CN111872850A - Constant force control system based on welding seam is polished - Google Patents
Constant force control system based on welding seam is polished Download PDFInfo
- Publication number
- CN111872850A CN111872850A CN202010855679.8A CN202010855679A CN111872850A CN 111872850 A CN111872850 A CN 111872850A CN 202010855679 A CN202010855679 A CN 202010855679A CN 111872850 A CN111872850 A CN 111872850A
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- grinding
- measuring device
- grinding mechanism
- polishing
- control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0092—Grinding attachments for lathes or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention provides a constant force control system based on welding seam polishing, which comprises an installation frame, a grinding mechanism and a polishing control mechanism, wherein the installation frame is provided with a plurality of installation holes; the grinding control mechanism and the grinding mechanism are arranged on the mounting frame and are connected with each other; the polishing control mechanism comprises a pneumatic device, a pressure measuring device, an angle measuring device, a displacement measuring device and a control device; the pneumatic device, the pressure measuring device, the angle measuring device and the displacement measuring device are respectively connected with the control device; wherein, the pneumatic device is connected with the grinding mechanism; the invention can adapt to the polishing under the condition of each axial polishing angle, ensures that the force output by the welding seam polishing device at any angle in space is in a constant force range, can monitor the grinding amount and protect the over-cut, and has high force control precision and high result reliability.
Description
Technical Field
The invention relates to the field of machinery, in particular to the technical field of automatic grinding, and particularly relates to a constant force control system based on welding line grinding.
Background
At present, most of domestic train body and framework polishing and finishing and the like are processed by hand-held pneumatic and electric tools, so that the processing efficiency is low, the consistency of products is difficult to guarantee, the labor intensity of production personnel is high, and the working environment is severe; with the continuous deepening of the application of robot, some producers begin to use the robot to install electric or pneumatic tools for automatic grinding, and compared with handheld grinding, the robot grinding can effectively improve production efficiency and reduce cost, but in high-precision grinding, grinding pressure applied to a workpiece is an important factor influencing surface machining quality and material removal rate, so that the guarantee of the constancy of grinding pressure is the key for guaranteeing grinding quality and efficiency.
Because the robot polishing belongs to the application of hard-to-hard property, considering other factors such as mechanical arm rigidity, size deviation and positioning deviation of workpieces, the conventional robot polishing is difficult to meet the polishing quantity requirement of each workpiece, so that the polishing quality is reduced if the polishing quantity is light, and equipment and the workpieces are damaged if the polishing quantity is heavy; the traditional grinding constant force control implementation scheme is as follows: the method comprises the following steps that a substrate mounting device is mounted on a pressure measuring device, a pneumatic device is mounted in the substrate mounting device, an executing device is mounted on the substrate mounting device and connected with the pneumatic device, and a polishing head device is mounted on the executing device; the pneumatic device is used for setting pressure, constant-force floating polishing of the polishing head is realized through the execution device, the measurement device is used for measuring polishing force data in real time, data acquisition is realized, and then the setting of the pressure of the pneumatic device is controlled; this solution has the following drawbacks:
(1) mainly aims at horizontal grinding; the gravity component can not be calculated under the polishing of the angle change, the polishing of the inclination angle can not be performed, and the compatibility is not high.
(2) When the weld bead height is large, the grinding amount cannot be monitored and the over-cut protection cannot be performed for the uneven allowance caused by the small-range deformation of the workpiece.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a constant force control system based on weld grinding, which can adapt to grinding under various grinding angles in the axial direction, ensure that the force output by a weld grinding device at any angle in space is in a constant force range, and monitor the grinding amount and protect the overcut.
To achieve the above and other related objects, the present invention provides a constant force control system based on weld grinding, comprising: the device comprises a mounting frame, a grinding mechanism and a polishing control mechanism; the grinding control mechanism and the grinding mechanism are arranged on the mounting frame and are connected, so that the grinding mechanism can grind the weld joint under the action of the grinding control mechanism; the polishing control mechanism comprises a pneumatic device, a pressure measuring device, an angle measuring device, a displacement measuring device and a control device; the pneumatic device, the pressure measuring device, the angle measuring device and the displacement measuring device are respectively connected with the control device; the pneumatic device is connected with the grinding mechanism and used for adjusting the contact force of the grinding mechanism on the welding line under the control of the control device; the pressure measuring device is used for measuring the axial pressure of the grinding mechanism; the angle measuring device is used for measuring the axial and radial polishing angles of the grinding mechanism, calculating the gravity component and controlling balance; the displacement measuring device is used for measuring the displacement change of the grinding mechanism in the grinding process so as to realize grinding amount monitoring and over-cut protection.
In an embodiment of the present invention, the pneumatic device includes: a cylinder and an electric proportional valve; the cylinder and the electric proportional valve are respectively connected with the control device; the cylinder is also connected with the grinding mechanism; and in the grinding process, the inlet and outlet pressure of the air cylinder is controlled by the electric proportional valve.
In an embodiment of the invention, the grinding mechanism is mounted on the mounting frame through a linear guide rail, and the grinding mechanism performs telescopic motion along the linear guide rail under the action of the pneumatic device.
In an embodiment of the present invention, the pressure measuring device includes a pressure sensor; the pressure sensor is installed between a piston rod of the air cylinder and a connecting point of the linear guide rail, and the pressure sensor is connected with the control device.
In an embodiment of the present invention, the angle measuring device includes a dual-axis angle sensor; the double-shaft angle sensor is connected with the control device.
In an embodiment of the present invention, the displacement measuring device includes a displacement sensor; the displacement sensor adopts a laser displacement sensor, and is connected with the control device.
In an embodiment of the present invention, the grinding mechanism includes: a grinding tool, a tool shank and a spindle; the grinding tool is connected with one end of the tool handle and is used for grinding the welding line; the spindle is arranged on the mounting frame and is connected with the other end of the tool shank and the polishing control mechanism respectively.
In an embodiment of the present invention, the mounting frame includes: the first mounting plate and the second mounting plate are arranged along the axial direction of the grinding mechanism, and the third mounting plate is arranged along the radial direction of the grinding mechanism; the first mounting panel is parallel and corresponds the setting and is in the top of second mounting panel, just the one end of first mounting panel corresponds the one end of second mounting panel, respectively with the third mounting panel is in the ascending both ends in the radial direction of grinding mechanism are connected.
As mentioned above, the constant force control system based on welding seam polishing has the following beneficial effects:
compared with the prior art, the welding seam polishing device can adapt to polishing under the condition of each axial polishing angle, ensures that the force output by the welding seam polishing device at any angle in space is in a constant force range, can monitor the grinding quantity and protect the over-cut, and has high force control precision and high result reliability.
Drawings
Fig. 1 is a schematic structural diagram of a constant force control system based on weld grinding according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a grinding mechanism according to an embodiment of the present invention.
FIG. 3 is a logic control diagram of the constant force control system based on weld grinding according to an embodiment of the present invention.
Description of the reference symbols
1 a pressure sensor;
2, a cylinder;
3 a biaxial angle sensor;
4, linear guide rails;
5 a displacement sensor;
6, grinding the mechanism;
6-1, polishing a tool;
6-2 cutter handles;
6-3 main shaft;
7 a first mounting plate;
8 a second mounting plate;
9 third mounting plate.
Detailed Description
The following description of the embodiments of the present invention is provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the type, number and proportion of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
The constant force control system based on welding line grinding can adapt to grinding under the condition of each grinding angle in the axial direction, ensures that the force output by the welding line grinding device at any angle in space is in a constant force range, can monitor and protect the grinding amount, and has high force control precision and high result reliability.
As shown in fig. 1 and 2, in one embodiment, the constant force control system based on weld grinding of the present invention includes a mounting frame, a grinding mechanism 6 and a grinding control mechanism.
In one embodiment, the mounting frame includes a first mounting plate 7, a second mounting plate 8 disposed along an axial direction of the grinding mechanism 6, and a third mounting plate 9 disposed along a radial direction of the grinding mechanism 6.
Specifically, first mounting panel 7 is parallel and corresponds the setting and is in the top of second mounting panel 8, just the one end of first mounting panel 7 corresponds the one end of second mounting panel 8, respectively with third mounting panel 9 is in the ascending both ends in the radial direction of grinding mechanism 6 are connected.
The grinding control mechanism and the grinding mechanism 6 are arranged on the mounting frame, and the grinding control mechanism is connected with the grinding mechanism 6, so that the grinding mechanism 6 can realize the grinding of the weld joint under the action of the grinding control mechanism.
It should be noted that the mounting bracket is a frame structure with an open end formed by the first mounting plate 7, the second mounting plate 8 and the second mounting plate 9, the grinding mechanism 6 and the polishing control mechanism are both arranged on the mounting bracket and correspondingly arranged at the opening, and the grinding mechanism 6 can move relative to the mounting bracket in the opening under the action of the polishing control mechanism to polish the welding seam by the grinding mechanism 6.
In one embodiment, the grinding mechanism 6 is mounted on the mounting frame through a linear guide 4, and the grinding mechanism 6 performs a telescopic motion along the linear guide 4 under the action of a pneumatic device.
Specifically, the linear guide 4 is disposed on the upper surface of the second mounting plate 8, and the grinding mechanism 6 is disposed on the linear guide 4, so that the grinding mechanism 6 performs a telescopic motion along the linear guide 4 under the action of the pneumatic device (i.e., the aforementioned grinding mechanism 6 can move in the opening relative to the mounting frame).
In one embodiment, the grinding mechanism 6 includes a grinding tool 6-1, a tool shank 6-2, and a spindle 6-3.
Specifically, the grinding tool 6-1 is connected with one end of the tool handle 6-2 and is used for grinding the welding line; the spindle 6-3 is arranged on the mounting frame, and the spindle 6-3 is connected with the other end of the tool shank 6-2 and the polishing control mechanism respectively.
The polishing control mechanism comprises a pneumatic device, a pressure measuring device, an angle measuring device, a displacement measuring device and a control device; the pneumatic device, the pressure measuring device, the angle measuring device and the displacement measuring device are respectively connected with the control device.
Specifically, the pressure measuring device, the angle measuring device and the displacement measuring device send pressure signals, angle signals and displacement signals which are measured in real time to the control device, and the control device controls the pneumatic device according to the received pressure signals, angle signals and displacement signals, so that the pneumatic device drives the grinding mechanism 6 to polish the welding seam.
Preferably, the control device is a PLC controller.
The pneumatic device is connected with the grinding mechanism 6 and used for adjusting the contact force of the grinding mechanism 6 on the welding line under the control of the control device.
In one embodiment, the pneumatic device comprises a cylinder 2 and an electric proportional valve; the cylinder 2 and the electric proportional valve are respectively connected with the control device; the cylinder 2 is also connected with the grinding mechanism 6; in the grinding process, the inlet and outlet pressure of the air cylinder 2 is controlled by the electric proportional valve.
Preferably, the cylinder 6 is a low resistance cylinder.
The pressure measuring device is used for measuring the axial pressure of the grinding mechanism.
In one embodiment, the pressure measuring device comprises a pressure sensor 1; the pressure sensor 1 is installed between the connection points of the piston rod of the cylinder 2 and the linear guide rail 4, and the pressure sensor 1 is connected with the control device.
The angle measuring device is used for measuring the axial and radial grinding angles of the grinding mechanism 6, calculating the gravity component and controlling balance.
It should be noted that the axial and radial grinding angles of the grinding mechanism 6 are measured in real time by the angle measuring device and used for calculation and balance control of gravity components, so that the constant force control system based on welding seam grinding can be used for grinding an inclined angle, and the compatibility of the constant force control system is improved.
In one embodiment, the angle measuring device comprises a two-axis angle sensor 3; the double-shaft angle sensor 3 is connected with the control device.
The displacement measuring device is used for measuring the displacement change of the grinding mechanism 6 in the grinding process so as to realize the grinding amount monitoring and the over-cut protection.
It should be noted that, the displacement change of the grinding mechanism 6 in the grinding process is measured in real time by the displacement measuring device, so that the constant force control system based on welding seam grinding can monitor the grinding amount and protect the overcut when the welding bead height is large and the allowance generated by the small-range deformation of the workpiece to be ground is uneven.
In an embodiment, the displacement measuring device includes a displacement sensor 5, and the displacement sensor 5 is connected to the control device.
It should be noted that the displacement sensor 5 and the electric proportional valve work in coordination, and the distance of extension of the grinding mechanism 6 is controlled by an electric system.
Preferably, the displacement sensor 5 is a laser displacement sensor.
The working principle of the constant force control system based on welding line polishing is as follows:
first, the weight (Kg) of the grinding mechanism 6 is set to W0And the constant grinding pressure applied to the workpiece to be ground is W.
And setting the included angle a between the axis of the cylinder 2 and the horizontal plane at different positions of the grinding motion trail of the grinding mechanism 6.
During polishing, a real-time included angle a between the axis of the cylinder 2 and the horizontal plane is obtained through the double-shaft angle sensor 3, and the real-time output pressure W of the cylinder 2 is calculatedc＝W+WcodW, where dW is the gravitational force W0Real-time component force in the axial direction of the cylinder 2, dW = W0*Sin(a/180*π)；
WcoIs force given real time compensation, Wco = X (P)0+ P), wherein P0The real-time tool compensation is carried out, the displacement given value P is a displacement protection given value, and X is a displacement compensation coefficient.
The working principle of the constant force control system based on weld grinding is further explained as follows:
as shown in FIG. 3, the constant pressure W is converted into a first electrical signal, and the gravity W is converted into a second electrical signal0The real-time component dW in the axial direction of the cylinder 2 is converted into a second electric signal to give a given compensation WcoConverting into a third electric signal; superposing the first electric signal, the second electric signal and the second electric signal to form an input signal; the PLC controls the output of the electric proportional valve according to the pressure feedback obtained from the pressure sensor 1 and the displacement feedback obtained from the displacement sensor 5, the electric proportional valve adjusts the air supply pressure of the air cylinder 2 according to the obtained input signal, and the air cylinder 2 pushes the grinding mechanism 6 to apply grinding pressure on the workpiece to be ground, so that the grinding pressure on the workpiece to be ground in the grinding process is W all the time.
It should be noted that the constant force control system based on the weld grinding calculates the real-time component force W of the gravity of the grinding mechanism 6 in the axial direction of the cylinder 2 during the grinding process0And the real-time output pressure of the air cylinder 2 is adjusted by controlling the air supply pressure of the air cylinder 2, so that component force of the grinding mechanism 6 along the axis of the air cylinder 2 is counteracted in the grinding process of different angles, and the grinding pressure on the workpiece to be ground is constant.
The constant force control system based on the welding seam grinding also calculates the real-time relative displacement change of the grinding mechanism 6 in the axial direction of the cylinder 2 in the grinding process at the same time, compensates the displacement coefficient and offsets the grinding quality reduction caused by the abrasion of the grinding cutter 6-1; when the displacement monitoring range is exceeded, the high-precision electric proportional valve is immediately controlled to respond, and the polishing pressure is reduced to avoid damaging a workpiece to be polished; through the strategies of constant force control and displacement control, the polishing uniformity is ensured, and the polishing quality is improved.
In conclusion, the constant force control system based on welding line polishing can adapt to polishing under the condition of each polishing angle in the axial direction, ensure that the force output by the welding line polishing device at any angle in space is in a constant force range, monitor and over-cut protection can be carried out on the grinding amount, and has high force control precision and high reliability of results; therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (8)
1. The utility model provides a constant force control system based on welding seam is polished which characterized in that includes: the device comprises a mounting frame, a grinding mechanism and a polishing control mechanism;
the grinding control mechanism and the grinding mechanism are arranged on the mounting frame and are connected, so that the grinding mechanism can grind the weld joint under the action of the grinding control mechanism;
the polishing control mechanism comprises a pneumatic device, a pressure measuring device, an angle measuring device, a displacement measuring device and a control device; the pneumatic device, the pressure measuring device, the angle measuring device and the displacement measuring device are respectively connected with the control device; wherein the content of the first and second substances,
the pneumatic device is connected with the grinding mechanism and used for adjusting the contact force of the grinding mechanism on the welding line under the control of the control device;
the pressure measuring device is used for measuring the axial pressure of the grinding mechanism;
the angle measuring device is used for measuring the axial and radial grinding angles of the grinding mechanism and calculating the sum of gravity components
Controlling balance;
the displacement measuring device is used for measuring the displacement change of the grinding mechanism in the grinding process so as to realize the grinding amount
Monitoring and over-cut protection.
2. The weld grinding-based constant force control system according to claim 1, wherein the pneumatic device comprises: a cylinder and an electric proportional valve; the cylinder and the electric proportional valve are respectively connected with the control device; the cylinder is also connected with the grinding mechanism; and in the grinding process, the inlet and outlet pressure of the air cylinder is controlled by the electric proportional valve.
3. The constant-force control system based on weld grinding according to claim 2, wherein the grinding mechanism is mounted on the mounting frame through a linear guide rail, and the grinding mechanism performs telescopic motion along the linear guide rail under the action of the pneumatic device.
4. The weld grinding-based constant force control system according to claim 3, wherein the pressure measurement device comprises a pressure sensor; the pressure sensor is installed between a piston rod of the air cylinder and a connecting point of the linear guide rail, and the pressure sensor is connected with the control device.
5. The weld grinding-based constant force control system according to claim 1, wherein the angle measurement device comprises a biaxial angle sensor; the double-shaft angle sensor is connected with the control device.
6. The weld grinding-based constant force control system according to claim 1, wherein the displacement measuring device comprises a displacement sensor; the displacement sensor adopts a laser displacement sensor, and is connected with the control device.
7. The weld grinding-based constant force control system of claim 1, wherein the grinding mechanism comprises: a grinding tool, a tool shank and a spindle;
the grinding tool is connected with one end of the tool handle and is used for grinding the welding line;
the spindle is arranged on the mounting frame and is connected with the other end of the tool shank and the polishing control mechanism respectively.
8. The weld grinding-based constant force control system of claim 1, wherein the mounting bracket comprises: the first mounting plate and the second mounting plate are arranged along the axial direction of the grinding mechanism, and the third mounting plate is arranged along the radial direction of the grinding mechanism;
the first mounting panel is parallel and corresponds the setting and is in the top of second mounting panel, just the one end of first mounting panel corresponds the one end of second mounting panel, respectively with the third mounting panel is in the ascending both ends in the radial direction of grinding mechanism are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010855679.8A CN111872850A (en) | 2020-08-24 | 2020-08-24 | Constant force control system based on welding seam is polished |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010855679.8A CN111872850A (en) | 2020-08-24 | 2020-08-24 | Constant force control system based on welding seam is polished |
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| CN111872850A true CN111872850A (en) | 2020-11-03 |
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| CN202010855679.8A Pending CN111872850A (en) | 2020-08-24 | 2020-08-24 | Constant force control system based on welding seam is polished |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112318294A (en) * | 2020-11-23 | 2021-02-05 | 中机中联工程有限公司 | Controllable torque floating main shaft and control method |
| CN112757105A (en) * | 2021-01-25 | 2021-05-07 | 无锡盈连科技有限公司 | Two-way force control grinding device |
| CN113458923A (en) * | 2021-06-01 | 2021-10-01 | 湖南省醴陵市玉果电瓷有限公司 | Automatic grinding machine for electroceramic products |
| CN113732781A (en) * | 2021-09-09 | 2021-12-03 | 孚坤智能科技(上海)有限公司 | Force-controlled floating device |
| CN113894699A (en) * | 2021-11-03 | 2022-01-07 | 上海赛卡精密机械有限公司 | Polishing device and polishing method |
| CN114932491A (en) * | 2022-05-05 | 2022-08-23 | 上海楷砂磨机器人科技有限公司 | Truss special machine capable of carrying out high-speed constant-force polishing on strip steel |
| CN115179123A (en) * | 2022-07-06 | 2022-10-14 | 中国科学院武汉岩土力学研究所 | Drilling inner wall side grinding device |
| CN115383545A (en) * | 2022-08-09 | 2022-11-25 | 北京中致科技开发有限公司 | Polishing device and polishing method |
-
2020
- 2020-08-24 CN CN202010855679.8A patent/CN111872850A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112318294A (en) * | 2020-11-23 | 2021-02-05 | 中机中联工程有限公司 | Controllable torque floating main shaft and control method |
| CN112757105A (en) * | 2021-01-25 | 2021-05-07 | 无锡盈连科技有限公司 | Two-way force control grinding device |
| CN113458923A (en) * | 2021-06-01 | 2021-10-01 | 湖南省醴陵市玉果电瓷有限公司 | Automatic grinding machine for electroceramic products |
| CN113732781A (en) * | 2021-09-09 | 2021-12-03 | 孚坤智能科技(上海)有限公司 | Force-controlled floating device |
| CN113894699A (en) * | 2021-11-03 | 2022-01-07 | 上海赛卡精密机械有限公司 | Polishing device and polishing method |
| CN114932491A (en) * | 2022-05-05 | 2022-08-23 | 上海楷砂磨机器人科技有限公司 | Truss special machine capable of carrying out high-speed constant-force polishing on strip steel |
| CN114932491B (en) * | 2022-05-05 | 2023-11-24 | 上海楷砂磨机器人科技有限公司 | Truss special machine capable of polishing strip steel at high speed and constant force |
| CN115179123A (en) * | 2022-07-06 | 2022-10-14 | 中国科学院武汉岩土力学研究所 | Drilling inner wall side grinding device |
| CN115179123B (en) * | 2022-07-06 | 2024-04-05 | 中国科学院武汉岩土力学研究所 | Drilling inner wall side grinding device |
| CN115383545A (en) * | 2022-08-09 | 2022-11-25 | 北京中致科技开发有限公司 | Polishing device and polishing method |
| CN115383545B (en) * | 2022-08-09 | 2024-04-16 | 北京中致科技开发有限公司 | Polishing device and polishing method |
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