CN107303650A - Automatic grasping means, apparatus and system for sanding and polishing - Google Patents
Automatic grasping means, apparatus and system for sanding and polishing Download PDFInfo
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- CN107303650A CN107303650A CN201610257422.6A CN201610257422A CN107303650A CN 107303650 A CN107303650 A CN 107303650A CN 201610257422 A CN201610257422 A CN 201610257422A CN 107303650 A CN107303650 A CN 107303650A
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- 238000005498 polishing Methods 0.000 title claims abstract description 40
- 238000003860 storage Methods 0.000 claims abstract description 76
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000011664 signaling Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 abstract description 4
- 238000011112 process operation Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 6
- 230000006870 function Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
A kind of automatic grasping means for sanding and polishing, apparatus and system, wherein, methods described includes：Obtain Work position information to be added；Obtain workpiece characteristic information to be added；The coordinates of targets that fixture is moved is determined according to positional information and characteristic information；Export for driving fixture to be moved to the drive signal that coordinates of targets carries out operation.Thus, it is possible to control fixture to carry out more accurately positioning and gripping action to the workpiece to be added on storage rack, to complete process operation below, and then crawl, the operating efficiency of processing are greatly improved.
Description
Technical field
The present invention relates to sanding and polishing technical field, and in particular to a kind of for the automatic of sanding and polishing
Grasping means, apparatus and system.
Background technology
At present, the tap of bathroom production casting profile and machine add in terms of size exist left-right deviation,
The problems such as wall thickness differs, morpheme is different, polishing is carried out to tap to be made its uniform wall thickness and meets to set
The standard of meter.
At present, the mode of polishing tap is broadly divided into manual polishing and automatically grinding.Manual polishing is
Staff captures tap and polished on sander by hand, during polishing, can be according to water
Tap geometry, radian, angle and tap different wall artificially make corresponding adjustment.Manually beat
Mill working strength is big, efficiency is low.Automatically grinding is that by the way of robot, robot is captured automatically
Tap to be processed on storage rack, and polished according to the path locus of setting, it is to be processed to finish afterwards certainly
It is dynamic to put back to original position.This mode has larger lifting compared to manual grinding mode in operating efficiency.
But, existing robot automatically grinding existing defects：Tap to be processed on storage rack has
Probably due to artificial factor, causes leakage to be put or misplaced, because robot is the path according to setting
Track is polished, so can not be on the current storage rack of automatic identification during the gripping material feelings
Condition, so as to cause robot additionally to increase the crawl to non-material area domain, polishing action；Simultaneously as
Robot can not automatic identification storage rack working region, the material on to different storage racks grasps
When making, in addition it is also necessary to set corresponding formula for new storage rack to change path locus again, and then
Also it is extra to add workload, reduce operating efficiency.Therefore automatic knowledge how is allowed the robot to
The material situation of other working region, to improve the work of the automatic grabbing device in tap polishing system
Efficiency becomes a urgent problem to be solved.
The content of the invention
The technical problem to be solved in the present invention is that the automatic grabbing device of sanding and polishing is difficult to automatic identification
The material situation of working region, causes ineffective technological deficiency.
Therefore, according in a first aspect, the embodiment of the present invention provides a kind of grabbing automatically for sanding and polishing
Method is taken, is comprised the following steps：
Obtain Work position information to be added；Obtain workpiece characteristic information to be added；According to positional information and spy
Reference breath determines the coordinates of targets of fixture movement；Export for driving fixture to be moved to coordinates of targets progress
The drive signal of operation.
Further, obtaining Work position information to be added includes obtaining workpiece position coordinates to be added；According to position
Confidence ceases and characteristic information determines that the coordinates of targets of fixture movement includes：According to workpiece position coordinates to be added
Determine the target location coordinate of fixture movement；Determine fixture relative to workpiece to be added according to characteristic information
Angle.
Further, obtaining Work position information to be added includes：Obtain the length and width of storage rack placed side
Degree, the placed side of storage rack is used to place multiple workpiece to be added；Obtain the length and width of workpiece to be added；
Obtain multiple to be added according to the length and width of storage rack placed side and the length and width of workpiece to be added
The positional information of the workpiece to be added of each in workpiece.
Further, according to the length and width of storage rack placed side and the length and width of workpiece to be added
Obtaining the positional information of each workpiece to be added in multiple workpiece to be added includes：Calculate storage rack placed side
The number of packages n=L/L to be processed that length direction is placed0, wherein, n is put for the length direction of storage rack placed side
The number of packages to be processed put, L is the length of storage rack placed side, L0For the length of storage rack placed side；
Calculate the number of packages m=W/W to be processed that the width of storage rack placed side is placed0, wherein, m is storage
The number of packages to be processed that the width of bin placed side is placed, W is the width of storage rack placed side, W0
For the width of storage rack placed side；Obtain the i-th row jth arrange the positional information of workpiece to be added for (iL/n,
JW/m), wherein, i and j are respectively positive integer, and 1≤i≤n, 1≤j≤m.
Further, before Work position information to be added is obtained, in addition to：Automatic grasping means is entered
Row study.
According to second aspect, the embodiment of the present invention provides a kind of automatic grabbing device for sanding and polishing,
Including：
Location information acquiring unit, for obtaining Work position information to be added；Feature acquiring unit, is used
In acquisition workpiece characteristic information to be added；Coordinates of targets determining unit, for according to positional information and feature
Information determines the coordinates of targets of fixture movement；Drive signal output unit, is used to drive folder for exporting
Tool is moved to the drive signal that coordinates of targets carries out operation.
Further, location information acquiring unit is used to obtain workpiece position coordinates to be added；Coordinates of targets is true
Order member includes：Target location coordinate acquiring unit, for being determined to press from both sides according to workpiece position coordinates to be added
Has mobile target location coordinate；Angle determining unit, for determining that fixture is relative according to characteristic information
In the angle of workpiece to be added.
Further, location information acquiring unit includes：Storage rack length and width acquiring unit, for obtaining storage
The length and width of bin placed side, the placed side of storage rack is used to place multiple workpiece to be added；It is to be added
Workpiece length and width acquiring unit, the length and width for obtaining workpiece to be added；Each location of workpiece to be added is obtained
Unit is taken, for the length and width according to storage rack placed side and the length and width of workpiece to be added
Obtain the positional information of each workpiece to be added in multiple workpiece to be added.
Further, in addition to：Unit, for learning to automatic grasping means.
According to the third aspect, the embodiment of the present invention provides a kind of automatic grasping system for sanding and polishing,
Including：
Storage rack, for placing workpiece to be added；Fixture, positioned at the top of storage rack, receives driving
The workpiece to be added in storage rack is gripped and put back to after signal；Vision system, is arranged on storage rack
Top, gather the positional information of workpiece to be added and send the position signalling of part to be processed；Control system,
The position signalling and configuration processor of vision system is received to realize above-mentioned method.
Technical solution of the present invention, has the following advantages that：
Automatic grasping means provided in an embodiment of the present invention for sanding and polishing, apparatus and system, by
In determining the coordinates of targets that fixture is moved according to positional information and characteristic information, export for driving fixture to
It is moved to the drive signal that coordinates of targets carries out operation.Thus, it is possible to control fixture on storage rack
Workpiece to be added carries out more accurately positioning and gripping action, to complete process operation below, Jin Er great
Big improves crawl, the operating efficiency of processing.
Brief description of the drawings
In order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art, under
Face will be briefly described to the required accompanying drawing used in embodiment or description of the prior art,
It should be evident that drawings in the following description are some embodiments of the present invention, it is general for this area
For logical technical staff, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is a kind of automatic grasping means flow chart for sanding and polishing in the embodiment of the present invention；
Fig. 2 is a kind of a kind of structural representation of storage rack in the embodiment of the present invention；
Fig. 3 is a kind of automatic grabbing device theory diagram for sanding and polishing in the embodiment of the present invention；
Fig. 4 is a kind of automatic grasping system theory diagram for sanding and polishing in the embodiment of the present invention.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that
Described embodiment is a part of embodiment of the invention, rather than whole embodiments.Based on this hair
Embodiment in bright, those of ordinary skill in the art are obtained under the premise of creative work is not made
Every other embodiment, belong to the scope of protection of the invention.
As long as in addition, technical characteristic involved in invention described below different embodiments that
Not constituting conflict between this can just be combined with each other.
For the material situation of the automatic grabbing device automatic identification working region of realizing sanding and polishing, carry
High workload efficiency, present embodiment discloses a kind of automatic grasping means for sanding and polishing, refer to
Fig. 1, is this method flow chart, and the automatic grasping means for being used for sanding and polishing comprises the following steps：
Step S100, obtains Work position information to be added.Fig. 2 is refer to, in being this implementation, storing
The structural representation of frame 1, storage rack 1 is used to place workpiece to be added (such as tap to be polished).Below with
Workpiece to be added in a particular embodiment, sets to be illustrated exemplified by tap to be polished on storage rack 1
Crisscross blend stop 11 is equipped with to form several storing lattice 12, each storing lattice 12 can house one
Tap to be polished.And then the independence between each tap to be polished is ensure that, hereby it is ensured that
Fixture is to single accuracy when tap of polishing is gripped.In a particular embodiment, obtain to be processed
The positional information of part is, it is necessary to obtain each workpiece position coordinates to be added.
Step S200, obtains workpiece characteristic information to be added.In the present embodiment, workpiece features letter to be added
Cease the information such as the shape that can include workpiece, the clamping hole size for needing grabbing workpiece and its position.
Step S300, the coordinates of targets that fixture is moved is determined according to positional information and characteristic information.Obtaining
After the positional information for obtaining workpiece to be added, it may be determined that fixture drafts mobile target location coordinate,
And fixture needs which kind of posture to grip workpiece to be added with, generally, the posture can with fixture relative to
The mode of the angle of workpiece to be added embodies.Therefore, in a preferred embodiment, can be according to be processed
Part position coordinates determine fixture movement target location coordinate, according to characteristic information determine fixture relative to
The angle of workpiece to be added.
Step S400, is exported for driving fixture to be moved to the drive signal that coordinates of targets carries out operation.
In a preferred embodiment, when performing step S100, it can include：
The length L and width W of storage rack placed side are obtained, the length L of workpiece to be added is obtained0And width
W0, according to the length L and width W and the length L of workpiece to be added of storage rack placed side0And width
W0Obtain the positional information of each workpiece to be added in multiple workpiece to be added.It refer to Fig. 2, storage rack 1
Placed side be used for place multiple workpiece to be added, obtain storage rack 1 placed side length L and width
Spend W, and workpiece to be added length L0With width W0Afterwards, it can calculate and obtain each workpiece to be added
Coordinate position in the placed side of storage rack 1.
Specifically, the number of packages n=L/L to be processed that the length direction of storage rack placed side is placed can be calculated0,
Wherein, the number of packages to be processed that n places for the length direction of storage rack placed side, L is storage rack placed side
Length, L0For the length of storage rack placed side；Calculate the width placement of storage rack placed side
Number of packages m=W/W to be processed0, wherein, m is to be processed for the width placement of storage rack placed side
Number of packages, W is the width of storage rack placed side, W0For the width of storage rack placed side, thus, it is possible to
The number of packages to be processed that storage rack placed side length direction and width can be placed respectively is obtained, this
A little workpiece to be added constitute n*m matrix；Workpiece to be added is arranged accordingly, for the i-th row jth, can be with
Positioned by way of matrix element, such as the i-th row jth arrange the positional information of workpiece to be added for (iL/n,
JW/m), wherein, i and j are respectively positive integer, and 1≤i≤n, 1≤j≤m.
In a preferred embodiment, for the robot used first, perform automatic grasping means it
Before, above-mentioned automatic grasping means can also be learnt.As an example, controller can be according to machine
The workpiece title inputted in device people teaching machine or man-machine interface, calls different visual programs to carry out automatically
Crawl.Vision system can match actual workpiece according to the characteristic value of setting, when characteristic value and actual work
When part coincide, current coordinate data is exported.Further, it is also possible to learnt by the way of self study,
For example workpiece to be added is first put under vision system, then taken pictures, the feature for needing to clamp is specified
Afterwards, and example clamping preserve track.In the later stage, this workpiece is captured if desired, as long as the track
Call, can be achieved with automatic crawl.It should be noted that what is generally learnt is the position of workpiece to be added
And characteristic information, in practical operation, fixture adaptively can be adjusted according to the feature of workpiece to be added
Angle.
The present embodiment also discloses a kind of automatic grabbing device for sanding and polishing, refer to Fig. 3, is
The automatic grabbing device structural principle block diagram, the automatic grabbing device for being used for sanding and polishing includes：Position
Put information acquisition unit 100, feature acquiring unit 200, coordinates of targets determining unit 300 and driving letter
Number output unit 400, wherein：
Location information acquiring unit 100 is used to obtain Work position information to be added；Feature acquiring unit 200
For obtaining workpiece characteristic information to be added；Coordinates of targets determining unit 300 be used for according to positional information and
Characteristic information determines the coordinates of targets of fixture movement；Drive signal output unit 400 is used for for output
Drive fixture to be moved to the drive signal that coordinates of targets carries out operation.
In a preferred embodiment, location information acquiring unit is used to obtain workpiece position coordinates to be added；
Coordinates of targets determining unit includes：Target location coordinate acquiring unit, for according to the location of workpiece to be added
Coordinate determines the target location coordinate of fixture movement；Angle determining unit, for true according to characteristic information
Clamp has the angle relative to workpiece to be added.
In a preferred embodiment, location information acquiring unit includes：Storage rack length and width acquiring unit,
Length and width for obtaining storage rack placed side, the placed side of storage rack is used to place multiple to be added
Workpiece；Workpiece length and width acquiring unit to be added, the length and width for obtaining workpiece to be added；It is each to be added
Location of workpiece acquiring unit, for the length and width according to storage rack placed side and workpiece to be added
Length and width obtains the positional information of each workpiece to be added in multiple workpiece to be added.
In a preferred embodiment, in addition to：Unit, for automatic grasping means
Practise.
The present embodiment also discloses a kind of automatic grasping system for sanding and polishing, refer to Fig. 4, is
The automatic grasping system principle schematic, the automatic grasping system for being used for sanding and polishing includes：Storing
Frame 1, fixture 2, vision system 3 and control system 4, wherein：
Storage rack 1 is used to place workpiece to be added；Fixture 2 is located at the top of storage rack, receives driving
The workpiece to be added in storage rack is gripped and put back to after signal；Vision system 3 is arranged on storage rack
Top, gather the positional information of workpiece to be added and send the position signalling of part to be processed；Control system 4
The position signalling and configuration processor of vision system is received to realize that above-mentioned the automatic of sanding and polishing that be used for grabs
Take method.
Automatic grasping means provided in an embodiment of the present invention for sanding and polishing, apparatus and system, by
In determining the coordinates of targets that fixture is moved according to positional information and characteristic information, export for driving fixture to
It is moved to the drive signal that coordinates of targets carries out operation.Thus, it is possible to control fixture on storage rack
Workpiece to be added carries out more accurately positioning and gripping action, to complete process operation below, Jin Er great
Big improves crawl, the operating efficiency of processing.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system,
Or computer program product.Therefore, the present invention can be implemented using complete hardware embodiment, complete software
The form of embodiment in terms of example or combination software and hardware.Moreover, the present invention can be used at one
Or multiple computer-usable storage mediums for wherein including computer usable program code are (including but not
Be limited to magnetic disk storage, CD-ROM, optical memory etc.) on the computer program product implemented
Form.
The present invention is with reference to method according to embodiments of the present invention, equipment (system) and computer program
The flow chart and/or block diagram of product is described.Flowed it should be understood that can be realized by computer program instructions
In each flow and/or square frame and flow chart and/or block diagram in journey figure and/or block diagram
Flow and/or square frame combination.Can provide these computer program instructions to all-purpose computer, specially
With the processor of computer, Embedded Processor or other programmable data processing devices to produce one
Machine so that produced by the instruction of computer or the computing device of other programmable data processing devices
It is raw to be used to realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or multiple sides
The device for the function of being specified in frame.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable datas to handle
In the computer-readable memory that equipment works in a specific way so that be stored in this and computer-readable deposit
Instruction in reservoir, which is produced, includes the manufacture of command device, and command device realization is in flow chart one
The function of being specified in flow or multiple flows and/or one square frame of block diagram or multiple square frames.
These computer program instructions can also be loaded into computer or other programmable data processing devices
On so that series of operation steps is performed on computer or other programmable devices to produce computer
The processing of realization, so that the instruction performed on computer or other programmable devices is provided for realizing
Specified in one flow of flow chart or multiple flows and/or one square frame of block diagram or multiple square frames
The step of function.
Obviously, above-described embodiment is only intended to clearly illustrate example, and not to embodiment party
The restriction of formula.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no need and unable to give all embodiments
With exhaustion.And the obvious changes or variations thus extended out is still in the guarantor of the invention
Protect among scope.
Claims (10)
1. a kind of automatic grasping means for sanding and polishing, it is characterised in that comprise the following steps：
Obtain Work position information to be added；
Obtain workpiece characteristic information to be added；
The coordinates of targets that fixture is moved is determined according to the positional information and the characteristic information；
Export for driving fixture to be moved to the drive signal that the coordinates of targets carries out operation.
2. it is used for the automatic grasping means of sanding and polishing as claimed in claim 1, it is characterised in that
It is described to obtain Work position information to be added including obtaining the workpiece position coordinates to be added；
It is described that the coordinates of targets bag that fixture is moved is determined according to the positional information and the characteristic information
Include：
The target location coordinate that the fixture is moved is determined according to the workpiece position coordinates to be added；
Angle of the fixture relative to the workpiece to be added is determined according to the characteristic information.
3. it is used for the automatic grasping means of sanding and polishing, its feature as claimed in claim 1 or 2
It is, the acquisition Work position information to be added includes：
The length (L) and width (W) of storage rack placed side are obtained, the placed side of the storage rack is used
In the multiple workpiece to be added of placement；
Obtain the length (L of the workpiece to be added0) and width (W0)；
According to the length and width of the storage rack placed side and the length and width of the workpiece to be added
Obtain the positional information of each workpiece to be added in the multiple workpiece to be added.
4. it is used for the automatic grasping means of sanding and polishing as claimed in claim 3, it is characterised in that
The length and width and the length and width of the workpiece to be added according to the storage rack placed side
Obtaining the positional information of each workpiece to be added in the multiple workpiece to be added includes：
Calculate the number of packages n=L/L to be processed that the length direction of the storage rack placed side is placed0, its
In, the number of packages to be processed that n places for the length direction of the storage rack placed side, L is the storage
The length of bin placed side, L0For the length of the storage rack placed side；
Calculate the number of packages m=W/W to be processed that the width of the storage rack placed side is placed0,
Wherein, the number of packages to be processed that m places for the width of the storage rack placed side, W is institute
State the width of storage rack placed side, W0For the width of the storage rack placed side；
Obtain the i-th row jth and arrange the positional information of workpiece to be added for (iL/n, jW/m), wherein, i and j
Respectively positive integer, and 1≤i≤n, 1≤j≤m.
5. the automatic grasping means for sanding and polishing as described in claim 1-4 any one, its
It is characterised by, before the acquisition Work position information to be added, in addition to：
The automatic grasping means is learnt.
6. a kind of automatic grabbing device for sanding and polishing, it is characterised in that including：
Location information acquiring unit, for obtaining Work position information to be added；
Feature acquiring unit, for obtaining workpiece characteristic information to be added；
Coordinates of targets determining unit, for determining fixture according to the positional information and the characteristic information
Mobile coordinates of targets；
Drive signal output unit, is used to drive fixture to be moved to the coordinates of targets progress for exporting
The drive signal of operation.
7. it is used for the automatic grabbing device of sanding and polishing as claimed in claim 6, it is characterised in that
The location information acquiring unit is used to obtain the workpiece position coordinates to be added；
The coordinates of targets determining unit includes：
Target location coordinate acquiring unit, for determining the folder according to the workpiece position coordinates to be added
Has mobile target location coordinate；
Angle determining unit, for determining that the fixture is to be added relative to described according to the characteristic information
The angle of workpiece.
8. the automatic grabbing device for sanding and polishing as claimed in claims 6 or 7, its feature
It is, the location information acquiring unit includes：
Storage rack length and width acquiring unit, length (L) and width (W) for obtaining storage rack placed side,
The placed side of the storage rack is used to place multiple workpiece to be added；
Workpiece length and width acquiring unit to be added, the length (L for obtaining the workpiece to be added0) and width
(W0)；
Each workpiece position acquisition unit to be added, for the length and width according to the storage rack placed side
And the length and width of the workpiece to be added obtains each workpiece to be added in the multiple workpiece to be added
Positional information.
9. the automatic grabbing device for sanding and polishing as described in claim 6-8 any one, its
It is characterised by, in addition to：
Unit, for learning to the automatic grasping means.
10. a kind of automatic grasping system for sanding and polishing, it is characterised in that including：
Storage rack, for placing workpiece to be added；
Fixture, positioned at the top of the storage rack, is received after drive signal in the storage rack
Workpiece to be added is gripped and put back to；
Vision system, is arranged on the top of the storage rack, gathers the positional information of the workpiece to be added
And send the position signalling of the workpiece to be added；
Control system, receives the position signalling and configuration processor of the vision system to realize that right such as will
Seek the method described in 1-5 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610257422.6A CN107303650A (en) | 2016-04-21 | 2016-04-21 | Automatic grasping means, apparatus and system for sanding and polishing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610257422.6A CN107303650A (en) | 2016-04-21 | 2016-04-21 | Automatic grasping means, apparatus and system for sanding and polishing |
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| Publication Number | Publication Date |
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| CN107303650A true CN107303650A (en) | 2017-10-31 |
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ID=60150657
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610257422.6A Pending CN107303650A (en) | 2016-04-21 | 2016-04-21 | Automatic grasping means, apparatus and system for sanding and polishing |
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| CN109514424A (en) * | 2018-12-24 | 2019-03-26 | 沈阳海默数控机床有限公司 | A kind of grinding machine automatic charging system of processing and method |
| CN109775349A (en) * | 2019-01-25 | 2019-05-21 | 广东鼎燊云厨科技股份有限公司 | A kind of automatic catering appliances |
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| CN109514424A (en) * | 2018-12-24 | 2019-03-26 | 沈阳海默数控机床有限公司 | A kind of grinding machine automatic charging system of processing and method |
| CN109775349A (en) * | 2019-01-25 | 2019-05-21 | 广东鼎燊云厨科技股份有限公司 | A kind of automatic catering appliances |
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