CN207171498U - Casting flexible manufacturing system (FMS) - Google Patents
Casting flexible manufacturing system (FMS) Download PDFInfo
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- CN207171498U CN207171498U CN201720985085.2U CN201720985085U CN207171498U CN 207171498 U CN207171498 U CN 207171498U CN 201720985085 U CN201720985085 U CN 201720985085U CN 207171498 U CN207171498 U CN 207171498U
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Abstract
The utility model discloses a kind of casting flexible manufacturing system (FMS), the casting flexible manufacturing system (FMS) includes smart camera, robot, mobile loading/unloading platform, multi-purpose tool magazine and controller, controller is connected with smart camera, robot and mobile loading/unloading platform respectively, wherein, smart camera, the photo of casting to be processed is taken for clapping, determines the Mechanical processing of casting position of casting to be processed, and the position data of the Mechanical processing of casting position of determination is sent to controller；Controller, for the position data sent according to smart camera, the mobile loading/unloading platform of control is moved so that casting to be processed is ajusted according to the Mechanical processing of casting position that smart camera determines, and control machine people calls corresponding process tool in multi-purpose garage, to be processed using corresponding process tool to the casting to be processed after putting on right position.Casting flexible manufacturing system (FMS) provided by the utility model, reduce cost of labor, improve processing efficiency.
Description
Technical field
Mechanical processing of casting field is the utility model is related to, especially, is related to a kind of casting flexible manufacturing system (FMS).
Background technology
With the reduction of heavy worker's quantity, labor cost steeply rises, and working environment of polishing in addition is poor, work
Intensity is high, and many people are unwilling to do this work, so as to cause the labor cost of polishing operation to remain high.So, such as
What reduces the problem of polishing cost, just puts impressively in face of Foundry Production enterprise.From root, polishing operation is in order to clear
Caused by reason preceding working procedure quality is bad the defects of fash, Tie Bao, burr, scab.For this processing aspect, as long as eliminating
The defects of these quality caused by preceding working procedure are bad, it is possible to eliminate polishing operation, can not only shorten Foundry Production
Flow, and production cost is greatly lowered, but it is impossible that it is bad, which thoroughly to eliminate the quality in preceding working procedure,.
With the specialization of Foundry Production, some foundry enterprises for producing specific casting have obtained good development, due to
Its specialized production, beneficial to casting quality, the control of cost and the culture of technician, its competitiveness in industry is more next
More highlight, and this is also the trend of industry development.Specialized castings production can not only reduce the species of polishing Work tool, also
Grinding efficiency can be improved, shortens the polishing time, is also easier to realize the automation of grinding technology.It is however, specific for some
Casting is poured mouth to cutting away by the processing of casting, it is necessary to manually transfer workpiece with driving, then on cutting machine.Then it is transported to again
Next station, end face is installed by manual polishing casting, then circulated to numerical control (NC) Machining Workshop, cast outer surface is carried out with lathe
Roughing.Finally arrive machining center and carry out inwall finishing.Tedious process, processing stations are more, and can not focus on same workshop, this
Sample just reduces production efficiency, and the risk of workpiece damage in transport process be present.
Had the following disadvantages by the way of artificial casting：
1st, processing stations are more, processing stations can not focus on same workshop, strong influence operating efficiency.
2nd, artificial uniformity is poor, and processing rear workpiece quality cannot ensure very well.
3rd, artificial cutting is dangerous big, needs during artificial cutting very close to telling the cutting saw blade of rotation, and need to use
Hand propelled workpiece travels forward, and so brings great danger to worker.
4th, working environment is poor, can produce great dust during processing, have certain harm to the body of worker.
Therefore, efficiency present in existing Mechanical processing of casting method is low, is a technical problem urgently to be resolved hurrily.
Utility model content
The utility model provides a kind of casting flexible manufacturing system (FMS), to solve present in existing Mechanical processing of casting method
The low technical problem of efficiency.
The technical solution adopted in the utility model is as follows：
According to one side of the present utility model, there is provided a kind of casting flexible manufacturing system (FMS), including smart camera, for pair
The robot that casting to be processed is processed, the mobile loading/unloading platform for installing casting to be processed, for storing corresponding processing
The multi-purpose tool magazine of cutter and for control machine people and the controller of mobile loading/unloading platform action, smart camera, robot,
Mobile loading/unloading platform is connected with controller respectively, wherein,
Smart camera, the photo of casting to be processed is taken for clapping, determine the Mechanical processing of casting position of casting to be processed, and will be true
The position data of fixed Mechanical processing of casting position is sent to controller；
Controller, for the position data sent according to smart camera, mobile loading/unloading platform motion is controlled so as to treat
Processing casting is ajusted according to the Mechanical processing of casting position that smart camera determines, and control machine people calls phase in multi-purpose tool magazine
Process tool is answered, to be processed using corresponding process tool to the casting to be processed after putting on right position.
Further, robot includes the electro spindle for installing corresponding process tool, the first control being connected with electro spindle
Motor processed and the rotating mechanism being fixedly connected with electro spindle, controller are connected with the first controlled motor and rotating mechanism respectively,
The relevant position of casting to be processed for controlling rotating mechanism to drive electro spindle to be moved to after putting on right position is additionally operable to, and controls first
Controlled motor drives electro spindle rotation to be processed using corresponding process tool to the casting to be processed after putting on right position.
Further, electro spindle is fluid pressure type broaching tool electro spindle, including main shaft and being placed in main shaft is used for corresponding processing
The cutter bar clamping mechanism that cutter is clamped or unclamped.
Further, cutter bar clamping mechanism includes travel switch, the hydraulic pressure located at main shaft upper end being electrically connected with the controller
Cylinder, the piston being placed in hydraulic cylinder, the push rod being connected with piston and it is connected with the other end of push rod for clamping or unclamp phase
Answer the butterfly spring and pulling claw of process tool.
Further, robot also includes being connected with controller spindle motor, it is linked with the output end of spindle motor
Shaft coupling, the primary pinion being meshed with shaft coupling, the driven gear that is socketed on main shaft and with primary pinion and driven
Gear engages the secondary gears for power to be passed to main shaft by spindle motor simultaneously, and secondary gears are double crosslinking sliding gear.
Further, the second controlled motor and the outside being connected with the second controlled motor are provided with mobile loading/unloading platform
Axle, controller are connected with the second controlled motor, are additionally operable to control the second controlled motor to drive outside axle motion so that casting to be processed
Part is ajusted according to the Mechanical processing of casting position that smart camera determines.
Further, mobile loading/unloading platform also includes being flexibly connected with outside axle hollow rotary table, it is arranged on back
Multiple adjustable master jaws for being slidably connected on the installation end face of revolving worktable and with rotary table, for it is multiple adjustable
The multiple claws and be correspondingly arranged on multiple claws that master jaw is engaged and is fixedly connected on multiple adjustable master jaws
For the multiple fastening parts being anchored on multiple adjustable master jaws on rotary table.
Further, process tool is including being used to cut the cutting tool for pouring mouth of casting to be processed, being treated for processing
The disk milling head of installation end face and the angle head of the inwall for processing casting to be processed of casting are processed, controller is additionally operable to control
Robot movement to change corresponding process tool automatically after the completion of corresponding process.
Further, smart camera and controller may be contained within robot.
The utility model has the advantages that：
Casting flexible manufacturing system (FMS) provided by the utility model, it is a kind of efficient, safe and high-quality Mechanical processing of casting mode,
By applying intelligent automatic identification technology, guided robot is gone to be processed with smart camera, the workpiece for making to process has
The uniformity of height, realize the lean production of military industry；And corresponding process tool is changed by robot, with
Same workshop concentrated processing, processing stations and the duration of runs are reduced, reduce cost of labor, greatly improve processing efficiency.
In addition to objects, features and advantages described above, the utility model also has other purposes, feature and excellent
Point.Below with reference to figure, the utility model is described in further detail.
Brief description of the drawings
The accompanying drawing for forming the part of the application is used for providing further understanding to of the present utility model, of the present utility model
Schematic description and description is used to explain the utility model, does not form to improper restriction of the present utility model.In accompanying drawing
In：
Fig. 1 is the structural representation of the utility model casting flexible manufacturing system (FMS) preferred embodiment；
Fig. 2 is the structural representation of smart camera and robot preferred embodiment in Fig. 1；
Fig. 3 is the structural representation of electro spindle preferred embodiment in Fig. 2；
Fig. 4 is the structural representation of mobile loading/unloading platform preferred embodiment in Fig. 1.
Drawing reference numeral explanation：
10th, smart camera；20th, robot；30th, mobile loading/unloading platform；21st, electro spindle；22nd, rotating mechanism；31st, it is outside
Axle；32nd, rotary table；33rd, it can adjust master jaw；34th, claw；40th, tool magazine is used.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Reference picture 1, preferred embodiment of the present utility model provide a kind of casting flexible manufacturing system (FMS), including smart camera
10th, for casting to be processed is processed robot 20, the mobile loading/unloading platform 30 for installing casting to be processed, be used for
The controller for storing the multi-purpose tool magazine 40 of corresponding process tool and being acted for control machine people and mobile loading/unloading platform 30,
Smart camera 10, robot 20, mobile loading/unloading platform 30 are connected with controller respectively, wherein, smart camera 10, treated for clapping to take
The photo of casting is processed, determines the Mechanical processing of casting position of casting to be processed, and by the position data of the Mechanical processing of casting position of determination
It is sent to controller；Controller, for the position data sent according to smart camera 10, mobile loading/unloading platform 30 is controlled to transport
Move so that casting to be processed is ajusted according to the Mechanical processing of casting position that smart camera 10 determines, and control machine people 20 is multi-purpose
Corresponding process tool is called in tool magazine 40, to be processed using corresponding process tool to the casting to be processed after putting on right position.
Wherein, the connection of smart camera 10 and controller can be wired connection or wireless connection, and the mode of wireless connection can
Think WIFI connections or bluetooth connection etc..
The casting flexible manufacturing system (FMS) that the present embodiment provides, is a kind of efficient, safe and high-quality Mechanical processing of casting mode, phase
Compared with prior art, by applying intelligent automatic identification technology, go guided robot to be processed with smart camera, make to process
The workpiece come has the uniformity of height, realizes the lean production of military industry；And by robot to corresponding process tool
Changed, in same workshop concentrated processing, to reduce processing stations and the workpiece duration of runs, reduce cost of labor, carry significantly
High processing efficiency.
Preferably, as shown in Fig. 2 the casting flexible manufacturing system (FMS) that the present embodiment provides, robot 20 include being used to install
The electro spindle 21 of corresponding process tool, the first controlled motor being connected with electro spindle 21 and it is fixedly connected with electro spindle 21
Rotating mechanism 22, controller are connected with the first controlled motor and rotating mechanism 22 respectively, and electric rotating is provided with rotating mechanism 22
Machine, controller are connected with electric rotating machine, and controller is additionally operable to control the electric rotating machine in rotating mechanism 22 to drive electro spindle 21 to move
The relevant position of the casting to be processed to after putting on right position is moved, and controls the first controlled motor to drive electro spindle 21 to rotate to use
Corresponding process tool is processed to the casting to be processed after putting on right position.
The casting flexible manufacturing system (FMS) that the present embodiment provides, electro spindle is driven to be moved to pendulum by the rotating mechanism of robot
The relevant position of casting to be processed after positive position；By the electro spindle of robot using corresponding process tool to putting on right position after
Casting to be processed be processed, reduce processing staff, processing stations and the workpiece duration of runs, greatly improve processing efficiency.
Preferably, as shown in Figures 2 and 3, the casting flexible manufacturing system (FMS) that the present embodiment provides, electro spindle 21 is fluid pressure type
Broaching tool electro spindle, including main shaft and be placed in main shaft and be used for cutter bar clamping machine that corresponding process tool is clamped or unclamped
Structure.Specifically, cutter bar clamping mechanism includes being electrically connected with the controller travel switch, the hydraulic cylinder located at main shaft upper end, it is placed in
Piston in hydraulic cylinder, the push rod being connected to piston and it is connected with the other end of push rod for clamping or unclamping corresponding processing
The butterfly spring and pulling claw of cutter.In the present embodiment, when needing to clamp process tool, push rod is in the presence of butterfly spring
Move up, pulling claw is clamped the handle of a knife of process tool；When needing to unclamp process tool, controller sends pine to travel switch
Control signal is opened, will unclamp control signal by travel switch is sent to hydraulic cylinder, and hydraulic cylinder receives band after release control signal
Piston motion opens pulling claw, butterfly spring produces elastic deformation and unclamped to promote push rod to move down when push rod moves down
Process tool.
The casting flexible manufacturing system (FMS) that the present embodiment provides, electro spindle uses fluid pressure type broaching tool electro spindle, in controller
Under control, corresponding process tool is changed automatically, and multiple working procedure processing is carried out to casting to be processed so as to concentrate on same workshop,
Reduce the time of casting turnover to be processed, improve operating efficiency；And electro spindle uses hydraulic control mode, so that it is guaranteed that
Electro spindle corresponding process tool when having a power failure will not release.
Preferably, as shown in Fig. 2 the casting flexible manufacturing system (FMS) that the present embodiment provides, robot 20 is six axle suspension arm machines
Device people, certainly can be with other axle suspension arm robots, for example, four axle suspension arm robots etc., protect model in the protection of this patent
Within enclosing.In the present embodiment, robot 20 also includes the output end phase for the spindle motor and spindle motor being connected with controller
The shaft coupling of connection, the primary pinion being meshed with shaft coupling, the driven gear being socketed on main shaft and with primary pinion and
Driven gear engages the secondary gears for power to be passed to main shaft by spindle motor simultaneously, and secondary gears are that duplex slides tooth
Wheel.Cutter transfer motion power is transmitted to primary pinion by spindle motor through shaft coupling, secondary gears simultaneously with primary pinion and main shaft
Driven gear be meshed, power is passed to main shaft from spindle motor, thereby using electro spindle to be added after putting on right position
Work casting is processed.In the present embodiment, secondary gears select duplex axle shifting slide gear, and two kinds of different biography speed can be achieved
Than making main shaft operate at different rates.
The casting flexible manufacturing system (FMS) that the present embodiment provides, spindle operation is driven by controller control spindle motor, and led to
The mutual cooperation for crossing primary pinion and secondary gears carries out difference using corresponding cutters with corresponding rotating speed to casting to be processed
The processing of technique, multiple working procedure processing is carried out to casting to be processed so as to concentrate on same workshop, reduces casting to be processed
The time of turnover, improve the operating efficiency of processing.
Preferably, as shown in figure 4, the casting flexible manufacturing system (FMS) that the present embodiment provides, robot 20 also include being used for branch
The pedestal of robot body is supportted, mobile loading/unloading platform 30 is arranged on the pedestal of robot 20, and mobile loading/unloading platform 30 includes the
Two controlled motors and the outside axle 31 being connected with the second controlled motor, wherein, controller is connected with the second controlled motor, is additionally operable to
Control the second controlled motor to drive outside axle 31 to rotate, promote outside axle 31 to drive casting rotary to be processed to relevant position, with
Ajusted the Mechanical processing of casting position for making casting to be processed be determined according to smart camera 10.
The casting flexible manufacturing system (FMS) that the present embodiment provides, outside axle rotation is controlled to drive casting to be processed by controller
Relevant position is rotated to, in conjunction with the position data of the Mechanical processing of casting position of smart camera transmission, control machine people changes itself
The position of processing, to ensure that each Working position is consistent.
Preferably, as shown in figure 4, the casting flexible manufacturing system (FMS) that the present embodiment provides, mobile loading/unloading platform 30 also include
The hollow rotary table 32 that is flexibly connected with outside axle 31, it is arranged on the installation end face of rotary table 32 and with turning round work
Make multiple adjustable master jaws 33, the multiple claws for being engaged with multiple adjustable master jaws 33 that platform 32 is slidably connected
34 and it is correspondingly arranged on multiple claws 34 to be used to that master jaw 33 will to be adjusted and is anchored on multiple fastenings on rotary table 32
Portion 35.Multiple adjustable master jaws 33 are centered on the AnchorPoint of the installation end face of rotary table 32, along rotary table 32
The circumferencial direction of installation end face be uniformly distributed.Be correspondingly arranged on the installation end face of rotary table 32 for install it is multiple can
Adjust multiple T-slots of master jaw 33, multiple adjustable master jaws 33 in multiple T-slots synchronous slide diametrically to clamp
Or unclamp casting to be processed.It is provided with to be engaged with claw 34 on the end face of claw 34 in adjustable master jaw 33 and is used for
The end-tooth being finely adjusted to the radial direction of claw 34.
Claw, different positions is installed to using adjustable master jaw by the casting flexible manufacturing system (FMS) that the present embodiment provides
Put, to meet the work pieces process of various sizes of casting to be processed.The casting flexible manufacturing system (FMS) that the present embodiment provides, versatility
By force, various sizes of casting to be processed can be processed.
Preferably, as shown in figure 1, the casting flexible manufacturing system (FMS) that the present embodiment provides, process tool include being used to cut
The cutting tool for pouring mouth of casting to be processed, the disk milling head of installation end face for processing casting to be processed and treated for processing
The angle head of the inwall of casting is processed, controller is additionally operable to control machine people 20 and moved to be changed automatically after the completion of corresponding process
Corresponding process tool.In the present embodiment, multi-purpose tool magazine 40 is employed, multi-purpose tool magazine 40 can possess 6 cutters simultaneously, can enter
The different manufacturing procedure of row, substantially increase the efficiency of processing.
The casting flexible manufacturing system (FMS) that the present embodiment provides, is changed by controller control machine people in corresponding process
Corresponding process tool, casting to be processed is processed with being concentrated in same workshop, so as to reduce processing stations and workpiece operating
Time, reduce cost of labor, greatly improve processing efficiency.
Preferably, as shown in Fig. 2 the casting flexible manufacturing system (FMS) that the present embodiment provides, smart camera 10 and controller are equal
It is arranged in robot 20, to save installing space.Specifically, smart camera 10 is arranged on the top of electro spindle 21, for clapping
The photo of casting to be processed is taken, and compared with being preset in the template in database, determines the Mechanical processing of casting of casting to be processed
Position.
The casting flexible manufacturing system (FMS) that the present embodiment provides, cast by the automatic identification technology of application smart camera in military project
In part polishing industry, guided robot is gone to be processed with smart camera, the workpiece for making to process has the uniformity of height,
Realize the lean production of military industry；And corresponding process tool is changed by robot, to be concentrated in same workshop
Processing, processing stations and the workpiece duration of runs are reduced, greatly improves processing efficiency.
Preferred embodiment of the present utility model is the foregoing is only, is not limited to the utility model, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all in the spirit and principles of the utility model
Within, any modification, equivalent substitution and improvements made etc., it should be included within the scope of protection of the utility model.
Claims (9)
1. a kind of casting flexible manufacturing system (FMS), it is characterised in that including smart camera (10), for adding to casting to be processed
The robot (20) of work, the mobile loading/unloading platform (30) for installing the casting to be processed, for storing corresponding process tool
Multi-purpose tool magazine (40) and the controller for controlling the robot and the mobile loading/unloading platform (30) to act, it is described
Controller is connected with the smart camera (10), the robot (20) and the mobile loading/unloading platform (30) respectively, wherein,
The smart camera (10), the photo of casting to be processed is taken for clapping, determine the Mechanical processing of casting position of the casting to be processed
Put, and the position data of the Mechanical processing of casting position of determination is sent to the controller；
The controller, for the position data sent according to the smart camera (10), control the mobile dress
Platform (30) motion is unloaded so that the casting to be processed enters according to the Mechanical processing of casting position that the smart camera (10) determines
It is capable to ajust, and control the robot (20) to call corresponding process tool in the multi-purpose tool magazine (40), to be added using corresponding
Work cutter is processed to the casting to be processed after putting on right position.
2. casting flexible manufacturing system (FMS) according to claim 1, it is characterised in that
Electro spindle (21) that the robot (20) includes being used to install corresponding process tool, it is connected with the electro spindle (21)
First controlled motor and the rotating mechanism (22) being fixedly connected with the electro spindle (21), the controller respectively with it is described
First controlled motor is connected with the rotating mechanism (22), is additionally operable to control rotating mechanism (22) to drive the electro spindle (21) to move
The relevant position of the casting to be processed to after putting on right position is moved, and controls first controlled motor to drive the electro spindle
(21) rotate to be processed using corresponding process tool to the casting to be processed after putting on right position.
3. casting flexible manufacturing system (FMS) according to claim 2, it is characterised in that
The electro spindle (21) is fluid pressure type broaching tool electro spindle, including main shaft and being placed in the main shaft is used for corresponding processing knife
Has the cutter bar clamping mechanism for being clamped or unclamping.
4. casting flexible manufacturing system (FMS) according to claim 3, it is characterised in that
The cutter bar clamping mechanism includes travel switch, the hydraulic pressure located at the main shaft upper end electrically connected with the controller
Cylinder, the piston being placed in the hydraulic cylinder, the push rod being connected with the piston and being connected with the other end of the push rod are used for
Clamp or unclamp the butterfly spring and pulling claw of corresponding process tool.
5. casting flexible manufacturing system (FMS) according to claim 3, it is characterised in that
Spindle motor that the robot (20) also includes being connected with the controller, it is connected with the output end of the spindle motor
The shaft coupling of knot, the primary pinion being meshed with the shaft coupling, the driven gear being socketed on the main shaft and with it is described
Primary pinion and the driven gear engage the secondary tooth for power to be passed to the main shaft by the spindle motor simultaneously
Wheel, the secondary gears are double crosslinking sliding gear.
6. casting flexible manufacturing system (FMS) according to claim 1, it is characterised in that
The mobile loading/unloading platform (30) includes the second controlled motor and the outside axle (31) being connected with second controlled motor,
The controller is connected with the second controlled motor, is additionally operable to control second controlled motor to drive outside axle (31) motion
So that the casting to be processed is ajusted according to the Mechanical processing of casting position that the smart camera (10) determines.
7. casting flexible manufacturing system (FMS) according to claim 6, it is characterised in that
Hollow rotary table (32) that the mobile loading/unloading platform (30) also includes being flexibly connected with the outside axle (31), set
Put on the installation end face of the rotary table (32) and be slidably connected with the rotary table (32) multiple adjustable
Master jaw (33), for multiple claws (34) for being engaged with the multiple adjustable master jaw (33) and it is correspondingly arranged at
It is used to the multiple adjustable master jaw (33) being anchored on the rotary table (32) on the multiple claw (34)
Multiple fastening parts (35).
8. casting flexible manufacturing system (FMS) according to claim 1, it is characterised in that
The process tool includes being used for the cutting tool for pouring mouth, described to be added for processing for cutting the casting to be processed
The disk milling head of installation end face and the angle head of the inwall for processing the casting to be processed of work casting, the controller are also used
Moved in the control robot (20) to change corresponding process tool automatically after the completion of corresponding process.
9. casting flexible manufacturing system (FMS) according to claim 1, it is characterised in that
The smart camera (10) and the controller may be contained within the robot (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720985085.2U CN207171498U (en) | 2017-08-08 | 2017-08-08 | Casting flexible manufacturing system (FMS) |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720985085.2U CN207171498U (en) | 2017-08-08 | 2017-08-08 | Casting flexible manufacturing system (FMS) |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207171498U true CN207171498U (en) | 2018-04-03 |
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ID=61744341
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720985085.2U Expired - Fee Related CN207171498U (en) | 2017-08-08 | 2017-08-08 | Casting flexible manufacturing system (FMS) |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207171498U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443094A (en) * | 2017-08-08 | 2017-12-08 | 长沙长泰机器人有限公司 | Casting flexible manufacturing system (FMS) and Mechanical processing of casting method |
| CN108381300A (en) * | 2018-05-08 | 2018-08-10 | 佛山市高明亚太建材有限公司 | A kind of robot arm device of bathtub system of processing |
-
2017
- 2017-08-08 CN CN201720985085.2U patent/CN207171498U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443094A (en) * | 2017-08-08 | 2017-12-08 | 长沙长泰机器人有限公司 | Casting flexible manufacturing system (FMS) and Mechanical processing of casting method |
| CN108381300A (en) * | 2018-05-08 | 2018-08-10 | 佛山市高明亚太建材有限公司 | A kind of robot arm device of bathtub system of processing |
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Granted publication date: 20180403 Termination date: 20190808 |