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WO1997038822A1 - Systeme permettant d'ebavurer ou de rectifier une piece a usiner a l'aide d'un robot ou d'un manipulateur, methode d'utilisation dudit systeme et application dudit systeme et de ladite methode - Google Patents

Systeme permettant d'ebavurer ou de rectifier une piece a usiner a l'aide d'un robot ou d'un manipulateur, methode d'utilisation dudit systeme et application dudit systeme et de ladite methode Download PDF

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Publication number
WO1997038822A1
WO1997038822A1 PCT/DK1997/000158 DK9700158W WO9738822A1 WO 1997038822 A1 WO1997038822 A1 WO 1997038822A1 DK 9700158 W DK9700158 W DK 9700158W WO 9738822 A1 WO9738822 A1 WO 9738822A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
deburring
trueing
calibrating
workpiece
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/DK1997/000158
Other languages
English (en)
Inventor
Søren E. KNUDSEN
Michael Sander Jensen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Georg Fischer Disa AS
Original Assignee
Georg Fischer Disa AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Georg Fischer Disa AS filed Critical Georg Fischer Disa AS
Priority to AU23807/97A priority Critical patent/AU2380797A/en
Publication of WO1997038822A1 publication Critical patent/WO1997038822A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
    • 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
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
    • 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
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/18—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the presence of dressing tools
    • 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
    • B24B53/00—Devices or means for dressing or conditioning abrasive surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors

Definitions

  • the present invention relates to a system for deburring or grinding a workpiece using a robot or manipulator, said system being of the kind set forth in the pream- ble of claim 1 , as well as a method of using said system of the kind set forth in claim 4, and use of the system and the method
  • deburring of cast objects has generally been carried out by either moving the contour of the casting past and in contact with a grinding wheel or other deburring tool, or to move the deburring tool past and in contact with the contour of the object to be deburred
  • small objects have been moved past a grinding wheel
  • deburring of greater objects was carried out by moving the deburring tool past the contour of the object
  • the prior art comprises attempts at automating these processes, e g using robots When using robots, these must be controlled in some way in order to provide the desired deburring.
  • the tool in which the tool is moved about the object to be deburred, the tool is merely moved through a predetermined path, or the object is moved according to a predetermined movement profile without taking the size of the burrs or the condition of the tool into consideration
  • EP-B1-410,836 discloses an example of measures carried out on a deburring ro ⁇ bot.
  • This publication discloses that the pressure on a deburring tool being moved about the contour on the object by the robot arm can be controlled as a function of the rotational speed of the tool, and shock-absorbing means may be placed be ⁇ tween the tool and the robot arm.
  • shock-absorbing means may be placed be ⁇ tween the tool and the robot arm.
  • US-A-4, 894 ,597 describes equipment of the kind, in which a robot arm moves a grinding tool about the contour of a workpiece.
  • the robot arm is provided with a contact-less sensor system adapted to sense the contour of the object to be deburred, and sensed values from this sensor sys- tem is used in connection with a pressure-sensor system in the robot arm to control the grinding tool during the deburring.
  • a tool for measuring the diameter of the abrasive disc is also provided. This measuring tool is situated separately relative to the workpiece and the robot arm and is used to calibrate the sensor system on the robot arm in such a manner, that the sensor is moved corre ⁇ sponding to changes in the diameter of the abrasive disc or grinding wheel.
  • the arm In order to compensate for wear of the grinding stone, the arm is moved to a dedi ⁇ cated calibrating station, in which the copying claw is made to abut against a base block, after which the grinding stone is moved on the robot arm into abutment against a sensor element, so that the grinding-stone surface takes up a given posi ⁇ tion relative to the copying claw on the robot arm.
  • the sensor system and the working face of the deburring tool are adjusted relative to each other in or at a separately positioned dedicated calibrating station.
  • the deburring tool is moved to the workpiece, at which the sensor (the optical sensor system or the copying claw) is used to control the movement of the deburring tool relative to the workpiece.
  • Figure 1 shows an integrated robot cell, in plan view
  • Figure 2 shows a standard robot with six degrees of freedom
  • Figures 3 and 4 show the distal parts of a robot, in elevation and plan view, re ⁇ spectively
  • Figure 5 is a process diagram of a calibrating routine according to the invention.
  • Figure 1 shows an integrated robot cell 1 of the kind, in which a common base- -plane element 15, 16 supports a robot 3, possibly also stationary tools 9, 11 or other means, relative to which a workpiece is to be positioned accurately.
  • the robot cell shown in Figure 1 is built on a baseframe 16, shown partly diagram ⁇ matically, upon which a baseplate 15 is placed, so that the assembly of these two parts constitutes the base-plane element.
  • Control equipment 2 is situated on the rearmost end of the base-plane element, while the robot 3 is placed on the rear part of the element.
  • the robot's base 30, at the same time constituting the proximal datum, is secured to the baseframe 16 and the baseplate 15 by means of bolts 17, this being the location in which the greatest forces occur.
  • stationary tools 9, 11 are placed on the baseplate 15, possibly also on the baseframe 16.
  • the forward end of the cell comprises a deposition area 5 for incoming workpieces as well as a deposition area 12 for outgoing workpieces 8; the deposition area 12 can advantageously be in the form of a conveyor 12 as shown, or else as a slide or chute.
  • the robot 3 can take a workpiece 8 from the deposition area 5 by means of its gripper or working head 4. Then, the robot 3 transfers the work- piece 8 across to the first stationary tool 9, at which the robot 3 moves the workpie- ce 8 in the manner necessary to carry out the first process step. Next, the robot 3 moves the workpiece 8 to the next tool 11 , at which the robot 3 moves the work- piece 8 in the manner necessary to carry out the process step concerned. After this, the robot 3 moves the workpiece 8 to the deposition area 12, on which it de ⁇ posits the workpiece 8. At this stage, the robot 3 is ready to take a new workpiece 8 from the entrance area 5 and carry out a new process cycle.
  • the robot cell 1 is described as having one or two statio ⁇ nary tools 9, 11, but it may, of course, comprise a greater number of tools.
  • the robot 3 moves the workpiece 8 into position at a processing tool 9, 11 and carries out the requisite movements of the workpiece 8 for executing the process step concerned; this may e.g. be constituted by rotation and translation of the workpiece 8 relative to a desired final contour, said move ⁇ ments being determined relative to the processing face of a cutting wheel 9a, an abrasive wheel 11a etc.
  • these processing faces change due to wear or dama ⁇ ge, it is necessary now and then to square them up and/or to modify the process movements relative to them.
  • the robot itself may be a standard robot or manipulator with five or six degrees of freedom, e.g. as shown in Figure 2 and comprising a base 30 constituting the prox ⁇ imal datum, a first robot arm 31 rotatably connected to the base 30 and capable of turning relative to it in directions A1 , a second robot arm 32 pivotable about a pivot pin 31a in directions A2, a third robot arm 33 pivotable about a pivot pin 32a in di ⁇ rections A3, a fourth robot arm 34 rotatable in directions A4 relative to the third robot arm 33, a fifth robot arm 35 pivotable in directions A5 about a pivot pin 34a secured to the distal part 37 of the fourth robot arm 34, and finally a distal robot part 36 rotatable in directions A6 relative to the fifth robot arm 35.
  • a base 30 constituting the prox ⁇ imal datum
  • a first robot arm 31 rotatably connected to the base 30 and capable of turning relative to it in directions A1
  • a second robot arm 32 pivotable about a
  • the distal robot part 36 is adapted to have secured to it the working head 4, that may be a gripper, a tool or the like.
  • the bearing, about which the distal robot part 36 can rotate relati ⁇ ve to the fifth robot arm 35 in the directions A6, is constituted by a rotational bear ⁇ ing allowing rotation through e.g. 720°.
  • the joint, about which the fifth robot arm 35 can pivot relative to the distal part 37 in the directions A5, is constituted by a pivot joint allowing movement through less than one turn, e.g. 240° or ⁇ 120°.
  • the fourth robot arm 34 constitutes an elonga ⁇ te, rigid robot element, onto which auxiliary equipment, such as e.g.
  • Standard robots and manipulators of this kind with five or six degrees of freedom are manufactured in great numbers, e.g. for the automobile industry, for which reason they present a highly advantageous pri ⁇ ce/quality ratio as compared to the tailor-made robots or manipulators with fewer degrees of freedom.
  • these "surplus" degrees of freedom are utilized to carry out checking, calibrating and trueing-up of a rotating deburring tool, e.g. an abrasi ⁇ ve wheel, that is worn down by the deburring processes, possibly changing its pro ⁇ cessing face.
  • a rotating deburring tool e.g. an abrasi ⁇ ve wheel
  • At least one sensor 52, 53 is/are placed externally on one of the distal articulations of the robot 3 in the manner shown in Figures 3 and 4, the signals from the sensor or sensors being transmitted to the control equipment 2, possibly via a measurement processing circuit 54.
  • the instantaneous position of the sensor 52 is also known or can be computed, because its position is fixed relative to a robot part and the position of the latter is known or can be computed on the basis of the positions of the articula ⁇ tions situated proximally relative to the robot part concerned.
  • the robot can direct the sensor 52, 53 towards the abrasive wheel or other object of calibration, and advance the sensor 52, 53 along a given path towards the abrasive wheel to a point, at which the sensor senses a distance signal or pro ⁇ quizs a detection signal, causing the robot to stop. If the processing face of the abrasive wheel has changed, this is detected as a difference in the position of the robot or in the distance between the robot and the processing face.
  • This detection can be used to compute a difference or offset between a reference position and the measured position, and this offset can be transformed into an offset to be ad ⁇ ded to the movements of the robot, when the latter controls processing with the tool concerned without the necessicity of initializing the position of the robot, which would cause changes to the tatter's position in other processing steps.
  • the signal from the sensor 52 may be used as a basis to decide whether the abrasive wheel is to be trued-up and/or replaced.
  • a trueing-up tool 51 is placed externally of one of the distal parts of the robot, it is possible on the basis of the data obtained through the calibrating to advance this trueing-up tool 51 for trueing-up the abrasive wheel by means of the robot 3 when and/or if necessary.
  • the trueing-up tool is also subject to wear, for which reason there is provided a further, stationary sensor 57, that can be used in a step of calibrating the trueing- -up tool to sense the distance to the processing face of the trueing-up tool or to detect said face, when the robot 3 advances the trueing-up tool 51 towards the sensor 57 to a given point in a manner corresponding to what has been described with regard to the preceding calibrating step.
  • a further, second sensor 53 is placed externally of one of the di ⁇ stal parts of the robot, if it is desired to calibrate a further tool and the first sensor 52 is positioned in a manner making it inconvenient for this calibrating.
  • the system for calibrating and trueing-up can advantageously be built on a base ⁇ plate 50 capable of being secured to one of the distal parts 34, 37 of the robot 3, whereas in this case the latter may be a standard robot normally being produced without a sensor or a trueing-up tool.
  • a trueing-up baseplate 50 On this trueing-up baseplate 50, one or a number of sensors 52, 53 and possibly a trueing-up tool 51 is/are placed.
  • These parts 51-53 are situated in a manner suitable for the operations to be carried out by them, and the parts 51-53 and the baseplate 50 can possibly be constructed to allow for changes in the positioning, e.g. if additional stationary tools are intro ⁇ quiz.
  • a measurement processing circuit 54 can advantageously be pla ⁇ ced on the baseplate 50, to which circuit 54 the signals from the sensors 52, 53 are transmitted via conduits 55, possibly also the control to the trueing-up tool 51 , so that the signals can be processed before having collected substantial noise, pos ⁇ sibly transformed into signals that are reduced to the most important signals and/or are easier to process for the control equipment 2. Further, this simplifies the wiring, there now being solely a single unit to be connected, which is of substantial impor- tance when the connecting conduit or conduits is/are to run past movable joints or articulations.
  • the sensors to be used may be of any kind, but are preferably non-contact sensors adapted to measure according to optical, capacitive, magnetic or ultrasonic prin ⁇ ciples, so as to avoid the wear occurring with the use of a contact sensor.
  • the calibrating and trueing-up system having been described, and the technical solutions it comprises, makes it possible in a simple manner to tailor a deburring cell according to a customer's desires. In this connection it is especially advantageous that it is easy to move the complete deburring cell. Thus, it is possible to make the final adjustments to the specially adapted cell in the factory, in which it can also be tested and run-in, thus obviating the need for running-in time and final adjustments when installing the cell for the user.
  • Figure 5 shows an example of a calibrating and trueing-up process, serving solely purposes of illustration:
  • R2 Initialize the program and enter the starting values.
  • R3 Go to a first calibrating in block X1 (R3-R8) comprising sensing and calibra ⁇ ting of tools.
  • R10 Carry out steps corresponding to X1 for one or more tools.
  • R11 Count the status counts. R12 If it is the last calibrating and trueing-up, go to R13, otherwise go to R15.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Dans un système permettant d'ébavurer une pièce à usiner (8), une pièce coulée par exemple, à l'aide d'un robot (3) pourvu d'organes de préhension (4) servant à agripper la pièce à ébavurer, lequel système comporte au moins un mécanisme d'ébavurage rotatif (9, 9a, 11, 11a), immobile, tel qu'une meule (9a, 11a), ce mécanisme d'ébavurage étant dressé de temps en temps, et le robot, amené à déplacer le ou les contours de la pièce à ébavurer au-delà du mécanisme d'ébavurage avec un préchargement et/ou un espacement appropriés afin de mener à bien l'ébavurage, la principale innovation réside dans le fait que le robot, en sus de ses outils habituels, comporte au moins un capteur sans contact (52, 53) permettant de détecter un emplacement en surface sur le mécanisme d'ébavurage (9, 9a, 11, 11a) et, éventuellement, un mécanisme permettant de réaliser le dressage (51). Du fait de cet agencement, le robot peut procéder à l'étalonnage et au dressage des outils durant le déroulement normal des opérations ou entre celles-ci.
PCT/DK1997/000158 1996-04-12 1997-04-11 Systeme permettant d'ebavurer ou de rectifier une piece a usiner a l'aide d'un robot ou d'un manipulateur, methode d'utilisation dudit systeme et application dudit systeme et de ladite methode Ceased WO1997038822A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU23807/97A AU2380797A (en) 1996-04-12 1997-04-11 System for deburring or grinding a workpiece using a robot or manipulator, method of using said system, and use of said system and method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DK0425/96 1996-04-12
DK42596A DK171660B1 (da) 1996-04-12 1996-04-12 System til afgratning eller slibning af et emne under anvendelse af en manipulator og fremgangsmåde til anvendelse ved samme, samt anvendelse af systemet og fremgangsmåden

Publications (1)

Publication Number Publication Date
WO1997038822A1 true WO1997038822A1 (fr) 1997-10-23

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AU (1) AU2380797A (fr)
DK (1) DK171660B1 (fr)
WO (1) WO1997038822A1 (fr)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6375556B1 (en) 1998-09-08 2002-04-23 Fritz L. Wenger Grinding apparatus for grinding workpieces
WO2004091857A1 (fr) * 2003-04-09 2004-10-28 Hottinger Kg Dispositif pour nettoyer et/ou ébarber des pièces d'usinage
US8123595B2 (en) * 2008-06-25 2012-02-28 Toyota Motor Engineering & Manufacturing North America, Inc. Dressing apparatus for flex-arm mounted grinding wheel
WO2013087947A1 (fr) 2011-12-12 2013-06-20 Fundacion Tecnalia Research & Innovation Procédé et système de séparation de pièces de fonderie de grappes obtenues au moyen de processus de fonderie
JP2013154462A (ja) * 2012-02-01 2013-08-15 Jtekt Corp 研削盤のツルーイング装置
TWI420270B (zh) * 2006-10-27 2013-12-21 Hon Hai Prec Ind Co Ltd 壓毛邊系統及方法
CN104149028A (zh) * 2014-08-12 2014-11-19 安徽埃夫特智能装备有限公司 一种高精度机器人打磨系统及其控制方法
CN106271951A (zh) * 2016-09-24 2017-01-04 中信戴卡股份有限公司 一种车轮去毛刺装置
CN106271950A (zh) * 2016-09-24 2017-01-04 中信戴卡股份有限公司 改进的车轮在线去毛刺装置
CN106312733A (zh) * 2016-09-24 2017-01-11 中信戴卡股份有限公司 一种组合式车轮去毛刺装置
CN106363481A (zh) * 2016-11-26 2017-02-01 中信戴卡股份有限公司 一种车轮去毛刺装置
CN106425737A (zh) * 2016-09-24 2017-02-22 中信戴卡股份有限公司 一种车轮在线去毛刺装置
RU2648659C1 (ru) * 2017-03-23 2018-03-27 Общество с ограниченной ответственностью "Центр технического сотрудничества" при МГТУ им. Н.Э. Баумана" Самоходное бронированное транспортное средство обеспечения разминирования и подготовки объектов к разрушению и крепление для установки навесного оборудования
CN108422195A (zh) * 2018-03-09 2018-08-21 江南大学 一种零件自动去毛刺机
TWI673134B (zh) * 2015-11-27 2019-10-01 日商荏原製作所股份有限公司 校正裝置及校正方法
CN110355661A (zh) * 2019-06-19 2019-10-22 禹奕智能科技（上海）有限公司 适用于机器人末端往复油石磨抛系统

Citations (5)

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US4893025A (en) * 1988-12-30 1990-01-09 Us Administrat Distributed proximity sensor system having embedded light emitters and detectors
US4894597A (en) * 1987-05-21 1990-01-16 Mitsubishi Denki Kabushiki Kaisha Deburring robot
EP0362413A1 (fr) * 1988-04-08 1990-04-11 Kawasaki Steel Corporation Machine d'ebavurage
US4926604A (en) * 1987-12-28 1990-05-22 Kabushiki Kaisha Yaskawa Denki Seisakusho Method for correcting abrasion in a robot having a wearing tool mounted thereon
US5458527A (en) * 1992-05-27 1995-10-17 Komatsu Ltd. Grinding wheel wear compensator

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4894597A (en) * 1987-05-21 1990-01-16 Mitsubishi Denki Kabushiki Kaisha Deburring robot
US4926604A (en) * 1987-12-28 1990-05-22 Kabushiki Kaisha Yaskawa Denki Seisakusho Method for correcting abrasion in a robot having a wearing tool mounted thereon
EP0362413A1 (fr) * 1988-04-08 1990-04-11 Kawasaki Steel Corporation Machine d'ebavurage
US4893025A (en) * 1988-12-30 1990-01-09 Us Administrat Distributed proximity sensor system having embedded light emitters and detectors
US5458527A (en) * 1992-05-27 1995-10-17 Komatsu Ltd. Grinding wheel wear compensator

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6375556B1 (en) 1998-09-08 2002-04-23 Fritz L. Wenger Grinding apparatus for grinding workpieces
WO2004091857A1 (fr) * 2003-04-09 2004-10-28 Hottinger Kg Dispositif pour nettoyer et/ou ébarber des pièces d'usinage
TWI420270B (zh) * 2006-10-27 2013-12-21 Hon Hai Prec Ind Co Ltd 壓毛邊系統及方法
US8123595B2 (en) * 2008-06-25 2012-02-28 Toyota Motor Engineering & Manufacturing North America, Inc. Dressing apparatus for flex-arm mounted grinding wheel
WO2013087947A1 (fr) 2011-12-12 2013-06-20 Fundacion Tecnalia Research & Innovation Procédé et système de séparation de pièces de fonderie de grappes obtenues au moyen de processus de fonderie
CN104114304A (zh) * 2011-12-12 2014-10-22 Tecnalia研究与创新基金 用于将铸造零件从借助于铸造过程获得的群组中分离的方法和系统
CN104114304B (zh) * 2011-12-12 2016-01-06 Tecnalia研究与创新基金 用于将铸造零件从借助于铸造过程获得的群组中分离的方法和系统
JP2013154462A (ja) * 2012-02-01 2013-08-15 Jtekt Corp 研削盤のツルーイング装置
CN104149028A (zh) * 2014-08-12 2014-11-19 安徽埃夫特智能装备有限公司 一种高精度机器人打磨系统及其控制方法
TWI673134B (zh) * 2015-11-27 2019-10-01 日商荏原製作所股份有限公司 校正裝置及校正方法
CN106271950A (zh) * 2016-09-24 2017-01-04 中信戴卡股份有限公司 改进的车轮在线去毛刺装置
CN106312733A (zh) * 2016-09-24 2017-01-11 中信戴卡股份有限公司 一种组合式车轮去毛刺装置
CN106425737A (zh) * 2016-09-24 2017-02-22 中信戴卡股份有限公司 一种车轮在线去毛刺装置
CN106271951B (zh) * 2016-09-24 2018-03-09 中信戴卡股份有限公司 一种车轮去毛刺装置
CN106271951A (zh) * 2016-09-24 2017-01-04 中信戴卡股份有限公司 一种车轮去毛刺装置
CN106363481A (zh) * 2016-11-26 2017-02-01 中信戴卡股份有限公司 一种车轮去毛刺装置
CN106363481B (zh) * 2016-11-26 2018-03-09 中信戴卡股份有限公司 一种车轮去毛刺装置
RU2648659C1 (ru) * 2017-03-23 2018-03-27 Общество с ограниченной ответственностью "Центр технического сотрудничества" при МГТУ им. Н.Э. Баумана" Самоходное бронированное транспортное средство обеспечения разминирования и подготовки объектов к разрушению и крепление для установки навесного оборудования
CN108422195A (zh) * 2018-03-09 2018-08-21 江南大学 一种零件自动去毛刺机
CN110355661A (zh) * 2019-06-19 2019-10-22 禹奕智能科技（上海）有限公司 适用于机器人末端往复油石磨抛系统

Also Published As

Publication number Publication date
DK171660B1 (da) 1997-03-03
AU2380797A (en) 1997-11-07
DK42596A (da) 1997-03-03

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