CN106903570B - Grinding pressure control device of intelligent diamond grinding robot - Google Patents
Grinding pressure control device of intelligent diamond grinding robot Download PDFInfo
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- CN106903570B CN106903570B CN201710202376.4A CN201710202376A CN106903570B CN 106903570 B CN106903570 B CN 106903570B CN 201710202376 A CN201710202376 A CN 201710202376A CN 106903570 B CN106903570 B CN 106903570B
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- lifting
- motor
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- 238000000227 grinding Methods 0.000 title claims abstract description 66
- 229910003460 diamond Inorganic materials 0.000 title claims abstract description 42
- 239000010432 diamond Substances 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 238000003825 pressing Methods 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000005484 gravity Effects 0.000 description 8
- 238000005498 polishing Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 239000013078 crystal Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000005553 drilling Methods 0.000 description 3
- 239000000843 powder Substances 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000007688 edging Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003698 laser cutting Methods 0.000 description 1
- 239000002932 luster Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/06—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain
- B24B9/16—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain of diamonds; of jewels or the like; Diamond grinders' dops; Dop holders or tongs
-
- 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
- B24B41/02—Frames; Beds; Carriages
-
- 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
-
- 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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
-
- 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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Inorganic Chemistry (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a grinding pressure control device of an intelligent diamond grinding robot, which is characterized by comprising a controller and an elastic supporting mechanism which is matched with a cantilever component of the intelligent diamond grinding robot and is used for installing a grinding working head, wherein the elastic supporting mechanism comprises a motor mounting seat, a stepping motor, an eccentric wheel, a tension spring, a spring adjusting bolt, a parallel rod and a parallel rod fixing seat which are arranged on a base, and the controller is connected with and controls the stepping motor; one end of the parallel rod is hinged with the parallel rod fixing seat, the motor mounting seat is fixed on the base, the stepping motor is fixed on the motor mounting seat, the eccentric wheel is connected to the output shaft of the stepping motor, one end of the extension spring is connected with the eccentric wheel, and the other end of the extension spring is connected with the other end of the parallel rod through the spring adjusting bolt; a planar thrust bearing is arranged in the working head assembly and is in pressing fit with the parallel rod. The invention has simple structure, convenient use, remarkably improved production efficiency and reliable quality compared with the same type of products.
Description
Technical Field
The invention relates to the technical field of diamond processing equipment, in particular to a grinding pressure control device of an intelligent diamond grinding robot.
Background
Diamond processed into jewelry is known as diamond. Various flaws exist on the crystal face of the natural diamond crystal, and bubbles, cracks, gaps and other flaws exist inside the crystal. The diamond blank for processing ornaments can be manufactured into diamond finished products-jewellery drills through the working procedures of design of a decomposition scheme, decomposition (splitting, sawing or laser cutting), turning of drills (edging lines), rough grinding (grinding cones), grinding and polishing of table tops and flap surfaces and the like.
Abrasive drilling (grinding and polishing) is the most complex and critical process in diamond machining. In order to maximize the optical characteristics of the diamond, modern diamond cuts are designed as brilliant cuts, and are mainly referred to as standard brilliant round drills. The reflection and refraction of light rays through the table surface and each petal surface of the finished diamond can lead the fire and luster of the diamond to reach the optimal degree, and the natural beauty of the diamond crystal is brought into full play.
The brilliant round-cut shape consists of a middle border, a face and a bottom. The face has 32 valve faces arranged in three circles apart from a table perpendicular to the diamond centerline, which are called the small valve (16), the main valve (8) and the star valve (8), respectively. The geometric shaping of the three circles of lobe surfaces is a multi-equilateral pyramid with three different cone angles and different surface numbers. The bottom has 24 petal surfaces which are arranged in two circles and are respectively called bottom small petals (16) and bottom main petals (8). The geometric shaping of the two circles of lobe surfaces is also a pyramid with two different cone angles and different surface numbers. The bottom main lobes eventually converge to a point, called the bottom tip of the finished diamond.
The grinding process is to perfectly realize the cutting shape. The fixture of the machine can adjust different inclination angles, can automatically index around the axis of the fixture, and accurately grinds 57 surfaces of a finished drill according to a process program. After the problem of forming the finished drill is solved, the key is to improve the production efficiency of grinding the drill. The efficiency of abrasive drilling can be described in terms of abrasive drilling strength, i.e., the amount of green surface removed per unit time.
Factors influencing the grinding strength are mainly four as follows: 1, the higher the rotational speed of the grinding disc, the larger the grinding strength of the diamond; 2, increasing the pressure of the contact belt between the diamond and the millstone by unit pressure can increase the grinding amount of the diamond, but the diamond micro powder can be scraped off quickly by the unit pressure, the abrasion of the millstone is accelerated, and even the diamond is broken; the grinding strength is increased when the size of the diamond micro powder particles coated on the working surface of the grinding disc is increased, but the finish degree is poor, the micro powder coating density is the highest in grinding efficiency in a certain range, and abundant empirical data are accumulated in the aspect; and 4, grinding orientation.
For this reason, for the first of the four factors, we have greatly increased the disc rotation in the bench diamond grinder of the present invention. This is achieved by means of a fine dynamic balancing technique and a variable frequency drive technique. The invention can implement intelligent solutions to the second and fourth factors, namely pressure per unit area and grinding orientation during grinding.
The crystal structure of diamond causes anisotropy in its hardness. The position of the surface net is found during grinding, and the diamond is positioned along the direction with the minimum hardness so as to generate the highest grinding strength. The rotation driving orientation device of the invention can intelligently judge the optimal orientation and give the positioning in the process of continuously changing the direction. And the grinding pressure is regulated by a set of mechanism for automatically changing the tension of the spring in the grinding process, and the optimal pressure value of the workpiece to the grinding disc is generated by intelligent judgment.
Therefore, the invention aims to perfectly solve the problems of grinding cutting accuracy, grinding surface quality and grinding production efficiency of the finished product drill, so as to achieve the maximum economic benefit.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides a grinding pressure control device of an intelligent diamond grinding robot, which can remarkably improve the production efficiency and has reliable quality.
The invention adopts the following technical proposal to realize the aim: the grinding pressure control device of the intelligent diamond grinding robot is characterized by comprising a controller and an elastic supporting mechanism which is matched with a cantilever component of the intelligent diamond grinding robot and used for installing a grinding working head in a supporting mode, wherein the elastic supporting mechanism comprises a motor mounting seat, a stepping motor, an eccentric wheel, a tension spring, a spring adjusting bolt, a parallel rod and a parallel rod fixing seat which are arranged on a base, and the controller is connected with the stepping motor; one end of the parallel rod is hinged with the parallel rod fixing seat, the motor mounting seat is fixed on the base, the stepping motor is fixed on the motor mounting seat, the eccentric wheel is connected to the output shaft of the stepping motor, one end of the extension spring is connected with the eccentric wheel, and the other end of the extension spring is connected with the other end of the parallel rod through the spring adjusting bolt; a plane thrust bearing is arranged in the working head assembly and is in pressing fit with the parallel rod; the self gravity of a part of the mechanism is counteracted by utilizing the tension of the spring, the rest gravity after counteraction is used as grinding pressure, and the tension length of the spring is controlled by connecting the stepping motor with the eccentric wheel to realize the adjustment of the grinding pressure.
As a further explanation of the scheme, the eccentric wheel is provided with an eccentric shaft lever, one end of the tension spring is connected with the eccentric shaft lever, and the other end of the tension spring is connected with the parallel rod through a spring adjusting bolt.
Further, the rotor shaft of the stepper motor is horizontally arranged.
The beneficial effects achieved by adopting the technical proposal of the invention are as follows:
the invention adopts the spring tension to offset the self gravity of a part of the mechanism, takes the offset residual gravity as grinding pressure, realizes the adjustment of the grinding pressure by connecting the stepping motor with the eccentric wheel to control the extension length of the spring, and has simple structure and convenient installation and adjustment.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a polishing pressure control device according to the present invention;
FIG. 3 is a schematic illustration of a cantilever assembly according to the present invention;
FIG. 4 is a schematic view of a table assembly of the present invention;
FIG. 5 is a schematic view of a lifting and rotating device according to the present invention;
FIG. 6 is a schematic diagram of a diamond bottom grinding angle adjusting device according to the present invention.
Reference numerals illustrate: 1. the device comprises a base 2, a cantilever component 3, a working head component 3-1, a chuck component 3-2, a micrometer head 3-3, a fixed seat 3-4, a connecting seat 3-5, a micrometer head seat 4, a control component 5, a grinding pressure control device 5-1, a motor mounting seat 5-2, a stepping motor 5-3, an eccentric wheel 5-4, a tension spring 5-5, a spring adjusting bolt 5-6, a parallel rod 5-7, a parallel rod fixed seat 6, a lifting movement and rotation device 6-1, a stepping motor 6-2, a connecting motor gear 6-3, an internal thread gear 6-4, a lifting screw mandrel 6-41, a positioning groove 6-42, a flanging 6-5, a lifting rotating guide post 6-6, a guide sleeve column 6-7, a guide sleeve 6-8, a ball sleeve 6-9, a lifting screw core column limiting pin 7, a diamond bottom grinding angle adjusting device 7-1, a chuck component 7-2, a micrometer head 7-3, a fixed seat 7-4, a connecting seat 7-5, a micrometer head seat 8, a micrometer head seat eccentric shaft motor top 8, an eccentric shaft motor, a guide motor 10, a planetary motor fixed seat 11-11, a planetary guide device 1-11, a planetary guide roller and a planetary guide device 12.
Detailed Description
The present technical solution is described in detail below with reference to specific embodiments.
As shown in fig. 1 to 6, the present invention is a polishing pressure control device of a diamond polishing intelligent robot, wherein the diamond polishing intelligent robot in the present invention includes a base 1, a cantilever assembly 2, a working head assembly 3 and a control assembly 4, the base 1 is provided with a polishing pressure control device 5, the cantilever assembly 2 is provided with a lifting movement and rotation device 6, and the working head assembly 3 is provided with a diamond bottom polishing angle adjustment device 7; the control assembly is provided with a main controller, is connected with a grinding pressure control device, a lifting movement and a rotating device, and is combined with an electric system to realize automatic indexing of the swing angle, automatic adjustment of the grinding pressure and automatic searching of the optimal grinding direction of the diamond, and the whole working cycle is automatically completed.
The grinding pressure control device 5 comprises an elastic supporting mechanism which is in supporting fit with the cantilever assembly, the elastic supporting mechanism comprises a motor mounting seat 5-1, a stepping motor 5-2, an eccentric wheel 5-3, an extension spring 5-4, a spring adjusting bolt 5-5, a parallel rod 5-6 and a parallel rod fixing seat 5-7, one end of the parallel rod is hinged with the parallel rod fixing seat, the motor mounting seat is fixed on the base, the stepping motor is fixed on the motor mounting seat, the eccentric wheel is connected on an output shaft of the stepping motor, one end of the extension spring is connected with the eccentric wheel, and the other end of the extension spring is connected with the other end of the parallel rod through the spring adjusting bolt; a plane thrust bearing is arranged in the grinding working head assembly and is in pressing fit with the parallel rod; the self gravity of a part of the mechanism is counteracted by utilizing the tension of the spring, the rest gravity after counteraction is used as grinding pressure, and the tension length of the spring is controlled by connecting the stepping motor with the eccentric wheel to realize the adjustment of the grinding pressure. The eccentric wheel is provided with an eccentric shaft rod, one end of the tension spring is connected with the eccentric shaft rod, and the other end of the tension spring is connected to the parallel rod through a spring adjusting bolt. Further, the rotor shaft of the stepper motor is horizontally arranged.
The lifting movement and rotation device 6 comprises a stepping motor 6-1, a connecting motor gear 6-2, an internal thread gear 6-3, a lifting screw mandrel 6-4, a lifting rotary guide post 6-5, a guide sleeve upright post 6-6 and a guide sleeve 6-7, wherein the stepping motor is fixed on the cantilever component, the connecting motor gear is fixed on a rotor shaft of the stepping motor, the lifting screw mandrel is in meshed transmission with the connecting motor gear through the internal thread gear, and the lifting rotary guide post is sleeved outside the lifting screw mandrel; the guide sleeve column is vertically arranged on the base, the guide sleeve is arranged in the guide sleeve column, the lifting rotary guide post and the lifting screw mandrel are inserted into the middle hole of the guide sleeve, a ball sleeve 6-8 is arranged between the lifting rotary guide post and the guide sleeve, a positioning groove 6-41 is arranged at the lower part of the lifting screw mandrel along the axial direction, a lifting screw mandrel limiting pin 6-9 corresponding to the positioning groove is arranged at the side part of the lifting rotary guide post, and the stroke of the lifting screw mandrel moving up and down is limited; the guide sleeve, the ball sleeve and the lifting rotary guide post are combined with the stepping motor to realize linear motion and rotary motion, so that the requirements of smoothness and wear resistance of lifting motion and rotary motion of the mechanism can be met. Further, a flange 6-42 is arranged on the upper portion of the lifting rotary guide post, the flange is fixedly connected with the cantilever component, an eccentric shaft guiding fixing seat 8 is sleeved below the flange, an eccentric shaft guide wheel 9 is arranged at the end portion of the eccentric shaft guiding fixing seat, an eccentric shaft 10 which is vertically arranged and corresponds to the eccentric shaft guide wheel is arranged on the outer side of the eccentric shaft guide wheel, a planetary motor device 11 for driving the eccentric shaft to rotate is connected below the eccentric shaft, and a motor mounting upright post 12 is connected and supported on the base. The planetary motor device 11 comprises a planetary motor 11-1 and a planetary motor reducer 11-2 connected with the planetary motor, and an eccentric shaft is connected with the output end of the planetary motor reducer.
Further, the diamond bottom surface grinding angle adjusting device 7 comprises a chuck assembly 7-1, a micro-gauge head micrometer 7-2, a fixed seat 7-3, a connecting seat 7-4 and a micro-gauge head micrometer top seat 7-5 which are arranged on the chuck assembly, wherein the fixed seat is fixedly connected with the cantilever assembly, the fixed seat is hinged with the fixed seat, the fixed seat is fixedly connected with the chuck assembly, the micro-gauge head micrometer is hinged on the connecting seat, the micro-gauge head micrometer top seat is fixed on the chuck assembly, and the end part of the micro-gauge head micrometer is movably and in press fit with the micro-gauge head micrometer top seat; the principle of trigonometric function is utilized, 1 acute angle intersection point is used as a rotation center, and the length of the opposite sides of the acute angle is adjusted by the micrometer of the micro measuring head to control the grinding angle.
Through experiments, the following technical indexes can be achieved after the technical scheme is implemented:
compared with the prior art, the grinding pressure control device utilizes the tension of the spring to offset the self gravity of a part of the mechanism, takes the offset residual gravity as the grinding pressure, and realizes the adjustment of the grinding pressure by controlling the extension length of the spring through the connection of the stepping motor and the eccentric wheel.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and improvements could be made by those skilled in the art without departing from the inventive concept, which falls within the scope of the present invention.
Claims (2)
1. The grinding pressure control device of the intelligent diamond grinding robot is characterized by comprising a controller and an elastic supporting mechanism which is matched with a cantilever component of the intelligent diamond grinding robot and used for installing a grinding working head in a supporting mode, wherein the elastic supporting mechanism comprises a motor mounting seat, a first stepping motor, an eccentric wheel, a tension spring, a spring adjusting bolt, a parallel rod and a parallel rod fixing seat which are arranged on a base, and the controller is connected with and controls the first stepping motor; one end of the parallel rod is hinged with the parallel rod fixing seat, the motor mounting seat is fixed on the base, the first stepping motor is fixed on the motor mounting seat, the eccentric wheel is connected to the output shaft of the first stepping motor, one end of the extension spring is connected with the eccentric wheel, and the other end of the extension spring is connected with the other end of the parallel rod through the spring adjusting bolt; a plane thrust bearing is arranged in the working head assembly and is in pressing fit with the parallel rod; an eccentric shaft lever is arranged on the eccentric wheel, one end of the extension spring is connected with the eccentric shaft lever, and the other end of the extension spring is connected with the parallel rod through a spring adjusting bolt;
the cantilever component is provided with a lifting movement and rotation device, the working head component is provided with a diamond bottom surface grinding angle adjusting device, and the controller is connected with the lifting movement and rotation device; the lifting movement and rotation device comprises a second stepping motor, a connecting motor gear, an internal thread gear, a lifting screw mandrel, a lifting rotary guide post, a guide sleeve upright post and a guide sleeve, wherein the second stepping motor is fixed on the cantilever component, the connecting motor gear is fixed on a rotor shaft of the second stepping motor, the lifting screw mandrel is meshed with the connecting motor gear through the internal thread gear for transmission, and the lifting rotary guide post is sleeved outside the lifting screw mandrel; the guide sleeve column is vertically arranged on the base, the guide sleeve is arranged in the guide sleeve column, the lifting rotary guide post and the lifting screw mandrel are inserted into the middle hole of the guide sleeve, a ball sleeve is arranged between the lifting rotary guide post and the guide sleeve, a positioning groove is arranged at the lower part of the lifting screw mandrel along the axial direction, a lifting screw mandrel limiting pin corresponding to the positioning groove is arranged at the side part of the lifting rotary guide post, and the stroke of the lifting screw mandrel for up-down movement is limited; the guide sleeve, the ball sleeve and the lifting rotary guide post are combined with the second stepping motor to realize linear motion and rotary motion.
2. The intelligent diamond grinding robot grinding pressure control device according to claim 1, wherein the rotor shaft of the first stepping motor is horizontally disposed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710202376.4A CN106903570B (en) | 2017-03-30 | 2017-03-30 | Grinding pressure control device of intelligent diamond grinding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710202376.4A CN106903570B (en) | 2017-03-30 | 2017-03-30 | Grinding pressure control device of intelligent diamond grinding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106903570A CN106903570A (en) | 2017-06-30 |
| CN106903570B true CN106903570B (en) | 2023-12-19 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710202376.4A Active CN106903570B (en) | 2017-03-30 | 2017-03-30 | Grinding pressure control device of intelligent diamond grinding robot |
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| Country | Link |
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| CN (1) | CN106903570B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109719625B (en) * | 2019-02-27 | 2021-07-06 | 库卡机器人制造（上海）有限公司 | Force control device and robot |
| CN117506644A (en) * | 2024-01-05 | 2024-02-06 | 广东若铂智能机器人有限公司 | Diamond polishing robot and diamond three-dimensional reconstruction method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2058361U (en) * | 1989-08-25 | 1990-06-20 | 河南省新乡市电气控制设备厂 | Cantilever welding machine |
| JPH0577127A (en) * | 1991-09-20 | 1993-03-30 | Takahiro Imahashi | Machining pressure control method and device therefor |
| CN201077019Y (en) * | 2007-05-28 | 2008-06-25 | 重庆大学 | Gantry type numeric control edge grinding machine tool |
| CN203652997U (en) * | 2013-12-11 | 2014-06-18 | 张夏 | Tensioning device of speed limiter steel wire rope |
| CN105798732A (en) * | 2016-05-13 | 2016-07-27 | 吴子龙 | Automatic polisher capable of rotating diamonds at all-dimensional angles |
| CN206588734U (en) * | 2017-03-30 | 2017-10-27 | 佛山市业鹏机械有限公司 | The grinding pressure control device of diamond abrasive intelligent robot |
-
2017
- 2017-03-30 CN CN201710202376.4A patent/CN106903570B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2058361U (en) * | 1989-08-25 | 1990-06-20 | 河南省新乡市电气控制设备厂 | Cantilever welding machine |
| JPH0577127A (en) * | 1991-09-20 | 1993-03-30 | Takahiro Imahashi | Machining pressure control method and device therefor |
| CN201077019Y (en) * | 2007-05-28 | 2008-06-25 | 重庆大学 | Gantry type numeric control edge grinding machine tool |
| CN203652997U (en) * | 2013-12-11 | 2014-06-18 | 张夏 | Tensioning device of speed limiter steel wire rope |
| CN105798732A (en) * | 2016-05-13 | 2016-07-27 | 吴子龙 | Automatic polisher capable of rotating diamonds at all-dimensional angles |
| CN206588734U (en) * | 2017-03-30 | 2017-10-27 | 佛山市业鹏机械有限公司 | The grinding pressure control device of diamond abrasive intelligent robot |
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| Publication number | Publication date |
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| CN106903570A (en) | 2017-06-30 |
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