includes: robot base 101, base mechanism 102, waist mechanism 103, big arm mechanism 104, front arm mechanism 105, Wrist mechanism 106, end effector mechanism 107.
Robot base 101 is connected by mandrel and connecting key (not shown) with base mechanism 102, so that base mechanism 102 can be rotated around axis by base joint 108.Base mechanism 102 is connected with one end of waist mechanism 103.One end of waist mechanism 103 is connected, so that waist mechanism 103 can carry out rotary oscillation around axis by mandrel and connecting key and a waist joint 109.The other end of waist mechanism 103 is connected with big arm mechanism 104.Big arm mechanism 104 is connected by mandrel and connecting key and a large-arm joint 110, so that big arm mechanism 104 can carry out rotary oscillation around axis.Big arm mechanism 104 also one end with front arm mechanism 105 is connected, and shoulder joint 111 before one end of front arm mechanism 105 is by mandrel and connecting key connection one, so that front arm mechanism 105 can be rotated around axis.The other end of front arm mechanism 105 is connected with one end of Wrist mechanism 106.One end of Wrist mechanism 106 connects a wrist joint 112 by mandrel and connecting key, so that Wrist mechanism 106 can carry out rotary oscillation around axis.The other end of Wrist mechanism 106 is connected with one end of end effector mechanism 107.One end of end effector mechanism 107 connects an end by mandrel and connecting key and performs joint 113, so that end effector mechanism 107 can rotate about the axis motion.
Base joint 108 herein can be formed (not shown) by servomotor, decelerator, mandrel, support, connection keyway and spring bearing etc., it is achieved the position rotating motion of base mechanism 102.
Waist joint 109 herein can be formed (not shown) by servomotor, decelerator, mandrel, support, connection keyway and spring bearing etc., thus realizes the location motion of waist mechanism 103.
Large-arm joint 110 herein can be formed (not shown) by servomotor, decelerator, mandrel, support, connection keyway and spring bearing etc., thus realizes the location motion of big arm mechanism 104.
Front shoulder joint 111 herein can be formed (not shown) by servomotor, decelerator, mandrel, support, connection keyway, shaft coupling and spring bearing etc., such that it is able to the location motion of arm mechanism 105 before realizing.
Wrist joint 112 herein can be formed (not shown) by servomotor, decelerator, mandrel, support, connection keyway and spring bearing etc., such that it is able to realize the location motion of Wrist mechanism 106.
End herein performs joint 113 can be formed (not shown) by servomotor, decelerator, mandrel, support, connection keyway and spring bearing etc., such that it is able to realize the location motion of end effector mechanism 107.
What deserves to be explained is, the motion of robot body 10 can be multifreedom motion, or robot motion's actuator is multiaxial motion, may be configured as required 2,3,4,5,6 degree of freedom and more than, but be not only limited to this.It addition, the size of robot body 10 can be 10-60000mm, but not as good as being confined to this；The work space radius of robot body 10 can be 1-100000mm, but is not only limited to this.
Further, as in figure 2 it is shown, this processing industry robot also includes working solution circulating system 70.Comprising: working solution storage tank 701, liquid supply pressure pump 702, waste liquid gather compression pump 703, waste liquid storage tank 704, defecator 705, digital pressure controller 706 and gather valve 707.
The outlet of this working solution storage tank 701 is connected with rotating the entrance rushing liquid device 40；Liquid supply pressure pump 702 and gather valve 707 and be arranged at the outlet of working solution storage tank 701 and rotation is rushed on the connecting line between the entrance of liquid device 40.Working solution can be pumped to rotation by liquid supply pressure pump 702 and rush liquid device 40, and then enter into electrode assembly 20, be flowed at a high speed at discharging gap by the tool-electrode 201 of electrode assembly 20 afterwards.
This waste liquid storage tank 704 can be arranged at workpiece rotary locating stand 60 lower end, applies working solution that is complete and that fall to be undertaken at discharging gap.The outlet of waste liquid storage tank 704 is connected with the entrance of working solution storage tank 701；Waste liquid gathers compression pump 703 and defecator 705 is set in turn on the connecting line of the outlet of waste liquid storage tank 704 and the entrance of working solution storage tank 701.The impurity such as machining chips that working solution carries can be filtered by defecator 705.
Digital pressure controller 706 is connected with gathering valve 707, and this digital pressure controller 706 can control to gather valve 707, thus adjust and rotate pressure and the flow velocity rushing the working solution that liquid device 40 provides.
Additionally, as in figure 2 it is shown, the other end of end effector mechanism 107 can rush liquid device 40 by the fixing connection rotation of bolt (not shown)；Liquid device 40 lower center position is rushed in rotation can connect electrode assembly 20.
Additionally, as in figure 2 it is shown, the centerline of electrode assembly 20 is provided with tool-electrode 201, so can be near the surface of workpiece to be processed by the way of tool-electrode 201 is with high-speed milling.When processing workpiece to be processed 601 by electrode assembly 20, the rotation axis of tool-electrode 201 can overlap with the normal of the point on the processing curve of workpiece to be processed 601.Additionally, this motion controller 50 can also be connected with electrode assembly 20, to control the rotary rpm of tool-electrode 201.Described electrode assembly 20 can by spindle motor, mandrel, shaft coupling, rush liquid device, connect support, spring bearing, seal washer composition, it is achieved the high speed rotary motion of tool-electrode.
Concrete, this motion controller 50 can perform joint 113 with base joint 108, waist joint 109, large-arm joint 110, front shoulder joint 111, wrist joint 112, end and be connected respectively.Motion controller 50 can control base joint 108, waist joint 109, large-arm joint 110, front shoulder joint 111, wrist joint 112, the motion in end execution joint 113.
Motion controller 50 herein can be made up of key elements such as host computer, off-line programing system, slave computer motion control card, servo-driver and switch boards, but is not only limited to this.This host computer can manage, feed back and show the information such as process, state and the fault alarm that arc discharge processes.This off-line programing system establishes the Data-Link of CAD-CAM-ROBOT, three-dimensional information according to processing part, CAD (computer-aided design) mathematical model can be set up, generate the machining code of CAM (computer aided manufacturing), machining code can accurately be calculated out the movement locus of each mechanical arm by the converse solution method of robot kinematics's model, it is ensured that in the course of processing, the rotation axis of tool-electrode coincides with the normal of arbitrfary point on workpiece to be processed curved surface；After postpositive disposal, generate the discernible movement code of robot；Slave computer motion control card can process the robot code that off-line programing generates, and code is converted into the angle value of each manipulator motion correspondence servomotor；Servo-driver receives the movement instruction of slave computer motion control card, by displacement and speed planning, drives each servomotor to move.
Concrete, as in figure 2 it is shown, robot base 101 can be flat supporting structure.This robot base 101 can be fixed on one by bolt and fix on work platforms, mobile work platform or machine tool motion platform, thus ensures that robot body 10 will not topple.Robot base 101 can be connected with base joint 108 by bolt.
Additionally, the processing industry robot in this utility model embodiment can include that multiple workpiece rotary locating stand 60, each workpiece rotary locating stand 60 can be week array arrangement, circular array or other array combination；Workpiece rotary locating stand 60 can be indexing positioning table.The indexing that can be realized workpiece in the course of processing by indexing positioning table is positioned, it is to avoid the position error that workpiece secondary clamping brings, and improves positioning precision.
What deserves to be explained is, the current arc discharge course of processing generally individually occurs on the motion platform of Digit Control Machine Tool.Being limited by Digit Control Machine Tool motion platform, in these processing, the curve movement of tool-electrode is limited in specific space, it is impossible to carry out spatially distributed processing.Being limited by Digit Control Machine Tool single axial movement scope, add man-hour at the part processing larger size, arc discharge processing lies in less than due flexibility, can not realize the processing characteristics according to part and use multiple processing mode.
When processing large-scale part, the difficult point that processing industry robot has that processing load is little, affected greatly by workpiece stiffness, workpiece material removal amount is little and machining path planning is complicated, but there are working (machining) efficiency height high, flexible and the advantage of low cost；And arc discharge processing technique to have processing flexibility low, the processing difficult points such as workpiece space is little, execute-in-place is dumb and equipment cost is high, but have workpiece material removal amount greatly, not by advantages such as workpiece stiffness are affected.Visible, the characteristic having complementary advantages is there is in machining robot technology with arc discharge processing technique, both are organically combined by this utility model, it is achieved a kind of novel arc discharge machining robot technology, can make a breakthrough in terms of efficient, the high flexibility of large scale parts and low cost processing.Additionally, robot arc discharge processing method can derive milling, grinding, turning, hole, polishes and the processing mode such as polishing, thus the feature complex-curved according to processing workpiece, compound several robots arc discharge processing mode, it is achieved the highly-efficient processing of parts.
A kind of processing industry robot that this utility model embodiment provides, the work pieces process end of the robot body of this processing industry robot is connected with electrode assembly；Electrode assembly lower end is provided with workpiece rotary locating stand；Workpiece rotary locating stand is used for carrying workpiece to be processed；Electrode assembly and workpiece to be processed connect the two poles of the earth of working power respectively, and working power is used for making to produce between electrode assembly and workpiece to be processed arc discharge；Motion controller is connected with robot body；Motion controller is used for controlling robot body motion；Rotation is rushed liquid device and is arranged at electrode assembly；Rotation rushes liquid device for providing working solution to electrode assembly so that electrode assembly sprays working solution to the arc discharge area between electrode assembly and workpiece to be processed, forms working solution medium.So, processing industry robot is combined by this utility model with arc discharge processing technique, achieve efficiently processing accurately of parts, and the material of high intensity difficulty cutting can be processed, the crudy avoiding current processing industry robot is poor, and the problem being difficult to the workpiece material of large high-strength.It addition, processing industry robot is combined with arc discharge processing technique and also overcomes current arc discharge process and be applied to the finite spatial extent such as lathe by this utility model, the problem that working (machining) efficiency is relatively low and processing space is less.
Applying specific embodiment in this utility model to be set forth principle of the present utility model and embodiment, the explanation of above example is only intended to help to understand method of the present utility model and core concept thereof；Simultaneously for one of ordinary skill in the art, according to thought of the present utility model, the most all will change, in sum, this specification content should not be construed as restriction of the present utility model.
Claims (9)
1. a processing industry robot, it is characterised in that including: liquid device and motion controller are rushed in robot body, electrode assembly, working power, rotation；
The work pieces process end of described robot body is connected with described electrode assembly；Described electrode assembly lower end is provided with workpiece rotary locating stand；Described workpiece rotary locating stand is used for carrying workpiece to be processed；Described electrode assembly and workpiece to be processed connect the two poles of the earth of working power respectively, and described working power is used for making to produce between electrode assembly and workpiece to be processed arc discharge；
Described motion controller is connected with described robot body；Described motion controller is used for controlling the motion of described robot body；
Described rotation is rushed liquid device and is arranged at described electrode assembly；Described rotation rushes liquid device for providing working solution to electrode assembly so that electrode assembly sprays working solution to the arc discharge area between electrode assembly and workpiece to be processed, forms working solution medium.
Processing industry robot the most according to claim 1, it is characterised in that described robot body includes: robot base, base mechanism, waist mechanism, big arm mechanism, front arm mechanism, Wrist mechanism, end effector mechanism；
Described robot base is connected by mandrel and connecting key with described base mechanism by base joint；Described base mechanism is connected with one end of described waist mechanism；One end of described waist mechanism is connected by mandrel and connecting key and a waist joint；The other end of described waist mechanism is connected with described big arm mechanism；Described big arm mechanism is connected by mandrel and connecting key and a large-arm joint；Described big arm mechanism also one end with described front arm mechanism is connected, and shoulder joint before one end of described front arm mechanism connects by mandrel and connecting key；The other end of described front arm mechanism is connected with one end of described Wrist mechanism；One end of described Wrist mechanism connects a wrist joint by mandrel and connecting key；The other end of described Wrist mechanism is connected with one end of described end effector mechanism；One end of described end effector mechanism connects an end by mandrel and connecting key and performs joint.
Processing industry robot the most according to claim 2, it is characterised in that described processing industry robot also includes working solution circulating system；Described working solution circulating system includes: working solution storage tank, liquid supply pressure pump, waste liquid gather compression pump, waste liquid storage tank, defecator, digital pressure controller and gather valve；
The outlet of working solution storage tank is connected with rotating the entrance rushing liquid device；Described liquid supply pressure pump and described collection valve are arranged at the outlet of described working solution storage tank and rotation is rushed on the connecting line between the entrance of liquid device；
Described waste liquid storage tank is arranged at described workpiece rotary locating stand lower end；
The outlet of described waste liquid storage tank is connected with the entrance of working solution storage tank；Described waste liquid gathers compression pump and defecator is set in turn on the connecting line of the outlet of waste liquid storage tank and the entrance of working solution storage tank；
Described digital pressure controller is connected with described collection valve；Described digital pressure controller is used for controlling described collection valve.
Processing industry robot the most according to claim 3, it is characterised in that the other end of described end effector mechanism is bolted to connection described rotation and rushes liquid device；Described rotation is rushed liquid device lower center position and is connected described electrode assembly.
Processing industry robot the most according to claim 4, it is characterised in that the centerline of described electrode assembly is provided with tool-electrode；When processing described workpiece to be processed by described electrode assembly, the rotation axis of described tool-electrode overlaps with the normal of the point on the processing curve of workpiece to be processed.
Processing industry robot the most according to claim 5, it is characterised in that described motion controller performs joint with described base joint, waist joint, large-arm joint, front shoulder joint, wrist joint, end and is connected respectively；Described motion controller is for controlling described base joint, waist joint, large-arm joint, front shoulder joint, wrist joint, the motion in end execution joint.
Processing industry robot the most according to claim 6, it is characterised in that described robot base is flat supporting structure；Described robot base is fixed on one by bolt and fixes on work platforms, mobile work platform or machine tool motion platform；Described robot base is connected with described base joint by bolt.
Processing industry robot the most according to claim 7, it is characterised in that described processing industry robot includes multiple described workpiece rotary locating stand；Described workpiece rotary locating stand is indexing positioning table.
Processing industry robot the most according to claim 8, it is characterised in that described working solution is Water-based working liquid for electrical.
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| CN201620275326.XU CN205437395U (en) | 2016-04-05 | 2016-04-05 | Processing industrial robot |
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| CN201620275326.XU CN205437395U (en) | 2016-04-05 | 2016-04-05 | Processing industrial robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643028A (en) * | 2016-04-05 | 2016-06-08 | 深圳先进技术研究院 | Processing industrial robot and electric arc discharge machining method thereof |
| CN107790829A (en) * | 2017-11-27 | 2018-03-13 | 沈阳职业技术学院 | A kind of electric spark machine combined micro-machining device and its processing method |
| WO2021045751A1 (en) * | 2019-09-03 | 2021-03-11 | Halliburton Energy Services, Inc. | Pulsed power sculpting methods |
-
2016
- 2016-04-05 CN CN201620275326.XU patent/CN205437395U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643028A (en) * | 2016-04-05 | 2016-06-08 | 深圳先进技术研究院 | Processing industrial robot and electric arc discharge machining method thereof |
| CN107790829A (en) * | 2017-11-27 | 2018-03-13 | 沈阳职业技术学院 | A kind of electric spark machine combined micro-machining device and its processing method |
| WO2021045751A1 (en) * | 2019-09-03 | 2021-03-11 | Halliburton Energy Services, Inc. | Pulsed power sculpting methods |
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