CN212330659U - Intelligent double-robot detection grinding and polishing system for heterogeneous pieces - Google Patents
Intelligent double-robot detection grinding and polishing system for heterogeneous pieces Download PDFInfo
- Publication number
- CN212330659U CN212330659U CN202021308968.8U CN202021308968U CN212330659U CN 212330659 U CN212330659 U CN 212330659U CN 202021308968 U CN202021308968 U CN 202021308968U CN 212330659 U CN212330659 U CN 212330659U
- Authority
- CN
- China
- Prior art keywords
- laser
- detection device
- industrial robot
- robot
- heterogeneous
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 57
- 238000005498 polishing Methods 0.000 title claims abstract description 47
- 238000000227 grinding Methods 0.000 title claims abstract description 39
- 238000012545 processing Methods 0.000 claims abstract description 26
- 230000007547 defect Effects 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 238000003754 machining Methods 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 13
- 239000004744 fabric Substances 0.000 claims description 8
- 230000036544 posture Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 238000005192 partition Methods 0.000 claims description 4
- 230000005477 standard model Effects 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000008447 perception Effects 0.000 abstract description 6
- 238000012216 screening Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005187 foaming Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Landscapes
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The utility model discloses a two robots of heterogeneous piece intelligence detect grinding and polishing system has mainly solved the heterogeneous piece that has complicated curved surface characteristic and is difficult to detect, abrasive machining is difficult, processing environment harms big, workman grinding inefficiency scheduling problem. The detection, grinding and polishing system comprises a transmission device, a 3D recognition system, an industrial robot system, a laser detection device, a grinding device, a defect detection device, a system control cabinet and an industrial personal computer. Compared with the prior art, the utility model discloses a processing is thrown to "vision" and "sense of touch" perception realized the flexible mill of heterogeneous piece, can accomplish the complicated curved surface processing that requires higher machining precision and surface smoothness.
Description
Technical Field
The utility model relates to an industry intelligent robot technical field especially relates to a two robots of heterogeneous piece intelligence detect system of polishing.
Background
The heterogeneous piece has special functions in different fields due to the complex and diverse curved surfaces of the heterogeneous piece. The complex curved surface reflector can effectively reduce the refraction times and power loss, the complex curved surface engine cylinder can improve the working efficiency, and the mold cavities and the automobile parts with complex curved surface shapes also meet the functional requirements and the attractiveness. However, in practical production and application, the dimensional surface integrity and the individual difference of the heterogeneous piece blank with a complex shape are large due to the factors such as plastic deformation of materials and unreasonable manufacturing process, the heterogeneous piece has a complex structure and a variable and irregular curvature, and the existing robot grinding and polishing system cannot realize automatic processing, so that a factory urgently needs an automatic grinding and polishing system with stronger adaptability, rapidness and precision to meet social requirements.
The invention patent of China with publication number CN105215809A (intelligent perception grinding robot system with explosion-proof function) provides an intelligent perception robot system integrating a 3D vision system, a force and position hybrid control system and an explosion-proof function, and improves the processing quality of large-scale complex curved surfaces through vision guidance and force control perception. The chinese patent publication CN107511745A (an intelligent cooperative operation device with multiple robots for blade machining) discloses that a grinding robot, a polishing robot, and a vision inspection robot are configured in a time-sharing manner through a cooperative operation controller with multiple robot servo shafts, so that cooperative operation with a workbench is completed, and the problems of unstable machining quality and low efficiency caused by multiple workpiece clamping are reduced. The Chinese patent with publication number CN104889864 calibrates the actual workpiece coordinate and the standard coordinate data on line through the three-dimensional laser scanner, and corrects the processing path, so that the processing process is efficient and accurate, and the processing precision is improved.
In conclusion, the existing automatic grinding and polishing system still has the problems of single grinding control and insufficient intelligent degree, a complete grinding and detection integrated system is not provided, the robots are insufficient in mutual cooperation, the grinding and polishing flexibility is low, and high-quality intelligent automatic grinding and polishing of small-batch complex curved surface workpieces cannot be realized.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a to in the current system of processing, can't realize the problem that complicated curved surface intellectual detection system ground was thrown, provide a two robots of heterogeneous piece intelligence detection system of polishing with vision, sense of touch, perception function.
In order to achieve the above object, the utility model provides a following scheme:
the utility model discloses a two robots of heterogeneous piece intelligence detect system of polishing, include:
the transmission device is used for conveying the heterogeneous pieces;
the 3D recognition system is fixed on the transmission device and used for acquiring the postures and the positions of the heterogeneous pieces;
the industrial robot system comprises a first industrial robot and a second industrial robot, wherein a first workpiece clamp is arranged at the tail end of the first industrial robot, a force position control device is arranged at the tail end of the second industrial robot, the force position control device is connected with a quick change mechanism, the quick change mechanism comprises a second workpiece clamp and a cloth wheel polishing machine which can be switched, the first workpiece clamp and the second workpiece clamp are used for grabbing the heterogeneous piece, and the cloth wheel polishing machine is used for polishing the heterogeneous piece;
the laser detection device is used for carrying out laser partition scanning measurement on the heterogeneous piece and comparing the heterogeneous piece with a standard model to obtain the machining allowance and the blank defect;
the grinding device is used for grinding the heterogeneous piece;
the defect detection device is used for detecting the quality of the machined heterogeneous piece;
the industrial robot system, the transmission device, the 3D recognition system, the laser detection device, the grinding device and the defect detection device are all electrically connected with the system control cabinet and are regulated and controlled by the system control cabinet through a PLC (programmable logic controller);
the industrial personal computer is used for sending the collected information to the 3D recognition system, the laser detection device and the defect detection device, and the industrial personal computer is used for carrying out real-time communication and coordination processing on the industrial robot system.
Preferably, the industrial robot system further comprises a robot control cabinet, the robot control cabinet is used for receiving signals of the 3D recognition system, the laser detection device and the defect detection device and controlling the actions of the first industrial robot and the second industrial robot, and the robot control cabinet is electrically connected with the system control cabinet.
Preferably, laser detection device is 2D laser profile scanner, 2D laser profile scanner includes laser generator, laser controller and laser fixed bolster, the laser fixed bolster is fixed in on the testing platform, laser generator is fixed in on the laser fixed bolster, laser controller is located in the system control cabinet, laser controller with the laser generator electricity is connected, laser controller passes through ethernet communication or USB communication mode and gives scanning information transmission for the industrial computer.
The utility model discloses for prior art gain following technological effect:
1. the laser detection device is adopted for detecting the blank before processing, and the grinding and polishing information is obtained to replace manual teaching to guide a machine grinding and polishing path, so that the processing precision and adaptability are improved;
2. the 3D vision recognition system is adopted to recognize the workpiece, so that the workpiece is convenient to grab, and the processing efficiency and the automation degree of factory grinding and polishing processing are improved;
3. the force position control device is adopted to control polishing and polishing force, the attitude and the tail end path of the industrial robot are adjusted in real time, and the processing quality is improved;
4. the method of double-robot cooperative operation is adopted, so that the problem that singular points cannot be polished in single-robot polishing is solved, and the flexibility of processing is improved;
5. the defect detection device is adopted to replace manual detection, so that manual assistance is reduced, the random operability of manual detection is avoided, and the consistency of product quality is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a heterogeneous intelligent dual-robot detection polishing system according to this embodiment;
FIG. 2 is a diagram of the positional relationship of a transmission device and a 3D identification system;
FIG. 3 is a diagram showing the position relationship between the quick-change mechanism and the force/position control device;
FIG. 4 is a schematic structural diagram of a laser detection device;
description of reference numerals: 1. a six-axis industrial robot; 2. a transmission device; 3. a 3D identification system; 4. a laser detection device; 5. a force position control device; 6. a robot control cabinet; 7. a system control cabinet; 8. a grinding device; 9. a defect detecting device; 1-1, a first industrial robot; 1-2, a second industrial robot; 1-11, a first workpiece holder; 1-20, a quick-change mechanism; 1-21, a second workpiece holder; 1-22, cloth wheel polishing machine; 2-1, a conveyer belt; 2-2, a blanking channel; 2-3, a screening mechanism; 3-1, a first industrial camera; 3-2, a first camera mount; 3-3, a first rack sliding rail; 4-1, a laser generator; 4-2, fixing a support by laser; 9-1, a second industrial camera; 9-2, a second camera fixing frame; 9-4 and a second sliding table.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model aims at providing a to in the current system of processing, can't realize the problem that complicated curved surface intellectual detection system ground was thrown, provide a two robots of heterogeneous piece intelligence detection system of polishing with vision, sense of touch, perception function.
In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.
As shown in fig. 1-4, the present embodiment provides a heterogeneous piece intelligent dual-robot detection grinding and polishing system, which includes a transmission device 2, a 3D recognition system 3, an industrial robot system, a laser detection device 4, a grinding device 8, a defect detection device 9, a system control cabinet 7, and an industrial personal computer.
The transmission device 2 is used for conveying the heterogeneous pieces; the 3D recognition system 3 is fixed on the transmission device 2 and used for acquiring the postures and positions of the heterogeneous pieces; the industrial robot system comprises a first industrial robot 1-1 and a second industrial robot 1-2, wherein a first workpiece fixture 1-11 is arranged at the tail end of the first industrial robot 1-1, a force position control device 5 is arranged at the tail end of the second industrial robot 1-2, the force position control device 5 is connected with a quick-change mechanism 1-20, the quick-change mechanism 1-20 comprises a second workpiece fixture 1-21 and a cloth wheel polishing machine 1-22 which can be switched, the first workpiece fixture 1-11 and the second workpiece fixture 1-21 are used for grabbing heterogeneous pieces, and the cloth wheel polishing machine 1-22 is used for polishing the heterogeneous pieces; the laser detection device 4 is used for carrying out laser partition scanning measurement on the heterogeneous piece and comparing the heterogeneous piece with a standard model to obtain machining allowance and blank defects; the grinding device 8 is used for grinding the heterogeneous piece; the defect detection device 9 is used for detecting the quality of the machined heterogeneous piece; the industrial robot system, the transmission device 2, the 3D recognition system 3, the laser detection device 4, the grinding device 8 and the defect detection device 9 are all electrically connected with the system control cabinet 7 and are regulated and controlled by the system control cabinet 7 through a PLC; the 3D recognition system 3, the laser detection device 4 and the defect detection device 9 send the collected information to the industrial personal computer, and the industrial personal computer carries out real-time communication and coordination processing on the industrial robot system. In this embodiment, the grinding device 8 is a grinding and polishing machine with a foaming wheel, and the first industrial robot 1-1 and the second industrial robot 1-2 both adopt a six-axis industrial robot 1. Through adopting two robots to carry out collaborative operation, the problem that singular point can't carry out the polishing in single robot polishing has been solved, has improved the flexibility of processing.
The type of transmission means 2 is various and can be selected by a person skilled in the art according to need. In this embodiment, the conveying device 2 includes a conveying belt 2-1, a feeding channel 2-2 and a screening device, and the feeding channel 2-2 and the screening device are fixed above the conveying belt 2-1. The heterogeneous workpiece is conveyed to a conveyer belt 2-1 through a blanking channel 2-2 in the conveying device 2, conveyed on the conveyer belt 2-1, and conveyed to a 3D recognition system 3 after being screened by a screening mechanism 2-3. In this embodiment, the screening mechanisms 2-3 perform height screening, and the height screening structure is a structure commonly used in the art and is not described herein again.
In this embodiment, the 3D recognition system 3 is configured to perform pose recognition on the heterogeneous member on the conveyor belt 2-1, so as to perform subsequent stopping of the conveyor belt 2-1 and grabbing actions of the industrial robot, thereby improving the processing efficiency and the degree of automation of polishing processing. The 3D recognition system 3 comprises two first industrial cameras 3-1, a first camera fixing frame 3-2, a first rack sliding rail 3-3, a first sliding table and a first camera rotating table, wherein the first rack sliding rail 3-3 is fixed on the first camera fixing frame 3-2, the first sliding table is arranged on the first rack sliding rail 3-3 in a sliding mode, the first camera rotating table is fixed on the first sliding table, the first industrial cameras 3-1 are fixed on the first camera rotating table, the two first industrial cameras 3-1 are located right above a transmission device 2, and the first industrial cameras 3-1 transmit shooting information to an industrial personal computer in an Ethernet communication or USB communication mode. When the industrial camera rotating table is used, the shooting position and angle of the first industrial camera 3-1 can be adjusted by sliding the first sliding table on the first rack sliding rail 3-3 and rotating the first camera rotating table.
In this embodiment, the industrial robot system comprises a robot control cabinet 6 in addition to the first industrial robot 1-1 and the second industrial robot 1-2 described above. The robot control cabinet 6 adopts a PLC controller and is used for receiving signals of the 3D recognition system 3, the laser detection device 4 and the defect detection device 9 and controlling the actions of the first industrial robot 1-1 and the second industrial robot 1-2, and the robot control cabinet 6 is electrically connected with the system control cabinet 7.
In this embodiment, the laser detection device 4 is used for detecting a blank before processing, and the grinding and polishing path of the machine is guided by acquiring grinding and polishing information instead of manual teaching, so that the processing precision and adaptability are improved. The laser detection device 4 is a 2D laser profile scanner and comprises a laser generator 4-1, a laser controller and a laser fixing support 4-2. The laser fixing support 4-2 is fixed on the detection platform, and the laser generator 4-1 is fixed on the laser fixing support 4-2. The laser controller is located in the system control cabinet 7 and electrically connected with the laser generator 4-1, and the laser controller transmits scanning information to the industrial personal computer in an Ethernet communication or USB communication mode.
In this embodiment, the defect detecting device 9 includes a second industrial camera 9-1, a second camera fixing frame 9-2, a second rack sliding rail, a second sliding table 9-4, a second camera rotating table, and an illumination light source. The lighting source and the second rack sliding rail are fixed on a second camera fixing frame 9-2, a second sliding table 9-4 is arranged on the second rack sliding rail in a sliding mode, a second camera rotating table is fixed on the second sliding table 9-4, a second industrial camera 9-1 is fixed on the second camera rotating table, and the second industrial camera 9-1 transmits shooting information to the industrial personal computer in an Ethernet communication or USB communication mode. When the industrial camera is used, the shooting position and angle of the second industrial camera 9-1 can be adjusted by sliding the second sliding table 9-4 on the second rack sliding rail and rotating the second camera rotary table. By adopting the defect detection device 9 to replace manual detection, manual assistance is reduced, the follow-up performance of manual detection is avoided, and the consistency of product quality is improved.
In this embodiment, the force position control device 5 includes a six-dimensional force sensor, a signal acquisition card, and a sensor connection board. The sensor connecting plate is fixed on the quick-change mechanism 1-20, one end of the six-dimensional force sensor is fixedly connected with the sensor connecting plate, the other end of the six-dimensional force sensor is fixedly connected with the tail end of the second industrial robot 1-2, and force information acquired by the six-dimensional force sensor is transmitted to the industrial personal computer for real-time force position control. By adopting the force position control device 5 to control the polishing pose and the polishing force, the pose and the tail end path of the robot can be adjusted in real time, and the processing quality is improved.
The embodiment also provides a processing method for the intelligent dual-robot detection, grinding and polishing of the heterogeneous piece, and the system for the intelligent dual-robot detection, grinding and polishing of the heterogeneous piece comprises the following steps:
s1, conveying the workpiece to a conveyer belt 2-1 through a blanking channel 2-2 in the conveying device 2, screening by a screening mechanism 2-3, and conveying to a position right below a first industrial camera 3-1;
s2, the first industrial camera 3-1 detects that the workpiece arrives, the conveying belt 2-1 stops, and the 3D recognition system 3 guides the first industrial robot 1-1 to grab the workpiece through pose recognition;
s3, the second industrial robot 1-2 places the grabbed workpiece on a detection platform, the first industrial robot 1-1 changes the clamping posture to clamp the workpiece for laser partition scanning measurement and compares the workpiece with a standard model to obtain machining allowance and blank defects, the workpiece which cannot repair the defects is placed in a waste frame, and the problem-free workpiece generates a machining path to be ground;
s4, clamping the workpiece by the first industrial robot 1-1 according to the allowance information, and grinding and processing the workpiece on the grinding and polishing machine;
s5, after grinding is finished, the first industrial robot 1-1 clamps a workpiece, the second industrial robot 1-2 polishes the workpiece through the cloth wheel polisher 1-22, and the force and position control device 5 adjusts the posture and the tail end path of the second industrial robot 1-2 by controlling the polishing pose and the polishing force, so that intelligent control in automatic polishing is achieved;
and S6, the defect detection device 9 detects the quality of the polished workpiece.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the concrete implementation and the application scope. In summary, the content of the present specification should not be construed as a limitation of the present invention.
Claims (3)
1. The utility model provides a heterogeneous piece intelligence duplex robot detects system of polishing, its characterized in that includes:
the transmission device is used for conveying the heterogeneous pieces;
the 3D recognition system is fixed on the transmission device and used for acquiring the postures and the positions of the heterogeneous pieces;
the industrial robot system comprises a first industrial robot and a second industrial robot, wherein a first workpiece clamp is arranged at the tail end of the first industrial robot, a force position control device is arranged at the tail end of the second industrial robot, the force position control device is connected with a quick change mechanism, the quick change mechanism comprises a second workpiece clamp and a cloth wheel polishing machine which can be switched, the first workpiece clamp and the second workpiece clamp are used for grabbing the heterogeneous piece, and the cloth wheel polishing machine is used for polishing the heterogeneous piece;
the laser detection device is used for carrying out laser partition scanning measurement on the heterogeneous piece and comparing the heterogeneous piece with a standard model to obtain the machining allowance and the blank defect;
the grinding device is used for grinding the heterogeneous piece;
the defect detection device is used for detecting the quality of the machined heterogeneous piece;
the industrial robot system, the transmission device, the 3D recognition system, the laser detection device, the grinding device and the defect detection device are all electrically connected with the system control cabinet and are regulated and controlled by the system control cabinet through a PLC (programmable logic controller);
the industrial personal computer is used for sending the collected information to the 3D recognition system, the laser detection device and the defect detection device, and the industrial personal computer is used for carrying out real-time communication and coordination processing on the industrial robot system.
2. The system of claim 1, wherein the industrial robot system further comprises a robot control cabinet, the robot control cabinet is configured to receive signals from the 3D recognition system, the laser detection device, and the defect detection device, and control the actions of the first industrial robot and the second industrial robot, and the robot control cabinet is electrically connected to the system control cabinet.
3. The system of claim 1, wherein the laser detection device is a 2D laser profile scanner, the 2D laser profile scanner comprises a laser generator, a laser controller and a laser fixing bracket, the laser fixing bracket is fixed on a detection platform, the laser generator is fixed on the laser fixing bracket, the laser controller is located in the system control cabinet, the laser controller is electrically connected with the laser generator, and the laser controller transmits scanning information to the industrial personal computer through ethernet communication or USB communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021308968.8U CN212330659U (en) | 2020-07-07 | 2020-07-07 | Intelligent double-robot detection grinding and polishing system for heterogeneous pieces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021308968.8U CN212330659U (en) | 2020-07-07 | 2020-07-07 | Intelligent double-robot detection grinding and polishing system for heterogeneous pieces |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212330659U true CN212330659U (en) | 2021-01-12 |
Family
ID=74080566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021308968.8U Expired - Fee Related CN212330659U (en) | 2020-07-07 | 2020-07-07 | Intelligent double-robot detection grinding and polishing system for heterogeneous pieces |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212330659U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113093223A (en) * | 2021-04-12 | 2021-07-09 | 广州降光科技有限公司 | Laser ceilometer |
| CN114536112A (en) * | 2022-03-21 | 2022-05-27 | 南通新蓝机器人科技有限公司 | Automobile appearance detection and repair workstation |
-
2020
- 2020-07-07 CN CN202021308968.8U patent/CN212330659U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113093223A (en) * | 2021-04-12 | 2021-07-09 | 广州降光科技有限公司 | Laser ceilometer |
| CN114536112A (en) * | 2022-03-21 | 2022-05-27 | 南通新蓝机器人科技有限公司 | Automobile appearance detection and repair workstation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212330659U (en) | Intelligent double-robot detection grinding and polishing system for heterogeneous pieces | |
| CN106041930B (en) | Machining system and control method with location of workpiece compensation function | |
| CN210550070U (en) | Steel rail end face chamfering and polishing device and system based on robot | |
| CN109047867B (en) | Automatic milling machine workstation | |
| CN110503883B (en) | Teaching training equipment based on flexible mixed single automatic production line | |
| CN110757035B (en) | Automatic welding production line system for industrial filter | |
| CN111633549A (en) | Intelligent dual-robot detection grinding and polishing system for heterogeneous pieces and machining method | |
| CN108527007B (en) | Vertical machining center on-machine measuring system and method based on optical triangulation method | |
| CN111805247A (en) | Automatic milling, grinding and polishing combined machining system and method for large workpiece | |
| KR20100090458A (en) | Cnc machinery tool having vision system | |
| CN209681537U (en) | A kind of online automatic assembling of smallclothes material | |
| CN110524697B (en) | Automatic glaze spraying system for toilet bowl blank and positioning method thereof | |
| CN109093477A (en) | A kind of device and method of multirobot collaboration polishing forge piece overlap | |
| CN112265700A (en) | Sheet metal part blanking and boxing system and control method thereof | |
| CN113681562B (en) | Assembly system and method based on double-manipulator cooperation | |
| CN210647950U (en) | Automatic punching robot production line | |
| CN212747699U (en) | Automatic visual inspection device of car pipe fitting | |
| CN106514291B (en) | Full-automatic surfboard building control system | |
| CN212666314U (en) | Automatic machining production line for special-shaped plate | |
| CN113282058A (en) | Multi-station hybrid flexible processing system for posture adjustment of vision detection robot | |
| CN112620932A (en) | Three-dimensional five-axis laser cutting system based on 3D vision | |
| CN111660184A (en) | Flexible full-automatic polishing system | |
| CN111993516B (en) | Automatic processing production line and processing method for irregular plate | |
| CN212364840U (en) | Communication system of industrial robot equipment and industrial robot equipment applying same | |
| CN216286298U (en) | Device for acquiring relative position between devices and automatic feeding system of Tray core sheet material |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210112 |