CN107088891A - A kind of intelligent sand blasting machine people based on crown platform - Google Patents
A kind of intelligent sand blasting machine people based on crown platform Download PDFInfo
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- CN107088891A CN107088891A CN201710197938.0A CN201710197938A CN107088891A CN 107088891 A CN107088891 A CN 107088891A CN 201710197938 A CN201710197938 A CN 201710197938A CN 107088891 A CN107088891 A CN 107088891A
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- joint
- control
- module
- sand blasting
- handle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A kind of intelligent sand blasting machine people based on crown platform of the present invention, including abrasive blast equipment, workpiece placement station, crown platform, artificial operating desk, system control cabinet, robotic arm, artificial operating desk is provided with handle and touch-screen with function button, the operation that people is simulated by handle allows machine to know shower nozzle track and the speed of service, is set by touch-screen and throws blowing force degree；System control cabinet electrically connects with artificial operating desk, robotic arm, crown platform, abrasive blast equipment and collectively constitutes control system, control system includes electric control system and Control System of Microcomputer, Control System of Microcomputer is used for realizing the Whole Process Control that reason is investigated and prosecuted in spray, the motion of electrical control cabinet control modules or part；Robotic arm is arranged on crown platform, is provided with least six rotating shaft or joint and at least one nozzle.The present invention possesses excellent locomitivity, and mobile space covers whole sand-blast cleaning room, can carry out abrasive jet cleaning to various workpiece by automatic or manual control mode.
Description
Technical field
The present invention relates to blasting craft process field, and in particular to a kind of intelligent sand blasting machine people based on crown platform.
Background technology
Sandblasting is that ball, sand are thrown out using the impeller of high speed rotation, and high-speed impact piece surface reaches surface treatment
It is required that.Sand blasting room is called shot-peening room, sanding room, is adapted to some large-scale workpiece removing surfaces, derusting, increase workpiece and coating it
Between adhesive force and other effects, sand blasting room is divided into according to the way of recycling shot-peening room of abrasive material：Mechanical recovery type shot-peening room is returned with artificial
Receipts formula shot-peening room.Current domestic most using manual recovery sand blasting room, reason is economical and practical, is made simply, conveniently, of material letter
Easily, it greatly reducing the cost of sand blasting room.But manually realized for complicated workpiece and seem difficult, efficiency is low；So
It is a kind of to throw that to spray the robots with nozzle manipulator of various workpiece be trend of the times.
Country's throwing shot blasting equipment technical merit is relatively low, totally reaches the external phase at the beginning of the eighties in last century to mid-term level.Deposit
The problem of be：Poor reliability, fault rate is high；High energy consumption；Operating environment is poor, and environmental pollution is serious；Operator's quality and technical ability
It is poor, there is potential safety hazard；Equipment controlled level is relatively low, and automatization level is relatively low.
The content of the invention
In order to solve the above problems, possess excellent locomitivity the invention provides a kind of, being capable of intelligent abrasive jet cleaning
The robot of the workpiece surface of various workpiece including labyrinth, its mobile space can cover whole sand-blast cleaning room, can be with
Robot is programmed by teaching pattern or abrasive jet cleaning is carried out to various workpiece using artificial control mode；It is even
Interior surface thereof can be cleared up by vehicle window or other hole injection intra-locomotives, application is from various casting, large-scale
Steel part is to rail locomotive vehicle.
The present invention uses following technical scheme：
A kind of intelligent sand blasting machine people based on crown platform, including abrasive blast equipment, workpiece placement station and crown platform, day
Car platform can realize the movement in two vertical direction, it is characterised in that also including artificial operating desk, system control cabinet, machine
Device arm, described artificial operating desk is provided with handle and touch-screen with function button, and the behaviour of people is simulated by handle
Allow machine to know shower nozzle track and the speed of service, set by touch-screen and throw blowing force degree；Described system control cabinet with it is artificial
Operating desk, robotic arm, crown platform, abrasive blast equipment electrically connect and collectively constitute control system, and whole control system includes electricity
Gas control system and Control System of Microcomputer, Control System of Microcomputer are used for recording and analyzing the process data of blasting treatment, realize spray
The Whole Process Control of reason is investigated and prosecuted, electrical control cabinet is electrically connected by motor with modules or part, control modules or portion
The motion of part；Robotic arm is arranged on crown platform, is provided with least six rotating shaft or joint, can realize longitudinally, laterally and
Vertical direction is moved, and also sets up at least one nozzle, nozzle is connected with abrasive blast equipment, realizes sandblasting.
It is preferred that, described crown platform includes first support, second support and the 3rd support, first support and second
Frame is be arranged in parallel, and the 3rd support vertical is fastened between first support and second support, and the 3rd support can be along first
Frame and second support are slidably.
Further, described robotic arm include nozzle, the first joint, second joint, the 3rd joint, the 4th joint,
5th joint, the 6th joint and sliding shoe, described sliding shoe can be along the 3rd support slidably, and sliding shoe lower end is affixed
Branch sleeve upper end, the 6th joint and the 5th joint are tube-in-tube structure, and the 6th joint can be on branch sleeve inwall
Slidably, the 5th joint upper end can be in the 6th internal knuckle walls slidably；5th joint lower end passes through movable axis and
Four joints are connected, and the 4th joint lower end is connected by movable axis with the 3rd joint；3rd joint lower end passes through turning platform and second
Joint is connected, and second joint upper end is flexibly connected by rotary shaft with turning platform lower end, and second joint revolves for 360 degree along rotary shaft
Turn；Second joint lower end and the first joint are affixed, and the first joint is provided with rotating shaft, and the rotating shaft is mutually hung down with the rotary shaft
Directly, the rotating shaft being capable of 360 degree of rotations；The nozzle is fixed in rotating shaft.
It is preferred that, described artificial operating desk includes touch-screen and handle, and touch-screen and handle connect system control respectively
Cabinet, described handle includes left control handle and right control handle, and left control handle is provided with horizontal location button and elevation angle width
Navigation button is spent, for controlled level position and up and down elevation angle amplitude, described right control handle is provided with originating navigation button
With longitudinal register button, for setting original position and lengthwise position.
Further, described control system includes system control cabinet, robotic arm driving stepper motor module, overhead traveling crane step
Set in stepper motor Drive Module, abrasive blast equipment editable controller, artificial operating desk control module, described system control cabinet
There are industrial control computer and data-interface, described robotic arm driving stepper motor module includes control machine arm 6
The motor and travel switch input module of joint freedom degrees, realize the stream to 6 joints of robotic arm or control；Overhead traveling crane
Stepper motor driver module includes overhead traveling crane X-axis control module, overhead traveling crane Y-axis control module and overhead traveling crane travel switch input module,
Realize the movement and positioning of overhead traveling crane；Abrasive blast equipment editable controller include ramming equipment I/O Interface, throw shower nozzle control module,
Abrasive material conveying control module, separator control module, abrasive material lifting control module, realize the control of sandblasting flow velocity；Manually
Operating desk control module includes function button module and touch-screen, realizes manual manipulation and parameter setting.
Further, described control system also include the big door control module of sand blasting room, the big door control module of sand blasting room with
System control cabinet is electrically connected, for realizing that the gate of sand blasting room is opened and closed automatically.
Further, described control system also includes acousto-optic module, and the acousto-optic module includes audio collection and power amplifier
Module, by the sound prompting of played pre-recorded, notifies the progress of operating personnel's blasting treatment.
Further, described control system also includes sim module, and described sim module is by presetting contact person
Phone number, completed in blasting treatment or when going wrong, send short message to contact person in time so that contact person is not at the scene
When, field condition can be learnt in time.
The beneficial effects of the invention are as follows：
1st, robotic arm devise 6 can free movable joint, possess excellent locomitivity, can meet simultaneously above and below
The a series of actions such as flexible, horizontal curvature, 360 degree angle adjustments, can fully meet completion complex component and clear up for three-dimensional
The requirement of spatial degrees of freedom, also can effectively prevent the blocking in sandblasting path.
2nd, the motion planning of Multi-sensor Fusion and Coordinated Control are studied, with reference to the operation of artificial operating desk, are coordinated
Control room can be programmed to robot by teaching pattern or carry out sandblasting to various workpiece using artificial control mode
Cleaning.
3rd, computer simulation software can automatically generate corresponding abrasive jet cleaning program according to the key dimension of workpiece.Using
State-of-the-art robot simulation software such as ABB RobotStudio professional machines people design of Simulation software, by virtual robot
Technology carries out off-line programing, reaches design object, and then can carry out Drawing Design using Solidworks, and workpiece surface is sprayed
Dynamics, the density of sand simulate practical working situation with computer simulation technique, are that automatic sand blasting cleaning pattern lays the first stone.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is site setup schematic diagram of the present invention；
Fig. 3 is the structural representation of robotic arm in the present invention；
Fig. 4 is present system control principle block diagram.
In Fig. 3：1 first joint, 2 second joints, 3 the 3rd joints, 4 the 4th joints, 5 the 5th joints, 6 the 6th joints, 7 slide
Motion block.
Embodiment
As shown in figure 1, a kind of intelligent sand blasting machine people based on crown platform, including abrasive blast equipment, workpiece placement station and
Crown platform, crown platform can realize the movement in two vertical direction, it is characterised in that also including artificial operating desk, be
Unite switch board, robotic arm, described artificial operating desk is provided with handle and touch-screen with function button, by handle come
The operation of simulation people allows machine to know shower nozzle track and the speed of service, is set by touch-screen and throws blowing force degree；Described system control
Cabinet processed electrically connects with artificial operating desk, robotic arm, crown platform, abrasive blast equipment and collectively constitutes control system, whole control
System includes electric control system and Control System of Microcomputer, and Control System of Microcomputer is used for recording and analyzing the number of passes excessively of blasting treatment
According to the Whole Process Control of reason is investigated and prosecuted in realization spray, and electrical control cabinet is electrically connected by motor with modules or part, controls each
The motion of module or part；Robotic arm is arranged on crown platform, is provided with least six rotating shaft or joint, can be realized vertical
To, laterally and vertically move, also set up at least one nozzle, nozzle is connected with abrasive blast equipment, realizes sandblasting.
Position plane figure such as Fig. 2 of whole system, overhead traveling crane drives robotic arm to be moved in mobile space XY axles, machine
Realize that meeting the locus for throwing spray workpiece throwing spray moves freely in 6 joints of arm；Nozzle is by abrasive blast equipment control；Whole system
Control by switch board control, control instruction is transmitted in the control system in switch board by artificial operating desk, is realized from starting
Dynamic fused controlling.
Described crown platform includes first support, second support and the 3rd support, and first support is parallel with second support
Set, the 3rd support vertical is fastened between first support and second support, and the 3rd support can be along first support and the
Two supports are slidably.The principle of overhead traveling crane is as similar in boat car, and XY directions respectively set 2 limit switches, to spacing and positioning.My god
The direction of car two movement controlled motor uses three-phase stepper motor.
As shown in figure 3, described robotic arm includes nozzle, the first joint 1, second joint 2, the 3rd joint the 3, the 4th pass
The 4, the 5th joint 5, the 6th joint 6 and sliding shoe 7 are saved, described sliding shoe can be along the 3rd support slidably, sliding shoe
The affixed branch sleeve upper end in lower end, the 6th joint and the 5th joint are tube-in-tube structure, and the 6th joint can be in adapter sleeve
On cylinder inwall slidably, the 5th joint upper end can be in the 6th internal knuckle walls slidably；5th joint lower end passes through work
Moving axis is connected with the 4th joint, and the 4th joint lower end is connected by movable axis with the 3rd joint；3rd joint lower end is by turning to
Platform is connected with second joint, and second joint upper end is flexibly connected by rotary shaft with turning platform lower end, and the rotation of second joint edge
360 degree of rotations of axle；Second joint lower end and the first joint are affixed, and the first joint is provided with rotating shaft, and the rotating shaft and the rotation
Axle is mutually perpendicular to, and the rotating shaft being capable of 360 degree of rotations；The nozzle is fixed in rotating shaft.
Robotic arm uses stepper motor to coordinate driving joint motions with accurate harmonic speed reducer, with precision height, control
Performance is good, it is simple in construction the characteristics of.On the basis of the kinematical equation of six degree of freedom arm, overhead traveling crane positional information formation eight is taken into account
The free degree, the initial forward variable controlled using robotic arm as foundation, set up parameterisable, nonlinear robotic arm rotation, move
Dynamic dimension carries out the three-dimensional fix control of robot arm, forms the joint of robot three-dimensional arm eight and decomposes dimension control square
Battle array.
Described artificial operating desk includes touch-screen and handle, and touch-screen and handle connect system control cabinet respectively, described
Handle include left control handle and right control handle, left control handle provided with horizontal location button and the elevation angle amplitude positioning press
Button, for controlled level position and up and down elevation angle amplitude, described right control handle is fixed provided with starting navigation button and longitudinal direction
Position button, for setting original position and lengthwise position.
Manually the main function of operating desk is：Throwing in order to realize new workpiece sprays track, the speed of service and throws blowing force degree, first
First need the identification for carrying out track, throwing the spray speed of service, throwing blowing force degree：The operation of people is simulated by the handle of artificial operating desk
Allow machine to know shower nozzle track, the speed of service and throw blowing force degree.Concrete operations are as follows：
1st, operation right handles make being in for workpiece start to throw the appropriate position of spray, now by the original position of bottom right operation handle
Button, writes down position herein.The lengthwise position of right handles is adjusted, shower nozzle is in the centre position of workpiece, is operated by bottom right
The lengthwise position button of handle, writes down this position.Right operation handle is slowly moved, the speed of handle movement is exactly that shower nozzle is spraying
During the speed of service, machine will progressively write down.
2nd, left handle is operated, the angle of depression of the injection up and down amplitude of shower nozzle is adjusted by left handle, while operating left handle adjustment
Shower nozzle makes this distance and angle of depression amplitude be adapted to throw spray apart from the horizontal range of workpiece.The button of angle of depression amplitude above and below pressing respectively
With horizontal level navigation button, machine writes down this position and injection swing angle.This is arrived, the operation element of machine recognition people is
Complete.The injection dynamics of shower nozzle is inputted on the software interface of operating desk.Machine just completes whole identification process.
In order to accomplish self-correction, allow shower nozzle manually to carry out virtual throw by trace simulation and spray cleaning.This process is in manual oversight
Carry out, if robot motion meets the requirements, carry out, then operating personnel may exit off sand blasting room, start by the order of people completely
Pao Pen robots, robot can work independently；Finish, open gate, carry out that next identical jobs are installed, robot is by similar
The throwing that program is carried out to workpiece, which is sprayed, clears up.The workpiece new if necessary to throw spray cleaning, then carry out work above again.
As shown in figure 4, main control is by Industrial Computer Control, with robotic arm control module, overhead traveling crane control module, sandblasting
Device control module, artificial operational control module, sand blasting room control be integrally formed, it is mutually coordinated come control throw pressure spray process, realize
The intelligence of robot throws spray.Described control system includes system control cabinet, robotic arm driving stepper motor module, overhead traveling crane step
Set in stepper motor Drive Module, abrasive blast equipment editable controller, artificial operating desk control module, described system control cabinet
There are industrial control computer and data-interface, described robotic arm driving stepper motor module includes control machine arm 6
The motor and travel switch input module of joint freedom degrees, realize the stream to 6 joints of robotic arm or control；Overhead traveling crane
Stepper motor driver module includes overhead traveling crane X-axis control module, overhead traveling crane Y-axis control module and overhead traveling crane travel switch input module,
Realize the movement and positioning of overhead traveling crane；Abrasive blast equipment editable controller include ramming equipment I/O Interface, throw shower nozzle control module,
Abrasive material conveying control module, separator control module, abrasive material lifting control module, realize the control of sandblasting flow velocity；Manually
Operating desk control module includes function button module and touch-screen, realizes manual manipulation and parameter setting.Meanwhile, in order to realize control
System processed is controlled the entirety of sand blasting room, and described control system also includes the big door control module of sand blasting room, the big gate of sand blasting room
Molding block electrically connects with system control cabinet, for realizing that the gate of sand blasting room is opened and closed automatically.
Because whole robot can realize automation, therefore operating personnel may exit off sand blasting room, for the ease of operation
Personnel understand in time to be needed to increase prompting module in the development situation of sand blasting room, control system, and prompting module can use following
Set：
The 1st, acousto-optic module is set, and the acousto-optic module includes audio collection and power amplifier module, passes through played pre-recorded
Sound prompting, notifies the progress of operating personnel's blasting treatment.
The 2nd, sim module be set, and described sim module is complete in blasting treatment by presetting the phone number of contact person
Into or when going wrong, send short message to contact person in time so that contact person not at the scene when, live feelings can be learnt in time
Condition.
Above-mentioned system, its core is the analogue simulation for sandblasting flow, during whole system is run, the machine
The programmed method of device people has 3 kinds：
1st, teaching is programmed：During using this programmed method, the manually operated machine people of operator carries out sandblasting to some workpiece
While cleaning, robot can record abrasive jet cleaning program.The change of the total movement of robot and other control information is equal
It is stored in abrasive jet cleaning program.
2nd, off-line programing：Off-line programing is carried out using simulation softward.This programmed method need not interrupt production process, you can
Easily create robot abrasive jet cleaning program.This programmed method, which is particularly suitable for use in, needs the client that is produced in enormous quantities.
Off-line programing is apolegamy function, need to coordinate the 3-dimensional model of workpiece.
3rd, the automatic sand blasting for carrying out workpiece according to advance simulation result is programmed：For relatively simple workpiece, according to emulation
As a result write and automatically generate abrasive jet cleaning program.
The different programming modes of above-mentioned three kinds need not increase module or actuator only needs to appoint in software programming realizes 3
Business.
It should be pointed out that embodiment described above can make those skilled in the art that the present invention is more fully understood
Concrete structure, but do not limit the invention in any way create.Therefore, although specification and drawings and examples are to the present invention
Creation has been carried out detailed description, it will be understood by those skilled in the art, however, that still can be repaiied to the invention
Change or equivalent substitution；And technical scheme and its improvement of all spirit and scope for not departing from the invention, it is covered
Among the protection domain of the invention patent.
Claims (8)
1. a kind of intelligent sand blasting machine people based on crown platform, including abrasive blast equipment, workpiece placement station and crown platform, overhead traveling crane
Platform can realize the movement in two vertical direction, it is characterised in that also including artificial operating desk, system control cabinet, machine
Arm, described artificial operating desk is provided with handle and touch-screen with function button, and the operation of people is simulated by handle
Allow machine to know shower nozzle track and the speed of service, set by touch-screen and throw blowing force degree；Described system control cabinet and artificial behaviour
Make platform, robotic arm, crown platform, abrasive blast equipment to electrically connect and collectively constitute control system, whole control system includes electric
Control system and Control System of Microcomputer, Control System of Microcomputer are used for recording and analyzing the process data of blasting treatment, realize that spray is looked into
The Whole Process Control of processing, electrical control cabinet is electrically connected by motor with modules or part, control modules or part
Motion；Robotic arm is arranged on crown platform, is provided with least six rotating shaft or joint, can be realized longitudinally, laterally and be hung down
Nogata also sets up at least one nozzle to movement, and nozzle is connected with abrasive blast equipment, realizes sandblasting.
2. a kind of intelligent sand blasting machine people based on crown platform according to claim 1, it is characterised in that described day
Car platform includes first support, second support and the 3rd support, and first support and second support be arranged in parallel, the 3rd support vertical
It is fastened between first support and second support, and the 3rd support can be along first support and second support slidably.
3. a kind of intelligent sand blasting machine people based on crown platform according to claim 2, it is characterised in that described machine
Device arm includes nozzle, the first joint, second joint, the 3rd joint, the 4th joint, the 5th joint, the 6th joint and sliding shoe,
Described sliding shoe can be along the 3rd support slidably, the affixed branch sleeve upper end in sliding shoe lower end, the 6th joint
It is tube-in-tube structure with the 5th joint, the 6th joint can be on branch sleeve inwall slidably, and the 5th joint upper end can
In the 6th internal knuckle walls slidably；5th joint lower end is connected by movable axis with the 4th joint, and the 4th joint lower end leads to
Movable axis is crossed to be connected with the 3rd joint；3rd joint lower end is connected by turning platform with second joint, and second joint upper end passes through
Rotary shaft is flexibly connected with turning platform lower end, and second joint rotates for 360 degree along rotary shaft；Second joint lower end and the first joint
Affixed, the first joint is provided with rotating shaft, and the rotating shaft is mutually perpendicular to the rotary shaft, and the rotating shaft being capable of 360 degree of rotations；Institute
Nozzle is stated to be fixed in rotating shaft.
4. a kind of intelligent sand blasting machine people based on crown platform according to claim 1, it is characterised in that described people
Work operating desk includes touch-screen and handle, and touch-screen and handle connect system control cabinet respectively, and described handle includes left manipulation
Handle and right control handle, left control handle are provided with horizontal location button and elevation angle amplitude navigation button, for controlled level
Position and up and down elevation angle amplitude, described right control handle is provided with starting navigation button and longitudinal register button, for setting
Original position and lengthwise position.
5. a kind of intelligent sand blasting machine people based on crown platform according to claim 1, it is characterised in that described control
System processed includes system control cabinet, robotic arm driving stepper motor module, overhead traveling crane stepper motor driver module, abrasive blast equipment
Connect in editable controller, artificial operating desk control module, described system control cabinet provided with industrial control computer and data
Mouthful, described robotic arm driving stepper motor module include 6 joint freedom degrees of control machine arm motor and
Travel switch input module, realizes the stream to 6 joints of robotic arm or control；Overhead traveling crane stepper motor driver module includes day
Car X-axis control module, overhead traveling crane Y-axis control module and overhead traveling crane travel switch input module, realize the movement and positioning of overhead traveling crane；Sandblasting
Equipment editable controller includes ramming equipment I/O Interface, throws shower nozzle control module, abrasive material conveying control module, separator control
Molding block, abrasive material lifting control module, realize the control of sandblasting flow velocity；Artificial operating desk control module includes function button
Module and touch-screen, realize manual manipulation and parameter setting.
6. a kind of intelligent sand blasting machine people based on crown platform according to claim 5, it is characterised in that described control
System processed also includes the big door control module of sand blasting room, and the big door control module of sand blasting room is electrically connected with system control cabinet, for realizing
The gate of sand blasting room is opened and closed automatically.
7. a kind of intelligent sand blasting machine people based on crown platform according to claim 5, it is characterised in that described control
System processed also includes acousto-optic module, and the acousto-optic module includes audio collection and power amplifier module, passes through the sound of played pre-recorded
Sound is reminded, and notifies the progress of operating personnel's blasting treatment.
8. a kind of intelligent sand blasting machine people based on crown platform according to claim 5, it is characterised in that described control
System processed also includes sim module, and described sim module is completed by presetting the phone number of contact person in blasting treatment
Or when going wrong, send short message to contact person in time.
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| CN201710197938.0A CN107088891B (en) | 2017-03-29 | 2017-03-29 | Intelligent sand blasting robot based on crown block platform |
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| CN201710197938.0A CN107088891B (en) | 2017-03-29 | 2017-03-29 | Intelligent sand blasting robot based on crown block platform |
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| CN107088891B CN107088891B (en) | 2020-08-11 |
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| CN108890630A (en) * | 2018-08-21 | 2018-11-27 | 广东工业大学 | A kind of robot teaching system and method |
| CN111013882A (en) * | 2018-10-09 | 2020-04-17 | 上海交通大学 | Automated rack-mounted spraying system for hull sections |
| CN111267007A (en) * | 2020-03-20 | 2020-06-12 | 中冶京诚工程技术有限公司 | A movable shot blasting unit |
| CN111730502A (en) * | 2020-06-30 | 2020-10-02 | 江苏灌创能源科技有限公司 | Guide plate processing grinding device for new energy automobile |
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| AT522989A1 (en) * | 2019-10-03 | 2021-04-15 | Fill Gmbh | Surface treatment process |
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| CN113814901A (en) * | 2021-09-28 | 2021-12-21 | 中国铁建重工集团股份有限公司 | Automatic sand blasting equipment |
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| CN116328995A (en) * | 2023-05-29 | 2023-06-27 | 常州市闳晖科技发展股份有限公司 | Five automatic flush coater |
| CN116604475A (en) * | 2023-04-24 | 2023-08-18 | 湖北三江航天涂装设备工程有限公司 | Eight-axis sand blasting robot |
| CN118848832A (en) * | 2024-08-12 | 2024-10-29 | 山东海洋工程装备研究院有限公司 | Complex environment adaptable ship sandblasting robot cluster platform and its technology |
| CN119312593A (en) * | 2024-12-16 | 2025-01-14 | 江苏凯威特斯半导体科技有限公司 | A sandblasting process simulation system for sandblasting effect evaluation |
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| CN113814901A (en) * | 2021-09-28 | 2021-12-21 | 中国铁建重工集团股份有限公司 | Automatic sand blasting equipment |
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| CN118848832A (en) * | 2024-08-12 | 2024-10-29 | 山东海洋工程装备研究院有限公司 | Complex environment adaptable ship sandblasting robot cluster platform and its technology |
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