TWI588630B - Apparatus for machining an object along a generating path - Google Patents
Apparatus for machining an object along a generating path Download PDFInfo
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- TWI588630B TWI588630B TW105107006A TW105107006A TWI588630B TW I588630 B TWI588630 B TW I588630B TW 105107006 A TW105107006 A TW 105107006A TW 105107006 A TW105107006 A TW 105107006A TW I588630 B TWI588630 B TW I588630B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J17/00—Household peeling, stringing, or paring implements or machines
- A47J17/14—Machines for peeling
- A47J17/16—Peeling machines with rotary fruit-holding spindles and fixed or movable peeler blades
Description
本發明關於一種機台，尤指一種可針對一物件之表面自動化生成一生成路徑並沿該生成路徑對該物件進行表面處理之機台。The present invention relates to a machine, and more particularly to a machine that can automatically generate a generation path for the surface of an object and surface-treat the object along the generation path.
三維掃描儀(3D scanner)是一種科學儀器，用來偵測並分析現實世界中物體或環境的形狀(幾何構造)與外觀資料(如顏色、表面反照率等性質)。蒐集到的資料常被用來進行三維重建計算，在虛擬世界中建立實際物體的數位模型。如何將三維掃描儀應用於表面處理的機台(例如削皮機)便成為業界所努力的方向。The 3D scanner is a scientific instrument used to detect and analyze the shape (geometry) and appearance data (such as color, surface albedo, etc.) of objects or environments in the real world. The collected data is often used to perform 3D reconstruction calculations to create a digital model of the actual object in the virtual world. How to apply a 3D scanner to a surface treatment machine (such as a peeler) has become an industry effort.
本發明提供一種可針對一物件之表面自動化生成一生成路徑並沿該生成路徑對該物件進行表面處理之機台，以解決上述問題。The present invention provides a machine that can automatically generate a generation path for the surface of an object and surface-treat the object along the generation path to solve the above problem.
為了達成上述目的，本發明揭露一種用以沿一生成路徑對一物件進行表面處理之機台，包含一表面處理機構、一固持基座、一三維掃描裝置、一構件移載裝置以及一控制單元，該固持基座用以固持該物件，該三維掃描裝置設置於該固持基座上方，該三維掃描裝置用以掃描該物件之一第一表面，以建立對應該第一表面之一第一三維影像，該構件移載裝置設置於該固持基座之一側，該構件移載裝置用以夾持並移動該表面處理機構，該控制單元耦接於該三維掃描裝置與該構件移載裝置，該控制單元根據該第一三維影像產生複數個第一生成路徑，該控制單元另根據各該第一生成路徑控制該構件移載裝置移動該表面處理機構，使該表面處理機構能沿該第一表面移動，以對該第一表面進行表面處理。In order to achieve the above object, the present invention discloses a machine for surface treating an object along a generation path, comprising a surface treatment mechanism, a holding base, a three-dimensional scanning device, a component transfer device and a control unit. The holding base is configured to hold the object, the three-dimensional scanning device is disposed above the holding base, and the three-dimensional scanning device is configured to scan a first surface of the object to establish a first three-dimensional corresponding to the first surface The image transfer device is disposed on one side of the holding base, the component transfer device is configured to clamp and move the surface treatment mechanism, and the control unit is coupled to the three-dimensional scanning device and the component transfer device. The control unit generates a plurality of first generation paths according to the first three-dimensional image, and the control unit further controls the component transfer device to move the surface treatment mechanism according to each of the first generation paths, so that the surface treatment mechanism can be along the first The surface is moved to surface treat the first surface.
根據本發明之其中之一實施方式，該表面處理機構為一切削刀具，且該切削刀具用以於沿該第一表面移動時切削該第一表面。According to one embodiment of the invention, the surface treatment mechanism is a cutting tool, and the cutting tool is configured to cut the first surface as it moves along the first surface.
根據本發明之其中之一實施方式，該固持基座包含一座體以及一轉動機構，該轉動機構設置於該座體上，該轉動機構用以轉動該物件，使該三維掃描裝置能掃描該物件異於該第一表面之一第二表面，以建立對應該第二表面之一第二三維影像，該控制單元根據該第二三維影像產生複數個第二生成路徑，該控制單元另根據各該第二生成路徑控制該構件移載裝置移動該切削刀具，使該切削刀具能沿該第二表面移動並切削該第二表面。According to one embodiment of the present invention, the holding base comprises a body and a rotating mechanism, the rotating mechanism is disposed on the base, the rotating mechanism is configured to rotate the object, so that the three-dimensional scanning device can scan the object Different from the second surface of the first surface to establish a second three-dimensional image corresponding to one of the second surfaces, the control unit generates a plurality of second generation paths according to the second three-dimensional image, the control unit further A second generation path controls the component transfer device to move the cutting tool such that the cutting tool can move along the second surface and cut the second surface.
根據本發明之其中之一實施方式，該轉動機構具有一轉軸，該轉動機構驅動該物件相對該轉軸轉動，且各該第一生成路徑與各該第二生成路徑分別沿平行於該轉軸之一生成方向生成。According to one embodiment of the present invention, the rotating mechanism has a rotating shaft, the rotating mechanism drives the object to rotate relative to the rotating shaft, and each of the first generating path and each of the second generating paths are respectively parallel to one of the rotating shafts Generate direction generation.
根據本發明之其中之一實施方式，該切削刀具具有一刀片，該控制單元根據各該第一生成路徑控制該刀片於該切削刀具切削該第一表面時與該第一表面間具有一第一切削角度，且該控制單元根據各該第二生成路徑控制該刀片於該切削刀具切削該第二表面時與該第二表面間具有一第二切削角度。According to one embodiment of the present invention, the cutting tool has a blade, and the control unit controls the blade to have a first space between the first surface and the first surface when the cutting tool cuts the first surface according to each of the first generating paths. Cutting angle, and the control unit controls the blade to have a second cutting angle with the second surface when the cutting tool cuts the second surface according to each of the second generating paths.
根據本發明之其中之一實施方式，該第一切削角度與該第二切削角度分別介於17度與25度之間。According to one of the embodiments of the present invention, the first cutting angle and the second cutting angle are between 17 degrees and 25 degrees, respectively.
根據本發明之其中之一實施方式，該轉動機構具有一轉軸，該轉動機構驅動該物件相對該轉軸轉動，且該機台另包含一掃描器移載機構，該掃描器移載機構固設於該三維掃描裝置並用以沿一掃描方向移動該三維掃描裝置，且該掃描方向平行於該轉軸。According to one embodiment of the present invention, the rotating mechanism has a rotating shaft, the rotating mechanism drives the object to rotate relative to the rotating shaft, and the machine further includes a scanner transferring mechanism, and the scanner transferring mechanism is fixed on the rotating mechanism The three-dimensional scanning device is further configured to move the three-dimensional scanning device in a scanning direction, and the scanning direction is parallel to the rotating shaft.
根據本發明之其中之一實施方式，該表面處理機構為一點膠機構。According to one of the embodiments of the present invention, the surface treatment mechanism is a dispensing mechanism.
根據本發明之其中之一實施方式，該構件移載裝置為一機械手臂。According to one embodiment of the invention, the component transfer device is a robotic arm.
綜上所述，本發明利用三維掃描裝置對物件的表面自動化生成一生成路徑，並控制表面處理機構沿該生成路徑對物件進行表面處理，以達到對物件進行自動化表面處理(例如削皮)的目的。有關本發明之前述及其他技術內容、特點與功效，在以下配合參考圖式之實施例的詳細說明中，將可清楚的呈現。In summary, the present invention utilizes a three-dimensional scanning device to automatically generate a generation path for the surface of the object, and controls the surface treatment mechanism to surface-treat the object along the generation path to achieve automatic surface treatment (for example, peeling) of the object. purpose. The above and other technical contents, features and advantages of the present invention will be apparent from the following detailed description of the embodiments of the invention.
以下實施例中所提到的方向用語，例如：上、下、左、右、前或後等，僅是參考附加圖式的方向。因此，使用的方向用語是用來說明並非用來限制本發明。請參閱第1圖以及第2圖，第1圖為本發明實施例一機台3000的示意圖，第2圖為本發明實施例機台3000的功能方塊示意圖。如第1圖以及第2圖所示，機台3000包含一表面處理機構1、一固持基座2、一三維掃描裝置3、一構件移載裝置4以及一控制單元5，固持基座2用以固持一物件6，三維掃描裝置3設置於固持基座2上方並用以掃描物件6的一表面，以建立對應該表面的一三維影像，構件移載裝置4設置於固持基座2之一側，構件移載裝置4用以夾持並移動表面處理機構1，控制單元5耦接於三維掃描裝置3與構件移載裝置4，控制單元5根據該三維影像產生複數個生成路徑且另根據各生成路徑控制構件移載裝置4移動表面處理機構1，使表面處理機構1能沿物件6的該表面移動，以對該表面進行表面處理。如此一來，本發明表面處理機構1便可沿各該生成路徑對物件6進行表面處理，例如切削或點膠等。The directional terms mentioned in the following embodiments, such as up, down, left, right, front or back, etc., are only directions referring to the additional drawings. Therefore, the directional terminology used is for the purpose of illustration and not limitation. Referring to FIG. 1 and FIG. 2, FIG. 1 is a schematic diagram of a machine 3000 according to an embodiment of the present invention, and FIG. 2 is a functional block diagram of a machine 3000 according to an embodiment of the present invention. As shown in FIG. 1 and FIG. 2, the machine 3000 includes a surface treatment mechanism 1, a holding base 2, a three-dimensional scanning device 3, a component transfer device 4, and a control unit 5 for holding the base 2 To hold an object 6, the three-dimensional scanning device 3 is disposed above the holding base 2 and is used to scan a surface of the object 6 to establish a three-dimensional image corresponding to the surface. The component transfer device 4 is disposed on one side of the holding base 2 The component transfer device 4 is configured to clamp and move the surface treatment mechanism 1. The control unit 5 is coupled to the three-dimensional scanning device 3 and the component transfer device 4. The control unit 5 generates a plurality of generation paths according to the three-dimensional image and The generation path control member transfer device 4 moves the surface treatment mechanism 1 so that the surface treatment mechanism 1 can move along the surface of the object 6 to surface-treat the surface. In this way, the surface treatment mechanism 1 of the present invention can perform surface treatment on the object 6 along each of the generation paths, such as cutting or dispensing.
在本實施例中，機台3000可為一削皮機台，但本發明不受此限，例如機台3000也可為一點膠機構。在本實施例中，機台3000可為一削皮機台，因此表面處理機構1可為一切削刀具。另外，構件移載裝置4可為一機械手臂，而固持基座2可包含一座體20以及一轉動機構21，轉動機構21設置於座體20上且具有一轉軸22，轉動機構21用以將物件6相對轉軸22轉動，藉此物件6便可相對表面處理機構1(即該切削刀具)轉動。此外，機台3000可另包含一掃描器移載機構7，掃描器移載機構7用以固設三維掃描裝置3並沿一掃描方向X移動三維掃描裝置3，其中掃描方向X平行於轉軸22。In this embodiment, the machine 3000 can be a peeling machine, but the invention is not limited thereto. For example, the machine 3000 can also be a glue mechanism. In this embodiment, the machine table 3000 can be a peeling machine, so the surface treatment mechanism 1 can be a cutting tool. In addition, the component transfer device 4 can be a robot arm, and the holding base 2 can include a body 20 and a rotating mechanism 21. The rotating mechanism 21 is disposed on the base 20 and has a rotating shaft 22 for rotating The object 6 is rotated relative to the rotating shaft 22, whereby the object 6 can be rotated relative to the surface treating mechanism 1 (i.e., the cutting tool). In addition, the machine 3000 may further include a scanner transfer mechanism 7 for fixing the three-dimensional scanning device 3 and moving the three-dimensional scanning device 3 along a scanning direction X, wherein the scanning direction X is parallel to the rotating shaft 22 .
請參閱第2圖至第4圖，第3圖為本發明實施例機台3000用以切削物件6的一第一表面60的示意圖，第4圖為本發明實施例機台3000用以切削物件6的一第二表面61的示意圖。在本實施例中，物件6可為一冬瓜，即機台3000為用以對該冬瓜表面進行削皮的削皮機台。如第2圖至第4圖所示，當欲使用機台3000(即該削皮機台) 切削物件6時，首先轉動機構21可驅動物件6(即該冬瓜) 相對轉軸22轉動至物件6的第一表面60面對三維掃描裝置3，接著掃描器移載機構7沿掃描方向X移動三維掃描裝置3，使三維掃描裝置3能沿掃描方向X掃描物件6的第一表面60，以建立對應第一表面60的一第一三維影像50，即當三維掃描裝置3沿掃描方向X掃描物件6的第一表面60後，控制單元5可根據三維掃描裝置3掃描第一表面60的影像建立具有影像深度的第一三維影像50，而第一三維影像50的影像深度對應物件6的第一表面60的曲面形狀。Please refer to FIG. 2 to FIG. 4 . FIG. 3 is a schematic diagram of a first surface 60 of the machine tool 3000 for cutting an object 6 according to an embodiment of the present invention. FIG. 4 is a diagram of an apparatus 3000 for cutting objects according to an embodiment of the present invention. A schematic view of a second surface 61 of 6. In this embodiment, the object 6 can be a winter melon, that is, the machine 3000 is a peeling machine for peeling the surface of the melon. As shown in FIGS. 2 to 4, when the machine table 3000 (i.e., the peeling machine table) is to be used to cut the object 6, the first rotating mechanism 21 can drive the object member 6 (i.e., the melon) to rotate relative to the rotating shaft 22 to the object member 6. The first surface 60 faces the three-dimensional scanning device 3, and then the scanner transfer mechanism 7 moves the three-dimensional scanning device 3 in the scanning direction X, so that the three-dimensional scanning device 3 can scan the first surface 60 of the object 6 in the scanning direction X to establish Corresponding to a first three-dimensional image 50 of the first surface 60, that is, after the three-dimensional scanning device 3 scans the first surface 60 of the object 6 in the scanning direction X, the control unit 5 can scan the image of the first surface 60 according to the three-dimensional scanning device 3 The first three-dimensional image 50 having the image depth, and the image depth of the first three-dimensional image 50 corresponds to the curved shape of the first surface 60 of the object 6.
在控制單元5建立具有影像深度的第一三維影像50後，控制單元5另可根據第一三維影像50產生複數個第一生成路徑51並根據各第一生成路徑51控制構件移載裝置4(即該機械手臂)移動表面處理機構1(即該切削刀具)，也就是說，控制單元5可根據具有對應物件6的第一表面60的曲面形狀的影像深度的第一三維影像50，使表面處理機構1沿著物件6的第一表面60移動，而當表面處理機構1沿著物件6的第一表面60移動時，表面處理機構1(即該切削刀具)便可切削物件6的第一表面60，以對物件6(即冬瓜)的第一表面60進行削皮的動作。After the control unit 5 establishes the first three-dimensional image 50 having the image depth, the control unit 5 may generate a plurality of first generation paths 51 according to the first three-dimensional image 50 and control the component transfer device 4 according to each of the first generation paths 51 ( That is, the robot arm moves the surface treatment mechanism 1 (ie, the cutting tool), that is, the control unit 5 can make the surface according to the first three-dimensional image 50 having the image depth corresponding to the curved shape of the first surface 60 of the object 6. The processing mechanism 1 moves along the first surface 60 of the article 6, and when the surface treatment mechanism 1 moves along the first surface 60 of the article 6, the surface treatment mechanism 1 (i.e., the cutting tool) can cut the first of the article 6. The surface 60 is an action of peeling the first surface 60 of the object 6 (i.e., melon).
值得一提的是，該切削刀具(即表面處理機構1)可具有一刀片10，當該切削刀具對第一表面60進行削皮時，控制單元5可根據第一生成路徑51控制刀片10與第一表面60間具有一第一切削角度θ1，其中第一切削角度θ1介於17度與25度之間，例如控制單元5可對第一生成路徑51的曲線方程式進行微分，得到在第一生成路徑51上各點的切線與法線，以使刀片10與第一表面60間保持第一切削角度θ1。另外，第一生成路徑51是沿平行於固持基座2的轉軸22的一生成方向Y生成，也就是說，本發明機台3000的表面處理機構1是順著物件6平行於轉軸22的縱向對物件6進行削皮的動作。It is worth mentioning that the cutting tool (ie, the surface treatment mechanism 1) may have a blade 10, and when the cutting tool peels the first surface 60, the control unit 5 may control the blade 10 according to the first generation path 51. The first surface 60 has a first cutting angle θ1, wherein the first cutting angle θ1 is between 17 degrees and 25 degrees. For example, the control unit 5 can differentiate the curve equation of the first generation path 51 to obtain the first A tangent and a normal to each point on the path 51 is generated to maintain a first cutting angle θ1 between the blade 10 and the first surface 60. Further, the first generation path 51 is generated in a generation direction Y parallel to the rotation axis 22 of the holding base 2, that is, the surface treatment mechanism 1 of the machine table 3000 of the present invention is parallel to the longitudinal direction of the object 22 along the object axis 6. The object 6 is peeled.
在完成對物件6的第一表面60進行削皮的動作後，轉動機構21可驅動物件6(即該冬瓜) 相對轉軸22轉動至物件6異於第一表面60的第二表面61面對三維掃描裝置3，接著掃描器移載機構7沿掃描方向X移動三維掃描裝置3，使三維掃描裝置3能沿掃描方向X掃描物件6的第二表面61，以建立對應第二表面61的一第二三維影像52，即當三維掃描裝置3沿掃描方向X掃描物件6的第二表面61後，控制單元5可根據三維掃描裝置3掃描第二表面61的影像建立具有影像深度的第二三維影像52，而第二三維影像52的影像深度對應物件6的第二表面61的曲面形狀。After the action of peeling the first surface 60 of the object 6 is completed, the rotating mechanism 21 can drive the object 6 (ie, the melon) to rotate relative to the rotating shaft 22 to the second surface 61 of the object 6 different from the first surface 60 to face the three-dimensional The scanning device 3, then the scanner transfer mechanism 7 moves the three-dimensional scanning device 3 in the scanning direction X, so that the three-dimensional scanning device 3 can scan the second surface 61 of the object 6 in the scanning direction X to establish a first corresponding surface of the second surface 61 The second three-dimensional image 52, that is, after the three-dimensional scanning device 3 scans the second surface 61 of the object 6 in the scanning direction X, the control unit 5 can scan the image of the second surface 61 according to the three-dimensional scanning device 3 to create a second three-dimensional image with image depth. 52. The image depth of the second three-dimensional image 52 corresponds to the curved shape of the second surface 61 of the object 6.
在控制單元5建立具有影像深度的第二三維影像52後，控制單元5另可根據第二三維影像52產生複數個第二生成路徑53並根據各第二生成路徑53控制構件移載裝置4(即該機械手臂)移動表面處理機構1(即該切削刀具)，也就是說，控制單元5可根據具有對應物件6的第二表面61的曲面形狀的影像深度的第二三維影像52，使表面處理機構1沿著物件6的第二表面61移動，而當表面處理機構1沿著物件6的第二表面61移動時，表面處理機構1(即該切削刀具)便可切削物件6的第二表面61，以對物件6(即冬瓜)的第二表面61進行削皮的動作。After the control unit 5 establishes the second three-dimensional image 52 having the image depth, the control unit 5 may generate a plurality of second generation paths 53 according to the second three-dimensional image 52 and control the component transfer device 4 according to each of the second generation paths 53 ( That is, the robot arm moves the surface treatment mechanism 1 (ie, the cutting tool), that is, the control unit 5 can make the surface according to the second three-dimensional image 52 having the image depth corresponding to the curved shape of the second surface 61 of the object 6. The processing mechanism 1 moves along the second surface 61 of the object 6, and when the surface treatment mechanism 1 moves along the second surface 61 of the object 6, the surface treatment mechanism 1 (i.e., the cutting tool) can cut the second of the object 6. The surface 61 is an action of peeling the second surface 61 of the object 6 (i.e., melon).
值得一提的是，當該切削刀具對第二表面61進行削皮時，控制單元5可根據第二生成路徑53控制刀片10與第二表面61間具有一第二切削角度θ2，其中第二切削角度θ2介於17度與25度之間，例如控制單元5可對第二生成路徑53的曲線方程式進行微分，得到在第二生成路徑53上各點的切線與法線，以使刀片10與第二表面61間保持第二切削角度θ2。 相較於先前技術，本發明利用三維掃描裝置對物件的表面自動化生成一生成路徑，並控制表面處理機構沿該生成路徑對物件進行表面處理，以達到對物件進行自動化表面處理(例如削皮)的目的。以上所述僅為本發明之較佳實施例，凡依本發明申請專利範圍所做之均等變化與修飾，皆應屬本發明之涵蓋範圍。It is worth mentioning that when the cutting tool peels the second surface 61, the control unit 5 can control the second cutting angle θ2 between the blade 10 and the second surface 61 according to the second generating path 53, wherein the second The cutting angle θ2 is between 17 degrees and 25 degrees. For example, the control unit 5 can differentiate the curve equation of the second generation path 53 to obtain a tangent and a normal of each point on the second generation path 53 to make the blade 10 A second cutting angle θ2 is maintained between the second surface 61. Compared with the prior art, the present invention utilizes a three-dimensional scanning device to automatically generate a generation path for the surface of the object, and controls the surface treatment mechanism to surface-treat the object along the generation path to achieve automatic surface treatment (for example, peeling) of the object. the goal of. The above are only the preferred embodiments of the present invention, and all changes and modifications made to the scope of the present invention should be within the scope of the present invention.
3000‧‧‧機台3000‧‧‧ machine
1‧‧‧表面處理機構1‧‧‧ surface treatment agency
10‧‧‧刀片10‧‧‧blade
2‧‧‧固持基座2‧‧‧ holding base
20‧‧‧座體20‧‧‧ body
21‧‧‧轉動機構21‧‧‧Rotating mechanism
22‧‧‧轉軸22‧‧‧ shaft
3‧‧‧三維掃描裝置3‧‧‧3D scanning device
4‧‧‧構件移載裝置4‧‧‧Component transfer device
5‧‧‧控制單元5‧‧‧Control unit
50‧‧‧第一三維影像50‧‧‧First 3D imagery
51‧‧‧第一生成路徑51‧‧‧First generation path
52‧‧‧第二三維影像52‧‧‧Second 3D imagery
53‧‧‧第二生成路徑53‧‧‧Second generation path
6‧‧‧物件6‧‧‧ objects
60‧‧‧第一表面60‧‧‧ first surface
61‧‧‧第二表面61‧‧‧ second surface
7‧‧‧掃描器移載機構7‧‧‧Scanner transfer mechanism
X‧‧‧掃描方向X‧‧‧ scan direction
Y‧‧‧生成方向Y‧‧‧Generation direction
θ1‧‧‧第一切削角度Θ1‧‧‧first cutting angle
θ2‧‧‧第二切削角度Θ2‧‧‧second cutting angle
第1圖為本發明實施例機台的示意圖。 第2圖為本發明實施例機台的功能方塊示意圖。 第3圖為本發明實施例機台用以切削物件的第一表面的示意圖。 第4圖為本發明實施例機台用以切削物件的第二表面的示意圖。Figure 1 is a schematic view of a machine platform according to an embodiment of the present invention. FIG. 2 is a functional block diagram of a machine platform according to an embodiment of the present invention. Figure 3 is a schematic view of the first surface of the machine for cutting an object according to an embodiment of the present invention. Figure 4 is a schematic view of a second surface of an apparatus for cutting an object according to an embodiment of the present invention.
3000‧‧‧機台 3000‧‧‧ machine
1‧‧‧表面處理機構 1‧‧‧ surface treatment agency
2‧‧‧固持基座 2‧‧‧ holding base
20‧‧‧座體 20‧‧‧ body
21‧‧‧轉動機構 21‧‧‧Rotating mechanism
22‧‧‧轉軸 22‧‧‧ shaft
3‧‧‧三維掃描裝置 3‧‧‧3D scanning device
4‧‧‧構件移載裝置 4‧‧‧Component transfer device
6‧‧‧物件 6‧‧‧ objects
7‧‧‧掃描器移載機構 7‧‧‧Scanner transfer mechanism
X‧‧‧掃描方向 X‧‧‧ scan direction
Claims (8)
Priority Applications (2)
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| TW105107006A TWI588630B (en) | 2016-03-08 | 2016-03-08 | Apparatus for machining an object along a generating path |
| CN201610177896.XA CN107157298A (en) | 2016-03-08 | 2016-03-25 | Machine for surface treatment of an object along a production path |
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| TW201732471A TW201732471A (en) | 2017-09-16 |
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| US4837703A (en) * | 1986-06-26 | 1989-06-06 | Toshiba Kikai Kabushiki Kaisha | Method for generating tool path |
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| CN104546151A (en) * | 2013-10-09 | 2015-04-29 | 北京大学口腔医学院 | Numerical control laser automatic tooth preparation method and equipment thereof |
| CN104323565A (en) * | 2014-11-11 | 2015-02-04 | 苏州鑫阳瑞机械有限公司 | Automatic haircutting device and automatic haircutting method |
| CN104323566A (en) * | 2014-11-11 | 2015-02-04 | 苏州鑫阳瑞机械有限公司 | Automatic safety-type hairdressing device and automatic hairdressing method |
| CN204209713U (en) * | 2014-11-11 | 2015-03-18 | 苏州鑫阳瑞机械有限公司 | Safety-type automatic hair dressing device |
| CN104827034A (en) * | 2015-04-23 | 2015-08-12 | 马宁 | 3D (3-dimensional) printing device |
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| US4837703A (en) * | 1986-06-26 | 1989-06-06 | Toshiba Kikai Kabushiki Kaisha | Method for generating tool path |
| CN100556370C (en) * | 2001-03-26 | 2009-11-04 | Lb医药有限公司 | Be used for material is excised or the method and apparatus system of processed |
| US20050159840A1 (en) * | 2004-01-16 | 2005-07-21 | Wen-Jong Lin | System for surface finishing a workpiece |
| CN101396689B (en) * | 2007-09-29 | 2011-03-02 | 比亚迪股份有限公司 | Three-dimensional glue spreading system and method |
| US20130135450A1 (en) * | 2010-06-23 | 2013-05-30 | The Trustees Of Dartmouth College | 3d Scanning Laser Systems And Methods For Determining Surface Geometry Of An Immersed Object In A Transparent Cylindrical Glass Tank |
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| CN107157298A (en) | 2017-09-15 |
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