CN105081932A - Rotating tower type robot polishing mechanism - Google Patents
Rotating tower type robot polishing mechanism Download PDFInfo
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- CN105081932A CN105081932A CN201510510942.9A CN201510510942A CN105081932A CN 105081932 A CN105081932 A CN 105081932A CN 201510510942 A CN201510510942 A CN 201510510942A CN 105081932 A CN105081932 A CN 105081932A
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- polishing
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- polishing mechanism
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Classifications
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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
- B24B25/00—Grinding machines of universal type
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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
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a rotating tower type robot polishing mechanism; the rotating tower type robot polishing mechanism is connected with tail ends of arms of an industrial robot through a connecting bracket (7) and a flange plate (29); under the synergistic effect of a driving part and an upper computer, the arms of the industrial robot drive polishing cutters in a tool magazine of the polishing mechanism to polish the surfaces of workpieces in a given polishing path; and the tool magazine adopts a round table type rotating tower tool magazine. The rotating tower type tool magazine is applied to the polishing mechanism; the polishing robot can carry more polishing cutters to satisfy the machining demands of different surfaces to be machined; meanwhile, an automatic tool exchange system realizes automatic switchover of the cutters in the machining of the different surfaces by the polishing robot, so that the machining efficiency is improved; the polishing mechanism comprises a connecting part, a feeding part, a driving part and an automatic tool exchange part; and through the connecting fit among all the parts, the polishing mechanism can automatic replace the polishing cutters in different polishing procedures.
Description
Technical field
The present invention relates to the application of industrial robot, is a kind of device carrying out mold cavity surface finish processing operation for industrial robot.
Background technology
Assist the research field of polishing to be mainly divided into both direction at industrial robot both at home and abroad, one is the holistic approach of Robotic polishing system; Two is design and research of robot polishing mechanism.
The domestic holistic approach to Robotic polishing system mainly concentrates on the scientific research places such as colleges and universities.The Central China University of Science and Technology adopts Puma-562 type industrial robot to perform polishing task, several aspect such as automatically to generate from the foundation of technical process modeling, Process knowledge database and database, the structure of Intelligent Technological Project system, polishing tool track and be studied (Yuan Chuming, Zhang Lei. the research of robot assisted mould automatic polishing and development trend [J]. China Mechanical Engineering, 2000,11 (12): 1428-1430.).
Shanghai Communications University adopts FAROT-Mb-315 type industrial robot, work station, polishing instrument etc. to build robot grinding-polishing system (Lang Zhi, Li Chengqun; YUN surpasses. robot flexibility polishing system research [J]. mechanical engineer, 2006, (6): 26-28.)
At the design aspect of robot polishing mechanism, Harbin Institute of Technology has carried out lagrangian dynamics model construction to its polishing mechanism designed, its flexible polishing performance is analyzed from point of theory, and for the research of its control mode provide according to (Du Yue. the optimal design of robot assisted polishing system end polishing tool and trajectory planning [D]. Harbin: Harbin Institute of Technology, 2010.).
Zhejiang Polytechnical University devises a kind of air bag polishing mechanism being applied to free form surface, and formulated corresponding polishing feeding mode (golden open-birth according to its design feature, timing is rung, Zhang Li. the modularized design of air bag polishing tool and application [J]. electromechanical engineering, 2012,29 (12): 1395-1399.).
Known by consulting the documents and materials relevant to robot polishing field, existing robot polishing mechanism in use there will be the place of inconvenience profit.Such as, the polishing tool that the many employings of polishing mechanism are single, be difficult to meet the polishing on mold cavity surface of type complexity, polishing process complexity, can only be out of service at the relief polissoir on the surface or a certain procedure that complete a certain type, more manually change polishing tool by operator.This mode can reduce working (machining) efficiency undoubtedly, is also unfavorable for the mass of product, scale, modern production simultaneously.
To sum up, also experimental state is in industrial robot automatic polishing systematic research major part both at home and abroad, and the holistic approach laying particular emphasis on polishing system (is revived soldier, Liao Hongyi, Su Qingshuan. the current situation and development trend [J] of robot mold polish. mould industry, 2012,38 (6): 63-66.), the research of robot polishing mechanism is shown slightly not enough.
Summary of the invention
Technical problem to be solved by this invention is: provide a kind of rotary type tower robot polishing mechanism, low to solve the working (machining) efficiency that existing polishing machine can not cause according to finished surface automatic tool changer, even needs the technical disadvantages such as manual operations.
The technical scheme that the present invention solves the employing of its technical problem is:
Rotary type tower robot provided by the invention polishing mechanism, comprise drive part, this polishing mechanism is connected with industrial machine human arm end with ring flange by connection bracket, under drive part and host computer synergy, make industrial machine human arm drive the polishing tool in polishing mechanism tool magazine to carry out polishing along set polishing path to surface of the work, described tool magazine adopts circular platform type rotary type tower tool magazine.
Described connection bracket, is made up of the round platform be connected with ring flange and reinforcement two parts of being connected with base plate, wherein: uniform 6 through holes above round platform, are connected with ring flange by bolt; Be square below round platform, uniform four through holes, are connected with reinforcement by bolt.
Described base plate, the flat board be connected with bottom plate with upper head plate, wherein: base plate interior distributes some through holes and counter sink, depends on for connection bracket provides, fixing and supporting role are played, together with base plate is connected by screw with bottom plate with upper head plate respectively to upper head plate and bottom plate simultaneously.
Be provided with the polishing tool of the three kinds of specifications automatically switched according to work surface processing request in described circular platform type rotary type tower tool magazine, be applicable to the polishing of plane, free form surface and tiny area respectively.
Described circular platform type rotary type tower tool magazine matrix is truncated conical shape.
Described circular platform type rotary type tower tool magazine, the buff spindle in its central shaft and drive part is in space in 60 degree of angles.
The present invention, compared with existing robot polishing mechanism, has following beneficial effect:
1. the design concept of machining center automatic tool changer is combined with the design of robot polishing mechanism, has started the design field that robot polishing mechanism is new to a certain extent, the research and development for robot assisted polishing bring new may.
2. rotary type tower robot polishing mechanism possesses the function automatically changing polishing tool, make it can change the polishing tool needed for automatically changing according to cavity surface such as plane, curved surface and tiny areas, or the polishing tool of corresponding material and specification is automatically changed according to different technological processes such as rough polishing, half essence throwing and essence throwings, make robot can complete complicated glossing on a station, improve workload and the complexity of robot, thus reduction production cost, enhance productivity.
3. be circular platform type (Fig. 2) by the global design of rotary type tower tool magazine, make it while meeting mounting condition and user demand, reduce the interference situation that may exist between polishing tool as much as possible, increase the coverage of single polishing tool.Tool magazine and buff spindle are in space in 60 degree of angles, in-house space availability ratio is improved while guarantee service behaviour, alleviate the burden to robot performance to a certain extent, the simultaneously design of special angle is also for the processing of mechanism and assembling are provided convenience.
4. the purposes of mechanism and function are the comprehensive embodiments of the several functions such as automatic tool changer, lead screw transmission, polishing, mechanical connection, robot application, are also the combined innovations of multiple mechanical organ difference in functionality simultaneously.
5. function is more comprehensive.Rotary type tower tool magazine can carry the polishing tool of three kinds or more specification, is applicable to the polishing of plane, free form surface and tiny area respectively.When carrying out check analysis to polishing tool, being 25 ~ 60N by the size of By consulting literatures data contact force, getting 60N when analyzing; Rotating speed is 900 ~ 1500rad/min, gets 1500rad/min when analyzing, and the result of calculation drawn from finite element is analyzed, and the reasonable in design of the polishing tool of three kinds of specifications, intensity meets instructions for use.
Accompanying drawing explanation
Fig. 1 is the threedimensional model exploded perspective view of rotary type tower robot of the present invention polishing mechanism.
Fig. 2 is the general assembly of rotary type tower robot of the present invention polishing mechanism and the structural representation of profile.
Fig. 3 is the schematic diagram of rotary type tower tool magazine threedimensional model in Fig. 1.
Fig. 4 is the schematic diagram of the exchanging knives process of rotary type tower robot of the present invention polishing mechanism.
In figure: 1. propulsion electric machine; 2. shaft coupling; 3.1# leading screw bearing; 4. leading screw end cover; 5. leading screw; 6. base plate; 7. connection bracket; 8. upper head plate; 9. feed screw nut seat; 10. bottom plate; 11. feed screw nuts; 12.2# leading screw bearing; 13. buff spindles; 14. cutter bearings; 15 circlips; 16. polishing tools; 17. oscillating cylinders; 18. rotary type tower tool magazines (rotary type tower tool magazine body 18-0,1# polishing tool 16-1,2# polishing tool 16-2,3# polishing tool 16-3); 19. oscillating cylinder output shafts; 20. polishing motor mounting brackets; 21. slide blocks; 22. polishing motors; 23. take-up housings; 24. brass bushinges; 25. guide rails; 26. shaft coupling over caps; 27. propulsion electric machine mounting brackets; 28. outer casing stands; 29. ring flanges; 30. robots the 6th axle.I. coupling part; II. feeding part; III. drive part; IV. tool changing part.
Detailed description of the invention
Rotary type tower tool magazine is applied in polishing mechanism by the present invention, realizes the adaptive capacity of polishing machine for different finished surface by automatic tool changer, while meeting processing request, improve working (machining) efficiency.In the design, be circular platform type by the global design of rotary type tower tool magazine, make it while meeting mounting condition and user demand, reduce the interference situation that may exist between polishing tool as much as possible, increase the coverage of single polishing tool.Tool magazine central shaft and buff spindle are in space in 60 degree of angles, in-house space availability ratio is improved while guarantee service behaviour, alleviate the burden of industrial robot to a certain extent, the simultaneously design of special angle is also for the processing of mechanism and assembling are provided convenience.
Below in conjunction with embodiment and accompanying drawing, the invention will be further described, but do not limit the present invention.
A kind of rotary type tower robot polishing mechanism (abbreviation polishing mechanism) provided by the invention, its structure as shown in Figure 1 to Figure 3, comprise connection, feeding, driving, automatic tool changer four parts, wherein: coupling part I is positioned on base plate 6, feeding part ii is positioned on upper head plate 8 and bottom plate 10, drive part III is positioned on take-up housing 23, and automatic tool changer part IV is positioned on outer casing stand 28.
Described coupling part I comprises connection bracket 7 and ring flange 29, be respectively used to the fixing of polishing mechanism and robot end and install, the movement locus of polishing tool is transmitted by stiff connecting section by manipulator, then the high accuracy needed for Polishing Motion track and high stability is reached, whole mechanism is connected with robot the 6th axle 30 (i.e. industrial machine human arm end) by bolt, by PC control industrial machine human arm, then end polishing mechanism is driven to carry out polishing along set polishing path to mold cavity surface, wherein: connection bracket 7 is bolted on the base plate 6 that is connected with bottom plate 10 with upper head plate 8, ensure enough intensity.
Described connection bracket 7, be made up of the round platform be connected with ring flange 29 and reinforcement two parts of being connected with base plate 6, wherein: circular above round platform, uniform 6 through holes, are connected with ring flange by bolt; Be square below round platform, uniform four through holes, are connected with reinforcement by bolt.
Described base plate 6, it is the flat board be connected with bottom plate 10 with upper head plate 8, wherein: the base plate 6 inside some through holes of distribution and counter sink, depend on for connection bracket 7 provides, upper head plate 8 and bottom plate 10 are fixed and supporting role, together with base plate 6 is connected by screw with bottom plate 10 with upper head plate 8 respectively simultaneously.
Described feeding part ii forms primarily of propulsion electric machine 1, shaft coupling 2, axial organ over cap 26, lead screw gear, guide rail 25, upper head plate 8, bottom plate 10, brass bushing 24, slide block 21 and take-up housing 23; feeding part is in order to control the lifting of buff spindle 13; power input need be cut off during tool changing; need again after tool changing to access power, when realizing tool changing by lead screw gear, cutter reaches power cut and the object be separated with the clutch of polishing motor 22.
Described propulsion electric machine 1, it is the stepper motor with features such as quality are light, torque is large, by propulsion electric machine mounting bracket 27, propulsion electric machine 1 is fixed and is connected with leading screw 5 by shaft coupling 2, then the rotary motion of this motor is converted to the rectilinear motion up and down along guide rail 25 of polishing motor 22 by leading screw 5, realizes feed function.Described propulsion electric machine mounting bracket 27 is flat boards of centre-drilling hole, is bolted on upper head plate 8, provides support and fix for motor; The flat board that described upper head plate 8 Shi Yikuai center is porose, installation parallel with bottom plate 10, is a kind of location and fixture, rises and support propulsion electric machine mounting bracket 27 and bridle thick stick 5, the effect of the guide rail 25 horizontal direction free degree, upper head plate 8 and bottom plate 10 are arranged on base plate 6 by screw.
Described shaft coupling over cap 26, is made up of the housing with three thin plates, and shaft coupling over cap 26 is fixed by screws on base plate 6, for shaft coupling 2 and lead screw gear provide the protective effect such as dust-proof.
Described lead screw gear is made up of leading screw end cover 4, leading screw 5, feed screw nut seat 9, feed screw nut 11,1# leading screw bearing 3 and 2# leading screw bearing 12, wherein 1# leading screw bearing 3 and 2# leading screw bearing 12 are in order to realize the connection between movement parts (leading screw 5) and static element (upper head plate 8, bottom plate 10), it selects deep groove ball bearing because deep groove ball bearing can bear radial load and biaxial load, structure simple, easy to use, with dust cap, be applicable to the advantages such as dust atmosphere such as polishing departement.
Described guide rail 25, is made up of two identical linear cylindrical guide rails, and guide rail 25 is connected with slide block 21 by brass bushing 24.Described brass bushing 20 is connected with feed screw nut seat 11 interference, and wherein brass bushing hardness is high, high lubricating effect, is used in guide rail place and can improves kinematic accuracy and wearability.
Described slide block 21, is set on two guide rails, and drives polishing motor 22 to realize feed motion by take-up housing 23, together with wherein slide block 21 is connected by screw with take-up housing 23.Described take-up housing 23, is made up of the flat board be connected with polishing motor, and take-up housing 23 and polishing motor 22 are bolted, and then drives polishing motor 22 to move together.
State drive part III to form, for polishing provides power primarily of polishing motor 22 (direct current generator), polishing motor mounting bracket 20 and buff spindle 13.Wherein, polishing motor 22 is bolted on polishing motor mounting bracket 20, and buff spindle 13 is connected by the output shaft of bearing pin with polishing motor 22, ensures the stability of Power output.Described polishing motor mounting bracket 20, it is the flat board being provided with centre-drilling hole, wherein: polishing motor mounting bracket 20 is bolted on the take-up housing 23 be connected with slide block 21, thus under the upper and lower slip of slide block 21, polishing motor 22 is driven to do bottom and top feed motion.
Described rotary type tower tool magazine, is positioned at end polishing mechanism place, has the polishing tool of three kinds of specifications, this tool magazine matrix is truncated conical shape, inclination angle is 150 °, and the tool magazine of this truncated conical shape saves space possessive volume while the more polishing tool of carrying, simultaneously more elegant in appearance.There are on the surface of tool magazine three lines of centres to be the bearing block of equilateral triangle, are the installation site of polishing tool.Polishing tool and deep groove ball bearing are together arranged on the installation site of rotary type tower tool magazine, and this module whole is arranged on the outer casing stand 24 of polishing mechanism, and instrument axle axis direction becomes 30 ° of angles with buff spindle 11 axis direction.The rotary motive power of tool magazine derives from oscillating cylinder, when polishing operation, symmetrical centered by its structure entirety, therefore can not produce larger eccentric throw, thus ensure quality of finish.
Described automatic tool changer part IV forms primarily of rotary type tower tool magazine 18, polishing tool 16 and pendulous device, because rotary type tower tool magazine 18 can carry the polishing tool of multiple different size, can automatically be changed by PC control pendulous device as required in polishing process, therefore it is the key point realizing automatic tool changer in polishing, the design concept of the design reference machining center rotary type tower tool magazine of tool magazine, and carried out improvement and bring new ideas.
Described rotary type tower tool magazine 18, is made up of rotary type tower tool magazine body 18-0, cutter bearing 14 and circlip 15.Wherein, in rotary type tower tool magazine body 18-0 and pendulous device, oscillating cylinder 17 is bolted; Together with the inner ring of cutter bearing 12 and the axle journal of polishing tool 16 are linked and packed by interference, together with the outer ring of cutter bearing 12 and the cutter holes of rotary type tower tool magazine body 18-0 are linked and packed by interference; Described circlip 15 is standard component, and it embeds in the corresponding draw-in groove of rotary type tower tool magazine body 18-0 and plays axial location effect to cutter bearing 14.
Described pendulous device, is made up of oscillating cylinder 15 and oscillating cylinder output shaft 19, is a kind of dedicated motor realizing spinning movement.Wherein, oscillating cylinder 15 and rotary type tower tool magazine body 18-0 are bolted, and oscillating cylinder output shaft 19 is passed the centre bore of rotary type tower tool magazine body 18-0 and is connected with outer casing stand 28 by screw.
Described polishing tool 16 (comprising 1# polishing tool 16-1,2# polishing tool 16-2,3# polishing tool 16-3 totally 3 kinds of model cutters) is to the direct acting part of work surface, wherein 1# polishing tool is used for the plane of polishing workpiece, 2# polishing tool is used for the curved surface of polishing workpiece, and 3# polishing tool is used for the tiny area of polishing workpiece.
Described outer casing stand 24 is bracing or strutting arrangement, the round platform being bent connecting plate and bottom by symmetrical two parts forms, mainly and supporting role fixing to rotary type tower tool magazine 18, wherein, bending plate is connected with base plate 6 by screw, and uniform six through holes of round platform surrounding are connected with oscillating cylinder output shaft 19 top by screw.
Above-mentioned rotary type tower robot polishing mechanism provided by the invention, its course of work is: when polishing operation, assuming that start with plane polishing: adopt 1# polishing tool when surface polishing, propulsion electric machine drives polishing motor to decline by lead screw transmission, electric machine main shaft engages with polishing tool axle, drive polishing tool rotates, and starts plane polishing operation; When completing plane polishing and carrying out free form surface polishing, polishing motor stops operating, propulsion electric machine makes polishing motor rise by lead screw transmission, main shaft is separated with instrument axle, and oscillating cylinder drives tool magazine to rotate 120 °, and now 2# polishing tool is just moved to immediately below main shaft, by propulsion electric machine and lead screw transmission, polishing motor is declined again, main shaft engages with instrument axle, drives polishing tool to rotate, starts curved surface polishing operation; When completing free form surface polishing operation and carrying out tiny area polishing, according to same mode, work polishing tool is changed to 3# polishing tool, the polishing operation of tiny area can be carried out.
Rotary type tower robot provided by the invention polishing mechanism, its exchanging knives process as shown in Figure 4, comprises the following steps:
Step 1: as the figure a-in Fig. 4 schemes shown in b, when starting polishing operation, polishing motor declines, and buff spindle 11 is engaged with the rotating shaft of 1# polishing tool 16-1, carries out the polishing of plane.
Step 2: as the figure c-in Fig. 4 schemes shown in e, after the polishing completing plane, polishing motor 19 rises, that buff spindle 11 is separated with the rotating shaft of 1# polishing tool 16-1, rotary type tower tool magazine rotates 120 degree under the driving of oscillating cylinder subsequently, and 2# polishing tool 16-2 is in immediately below buff spindle 11.
Step 3: as the figure f-in Fig. 4 schemes shown in g, after 2# polishing tool 16-2 arrives the position of expection, polishing motor 19 declines, and is that buff spindle 11 engages with the rotating shaft of 2# polishing tool 16-2, to carry out the polishing of free form surface.A now complete tool changing action completes, and tool changing work all in this invention is all carried out according to said process.
Claims (6)
1. a rotary type tower robot polishing mechanism, comprise drive part, it is characterized in that this polishing mechanism is connected with industrial machine human arm end with ring flange (29) by connection bracket (7), under drive part and host computer synergy, make industrial machine human arm drive the polishing tool in polishing mechanism tool magazine to carry out polishing along set polishing path to surface of the work, described tool magazine adopts circular platform type rotary type tower tool magazine.
2. rotary type tower robot as claimed in claim 1 polishing mechanism, it is characterized in that described connection bracket (7), be made up of the round platform be connected with ring flange (29) and reinforcement two parts of being connected with base plate (6), wherein: uniform 6 through holes above round platform, are connected with ring flange by bolt; Be square below round platform, uniform four through holes, are connected with reinforcement by bolt.
3. rotary type tower robot as claimed in claim 1 polishing mechanism, it is characterized in that described base plate (6), it is linked together with upper head plate (8) and bottom plate (10) respectively by screw.
4. rotary type tower robot as claimed in claim 1 polishing mechanism, it is characterized in that the polishing tool being provided with the three kinds of specifications automatically switched according to work surface processing request in described circular platform type rotary type tower tool magazine, be applicable to the polishing of plane, free form surface and tiny area respectively.
5. rotary type tower robot as claimed in claim 1 polishing mechanism, is characterized in that described circular platform type rotary type tower tool magazine matrix is truncated conical shape.
6. rotary type tower robot as claimed in claim 5 polishing mechanism, is characterized in that described circular platform type rotary type tower tool magazine, and its central shaft and the buff spindle (11) in drive part are 60 degree of angles in space.
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| CN201510510942.9A CN105081932A (en) | 2015-08-19 | 2015-08-19 | Rotating tower type robot polishing mechanism |
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| CN201510510942.9A CN105081932A (en) | 2015-08-19 | 2015-08-19 | Rotating tower type robot polishing mechanism |
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| CN109834585A (en) * | 2019-04-02 | 2019-06-04 | 嘉兴劲境电子商务有限公司 | A kind of polissoir |
| CN110216558A (en) * | 2018-05-09 | 2019-09-10 | 东莞市菱锐机械有限公司 | A kind of six axis sanders |
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| CN110788722A (en) * | 2019-09-27 | 2020-02-14 | 精海联科(宁波)智能设备有限公司 | Polishing complete machine with automatic tool changing function and polishing method |
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| CN107220391A (en) * | 2016-03-21 | 2017-09-29 | 香港理工大学 | A kind of method for generating sandwich construction type menu face |
| CN110216558A (en) * | 2018-05-09 | 2019-09-10 | 东莞市菱锐机械有限公司 | A kind of six axis sanders |
| CN109834585A (en) * | 2019-04-02 | 2019-06-04 | 嘉兴劲境电子商务有限公司 | A kind of polissoir |
| CN110666651A (en) * | 2019-09-27 | 2020-01-10 | 精海联科(宁波)智能设备有限公司 | Automatic burnishing machine of tool changing |
| CN110788722A (en) * | 2019-09-27 | 2020-02-14 | 精海联科(宁波)智能设备有限公司 | Polishing complete machine with automatic tool changing function and polishing method |
| CN110788722B (en) * | 2019-09-27 | 2021-10-15 | 精海联科(宁波)智能设备有限公司 | Polishing complete machine with automatic tool changing function and polishing method |
| CN110666651B (en) * | 2019-09-27 | 2021-11-02 | 精海联科(宁波)智能设备有限公司 | Automatic burnishing machine of tool changing |
| CN111251143A (en) * | 2020-01-18 | 2020-06-09 | 泉州市超维义齿配制有限公司 | Grinding and polishing device and process for false tooth machining |
| CN111251143B (en) * | 2020-01-18 | 2021-04-30 | 泉州市超维医疗科技有限公司 | Grinding and polishing device and process for false tooth machining |
| CN112571238A (en) * | 2020-12-03 | 2021-03-30 | 北京理工大学 | Special grinding and polishing composite grinding tool fast switching device for robot |
| CN114178974A (en) * | 2022-02-16 | 2022-03-15 | 南通高敦汽车部件科技有限公司 | Surface treatment equipment is used in automobile parts production |
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