CN208585660U - Digitize bin device and system - Google Patents
Digitize bin device and system Download PDFInfo
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- CN208585660U CN208585660U CN201821325167.5U CN201821325167U CN208585660U CN 208585660 U CN208585660 U CN 208585660U CN 201821325167 U CN201821325167 U CN 201821325167U CN 208585660 U CN208585660 U CN 208585660U
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Abstract
The utility model provides digitlization bin device and system, is related to feed bin technical field, comprising: multiple first positions in storehouse, the second position in storehouse, master control platform and manipulator, the first position in storehouse include workpiece, pallet and RF tag, and the second position in storehouse includes RF Reader；RF Reader is used to read the information of RF tag, obtains the initial information of unprocessed workpiece, and reads the workpiece after working process and carry out the metrical information that on-line measurement obtains；Master control platform is used to determine the attribute of workpiece according to initial information and metrical information；Manipulator is used to that workpiece and the corresponding pallet of workpiece to be placed on corresponding region according to the attribute of workpiece；It further include machining center, machining center is used to carry out machining to workpiece；The attribute and attributable system that workpiece can correctly be distinguished, realize the digital management of feed bin.
Description
Technical field
The utility model relates to feed bin technical fields, more particularly, to digitlization bin device and system.
Background technique
Feed bin is the general name for storing a kind of storage structures of workpiece or finished product, its function can depend on service object
Different and difference.It either stores workpiece or finished product, feed bin is a kind of container, although it can be naturally by raw material
It is separated with finished product, still, this plant feed bin can not distinguish the finished product to conform to quality requirements either quality dissatisfaction well sometimes
Waste product, although the storage place of finished product and waste product can be confirmed in staff scene, for a long time, due to metalwork
Appearance is much like after processing, and goes to work as field measurement if not having to fine measuring instrument, and staff is only by visually also very sometimes
Hardly possible is respectively.Therefore, the most essential disadvantage of feed bin is the attributable system that can not correctly distinguish workpiece, finished product and waste product, especially
Be how to establish between lathe and feed bin news file when manipulator grabbing workpiece, finished product and waste product in terms of have it is natural
Defect.
Utility model content
In view of this, can correctly be distinguished the purpose of this utility model is to provide digitlization bin device and system
The attribute and attributable system of workpiece, realize the digital management of feed bin.
In a first aspect, the utility model embodiment provides digitlization bin device, comprising: multiple first positions in storehouse, second
Position in storehouse, master control platform and manipulator, first position in storehouse include workpiece, pallet and RF tag, and second position in storehouse includes radio frequency
Identifier；
The workpiece is provided on the pallet, the back side of the pallet is provided with the RF tag, the radio frequency mark
Label are wirelessly connected with the RF Reader, and the RF Reader is connected by cable with the master control platform, the master control
Platform is connected by the cable with the manipulator；
The RF Reader obtains the initial information of unprocessed workpiece for reading the information of the RF tag,
And it reads the workpiece after working process and carries out the metrical information that on-line measurement obtains；
The master control platform, for determining the attribute of the workpiece according to the initial information and the metrical information；
The manipulator, for being placed on the workpiece and the corresponding pallet of the workpiece according to the attribute of the workpiece
Corresponding region.
With reference to first aspect, the utility model embodiment provides the first possible embodiment of first aspect,
In, the attribute of the workpiece include it is up-to-standard and off quality, the manipulator be also used to the workpiece be the matter
In the case that amount is qualified, the workpiece and the corresponding pallet of the workpiece are placed on qualified area.
The possible embodiment of with reference to first aspect the first, the utility model embodiment provide the of first aspect
Two kinds of possible embodiments, wherein the manipulator is also used in the case where the workpiece is described off quality, will
The workpiece and the corresponding pallet of the workpiece are placed on unqualified area.
With reference to first aspect, the utility model embodiment provides the third possible embodiment of first aspect,
In, position sensor is arranged in first position in storehouse, for judging with the presence or absence of pallet in first position in storehouse, if deposited
In the pallet, then send to the master control platform with the presence of material information；If not depositing the pallet, sent to the master control platform
Lack material warning information.
Second aspect, the utility model embodiment also provide digitlization bin system, including digital material as described above
Bin device further includes machining center, and the machining center is connected with the master control platform in the digitlization bin device.
In conjunction with second aspect, the utility model embodiment provides the first possible embodiment of second aspect,
In, it is described digitlization bin device master control platform include the bus interface board that can connect various external equipments, be mounted with it is various
The main frame and man-machine keyboard of primary control program and driver.
In conjunction with the first possible embodiment of second aspect, the utility model embodiment provides the of second aspect
Two kinds of possible embodiments, wherein the first position in storehouse and the second position in storehouse in the digitlization bin device pass through cable and institute
Master control platform is stated to be connected.
In conjunction with second aspect, the utility model embodiment provides the third possible embodiment of second aspect,
In, the manipulator of the digitlization bin device includes the second position in storehouse in the machining center and the digitlization bin device
Between the guide rail that moves and the electric cabinet of master control platform signal contact, the pneumatic clamper of the clamping pallet, the clamping workpiece gas
The operation panel of pawl and the manipulator.
In conjunction with the third possible embodiment of second aspect, the utility model embodiment provides the of second aspect
Four kinds of possible embodiments, wherein the machining center includes moveable slide unit, workpiece and scroll chuck, telescopic gas
Cylinder and side door.
In conjunction with the 4th kind of possible embodiment of second aspect, the utility model embodiment provides the of second aspect
Five kinds of possible embodiments, wherein the manipulator and the machining center are connected by cable with the master control platform, institute
It states master control platform the workpiece is sent to the machining center by controlling the manipulator and be processed.
The utility model embodiment provides digitlization bin device and system, is related to feed bin technical field, comprising: multiple
First position in storehouse, the second position in storehouse, master control platform and manipulator, the first position in storehouse include workpiece, pallet and RF tag, and the second position in storehouse includes
RF Reader；RF Reader is used to read the information of RF tag, obtains the initial information of unprocessed workpiece, and read
Workpiece after taking working process carries out the metrical information that on-line measurement obtains；Master control platform is used for according to initial information and metrical information
Determine the attribute of workpiece；Manipulator is used to that workpiece and the corresponding pallet of workpiece to be placed on corresponding region according to the attribute of workpiece；
It further include machining center, machining center is used to carry out machining to workpiece；The attribute and ownership of workpiece can correctly be distinguished
Mode realizes the digital management of feed bin.
Other feature and advantage of the utility model will illustrate in the following description, also, partly from specification
In become apparent, or understood and implementing the utility model.The purpose of this utility model and other advantages are illustrating
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
To enable the above objects, features, and advantages of the utility model to be clearer and more comprehensible, preferred embodiment is cited below particularly, and
Cooperate appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the digitlization bin device schematic diagram that the utility model embodiment one provides；
Fig. 2 is one of the digitlization bin device structural schematic diagram that the utility model embodiment one provides；
Fig. 3 is the digitlization bin device second structural representation that the utility model embodiment one provides；
Fig. 4 is the digitlization bin device third structural representation that the utility model embodiment one provides.
Icon:
10- master control platform；11- bus interface board；12- main frame；The man-machine keyboard of 13-；20- digitizes feed bin；21- tool
There is the region of multiple first positions in storehouse；The second position in storehouse of 22-；23- signaling interface line；30- manipulator；31- manipulator is in processing
In front of heart side door and digitlization feed bin；The guide rail of 32- manipulator；33- manipulator electric cabinet；The pneumatic clamper of 34- holding tray；35-
The pneumatic clamper of clamping workpiece；36- manipulator operation panel；40- machining center；The direction 41-X slide unit；The direction 42-Y slide unit；The side 43-Z
To slide unit；44- workpiece and scroll chuck；45- telescopic cylinder；46- side door；The first position in storehouse of 100-；101- pallet；102- work
Part；103- RF tag；104- position sensor；105- cable；200- RF Reader；The scanning area of 201- RF Reader
Domain.
Specific embodiment
To keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, below in conjunction with attached drawing to this
The technical solution of utility model is clearly and completely described, it is clear that described embodiment is that the utility model a part is real
Example is applied, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
Every other embodiment obtained, fall within the protection scope of the utility model under the premise of creative work.
To be described in detail to the utility model embodiment below convenient for understanding the present embodiment.
Embodiment one:
Fig. 1 is the digitlization bin device schematic diagram that the utility model embodiment one provides.
Referring to Fig.1, digitlization bin device includes: master control platform 10, the region 21 with multiple first positions in storehouse, the second position in storehouse
22 and manipulator 30；First position in storehouse 100 includes pallet 101, workpiece 102 and RF tag 103, and the second position in storehouse 22 is known including radio frequency
Other device 200；
Be provided with workpiece 102 on pallet 101, the back side of pallet 101 is provided with RF tag 103, RF tag 103 with penetrate
Frequency identifier 200 is wirelessly connected, and RF Reader 200 is connected by signaling interface line 23 with master control platform 10, and master control platform 10 is logical
Cable is crossed to be connected with manipulator 30；
RF Reader 200 obtains the initial information of unprocessed workpiece for reading the information of RF tag 103, with
And it reads the workpiece after working process and carries out the metrical information that on-line measurement obtains；
Here, serial number 20 is newly-designed digitlization feed bin, and wherein serial number 21 is the region with multiple first positions in storehouse, is used
Underproof workpiece, serial number 22 are the second position in storehouse after qualified workpiece and processing after the unprocessed workpiece of storage hair, processing, this
It is the important symbol for distinguishing original container type feed bin, serial number 23 is digitlization feed bin 20 and the direct signaling interface of master control platform 10
Line, this is also that traditional feed bin is unexistent, and function is the property for distinguishing workpiece 102, and workpiece property is transferred to always
It controls in platform computer.
Specifically, as shown in Fig. 2, digitlization feed bin is divided into 16 complete lattice areas, wherein having multiple first
The region 21 of position in storehouse includes: multiple first positions in storehouse of serial number 1 to 8 for storing unprocessed workpiece, and multiple the of serial number 9 to 11
One position in storehouse is unqualified area, for underproof workpiece after storage processing；Multiple first positions in storehouse of serial number 13 to 16 are qualified area,
For storing qualified workpiece after processing, serial number 12 is the second position in storehouse 22, this is an identification position, is equipped at the rear portion of supporting plate
Then one RF Reader 200 is connected it by signaling interface line 23 for reading the radio-frequency information of each workpiece 102
Into master control platform 10.
Master control platform 10, for determining the attribute of workpiece 102 according to initial information and metrical information；
Specifically, serial number 10 is master control platform, this is the synthesis with separate unit information processing capability, wherein wrapping
The bus interface board of serial number 11 is included, can connect various external equipments thereon, interface standard meets current technology of serial communication
Standard, serial number 12 are main frame, are mounted with various primary control programs and driver thereon, and serial number 13 is people's switch disk.It should
The effect of unit be by main control computer (serial number 12 and 13), serial number 20 digitlization feed bin, serial number 30 manipulator with
And the machining center of serial number 40 links together, as shown in Figure 1, being indicated with four-headed arrow, forms information collecting and distributing centre.
Manipulator 30, for being placed on the pallet 101 corresponding with workpiece of workpiece 102 accordingly according to the attribute of workpiece 102
Region.
Specifically, the effect of manipulator is unprocessed workpiece to be grabbed from feed bin, and the unprocessed workpiece is sent into
Machining center 40 is processed, and the qualified area and unqualified area of digitlization feed bin 20 are then sent to according to processing request.Its
Middle serial number 30 is six degree of freedom manipulator, and serial number 31 illustrates that manipulator is in machining center side door 46 and digitlization feed bin 20
The situation in front, serial number 32 are the guide rail of manipulator, important solutions manipulator 30 in machining center 40 and number material storehouse 20 it
Between movement, especially digitlization feed bin 20 and machining center 40 apart from it is distant when just need to extend this to track, sequence
Numbers 33 be manipulator electric cabinet, and the driving motor and driving amplifier in each joint of manipulator are stored in the inside, which also undertakes
The signal contact between manipulator and master control platform, serial number 34 be pneumatic clamper for holding tray, serial number 35 is for clamping work
The pneumatic clamper of part, two pneumatic clampers can be used with rotation, and serial number 36 is manipulator operation panel.
Further, the attribute of workpiece 102 includes up-to-standard and off quality, and manipulator 30 is also used in workpiece
In the case that 102 are up-to-standard, the pallet 101 corresponding with workpiece of workpiece 102 is placed on qualified area.
Further, manipulator 30 is also used in the case where workpiece 102 is off quality, by workpiece 102 and workpiece
Corresponding pallet 101 is placed on unqualified area.
Specifically, as shown in figure 3, workpiece 102 to be processed is placed on pallet 101, the radio frequency mark for radio frequency identification
Label 103 are attached to 101 back side of pallet, the scanning area 201 of RF Reader, for scanning the label information of RF tag 103,
Obviously, there is information exchange between RF tag 103 and the scanning area 201 of RF Reader, as shown in figure 3, two-way arrow
Head shows this relationship, and the information after scanning is transmitted to master control platform 10 by signaling interface line 23, and the information scanned is
Then the initial information of unprocessed workpiece passes through manipulator 30 for unprocessed workpiece 102 (at this time without carrying pallet 101)
The lathe for being sent into machining center 40 is processed, and the workpiece processed first carries out online geometric dimension measurement, the metrical information quilt
It is sent in workpiece initial information just now, meanwhile, the workpiece after processing is sent to the second position in storehouse 22 (i.e. No. 12 lattice areas) again
Pallet 101 in be recognized, according to measurement result, pallet 101 passes through manipulator 30 together with the workpiece being processed
It is sent to qualified area (No. 13-16 multiple first position in storehouse) or unqualified area (No. 9-11 multiple first position in storehouse), this finished product
Transmit process is realized by program.
Here, according to quality control requirement, the workpiece processed can be divided into after processing after qualified workpiece and processing not
Qualified workpiece, since the position in storehouse of underproof workpiece after workpiece qualified after processing at present and processing is limited, machine
Workpiece of the tool hand 30 after grabbing processing simultaneously needs the correct distribution situation for judging Liang Zhong lattice area when finally being placed,
Rudimentary algorithm is, from small serial number to big serial number, if certain position is occupied, next vacancy is successively inquired, when only having vacant position
It can just be placed, under extreme case, if position in storehouse is all occupied, manipulator 30 issues " storehouse is full " alarm, waits clear
It can just be launched behind storehouse.
Further, as shown in figure 4, position sensor 104, is arranged in 100 in the first position in storehouse, for judging the first storehouse
It whether there is pallet 101 in position 100, if there is pallet 101, then send to master control platform 10 with the presence of material information；If do not deposited
In pallet 101, is then sent to master control platform 10 and lack material warning information.
Specifically, position sensor 104 pass through serial number to identify whether having pallet 101, and by this signal
105 cable is transmitted to master control platform 10, to facilitate the distribution situation for observing workpiece 102 in time on 10 screen of master control platform, shape
At with the presence of material or without material warning message, enables field personnel that unprocessed workpiece is replenished in time, take away add in time
Underproof workpiece after qualified workpiece and processing after work.In addition, under this 101 structure of pallet, one end (side of manipulator 30
Mouthful) can be used for grabbing pallet 101, direction of action is to be sent to the second position in storehouse 22, the other end (round mouth) of manipulator 30
It is direct grabbing workpiece 102, direction of action is that it is sent to the workpiece and scroll chuck of machining center 40 from the second position in storehouse 22
In 44, or take out from workpiece and scroll chuck 44.Obviously, pallet 101 plays a part of holding workpiece 102, this is to pass
Feed bin of uniting is unexistent.
Further, the utility model embodiment additionally provides digitlization bin system, including digitizes as described above
Bin device further includes machining center 40.
Specifically, 40 be machining center, and wherein serial number 41 is X-direction slide unit, and serial number 42 is Y-direction slide unit, and serial number 43 is Z
The slide unit in direction, serial number 44 are workpiece and scroll chuck, they collectively form the element of processing metal parts；Serial number 45 is flexible
Formula cylinder, effect is the side door for dragging serial number 46, and under the control of machine tool program, the opening of side door 46 can allow manipulator 30
It puts in be sent into unprocessed workpiece 102 or take the workpiece 102 processed away, and the side door 46 is prevented with manipulator 30
Collide agreement.
The utility model embodiment provides digitlization bin device and system, is related to feed bin technical field, comprising: multiple
First position in storehouse, the second position in storehouse, master control platform and manipulator, the first position in storehouse include workpiece, pallet and RF tag, and the second position in storehouse includes
RF Reader；RF Reader is used to read the information of RF tag, obtains the initial information of unprocessed workpiece, and read
Workpiece after taking working process carries out the metrical information that on-line measurement obtains；Master control platform is used for according to initial information and metrical information
Determine the attribute of workpiece；Manipulator is used to that workpiece and the corresponding pallet of workpiece to be placed on corresponding region according to the attribute of workpiece；
It further include machining center, machining center is used to carry out machining to workpiece；The attribute and ownership of workpiece can correctly be distinguished
Mode realizes the digital management of feed bin.
Device provided by the utility model embodiment for the specific hardware in equipment or can be installed in equipment
Software or firmware etc..The technical effect of device provided by the utility model embodiment, realization principle and generation and aforementioned side
Method embodiment is identical, and to briefly describe, Installation practice part does not refer to place, can refer in corresponding in preceding method embodiment
Hold.It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description, device
With the specific work process of unit, the corresponding process during reference can be made to the above method embodiment, details are not described herein.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in embodiment provided by the utility model can integrate in one processing unit,
It is also possible to each unit to physically exist alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, this is practical
Substantially the part of the part that contributes to existing technology or the technical solution can be in other words for novel technical solution
The form of software product embodies, which is stored in a storage medium, including some instructions to
So that computer equipment (can be personal computer, server or the network equipment an etc.) execution the utility model is each
The all or part of the steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory
(ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk
Etc. the various media that can store program code.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second ", " third " are used for description purposes only, it is not understood to indicate or imply phase
To importance.
Finally, it should be noted that embodiment described above, only specific embodiment of the present utility model, to illustrate this
The technical solution of utility model, rather than its limitations, the protection scope of the utility model is not limited thereto, although referring to aforementioned
The utility model is described in detail in embodiment, those skilled in the art should understand that: it is any to be familiar with this skill
The technical staff in art field within the technical scope disclosed by the utility model, still can be to skill documented by previous embodiment
Art scheme modify or can readily occur in variation or equivalent replacement of some of the technical features；And these modifications,
Variation or replacement, the spirit and model of the utility model embodiment technical solution that it does not separate the essence of the corresponding technical solution
It encloses, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model is answered described is wanted with right
Subject to the protection scope asked.
Claims (10)
1. a kind of digitlization bin device characterized by comprising multiple first positions in storehouse, the second position in storehouse, master control platform and machinery
Hand, first position in storehouse include workpiece, pallet and RF tag, and second position in storehouse includes RF Reader；
Be provided with the workpiece on the pallet, the back side of the pallet is provided with the RF tag, the RF tag with
The RF Reader is wirelessly connected, and the RF Reader is connected by cable with the master control platform, and the master control platform is logical
The cable is crossed to be connected with the manipulator；
The RF Reader is used to read the information of the RF tag, obtains the initial information of unprocessed workpiece, and
Workpiece after reading working process carries out the metrical information that on-line measurement obtains；
The master control platform, for determining the attribute of the workpiece according to the initial information and the metrical information；
The manipulator, for being placed on the workpiece and the corresponding pallet of the workpiece accordingly according to the attribute of the workpiece
Region.
2. digitlization bin device according to claim 1, which is characterized in that the attribute of the workpiece includes up-to-standard
With it is off quality, the manipulator be also used to the workpiece be it is described up-to-standard in the case where, by the workpiece and institute
It states the corresponding pallet of workpiece and is placed on qualified area.
3. digitlization bin device according to claim 2, which is characterized in that the manipulator is also used in the workpiece
For it is described it is off quality in the case where, the workpiece and the corresponding pallet of the workpiece are placed on unqualified area.
4. digitlization bin device according to claim 1, which is characterized in that position sensor is arranged described first
In position in storehouse, for judging with the presence or absence of pallet in first position in storehouse, if there is the pallet, then sent to the master control platform
With the presence of material information；If not depositing the pallet, is sent to the master control platform and lack material warning information.
5. a kind of digitlization bin system, which is characterized in that including claim 1 to the described in any item numbers of claim 4
Material bin device further includes machining center, and the machining center is connected with the master control platform in the digitlization bin device.
6. digitlization bin system according to claim 5, which is characterized in that the master control platform of the digitlization bin device
Bus interface board, the main frame for being mounted with various primary control programs and driver and people including connecting various external equipments
Switch disk.
7. digitlization bin system according to claim 6, which is characterized in that first in the digitlization bin device
Position in storehouse and the second position in storehouse are connected by cable with the master control platform.
8. digitlization bin system according to claim 5, which is characterized in that the manipulator of the digitlization bin device
Including the guide rail and master control platform letter moved between the machining center and the second position in storehouse of the digitlization bin device
The operation panel of number electric cabinet of contact, the pneumatic clamper of the clamping pallet, the pneumatic clamper of the clamping workpiece and the manipulator.
9. digitlization bin system according to claim 8, which is characterized in that the machining center includes moveable sliding
Platform, workpiece and scroll chuck, telescopic cylinder and side door.
10. digitlization bin system according to claim 9, which is characterized in that the manipulator and the machining center
It is connected by cable with the master control platform, the workpiece is sent to the processing by controlling the manipulator by the master control platform
Center is processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821325167.5U CN208585660U (en) | 2018-08-16 | 2018-08-16 | Digitize bin device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821325167.5U CN208585660U (en) | 2018-08-16 | 2018-08-16 | Digitize bin device and system |
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| Publication Number | Publication Date |
|---|---|
| CN208585660U true CN208585660U (en) | 2019-03-08 |
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ID=65543628
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821325167.5U Expired - Fee Related CN208585660U (en) | 2018-08-16 | 2018-08-16 | Digitize bin device and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110664500A (en) * | 2019-10-24 | 2020-01-10 | 深圳市翔通光电技术有限公司 | Digital formation molding equipment and system for dental prosthesis |
| CN114988105A (en) * | 2022-08-08 | 2022-09-02 | 中国信息通信研究院 | Intelligent material grabbing device and method |
-
2018
- 2018-08-16 CN CN201821325167.5U patent/CN208585660U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110664500A (en) * | 2019-10-24 | 2020-01-10 | 深圳市翔通光电技术有限公司 | Digital formation molding equipment and system for dental prosthesis |
| CN114988105A (en) * | 2022-08-08 | 2022-09-02 | 中国信息通信研究院 | Intelligent material grabbing device and method |
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Granted publication date: 20190308 Termination date: 20190816 |