CN208084052U - Robot polishing grinding system - Google Patents

Robot polishing grinding system Download PDF

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Publication number
CN208084052U
CN208084052U CN201820568967.3U CN201820568967U CN208084052U CN 208084052 U CN208084052 U CN 208084052U CN 201820568967 U CN201820568967 U CN 201820568967U CN 208084052 U CN208084052 U CN 208084052U
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China
Prior art keywords
polishing
sanding
driven wheel
pedestal
cylinder
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CN201820568967.3U
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Chinese (zh)
Inventor
周伟
冯杰恩
罗名辉
刘镜钊
胡尕磊
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Guangdong LXD Robotics Co Ltd
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Guangdong LXD Robotics Co Ltd
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Abstract

A kind of robot polishing grinding system, including sanding and polishing mechanism and transfer robot, grinding and polishing optical assembly is provided in sanding and polishing mechanism, it includes grinding wheel, sanding and polishing abrasive band, sanding and polishing motor and driven wheel, sanding and polishing component is set to by arm of polishing on sanding and polishing pedestal, grinding wheel and driven wheel rotate setting respectively, and sanding and polishing abrasive band is set around in grinding wheel and driven wheel, and sanding and polishing motor drives grinding wheel and/or driven wheel rotation;Strong control device is set on sanding and polishing pedestal, it includes power control swing arm, elastic component, power control cylinder and electric Proportion valve, power control cylinder passes sequentially through elastic component, power control swing arm and polishing arm driving sanding and polishing component and is moved relative to sanding and polishing pedestal, electric Proportion valve control force control cylinder, the sanding and polishing pressure being ultimately applied to adjustment on workpiece.The utility model has sanding and polishing efficient, high-quality, and Operation and Maintenance is more convenient, and stability is strong, high degree of automation, the good feature of product processing quality consistency.

Description

Robot polishing grinding system
Technical field
The utility model is related to a kind of automatic producing device, more particularly to a kind of robot polishing grinding system.
Background technology
Existing robot automation's polishing system, it is single by the different machinery such as robot, sander, polishing machine, feeding platform Member is constituted, can be because fixture, system and workpiece polishing mechanism cause deviation, separately for the very high product of effect requirements of polishing Outside, for most polishing system there are the complexity of operating system, the deviation in the path in bruting process is uncontrollable on the market, and The stability of whole system and safety, relatively good polishing system is very expensive on the market, and maintenance cost is higher, causes Most client is difficult to receive.Chinese patent literature CN106956188A disclosed a kind of table on July 18th, 2017 Face type sanding and polishing work table of abrasive belt machine, specifically discloses:It is thrown including mechanical arm, fixture, robot controller, single driving polishing Ray machine structure, polishing motor, PLC control system and workbench;The mechanical arm and single driving sanding and polishing mechanism are installed on The upper surface of the workbench;The fixture is alternatively installed on the free end of the mechanical arm;The robot controller It is set on described and makees in platform, control the activity of the mechanical arm;Single driving sanding and polishing mechanism is located at the mechanical arm The front of free end, including workpiece polishing mechanism and polishing mechanism control the polishing motor by the PLC control system and drive simultaneously The operating of workpiece polishing mechanism and polishing mechanism.There are drawbacks described above for the sanding and polishing belt sander, it is therefore necessary to be further improved.
Utility model content
It is efficient, high-quality that the purpose of the utility model is to provide a kind of sanding and polishings, and Operation and Maintenance is more convenient, stablizes Property strong, high degree of automation, versatility and highly practical ensures the polishing grinding system of robot of product processing quality consistency System, to overcome shortcoming in the prior art.
By a kind of robot polishing grinding system that this purpose designs, including sanding and polishing mechanism and transfer robot, remove It is provided with sanding and polishing fixture in fortune robot;It is characterized in that:One group or more is provided in the sanding and polishing mechanism to polish Polishing assembly, the sanding and polishing component include grinding wheel, sanding and polishing abrasive band, sanding and polishing motor and driven wheel, sanding and polishing Component is set to by arm of polishing on sanding and polishing pedestal, and grinding wheel and driven wheel are respectively relative to polishing arm rotation setting, polishing Polishing abrasive belt is set around in grinding wheel and driven wheel, and sanding and polishing motor drives grinding wheel and/or driven wheel rotation;The polishing It is provided with the power control device mating with sanding and polishing component on polishing pedestal, which includes power control swing arm, elastic component, power Cylinder and electric Proportion valve are controlled, power control cylinder passes sequentially through elastic component, power control swing arm and polishing arm driving sanding and polishing component phase Sanding and polishing pedestal is moved, electric Proportion valve control force control cylinder, the sanding and polishing pressure being ultimately applied to adjustment on workpiece Power.
The cylinder body of the power control cylinder is fixed on sanding and polishing pedestal, body of rod drive connection elastic component one end, elastic component Other end attachment force control swing arm, power control swing arm connection polishing arm, grinding wheel locating rotation is in polishing arm one end.
It is provided with deviation correcting device on the sanding and polishing component, which includes correction motor and rectifying cylinder, from Driving wheel is assemblied in by deviation correcting device on polishing arm, and correction motor drive connection driven wheel simultaneously drives its overturning correction, gas of rectifying a deviation Cylinder drive connection driven wheel simultaneously drives its reciprocating movement.
On a deviation-rectifying bracket, the body of rod of rectifying cylinder is entangled the driven wheel locating rotation by splined shaft drive connection Inclined holder, and then driven wheel is driven to move back and forth;It is provided with worm gear on splined shaft, snail is provided on the output shaft for motor of rectifying a deviation Bar, worm gear cooperate and are driven with worm screw, to drive driven wheel overturning correction.
The sanding and polishing fixture includes that clamp base, clamp cylinder and one group or more clamp assemblies, clamp assemblies include Profiling block, briquetting and connecting rod, in the middle part of connecting rod locating rotation in clamp base, it is the body of rod of one end flexible connection clamp cylinder, another One end connects briquetting, and profiling block is set in clamp base and is corresponded with briquetting, and clamp cylinder drives briquetting by connecting rod It is close to each other or separate with profiling block.
The rotary flange for connecting transfer robot is provided in the clamp base, the cylinder body of clamp cylinder is fixed on In clamp base;Symmetrical two groups of the setting of clamp assemblies.
Further include charging and discharging mechanism, which includes loading and unloading pedestal, storage material disk and moving assembly, the movement group Part driving storage material disk reciprocatingly slides on loading and unloading pedestal, transfer robot be located at sanding and polishing mechanism and charging and discharging mechanism it Between.
Further include pedestal, the sanding and polishing mechanism and/or transfer robot and/or charging and discharging mechanism are set to pedestal On, be provided in pedestal the power cord drawn outside slot position, sanding and polishing mechanism and/or transfer robot and/or charging and discharging mechanism and/ Or tube body is hidden in slot position.
The utility model
1. there is robot polishing grinding system wide Products Compatibility, loading and unloading can be automated extension, be System can carry out data collection and expand to be interfaced to production management system progress Data Integration and big data analysis;
2. can realize that the control and adjustment of polishing pressure, the polishing power for adapting to various products are wanted by the way that power control device is arranged It asks, can ensure sanding and polishing parameter consistent under steady state;Robot path can realize off-line editing, production routine switching one Key is completed;Meanwhile there is system intelligent sense of self-protection, internal hardware software unicom to form information and close the border, avoid interference with and touch It hits and provides warning in advance for manipulator;
3. by the way that deviation correcting device is arranged into can effectively control tensioning wheel up or down beat, the correction in abrasive band is realized;Make Use correction motor and rectifying cylinder as power source, operating personnel can directly be controlled by way of button press, to control The angle of driven wheel beat and direction;For the power of correction motor by Worm Wheel System, the transmission ratio of worm and gear is high so that from The adjusting of extremely minute angle may be implemented in driving wheel;Spline pair can not influence axial movement in transmission circle circumferential movement, The motive force of cooperation rectifying cylinder tightens sanding and polishing abrasive band;
4. control system parametrization setting, station of polishing, the achievable parametrization fast setting such as rotating speed are easy to operate straight It sees;System has polishing loss bit shift compensation function, can realize robot path certainly according to parameters such as abrasive species, abrasive material losses Dynamic compensation ensures that product polishing effect is consistent;System uses modularized design, can be optionally combined according to different requirements, versatility Height, component is interchangeable, easy to maintain.
Description of the drawings
Fig. 1 is the front view of one embodiment complete machine of the utility model.
Fig. 2 is the vertical view of one embodiment complete machine of the utility model.
Fig. 3 is the partial structural diagram of sanding and polishing mechanism in one embodiment of the utility model.
Fig. 4 is the pneumatic diagram of deviation correcting device in one embodiment of the utility model.
Fig. 5 is the partial structural diagram of sanding and polishing component in one embodiment of the utility model.
Fig. 6 is the structural schematic diagram of sanding and polishing clamp working-station in one embodiment of the utility model.
Fig. 7 is the partial structural diagram of sanding and polishing clamp working-station in one embodiment of the utility model.
Fig. 8 is the main control interface schematic diagram of one embodiment of the utility model.
Fig. 9 is the station parameter interface schematic diagram of one embodiment of the utility model.
Figure 10 is control interface schematic diagram of rectifying a deviation in one embodiment of the utility model.
Figure 11 is correction and power control control interface schematic diagram in one embodiment of the utility model.
Specific implementation mode
The utility model is further described with reference to the accompanying drawings and embodiments.
Referring to Fig. 1-Fig. 7, the sanding and polishing object of robot polishing grinding system is club head E comprising polishing is thrown Ray machine structure A, transfer robot B, charging and discharging mechanism C and pedestal D are provided with sanding and polishing fixture F on transfer robot B, polish Polishing mechanism A, transfer robot B and charging and discharging mechanism C are respectively arranged on pedestal D, and transfer robot B is located at sanding and polishing machine Between structure A and charging and discharging mechanism C;Wherein, three groups of sanding and polishing components arranged up and down are provided on sanding and polishing mechanism A, it should Sanding and polishing component includes grinding wheel 1, sanding and polishing abrasive band 7, sanding and polishing motor 10 and driven wheel 13, and sanding and polishing component is logical It crosses polishing arm 3 to be set on sanding and polishing pedestal 2, grinding wheel 1 and driven wheel 13 are respectively relative to the polishing rotation setting of arm 3, polishing Polishing abrasive belt 7 is set around in grinding wheel 1 and driven wheel 13, and sanding and polishing motor 10 drives grinding wheel 1 and driven wheel 13 to rotate;It beats The power control device mating with sanding and polishing component is provided on grinding and polishing light pedestal 2, which includes power control swing arm 4, two bullets Property part 5 (this elastic component 5 be tension spring), power control cylinder 6 and electric Proportion valve 9, power control cylinder 6 pass sequentially through elastic component 5, power control pendulum Arm 4 and polishing arm 3 drive sanding and polishing component to be moved relative to sanding and polishing pedestal 2,9 control force control cylinder 6 of electric Proportion valve, with Adjustment is ultimately applied to the sanding and polishing pressure on workpiece E;Specifically, polishing, arm 3 is floating type to be set to sanding and polishing pedestal 2 On, with constant force, elasticity presses forward always under the action of elastic component 5 during use, when club head E is to be more than setting value When pressure is pressed on sanding and polishing abrasive band 7, polishing arm 3 can shrink back immediately, and reduction club head E connects with sanding and polishing abrasive band 7 Touch pressure, to realize that constant pressure is polished;Arm of force pressure is provided by power control cylinder 6, and is controlled by electric Proportion valve 9;User can The parameter for adjusting electric Proportion valve 9 at any time on operation panel, so as to adjust the size of pressure.
Furtherly, the cylinder body of power control cylinder 6 is fixed on sanding and polishing pedestal 2, the body of rod is passed respectively by a drive link 8 Two elastic component of dynamic connection, 5 one end, two elastic components, 5 other end are separately connected power control swing arm 4, and the connection polishing arm 3 of power control swing arm 4 makes 3 elastic floating of arm polish on sanding and polishing pedestal 2,1 locating rotation of grinding wheel is in 3 one end of polishing arm.
Furtherly, it is provided with deviation correcting device on sanding and polishing component, which is located at polishing 3 other end of arm, It is assemblied in by deviation correcting device including correction motor 11 (this correction motor 11 is stepper motor) and rectifying cylinder 14, driven wheel 13 It polishes on arm 3, correction 11 drive connection driven wheel 13 of motor simultaneously drives its overturning correction, 14 drive connection driven wheel of rectifying cylinder 13 and drive its reciprocating movement;Specifically, for 13 locating rotation of driven wheel on a deviation-rectifying bracket 18, the body of rod of rectifying cylinder 14 is logical 16 drive connection deviation-rectifying bracket 18 of a splined shaft is crossed, and then driven wheel 13 is driven to move back and forth;It is provided with worm gear on splined shaft 16 12, worm screw 15 is provided on the output shaft for motor 11 of rectifying a deviation, and worm gear 12 and the mutual cooperation of worm screw 15 are simultaneously driven, driven to drive 13 overturning correction of wheel;Worm gear 12, worm screw 15 and 16 co-integration of splined shaft are in a gear-box 17.Motor 11 of rectifying a deviation drives worm screw 15 rotations, worm screw 15 drive splined shaft 16 to rotate by worm gear 12, and driven wheel 13 passes through deviation-rectifying bracket 18 and 16 end of splined shaft Connection promotes driven wheel 13 that can be overturn with splined shaft 16 and rotates, to realize the overturning adjustment of driven wheel 13, realizes automatic deviation correction; Motor 11 rectify a deviation by button control, it can be achieved that rotating forward reversion, rotary speed is adjustable;Worm Wheel System pair collection slows down and changes and turns Dynamic direction function is transmitted to splined shaft 16 in one, the driving torque of correction motor 11, slowing effect can make correction adjust into Spend higher;Spline pair can transmit rotation torque, but move forward and backward and do not interfere with each other, the bar of splined shaft 16 other end and rectifying cylinder 14 Body connects, and driven wheel 13 controls front-rear reciprocation movement by rectifying cylinder 14, and then controls tightening and relaxing for sanding and polishing abrasive band 7 ?;The cooperation of entire mechanism, you can the performing remote deviation rectification of implementation mechanism is adjusted;Meanwhile there is detection sanding and polishing abrasive band 7 to be for mechanism No abrasion breaks, and by detecting the magnet ring position of rectifying cylinder 14, can determine whether the situation in sanding and polishing abrasive band 7.
Furtherly, sanding and polishing fixture F includes clamp base 26, clamp cylinder 25 and two clampings being symmetrical set Component, clamp assemblies include profiling block 21, briquetting 22 and connecting rod 24, and 24 middle part locating rotation of connecting rod is in clamp base 26, one The end flexible connection body of rod of clamp cylinder 25, the other end connect briquetting 22, profiling block 21 be set in clamp base 26 and with pressure Block 22 corresponds, and clamp cylinder 25 drives briquetting 22 and profiling block 21 close to each other or separate by connecting rod 24, effectively clamps Or unclamp club head E;The rotary flange 27 for connecting transfer robot B is provided in clamp base 26, clamp cylinder 25 Cylinder body is fixed in clamp base 26;Wherein, profiling block 21 accurately copies the shape of club head E to make, and ensures in bruting process Club head E can be by firm grip.
Furtherly, charging and discharging mechanism C includes loading and unloading pedestal 31, storage material disk 32 and moving assembly, which drives Dynamic storage material disk 32 reciprocatingly slides on loading and unloading pedestal 31, and moving assembly includes mobile cylinder 33.
Furtherly, it is provided with slot position in pedestal D, draws outside sanding and polishing mechanism A, transfer robot B and charging and discharging mechanism C Power cord and tube body be hidden in respectively in slot position.
The control system of robot polishing grinding system realizes parametrization setting, the achievable ginsengs such as polishing station, rotating speed Numberization fast setting, simple and direct-viewing operation:
(1) referring to Fig. 8, the control section of polishing system, entire polishing system is closed loop configuration, can be in control terminal pair The workpiece currently polished, the quantity of production and the loss number in sanding and polishing abrasive band 7 are monitored in real time, in automatically grinding In the process, any one link is problematic, and system all can ensure the safety of personnel and board according to pre-set action;
(2) referring to Fig. 9, the visualized operation of station parameter is completed by the communication of plc and frequency converter to frequency converter Information collection and order are received and dispatched, and the intuitive state for showing that frequency converter is current, voltage, electric current and tachometer value were actually being polished Cheng Zhong, by execute robot order, very easily can all parameters of direct-view straight, facilitate the record and tune of technique Examination.Robot is in process of production constantly changed rotating speed according to the production technology of product, passes through robot and plc Real Data Exchangs, system automatically handles the order that robot is sent out, it would be desirable to which the parameter of manipulation is assigned to each Station completes control in real time;
(3) referring to Figure 10, the control of deviation correcting device, using correction motor 11 as power, by control terminal to correction speed Degree is configured, and speed refinement is accurate, and producers can manipulate deviation correcting device in display terminal, can also be in column Side manipulates deviation correcting device by knob, direction can be according to production requirement just can be anti-;
(4) referring to Figure 11, the control of power control device is configured the output pressure of electric Proportion valve 9 in system terminal, By visual digital transition it is electric signal by the analog output module of system, during automatically grinding, robot can According to production needs, the micro-control of torque is adjusted in being completed to bruting process in actual grinding.
The basic principles and main features of the utility model have been shown and described in the above-mentioned preferred embodiment for the utility model And the advantages of the utility model.Those skilled in the art should be recognized that the present utility model is not limited to the above embodiments, on It states and only illustrates the principles of the present invention described in embodiment and specification, do not departing from the spirit and scope of the utility model Under the premise of the utility model also has various changes and improvements, it is new that these changes and improvements both fall within this claimed practicality Within the scope of type.The utility model requires protection scope is defined by appended claims and its equivalent.

Claims (8)

1. a kind of robot polishing grinding system, including sanding and polishing mechanism (A) and transfer robot (B), transfer robot (B) On be provided with sanding and polishing fixture (F);It is characterized in that:One group or more polishing is provided on the sanding and polishing mechanism (A) to throw Optical assembly, the sanding and polishing component include grinding wheel (1), sanding and polishing abrasive band (7), sanding and polishing motor (10) and driven wheel (13), sanding and polishing component is set to by arm (3) of polishing on sanding and polishing pedestal (2), grinding wheel (1) and driven wheel (13) point Setting is not rotated relative to polishing arm (3), sanding and polishing abrasive band (7) are set around in grinding wheel (1) and driven wheel (13), sanding and polishing Motor (10) drives grinding wheel (1) and/or driven wheel (13) rotation;It is provided on the sanding and polishing pedestal (2) and is thrown with polishing The mating power control device of optical assembly, the power control device include power control swing arm (4), elastic component (5), power control cylinder (6) and electrical ratio Example valve (9), power control cylinder (6) pass sequentially through elastic component (5), power control swing arm (4) and polishing arm (3) and drive sanding and polishing component phase Mobile, electric Proportion valve (9) control force control cylinder (6) to sanding and polishing pedestal (2) is ultimately applied to beating on workpiece with adjustment Grinding and polishing light pressure.
2. robot polishing grinding system according to claim 1, it is characterised in that:The cylinder body of the power control cylinder (6) It is fixed on sanding and polishing pedestal (2), body of rod drive connection elastic component (5) one end, the attachment force control swing arm of elastic component (5) other end (4), power control swing arm (4) connection polishing arm (3), grinding wheel (1) locating rotation is in polishing arm (3) one end.
3. robot polishing grinding system according to claim 1, it is characterised in that:It is arranged on the sanding and polishing component There is deviation correcting device, which includes that correction motor (11) and rectifying cylinder (14), driven wheel (13) are filled by deviation correcting device Assigned on polishing arm (3), correction motor (11) drive connection driven wheel (13) simultaneously drives its overturning correction, rectifying cylinder (14) to pass Dynamic connection driven wheel (13) simultaneously drives its reciprocating movement.
4. robot polishing grinding system according to claim 3, it is characterised in that:Driven wheel (13) locating rotation On a deviation-rectifying bracket (18), the body of rod of rectifying cylinder (14) by a splined shaft (16) drive connection deviation-rectifying bracket (18), into And driven wheel (13) is driven to move back and forth;It is provided with worm gear (12) on splined shaft (16), is set on the output shaft of correction motor (11) It is equipped with worm screw (15), worm gear (12) cooperates and is driven with worm screw (15), to drive driven wheel (13) overturning correction.
5. robot polishing grinding system according to claim 1, it is characterised in that:Sanding and polishing fixture (F) packet It includes profiling block (21), briquetting (22) to include clamp base (26), clamp cylinder (25) and one group or more clamp assemblies, clamp assemblies With connecting rod (24), connecting rod (24) middle part locating rotation is in clamp base (26), the bar of one end flexible connection clamp cylinder (25) Body, other end connection briquetting (22), profiling block (21) are set in clamp base (26) and are corresponded with briquetting (22), fixture Cylinder (25) drives briquetting (22) and profiling block (21) close to each other or separate by connecting rod (24).
6. robot polishing grinding system according to claim 5, it is characterised in that:It is arranged on the clamp base (26) It is useful for the rotary flange (27) of connection transfer robot (B), the cylinder body of clamp cylinder (25) is fixed in clamp base (26); Symmetrical two groups of the setting of clamp assemblies.
7. according to claim 1-6 any one of them robot polishing grinding system, it is characterised in that:It further include charging & discharging machine Structure (C), the charging and discharging mechanism (C) include loading and unloading pedestal (31), storage material disk (32) and moving assembly, and moving assembly driving stores Charging tray (32) reciprocatingly slides on loading and unloading pedestal (31), and transfer robot (B) is located at sanding and polishing mechanism (A) and charging & discharging machine Between structure (C).
8. robot polishing grinding system according to claim 7, it is characterised in that:Further include pedestal (D), the polishing Polishing mechanism (A) and/or transfer robot (B) and/or charging and discharging mechanism (C) are set on pedestal (D), setting in pedestal (D) There is the power cord and/or pipe drawn outside slot position, sanding and polishing mechanism (A) and/or transfer robot (B) and/or charging and discharging mechanism (C) Body is hidden in slot position.
CN201820568967.3U 2018-04-19 2018-04-19 Robot polishing grinding system Active CN208084052U (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108340247A (en) * 2018-04-19 2018-07-31 广东利迅达机器人***股份有限公司 Robot polishing grinding system
CN110948345A (en) * 2019-11-26 2020-04-03 福尼斯智能装备(珠海)有限公司 Force-control abrasive belt grinding machine

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108340247A (en) * 2018-04-19 2018-07-31 广东利迅达机器人***股份有限公司 Robot polishing grinding system
CN108340247B (en) * 2018-04-19 2024-01-23 广东利迅达机器人***股份有限公司 Robot polishing and grinding system
CN110948345A (en) * 2019-11-26 2020-04-03 福尼斯智能装备(珠海)有限公司 Force-control abrasive belt grinding machine

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