CN214686587U - Deburring system - Google Patents
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- CN214686587U CN214686587U CN202122329466.4U CN202122329466U CN214686587U CN 214686587 U CN214686587 U CN 214686587U CN 202122329466 U CN202122329466 U CN 202122329466U CN 214686587 U CN214686587 U CN 214686587U
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Abstract
The utility model relates to a deburring system, including main control unit and at least one deburring robot that can carry out deburring work to the work piece, each the deburring robot all is connected its characterized in that with main control unit: further comprising: the deburring system comprises a main controller, at least one deburring station and at least one deburring robot, wherein each deburring station is correspondingly provided with a deburring tool connected with the main controller, and the deburring tool is arranged on the deburring station or the deburring robot so as to realize deburring work on a workpiece placed on the deburring station through the deburring tool; and each transfer robot is connected with the main controller and is used for loading and unloading the workpiece or transferring the workpiece on one deburring station to the next deburring station. This burring system need not artifical transport and burring, realizes material loading, unloading and burring work automatically, and the cooperation is close between each work to improve burring work efficiency, can guarantee the burring quality.
Description
Technical Field
The utility model relates to a burring equipment field, in particular to burring system.
Background
In various machine parts machining, burrs are an excess derived from a workpiece that does not conform to a desired part shape or size. The generation of burrs on mechanical parts varies with the machining method, and some of the burrs are caused by plastic deformation in the cutting process; some are flashes for casting, die forging, etc., and some are welding extrusion residues. Along with the improvement of industrialization and degree of automation, in the field of machining, especially in the fields of aviation, aerospace and instruments and meters, the improvement of the requirement on the manufacturing precision of mechanical parts and the miniaturization of mechanism design have obvious harmfulness of burrs and gradually arouse the general attention of people.
Therefore, Chinese patent with patent number ZL201711001688.5 (No. CN 107825431B) discloses a workpiece deburring system and method based on self-feedback speed control of an intelligent robot, the system comprises at least one robot for automatic deburring, the robot comprises a main controller, a robot body, a position sensor for collecting position information of the robot and a deburring tool arranged on the robot body and used for automatic deburring, the position sensor and the deburring tool are connected with the main controller, the main controller is used for calculating and obtaining position errors of the robot according to the position information collected by the position sensor, and then controlling the moving speed of the robot according to the calculated position errors, so that the deburring tool is driven to deburr a workpiece. However, the deburring system can only automatically control grinding, and manual feeding and discharging are needed, so that the working efficiency is not high, and further improvement is needed.
Disclosure of Invention
The utility model aims to solve the technical problem that an automatic material loading, unloading and burring work are realized to above-mentioned prior art provides to improve burring output and work efficiency's burring system.
The utility model provides a technical scheme that above-mentioned technical problem adopted does: this burring system, including main control unit and at least one burring robot that can treat the burring work piece and carry out burring work, each the burring robot all is connected its characterized in that with main control unit: further comprising:
the deburring system comprises at least one deburring station, wherein each deburring station is correspondingly provided with a deburring tool connected with a main controller, and the deburring tool is arranged on the deburring station or the deburring robot so as to realize deburring work on a workpiece to be deburred placed on the deburring station through the deburring tool;
and each transfer robot is connected with the main controller and is used for loading and unloading the workpiece to be deburred or transferring the workpiece to be deburred on one of the deburring stations to the next deburring station.
In order to make the division of labor of the transfer robot clear, preferably, the transfer robot includes a first robot in charge of loading and unloading and a second robot in charge of carrying, the first robot can realize that a workpiece to be deburred is grabbed to a first deburring station from a loading tray, the second robot is used for carrying the workpiece to be deburred, which is removed by the first deburring station, to a corresponding deburring station on the deburring robot, and the second robot carries the workpiece to be deburred, which is removed by the deburring robot, to a last deburring station, and correspondingly, the first robot grabs the workpiece to be deburred on the last deburring station to an unloading tray.
In order to better perform program control of the first robot according to a preprocessed workpiece to be deburred, the program control of the first robot can be realized in a unified control mode through a main controller, and can also be realized through a control program control of an independent first robot.
In order to realize that the first robot accurately grasps the workpiece to be deburred placed on the feeding tray, preferably, the first robot further comprises an image acquisition mechanism for acquiring images of the workpiece to be deburred placed on the feeding tray, and the image acquisition mechanism is in communication connection with the first controller and is used for identifying the acquired image of the workpiece to be deburred through the first controller and changing the motion track of the first arm according to an identification result. Therefore, the workpiece to be deburred which is placed irregularly can be accurately grabbed. The first robot grabs an image of a workpiece to be deburred, the image of the workpiece to be deburred is acquired by the image acquisition mechanism, and the actual position of the workpiece to be deburred is detected through processing, so that the first robot rotates all joints through a control signal output by a first controller of the first robot to obtain a grabbing posture corresponding to the first robot, and the workpiece to be deburred is better grabbed.
Similarly, in order to better perform program control of the second robot according to the pre-processed workpiece to be deburred, the program control may be performed in a unified control manner by the main controller, or may be performed by a control program of an independent second robot, preferably, the second robot includes a second controller, a second robot arm, and a second grasping mechanism disposed on the second robot arm, a control end of the second robot arm and a control end of the second grasping mechanism are both connected to the second controller, the second controller is further connected to the main controller, and the second controller is configured to control the second robot arm to move according to a set motion trajectory and control the second grasping mechanism to perform grasping movement.
This system is got rid of to burr can be applicable to and basically satisfies getting rid of each burr in the part for the car, preferably, the burring station is including removing ejector pin burr station, removing R angle burr station, removing pilot pin hole burr station and removing positive and negative burr station, correspondingly, the burring instrument is including locating the first burring instrument on removing the ejector pin burr station, locating the second burring instrument on removing the R angle burr station, locating the third burring instrument on removing the pilot pin hole burr station and locating the fourth burring instrument that is used for going on the deburring the work piece of treating on removing the positive and negative burr station and carrying out the burring on the deburring robot. Of course, one or more of the deburring stations can be selected according to the burr of a specific automobile component.
In order to realize the automatic control of deburring work on a workpiece to be deburred, preferably, a first detection mechanism, a second detection mechanism, a third detection mechanism and a fourth detection mechanism which are used for detecting the stations are further respectively arranged on the ejector rod deburring station, the R angle deburring station, the positioning pin hole deburring station and the front and back side deburring station, and the first detection mechanism, the second detection mechanism, the third detection mechanism and the fourth detection mechanism are all connected with the main controller and are used for controlling the corresponding deburring tool to act through the main controller after the workpiece to be deburred is monitored on each deburring station.
Furthermore, a turnover mechanism is arranged on the station for removing the burrs on the front side and the back side and is connected with the main controller for controlling the placed workpiece to be deburred to turn over. Move it to on going positive and negative burr station through the second robot, because the setting of tilting mechanism makes treating the upset that the burring work piece can carry out 180 degrees, thereby be suitable for treating the burring work piece and need carry out the deburring to the burr removal department that the two sides reverse set up, can certainly also carry out 360 degrees arbitrary rotations according to the burr removal department that treats the burring work piece, meanwhile, the deburring robot is on going positive and negative burr station, can maintain roughly the same position and posture because of the setting of tilting mechanism and treat that the burring work piece directly carries out the burr of two steps and get rid of, in order to further improve the machining efficiency of burring. Similarly, in order to better perform program control of the second robot according to the pre-processed workpiece to be deburred, the program control may be performed in a unified manner by the main controller, or may be performed by a control program of the independent second robot, preferably, the deburring robot further includes a third controller and a third robot arm, the fourth deburring tool is disposed on the third robot arm, a control end of the third robot arm and a control end of the fourth deburring tool are both connected to the third controller, the third controller is connected to the main controller, and the third controller is configured to control the third robot arm to move according to a set movement trajectory and control the fourth deburring tool to perform deburring operation.
Compared with the prior art, the utility model has the advantages of: through the deburring instrument that is connected with main control unit, transfer robot and deburring robot to realize that main control unit overall arrangement transfer robot, cooperation work between deburring robot and the deburring instrument, thereby this deburring system need not artifical transport and burring, realize automatically that material loading, unloading and deburring work, and the cooperation is close between each work, in order to improve deburring work efficiency, can guarantee the deburring quality in addition, can effectively avoid the work efficiency that exists in the artifical deburring mode low, the cost of labor height and the problem that the quality is difficult to guarantee.
Drawings
Fig. 1 is a control block diagram of a deburring system in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a deburring system in an embodiment of the present invention;
FIG. 3 is a schematic view of the structure of FIG. 2 from another perspective;
FIG. 4 is a schematic view of the reverse structure of the workpiece to be deburred in FIG. 2;
fig. 5 is a schematic front view of fig. 4.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments.
As shown in fig. 1, the deburring system in the present embodiment includes a main controller 1, a transfer robot, a deburring station, and a deburring robot 2. The deburring device comprises a main controller 1, a deburring robot 2, a carrying robot and deburring tools, wherein the deburring stations or the deburring robot 2 are provided with deburring tools, the deburring robot 2, the carrying robot and the deburring tools are all connected with the main controller 1, so that the carrying robot is controlled to feed and discharge materials or carry a workpiece to be deburred on one deburring station to the next deburring station through the main controller 1, and the deburring tools are controlled to deburr the workpiece to be deburred on each deburring station.
In this embodiment, the number of the deburring stations, the transfer robot, and the deburring robot 2 is at least one, and the specific number can be changed according to the production yield and the cost adaptability.
The transfer robot in this embodiment includes a first robot 31 responsible for feeding and discharging and a second robot 32 responsible for transfer.
The first robot 31 includes a first controller 311, a first robot arm 312, a first grabbing mechanism 313 and an image collecting mechanism 314 which are arranged on the first robot arm 312, a control end of the first grabbing mechanism and the image collecting mechanism 314 are all connected with the first controller 311, the first controller 311 is connected with the main controller 1, a program is set in the first controller 311 before use, the image collecting mechanism 314 uploads an image of a workpiece to be deburred which is placed on the collected loading tray 4 to the first controller 311, the first controller 311 changes a motion track of the first robot arm 312 according to an image recognition result, and the first controller 311 can control the first robot arm 312 to perform grabbing according to the changed motion track and control the first grabbing mechanism 313 to perform grabbing so as to achieve loading and unloading.
The second robot 32 includes a second controller 321, a second robot arm 322, and a second grabbing mechanism 323 disposed on the second robot arm 322, a control end of the second robot arm 322 and a control end of the second grabbing mechanism 323 are both connected to the second controller 321, the second controller 321 is connected to the main controller 1, and before use, a program is set in the second controller 321, and the second controller 321 can control the second robot arm 322 to move according to a set motion trajectory and control the second grabbing mechanism 323 to grab.
The deburring robot 2 further comprises a third controller 21, a third mechanical arm 22 and a fourth deburring tool 641, the fourth deburring tool 641 is arranged on the third mechanical arm 22, a control end of the third mechanical arm 22 and a control end of the fourth deburring tool 641 are both connected with the third controller 21, the third controller 21 is connected with the main controller 1, and when a program is set in the third controller 21 before use, the third controller 21 can control the third mechanical arm 22 to move according to a set movement track and control the fourth deburring tool 641 to perform deburring.
In addition, the deburring station comprises an ejector rod deburring station 61, an R angle deburring station 62, a positioning pin hole deburring station 63 and a front and back side deburring station 64, as shown in fig. 2 and 3, the specific positions of the stations are all arranged around the second robot 32 by taking the second robot 32 as the center, correspondingly, a first deburring tool 611 and a first detection mechanism 612 are arranged on the ejector rod deburring station 61, a second deburring tool 621 and a second detection mechanism 622 are arranged on the R angle deburring station 62, and a third deburring tool 631 and a third detection mechanism 632 are arranged on the positioning pin hole deburring station 63. The first deburring tool 611, the first detection mechanism 612, the second deburring tool 621, the second detection mechanism 622, the third deburring tool 631 and the third detection mechanism 632 are all connected with the main controller 1, the front and back deburring station 64 is provided with a fourth detection mechanism 642 and a turnover mechanism 643, and the fourth detection mechanism 642 and the turnover mechanism 643 are both connected with the main controller 1 and used for controlling the placed workpiece to be deburred to turn over.
In the present embodiment, a deburring process for a workpiece to be deburred as shown in fig. 4 to 5 is described as an example, and as shown in fig. 4 and 5, the workpiece to be deburred 7 includes a body, a back surface of the body includes at least two connecting ribs 71, each connecting rib is connected in a cross manner to form at least two socket-shaped cavities 73 spaced apart from each other, each socket-shaped cavity 73 corresponds to a first burr removing portion, a cross point 711 of each connecting rib 71 corresponds to a second burr removing portion, an end point of the body has at least two locations for positioning, wherein a first positioning portion 74 corresponds to a third burr removing portion, a front surface of the body has an opening portion 75, a portion between the opening portion 75 and the first positioning portion 74 is bulged in a direction gradually away from the back surface to form a bulged region 76 in an inverted "V" shape, and an outer peripheral region lower than the bulged region 76 in the front surface and a peripheral edge of the bulged region 76 form a gate portion 77, a concave point 78 is formed at the middle tip part and the outer peripheral region of the V-shaped raised area 76, the opening part 75, the gate part 77, the middle tip part concave point 78 and the second positioning part 741 correspond to a fourth burr removal part, two side walls of the V-shaped raised area 76 and the corresponding outer peripheral region surround to form a triangular area 79, the triangular area 79 has a first positioning pin hole 791, a second positioning pin hole 792 is arranged adjacent to the second positioning part 741, and the first positioning pin hole 791 and the second positioning pin hole 792 correspond to a fifth burr removal part.
The deburring working process of each workpiece to be deburred is as follows:
the first step, the main controller 1 sets the order of deburring work, which respectively corresponds to the following steps according to the sequence: removing burrs of the ejector rod, removing burrs of an R angle, removing burrs of a front side and a back side, and removing burrs of a positioning pin hole;
secondly, controlling the first robot 31 to grab the workpiece to be deburred from the feeding tray 4 to the ejector rod deburring station 61 through the main controller 1;
step three, when the workpiece to be deburred is detected by the first detection mechanism 612 on the ejector rod deburring station 61, namely, the first deburring tool 611 is started to deburre the ejector rod deburring of the workpiece to be deburred, and after the ejector rod deburring is finished (the working time of the first deburring tool 611 can be set through the main controller 1, namely, the deburring is automatically stopped after the working time of the first deburring tool 611 is expired), the fourth step is carried out; the first deburring tool 611 is used for removing the burrs of the ejector rod at the second burr removing positions corresponding to the intersection points 711 of the connecting ribs 71, in the embodiment, the first deburring tool 611 adopts a multi-axis power head steel wire brush;
step four, the second robot 32 grabs the workpiece to be deburred on the ejector pin deburring station 61 to the R-angle deburring station 62, when the second detection mechanism 622 on the R-angle deburring station 62 detects the workpiece to be deburred, the second deburring tool 621 is started to perform R-angle deburring on the workpiece to be deburred (wherein the second robot 32 clamps the workpiece to be deburred at a position close to the second deburring tool 621 for deburring), and after the R-angle deburring is completed (the deburring completion method is judged to be the same as that in the step three), the fifth step is performed; in the embodiment, a second deburring tool 621 is used to remove R-angle burrs from the third burr removal position corresponding to the first positioning portion 74, in which the second deburring tool 621 adopts a rigid electric spindle on which a milling cutter is mounted;
in the fifth step, the second robot 32 grabs the workpiece to be deburred on the R-angle deburring station 62 to the front and back deburring station 64, when the fourth detection mechanism 642 on the front and back deburring station 64 detects the workpiece to be deburred, the fourth deburring tool 641 on the third robot is started to deburre the front of the workpiece to be deburred, the main controller 1 controls the turnover mechanism 643 to turn over after the front of the workpiece to be deburred is deburred (the deburring completion method is judged to be the same as that in the third step), the fourth deburring tool 641 on the third robot performs front and back deburring on the workpiece to be deburred, and the sixth step is performed after the front and back deburring is completed; using the fourth deburring tool 641, performing reverse deburring on each pocket 73 corresponding to the first burr removal site, and performing front deburring on the orifice portion 75, the gate portion 77, the intermediate tip recess 78, and the second positioning portion 741 together corresponding to the fourth burr removal site; in this embodiment, the fourth deburring tool 641 employs a rigid electric spindle on which a milling cutter for deburring the gate portion 77, a wire brush for deburring the concave portion 78 of the middle tip portion, and front and rear floating files for deburring the gate portion 75 and the second positioning portion 741 are mounted;
a sixth step, the second robot 32 grabs the workpiece to be deburred on the front and back side deburring station 64 to the positioning pin hole deburring station 63, when the third detection mechanism 632 on the positioning pin hole deburring station 63 detects the workpiece to be deburred, the third deburring tool 631 is started to deburre the positioning pin hole of the workpiece to be deburred, and the sixth step is performed after the deburring of the positioning pin hole is completed (the deburring completion method is judged to be the same as that in the third step); using a third deburring tool 631 to deburr a position where the first positioning pin hole 791 and the second positioning pin hole 792 correspond to a fifth deburring position, wherein the third deburring tool 631 adopts a reamer in the embodiment;
step seven, the first robot 31 grabs the workpiece to be deburred on the positioning pin hole deburring station 63 to the blanking tray 5; thus completing the complete deburring work of a workpiece to be deburred.
In this embodiment, the first robot arm 312, the second robot arm 322, the third robot arm 22, the first grabbing mechanism 313 and the second grabbing mechanism 323 all use common structures in the industry, and the structures thereof are not described herein again; the image acquisition mechanism 314 may employ a camera; the first detecting mechanism 612, the second detecting mechanism 622, the third detecting mechanism 632 and the fourth detecting mechanism 642 may be infrared detecting modules; turnover mechanism 643 is implemented using structures conventional in the art, such as controlling a motor to rotate in forward and reverse directions.
The main controller 1 serves as a master control end in the system, the actions of the carrying robot, the deburring robot 2 and the deburring tool are controlled comprehensively, the materials are loaded and unloaded, the conveying among the deburring stations and the deburring of all parts of the workpiece to be deburred form a complete deburring system, automatic production is achieved, and manual interference is not needed.
In this embodiment, the first robot 31 and the second robot 32 are both arranged as one robot, and since the working time of the fourth burr removing area is much longer than that of other burr removing areas, in order to improve the production yield, the number of the front and back burr removing stations 64 and the number of the deburring robots 2 can be increased according to the specific production yield requirement; in this embodiment, the front and back burr removing stations 64 are three, and accordingly, each front and back burr removing station 64 is provided with one deburring robot 2 correspondingly. In addition, for the convenience of controlling the second robot 32, the front and back deburring stations 64 are all arranged around the second robot 32 in the circumferential direction by taking the second robot 32 as a center, and the distance between each front and back deburring station 64 and the second robot 32 is within the range of the working area of the mechanical arm of the second robot 32.
In addition, because the working time for removing the front and back burrs is longer, and the carrying time for other deburring time and the carrying time for the workpiece to be deburred are shorter, the main controller can control the plurality of deburring robots 2 to carry out the front and back burr removing work, so that most of the first robot 31 and the second robot 32 are in a working state, the deburring robot 2 does not need to wait for the completion of the front and back burr removing, and the front and back burrs removing is preferably basically realized after the previous front and back burr removing is completed by the deburring robot 2 and then the front and back burrs are removed for the next workpiece to be deburred, so that the production yield is improved. The sequence of the actions of each robot and the action time of each deburring tool can be controlled by writing a program into the main controller.
Claims (9)
1. The utility model provides a deburring system, includes main control unit (1) and at least one deburring robot (2) that can treat the burring work piece and carry out deburring work, each deburring robot (2) all are connected its characterized in that with main control unit (1): further comprising:
each deburring station is correspondingly provided with a deburring tool connected with the main controller (1), and the deburring tool is arranged on the deburring station or the deburring robot (2) so as to realize deburring work on a workpiece to be deburred placed on the deburring station through the deburring tool;
the conveying robot is connected with the main controller (1) and used for feeding and discharging workpieces to be deburred or conveying the workpieces to be deburred on one deburring station to the next deburring station.
2. The de-burring system of claim 1, wherein: the conveying robot comprises a first robot (31) and a second robot (32), the first robot (31) is responsible for feeding and discharging, workpieces to be deburred can be grabbed to a first deburring station from a feeding tray (4) through the first robot (31), the second robot (32) is used for carrying the workpieces to be deburred, which are removed through the first deburring station, to a corresponding deburring station on the deburring robot (2), the second robot (32) is used for carrying the workpieces to be deburred, which are removed through the deburring robot (2), to a last deburring station, correspondingly, the workpieces to be deburred on the last deburring station are grabbed to a discharging tray (5) through the first robot (31).
3. The de-burring system of claim 2, wherein: the first robot (31) comprises a first controller (311), a first mechanical arm (312) and a first grabbing mechanism (313) arranged on the first mechanical arm (312), wherein a control end of the first mechanical arm (312) and a control end of the first grabbing mechanism (313) are connected with the first controller (311), the first controller (311) is further connected with the main controller (1), and the first controller (311) is used for controlling the first mechanical arm (312) to move according to a set movement track and controlling the first grabbing mechanism (313) to grab.
4. The de-burring system of claim 3, wherein: the first robot (31) further comprises an image acquisition mechanism (314) for acquiring images of the workpiece to be deburred placed on the feeding tray (4), wherein the image acquisition mechanism (314) is in communication connection with the first controller (311) and is used for identifying the acquired image of the workpiece to be deburred through the first controller (311) and changing the motion track of the first mechanical arm (312) according to the identification result.
5. The de-burring system of any one of claims 2 to 4, wherein: the second robot (32) comprises a second controller (321), a second mechanical arm (322) and a second grabbing mechanism (323) arranged on the second mechanical arm (322), a control end of the second mechanical arm (322) and a control end of the second grabbing mechanism (323) are both connected with the second controller (321), the second controller (321) is further connected with the main controller (1), and the second controller (321) is used for controlling the second mechanical arm (322) to move according to a set movement track and controlling the second grabbing mechanism (323) to grab.
6. The de-burring system of claim 5, wherein: the deburring station is including going ejector pin burr station (61), going R angle burr station (62), going registration pin hole burr station (63) and going positive and negative burr station (64), corresponding, the burring instrument is including locating first burring instrument (611) on going ejector pin burr station (61), locating second burring instrument (621) on going R angle burr station (62), locating third burring instrument (631) on going registration pin hole burr station (63) and locating on deburring robot (2) and be used for on going positive and negative burr station (64) waiting to burring the burring work piece and carry out fourth burring instrument (641) of burring.
7. The de-burring system of claim 6, wherein: the deburring device is characterized in that a first detection mechanism (612), a second detection mechanism (622), a third detection mechanism (632) and a fourth detection mechanism (642) which are used for realizing station detection are respectively arranged on the ejector rod deburring station (61), the R angle deburring station (62), the positioning pin hole deburring station (63) and the front and back side deburring station (64), and the first detection mechanism (612), the second detection mechanism (622), the third detection mechanism (632) and the fourth detection mechanism (642) are all connected with the main controller (1) and used for monitoring the deburring tool which is controlled to correspond through the main controller (1) after a workpiece to be deburred is monitored on each deburring station to move.
8. The de-burring system of claim 7, wherein: and the front and back side burr removing station (64) is provided with a turnover mechanism (643), and the turnover mechanism (643) is connected with the main controller (1) and is used for controlling the placed workpiece to be deburred to turn over.
9. The de-burring system of any one of claims 6 to 8, wherein: the deburring robot (2) further comprises a third controller (21) and a third mechanical arm (22), the fourth deburring tool (641) is arranged on the third mechanical arm (22), the control end of the third mechanical arm (22) and the control end of the fourth deburring tool (641) are connected with the third controller (21), the third controller (21) is connected with the main controller (1), and the third controller (21) is used for controlling the third mechanical arm (22) to move according to a set motion track and controlling the fourth deburring tool (641) to perform deburring.
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|---|---|---|---|
| CN202122329466.4U CN214686587U (en) | 2021-09-26 | 2021-09-26 | Deburring system |
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| CN202122329466.4U CN214686587U (en) | 2021-09-26 | 2021-09-26 | Deburring system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115122185A (en) * | 2022-08-05 | 2022-09-30 | 浙江万丰科技开发股份有限公司 | Full-automatic deburring equipment for die-casting automobile body |
| CN117206985A (en) * | 2023-10-12 | 2023-12-12 | 江苏中科云控智能工业装备有限公司 | Robot deburring speed intelligent control system and method based on big data |
-
2021
- 2021-09-26 CN CN202122329466.4U patent/CN214686587U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115122185A (en) * | 2022-08-05 | 2022-09-30 | 浙江万丰科技开发股份有限公司 | Full-automatic deburring equipment for die-casting automobile body |
| CN117206985A (en) * | 2023-10-12 | 2023-12-12 | 江苏中科云控智能工业装备有限公司 | Robot deburring speed intelligent control system and method based on big data |
| CN117206985B (en) * | 2023-10-12 | 2024-03-22 | 江苏中科云控智能工业装备有限公司 | Robot deburring speed intelligent control system and method based on big data |
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