CN103692317B - Belt grinder with force feedback function - Google Patents

Belt grinder with force feedback function Download PDF

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Publication number
CN103692317B
CN103692317B CN201310670063.3A CN201310670063A CN103692317B CN 103692317 B CN103692317 B CN 103692317B CN 201310670063 A CN201310670063 A CN 201310670063A CN 103692317 B CN103692317 B CN 103692317B
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CN
China
Prior art keywords
abrasive band
force feedback
force
tensioning wheel
wheel
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Active
Application number
CN201310670063.3A
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Chinese (zh)
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CN103692317A (en
Inventor
谢小辉
徐国卿
赖礼泉
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Priority to CN201310670063.3A priority Critical patent/CN103692317B/en
Publication of CN103692317A publication Critical patent/CN103692317A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B21/00Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/18Accessories
    • B24B21/20Accessories for controlling or adjusting the tracking or the tension of the grinding belt
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B55/00Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/06Dust extraction equipment on grinding or polishing machines
    • B24B55/08Dust extraction equipment on grinding or polishing machines specially designed for belt grinding machines

Abstract

The invention provides a belt grinder with a force feedback function. The belt grinder is used for grinding hardware, is connected with a control center and comprises a sanding belt, a transmission wheel assembly, a force feedback assembly, a support seat and a machine frame, wherein the sanding belt is used for grinding the hardware, the transmission wheel assembly is used for driving the sanding belt to rotate and comprises a driving wheel, a driven wheel and a tensioning wheel, the driving wheel, the driven wheel and the tensioning wheel are arranged on the same plane, the sanding belt is matched with the driving wheel, the driven wheel and the tensioning wheel and realize the rotary transmission along the peripheral tangent line direction, the force feedback assembly is used for feeding back tensioning force received by the sanding belt to the control center, and comprises a support frame and an installing panel, the installing panel is movably connected onto the support frame, a detection assembly used for detecting the sliding and moving quantity of the installing panel is arranged on the support frame, the driving wheel, the driven wheel and the tensioning wheel are all arranged on the installing panel, the support frame is arranged on the support seat, the machine frame is used for driving the support seat to slide and move along the machine frame, and the support seat is arranged on the machine frame and is connected with the machine frame. The belt grinder can realize the fully automatic high-smoothness surface treatment on the hardware.

Description

Belt sander with force feedback
Technical field
The invention belongs to technical field of surface, more particularly, to a kind of belt sander with force feedback.
Background technology
When handware (such as door handle, bathroom hardware etc.) is surface-treated, typically it is carried out beat using belt sander Mill/grinding.In prior art, usually man-hour manually hand-held handware, belt sander is polished, and existing belt sander is not had Automatically adjust the function of polishing dynamics (i.e. contact force between handware and abrasive band), need to rely on feel and the warp of operator Test to control polishing dynamics, the surface flatness extreme difference of the handware being so surface-treated;Furthermore, due to operator's length Time, hand-held handware was easily tired, therefore reduce further the smoothness on handware surface;In addition, polishing from handware The metal fillings getting off sucks human lung, has a strong impact on the healthy of operator, also substantially increases the cost of labour force. Although some belt sanders can carry out fine adjustments to polishing dynamics, it is only trickle improvement with respect to the former, it is right The effect of handware surface polishing is not still good.
Content of the invention
It is an object of the invention to overcoming the defect of prior art, there is provided a kind of belt sander with force feedback, this abrasive band Machine can carry out high-precision surface treatment to handware automatically.
The present invention is achieved in that a kind of belt sander with force feedback, and for handware of polishing, it is with control centre even Connect, comprising:
Abrasive band, for described handware of polishing, it is annular;
Driving pulley assembly, for driving the revolution of described abrasive band, it includes the active for providing driving force for described abrasive band Wheel, the driven pulley being rotated by the drive of described abrasive band and the tensioning wheel for providing tensile force for described abrasive band, described drivewheel, Described driven pulley and described tensioning wheel are in the layout of on same plane, described abrasive band and described drivewheel, described driven pulley and described Tensioning wheel coordinates and along its peripheral tangential direction revolution transmission;
Force feedback assembly, for the tensile force suffered by described abrasive band is fed back to described control centre, it includes supporting Frame and can be along the installation panel of support frame as described above surface sliding, described installation panel is movably connected on support frame as described above, institute State bracing frame to be provided with for detecting the described detection components installing panel slippage, described drivewheel, described driven pulley and institute State tensioning wheel all on described installation panel;
Support base, support frame as described above is on described support base;
Frame, for driving described support base along described frame sliding, described support base is in described frame and therewith Connect.
Further, described driving pulley assembly also includes the thrust cylinder modules for providing thrust for described tensioning wheel, Described tensioning wheel is rotationally connected with described thrust cylinder modules, and described thrust cylinder modules are connected with described control centre.
Further, described thrust cylinder modules include having the thrust cylinder of push-pull shaft, are used for installing described tensioning The wheel seat of wheel and the pedestal for installing described thrust cylinder, described wheel seat is provided with rotating shaft, and described tensioning wheel is located at described In rotating shaft, on described pedestal, the push-pull shaft of described thrust cylinder is connected described thrust cylinder with described wheel seat, described pedestal It is provided with and guide post along its axial stretching is driven by described push-pull shaft, described guide post is connected with described wheel seat, described thrust Cylinder is connected with described control centre.
Specifically, described pedestal is vertically provided with end plate, described end plate be provided with hold the through hole that passes through of described push-pull shaft with And it is sheathed on sleeve on described guide post, described push-pull shaft is connected through described through hole with described wheel seat, and described guide post is inserted In described sleeve.
More specifically, described guide post and described sleeve are two.
Preferably, described driving pulley assembly includes a described drivewheel, two described driven pulleys, described tensioning wheels And one be used for providing the motor rotating driving force, described drivewheel, two described driven pulleys and described for described drivewheel Tensioning wheel is combined into rectangular layout, and described abrasive band is along the tangent line side of described drivewheel, two described driven pulleys and described tensioning wheel To rectangular revolution transmission, described motor is on described support base.
Further, fixed force feedback cylinder on support frame as described above, described force feedback cylinder has connecting shaft, described peace It is installed with l template, described l template is connected with described connecting shaft on dress panel surface.
Further, also include dust collection assembly, for the metal fillings getting off of polishing is reclaimed from described handware, It includes inhaling bits bucket and for draining the crumb-suction pipe of described metal fillings for absorb described metal fillings, described suction bits bucket located at On described support base, described crumb-suction pipe connects the described lower port inhaling bits bucket, and described suction bits bucket is located at the underface in described abrasive band; Described support base is provided with a passage, and described crumb-suction pipe is in described passage.
Specifically, described frame is provided with guide rail and can be along the slide block of described slide, and described support base is located at institute State on slide block and be attached thereto.
More specifically, also including protective cover, described protective cover on described support base, described driving pulley assembly and described Force feedback assembly is contained in described protective cover.
Belt sander with force feedback provided by the present invention has following technical effect that
During present invention polishing handware, constantly detect the tensile force in abrasive band by force feedback assembly, the data of this power is passed Deliver to control centre, after control centre is to the data analysiss of tensile force, control signal is sent to belt sander, control tensioning wheel to sand There is provided tensile force is provided, so that grinding force is maintained in constant numerical value it is ensured that the high glossy on handware surface.The present invention's Bruting process need not manually participate in, whole-course automation, its high working efficiency, processing cost low it is easy to operation.The present invention is by each group Part modularized design, it is not only easy to safeguard, and is easy to standardized and popularized.In addition, overall structure of the present invention is simple, its whole machine Low cost of manufacture, and it is easily changed abrasive band.
Brief description
Fig. 1 is the structure decomposition figure of the belt sander with force feedback in the embodiment of the present invention;
Fig. 2 is the whole machine schematic diagram of the belt sander with force feedback in the embodiment of the present invention;
Fig. 3 is the structure decomposition figure of force feedback assembly in the embodiment of the present invention;
Fig. 4 is the schematic diagram of thrust cylinder modules in the embodiment of the present invention;
Fig. 5 is the structure decomposition figure of thrust cylinder modules in the embodiment of the present invention;
Fig. 6 is the schematic diagram of dust collection assembly in the embodiment of the present invention;
Fig. 7 is the structure decomposition figure of dust collection assembly in the embodiment of the present invention;
Fig. 8 is the partial enlarged drawing of i in Fig. 1.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, and It is not used in the restriction present invention.
Referring to Fig. 1 and Fig. 2, embodiments provide a kind of belt sander with force feedback, for handware of polishing, its It is connected with control centre (not shown), comprising:
Abrasive band 1, for described handware of polishing, it is annular;
Driving pulley assembly 2, for driving described abrasive band 1 to turn round, it includes the master for providing driving force for described abrasive band 1 Driving wheel 21, driven the driven pulley 22 of rotation and the tensioning wheel 23 for providing tensile force for described abrasive band 1 by described abrasive band 1, Described drivewheel 21, described driven pulley 22 and described tensioning wheel 23 are in the layout of on same plane, described abrasive band 1 and described drivewheel 21st, described driven pulley 22 and described tensioning wheel 23 coordinate and along its peripheral tangential direction revolution transmission;
Force feedback assembly 3, for the tensile force suffered by described abrasive band 1 is fed back to described control centre, it includes propping up Support 31 and can be along the installation panel 32 of support frame as described above 31 surface sliding, described installation panel 32 is movably connected on described On support 31, support frame as described above 31 is provided with for detecting described detection components 33(installing panel 32 slippage referring to Fig. 3), Described drivewheel 21, described driven pulley 22 and described tensioning wheel 23 are all on described installation panel 32;
Support base 41, support frame as described above 31 is on described support base 41;
Frame 5, for driving described support base 41 along the sliding of described frame 5, described support base 41 is in described frame 5 And be attached thereto.
In the embodiment of the present invention control centre of indication be can full intellectual analysis data and send control instruction computer, Rather than manually operated control centre.
The embodiment of the present invention is that abrasive band 1 arranges a tensile force by control centre, and this tensile force is mainly by tensioning wheel 23 controls, after the belt sander with force feedback starts, abrasive band 1 starts constantly to turn round.Control centre controls support base 41 sliding, by sand With 1 near and contact handware (such as door handle, bathroom hardware etc.) to be polished start polishing it will be understood that polishing Cheng Zhong, the contact dynamics between handware and abrasive band 1 will be continually changing, and now, detect the shape in abrasive band 1 by force feedback assembly 3 The displacement of change and installation panel 32 determines the tensile force suffered by abrasive band 1, and this data is sent to control centre, through data Analysis, concrete control instruction is back to belt sander by control centre again, by adjusting the pushing force to abrasive band 1 for the tensioning wheel 23, Reach the effect of adjustment abrasive band 1 tensile force eventually, thus the contact force between abrasive band 1 and handware is maintained at constant numerical value. Before the polishing of handware surface finishes, the work process that belt sander is constantly repeated above-mentioned detection and adjusts abrasive band 1 tensile force, Until polishing finishes.
During present invention polishing handware, constantly detect the tensile force in abrasive band by force feedback assembly, the data of this power is passed Deliver to control centre, after control centre is to the data analysiss of tensile force, control signal is sent to belt sander, control tensioning wheel to sand There is provided tensile force is provided, so that grinding force is maintained in constant numerical value it is ensured that the high glossy on handware surface.The present invention's Bruting process need not manually participate in, whole-course automation, and it is quick on the draw, high working efficiency, processing cost low it is easy to operation, also Polishing position can be controlled, baroque handware can be carried out with surface polishing grinding process.The present invention is by each assembly module Change design, it is not only easy to safeguard, and is easy to standardized and popularized.In addition, overall structure of the present invention is simple, its whole mechanism causes This is low, and is easily changed abrasive band.
Referring to Fig. 1, described driving pulley assembly 2 also includes the thrust cylinder modules for providing thrust for described tensioning wheel 23 24, described tensioning wheel 23 is rotationally connected with described thrust cylinder modules 24, in described thrust cylinder modules 24 and described control The heart connects.The embodiment of the present invention is passed through to change the pushing force that thrust cylinder modules 24 push abrasive band 1, changes the tensile force in abrasive band 1.
Referring to Fig. 4, described thrust cylinder modules 24 include having the thrust cylinder 241 of push-pull shaft 2411, are used for installing institute State the wheel seat 242 of tensioning wheel 23 and the pedestal 243 for installing described thrust cylinder 241, described wheel seat 242 is provided with rotating shaft 2421, described tensioning wheel 23 in described rotating shaft 2421, described thrust cylinder 241 on described pedestal 243, described thrust The push-pull shaft 2411 of cylinder 241 is connected with described wheel seat 242, and described pedestal 243 is provided with and drives edge by described push-pull shaft 2411 The guide post 244(of its axial stretching is that guide post 244 is be arranged in parallel with push-pull shaft 2411), described guide post 244 and described wheel Seat 242 connection, described thrust cylinder 241 is connected with described control centre.The embodiment of the present invention is sent by control centre Control instruction, controls the stroke of push-pull shaft 2411, to change the tensile force suffered by abrasive band 1.In addition, the embodiment of the present invention is also logical Cross guide post 244 and ensure that wheel seat 242 can smoothly move along the axial direction of push-pull shaft 2411 and not offset.
In conjunction with Fig. 5, described pedestal 243 is vertically provided with end plate 245, described end plate 245 is provided with the described push-pull shaft of appearance Through hole 2451 that 2411 pass through and be sheathed on sleeve 246 on described guide post 244, described push-pull shaft 2411 passes through described logical Hole 2451 is connected with described wheel seat 242, and described guide post 244 is inserted in described sleeve 246.Guide post 244 is in sleeve 246 Stretching motion can smoothly be carried out.
Specifically, described guide post 244 and described sleeve 246 are two.Two guide posts 244 and a push-pull shaft 2411 one triangular layout of formation, from geometrical principle, 3 points determine a face, in this way, it is possible to ensure wheel seat 242 energy Enough smoothly telescopic movings.
Referring to Fig. 1, as the one of which embodiment of the present invention, described driving pulley assembly 2 includes a described active Wheel 21, two described 22, described tensioning wheels 23 of driven pulley and one be used for for described drivewheel 21 provide rotate drive The motor 25 of power, described 21, two described driven pulleys 22 of drivewheel and described tensioning wheel 23 are combined into rectangular layout, described abrasive band 1 along described 21, two described driven pulleys 22 of drivewheel and described tensioning wheel 23 tangential direction rectangular revolution transmission, described electricity Machine 25 is on described support base 41.Referring to Fig. 2, abrasive band 1 is located at two driven pulleys 22 with the contact point (polishing point) of handware Between.The layout structure of rectangle it is ensured that abrasive band 1 can sense the change that tensioning wheel 23 pushes dynamics active and intelligently, thus Well tensile force is held in a constant value.
Referring to Fig. 3 and Fig. 8, fixed force feedback cylinder 34 on support frame as described above 31, described force feedback cylinder 34 has even Spindle 341, described installation panel 32 surface is installed with l template 35, described l template 35 is connected with described connecting shaft 341.Power is anti- Feedback cylinder 34 is used for adjusting the relative position installed between panel 32 and bracing frame 31, and cooperation driving pulley assembly 2 adjusts abrasive band 1 and grinds Cut the dynamics of handware.
Referring to Fig. 6 and Fig. 7, the belt sander that the embodiment of the present invention is provided also includes dust collection assembly 4, for reclaim from Polish on described handware the metal fillings getting off, it includes considering bucket 42 to be worth doing for the suction absorbing described metal fillings and is used for draining institute State the crumb-suction pipe (not shown) of metal fillings, on described support base 41, described crumb-suction pipe connects described suction to described suction bits bucket 42 The lower port of bits bucket 42, described suction bits bucket 42 is located at the underface (referring to Fig. 2) in described abrasive band 1;Described support base 41 is provided with one Passage 411, described crumb-suction pipe is in described passage 411.Crumb-suction pipe is hidden in passage 411, and it does not only affect belt sander Work, and do not affect the attractive in appearance of it.
Referring to Fig. 1, described frame 5 is provided with guide rail 51 and the slide block 52 that can slide, described support along described guide rail 51 Seat 41 and is attached thereto on described slide block 52.Certainly, frame 5 is not limited to the structure that the embodiment of the present invention is provided, It can be also other any feasible structures, as long as ensure that support base 41 can the steady sliding of control of controlled center be Can.
With continued reference to Fig. 1 and Fig. 2, the belt sander with force feedback that the embodiment of the present invention is provided also includes protective cover 6, institute State protective cover 6 on described support base 41, described driving pulley assembly 2 and described force feedback assembly 3 are contained in described protective cover 6 Interior.Protective cover 6 can be used for protecting driving pulley assembly 2 and force feedback assembly 3 so as to exempt from outside influences.
The present invention can be combined with mechanical hand, is combined into work station, and mechanical hand is used for clamping handware, its controlled center Control.
For ensureing that those skilled in the art better understood when the present invention, the tool being provided in conjunction with the embodiment of the present invention Body structure, the overall process of the detailed description polishing handware of the belt sander with force feedback:
(mechanical hand) fixed clamp handware;
Thrust cylinder 241 is pre-set to the thrust of tensioning wheel 23 it is ensured that abrasive band 1 has opening of determination by control centre Clamp force;
Start belt sander, abrasive band 1 rotates;
Control centre controls support base 41 close to handware sliding;
Abrasive band part between two driven pulleys 22 is contacted with handware and starts grinding;
Due to handware grinding degree and the difference contacting dynamics, the tensile force in abrasive band 1 changes;
The detection components 33 of force feedback assembly 3 detect installs panel 32(or driving pulley assembly 2) suffered by power, and should The numerical value detecting is sent to control centre;
After control centre's logarithm value is analyzed, send instruction to thrust cylinder 241, adjust it and push the power of tensioning wheel 23 Degree, thus change the tensile force in abrasive band 1;Meanwhile, control force feedback cylinder 34, adjust and install between panel 32 and bracing frame 31 Relative displacement;
The metal crumbs powders that handware grinding is got off by the suction bits bucket 42 of dust collection assembly 4 siphon away;
Constantly repeat above-mentioned force feedback and the step adjusting abrasive band tensile force, until handware surface treatment finishes;
After handware surface treatment finishes, control centre controls support base 41 mobile, so that abrasive band 1 is separated with handware;
Close belt sander or the handware facing operation carrying out next round.Finish.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention Any modification, equivalent or improvement made within god and principle etc., should be included within the scope of the present invention.

Claims (10)

1. a kind of belt sander with force feedback, for handware of polishing, it is connected it is characterised in that including with control centre:
Abrasive band, for described handware of polishing, it is annular;
Driving pulley assembly, for driving the revolution of described abrasive band, it include for driving force is provided for described abrasive band drivewheel, by Described abrasive band drives the driven pulley rotating and the tensioning wheel for providing tensile force for described abrasive band, described drivewheel, described Driven pulley and described tensioning wheel are in the layout of on same plane, described abrasive band and described drivewheel, described driven pulley and described tensioning Wheel coordinates and along its peripheral tangential direction revolution transmission;
Force feedback assembly, for the tensile force suffered by described abrasive band is fed back to described control centre, it include bracing frame with And can be along the installation panel of support frame as described above surface sliding, described installation panel is movably connected on support frame as described above, described Support is provided with for detecting the described detection components installing panel slippage, described drivewheel, described driven pulley and described Bearing up pulley is all on described installation panel;
Support base, support frame as described above is on described support base;
Frame, for driving described support base along described frame sliding, described support base and is attached thereto in described frame;
It is that described abrasive band arranges the first tensile force by described control centre, described first tensile force is mainly by described tensioning wheel control System, after startup, described abrasive band starts constantly to turn round, and described control centre controls described support base sliding, will be close for described abrasive band And contact handware to be polished start polish, the contact dynamics in bruting process, between described handware and described abrasive band To be continually changing, be determined by the displacement of the deformation in abrasive band and described installation panel described in described force feedback component detection described The second tensile force suffered by abrasive band, and described second tensile force is sent to described control centre, through data analysiss, described control Concrete control instruction is back to belt sander by center processed again, by adjusting the pushing force to described abrasive band for the described tensioning wheel, finally Reach the effect of the tensile force adjusting described abrasive band, thus the contact force between described abrasive band and described handware is maintained at perseverance Fixed numerical value.
2. as claimed in claim 1 the belt sander with force feedback it is characterised in that: described driving pulley assembly also include for for Described tensioning wheel provides the thrust cylinder modules of thrust, and described tensioning wheel is rotationally connected with described thrust cylinder modules, described Thrust cylinder modules are connected with described control centre.
3. as claimed in claim 2 the belt sander with force feedback it is characterised in that: described thrust cylinder modules include having and push away The thrust cylinder of pulling shaft, for installing the wheel seat of described tensioning wheel and for installing the pedestal of described thrust cylinder, described wheel Seat be provided with rotating shaft, described tensioning wheel in described rotating shaft, described thrust cylinder on described pedestal, described thrust cylinder Push-pull shaft be connected with described wheel seat, described pedestal be provided with by described push-pull shaft drive along its axial stretching guide post, institute State guide post to be connected with described wheel seat, described thrust cylinder is connected with described control centre.
4. as claimed in claim 3 the belt sander with force feedback it is characterised in that: end plate, institute are vertically provided with described pedestal State end plate and be provided with and hold the through hole that passes through of described push-pull shaft and be sheathed on sleeve on described guide post, described push-pull shaft passes through Described through hole is connected with described wheel seat, and described guide post is inserted in described sleeve.
5. as claimed in claim 4 the belt sander with force feedback it is characterised in that: described guide post and described sleeve are two Individual.
6. the belt sander with force feedback as described in any one of claim 1-5 it is characterised in that: described driving pulley assembly includes One described drivewheel, two described driven pulleys, a described tensioning wheel and one are used for providing rotation for described drivewheel The motor of driving force, described drivewheel, two described driven pulleys and described tensioning wheel are combined into rectangular layout, and described abrasive band is along institute State the tangential direction rectangular revolution transmission of drivewheel, two described driven pulleys and described tensioning wheel, described motor is located at described On support base.
7. as claimed in claim 1 the belt sander with force feedback it is characterised in that: fixed force feedback gas on support frame as described above Cylinder, described force feedback cylinder has connecting shaft, and described installation panel surface is installed with l template, described l template and described connection Axle connects.
8. as claimed in claim 1 the belt sander with force feedback it is characterised in that: also include dust collection assembly, for return The metal fillings getting off of polishing is received from described handware, it includes considering bucket to be worth doing for the suction absorbing described metal fillings and is used for draining The crumb-suction pipe of described metal fillings, on described support base, described crumb-suction pipe connects the described lower end inhaling bits bucket to described suction bits bucket Mouthful, described bits of inhaling struggle against positioned at the underface in described abrasive band;Described support base is provided with a passage, and described crumb-suction pipe is located at described passage Interior.
9. as claimed in claim 1 the belt sander with force feedback it is characterised in that: described frame is provided with guide rail and can edge The slide block of described slide, described support base and is attached thereto on described slide block.
10. as claimed in claim 1 the belt sander with force feedback it is characterised in that: also include protective cover, described protective cover sets On described support base, described driving pulley assembly and described force feedback assembly are contained in described protective cover.
CN201310670063.3A 2013-12-10 2013-12-10 Belt grinder with force feedback function Active CN103692317B (en)

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CN104440475A (en) * 2014-11-27 2015-03-25 合肥京东方光电科技有限公司 Belt transmission device and grinding device
DE102015106480A1 (en) * 2015-04-27 2016-10-27 Ferrobotics Compliant Robot Technology Gmbh Device for surface treatment
CN106695503B (en) * 2016-12-21 2018-09-07 哈尔滨工业大学 A kind of bathroom metalwork precision rubbing down robot system

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CN203579363U (en) * 2013-12-10 2014-05-07 深圳先进技术研究院 Sand belt machine with force feedback

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CN201333653Y (en) * 2008-12-26 2009-10-28 方星星 Automatic pneumatic grinding belt sample grinding machine
CN102107384A (en) * 2010-12-21 2011-06-29 席文飞 Automatic sanding and polishing device for industrial robot
CN102501157A (en) * 2011-11-21 2012-06-20 长春大学 Pressure adjustment type abrasive belt grinding device
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