CN103372797A - Polishing robot - Google Patents

Polishing robot Download PDF

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Publication number
CN103372797A
CN103372797A CN2012101080201A CN201210108020A CN103372797A CN 103372797 A CN103372797 A CN 103372797A CN 2012101080201 A CN2012101080201 A CN 2012101080201A CN 201210108020 A CN201210108020 A CN 201210108020A CN 103372797 A CN103372797 A CN 103372797A
Authority
CN
China
Prior art keywords
polishing mechanism
workpiece polishing
installation portion
workpiece
sidewall
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.)
Granted
Application number
CN2012101080201A
Other languages
Chinese (zh)
Other versions
CN103372797B (en
Inventor
管洪利
何长学
梁铭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiashan Weitang Asset Management Co ltd
Original Assignee
Shenzhen Yuzhan Precision Technology Co ltd
Hon Hai Precision Industry Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen Yuzhan Precision Technology Co ltd, Hon Hai Precision Industry Co Ltd filed Critical Shenzhen Yuzhan Precision Technology Co ltd
Priority to CN201210108020.1A priority Critical patent/CN103372797B/en
Priority claimed from CN201210108020.1A external-priority patent/CN103372797B/en
Priority to US13/671,838 priority patent/US20130273818A1/en
Publication of CN103372797A publication Critical patent/CN103372797A/en
Application granted granted Critical
Publication of CN103372797B publication Critical patent/CN103372797B/en
Active legal-status Critical Current
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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
    • B24B27/00—Other grinding machines or devices
    • B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
    • 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
    • B24B27/0038—Other grinding machines or devices with the grinding tool mounted at the end of a set of bars
    • 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
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/002—Grinding heads
    • 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
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
    • B24B47/14—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by liquid or gas pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding

Abstract

A polishing robot used for polishing multiple surfaces of a work piece comprises a control base, a mechanical arm movably connected with the control base, and a polishing device mounted at the tail end of the mechanical arm. The polishing device comprises a shell, a solenoid valve mounted in the shell, a first polishing mechanism and a second polishing mechanism. The shell is provided with a first mounting part and a second mounting part. The first polishing mechanism is mounted in the first mounting part, and the second polishing mechanism is mounted in the second mounting part, so that the first polishing mechanism and the second polishing mechanism are angularly arranged and are connected with the solenoid valve. The solenoid valve is electrically connected with the control base and used for controlling the first polishing mechanism and the second polishing mechanism to polish the work piece. The polishing robot is mechanical and high in polishing efficiency.

Description

Milling robot
Technical field
The present invention relates to a kind of robot, relate in particular to a kind of milling robot with sanding apparatus.
Background technology
At present, metal works is formed burr in process, general main be by mode manually, by manually with sand paper etc. metal works being polished.This manual polishing mode, not only labour intensity is large, and grinding efficiency is low, and easily workpiece is caused damage.
Summary of the invention
In view of above-mentioned condition, be necessary to provide a kind of can mechanization and the higher milling robot of grinding efficiency.
A kind of milling robot carries out grinding process in order to a plurality of surfaces to workpiece.The mechanical arm that this milling robot comprises control block, is flexibly connected with control block, and be installed in the sanding apparatus of this mechanical arm tail end, this sanding apparatus comprises housing, is installed in magnetic valve, the first workpiece polishing mechanism and the second workpiece polishing mechanism in this housing, this housing is provided with the first installation portion and the second installation portion, this first workpiece polishing mechanism partly is installed in this first installation portion, this second sanding apparatus partly is installed in this second installation portion, so that this first workpiece polishing mechanism and this second workpiece polishing mechanism arrange at an angle, and be connected with this magnetic valve; This magnetic valve and this control block are electrically connected, in order to control this first workpiece polishing mechanism and this second workpiece polishing mechanism carries out polishing operation to workpiece.
Milling robot is simple in structure, because the first workpiece polishing mechanism is installed in the first installation portion of housing, the second workpiece polishing mechanism is installed in the second installation portion, enters in the body so that effectively prevent dust, thereby magnetic valve is difficult for by contamination by dust, and then has prolonged the service life of sanding apparatus.In addition, the first workpiece polishing mechanism and the second workpiece polishing mechanism by solenoid control starting or to close the first workpiece polishing mechanism or the second workpiece polishing mechanism, thereby realized the mechanization grinding process to workpiece, and then improved grinding efficiency.
Description of drawings
Fig. 1 is the schematic perspective view of milling robot of the present invention.
Fig. 2 is the schematic perspective view of sanding apparatus shown in Figure 1.
Fig. 3 is the decomposing schematic representation of sanding apparatus shown in Figure 2.
Fig. 4 is the three-dimensional cutaway view of sanding apparatus shown in Figure 2.
Fig. 5 is the use schematic diagram of milling robot shown in Figure 1.
The main element symbol description
Sanding apparatus 100
Workpiece 200
The bottom surface 201
Perisporium 203
Milling robot 300
Control block 301
Mechanical arm 303
Flange 305
Housing 10
Lower cover 11
Base plate 111、131
Perisporium 113、133
The transmission cavity 1112、1312
Host cavity 114
The first side wall 115、135
The second sidewall 117、137
The first installation portion 1172、1372
First accommodates arm 1174
The 3rd sidewall 119、139
The second installation portion 1192、1392
Second accommodates arm 1194
Magnetic valve 20
Tracheae 21
The first workpiece polishing mechanism 30
Actuator 31、51
Eccentric connector 33、53
Polishing pad 35、55
Connecting plate 60
The following specific embodiment further specifies the present invention in connection with above-mentioned accompanying drawing.
The specific embodiment
See also Fig. 1 and Fig. 2, the milling robot 300 of embodiment of the present invention comprises control block 301, mechanical arm 303 and sanding apparatus 100.Mechanical arm 303 is rotationally connected with control block 301, and sanding apparatus 100 is installed on the mechanical arm 303 end away from control block 301, and is electrically connected with control block 301.Mechanical arm 303 and sanding apparatus 100 match a plurality of (referring to such as Fig. 5) of workpiece 200 are polished.For saving space, present embodiment introduces sanding apparatus 100.
In the present embodiment, workpiece 200 comprises circular shape bottom surface 201 and extends the perisporium 203 that is bent to form by bottom surface 201 peripheries that the periphery away from bottom surface 201 on the perisporium 203 forms end face 205.
Sanding apparatus 100 comprises housing 10, magnetic valve 20, the first workpiece polishing mechanism 30 and the second workpiece polishing mechanism 50.
See also Fig. 3 and Fig. 4, housing 10 is L-shaped shape roughly, and it is connected with mechanical arm 303.Housing 10 comprises lower cover 11 and covers at loam cake 13 on the lower cover 11.Lower cover 11 is L-shaped frame shaped roughly, and it comprises base plate 111 and the perisporium 113 that is bent to form by the extension of base plate 111 peripheries.Base plate 111 is L-shaped tabular, and contiguous perisporium 113 positions convex with the transmission cavity 1112 of a hollow on it, in order to air-flow is transferred on the first workpiece polishing mechanism 30.Host cavity 114 of perisporium 113 and base plate 111 common formation is used for accommodating magnetic valve 20.Perisporium 113 comprises the first side wall 115, the second sidewall 117 and the 3rd sidewall 119, the first side wall 115 and the 119 opposing parallel settings of the 3rd sidewall, and perpendicular with the second sidewall 117.Mechanical arm 303 is connected with the first side wall 115, and 1112 contiguous the first side walls 115 settings of transmission cavity, and the first workpiece polishing mechanism 30 is installed on the second sidewall 117, and the second workpiece polishing mechanism 50 is installed on the 3rd sidewall 119.Stretch out with the first side wall 115 intersections on the second sidewall 117 and be formed with the first installation portion 1172, the first installation portions 1172 and the setting that is connected of transmission cavity 1112.Be provided with first of semicircular arc away from the direction convex of the first installation portion 1172 on the second sidewall 117 and accommodate arm 1174.Convex with towards the first side wall 115 on the approximate mid-section of the 3rd sidewall 119 and be provided with second of semicircular arc away from the second installation portion 1192 direction convexes on the second installation portion 1192, the three sidewalls 119 and accommodate arm 1194.
In the present embodiment, the structure of the structure of loam cake 13 and lower cover 11 is roughly the same.Loam cake 13 comprises base plate 131 and the perisporium 133 that is bent to form by the extension of base plate 131 peripheries.Contiguous perisporium 133 positions convex with the transmission cavity 1312 of a hollow on the base plate 131, in order to air-flow is transferred on the second workpiece polishing mechanism 50.Perisporium 133 comprises the first side wall 135, the second sidewall 137 and the 3rd sidewall 139.The first side wall 135 of loam cake 13, the second sidewall 137 and the 3rd sidewall 139 are corresponding with the first side wall 115, the second sidewall 117 and the 3rd sidewall 119 of lower cover 11 respectively.The second sidewall 137 is provided with the first installation portion 1372, the three sidewalls 139 and is provided with the second installation portion 1392.The structure of loam cake 13 is with the structure difference of lower cover 11: the contiguous sidewall setting relative with the second sidewall 137 of the transmission cavity of loam cake 13 1312, and be connected with the second installation portion 1392.
Magnetic valve 20 is installed on the lower cover 11 of housing 10, it is connected with the transmission cavity 1112 of lower cover 11 and the transmission cavity 1312 of loam cake 13 respectively by tracheae 21, and be electrically connected with control block 301, and be connected with the air bag (not shown), so that the air-flow of air bag transfers to the first workpiece polishing mechanism 30 by magnetic valve 20 and the second workpiece polishing mechanism 50 carries out polishing operation.See also Fig. 4 and Fig. 5, the first workpiece polishing mechanism 30 comprises actuator 31, eccentric connector 33 and polishing pad 35.Actuator 31 is fixed in the first installation portion 1172 of lower cover 11, and is electrically connected with magnetic valve 20.In the present embodiment, actuator 31 is air motor.Eccentric connector 33 is connected with actuator 31, and part is contained in first and accommodates in the arm 1174.Polishing pad 35 is in the form of annular discs, and it is contained in first and accommodates in the arm 1174, and is flexibly connected with eccentric connector 33.In the use procedure, polishing pad 35 drives rotation by actuator 31, to rotate around self axis.
The second workpiece polishing mechanism 50 and the first workpiece polishing mechanism 30 arrange at an angle, and are electrically connected with magnetic valve 20.In the present embodiment, the first workpiece polishing mechanism 30 and the 50 mutual vertical settings of the second workpiece polishing mechanism.
In the present embodiment, the structure of the structure of the second workpiece polishing mechanism 50 and the first workpiece polishing mechanism 30 is roughly the same.The second workpiece polishing mechanism 50 comprises actuator 51, eccentric connector 53 and polishing pad 55.The structure difference of the structure of the second workpiece polishing mechanism 50 and the first workpiece polishing mechanism 30 is, the actuator 51 of the second workpiece polishing mechanism 50 is installed in the second installation portion 1192, and the size of the polishing pad 55 of the second workpiece polishing mechanism 50 is greater than the size of the polishing pad 55 of the first workpiece polishing mechanism 30.Therefore, the second workpiece polishing mechanism 50 is compared the polishing area with the first workpiece polishing mechanism 30 larger, thereby grinding efficiency is also higher.In the use procedure, can utilize long-pending larger workpiece 200 bottom surfaces 201 of 50 pairs of buffed surfaces of the second workpiece polishing mechanism to carry out grinding process, in addition, can utilize long-pending less workpiece 200 perisporiums 203 of 30 pairs of buffed surfaces of the first workpiece polishing mechanism and end face 205 grinding process of polishing.
In the present embodiment, sanding apparatus 100 further comprises connecting plate 60, and it is fixed on the first side wall 115,135 of housing 10, and is connected with the flange 305 of mechanical arm 303, in order to connect mechanical arm 303.
During assembling, at first, magnetic valve 20 is installed on the base plate 111 of lower cover 11, and is electrically connected with control block 301, and be connected with transmission cavity 1112,1312 respectively by two tracheaes 21; Then, the actuator 31 of the first workpiece polishing mechanism 30 is installed in the first installation portion 1172 of lower cover 11, and polishing pad 35 correspondences of the first workpiece polishing mechanism 30 are installed in actively first and accommodate in the arm 1174; Then, the actuator 51 of the second workpiece polishing mechanism 50 is installed in the second installation portion 1192, polishing pad 55 correspondences of the second workpiece polishing mechanism 50 are installed in actively second and accommodate in the arm 1194; Follow again, loam cake 13 is covered on the lower cover 11 so that host cavity 114 is sealed; At last, connecting plate 60 is installed on the first side wall 115,135, and is connected with the flange 305 of mechanical arm 303.
Please again consult Fig. 5, during use, at first, workpiece to be polished 200 is positioned; Mechanical arm 303 is driven sanding apparatus 100 move to workpiece 200; Under the control of magnetic valve 20, the end face 205 of 50 pairs of workpiece 200 of the second workpiece polishing mechanism carries out grinding process; Then, bottom surface 201 and the perisporium 203 of 30 pairs of workpiece 200 of magnetic valve 20 control the first workpiece polishing mechanisms carry out respectively grinding process; At last, mechanical arm 303 returns take off workpiece 200.
Milling robot 300 is simple in structure, and it comprises sanding apparatus 100 and the mechanical arm 303 that is connected, and the workpiece 200 that is driven near pending grinding process by mechanical arm 303 in the use procedure carries out quick grinding process with the surface to workpiece 200.Sanding apparatus 100 has adopted the first workpiece polishing mechanism 30 and the second workpiece polishing mechanism 50 and magnetic valve 20, in the use procedure, by controlling magnetic valve 20 with startup or closing the first workpiece polishing mechanism 30 or the second workpiece polishing mechanism 50, thereby realized the mechanization grinding process to workpiece 200, and then improved grinding efficiency.
Further, the actuator 31 of the first workpiece polishing mechanism 30 is installed in the first installation portion 1172 of housing 10, polishing pad 35 is contained in first and accommodates in the arm 1174, enter in the host cavity 114 so that effectively prevent dust, thereby magnetic valve 20 is difficult for by contamination by dust, and then has prolonged the service life of sanding apparatus 100.Because, polishing pad 35 sizes of the first workpiece polishing mechanism 30 are different with polishing pad 55 sizes of the second workpiece polishing mechanism 50, thereby when workpiece 200 polished, select the polishing pads 35,57 of different sizes according to the polishing area size of workpiece 200, and then the raising grinding efficiency, and reduced production cost.
In addition, those skilled in the art can also do other variation in spirit of the present invention, yet when, the variation that these are done according to spirit of the present invention all should be included in the present invention's scope required for protection.

Claims (10)

1. milling robot, carry out grinding process in order to a plurality of surfaces to workpiece, it is characterized in that: this milling robot comprises control block, mechanical arm with the control block flexible connection, and be installed in the sanding apparatus of this mechanical arm tail end, this sanding apparatus comprises housing, be installed in the magnetic valve in this housing, the first workpiece polishing mechanism and the second workpiece polishing mechanism, this housing is provided with the first installation portion and the second installation portion, this first workpiece polishing mechanism partly is installed in this first installation portion, this second sanding apparatus partly is installed in this second installation portion, so that this first workpiece polishing mechanism and this second workpiece polishing mechanism arrange at an angle, and be connected with this magnetic valve respectively; This magnetic valve and this control block are electrically connected, in order to control this first workpiece polishing mechanism and this second workpiece polishing mechanism carries out polishing operation to workpiece.
2. milling robot as claimed in claim 1, it is characterized in that: this housing comprises lower cover and covers at the loam cake that this time covers, this lower cover and this loam cake include perisporium, this perisporium comprises the first side wall, the second sidewall and the 3rd sidewall, this the first side wall and the 3rd sidewall opposing parallel arrange, and respectively with the perpendicular setting of this second sidewall; This first side wall is connected with this mechanical arm, and this first side wall intersection stretches out and is formed with the first installation portion on this second sidewall, is convexly equipped with towards this first side wall on the 3rd sidewall to be formed with this second installation portion.
3. milling robot as claimed in claim 2 is characterized in that: this lower cover and this loam cake all also comprise base plate, and this base plate is connected with this perisporium, and jointly forms a host cavity, and this magnetic valve is installed in this host cavity.
4. milling robot as claimed in claim 3, it is characterized in that: contiguous this perisporium convexes with respectively the transmission cavity on the base plate of this lower cover and this loam cake, the first side wall setting of contiguous this lower cover of the transmission cavity of this lower cover, and be connected with the first installation portion and this magnetic valve of this lower cover respectively.
5. milling robot as claimed in claim 4 is characterized in that: the sidewall setting that the transmission cavity of this loam cake is contiguous relative with the second sidewall of this loam cake, and be connected with the second installation portion and this magnetic valve of this loam cake respectively.
6. milling robot as claimed in claim 2 is characterized in that: this first workpiece polishing mechanism and this second workpiece polishing mechanism include actuator, eccentric connector and polishing pad, and this actuator and this polishing pad are rotationally connected by this eccentric connector; The actuator of this first workpiece polishing mechanism is installed in this first installation portion, and the actuator of this second workpiece polishing mechanism is installed in this second installation portion.
7. milling robot as claimed in claim 6 is characterized in that: be provided with first away from the direction convex of this first installation portion on this second sidewall and accommodate arm, the polishing pad of this first workpiece polishing mechanism is contained in actively this and first accommodates in the arm.
8. milling robot as claimed in claim 6 is characterized in that: be provided with second away from this second installation portion direction convex on the 3rd sidewall and accommodate arm, the polishing pad of this second workpiece polishing mechanism is contained in actively this and second accommodates in the arm.
9. milling robot as claimed in claim 6, it is characterized in that: the size of the polishing pad of this second workpiece polishing mechanism is greater than the size of the polishing pad of this first workpiece polishing mechanism.
10. milling robot as claimed in claim 2, it is characterized in that: this sanding apparatus also comprises connecting plate, this connecting plate is fixed on the first side wall of this lower cover and this loam cake, and is connected with this mechanical arm.
CN201210108020.1A 2012-04-13 2012-04-13 Milling robot Active CN103372797B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201210108020.1A CN103372797B (en) 2012-04-13 Milling robot
US13/671,838 US20130273818A1 (en) 2012-04-13 2012-11-08 Manipulator and polishing mechanism thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201210108020.1A CN103372797B (en) 2012-04-13 Milling robot

Publications (2)

Publication Number Publication Date
CN103372797A true CN103372797A (en) 2013-10-30
CN103372797B CN103372797B (en) 2016-11-30

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104440469A (en) * 2014-11-10 2015-03-25 南车青岛四方机车车辆股份有限公司 Polishing method and system
CN105643410A (en) * 2016-04-01 2016-06-08 苏州猎奇智能设备有限公司 Polishing machine
CN105666275A (en) * 2016-04-07 2016-06-15 广东拓斯达科技股份有限公司 Manipulator grinding system
CN105666289A (en) * 2016-02-01 2016-06-15 苏州钧隆塑胶有限公司 Polishing method of mobile phone shell
CN105690186A (en) * 2016-01-29 2016-06-22 宇龙计算机通信科技(深圳)有限公司 Drawing device and drawing method
CN106078446A (en) * 2016-08-03 2016-11-09 湖南帝星智能科技有限公司 A kind of polisher
CN106715049A (en) * 2014-07-15 2017-05-24 克夫拉碳研磨公司 Apparatus and method for grinding carbonaceous materials
CN107073556A (en) * 2014-06-30 2017-08-18 Ba装配及转钥系统有限公司 Executor with manipulator arm
CN107363728A (en) * 2017-09-13 2017-11-21 安徽海拓志永智能装备股份有限公司 A kind of sanding apparatus for being used for 90 ° of pipe fittings
CN108262654A (en) * 2018-02-27 2018-07-10 重庆华数机器人有限公司 The work station of polishing plastic cylindrical workpiece
CN108857854A (en) * 2017-05-11 2018-11-23 腾升科技股份有限公司 Grinding device and clamping seat thereof
CN109333259A (en) * 2018-11-26 2019-02-15 南安市博胤机械科技有限公司 Polishing device for jeans treatment damage-proof decoration
CN110722441A (en) * 2019-10-10 2020-01-24 达英科(南京)设备有限公司 Polishing robot capable of realizing diameter change through lever
US11717937B2 (en) * 2017-06-21 2023-08-08 Taikisha Ltd. Automatic polishing system

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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107073556A (en) * 2014-06-30 2017-08-18 Ba装配及转钥系统有限公司 Executor with manipulator arm
CN106715049A (en) * 2014-07-15 2017-05-24 克夫拉碳研磨公司 Apparatus and method for grinding carbonaceous materials
CN104440469A (en) * 2014-11-10 2015-03-25 南车青岛四方机车车辆股份有限公司 Polishing method and system
CN104440469B (en) * 2014-11-10 2017-01-11 中车青岛四方机车车辆股份有限公司 Polishing method and system
CN105690186A (en) * 2016-01-29 2016-06-22 宇龙计算机通信科技(深圳)有限公司 Drawing device and drawing method
CN105666289A (en) * 2016-02-01 2016-06-15 苏州钧隆塑胶有限公司 Polishing method of mobile phone shell
CN105643410A (en) * 2016-04-01 2016-06-08 苏州猎奇智能设备有限公司 Polishing machine
CN105666275A (en) * 2016-04-07 2016-06-15 广东拓斯达科技股份有限公司 Manipulator grinding system
CN106078446A (en) * 2016-08-03 2016-11-09 湖南帝星智能科技有限公司 A kind of polisher
CN108857854A (en) * 2017-05-11 2018-11-23 腾升科技股份有限公司 Grinding device and clamping seat thereof
CN108857854B (en) * 2017-05-11 2020-12-15 腾升科技股份有限公司 Grinding device and clamping seat thereof
US11717937B2 (en) * 2017-06-21 2023-08-08 Taikisha Ltd. Automatic polishing system
CN107363728A (en) * 2017-09-13 2017-11-21 安徽海拓志永智能装备股份有限公司 A kind of sanding apparatus for being used for 90 ° of pipe fittings
CN108262654A (en) * 2018-02-27 2018-07-10 重庆华数机器人有限公司 The work station of polishing plastic cylindrical workpiece
CN109333259A (en) * 2018-11-26 2019-02-15 南安市博胤机械科技有限公司 Polishing device for jeans treatment damage-proof decoration
CN110722441A (en) * 2019-10-10 2020-01-24 达英科(南京)设备有限公司 Polishing robot capable of realizing diameter change through lever
CN110722441B (en) * 2019-10-10 2021-04-02 杭州龙砺智能科技有限公司 Polishing robot capable of realizing diameter change through lever

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