CN106181646A - One climbs wall sanding and polishing machine people - Google Patents
One climbs wall sanding and polishing machine people Download PDFInfo
- Publication number
- CN106181646A CN106181646A CN201610543590.1A CN201610543590A CN106181646A CN 106181646 A CN106181646 A CN 106181646A CN 201610543590 A CN201610543590 A CN 201610543590A CN 106181646 A CN106181646 A CN 106181646A
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- CN
- China
- Prior art keywords
- motor
- polishing
- machine people
- vertical
- framework
- 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.)
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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
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
- B24B7/182—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like for walls and ceilings
-
- 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
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
-
- 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
- B24B55/00—Safety 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
- B24B55/06—Dust extraction equipment on grinding or polishing machines
-
- 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
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
- B24B7/186—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like with disc-type tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention provides one and climb wall sanding and polishing machine people, including framework, described framework is provided with negative pressure of vacuum mechanism, workpiece polishing mechanism and driver element, and negative pressure of vacuum mechanism, workpiece polishing mechanism and driver element are all connected to single-chip microcomputer；Described negative pressure of vacuum mechanism includes vacuum chamber, centrifugal fan and the centrifugal motor being arranged in framework, centrifugal motor is arranged in vacuum chamber, centrifugal fan is connected to centrifugal motor and stretches out in the rotary shaft of vacuum chamber, centrifugal electrical power, drive centrifugal fan rotates, vacuum chamber forms negative pressure so that robot adsorbs on work surface；Described workpiece polishing mechanism is for carrying out sanding and polishing to work surface；Described driver element moves for driven machine people.
Description
Technical field
The present invention relates to polishing instrument field, particularly one and climb wall sanding and polishing machine people.
Background technology
The spraying on the surfaces such as shelter series products, indoor wall, between each road priming paint, between finish paint, between priming paint finish paint, needs
Polish, to increase PASS, improve shelter series products, the surface-coated quality of indoor wall.At present, shelter class is produced
The coating polishing of product, indoor wall etc. all uses artificial hand-held Pneumatic grinding machine to carry out manual polishing, there is poor working environment, beats
Problem and the defects such as mill efficiency is low, polishing quality is unstable.
In grinding process process, how for shelter aluminum bulkhead, indoor wall etc., solve asking of manual polishing existence
Topic, and by dust environmental protection treatment, it is achieved omnidirectional's safety moving sanding and polishing work is the problem that the applicant wishes to solve always
One of.
Summary of the invention
Goal of the invention: the technical problem to be solved is for the deficiencies in the prior art, it is provided that one is climbed wall and beaten
Mill polishing robot.
In order to solve above-mentioned technical problem, the invention provides one and climb wall sanding and polishing machine people, including framework, described
Framework is provided with negative pressure of vacuum mechanism, workpiece polishing mechanism and driver element, and negative pressure of vacuum mechanism, workpiece polishing mechanism and driver element all connect
Receive single-chip microcomputer；
Described negative pressure of vacuum mechanism includes vacuum chamber, centrifugal fan and the centrifugal motor being arranged in framework, centrifugal motor
Being arranged in vacuum chamber, centrifugal fan is connected to centrifugal motor and stretches out in the rotary shaft of vacuum chamber, centrifugal electrical power, drive from
Heart-wind syndrome fan rotates, and vacuum chamber forms negative pressure so that robot adsorbs on work surface；
Described workpiece polishing mechanism is for carrying out sanding and polishing to work surface；
Described driver element moves for driven machine people.
In the present invention, described workpiece polishing mechanism includes horizontal feed motor, horizontal ball-screw, horizontal guide rail, vertical feed
Motor, vertical ball-screw, vertical guide rail, motor vertical fix seat, polishing motor, polishing motor mount, polishing motor admittedly
Determining block and polishing pad, fixing connection horizontal feed motor and fixing bent angle in framework, horizontal ball-screw two ends are fixed on level
Feeding motor and fixing bent angle, horizontal feed motor controls horizontal ball-screw and horizontal guide rail, and horizontal guide rail connects vertical
Motor fixing seat, vertical feed motor is fixed on motor vertical and fixes on seat, vertical feed motor control vertical ball-screw and
Vertical guide rail, vertical guide rail is socketed on polishing motor mount, and polishing motor mount connects polishing motor fixed block, polishing
Motor fixed block inner sleeve takes electric mill machine, and polishing motor connects yielding coupling, and yielding coupling connects polishing sand table, elastic connection
Axial organ is provided with force transducer, and horizontal feed motor, vertical feed motor, polishing motor and force transducer are all connected to monolithic
Machine.
In the present invention, described driver element includes driving motor, Mecanum wheel and motor mount, and in framework, corner is equal
It is provided with driving motor, drives motor to be placed on motor mount, drive motor to drive Mecanum wheel, for polishing bottom framework
Robot base plate, drives Mecanum wheel through milling robot base plate, drives motor to be connected to single-chip microcomputer.
In the present invention, described milling robot base plate corner is equipped with the ultrasonic sensor being connected to single-chip microcomputer, carries out
Shelter wall border and the identification of the breach such as window, door.
In the present invention, described polishing motor fixed block front end is provided with the avoiding obstacles by supersonic wave sensor being connected to single-chip microcomputer, uses
In identifying prominent barrier on shelter wall.
In the present invention, described framework end face is provided with safety collar, safety collar is have safety rope.
In the present invention, described centrifugal fan is formed around dust reclaiming bag.
In the present invention, in described vacuum chamber, it is provided with one layer of acoustical cotton.
In the present invention, the milling robot bottom edge of described vacuum chamber lower end is provided with a circle sealed bottom shirt rim.
Driver element can use existing universal wheel actuation techniques, it would however also be possible to employ the driver element skill shown in the present invention
Art.
Workpiece polishing mechanism can use the prior aries such as existing polisher and buffing machine, it would however also be possible to employ the present invention is carried
The workpiece polishing mechanism technology of confession.
Beneficial effect: the present invention makes to coat sanding and polishing machine people by the way of negative pressure of vacuum and adsorbs at shelter aluminum
Panel or indoor wall etc., while ensureing coating milling robot free motion, by workpiece polishing mechanism to coating each road
Polish between paint, increase PASS, greatly improve shelter, the efficiency of wall coating polishing and quality, reduce
Cost.
Coating milling robot, when polishing work, realizes coating by ultrasonic sensor, avoidance sensor, safety collar
The safe avoidance of milling robot, Boundary Recognition, safety polishing, it is possible to by the dust of the recoverable polishing of dust reclaiming bag,
Reduce environmental pollution, reduce the injury to people.
Wall milling robot simple in construction is climbed in this coating, uses manpower and material resources sparingly, and cost is relatively low.
Accompanying drawing explanation
With detailed description of the invention the present invention done below in conjunction with the accompanying drawings and further illustrates, the present invention above-mentioned or
Otherwise advantage will become apparent.
The structural representation of Tu1Shi robot；
Fig. 2 is the schematic diagram of vacuum chamber；
Fig. 3 is the schematic diagram of driver element；
Fig. 4 is the schematic diagram of workpiece polishing mechanism；
Fig. 5 robot upward view.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is elaborated.
Such as Fig. 1, including milling robot framework 1, centrifugal motor 2, centrifugal fan 3, dust reclaiming bag 4, safety collar 5, true
Empty room 6, acoustical cotton 7, Mecanum wheel 8, ultrasonic sensor 9, driving motor 10, milling robot base plate 11, motor are installed
Seat 12, sealed bottom shirt rim 13, horizontal feed motor 14, horizontal ball-screw 15, motor vertical fix seat 16, polishing pad 17,
Yielding coupling 18, force transducer 19, polishing motor fixed block 20, avoidance sensor 21, polishing motor 22, polishing motor are installed
Seat 23, vertical guide rail 24, vertical ball-screw 25, vertical feed motor 26, horizontal guide rail 27 and fixing bent angle 28；
Such as Fig. 2, negative pressure of vacuum mechanism is made up of vacuum chamber 6, centrifugal fan 3 and centrifugal motor 2.Around centrifugal fan
The dust that air vent has dust reclaiming bag 4 to produce polishing is regained；There is one layer of acoustical cotton 7 in the inside of vacuum chamber, reduce
The noise that negative pressure produces；Milling robot base plate 11 is stained with around vacuum chamber a circle sealed skirt 13, improves negative pressure of vacuum
Effect and performance.
Such as Fig. 3, driver element is made up of Mecanum wheel 8, driving motor 10 and motor mount 12, drives motor 10 to pacify
Being contained on motor mount 12, motor mount 12 is positioned at the internal corner of framework 1, drives motor 10 to connect Mecanum wheel 8, real
Existing 4 wheel driven Omni-mobile.
Such as Fig. 4, workpiece polishing mechanism is by horizontal feed motor 14, horizontal ball-screw 15, horizontal guide rail 27, vertical feed motor
26, vertical ball-screw 25, vertical guide rail 24, motor vertical are fixed seat 16, polishing motor 22, polishing motor mount 23, are beaten
Electric mill machine fixed block 20, polishing pad 17 form, fixing horizontal feed motor 14 and the fixing bent angle 28 of connecting, level rolling in framework 1
Ballscrew 15 two ends are fixed on horizontal feed motor 14 and fixing bent angle 28, and horizontal feed motor 14 controls horizontal ball-screw 15
And horizontal guide rail 27, horizontal guide rail 27 connects motor vertical and fixes seat 16, and it is solid that vertical feed motor 26 is fixed on motor vertical
In reservation 16, vertical feed motor 26 controls vertical ball-screw 25 and vertical guide rail 24, and vertical guide rail 24 is socketed in polishing electricity
In machine mounting seat 23, polishing motor mount 23 connects polishing motor fixed block 20, and polishing motor fixed block 20 inner sleeve takes mill
Motor 22, polishing motor 22 connects yielding coupling 18, and yielding coupling 18 connects polishing sand table 17, and yielding coupling 18 sets
Force sensor 19, it is achieved the horizontal feed of polishing pad, vertical feed, polishing action.
Such as Fig. 5, the corner of milling robot base plate 11 is furnished with 4 ultrasonic sensors 9, carries out shelter wall border and window
The identification of the breach such as family, door.
Further, avoiding obstacles by supersonic wave sensor 21 is arranged on the polishing positive front end of motor fixed block 20, carries out putting on bulkhead
The identification of prominent barrier.
Further, at milling robot framework end face, safety collar 5 is installed, safety collar 5 is to have safety rope.
The work process of robot includes absorption and polishing, two stages of polishing.
Coating climb wall sanding and polishing machine people be ready for shelter coating polishing work time, control unit makes centrifugal motor
2 energisings, drive centrifugal fan 3 to rotate, and vacuum chamber forms negative pressure, make coating sanding and polishing machine people adsorb in shelter aluminum cabin
On the vertical such as wall, indoor wall.The main body of control unit is single-chip microcomputer, and single-chip microcomputer makes horizontal feed according to force sensor signals
Motor 14, vertical driving motor 24 are energized, and drive polishing pad 17 to move to pressing square bulkhead.After polishing pad 17 pressing square bulkhead,
Single-chip microcomputer enables polishing motor 22 and rotates, and polishing motor 22 drives polishing pad 17 to be rotated, polish shelter wall, indoor wall
The coats such as wall.And single-chip microcomputer is according to avoidance sensor 21, the signal of ultrasonic sensor 9 feedback, enables 4 driving motors
10, drive 4 Mecanum wheels 8 respectively, turn to and rotating speed realization coating sanding and polishing by controlling 4 Mecanum wheel differences
The Omni-mobile of robot.As polished in motor process, before the avoidance sensor 21 of polishing motor fixed block 20 front end identifies
Enter direction when having barrier, drive Mecanum wheel 8 carry out differential steering or reversely fall back or move horizontally；Work as milling robot
When ultrasonic sensor 9 on base plate 11 4 jiaos recognizes shelter wall, the border of wall or the breach such as door, window, Mike is driven to receive
Nurse wheel 8 carries out differential steering or reversely falls back or move horizontally.
After wall sanding and polishing machine people polishing is climbed in coating, polishing completes, single-chip microcomputer disconnects polishing motor 22, drives electricity
Machine 10, the enable of feeding motor 14,24, coating is climbed wall sanding and polishing machine people and is in staticaccelerator adsorption state, hand-held coating polishing
After polishing robot, artificial disconnection is centrifuged motor 2 power supply, destroys vacuum adsorption force, takes off coating sanding and polishing machine people.
Safety collar 5 is installed at the top of milling robot framework 1 and it is to have safety rope, when wall sanding and polishing machine is climbed in coating
Device people occurs unusual condition to come off in bruting process, is to have the safety collar 5 of safety rope to protect coating to climb wall milling robot to prevent
Only it lands damage.
The invention provides one and climb wall sanding and polishing machine people, implement the method for this technical scheme and approach very
Many, the above is only the preferred embodiment of the present invention, it is noted that come for those skilled in the art
Saying, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should be regarded as
Protection scope of the present invention.Each ingredient the clearest and the most definite in the present embodiment all can use prior art to be realized.
Claims (9)
1. climb wall sanding and polishing machine people for one kind, it is characterised in that include that framework (1), described framework (1) are provided with negative pressure of vacuum
Mechanism, workpiece polishing mechanism and driver element, negative pressure of vacuum mechanism, workpiece polishing mechanism and driver element are connected to single-chip microcomputer；
Described negative pressure of vacuum mechanism includes vacuum chamber (6), centrifugal fan (3) and the centrifugal motor (2) being arranged in framework (1),
Centrifugal motor (2) is arranged in vacuum chamber (6), and centrifugal fan (3) is connected to centrifugal motor (2) and stretches out the rotation of vacuum chamber (6)
On axle, centrifugal motor (2) energising, drive centrifugal fan (3) to rotate, vacuum chamber (6) forms negative pressure so that robot adsorbs in work
Make on face；
Described workpiece polishing mechanism is for carrying out sanding and polishing to work surface；
Described driver element moves for driven machine people.
One the most according to claim 1 climbs wall sanding and polishing machine people, it is characterised in that described workpiece polishing mechanism includes water
Flat feeding motor (14), horizontal ball-screw (15), horizontal guide rail (27), vertical feed motor (26), vertical ball-screw
(25), vertical guide rail (24), motor vertical fix seat (16), polishing motor (22), polishing motor mount (23), polishing motor
Fixed block (20) and polishing pad (17), upper fixing horizontal feed motor (14) and the fixing bent angle (28) of connecting of framework (1), level rolling
Ballscrew (15) two ends are fixed on horizontal feed motor (14) and fixing bent angle (28), and horizontal feed motor (14) controls level rolling
Ballscrew (15) and horizontal guide rail (27), horizontal guide rail (27) connects motor vertical and fixes seat (16), vertical feed motor
(26) being fixed on motor vertical and fix on seat (16), vertical feed motor (26) controls vertical ball-screw (25) and vertical guide rail
(24), vertical guide rail (24) is socketed in polishing motor mount (23), and it is solid that polishing motor mount (23) connects polishing motor
Determining block (20), polishing motor fixed block (20) inner sleeve takes electric mill machine (22), and polishing motor (22) connects yielding coupling (18),
Yielding coupling (18) connects polishing sand table (17), and yielding coupling (18) is provided with force transducer (19), horizontal feed motor
(14), vertical feed motor (26), polishing motor (22) and force transducer (19) are all connected to single-chip microcomputer.
One the most according to claim 1 climbs wall sanding and polishing machine people, it is characterised in that described driver element includes driving
Galvanic electricity machine (10), Mecanum wheel (8) and motor mount (12), framework (1) interior corner is equipped with driving motor (10), drives
Motor (10) is placed on motor mount (12), drives motor (10) to drive Mecanum wheel (8), and framework (1) bottom is for beat
Mill robot base plate (11), drives Mecanum wheel (8) through milling robot base plate (11), drives motor (10) to be connected to list
Sheet machine.
One the most according to claim 1 climbs wall sanding and polishing machine people, it is characterised in that described milling robot base plate
(11) corner is equipped with the ultrasonic sensor (9) being connected to single-chip microcomputer, carries out shelter wall border and the breach such as window, door
Identify.
One the most according to claim 1 climbs wall sanding and polishing machine people, it is characterised in that described polishing motor fixed block
(20) front end is provided with the avoiding obstacles by supersonic wave sensor (21) being connected to single-chip microcomputer, is used for identifying on shelter wall prominent barrier.
One the most according to claim 1 climbs wall sanding and polishing machine people, it is characterised in that described framework (1) end face is pacified
Equipped with safety collar (5), there is safety rope in the upper system of safety collar (5).
One the most according to claim 1 climbs wall sanding and polishing machine people, it is characterised in that described centrifugal fan (3) four
It is provided with dust reclaiming bag (4) week.
One the most according to claim 1 climbs wall sanding and polishing machine people, it is characterised in that described vacuum chamber sets in (6)
There is one layer of acoustical cotton (7).
One the most according to claim 1 climbs wall sanding and polishing machine people, it is characterised in that described vacuum chamber (6) lower end
Milling robot base plate (11) edge be provided with a circle sealed bottom shirt rim (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610543590.1A CN106181646B (en) | 2016-07-11 | 2016-07-11 | One kind climbs wall sanding and polishing machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610543590.1A CN106181646B (en) | 2016-07-11 | 2016-07-11 | One kind climbs wall sanding and polishing machine people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106181646A true CN106181646A (en) | 2016-12-07 |
| CN106181646B CN106181646B (en) | 2018-04-10 |
Family
ID=57476941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610543590.1A Active CN106181646B (en) | 2016-07-11 | 2016-07-11 | One kind climbs wall sanding and polishing machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106181646B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107584381A (en) * | 2017-09-29 | 2018-01-16 | 南京博尔迈兴机械设备有限公司 | A kind of hand-held type automobile polishing machine |
| CN108857602A (en) * | 2018-08-03 | 2018-11-23 | 辽宁科技大学 | A kind of spatial complex bend pipe inner surface magnetic grinder and method |
| CN111496586A (en) * | 2020-04-26 | 2020-08-07 | 中国石油天然气集团有限公司 | Pipeline grinding device |
| CN111774966A (en) * | 2020-07-16 | 2020-10-16 | 邓至凯 | Building wall putty operating arm and robot of polishing |
| CN112428051A (en) * | 2020-11-18 | 2021-03-02 | 浙江宝龙建设有限公司 | Wall grinding device for decoration |
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| JPS59220468A (en) * | 1983-05-30 | 1984-12-11 | Hitachi Ltd | Vacuum adsorption walking machine |
| KR100395440B1 (en) * | 2002-03-23 | 2003-08-21 | Fineacetechnology Co Ltd | Polishing machine tool |
| CN1994805A (en) * | 2006-11-27 | 2007-07-11 | 哈尔滨工业大学 | Small-sized wall-climbing robot based on negative pressure absorption principle |
| CN204541977U (en) * | 2015-03-15 | 2015-08-12 | 邯郸开发区开元科技发展有限公司 | A kind of negative pressure sucker device |
| CN104960589A (en) * | 2014-08-22 | 2015-10-07 | 中科新松有限公司 | Omni-directional mobile robot device |
-
2016
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59220468A (en) * | 1983-05-30 | 1984-12-11 | Hitachi Ltd | Vacuum adsorption walking machine |
| KR100395440B1 (en) * | 2002-03-23 | 2003-08-21 | Fineacetechnology Co Ltd | Polishing machine tool |
| CN1994805A (en) * | 2006-11-27 | 2007-07-11 | 哈尔滨工业大学 | Small-sized wall-climbing robot based on negative pressure absorption principle |
| CN104960589A (en) * | 2014-08-22 | 2015-10-07 | 中科新松有限公司 | Omni-directional mobile robot device |
| CN204541977U (en) * | 2015-03-15 | 2015-08-12 | 邯郸开发区开元科技发展有限公司 | A kind of negative pressure sucker device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107584381A (en) * | 2017-09-29 | 2018-01-16 | 南京博尔迈兴机械设备有限公司 | A kind of hand-held type automobile polishing machine |
| CN108857602A (en) * | 2018-08-03 | 2018-11-23 | 辽宁科技大学 | A kind of spatial complex bend pipe inner surface magnetic grinder and method |
| CN111496586A (en) * | 2020-04-26 | 2020-08-07 | 中国石油天然气集团有限公司 | Pipeline grinding device |
| CN111496586B (en) * | 2020-04-26 | 2021-09-03 | 中国石油天然气集团有限公司 | Pipeline grinding device |
| CN111774966A (en) * | 2020-07-16 | 2020-10-16 | 邓至凯 | Building wall putty operating arm and robot of polishing |
| CN111774966B (en) * | 2020-07-16 | 2022-03-08 | 重庆智能机器人研究院 | Building wall putty operating arm and robot of polishing |
| CN112428051A (en) * | 2020-11-18 | 2021-03-02 | 浙江宝龙建设有限公司 | Wall grinding device for decoration |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106181646B (en) | 2018-04-10 |
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