CN105290986B - Emery wheel for robot casting grinding - Google Patents
Emery wheel for robot casting grinding Download PDFInfo
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- CN105290986B CN105290986B CN201510755738.3A CN201510755738A CN105290986B CN 105290986 B CN105290986 B CN 105290986B CN 201510755738 A CN201510755738 A CN 201510755738A CN 105290986 B CN105290986 B CN 105290986B
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Abstract
The invention discloses a kind of emery wheel for robot casting grinding, including the main working face for one side polishing processing and the grinding outer rim for corner grinding, main working face includes the depressed part for being circumferentially used for the edge protuberance portion of casting complex profile polishing processing in main work surface edges and along main working face and being used to prevent from forming obstruction in casting complex profile bruting process in the middle part of main working face, and the surface in edge protuberance portion is arranged to along the radially-arranged at least one arc buffed surface for being used to adapt to the polishing of complex profile surface of emery wheel；Edge protuberance portion and grinding outer rim between be set to outside grinding wheel base body protrude and for prevent polishing interfere the first arc transiting surface, be set between edge protuberance portion and depressed part to grinding wheel base body sunken inside and for prevent polishing interfere the second arc transiting surface.Can process the thin-walled such as overlap, fash feature suitable for complex working condition can process the entities such as rising head, cast gate again, can improve processing efficiency, and service life can also increase.
Description
Technical field
The present invention relates to industrial robot Mechanical processing of casting technical field, especially, is related to one kind and is beaten for robot casting
The emery wheel of mill.
Background technology
Casting cleaning is after casting takes out from casting mold, to dispose the redundance beyond body, and finishing casting of polishing
The process of surfaces externally and internally.Groundwork, which has, removes core and core iron, excision cast gate, rising head, lacing wire and increasing meat, removes casting scab
And Superficial Foreign Body, relief grinding cut the ridges such as muscle, fash and burr.And polishing and finishing cast(ing) surface etc..It is clear in whole casting
During reason, casting grinding is a very important link.At present, casting grinding is still mainly by being accomplished manually.By casting
Polishing worker's hand electric or pneumatic milling tools remove cast(ing) surface excess stock, utilize the flexibility of human arm to adapt to difference
Polishing feature, compensate for the deficiency of tool kind.But manual polishing processing efficiency is low, long-term input cost is higher, Gong Renlao
Fatigue resistance is big, and working environment is quite severe.
Topical application industrial robot realizes the automation of casting grinding, pipelining now.Industrial robot is cast
The advantages of part automation polishing, has：1. operating efficiency is high, standardization, omission will not be produced；2. reducing recruitment, improve operation ring
Border；3. flexibility, inhomogeneity product is suitable for after changing frock or milling tools；4. it is adapted to produce in enormous quantities.Due to existing skill
The deficiency of art, robot casting automation polishing still have the disadvantage that：1. the surface quality nobody that polishes is good, it may be necessary to artificial
Supplement auxiliary polishing；2. the requirement to casting repeatability, deflection, overlap is high；3. be not suitable for small lot production；4. milling tools
Must specially it be designed according to inhomogeneity product.
Cast product face type itself is more complicated, and the remnants that need to be removed vary, and process is non-Continuous maching, industry
Robot is non-intelligentized processing, it is impossible to corresponding judgement is made for each remnants as worker, but it is stylized
Processing, this requires polishing emery wheel to have higher performance, to adapt to the various operating modes of casting grinding, adapts to robot again
Mode of operation.
The content of the invention
The invention provides a kind of emery wheel for robot casting grinding, to solve existing manual polishing processing efficiency
Low, long-term input cost is higher, and labor strength is big, and working environment is quite severe；Existing industrial robot polishing processing is adopted
The technical problem of the Surfaces of Unusual Shape processing request on cast product surface can not be adapted to original emery wheel.
The present invention provides a kind of emery wheel for robot casting grinding, including the main working face for one side polishing processing
And the grinding outer rim for corner grinding, main working face include in main work surface edges and circumferentially used along main working face
It is used to prevent casting complex profile from beating in the edge protuberance portion of casting complex profile polishing processing and in main working face middle part
The depressed part of obstruction is formed during mill, the surface in edge protuberance portion is arranged to radially-arranged at least one for fitting along emery wheel
The arc buffed surface for answering complex profile surface to polish；It is set to protrude simultaneously to outside grinding wheel base body between edge protuberance portion and grinding outer rim
For the first arc transiting surface for preventing polishing from interfering, it is set between edge protuberance portion and depressed part to grinding wheel base body sunken inside simultaneously
For the second arc transiting surface for preventing polishing from interfering.
Further, the arc radius r of the first arc transiting surface is arranged to 3mm-7mm, is connect with avoiding sharp collision, reducing
Stress is touched, and can be easy to uniformly go up sand to the first arc transiting surface and periphery surface, avoids the phenomenon of no abrasive particle or few abrasive particle.
Further, the arc angle α of the second arc transiting surface is 130 ° -160 °, is gone out with transfer in medium plain emery wheel bruting process
Impulsive force remaining during phenomenon is now made a concession, remaining impulsive force is eliminated and is damaged to caused by wheel face structure.
Further, arc buffed surface is provided with multiple, and arc-shaped transition is used between adjacent arc buffed surface.
Further, the arc radius R of arc buffed surface is 10mm-30mm, straight to avoid position sharp with casting from carrying out
Contact, so as to reduce the surface texture of impact load and the main working face of protection.
Further, the height of projection in edge protuberance portion is L2, the convex apexes in edge protuberance portion to edge protuberance portion side
The vertical range of edge is that L3, L2 and L3 ratio are that taper is 1：3-1：5, L2 span is 3mm-7mm, to reduce emery wheel
Radial pressure and improve the feed speed of emery wheel, the mutual impact with casting is avoided, during reducing grinder buffing
Vibration.
Further, the corresponding surface of main working face is subtask face on emery wheel, main working face, is ground outer rim and subtask
Coating is coated with face, thickness of coating t is more than or equal to 1mm, and the abrasive grain of coating is 50#-80#.
Further, coating is covered in the first arc transiting surface, edge protuberance portion, the second arc transiting surface, grinding outer rim
And the neighboring in subtask face.
Further, it is less than on subtask face along the coating width of emery wheel radial direction on main working face along the coating of emery wheel radial direction
Width；Coating width L1 is 7mm-13mm on subtask face.
Further, mounting hole is offered in the middle part of emery wheel, the aperture of mounting hole be D1, the base diameter D2 of emery wheel is 5 times-
10 times of D1；The matrix thickness H of emery wheel is 0.1 times of -0.2 times of D2；The ratio between base diameter D2 and depressed part diameter D3 of emery wheel are 5：
4；The cup depth h of depressed part is 0.2 times of -0.3 times of H；The radius of corner for being ground outer rim is (H-L2-5)/2.
The invention has the advantages that：
The present invention is used for the emery wheel of robot casting grinding, using edge protuberance portion and grinding outer rim as polishing processing
Main body, edge protuberance portion use camber buffed surface, the various type faces being adaptable to during casting grinding, can process plane
Can be with processing curve.By setting the first arc transiting surface and the second arc transiting surface at the edge in edge protuberance portion, can subtract
Exempt from the interference during casting grinding, so as to reduce mutual impulsive force, shock resistance is good, non-during suitable casting grinding
Continuous maching.Can process the thin-walled such as overlap, fash feature suitable for complex working condition can process the entities such as rising head, cast gate again,
Processing efficiency can be improved, service life can also increase.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to figure, the present invention is further detailed explanation.
Brief description of the drawings
The accompanying drawing for forming the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the cross-sectional view of the emery wheel for robot casting grinding of the preferred embodiment of the present invention；
Fig. 2 be the emery wheel for robot casting grinding of the preferred embodiment of the present invention part section structural representation it
One；
Fig. 3 be the emery wheel for robot casting grinding of the preferred embodiment of the present invention part section structural representation it
Two.
Marginal data：
1st, main working face；101st, edge protuberance portion；102nd, depressed part；1021st, arc buffed surface；2nd, it is ground outer rim；3rd,
One arc transiting surface；4th, the second arc transiting surface；5th, coating；6th, subtask face；7th, mounting hole.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be limited by following and
The multitude of different ways of covering is implemented.
Fig. 1 is the cross-sectional view of the emery wheel for robot casting grinding of the preferred embodiment of the present invention；Fig. 2 is
One of part section structural representation of emery wheel for robot casting grinding of the preferred embodiment of the present invention；Fig. 3 is this hair
The two of the part section structural representation of the emery wheel for robot casting grinding of bright preferred embodiment.
As shown in figure 1, the emery wheel for robot casting grinding of the present embodiment, including the master for one side polishing processing
Working face 1 and the grinding outer rim 2 for corner grinding, main working face 1 are included in the main edge of working face 1 and along main working face
1 is circumferentially used for the edge protuberance portion 101 of casting complex profile polishing processing and is used to prevent in the main middle part of working face 1
The depressed part 102 of obstruction is formed in casting complex profile bruting process, the surface in edge protuberance portion 101 is arranged to along emery wheel radially
At least one arc buffed surface 1021 for being used to adapt to the polishing of complex profile surface of distribution；Edge protuberance portion 101 is outer with grinding
It is set to that the first arc transiting surface 3 for preventing that polishing from interfering, edge protuberance portion 101 are protruded and be used for outside grinding wheel base body between edge 2
It is set between depressed part 102 to grinding wheel base body sunken inside and is used for the second arc transiting surface 4 for preventing that polishing from interfering.The present invention
For the emery wheel of robot casting grinding, using the main body of edge protuberance portion 101 and grinding outer rim 2 as polishing processing, edge
Lug boss 101 uses camber buffed surface, and the various type faces being adaptable to during casting grinding, can process plane can also add
Work curved surface.By setting the first arc transiting surface 3 and the second arc transiting surface 4 at the edge in edge protuberance portion 101, can reduce or remit
Interference during casting grinding, so as to reduce mutual impulsive force, shock resistance is good, the non-company being adapted to during casting grinding
Continuous processing.Can process the thin-walled such as overlap, fash feature suitable for complex working condition can process the entities such as rising head, cast gate again, can
To improve processing efficiency, service life can also increase.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, the arc radius r of the first arc transiting surface 3 is arranged to 3mm-
7mm, to avoid sharp collision, reduce contact stress, and it can be easy to the uniform upper sand of the first arc transiting surface 3 and periphery surface,
Avoid the phenomenon of no abrasive particle or few abrasive particle.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, the arc angle α of the second arc transiting surface 4 is 130 ° -160 °, to turn
Impulsive force remaining when occurring making a concession phenomenon in medium plain emery wheel bruting process is moved, remaining impulsive force is eliminated and wheel face structure is made
Into infringement.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, arc buffed surface 1021 is provided with multiple, adjacent arc buffed surface
Arc-shaped transition is used between 1021.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, the arc radius R of arc buffed surface 1021 is 10mm-30mm, with
Avoid directly being contacted with the sharp position of casting, so as to reduce the surface texture of impact load and the main working face 1 of protection.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, the height of projection in edge protuberance portion 101 is L2.Edge protuberance portion
The vertical range at 101 convex apexes to the edge of edge protuberance portion 101 is L3.L2 and L3 ratio is that taper is 1：3-1：5.L2
Span be 3mm-7mm.With the feed speed for reducing the radial pressure of emery wheel and improving emery wheel, avoid mutual with casting
Impact, so as to reduce the vibration during grinder buffing.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, the corresponding surface of main working face 1 is subtask face 6 on emery wheel.Main work
Make to be coated with coating 5 on face 1, grinding outer rim 2 and subtask face 6.The thickness t of coating 5 is more than or equal to 1mm.The abrasive grain of coating 5
Spend for 50#-80#.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, coating 5 is covered in the first arc transiting surface 3, edge protuberance portion
101st, the neighboring of the second arc transiting surface 4, grinding outer rim 2 and subtask face 6.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, it is less than master along the width of coating 5 of emery wheel radial direction on subtask face 6
Along the width of coating 5 of emery wheel radial direction on working face 1.The width L1 of coating 5 is 7mm-13mm on subtask face 6.
As shown in Figure 1, Figure 2 and Figure 3, in the present embodiment, mounting hole 7 is offered in the middle part of emery wheel.The aperture of mounting hole 7 is
D1.The base diameter D2 of emery wheel is 5 times of -10 times of D1.The matrix thickness H of emery wheel is 0.1 times of -0.2 times of D2.The base diameter of emery wheel
The ratio between D2 and the diameter D3 of depressed part 102 are 5：4.The cup depth h of depressed part 102 is 0.2 times of -0.3 times of H；It is ground the circle of outer rim 2
Angular radius is (H-L2-5)/2.
During implementation, there is provided a kind of comprehensive emery wheel of casting grinding, including emery wheel body and coating.Circumference of emery wheel is provided with circle
Angle, main working face 1 are provided with the conical surface and depression, and the main conical surface of working face 1 has round-corner transition with plane.Subtask face coating is provided with protection
Width.Circumference of emery wheel radius of corner r=(H-L2-5)/2.Emery wheel interarea conical surface gradient L2：L3=1：3~5.Emery wheel interarea transition
Radius of corner R=10~30mm, R increase and increased with base diameter D2.The ratio between base diameter and recess diameter D2：D3=5：4.
Be recessed bevel angle α=130 degree~160 degree, and face cup depth h is 0.2~0.3H.Subtask face protective coating width 10mm.
Specifically a kind of emery wheel for robot casting grinding, including sand are given as shown in Figure 1, Figure 2 and Figure 3, in figure
Matrix and coating 5 are taken turns, wherein grinding wheel base body is made of stainless steel material, not only has higher intensity, and toughness is higher.
The big stress demand during high efficient grinding can be met, and can resistance to shock loads ensures safety.The use of coating 5 is Ni-based, wherein
Nickel has good ductility, has medium hardness can shock resistance.And Ni-based electroplate diamond emery wheel or electroplating CBN its abrasive particle
Bond strength is also higher.Diamond or CBN hardness are all very high, and the High-speed machining of casting can be achieved.The thickness of coating 5 is not less than
1mm, abrasive grain 50#~80#.
According to the actual demand of robot technique for grinding, emery wheel is mainly one side work, therefore this emery wheel is divided into major and minor two
Individual working face, the width of coating 5 of main working face 1 are more than the width of coating 5 in subtask face 6, can so save raw material, reduce
Cost.
The center of matrix shown in Fig. 1, Fig. 2, Fig. 3 opens up mounting shaft hole (mounting hole 7), the mounting shaft hole (mounting hole
7) diameter D3 depends on the diameter of installation main shaft.It is assumed that D3=20mm, the thickness H=20mm of matrix, base diameter D1=
300mm, according to installation requirements in recess diameter D2=200mm.
Shown in Fig. 2 and Fig. 3, periphery radius of corner r=5mm, periphery round-corner transition has 2 points of effects：1. avoid sharply touching
Hit, reduce contact stress；2. round-corner transition can be uniformly upper husky, acute angle is avoided without abrasive particle or few abrasive particle phenomenon.
The main oblique angle height L2 of working face 1 is 5mm, and length L3 is 15mm.I.e. taper is 1：3, this taper can reduce radially
Pressure is advantageous to improve feed speed；It can also avoid impacting, reduce the vibration of cutter；Connecing for cutter and workpiece can also be increased
Contacting surface product improves processing speed.
Main working face cup depth h=5mm on matrix, its bevel angle α are 150 degree, and there is coating on recess inclined-plane, because machine
People's rigidity is relatively low, occurs yielding phenomenon during use, the coating on inclined-plane can avoid because of yielding and caused by remnants to coating
" starting " phenomenon, so as to protective coating.Furthermore it is that secondary operation is carried out to residual processing so that polishing is more thorough.
The main radius of corner R=20mm of working face 1, the round and smooth excessive of face is realized, avoids sharp contact from reducing shock loading, protects
Protect coating.
Subtask face protective coating width L1 is 10mm.
Above-mentioned size is an example of the technology of the present invention.
This technology is characterized as matrix mounting hole dimension D 1 depending on actual installation shaft size, and base diameter D2 is 5~10 times
D1, matrix thickness H are 0.1~0.2 times of D2；The ratio between base diameter and recess diameter D2：D3=5：4；Be recessed bevel angle α=130 degree
~160 degree, face cup depth h is 0.2~0.3H；Face cone face gradient L2：L3=1：3~5, wherein 3~7mm of L2 values.Emery wheel
Periphery radius of corner r=(H-L2-5)/2.Emery wheel bottom surface fillet radius R=10~30mm, R increases and increased with base diameter D2
Greatly.Subtask face protective coating width L1 is 10mm.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (8)
1. a kind of emery wheel for robot casting grinding, including the main working face for one side polishing processing（1）And it is used for
The grinding outer rim of corner grinding（2）,
Characterized in that,
The main working face（1）Including in the main working face（1）Edge and along the main working face（1）Circumferentially it is used for
The edge protuberance portion of casting complex profile polishing processing（101）And in the main working face（1）Middle part is used to prevent casting
The depressed part of obstruction is formed in complex profile bruting process（102）,
The edge protuberance portion（101）Surface be arranged to along emery wheel it is radially-arranged it is at least one be used for adapt to complex profile table
The arc buffed surface of face polishing（1021）；
The edge protuberance portion（101）With the grinding outer rim（2）Between be set to outside grinding wheel base body protrude and for prevent beat
Grind the first arc transiting surface of interference（3）, the edge protuberance portion（101）With the depressed part（102）Between be set to emery wheel
Matrix sunken inside and the second arc transiting surface for preventing polishing from interfering（4）, by the edge protuberance portion（101）Side
First arc transiting surface that edge is set（3）With second arc transiting surface（4）It is dry during casting grinding to reduce or remit
Mutual impulsive force is related to and reduces, and shock resistance is good, the discontinuous processing being adapted to during casting grinding；
First arc transiting surface（3）Arc radius r be arranged to 3mm-7mm, with avoid sharp collision, reduce contact should
Power, and be easy to first arc transiting surface（3）And periphery surface is uniformly upper husky, the phenomenon of no abrasive particle or few abrasive particle is avoided；
Second arc transiting surface（4）Arc angle α be 130 ° -160 °, with shift during grinder buffing occur making a concession it is existing
As when remaining impulsive force, eliminate remaining impulsive force and damaged to caused by wheel face structure.
2. the emery wheel according to claim 1 for robot casting grinding, it is characterised in that
The arc buffed surface（1021）Provided with one；Or
The arc buffed surface（1021）Provided with multiple, the adjacent arc buffed surface（1021）Between use arc-shaped transition.
3. the emery wheel according to claim 1 for robot casting grinding, it is characterised in that
The arc buffed surface（1021）Arc radius R be 10mm-30mm, to avoid directly being connect with the sharp position of casting
Touch, so as to reduce impact load and the protection main working face（1）Surface texture.
4. the emery wheel according to claim 1 for robot casting grinding, it is characterised in that
The edge protuberance portion（101）Height of projection be L2, the edge protuberance portion（101）Convex apexes to the edge
Lug boss（101）The vertical range at edge is that L3, L2 and L3 ratio are that taper is 1：3-1：5, L2 span is 3mm-
7mm, with the feed speed for reducing the radial pressure of emery wheel and improving emery wheel, the mutual impact with casting is avoided, so as to reduce sand
Take turns the vibration in bruting process.
5. the emery wheel according to any one of claim 1 to 4 for robot casting grinding, it is characterised in that
The main working face on emery wheel（1）Corresponding surface be subtask face（6）,
The main working face（1）, the grinding outer rim（2）And the subtask face（6）On be coated with coating（5）,
The coating（5）Thickness t is more than or equal to 1mm,
The coating（5）Abrasive grain be 50#-80#.
6. the emery wheel according to claim 5 for robot casting grinding, it is characterised in that
The coating（5）It is covered in first arc transiting surface（3）, the edge protuberance portion（101）, the second arc mistake
Cross face（4）, the grinding outer rim（2）And the subtask face（6）Neighboring.
7. the emery wheel according to claim 5 for robot casting grinding, it is characterised in that
The subtask face（6）On along emery wheel radial direction the coating（5）Width is less than the main working face（1）On along emery wheel footpath
To the coating（5）Width；
The subtask face（6）The upper coating（5）Width L1 is 7mm-13mm.
8. the emery wheel according to any one of claim 1 to 4 for robot casting grinding, it is characterised in that
Mounting hole is offered in the middle part of the emery wheel（7）, the mounting hole（7）Aperture be D1, the base diameter D2 of the emery wheel
For 5 times of -10 times of D1；
The matrix thickness H of the emery wheel is 0.1 times of -0.2 times of D2；
The base diameter D2 and depressed part of the emery wheel（102）The ratio between diameter D3 is 5：4；
The depressed part（102）Cup depth h be 0.2 times of -0.3 times of H；
The grinding outer rim（2）Radius of corner be（H-L2-5）/2.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510755738.3A CN105290986B (en) | 2015-11-09 | 2015-11-09 | Emery wheel for robot casting grinding |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510755738.3A CN105290986B (en) | 2015-11-09 | 2015-11-09 | Emery wheel for robot casting grinding |
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| CN105290986A CN105290986A (en) | 2016-02-03 |
| CN105290986B true CN105290986B (en) | 2017-11-14 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109014798A (en) * | 2018-09-30 | 2018-12-18 | 浙江百达精工股份有限公司 | Rotary compressor cylinder manufacturing method |
| CN108942714B (en) * | 2018-10-12 | 2024-06-18 | 汇专科技集团股份有限公司 | Diamond grinding cutterhead |
| CN109333384A (en) * | 2018-12-05 | 2019-02-15 | 广州汇专工具有限公司 | Annular grinding body and diamond grinding cutterhead |
| CN112959229B (en) * | 2021-03-02 | 2023-03-14 | 江苏韦尔博新材料科技有限公司 | Diamond grinding wheel applied to grinding of inner wall of cast pipe |
| CN113103147B (en) * | 2021-04-02 | 2022-09-23 | 大连理工大学 | Large-fillet grinding wheel for grinding tubular honeycomb curved surface made of composite material |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6228378Y2 (en) * | 1978-11-16 | 1987-07-21 | ||
| JPS58155174A (en) * | 1982-03-10 | 1983-09-14 | Nippon Rejibon Kk | Grind stone usable for grinding and polishing |
| SE0500449L (en) * | 2005-02-28 | 2006-08-29 | Atlas Copco Secoroc Ab | grinding wheel |
| CN203843705U (en) * | 2014-05-18 | 2014-09-24 | 郑州众邦超硬工具有限公司 | Multipurpose formed CBN grinding wheel for valve |
| CN104907948B (en) * | 2015-05-12 | 2018-01-12 | 北京航空航天大学 | A kind of multisplit wire emery wheel of the full profile grinding of suitable blade |
| CN205166711U (en) * | 2015-11-09 | 2016-04-20 | 长沙长泰机器人有限公司 | A emery wheel for robot foundry goods is polished |
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Denomination of invention: Grinding wheel for robot casting grinding Effective date of registration: 20180925 Granted publication date: 20171114 Pledgee: Bank of Changsha Limited by Share Ltd science and Technology Branch Pledgor: Changsha CTR Robotics Co., Ltd. Registration number: 2018430000078 |
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Date of cancellation: 20200528 Granted publication date: 20171114 Pledgee: Bank of Changsha Limited by Share Ltd. science and Technology Branch Pledgor: CHANGSHA CTR ROBOTICS Co.,Ltd. Registration number: 2018430000078 |
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Denomination of invention: Grinding wheel for robot casting grinding Effective date of registration: 20200622 Granted publication date: 20171114 Pledgee: Bank of Changsha Limited by Share Ltd. science and Technology Branch Pledgor: CHANGSHA CTR ROBOTICS Co.,Ltd. Registration number: Y2020980003314 |
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