CN109318090B - Size compensation method and system in annular part robot grinding process - Google Patents
Size compensation method and system in annular part robot grinding process Download PDFInfo
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- CN109318090B CN109318090B CN201811243450.8A CN201811243450A CN109318090B CN 109318090 B CN109318090 B CN 109318090B CN 201811243450 A CN201811243450 A CN 201811243450A CN 109318090 B CN109318090 B CN 109318090B
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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
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
- B24B19/08—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding non-circular cross-sections, e.g. shafts of elliptical or polygonal cross-section
- B24B19/11—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding non-circular cross-sections, e.g. shafts of elliptical or polygonal cross-section for grinding the circumferential surface of rings, e.g. piston rings
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
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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
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
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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
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
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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
- B24B41/06—Work supports, e.g. adjustable steadies
- B24B41/067—Work supports, e.g. adjustable steadies radially supporting workpieces
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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
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/003—Accessories therefor
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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
- 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
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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
- 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
- B24B49/16—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 load
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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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/02—Equipment for cooling the grinding surfaces, e.g. devices for feeding coolant
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a size compensation method and a size compensation system in a robot polishing process of an annular part, which are mainly applied to the field of robot automatic polishing of annular casting parts. The method comprises the following steps: firstly, a three-jaw chuck is adopted to clamp a reference surface of an annular part to center the part, then the circumferential dimension of the annular part is measured through a force control sensor and a cutter at the tail end of a robot, a circumferential error is obtained through calculation, the circumferential error is automatically transmitted to a control system to be compensated, and the height of the part is measured through a laser distance sensor at the tail end of the robot, and then the height direction error compensation is carried out through the control system. According to the invention, the size of the casting can be effectively compensated in the process of polishing the annular casting by the robot, the polishing precision and effect are improved, and the problem of processing quality caused by the size consistency error of the casting can be effectively avoided.
Description
Technical Field
The invention relates to the field of polishing of annular castings, in particular to a size compensation method in a robot polishing process of annular parts.
Background
With the development of industrial automation, the trend of using robots to carry out automation has been, and in the field of polishing, due to the fact that traditional manual polishing is low in efficiency and high in cost, and polishing dust can cause damage to human bodies, robots are widely used to replace manual work to carry out automatic polishing on parts. The traditional robot polishing method is to teach the motion track of the robot through a demonstrator or to generate a track through off-line programming on a computer according to a standard three-dimensional model of a workpiece, and subsequent part polishing tracks all run according to the fixed track and cannot adapt to the size error of the part. To large-scale annular casting spare, use the robot when automatic when polishing because the dimensional error of foundry goods itself is great, the precision is not high, and the dimensional error of part all directions is all great, so need carry out size compensation to the part when polishing in order to improve the effect of polishing, avoid excessively polishing the damage part body at the in-process of polishing.
In the prior art, the polishing of large-scale annular casting parts mainly has the following problems:
(1) because a series of deformations can be generated in the casting process of the part, and the deformations are finally reflected on the casting, the dimensional error of the casting is large, and the robot is difficult to automatically polish through a track;
(2) because the casting part is not machined when the surface is polished, the precision of the reference is not high, and certain errors still exist in all directions even if a special clamp is designed according to the part reference to clamp the part;
(3) the casting can generate deformation such as bulging and the like in the production process, so that certain errors can exist in the height direction of parts, the height compensation needs to be carried out when the robot carries out polishing, and otherwise, the parts are easily damaged or the parts are easily cut during cutting;
(4) during casting, the part deforms, so that the circular hole or the circular truncated cone deforms and is not a standard circle, and the part is idle or damaged if the part is ground according to a theoretical profile or a model profile during grinding.
Disclosure of Invention
The invention aims to provide a size compensation method in a robot polishing process of an annular part, which is used for compensating part errors during the robot polishing of the annular part, reducing the reduction of polishing effect caused by part consistency errors, improving the adaptability of the robot to the part and enabling the robot to automatically compensate the errors of the part in all directions during the polishing.
The technical scheme adopted by the invention is as follows:
the size compensation method in the robot grinding process of the annular part is characterized in that a three-jaw chuck is used for clamping the inner annular surface of the annular part, and after the part is centered by the three-jaw chuck, the following operations are carried out:
and (3) compensation of clamping error size: performing threshold value compensation on circumferential and height errors generated when a part to be processed is clamped;
and (3) compensating the size of the part: and (4) performing threshold value compensation on the error generated by the machining size of the part to be machined.
In the size compensation method in the robot polishing process for the annular part, in the clamping error size compensation step, a specific method for performing threshold compensation on a circumferential error generated when the part to be processed is clamped comprises the following steps:
step 2, calculating the circumferential error formula as theta 180 × (x)1-x0) And controlling the rotating workbench to shift through a control system so that the position of the circumferential reference shifts by theta, wherein R is the distance from the circumferential reference of the part to the center of the circle.
In the size compensation method in the robot polishing process of the annular part, the value range of delta x is 0.05 mm-0.1 mm.
In the size compensation method in the robot polishing process for the annular part, in the step of compensating the clamping error size, the specific method for compensating the threshold value of the height error generated when the part to be processed is clamped comprises the following steps:
adjusting the robot posture to a height measurement posture to enable laser irradiated by the laser distance sensor to be perpendicular to a plane to be processed, and measuring the distance h between the upper surface of the part and the sensor through the laser distance sensor on the tail end tool before polishing1And feeding back the measurement result to the control system and the standard distance value h0Calculating to obtain the height error delta h ═ h1-h0Namely, the height compensation threshold value delta h controls the robot to shift delta h in the height direction during grinding.
In the above dimension compensation method in the robot polishing process for the annular part, the step of compensating the dimension of the part specifically includes:
step 1: n for controlling the cutter to contact the cylindrical surface through a force sensor1°、n2°、n3°、n4°、n5°、n6°、n7°......nmPosition and record the current robot coordinate points: point n1Point n2Point n3Point n4Point n5Point n6Point n7..mWherein m is a positive integer;
step 2: by measuring point n1Point n2Point n3Point n4Point n5Point n6Point n7..mThe coordinate point replaces the corresponding theoretical point 1 of each point0Point m0Replanning the circular arc path, and modifying the polishing track;
and step 3: and the robot polishes the cylindrical surface according to the modified polishing track.
In the above-mentioned size compensation method in the robot polishing process of the annular part, m is 8, that is, n1°、n2°、n3°、n4°、n5°、n6°、n7°、n8And 0 °, 45 °, 90 °, 135 °, 180 °, 225 °, 270 °, 315 ° respectively, corresponding coordinate points are: point n1Point n2Point n3Point n4Point n5Point n6Point n7Point n8。
A size compensation system in a robot grinding process of annular parts is characterized by comprising a robot base and a robot arranged on the robot base, wherein a tail end tool is fixed on a six-axis flange of the robot through bolts and used for clamping the annular parts; the rotary worktable is provided with a fixing component used for fixing the part to be processed.
The size compensation system in foretell annular part robot sanding process, fixed subassembly is including three-jaw chuck and the anchor clamps that are used for carrying out the clamping to annular part, and terminal instrument includes the force sensor with six lug connection to and install the flange at the force sensor another side, fixed mounting has electric main shaft on the flange, and electric main shaft end is through chuck centre gripping cutter, is used for polishing the part, and flange one side is equipped with the sensor installing support, and laser distance sensor sets up on the sensor installing support, is used for refrigerated bamboo joint pipe to pass through three-way valve and water pump intercommunication.
The invention has the beneficial effects that: 1. the adaptability of the robot in polishing the annular part is improved, the requirement on the consistency of the cast part is reduced, and the polishing effect is improved; 2. the grinding system can compensate circumferential clamping and positioning errors of the parts, and the precision requirement of the parts during casting is reduced; 3. the error of each direction of the part characteristic part can be compensated when the part is polished, the force sensor is used for controlling the force during polishing, so that the cutter can be tightly attached to the surface of the part during polishing, the part is not damaged by too large polishing force, and the service life of the cutter can be prolonged.
Drawings
Figure 1 is a robotic polishing apparatus according to the present invention.
Fig. 2 is a robotic end-of-arm grinding tool of the present invention.
FIG. 3 is a schematic diagram of circumferential compensation of the present invention.
FIG. 4 is a schematic diagram of the measurement of characteristic region errors of the present invention.
Detailed Description
For a better understanding of the present invention, reference is made to the following detailed description of the invention in conjunction with the accompanying drawings.
In the figure: 1. the robot comprises a robot base, a robot 2, a tail end tool 3, a force sensor 3.1, a connecting flange 3.2, an electric spindle 3.3, a cutter 3.4, a bamboo joint pipe 3.5, a laser distance sensor 3.6, a sensor mounting bracket 3.7, a rotary worktable 4, a three-jaw chuck 5 and a clamp.
First, a system structure adopted by the present invention is described.
As shown in fig. 1, the preferred embodiment of the size compensation method in the robot polishing process of the annular part of the present invention is suitable for an automatic annular part polishing system, the polishing system mainly comprises a robot base 1, a robot 2, a terminal tool 3, a rotary table 4, a three-jaw chuck and a clamp 5, wherein the robot is specifically designed as IRB 6700-, one side of the connecting flange is fixed with a 3.5-bamboo joint pipe and a 3.6-laser distance sensor for cooling through a sensor mounting bracket 3.7.
The main innovation of the system is as follows:
(1) clamping a part by using a three-jaw chuck and a special clamp, centering the part by using an annular reference surface of the part clamped by the three-jaw chuck, wherein the inner annular surface is the reference surface of the annular part after casting;
(2) when annular part is ground by a robot, a force sensor is additionally arranged between a robot tail end tool and a robot tail end connecting flange, and the track of the robot is controlled by the force sensor to replace the traditional absolute path grinding mode, so that the robot has certain adaptability during grinding, can be tightly attached to the part of the part to be ground during grinding, and can prevent idle feed;
(3) after the part is clamped, a force sensor is used for detecting the clamping error of the circumferential positioning reference of the part by detecting whether a cutter collides with the part or not, then the measured error value is converted into a circumferential error value of the part clamping through a control system, and the zero position of the rotary worktable is corrected according to the error value to compensate the circumferential clamping error of the part, so that the circumferential positioning precision of the part is improved.
Secondly, the following is a specific method for performing size compensation by adopting the system structure.
Referring to the drawings, a preferred embodiment of the dimensional compensation method in the annular part robot grinding process of the present invention comprises the steps of:
step 1: when a part is clamped, the inner ring reference surface of the annular part is clamped through the three-jaw chuck, and the central axis of the part is positioned through the three-jaw chuck, so that the centering of the part is realized;
step 2, performing threshold compensation on a circumferential error generated when a part to be processed is clamped, as shown in fig. 2, installing a force sensor at the tail end of the robot, collecting the grinding pressure of a tool at the tail end of the robot and controlling the size of the grinding pressure, installing a cutter on an ER chuck of an electric spindle of the tool at the tail end, controlling the robot to move the cutter to a circumferential reference accessory, opening the force sensor and setting the direction of the force to be vertical to a reference plane, enabling the cutter to automatically approach the circumferential reference, sliding along the reference plane when the force sensor detects that the force reaches a set value, wherein the sliding length is L and reading a terminal coordinate (x is the length of the sliding (x1，y1，z1) Namely, the coordinate value of the tail end of the robot when the cutter touches the circumferential reference in actual measurement; note x0The coordinate value of the tail end of the robot is when the cutter touches the circumferential reference under the theoretical condition; the diameter of the annular part is larger, and the clamping error of the part is smaller, so (x)1-x0) Is approximately equal to the arc length of the circumferential offset, then may be determined by the equation θ 180 × (x)1-x0) Calculating the circumferential error of the clamped part by dividing (R × pi), and then compensating the circumferential clamping error of the annular part by compensating a corresponding angle value when the rotary worktable is controlled by a control system to rotate;
and 3, performing threshold value compensation on the height error generated when the part to be machined is clamped, and when the upper surface is polished, because the size of the upper surface of the part has deviation due to the clamping error of the part and the casting error of the part, measuring the part to be polished and compensating the size error before polishing. The compensation method comprises the following steps: as shown in fig. 2, the other side of the electric spindle mounted on the robot end tool is mounted with a laser distance sensor for measuring the distance between the upper surface of the part and the sensor to determine the height error of the part to be polished on the upper surface of the part, then the height compensation value is calculated by the control system according to the measurement result, and the coordinates of the tool setting point of the robot are fed back and controlled to enable the tool to reach the upper surface of the part, so that the part is not polished or polished excessively, and the size compensation of the upper surface of the part is achieved;
and 4, performing threshold compensation on the error generated by the machining size of the part to be machined: firstly, a cutter on a terminal tool is controlled by a robot to be close to a part to be polished, whether the cutter is in contact with the contour of the part is judged by a force sensor to obtain a contour coordinate point of the polished part, after the contour point is obtained, the contour point is used for replacing a point on a corresponding track in a robot track to re-plan a polishing path of the robot, as shown in fig. 4, a point 1 is0Point 80Treat the position theoretical coordinate point of polishing promptly, point 1 ~ 8 are the actual coordinate point that acquires through force sensor, utilize the actual coordinate point to plan the orbit again and can compensate the casting error of part when polishing, polish the characteristic part, and use force sensor's constant force control's mode and select the direction of suitable force according to the profile selection position of waiting to polish when polishing and can make the cutter paste tightly all the time and wait to polish the position and polish. Can be outwards polish for the normal direction of annular profile through the direction of control power when polishing annular fillet, then control the direction of polishing power for vertical plane direction when polishing the bottom plane, make the cutter can paste the position that needs to polish with invariable power, can realize the compensation of part local size error.
According to the size compensation method in the annular part robot grinding process, the clamping errors in the radial direction, the circumferential direction and the height of the part and the casting errors of the part are compensated to realize the compensation of the part, so that the manual clamping requirement and the precision requirement of a casting are reduced, and the grinding effect of the annular part is improved.
The main innovation of the method is as follows:
(1) before the upper surface of a part is polished, a height error of a part to be polished is detected through a laser distance sensor, the measured error value is calculated as a compensation value through a control system to compensate the height of a lower cutter of a robot, so that the robot can accurately lower the cutter to the upper surface, then the cutter is polished in a constant force control mode through a force control sensor, the cutter can be changed along with the height change of the part to keep the polishing pressure constant, and the phenomenon that the part body is damaged due to excessive abrasion or the cutter is broken due to too large polishing force is avoided;
(2) before the circumferential characteristic part of the part is polished, the force sensor is used for controlling the cutter to detect dimensional errors such as the outer circle, the inner circle, the hole depth and the like of the circumferential characteristic part, the polishing track of the characteristic part is planned by measuring the coordinates of a plurality of points of the part to be polished, the polishing effect of the robot on the characteristic part is improved, and the part is prevented from being damaged.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (6)
1. The size compensation method in the robot grinding process of the annular part is characterized in that a three-jaw chuck is used for clamping the inner annular surface of the annular part, and after the part is centered by the three-jaw chuck, the following operations are carried out:
and (3) compensation of clamping error size: performing threshold value compensation on circumferential and height errors generated when a part to be processed is clamped;
and (3) compensating the size of the part: carrying out threshold compensation on errors generated by the machining size of the part to be machined;
in the step of compensating the size of the clamping error, a specific method for compensating the threshold value of the circumferential error generated when the part to be processed is clamped comprises the following steps:
step 1, installing a force sensor at the tail end of a robot, installing a tool to be used on an ER chuck of an electric spindle of a tail end tool, controlling the robot to move the tool to a circumferential reference accessory, opening the force control sensor, setting the direction of the force to be vertical to a reference plane, enabling the tool to automatically approach the circumferential reference, sliding along the reference plane when the force sensor detects that the force reaches a set value, wherein the sliding length is L, and reading a terminal coordinate (x)1,y1,z1) Wherein x is the direction of the circumferential reference, y is the direction perpendicular to the circumferential reference in the horizontal plane, and z is the vertical direction, namely the coordinate value of the tail end of the robot when the tool touches the circumferential reference in the actual measurement; the theoretical coordinate value of the circumferential datum is x0Namely, the coordinate value of the tail end of the robot when the cutter touches the circumferential reference under the theoretical condition;
step 2, calculating the circumferential error formula as theta 180 × (x)1-x0) Controlling the rotating workbench to shift through a control system, so that the position of the circumferential reference shifts by theta, wherein R is the distance from the position of the circumferential reference of the part to the center of the circle;
the part size compensation step specifically comprises:
step 1: n for controlling the cutter to contact the cylindrical surface through a force sensor1°、n2°、n3°、n4°、n5°、n6°、n7°……nmPosition and record the current robot coordinate points: point n1Point n2Point n3Point n4Point n5Point n6Point n7… … Point nmWherein m is a positive integer;
step 2: by measuring point n1Point n2Point n3Point n4Point n5Point n6Point n7… … Point nmThe coordinate points replace the corresponding theoretical points of each point10Point m0Replanning the circular arc path, and modifying the polishing track;
and step 3: the robot polishes the cylindrical surface according to the modified polishing track;
the casting error of part can be compensated to the orbit of utilizing actual coordinate point to replan when polishing, polishes the characteristic part, and uses force sensor's constant force control's mode and selects the direction of suitable power according to the profile selection position of waiting to polish when polishing and can make the cutter paste closely all the time and wait to polish the position and polish.
2. A method of dimensional compensation in a robotic ring part grinding process as claimed in claim 1, wherein Δ x ranges from 0.05mm to 0.1 mm.
3. The size compensation method for the robot polishing process of the annular parts according to claim 1, wherein in the clamping error size compensation step, the specific method for performing threshold value compensation on the height error generated when the part to be machined is clamped comprises the following steps:
adjusting the robot posture to a height measurement posture to enable laser irradiated by the laser distance sensor to be perpendicular to a plane to be processed, and measuring the distance h between the upper surface of the part and the sensor through the laser distance sensor on the tail end tool before polishing1And feeding back the measurement result to the control system and the standard distance value h0Calculating to obtain the height error delta h ═ h1-h0Namely, the height compensation threshold value delta h controls the robot to shift delta h in the height direction during grinding.
4. A method of dimensional compensation in a robotic ring part grinding process as claimed in claim 3, wherein m is 8, n1°、n2°、n3°、n4°、n5°、n6°、n7°、n8And 0 °, 45 °, 90 °, 135 °, 180 °, 225 °, 270 °, 315 ° respectively, corresponding coordinate points are: point n1Point n2Point n3Point n4Point n5Point n6Point n7Point n8。
5. A system adopting the size compensation method in the robot grinding process of the annular part as claimed in claim 1 is characterized by comprising a robot base and a robot arranged on the robot base, wherein a tail end tool is fixed on a six-axis flange of the robot through bolts and used for clamping the annular part; the rotary worktable is provided with a fixing component used for fixing the part to be processed.
6. The system of claim 5, wherein the fixing assembly comprises a three-jaw chuck and a clamp for clamping the annular part, the end tool comprises a force sensor directly connected with six shafts and a connecting flange arranged on the other side of the force sensor, an electric spindle is fixedly arranged on the connecting flange, the tail end of the electric spindle clamps a cutter through a chuck for grinding the part, a sensor mounting bracket is arranged on one side of the connecting flange, the laser distance sensor is arranged on the sensor mounting bracket, and a bamboo joint pipe for cooling is communicated with the water pump through a three-way valve.
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| CN201811243450.8A CN109318090B (en) | 2018-10-24 | 2018-10-24 | Size compensation method and system in annular part robot grinding process |
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| CN201811243450.8A CN109318090B (en) | 2018-10-24 | 2018-10-24 | Size compensation method and system in annular part robot grinding process |
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| CN118386301B (en) * | 2024-06-24 | 2024-09-06 | 索菲亚家居股份有限公司 | Synchronous automatic demolding and trimming device and method for laminated artificial board |
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