CN108436688A - A kind of belt sanding tool mounted on robot end - Google Patents
A kind of belt sanding tool mounted on robot end Download PDFInfo
- Publication number
- CN108436688A CN108436688A CN201810542799.5A CN201810542799A CN108436688A CN 108436688 A CN108436688 A CN 108436688A CN 201810542799 A CN201810542799 A CN 201810542799A CN 108436688 A CN108436688 A CN 108436688A
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- CN
- China
- Prior art keywords
- wheel
- frame
- tensioner
- abrasive band
- belt sanding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
- B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
-
- 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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
A kind of belt sanding tool mounted on robot end, it is related to a kind of milling tools.The present invention solves the problems, such as the milling tools of existing robot there are power control difficulties that big, control system performance requirement is higher and cost is higher.Expansion tightening wheel is mounted on by tensioner wheel support on the upper surface of frame, low rubbing cylinder is packed in the lower section on frame and positioned at tensioner wheel support, servo electric jar is horizontally arranged at the bottom of frame, motor support plate is packed on frame front end face, the output shaft of servo motor is connect with driving wheel by toothed belt transmission, contact wheel is connected to by contacting wheel support on servo electric jar, high-precision sensor is installed on contact wheel, high-precision sensor is electrically connected with servo electric jar, transition wheel is mounted on the middle part of frame, abrasive band is sequentially arranged at driving wheel, on expansion tightening wheel and contact wheel, transition wheel pressing is on the abrasive band between expansion tightening wheel and contact wheel.The present invention is for Aerospace Products manufacture, automobile making grinding.
Description
Technical field
The present invention relates to a kind of belt sanding tools, and in particular to a kind of belt sanding work mounted on robot end
Tool.
Background technology
Grinding is used as a kind of common technology, is widely used in Aerospace Products system with the technical characteristic that its is irreplaceable
It makes, in the manufacturing industry every field such as automobile making.However grinding great work intensity, working environment is severe, needs veteran
Worker completes, and most domestic is dependent on artificial grinding.Application for grinding automation, the most commonly used is based on robot
Grinding application, is broadly divided into two ways.A kind of mode is the processing of blade using the end effector of robot as grinding tool
It is most typical application, the grinding tools such as robot end's fixed emery wheel, workpiece to be processed is placed in tooling, and robot is by predetermined
Track is processed.In this fashion, the end-of-arm tooling of robot needs to be replaced frequently.And another way is work to be processed
Part is placed in automation equipment, and equipment controls workpiece operation on the fixed processing unit (plant) such as belt sander, and this mode is more normal
The grinding of the hardware sanitaryware such as tap that sees be applied to, but this mode be simply possible to use in workpiece to be processed size and weight all compared with
Small situation.Simultaneously as grinding process complicated mechanism, processing effect is difficult to accurately control, so only with position control
Processing of robots mode is difficult to ensure processing effect, needs in such a way that power controls, and the control of the power of robot needs machine
The more accurate kinetic model of people, control difficulty is big, while higher to control system performance requirement, and cost is higher.
To sum up, the milling tools power control difficulty of existing robot is big, control system performance requirement is higher and at
This is higher.
Invention content
The present invention is to solve the milling tools of existing robot there are power control difficulties big, control system performance requirement
The higher problem of higher and cost, and then a kind of belt sanding tool mounted on robot end is provided.
The present invention adopts the technical scheme that solve above-mentioned technical problem：
The present invention the belt sanding tool mounted on robot end include driving wheel 1, synchronous belt 2, servo motor 4,
Low rubbing cylinder 5, tensioner wheel support 6, expansion tightening wheel 7, frame 8, motor support plate 9, transition wheel 10, servo electric jar 11, abrasive band
12, wheel support 13, high-precision sensor 14 and contact wheel 15 are contacted；Expansion tightening wheel 7 is mounted on frame 8 by tensioner wheel support 6
On upper surface, low rubbing cylinder 5 is packed in the lower section on frame 8 and positioned at tensioner wheel support 6, and driving wheel 1 is mounted on frame 8
Bottom, servo electric jar 11 are horizontally arranged at the bottom of frame 8, and motor support plate 9 is packed on 8 front end face of frame, servo electricity
Machine 4 is packed in motor support plate 9, and the output shaft of servo motor 4 is sequentially connected with driving wheel 1 by synchronous belt 2, contact wheel 15
It is connected on servo electric jar 11 by contacting wheel support 13, high-precision sensor 14 is installed on contact wheel 15, high-precision passes
Sensor 14 is electrically connected with servo electric jar 11, transition wheel 10 be mounted on frame 8 middle part, abrasive band 12 be sequentially arranged at driving wheel 1,
On expansion tightening wheel 7 and contact wheel 15, the pressing of transition wheel 10 is on the abrasive band 12 between expansion tightening wheel 7 and contact wheel 15.
Further, the both sides of transition wheel 10 are provided with annular rib.
Further, contact wheel 15 is cylindric spiral gear.
Further, the belt sanding tool further includes the first radial expansion set 16 and the second radial expansion set 17, and the
One radial expansion set 16 and the second radial expansion set 17 are solidly set in contact wheel installation axle, the first radial expansion set 16 and the second diameter
It is matched to telescopic 17 with contact wheel support 13.
Further, the belt sanding tool further includes tensioner regulating device 3, and tensioner regulating device 3 includes connecting rod, connects
Bar axis presses pinch roller and adjusting bolt, and one end and the frame 8 of connecting rod are rotatablely connected, and the other end of connecting rod is equipped with by pitman shaft
By pinch roller, adjusting bolt is mounted on frame 8, and synchronous belt 2 adjusts tensioner degree by pressing pinch roller.
Further, the belt sanding tool further includes two guide posts and two guide sleeves, the upper end of two guide posts
It is packed in the lower part of tensioner wheel support 6, two guide sleeves are mounted on the top of frame 8, install that there are one guide posts in each guide sleeve.
The present invention has the advantages that compared with prior art：
The present invention belt sanding tool sand-bed test by Serve Motor Control to ensure technological parameter, force snesor
Value of feedback of the signal as system, so as to adjust the contact force between abrasive band and workpiece, power control is realized in the feeding of servo electric jar
System is to ensure the processing quality of workpiece；
The belt sanding tool of the present invention can realize the polishing for metal works, while extend abrasive material consumption using abrasive band
Material service life；Expansion tightening wheel is used to control the tensioner degree in abrasive band, and expansion tightening wheel is driven by low rubbing cylinder, ensures belt sanding work
The tensioner degree of tool during the work time is held essentially constant, to assist control belt sanding power；To reduce polishing cost,
Polishing cost reduces 10% or more；
The transition wheel of the belt sanding tool of the present invention is used to adjust the trend in abrasive band while increasing the cornerite of contact wheel, makes
Obtaining belt sanding tool can polish to workpiece to be processed in polarizers of big angle scope.
Description of the drawings
Fig. 1 is the stereogram of the belt sanding tool mounted on robot end of the present invention；
Fig. 2 is the main sectional view of the belt sanding tool mounted on robot end of the present invention；
Fig. 3 is the support construction sectional view of contact wheel 15 in the specific embodiment of the invention one.
Specific implementation mode
Specific implementation mode one：As shown in Figures 1 to 3, the belt sanding work mounted on robot end of present embodiment
Tool includes driving wheel 1, synchronous belt 2, servo motor 4, low rubbing cylinder 5, tensioner wheel support 6, expansion tightening wheel 7, frame 8, motor branch
Fagging 9, transition wheel 10, servo electric jar 11, abrasive band 12, contact wheel support 13, high-precision sensor 14 and contact wheel 15；Tensioner
Wheel 7 is mounted on by tensioner wheel support 6 on the upper surface of frame 8, and low rubbing cylinder 5 is packed on frame 8 and is located at expansion tightening wheel
The lower section of holder 6, driving wheel 1 are mounted on the bottom of frame 8, and servo electric jar 11 is horizontally arranged at the bottom of frame 8, motor branch
Fagging 9 is packed on 8 front end face of frame, and servo motor 4 is packed in motor support plate 9, output shaft and the active of servo motor 4
Wheel 1 is sequentially connected by synchronous belt 2, and contact wheel 15 is connected to by contacting wheel support 13 on servo electric jar 11, contact wheel 15
On high-precision sensor 14 is installed, high-precision sensor 14 is electrically connected with servo electric jar 11, transition wheel 10 be mounted on frame 8
Middle part, abrasive band 12 is sequentially arranged on driving wheel 1, expansion tightening wheel 7 and contact wheel 15, and the pressing of transition wheel 10 is in expansion tightening wheel 7 and connects
On abrasive band 12 between wheel trolley 15.
When treating polishing workpiece using abrasive band 12 and being polished, polishing quality is largely dependent upon the movement in abrasive band 12
Speed, therefore, belt sanding device of the invention are driven by servo motor 4, and driving wheel 1 is transferred power to by synchronous belt 2,
Driving wheel 1 drives abrasive band 12 to rotate, and driving wheel 1 fits closely with abrasive band 12 and prevents 12 sideslip of abrasive band；
In bruting process, since polishing object is unknown, polishing bite changes at any time, this will lead to abrasive band 12 and be added
Frictional force between work workpiece constantly changes, and changes so as to cause the expanding force in abrasive band, influences system to a certain extent to matter of polishing
The control of amount.Expansion tightening wheel 7 is used to control the tensioner degree in abrasive band in the belt sanding device of the present invention, and position is by low rubbing cylinder
5 drivings ensure that the tensioner degree in the belt sanding device course of work is held essentially constant, to assist control polishing power；
Low rubbing cylinder 5 is adapted to the occasion of high-frequency adjustment 12 tensioner degree of abrasive band during actual processing；
Transition wheel 10 is used to adjust the trend in abrasive band and increases the cornerite of contact wheel, and belt sanding device of the invention can be with
It polishes workpiece to be processed in polarizers of big angle scope.
In device work, abrasive band 12 is pressed and realizes polishing on workpiece to be processed by contact wheel 15.It polishes in order to control effect,
Contact wheel 15 is connect by contacting wheel support 13 with Special precision servo electric jar 11, for adjusting the contact between abrasive band and workpiece
Power.High-accuracy force snesor 14 is installed on contact wheel 15, detects frictional force and centripetal force in work in real time, and force signal is anti-
High frequency adjustment is made by elaborate servo electric cylinder 11 after control system of feeding.
Specific implementation mode two：As shown in Figure 1, the both sides of present embodiment transition wheel 10 are provided with annular rib.So
Design, the rib of the both sides of transition wheel 10 can rectify a deviation to abrasive band 12, ensure that abrasive band 12 is coated on contact wheel 15.It is other
Composition and connection relation are same as the specific embodiment one.
Specific implementation mode three：As depicted in figs. 1 and 2, present embodiment contact wheel 15 is cylinder helical teeth rubber wheel.So
Design, tooth form rubber wheel can snubber contact wheel and workpiece to be processed contact force, helical teeth structure is more easy to shape relative to straight tooth structure
At uniform contact force, while the design of this rubber wheel increases frictional force between contact wheel and abrasive band, prevents abrasive band in contact wheel
Upper skidding.Other compositions and connection relation are the same as one or two specific embodiments.
Specific implementation mode four：As shown in figure 3, belt sanding tool described in present embodiment further includes the first radial expansion
Set 16 and the second radial expansion set 17, the first radial expansion set 16 and the second radial expansion set 17 are solidly set on contact wheel installation axle
On, the first radial expansion set 16 and the second radial expansion set 17 are matched with contact wheel support 13.Contact wheel is convenient in so design
Installation axle is mounted on contact wheel support 13.Other compositions and connection relation are the same as the specific implementation mode 3.
Specific implementation mode five：As shown in Fig. 2, belt sanding tool described in present embodiment further includes tensioner regulating device
3, tensioner regulating device 3 includes connecting rod, pitman shaft, presses pinch roller and adjusting bolt, and one end and the frame 8 of connecting rod are rotatablely connected, even
The other end of bar is equipped with by pitman shaft by pinch roller, and adjusting bolt is mounted on frame 8, and synchronous belt 2 is adjusted by pressing pinch roller
Tensioner degree.So design, servo motor 4 drive driving wheel 1 to rotate by synchronous belt 2, and tensioner regulating device 3 presses synchronous belt 2
Tightly, ensure 1 even running of driving wheel.Other compositions and connection relation are the same as the specific implementation mode 1,2 or 4.
Specific implementation mode six：As shown in Fig. 2, belt sanding tool described in present embodiment further include two guide posts and
Two guide sleeves, the upper end of two guide posts are packed in the lower part of tensioner wheel support 6, and two guide sleeves are mounted on the top of frame 8, often
Guide post there are one being installed in a guide sleeve.So design, tensioner wheel support 6 can be along guiding under the effect of low rubbing cylinder 5
Column direction up and down adjustment.Other compositions and connection relation are identical as specific implementation mode four or five.
It the above is only the preferred embodiment of the present invention, it should be pointed out that：Those skilled in the art are come
It says, without departing from the principle of the present invention, several improvement and equivalent replacement can also be made, these want right of the present invention
The technical solution being improved with after equivalent replacement is sought, protection scope of the present invention is all fallen within.
Operation principle：
When treating polishing workpiece using abrasive band 12 and being polished, polishing quality is largely dependent upon the movement in abrasive band 12
Speed, therefore, belt sanding device of the invention are driven by servo motor 4, and driving wheel 1 is transferred power to by synchronous belt 2,
Driving wheel 1 drives abrasive band 12 to rotate, and driving wheel 1 fits closely with abrasive band 12 and prevents 12 sideslip of abrasive band；
In bruting process, since polishing object is unknown, polishing bite changes at any time, this will lead to abrasive band 12 and be added
Frictional force between work workpiece constantly changes, and changes so as to cause the expanding force in abrasive band, influences system to a certain extent to matter of polishing
The control of amount；Expansion tightening wheel 7 is used to control the tensioner degree in abrasive band in the belt sanding device of the present invention, and position is by low rubbing cylinder
5 drivings ensure that the tensioner degree in the belt sanding device course of work is held essentially constant, to assist control polishing power；
Low rubbing cylinder 5 is adapted to the occasion of high-frequency adjustment 12 tensioner degree of abrasive band during actual processing；
Transition wheel 10 is used to adjust the trend in abrasive band and increases the cornerite of contact wheel, and belt sanding device of the invention can be with
It polishes workpiece to be processed in polarizers of big angle scope.
Claims (6)
1. a kind of belt sanding tool mounted on robot end, it is characterised in that：The belt sanding tool includes actively
Take turns (1), synchronous belt (2), servo motor (4), low rubbing cylinder (5), tensioner wheel support (6), expansion tightening wheel (7), frame (8), electricity
Machine support plate (9), transition wheel (10), servo electric jar (11), abrasive band (12), contact wheel support (13), high-precision sensor
(14) and contact wheel (15)；Expansion tightening wheel (7) is mounted on by tensioner wheel support (6) on the upper surface of frame (8), low rubbing cylinder
(5) it is packed in the lower section on frame (8) and positioned at tensioner wheel support (6), driving wheel (1) is mounted on the bottom of frame (8), servo
Electric cylinder (11) is horizontally arranged at the bottom of frame (8), and motor support plate (9) is packed on frame (8) front end face, servo motor
(4) it being packed in motor support plate (9), the output shaft of servo motor (4) is sequentially connected with driving wheel (1) by synchronous belt (2),
Contact wheel (15) is connected to by contacting wheel support (13) on servo electric jar (11), and high-precision is equipped on contact wheel (15) and is passed
Sensor (14), high-precision sensor (14) are electrically connected with servo electric jar (11), and transition wheel (10) is mounted in frame (8)
Portion, abrasive band (12) are sequentially arranged on driving wheel (1), expansion tightening wheel (7) and contact wheel (15), and transition wheel (10) is pressed in expansion tightening wheel
(7) on the abrasive band (12) between contact wheel (15).
2. the belt sanding tool according to claim 1 mounted on robot end, it is characterised in that：Transition wheel (10)
Both sides be provided with annular rib.
3. the belt sanding tool according to claim 1 or 2 mounted on robot end, it is characterised in that：Contact wheel
(15) it is cylinder helical teeth rubber wheel.
4. the belt sanding tool according to claim 3 mounted on robot end, it is characterised in that：The abrasive band is beaten
Grinder tool further includes the first radial expansion set (16) and the second radial expansion set (17), the first radial expansion set (16) and the second diameter
Be solidly set in contact wheel installation axle to telescopic (17), the first radial expansion set (16) and the second radial expansion set (17) with contact
Wheel support (13) matches.
5. the belt sanding tool according to claim 1,2 or 4 mounted on robot end, it is characterised in that：It is described
Belt sanding tool further includes tensioner regulating device (3), and tensioner regulating device (3) includes connecting rod, pitman shaft, by pinch roller and adjusting
Bolt, one end and the frame (8) of connecting rod are rotatablely connected, and the other end of connecting rod is equipped with by pitman shaft by pinch roller, adjusting bolt
On frame (8), synchronous belt (2) adjusts tensioner degree by pressing pinch roller.
6. the belt sanding tool according to claim 5 mounted on robot end, it is characterised in that：The abrasive band is beaten
Grinder tool further includes two guide posts and two guide sleeves, and the upper end of two guide posts is packed in the lower part of tensioner wheel support (6), and two
A guide sleeve is mounted on the top of frame (8), installs that there are one guide posts in each guide sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810542799.5A CN108436688B (en) | 2018-05-30 | 2018-05-30 | Install at terminal abrasive band grinding tool of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810542799.5A CN108436688B (en) | 2018-05-30 | 2018-05-30 | Install at terminal abrasive band grinding tool of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108436688A true CN108436688A (en) | 2018-08-24 |
| CN108436688B CN108436688B (en) | 2020-05-26 |
Family
ID=63205843
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810542799.5A Active CN108436688B (en) | 2018-05-30 | 2018-05-30 | Install at terminal abrasive band grinding tool of robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN108436688B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109454526A (en) * | 2018-12-26 | 2019-03-12 | 瓦房店光阳轴承股份有限公司 | Bearing outer ring ball track abrasive belt polishing equipment |
| CN109590865A (en) * | 2019-01-03 | 2019-04-09 | 重庆大学 | A kind of curved surface precision abrasive belt grinding head |
| CN109676487A (en) * | 2019-01-23 | 2019-04-26 | 秦皇岛汇久科技有限公司 | A kind of controllable force belt sander |
| CN109773632A (en) * | 2019-04-01 | 2019-05-21 | 无锡锡钻地质装备有限公司 | A kind of geological prospecting drilling rod process equipment |
| CN109807724A (en) * | 2019-04-04 | 2019-05-28 | 昂华（上海）自动化工程股份有限公司 | A kind of automatically grinding equipment |
| CN110328584A (en) * | 2019-07-18 | 2019-10-15 | 慧诚自动化技术(宁波)有限公司 | A kind of robot end's belt sander |
| CN110434729A (en) * | 2019-07-30 | 2019-11-12 | 武汉科技大学 | A kind of caliber metal container automatic abrasive belt milling robot |
| WO2021223386A1 (en) * | 2020-05-07 | 2021-11-11 | 广东博智林机器人有限公司 | Cutting-grinding head, grinding execution end and grinding apparatus |
| CN114260803A (en) * | 2022-01-27 | 2022-04-01 | 安徽新境界自动化技术有限公司 | Linear cutting system of polishing |
| CN114346840A (en) * | 2021-12-15 | 2022-04-15 | 武汉数字化设计与制造创新中心有限公司 | Blade full-characteristic multi-process force-control abrasive belt grinding and polishing device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201098829Y (en) * | 2007-10-22 | 2008-08-13 | 重庆三磨海达磨床有限公司 | Free-form surface abrasive belt grinding machine |
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2018
- 2018-05-30 CN CN201810542799.5A patent/CN108436688B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201098829Y (en) * | 2007-10-22 | 2008-08-13 | 重庆三磨海达磨床有限公司 | Free-form surface abrasive belt grinding machine |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109454526A (en) * | 2018-12-26 | 2019-03-12 | 瓦房店光阳轴承股份有限公司 | Bearing outer ring ball track abrasive belt polishing equipment |
| CN109590865A (en) * | 2019-01-03 | 2019-04-09 | 重庆大学 | A kind of curved surface precision abrasive belt grinding head |
| CN109676487B (en) * | 2019-01-23 | 2024-04-12 | 秦皇岛汇久科技有限公司 | Controllable force abrasive belt machine |
| CN109676487A (en) * | 2019-01-23 | 2019-04-26 | 秦皇岛汇久科技有限公司 | A kind of controllable force belt sander |
| CN109773632A (en) * | 2019-04-01 | 2019-05-21 | 无锡锡钻地质装备有限公司 | A kind of geological prospecting drilling rod process equipment |
| CN109773632B (en) * | 2019-04-01 | 2024-04-30 | 无锡锡钻地质装备有限公司 | Geological exploration drilling rod processing equipment |
| CN109807724A (en) * | 2019-04-04 | 2019-05-28 | 昂华（上海）自动化工程股份有限公司 | A kind of automatically grinding equipment |
| CN110328584A (en) * | 2019-07-18 | 2019-10-15 | 慧诚自动化技术(宁波)有限公司 | A kind of robot end's belt sander |
| CN110434729A (en) * | 2019-07-30 | 2019-11-12 | 武汉科技大学 | A kind of caliber metal container automatic abrasive belt milling robot |
| CN110434729B (en) * | 2019-07-30 | 2024-05-03 | 武汉科技大学 | Automatic abrasive belt polishing robot for large-caliber metal container |
| WO2021223386A1 (en) * | 2020-05-07 | 2021-11-11 | 广东博智林机器人有限公司 | Cutting-grinding head, grinding execution end and grinding apparatus |
| CN114346840A (en) * | 2021-12-15 | 2022-04-15 | 武汉数字化设计与制造创新中心有限公司 | Blade full-characteristic multi-process force-control abrasive belt grinding and polishing device |
| CN114260803A (en) * | 2022-01-27 | 2022-04-01 | 安徽新境界自动化技术有限公司 | Linear cutting system of polishing |
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|---|---|
| CN108436688B (en) | 2020-05-26 |
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