CN105458846A - Intelligent grinding machine - Google Patents
Intelligent grinding machine Download PDFInfo
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- CN105458846A CN105458846A CN201410391357.7A CN201410391357A CN105458846A CN 105458846 A CN105458846 A CN 105458846A CN 201410391357 A CN201410391357 A CN 201410391357A CN 105458846 A CN105458846 A CN 105458846A
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- intelligent grinding
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- 238000000227 grinding Methods 0.000 title claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000001360 synchronised effect Effects 0.000 claims abstract description 18
- 230000007306 turnover Effects 0.000 claims description 20
- 229910001651 emery Inorganic materials 0.000 claims description 15
- 235000008733 Citrus aurantifolia Nutrition 0.000 claims description 8
- 240000006909 Tilia x europaea Species 0.000 claims description 8
- 235000011941 Tilia x europaea Nutrition 0.000 claims description 8
- 239000004571 lime Substances 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 5
- 230000003139 buffering effect Effects 0.000 abstract description 4
- 239000000463 material Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Grinding Of Cylindrical And Plane Surfaces (AREA)
Abstract
Provided is an intelligent grinding machine. The intelligent grinding machine comprises a cross beam. A mechanical arm acting along a horizontal guide rail is arranged on the cross beam. A workpiece platform, a thickness detection device, an overturning arm and a magnetic disk are arranged below the cross beam in sequence. A grinding wheel device is arranged laterally above the magnetic disk. A workpiece guide rod is arranged on the workpiece platform. A lifting guide rail is arranged on the mechanical arm. An air cylinder is installed on the mechanical arm and drives an electromagnetic chuck to rise and fall along the lifting guide rail. A spring used for buffering is arranged above the electromagnetic chuck. According to the intelligent grinding machine, the air cylinder is arranged on the mechanical arm for driving lifting and is matched with the spring used for buffering, so that the structure of the mechanical arm is simplified, and especially the control mode is simplified; the action precision is controlled through the upper limiting point and the lower limiting point of the air cylinder, accordingly, the control difficulty is greatly simplified, and particularly the height position of the machine does not need to be precisely controlled due to the mode of using spring for buffering; the horizontal driving of the mechanical arm is conducted through a synchronous belt, especially the synchronous belt is adopted for fixing, and the cost of the equipment is reduced through the movement mode of a driving wheel.
Description
Technical field
The present invention relates to grinding machine field, particularly a kind of intelligent grinding machine for batch truncated cone-shaped workpiece such as plain grinding saw blades.
Background technology
In truncated cone-shaped batch workpiece process, enterprise staff demand is large, and usual working environment Cha ﹑ labour intensity is high, and workman can not multi-machine operation.In the course of the work, because material thickness differs, finished product requires strict, requires also high to employee quality.In today that is economic and scientific and technological high speed development, conventional grinding machine is more and more not suitable with extensive modern production.
Chinese patent literature CN102328251A, discloses a kind of Intelligent horizontal shaft truncated cone surface grinding machine, comprises grinder bed, workbench, and the side of workbench is provided with turn-over rig, automatic measuring thickness device, workpiece and bench clean device and workpiece bank bit; The top of workbench, turn-over rig and workpiece bank bit is provided with manipulator.A kind of Intelligent horizontal shaft truncated cone surface grinding machine provided by the invention, by the turn-over rig, automatic measuring thickness device and the manipulator that arrange, achieves the two sides without the need to artificial interference ground automation precessing saw sheet matrix, greatly improves production efficiency.And because each step is by programme-control, decrease human error, improve the quality of workpiece.But this grinder structure is comparatively complicated, the mode adopting leading screw to drive needs more employing servomotor, and the mode speed adopting leading screw to drive is slower.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of intelligent grinding machine, can simplify the structure of existing equipment, improves the speed of service, reduces holistic cost.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of intelligent grinding machine, comprise crossbeam, crossbeam is provided with the mechanical arm along horizontal guide rail action, work piece platform, thickness detection apparatus, flip-arm and disk is provided with successively below crossbeam, main shaft and emery wheel is provided with above the side of disk, work piece platform is provided with workpiece guide rod, mechanical arm is provided with riser guide, cylinder is installed on the robotic arm, drive magnechuck to be elevated along riser guide, above magnechuck, be provided with the spring for cushioning.
When air cylinder driven magnechuck is positioned at limes superiors point, the distance between the lower surface of magnechuck and workpiece guide rod upper surface, is greater than the thickness of a workpiece, is less than the thickness of two workpiece.
The position being used for place work piece on disk top is provided with high pressure gas nozzle.
Crossbeam is provided with the Timing Belt arranged along horizontal guide rail, and the two ends of Timing Belt are fixedly mounted on the two ends of crossbeam;
Mechanical arm is slidably mounted on horizontal guide rail, and mechanical arm is provided with the synchronous pulley engaged with Timing Belt, and synchronous pulley is connected with fixed installation reducing motor on the robotic arm.
Be provided with straining pulley in the both sides of synchronous pulley, straining pulley is positioned at the Timing Belt opposite side relative with synchronous pulley, increases to make the cornerite between synchronous pulley and Timing Belt.
In described thickness detection apparatus, thickness detection head is slidably mounted on below crossbeam along the longitudinal direction, and thickness detection apparatus is provided with monitor station turnover handle, and lower end when lower end and the magnechuck of thickness detection head are positioned at limes superiors point is concordant.
Described flip-arm is connected with rotary cylinder.
In described grinding wheel unit, emery wheel is connected with grinding wheel drive mitor by main shaft, and emery wheel, main shaft are connected with the nut piece in lifting ball-screw with grinding wheel drive mitor assembly, and emery wheel lift servo motor is connected with the leading screw in lifting ball-screw.
Described disk is connected with disk electric rotating machine by disk transmission mechanism, and disk is connected with the nut piece in turnover ball-screw with disk electric rotating machine assembly, and turnover servomotor is connected with the leading screw in turnover ball-screw.
The cushion stroke of described spring is more than or equal to the integral thickness of the actual stacking workpiece of workpiece guide rod.
The intelligent grinding machine of one provided by the invention, be elevated by arranging air cylinder driven on the robotic arm and coordinate the mode for the spring cushioned, simplify the structure of mechanical arm, especially control mode is simplified, control action precision is carried out by the high-low limit point of cylinder, significantly simplify control difficulty, especially by the mode adopting spring buffer, height and position during grabbing workpiece each without the need to accurate controller mechanical arm.The horizontal drive of mechanical arm adopts Timing Belt, especially have employed Timing Belt and fixes, and the mode of driving wheel motion, reduce the cost of equipment.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is overall structure schematic diagram of the present invention.
Fig. 2 is the schematic top plan view of the horizontal drive structure of mechanical arm in the present invention.
In figure: crossbeam 1, horizontal guide rail 2, Timing Belt 3, straining pulley 4, synchronous pulley 5, reducing motor 6, riser guide 7, emery wheel lift servo motor 8, lifting ball-screw 9, pressing plate 10, cylinder 11, magnechuck 12, emery wheel 13, grinding wheel drive mitor 14, disk 15, disk transmission mechanism 16, flip-arm 17, rotary cylinder 18, turnover ball-screw 19, disk electric rotating machine 20, turnover servomotor 21, monitor station turnover handle 22, thickness detection head 23, work piece platform 24, workpiece guide rod 25, workpiece 26, spring 27.
Detailed description of the invention
As in Fig. 1, a kind of intelligent grinding machine, comprise crossbeam 1, crossbeam 1 is provided with the mechanical arm along horizontal guide rail 2 action, is provided with work piece platform 24, thickness detection apparatus, flip-arm 17 and disk 15 below crossbeam 1 successively, main shaft and emery wheel is provided with above the side of disk 15, work piece platform 24 is provided with workpiece guide rod 25, and mechanical arm is provided with riser guide 7, and cylinder 11 is installed on the robotic arm, drive magnechuck 12 to be elevated along riser guide 7, above magnechuck 12, be provided with the spring 27 for cushioning.Adopt cylinder 11 to drive magnechuck 12 to be elevated, coordinate spring 27 to cushion magnechuck 12, because this simplify lifting drives structure, cylinder only needs according to lifting signalizing activity, and without the need to height control signal.By the buffering of spring, namely magnechuck 12 stops after touching the top of workpiece, and now the cylinder 11 of mechanical arm continues descending stroke by spring buffer, magnechuck 12 is provided with the preferred and mechanical type contact switch of workpiece tip contact or the photo-electric for detecting workpiece top, magnetic field type contact-making switch, when contact-making switch triggers, the commutation signal that control cylinder 11 commutates can be provided, control system, such as, after PLC receives commutation signal, the i.e. reversal valve action of control cylinder, cylinder is made to become ascending motion from descending motion, start magnechuck 12 simultaneously and adsorb workpiece.
The present invention, before and after the grinding of workpiece, utilizes the displacement transducer of thickness detection head 23 to measure thickness of workpiece, obtains the one-tenth-value thickness 1/10 of saw blade workpiece, and calculates grinding parameter based on this and control grinding flow process; Utilize the mechanical arm that PLC controls, realize the automatic feeding, discharge of saw blade workpiece; Both combine the full-automatic grinding processing achieving workpiece.Saw blade grinding and the parallel running of manipulator feeding, discharge, achieve full-automatic feeding, discharge, workpiece turn-over, bench clean.Workpiece material Hou Du ﹑ finished product thickness Zi Dong Ce Liang ﹑ classifies.The automatic control grinding machine depth of cut.Realize full intelligent machining thus.
The present invention has 5 stations, is work piece platform 24, thickness detection apparatus, flip-arm, disk and emery wheel respectively.Carry out center by 1 central control system to control.The displacement sensor system of 1 thickness detection head 23 carries out thickness measure.3 driver drives, 3 servomotors and reversal valve control cylinder realize the different actions of whole lathe.Cooling cleaning is completed by 1 water treatment mechanism.Purification of air is carried out by 1 air treatment system.
The present invention not only saves a large amount of process time, and workpiece grinding process is full-automatic; Achieve the target of high efficiency, high accuracy, easy to operate, environmental protection.By simplifying the structure of mechanical arm part, the present invention also simplify control, reduces cost.
When cylinder 11 drives magnechuck 12 to be positioned at limes superiors point, the distance between the lower surface of magnechuck 12 and workpiece guide rod 25 upper surface, is greater than the thickness of a workpiece 26, is less than the thickness of two workpiece.Structure thus, guarantee that each can pick up a workpiece, unnecessary workpiece can be stopped by the upper end of workpiece guide rod 25 and fall.
The position being used for place work piece 26 on disk 15 top is provided with high pressure gas nozzle.Structure thus, is convenient to destroy the moisture film formed below workpiece, so that unload workpiece.
Preferred scheme is as in Fig. 1,2, and crossbeam 1 is provided with the Timing Belt 3 arranged along horizontal guide rail 2, and as in Fig. 1, Timing Belt 3 two ends are fixedly mounted on the two ends of crossbeam 1 by pressing plate 10;
Preferred scheme is as in Fig. 1,2, and mechanical arm is slidably mounted on horizontal guide rail 2, and mechanical arm is provided with the synchronous pulley 5 engaged with Timing Belt 3, and synchronous pulley 5 is connected with fixed installation reducing motor 6 on the robotic arm.Structure thus, simplifies the drive mechanism of mechanical arm horizontal movement, reduces cost.
Be provided with straining pulley 4 in the both sides of synchronous pulley 5, straining pulley 4 is positioned at Timing Belt 3 opposite side relative with synchronous pulley 5, increases to make the cornerite between synchronous pulley 5 and Timing Belt 3.Preferred as in Fig. 2, the position of straining pulley 4 is can upper and lower adjustment, so that dismantle.
Preferred scheme is as in Fig. 1,2, in described thickness detection apparatus, thickness detection head 23 is slidably mounted on below crossbeam 1 along the longitudinal direction, thickness detection apparatus is provided with monitor station turnover handle 22, for monitor station being moved to working position or being put into standby position, lower end when lower end and the magnechuck 12 of thickness detection head 23 are positioned at limes superiors point is concordant.Structure thus, makes thickness detection apparatus corresponding with the limes superiors point of cylinder, to simplify control.
Preferred scheme is as in Fig. 1, and described flip-arm 17 is connected with rotary cylinder 18.Structure thus, realizes workpiece 26 turn-over.Cleaning device is provided with, for cleaning workpiece in the position of flip-arm 17.
Preferred scheme is as in Fig. 1, in described grinding wheel unit, emery wheel 13 is connected with grinding wheel drive mitor 14 by main shaft, and emery wheel 13, main shaft are connected with the nut piece in lifting ball-screw 9 with grinding wheel drive mitor 14 assembly, and emery wheel lift servo motor 8 is connected with the leading screw in lifting ball-screw 9.Structure thus, realizes the radial feed of workpiece.And for material loading and the discharging of cooperative mechanical arm.
Preferred scheme is as in Fig. 1, described disk 15 is connected with disk electric rotating machine 20 by disk transmission mechanism 16, disk 15 is connected with the nut piece in turnover ball-screw 19 with disk electric rotating machine 20 assembly, and turnover servomotor 21 is connected with the leading screw in turnover ball-screw 19.Structure thus, realizes the radial feed of workpiece.And for material loading and the discharging of cooperative mechanical arm.
Preferred scheme is as in Fig. 1, and the cushion stroke of described spring 27 is more than or equal to the integral thickness of the actual stacking workpiece 26 of workpiece guide rod 25.Structure thus, to make mechanical arm without the need to controlling the at every turn descending height of magnechuck 12, as long as make cylinder 11 be in the position of limit inferior point, magnechuck 12, under the control of time delay touching switch, can pick up the workpiece of arbitrary height on workpiece guide rod 25.Thereby simplify control difficulty.Coordinate cylinder 11 to be positioned at the position of limes superiors point and the height of workpiece guide rod 25, guarantee that each can pick up a workpiece.Another effect of this structure is then play protection magnechuck 12, damages magnechuck 12 or mechanical arm when avoiding the contact-making switch on magnechuck 12 to lose efficacy.
Claims (10)
1. an intelligent grinding machine, comprise crossbeam (1), crossbeam (1) is provided with the mechanical arm along horizontal guide rail (2) action, crossbeam (1) below is provided with work piece platform (24) successively, thickness detection apparatus, flip-arm (17) and disk (15), main shaft and emery wheel is provided with above the side of disk (15), work piece platform (24) is provided with workpiece guide rod (25), it is characterized in that: mechanical arm is provided with riser guide (7), cylinder (11) is installed on the robotic arm, magnechuck (12) is driven to be elevated along riser guide (7), the spring (27) for cushioning is provided with in magnechuck (12) top.
2. the intelligent grinding machine of one according to claim 1, it is characterized in that: when cylinder (11) drives magnechuck (12) to be positioned at limes superiors point, distance between the lower surface of magnechuck (12) and workpiece guide rod (25) upper surface, be greater than the thickness of a workpiece (26), be less than the thickness of two workpiece.
3. the intelligent grinding machine of one according to claim 1, is characterized in that: the position being used for place work piece (26) on disk (15) top is provided with high pressure gas nozzle.
4. the intelligent grinding machine of one according to claim 1, is characterized in that: on crossbeam (1), be provided with the Timing Belt (3) arranged along horizontal guide rail (2), and the two ends of Timing Belt (3) are fixedly mounted on the two ends of crossbeam (1);
Mechanical arm is slidably mounted on horizontal guide rail (2), and mechanical arm is provided with the synchronous pulley (5) engaged with Timing Belt (3), and synchronous pulley (5) is connected with fixed installation reducing motor (6) on the robotic arm.
5. the intelligent grinding machine of one according to claim 4, it is characterized in that: be provided with straining pulley (4) in the both sides of synchronous pulley (5), straining pulley (4) is positioned at Timing Belt (3) opposite side relative with synchronous pulley (5), increases to make the cornerite between synchronous pulley (5) and Timing Belt (3).
6. the intelligent grinding machine of one according to claim 1, it is characterized in that: in described thickness detection apparatus, thickness detection head (23) is slidably mounted on crossbeam (1) below along the longitudinal direction, thickness detection apparatus is provided with monitor station turnover handle (22), and lower end when lower end and the magnechuck (12) of thickness detection head (23) are positioned at limes superiors point is concordant.
7. the intelligent grinding machine of one according to claim 1, is characterized in that: described flip-arm (17) is connected with rotary cylinder (18).
8. the intelligent grinding machine of one according to claim 1, it is characterized in that: in described grinding wheel unit, emery wheel (13) is connected with grinding wheel drive mitor (14) by main shaft, emery wheel (13), main shaft are connected with the nut piece in lifting ball-screw (9) with grinding wheel drive mitor (14) assembly, and emery wheel lift servo motor (8) is connected with the leading screw in lifting ball-screw (9).
9. the intelligent grinding machine of one according to claim 1, it is characterized in that: described disk (15) is connected with disk electric rotating machine (20) by disk transmission mechanism (16), disk (15) is connected with the nut piece in turnover ball-screw (19) with disk electric rotating machine (20) assembly, and turnover servomotor (21) is connected with the leading screw in turnover ball-screw (19).
10. the intelligent grinding machine of one according to claim 1, is characterized in that: the cushion stroke of described spring (27) is more than or equal to the integral thickness of the actual stacking workpiece (26) of workpiece guide rod (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410391357.7A CN105458846B (en) | 2014-08-11 | 2014-08-11 | Intelligent grinding machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410391357.7A CN105458846B (en) | 2014-08-11 | 2014-08-11 | Intelligent grinding machine |
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| Publication Number | Publication Date |
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| CN105458846A true CN105458846A (en) | 2016-04-06 |
| CN105458846B CN105458846B (en) | 2019-09-27 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003000A (en) * | 2016-07-04 | 2016-10-12 | 简丽 | Saw web grinding automatic feed and discharge rotating mechanical arm |
| CN106041212A (en) * | 2016-07-04 | 2016-10-26 | 简丽 | Linear automatic feeding and discharging and thickness detecting integrated machine for saw web grinding |
| CN106140646A (en) * | 2016-07-04 | 2016-11-23 | 简丽 | A kind of saw blade single-piece separating mechanism |
| CN106424944A (en) * | 2016-07-04 | 2017-02-22 | 简丽 | Rotary-type automatic loading and unloading and thickness detection integrated machine for grinding saw blades |
| CN107272577A (en) * | 2017-07-06 | 2017-10-20 | 天通吉成机器技术有限公司 | A kind of periphery grinding machine on-line measurement and measurer for thickness |
| CN107443244A (en) * | 2017-09-21 | 2017-12-08 | 阳江市阳东区国浩机械制造有限公司 | A kind of rotating disk grinding machine automatic charging machinery hand |
| CN108687251A (en) * | 2018-05-04 | 2018-10-23 | 襄阳寒桦精机有限公司 | A kind of manipulator and punching press assembly line for punching press assembly line |
| CN109366259A (en) * | 2018-12-05 | 2019-02-22 | 安吉圆磨机械科技有限公司 | A kind of full-automatic saw blade equipment for grinding with cleaning machine |
| CN113414449A (en) * | 2021-07-13 | 2021-09-21 | 成都壹佰科技有限公司 | Steel saw blade and production device and process thereof |
| CN113798978A (en) * | 2021-11-03 | 2021-12-17 | 扬州朗玛科技有限公司 | Processing device for polishing two sides of clamp body |
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| JPH08168944A (en) * | 1994-12-17 | 1996-07-02 | Niigata Nokogiri Kogyo:Kk | Saw plate material polishing device |
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| CN202540075U (en) * | 2012-04-27 | 2012-11-21 | 宜昌迪森机械有限公司 | Intelligent grinder machining system |
| CN202622489U (en) * | 2012-04-27 | 2012-12-26 | 宜昌迪森机械有限公司 | Automatic polishing-grinding machine system |
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| CN203679916U (en) * | 2014-02-17 | 2014-07-02 | 惠州市精一机械设备有限公司 | Automatic feeding and discharging mechanical arm device |
| CN203993406U (en) * | 2014-08-11 | 2014-12-10 | 宜昌迪森智能科技有限公司 | Intelligence grinding machine |
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2014
- 2014-08-11 CN CN201410391357.7A patent/CN105458846B/en active Active
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| JPH08168944A (en) * | 1994-12-17 | 1996-07-02 | Niigata Nokogiri Kogyo:Kk | Saw plate material polishing device |
| CN102328251A (en) * | 2011-09-29 | 2012-01-25 | 黑旋风锯业股份有限公司 | Intelligent surface grinding machine with horizontal spindle and rotary table |
| CN202540075U (en) * | 2012-04-27 | 2012-11-21 | 宜昌迪森机械有限公司 | Intelligent grinder machining system |
| CN202622489U (en) * | 2012-04-27 | 2012-12-26 | 宜昌迪森机械有限公司 | Automatic polishing-grinding machine system |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041212B (en) * | 2016-07-04 | 2019-06-18 | 简丽 | A kind of saw blade is ground linear automatic loading/unloading and Thickness sensitivity all-in-one machine |
| CN106041212A (en) * | 2016-07-04 | 2016-10-26 | 简丽 | Linear automatic feeding and discharging and thickness detecting integrated machine for saw web grinding |
| CN106140646A (en) * | 2016-07-04 | 2016-11-23 | 简丽 | A kind of saw blade single-piece separating mechanism |
| CN106424944A (en) * | 2016-07-04 | 2017-02-22 | 简丽 | Rotary-type automatic loading and unloading and thickness detection integrated machine for grinding saw blades |
| CN106424944B (en) * | 2016-07-04 | 2018-11-06 | 简丽 | A kind of saw blade is ground rotary automatic loading/unloading and Thickness sensitivity all-in-one machine |
| CN106003000A (en) * | 2016-07-04 | 2016-10-12 | 简丽 | Saw web grinding automatic feed and discharge rotating mechanical arm |
| CN107272577A (en) * | 2017-07-06 | 2017-10-20 | 天通吉成机器技术有限公司 | A kind of periphery grinding machine on-line measurement and measurer for thickness |
| CN107443244A (en) * | 2017-09-21 | 2017-12-08 | 阳江市阳东区国浩机械制造有限公司 | A kind of rotating disk grinding machine automatic charging machinery hand |
| CN108687251A (en) * | 2018-05-04 | 2018-10-23 | 襄阳寒桦精机有限公司 | A kind of manipulator and punching press assembly line for punching press assembly line |
| CN109366259A (en) * | 2018-12-05 | 2019-02-22 | 安吉圆磨机械科技有限公司 | A kind of full-automatic saw blade equipment for grinding with cleaning machine |
| CN113414449A (en) * | 2021-07-13 | 2021-09-21 | 成都壹佰科技有限公司 | Steel saw blade and production device and process thereof |
| CN113798978A (en) * | 2021-11-03 | 2021-12-17 | 扬州朗玛科技有限公司 | Processing device for polishing two sides of clamp body |
| CN113798978B (en) * | 2021-11-03 | 2022-07-26 | 扬州朗玛科技有限公司 | Processing device for polishing two sides of clamp body |
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| CN105458846B (en) | 2019-09-27 |
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