CN205685358U - A kind of high accuracy bathtub milling robot - Google Patents
A kind of high accuracy bathtub milling robot Download PDFInfo
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- CN205685358U CN205685358U CN201620382548.1U CN201620382548U CN205685358U CN 205685358 U CN205685358 U CN 205685358U CN 201620382548 U CN201620382548 U CN 201620382548U CN 205685358 U CN205685358 U CN 205685358U
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Abstract
This utility model relates to bathtub polishing field, particularly relate to a kind of high accuracy bathtub milling robot, it includes PLC control system, bathtub mounting seat, controls seat and control the mechanical arm that seat is flexibly connected, and is located at the power console keyboard mill apparatus of this mechanical arm tail end and is located at the sanding apparatus of this power console keyboard mill apparatus；Described power console keyboard mill apparatus includes: bottom mounting seat, top mounting seat, middle part fixed guide plate, precise guide mechanism, retractable driving device and high speed proportioning actuator；Described high speed proportioning actuator is provided with gas ratio adjustment module and cylinder pressure detecting module；Described bathtub mounting seat is provided with bathtub locking mechanism.Described milling robot can be according to processing needs, and the operating pressure described sanding apparatus polished bathtub is stable in set point, thus ensures that described milling robot can realize carrying out bathtub the polishing of higher precision.
Description
Technical field
This utility model relates to bathtub polishing field, particularly relate to a kind of can carry out bathtub specially polishing in high precision beat
Mill robot.
Background technology
Bathtub just determines use as a deep bathroom facilities liked by masses and be widely used, its design and polishing quality
The comfort height that family uses.
In the production process of bathtub, polishing is the technological process that have to pass through.Bathtub in bruting process, grinding apparatus
Reality can not be only capable of bathtub is polished just, and require these grinding apparatus polishing pressure is had well control and
Regulating power, it is thus possible to polish bathtub more accurately, and then improves the quality of bathtub.
The polishing working end of existing grinding apparatus is mostly or employing is rigidly connected, and is not provided with pressure regulating mechanism；Have
The polishing working end of the grinding apparatus of minority can arrange spring, utilizes the reseting elasticity of spring to regulate polishing working end and bathtub
Between polishing pressure, but this polishing pressure regulative mode, be only merely the reset regulation of mechanical spring, and regulate
When polishing pressure limit and polishing, the actual pressure of pressure cannot be learnt, cannot really be beaten by precisely regulation the most at all
Mill pressure and then the realization accurate polishing to bathtub.
Utility model content
The purpose of this utility model is to propose a kind of milling robot that can carry out bathtub specially and polishing in high precision, its
Operating pressure size needed for fast automatic regulation in bruting process, thus meet the polishing requirement required for different product,
The polishing quality making bathtub is greatly improved.
For reaching this purpose, this utility model by the following technical solutions:
A kind of high accuracy bathtub milling robot, it includes PLC control system, bathtub mounting seat, controls seat and control seat
The mechanical arm being flexibly connected, and be located at the power console keyboard mill apparatus of this mechanical arm tail end and be located at the polishing dress of this power console keyboard mill apparatus
Put；
Concrete described power console keyboard mill apparatus includes: bottom mounting seat, top mounting seat, middle part fixed guide plate, precision
Guiding mechanism, retractable driving device and high speed proportioning actuator；Described middle part fixed guide plate is provided with guiding installing hole and driving
Installing hole；Described bottom mounting seat and described top mounting seat just to and be arranged in parallel, described precise guide mechanism and described stretch
The end face of described bottom mounting seat is located in the lower end of compression apparatus, and the upper end of described precise guide mechanism and described retractor device is for driving
Moved end, the drive end of described precise guide mechanism and described retractor device is all located at the bottom surface of described top mounting seat；In described
Portion's resting guide is located at described precise guide mechanism and the middle part of described retractor device, described precise guide mechanism and described flexible
The upper end of the non-telescoping drive part of driving means is individually fixed in described guiding installing hole and described drive installation hole；Described stretch
Contracting driving means is two telescopic cylinders；Described telescopic cylinder connects has driving pipeline, described driving pipeline to be provided with described high speed
Proportioning actuator, described high speed proportioning actuator is provided with gas ratio adjustment module and cylinder pressure detecting module；Described PLC is controlled
System processed electrically connects with precise guide mechanism, retractable driving device, high speed proportioning actuator, sanding apparatus and control seat；Described
Bathtub mounting seat is provided with bathtub locking mechanism, and described bathtub locking mechanism includes central fixed shaft, and is positioned at central fixed shaft week
The spacing block set on limit.
More excellent, described middle part fixed guide plate is provided with one and guides installing hole and two drive installation holes, described in two
The geometric center in drive installation hole is positioned on the same circular arc with the geometric center of described guiding installing hole as the center of circle, and two
Drive installation hole is the most overlapping.
More excellent, described power console keyboard mill apparatus also includes: Telescopic protective cover and fast clamp mechanism；Described fast clamp machine
The installation end of structure is located at described top mounting seat, and the bare terminal end of described fast clamp mechanism connects described sanding apparatus；Described stretch
Contracting protective cover and described bottom mounting seat and top mounting seat are spliced into a protection chamber, described middle part fixed guide plate, precision
Described protection intracavity is all located at by guiding mechanism, retractable driving device and high speed proportioning actuator.
More excellent, described sanding apparatus includes: firm banking and grinding head；Described firm banking is provided with the installation of through hole shape
Chamber, the side of described installation cavity is provided with peristome, and the upper surface of described firm banking is provided with a pair fixes ear, and described fixing ear divides
Not being positioned at the both sides of described installation cavity, the upper end of described fixing ear is provided with rotation hole；The upper end of described grinding head is provided with rotation dress
Putting, the rotary shaft of described tumbler connects polishing tool；Described grinding head is provided with extension, the upper end hinge of described extension
Being connected to the bottom of described grinding head, the lower end of described extension is provided with limited step portion；Described extension is located at the described fixing end
In the installation cavity of seat, the both sides of described grinding head are connected to described in a pair fix two rotation holes that ear is provided with, and described
Grinding head can rotate around described rotation hole；Described limited step portion moves in described peristome and is limited in described peristome
End face；The lower end of described extension is connected by telescoping drive mechanism with described sliding bottom.
More excellent, it is provided with feeling of stress between described fast clamp mechanism or described fast clamp mechanism and described sanding apparatus
Answer device.
More excellent, it is additionally provided with support, described control seat is installed on described support, and described bathtub mounting seat and described support
Relative position keep constant.
More excellent, described bathtub mounting seat includes: installation frame, driving motor, rotating mechanism, rotating disk and bathtub locking machine
Structure；Described driving motor and described rotating mechanism are located in described installation frame, and described driving motor is by gear-driven
Mode drives described rotating mechanism to rotate；Described rotating disk is located at above described installation frame, and the geometry of the bottom surface of described rotating disk
Center is connected with the upper end of described drive mechanism；Described bathtub locking mechanism is located at the upper surface of described rotating disk.
More excellent, described installation frame be formed around containment vessel, and described containment vessel is provided with the window that can be turned on and off
Mouth structure.
This utility model proposes a kind of high accuracy bathtub milling robot according to foregoing, and its described precision being provided with is led
Ensure that to mechanism the telescopic direction of described retractable driving device is accurate, described high speed proportioning actuator controls described telescopic drive
The output pressure of device so that desirable pressure when described power console keyboard mill apparatus can accurately export bathtub Robot Force console keyboard mill is full
The technique for grinding requirement of foot high accuracy bathtub, and then substantially increase bathtub quality.
Accompanying drawing explanation
Fig. 1 is the structural representation of an embodiment of the present utility model；
Fig. 2 is that the structure after an embodiment removal Telescopic protective cover of the mill apparatus of power console keyboard described in this utility model is shown
It is intended to；
Fig. 3 is the decomposition texture schematic diagram of an embodiment of the mill apparatus of power console keyboard described in this utility model；
Fig. 4 is the structural representation of described middle part fixed guide plate；
Fig. 5 is the structural representation of an embodiment of described sanding apparatus；
Fig. 6 is the structural representation in the embodiment shown in Fig. 1 after bathtub mounting seat removal containment vessel.
Wherein: power console keyboard mill apparatus 100, bottom mounting seat 110, top mounting seat 120, middle part fixed guide plate 130, lead
To installing hole 131, drive installation hole 132, precise guide mechanism 140, retractable driving device 150, high speed proportioning actuator 160,
Telescopic protective cover 170, fast clamp mechanism 180, sanding apparatus 200, firm banking 210, installation cavity 211, peristome 212, Gu
Determine ear 213, rotation hole 214, grinding head 220, tumbler 221, polishing tool 222, extension 230, limited step portion 231,
Telescoping drive mechanism 232, controls seat 310, mechanical arm 320, support 330, bathtub mounting seat 400, drives motor 410, rotating machine
Structure 420, rotating disk 430, bathtub locking mechanism 440, containment vessel 441, central fixed shaft 442, spacing block set 443.
Detailed description of the invention
Further illustrate the technical solution of the utility model below in conjunction with the accompanying drawings and by detailed description of the invention.
As shown in figures 1 to 6, a kind of high accuracy bathtub milling robot, it include PLC control system, bathtub mounting seat 400,
Control seat 310 and control the mechanical arm 320 that seat 310 is flexibly connected, and being located at the power console keyboard mill apparatus of this mechanical arm 320 end
100 and be located at the sanding apparatus 200 of this power console keyboard mill apparatus 100；Described power console keyboard mill apparatus 100 includes: bottom mounting seat
110, top mounting seat 120, middle part fixed guide plate 130, precise guide mechanism 140, retractable driving device 150 and high speed proportioning
Actuator 160；Described middle part fixed guide plate 130 is provided with guiding installing hole 131 and drive installation hole 132；Described bottom is installed
Seat 110 and described top mounting seat 120 just to and be arranged in parallel, under described precise guide mechanism 140 and described retractor device
End is located at the end face of described bottom mounting seat 110, and the upper end of described precise guide mechanism 140 and described retractor device is for driving
End, described drive end is all located at the bottom surface of described top mounting seat 120；Described accurate Guiding machine is located at by described middle part resting guide
Structure 140 and the middle part of described retractor device, the non-telescoping of described precise guide mechanism 140 and described retractable driving device 150 is driven
The upper end of dynamic part is individually fixed in described guiding installing hole 131 and described drive installation hole 132；Described retractable driving device
150 is two telescopic cylinders；Described telescopic cylinder connects has driving pipeline, described driving pipeline to be provided with the regulation of described high speed proportioning
Device 160, described high speed proportioning actuator 160 is provided with gas ratio adjustment module and cylinder pressure detecting module；Described PLC controls
System and precise guide mechanism 140, retractable driving device 150, high speed proportioning actuator 160, sanding apparatus 200 and control seat
310 electrically connect；Described bathtub mounting seat 400 is provided with bathtub locking mechanism 440, and described bathtub locking mechanism 440 includes that center is solid
Dead axle 442, and it is positioned at the spacing block set 443 of central fixed shaft 442 periphery, central fixed shaft 442 is through the lower water of bath base
Mouthful, bath base groove is carried out spacing by spacing block set 443, thus by bathtub fixed installation and bathtub mounting seat 400.
Operating pressure in cylinder is detected by described cylinder pressure detection module in real time, described gas ratio regulation mould
Gas in the pipeline of telescopic cylinder, according to the pressure detected and the comparative result of the operating pressure of setting, is adjusted by tuber,
So that the operating pressure of telescopic cylinder is stable in set point.
Described precise guide mechanism 140 ensure that the telescopic direction of described retractable driving device 150 is accurate, and described high speed is joined
The output pressure of described retractable driving device 150 is controlled so that described power console keyboard mill apparatus 100 can be the most defeated than actuator 160
Desirable pressure when going out Robot Force console keyboard mill, meets the technique for grinding requirement of high accuracy bathtub, and then substantially increases bathtub matter
Amount.
Described middle part fixed guide plate 130 is provided with one and guides installing hole 131 and two drive installation holes 132, two institutes
State the geometric center in drive installation hole 132 and be positioned at the same circular arc with the geometric center of described guiding installing hole 131 as the center of circle
On, and two drive installation holes 132 are the most overlapping.
Described precise guide mechanism 140 is also telescoping mechanism, but itself is not provide driving force, which ensure that described top
Portion's mounting seat 120 moves along a straight line relative to described top mounting seat 120 all the time；Described retractable driving device 150 can not be installed
Too much also can not only arrange one, be arranged to a retractable driving device 150 and precise guide mechanism 140 when one and put down at one
On face, during driving, driving force may be inadequate, and also can be the biggest in rocking of these plane both sides；The most telescopic drive dresses are set
Put 150, on the one hand can increase the weight of equipment, cause the control seat 310 of mechanical arm 320 to load excessive, under response speed also meeting
Fall, on the other hand due to the respective performance of retractable driving device 150 or differentiated, can when driving response response speed and
Driving effect each variant, they are all mounted on the installing plate of same top simultaneously, when can cause working each other
Involved impact；Two described retractable driving device 150 are only set and just can well solve the problems referred to above；
More excellent, the installation site of two retractable driving device 150 is defined so that two described retractable driving device
150 is equal to the distance of described precise guide mechanism 140, two described retractable driving device 150 and precise driving device simultaneously
Installation site on described middle part fixed guide plate 130, form isosceles triangle so that described retractable driving device 150 is being driven
When dynamic described precise guiding device stretches together, two described retractable driving device 150 action effect to precise guiding device
Almost keep consistent, allow described precise guiding device can stablize accurate fortune along with retractable driving device 150 is the most smooth and easy
Dynamic.
Described power console keyboard mill apparatus 100 also includes: Telescopic protective cover 170 and fast clamp mechanism 180；Described fast clamp
The installation end of mechanism 180 is located at described top mounting seat 120, and the bare terminal end of described fast clamp mechanism 180 connects described polishing
Device 200；Described Telescopic protective cover 170 and described bottom mounting seat 110 and top mounting seat 120 are spliced into a protection chamber,
Described middle part fixed guide plate 130, precise guide mechanism 140, retractable driving device 150 and high speed proportioning actuator 160 are all provided with
In described protection intracavity.The installation and removal that described fast clamp mechanism 180 makes sanding apparatus 200 are convenient, it is thus possible to
Realize the polishing to more different bathtubs；Described Telescopic protective cover 170 can not hinder described bottom mounting seat 110 and described top
In the case of the relative movement of portion's mounting seat 120, the structure within described power console keyboard mill apparatus 100 is well protected,
Make described power console keyboard mill apparatus 100 energy long-term stable operation.
Described sanding apparatus 200 includes: firm banking 210 and grinding head 220；Described firm banking 210 is provided with through hole shape
Installation cavity 211, the side of described installation cavity 211 is provided with peristome 212, and the upper surface of described firm banking 210 is provided with a pair
Fixing ear 213, described fixing ear 213 lays respectively at the both sides of described installation cavity 211, and the upper end of described fixing ear 213 is provided with and turns
Dynamic hole 214；The upper end of described grinding head 220 is provided with tumbler 221, and the rotary shaft of described tumbler 221 connects polishing
Cutter 222；Described grinding head 220 is provided with extension 230, and the upper end thereof of described extension 230 is in the end of described grinding head 220
Portion, the lower end of described extension 230 is provided with limited step portion 231；Described extension 230 is located at the peace of described firm banking 210
Behaveing affectedly in 211, the both sides of described grinding head 220 are connected to described in a pair fix two rotation holes 214 that ear 213 is provided with,
And described grinding head 220 can rotate around described rotation hole 214；Described limited step portion 231 moves in described peristome 212
And it is limited in the end face of described peristome 212；
The lower end of described extension 230 is connected by telescoping drive mechanism 232 with described sliding bottom.Make described polishing
220 can swing up and down around described rotation hole 214 under the driving of described telescoping drive mechanism 232 within the specific limits, and
Polishing tool 222 will not collide with described firm banking 210, allows polishing tool 222 realization can be needed thinner according to polishing
Micro-regulation, improves polishing precision further.
It is provided with pressure between described fast clamp mechanism 180 or described fast clamp mechanism 180 and described sanding apparatus 200
Induction installation.Make described power console keyboard mill apparatus 100 except utilizing described high speed proportioning actuator 160 to retractable driving device
Outside the output of 150 is controlled, control system also can detect the position near sanding apparatus 200 according to pressure sensitive device
Pressure, is adjusted further to the output pressure of retractable driving device 150, so that pressure more precisely may be used during polishing
Control.
Bathtub milling robot is additionally provided with support 330 in high precision, and described control seat 310 is installed on described support 330, and institute
State bathtub mounting seat 400 and keep constant with the relative position of described support 330.Thus ensure that and be arranged on bathtub mounting seat 400
On the relative position of bathtub and described control seat 310 be constant, the sanding operation of described milling robot is being compiled
Cheng Shi, can design according to the position relationship of described control seat 310 and described bathtub mounting seat 400, and then make described polishing
The programming of robot and actual polishing work can more precisely efficiently.
Described bathtub mounting seat 400 includes: installation frame, driving motor 410, rotating mechanism 420, rotating disk 430 and bathtub
Locking mechanism 440；Described driving motor 410 and described rotating mechanism 420 are located in described installation frame, and described driving motor
410 drive described rotating mechanism 420 to rotate by gear-driven mode；Described rotating disk 430 is located at above described installation frame,
And be connected with the upper end of described drive mechanism at the geometric center of the bottom surface of described rotating disk 430；Described bathtub locking mechanism 440 sets
Upper surface in described rotating disk 430.Bathtub to be polished is fixed by described bathtub locking mechanism 440, and described rotating disk 430 is driving
Stable rotation under the drive of motor 410 so that bathtub to be polished can need and self according to grinding angle in bruting process
Rotate, thus ensure that the polishing degree of freedom of described milling robot is higher, bathtub can be carried out the automatically grinding of higher precision.
Described installation frame be formed around containment vessel 441, and described containment vessel 441 is provided with the window that can be turned on and off
Structure.Staff can pass through described window structure, bathtub mounting seat 400 internal structure described in Real Time Observation, it is simple to send out in time
Show problem and it quickly keeped in repair or maintains.
Described milling robot, when actual polishing work, first finishes operation sequence, and root in described PLC control system
According to polishing required precision, preset the working pressure range of retractable driving device 150 in described power console keyboard mill apparatus 100；Again
Bathtub to be polished is installed to described bathtub mounting seat 400, and carries out dead-center position correction of polishing；Beat described in finally opening
Mill robot just can realize the automatically grinding of bathtub to be polished to band.More excellent, treat polishing bath at described milling robot
When cylinder is polished, described high speed proportioning actuator 160 can detect the gas pressure within described retractable driving device 150 in real time
Power, if the air pressure within described telescopic cylinder exceedes the pressure limit preset before, described high speed proportioning actuator 160
Gas mobility status in regulation pipeline, and then regulate the operating pressure of described retractable driving device 150 so that described stretching is driven
The operating pressure of dynamic device 150 is stable in default pressure limit.
Described milling robot can be according to processing needs, and the operating pressure described sanding apparatus 200 polished bathtub is steady
It is scheduled in set point, thus ensures that described milling robot can realize carrying out bathtub the polishing of higher precision.
Know-why of the present utility model is described above in association with specific embodiment.These descriptions are intended merely to explain this reality
By novel principle, and the restriction to this utility model protection domain can not be construed to by any way.Based on explanation herein,
Those skilled in the art need not pay performing creative labour can associate other detailed description of the invention of the present utility model,
Within these modes fall within protection domain of the present utility model.
Claims (8)
1. one kind high accuracy bathtub milling robot, it is characterised in that include PLC control system, bathtub mounting seat, control seat,
The mechanical arm being flexibly connected with control seat, and be located at the power console keyboard mill apparatus of this mechanical arm tail end and be located at this power console keyboard mill apparatus
Sanding apparatus；
Described power console keyboard mill apparatus includes: bottom mounting seat, top mounting seat, middle part fixed guide plate, precise guide mechanism, stretch
Contracting driving means and high speed proportioning actuator；
Described middle part fixed guide plate is provided with guiding installing hole and drive installation hole；
Described bottom mounting seat and described top mounting seat just to and be arranged in parallel, described precise guide mechanism and described flexible dress
The end face of described bottom mounting seat is located in the lower end put, and the upper end of described precise guide mechanism and described retractor device is for driving
Hold, and the drive end of described precise guide mechanism and described retractor device is all located at the bottom surface of described top mounting seat；
Described middle part resting guide is located at described precise guide mechanism and the middle part of described retractor device, described precise guide mechanism
It is individually fixed in described guiding installing hole and described driving peace with the upper end of the non-telescoping drive part of described retractable driving device
Dress hole；
Described retractable driving device is two telescopic cylinders；Described telescopic cylinder connects has driving pipeline, described driving pipeline to set
Described high speed proportioning actuator, described high speed proportioning actuator is had to be provided with gas ratio adjustment module and cylinder pressure detecting mould
Block；
Described PLC control system and precise guide mechanism, retractable driving device, high speed proportioning actuator, sanding apparatus and control
Seat electrically connects；
Described bathtub mounting seat is provided with bathtub locking mechanism, and described bathtub locking mechanism includes central fixed shaft and is positioned at center admittedly
The spacing block set of dead axle periphery.
A kind of high accuracy bathtub milling robot the most according to claim 1, it is characterised in that described middle part fixed guide
Plate is provided with one and guides installing hole and two drive installation holes, and the geometric center in two described drive installation holes is positioned to be led with described
On the same circular arc that the geometric center of installing hole is the center of circle, and two drive installation holes are the most overlapping.
A kind of high accuracy bathtub milling robot the most according to claim 1, it is characterised in that also include Telescopic protective cover
With fast clamp mechanism；
The installation end of described fast clamp mechanism is located at described top mounting seat, and the bare terminal end of described fast clamp mechanism connects institute
State sanding apparatus；
Described Telescopic protective cover and described bottom mounting seat and top mounting seat are spliced into a protection chamber, and described middle part is fixing leads
Described protection intracavity all it is located to plate, precise guide mechanism, retractable driving device and high speed proportioning actuator.
A kind of high accuracy bathtub milling robot the most according to claim 1, it is characterised in that described sanding apparatus bag
Include: firm banking and grinding head；
Described firm banking is provided with the installation cavity of through hole shape, and the side of described installation cavity is provided with peristome, described firm banking
Upper surface is provided with a pair fixes ear, and described fixing ear lays respectively at the both sides of described installation cavity, and the upper end of described fixing ear is provided with
Rotation hole；
The upper end of described grinding head is provided with tumbler, and the rotary shaft of described tumbler connects polishing tool；Described polishing
Head is provided with extension, and the upper end thereof of described extension is in the bottom of described grinding head, and the lower end of described extension is provided with spacing
Stage portion；
Described extension is located in the installation cavity of described firm banking, and the both sides of described grinding head are connected to described in a pair solid
Determine two rotation holes that ear is provided with, and described grinding head can rotate around described rotation hole；Described limited step portion opens described
Move and be limited in the end face of described peristome in oral area；
The lower end of described extension is connected by telescoping drive mechanism with sliding bottom.
A kind of high accuracy bathtub milling robot the most according to claim 3, it is characterised in that described fast clamp mechanism
Or it is provided with pressure sensitive device between described fast clamp mechanism and described sanding apparatus.
A kind of high accuracy bathtub milling robot the most according to claim 1, it is characterised in that be additionally provided with support, described
Control seat and be installed on described support, and described bathtub mounting seat position relative with described support keeps constant.
A kind of high accuracy bathtub milling robot the most according to claim 1, it is characterised in that described bathtub mounting seat bag
Include: installation frame, driving motor, rotating mechanism, rotating disk and bathtub locking mechanism；
Described driving motor and described rotating mechanism are located in described installation frame, and described driving motor is by gear-driven
Mode drives described rotating mechanism to rotate；Described rotating disk is located at above described installation frame, and the geometry of the bottom surface of described rotating disk
Center is connected with the upper end of described drive mechanism；Described bathtub locking mechanism is located at the upper surface of described rotating disk.
A kind of high accuracy bathtub milling robot the most according to claim 7, it is characterised in that the four of described installation frame
It is provided with containment vessel week, and described containment vessel is provided with the window structure that can be turned on and off.
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| CN201620382548.1U CN205685358U (en) | 2016-04-28 | 2016-04-28 | A kind of high accuracy bathtub milling robot |
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| CN201620382548.1U CN205685358U (en) | 2016-04-28 | 2016-04-28 | A kind of high accuracy bathtub milling robot |
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| CN107116561A (en) * | 2017-06-19 | 2017-09-01 | 中国电子科技集团公司第二十八研究所 | A kind of weld grinding machine people |
| CN107571154A (en) * | 2017-10-10 | 2018-01-12 | 张欢 | A kind of integrated Compliant Force control device |
| CN108161680A (en) * | 2018-03-02 | 2018-06-15 | 广东省智能制造研究所 | A kind of submissive polishing system |
| CN108393748A (en) * | 2018-03-23 | 2018-08-14 | 刘建华 | A kind of mailbox device |
| CN108858236A (en) * | 2018-07-27 | 2018-11-23 | 珠海市盛西源机电设备有限公司 | A kind of robot is in artificial marble bathtub grinding technology |
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| CN112706076A (en) * | 2020-12-31 | 2021-04-27 | 湖北众智未来智能装备制造有限公司 | Clamping and positioning device and method for multi-model bathtub |
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| CN113787419A (en) * | 2021-11-17 | 2021-12-14 | 广东熙瑞智能科技有限公司 | Automatic polishing rotary table for bathtub |
| CN113927480A (en) * | 2021-09-26 | 2022-01-14 | 南京智慧阳光科技有限公司 | Grinding tool adding structure of polishing robot and adding method thereof |
| CN114310536A (en) * | 2021-12-14 | 2022-04-12 | 佛山市科莱机器人有限公司 | Polishing method and polishing device for joint of spliced bathtub |
| CN115648451A (en) * | 2017-07-07 | 2023-01-31 | 箭牌家居集团股份有限公司 | Bathtub cut edge puncher |
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| CN107116561A (en) * | 2017-06-19 | 2017-09-01 | 中国电子科技集团公司第二十八研究所 | A kind of weld grinding machine people |
| CN115648451A (en) * | 2017-07-07 | 2023-01-31 | 箭牌家居集团股份有限公司 | Bathtub cut edge puncher |
| CN115648451B (en) * | 2017-07-07 | 2023-06-30 | 箭牌家居集团股份有限公司 | Bathtub cutting edge puncher |
| CN107571154A (en) * | 2017-10-10 | 2018-01-12 | 张欢 | A kind of integrated Compliant Force control device |
| CN108161680A (en) * | 2018-03-02 | 2018-06-15 | 广东省智能制造研究所 | A kind of submissive polishing system |
| CN108161680B (en) * | 2018-03-02 | 2024-01-30 | 广东省智能制造研究所 | Flexible polishing system |
| CN108393748A (en) * | 2018-03-23 | 2018-08-14 | 刘建华 | A kind of mailbox device |
| CN108858236A (en) * | 2018-07-27 | 2018-11-23 | 珠海市盛西源机电设备有限公司 | A kind of robot is in artificial marble bathtub grinding technology |
| CN110026990A (en) * | 2019-04-02 | 2019-07-19 | 清博(昆山)自动化科技有限公司 | A kind of automatically controlled integrated form active force control device and its control method |
| CN112935974A (en) * | 2020-12-24 | 2021-06-11 | 青岛成信马达有限公司 | Force compensation-based non-circular part deburring robot for motor production |
| CN112706076A (en) * | 2020-12-31 | 2021-04-27 | 湖北众智未来智能装备制造有限公司 | Clamping and positioning device and method for multi-model bathtub |
| CN113927480A (en) * | 2021-09-26 | 2022-01-14 | 南京智慧阳光科技有限公司 | Grinding tool adding structure of polishing robot and adding method thereof |
| CN113787419A (en) * | 2021-11-17 | 2021-12-14 | 广东熙瑞智能科技有限公司 | Automatic polishing rotary table for bathtub |
| CN114310536A (en) * | 2021-12-14 | 2022-04-12 | 佛山市科莱机器人有限公司 | Polishing method and polishing device for joint of spliced bathtub |
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