CN106903571B - Lifting motion and rotating device of intelligent diamond grinding robot - Google Patents
Lifting motion and rotating device of intelligent diamond grinding robot Download PDFInfo
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- CN106903571B CN106903571B CN201710202893.1A CN201710202893A CN106903571B CN 106903571 B CN106903571 B CN 106903571B CN 201710202893 A CN201710202893 A CN 201710202893A CN 106903571 B CN106903571 B CN 106903571B
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- guide sleeve
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- 238000000227 grinding Methods 0.000 title claims abstract description 44
- 230000033001 locomotion Effects 0.000 title claims abstract description 44
- 229910003460 diamond Inorganic materials 0.000 title claims abstract description 37
- 239000010432 diamond Substances 0.000 title claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 230000003746 surface roughness Effects 0.000 claims description 4
- 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
- 238000002474 experimental method Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 239000000843 powder Substances 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 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
- 230000005540 biological transmission 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
- 238000007688 edging 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
- 238000003825 pressing Methods 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
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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
- B24B41/02—Frames; Beds; Carriages
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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
- 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 lifting movement and rotation device of an intelligent diamond grinding robot, which is characterized by comprising a lifting movement and rotation mechanism and a controller connected with and controlling the lifting movement and rotation mechanism to act, wherein the lifting movement and rotation mechanism comprises a stepping motor, a connecting motor gear, an internal thread gear, a lifting screw mandrel, a lifting rotation guide post, a guide sleeve upright post and a guide sleeve; the guide sleeve stand column is vertically arranged on the base, the lifting rotary guide column 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 column 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 column, and the stroke of the lifting screw mandrel in the up-down movement is limited. The invention has simple structure and flexible and convenient use.
Description
Technical Field
The invention relates to the technical field of diamond processing equipment, in particular to a lifting movement and rotation 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 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 the lifting movement and rotation device of the 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 lifting movement and rotation device of the diamond grinding intelligent robot is characterized by comprising a lifting movement and rotation mechanism and a controller connected with the controller for controlling the lifting movement and rotation mechanism to act, wherein the lifting movement and rotation mechanism comprises a 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, the connecting motor gear is fixed on a rotor shaft of the stepping motor, the lifting screw mandrel is meshed and transmitted 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 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 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 flanging is arranged on the upper portion of the lifting rotary guide post, the flanging is fixedly connected with the cantilever component, an eccentric shaft guide fixing seat is sleeved below the flanging, an eccentric shaft guide wheel is arranged at the end portion of the eccentric shaft guide fixing seat, an eccentric shaft 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 for driving the eccentric shaft to rotate is connected below the eccentric shaft, and a motor installation upright post is connected and supported on the base.
Further, the planetary motor device comprises a planetary motor and a planetary motor reducer connected with the planetary motor, and an eccentric shaft is connected to the output end of the planetary motor reducer.
Further, a plurality of balls are arranged in the ball sleeve, the diameter and roundness of the lifting rotary guide post are within 0.005mm, the hardness is more than HRC60, and the surface roughness Ra0.8 is more than.
The beneficial effects achieved by adopting the technical proposal of the invention are as follows:
the invention adopts the high-precision guide sleeve, the ball sleeve and the guide post to realize linear motion and rotary motion by combining with a motor, and experiments prove that the scheme can meet the requirements of smoothness and wear resistance of lifting motion and rotary motion of a mechanism, and the requirements of diameter and roundness of the lifting rotary guide post are selected to be within 0.005mm, the hardness is higher than HRC60, the surface roughness is higher than Ra0.8, and the requirements of smoothness and wear resistance of the mechanism motion are ensured.
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. 1-6, the invention is a lifting movement and rotation device of a diamond grinding intelligent robot, the diamond grinding intelligent robot of the technical scheme comprises a base 1, a cantilever component 2, a working head component 3 and a control component 4, wherein a grinding pressure control device 5 is arranged on the base 1, the cantilever component 2 is provided with a lifting movement and rotation device 6, and the working head component 3 is provided with a diamond bottom surface grinding angle adjusting 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.
Further, the grinding pressure control device 5 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 to 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 cantilever 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 lifting movement and rotation device 6 comprises a lifting movement and rotation mechanism which is controlled by a controller in a connecting way, wherein the lifting movement and rotation mechanism 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 rotation guide post 6-5, a guide sleeve upright post 6-6 and a guide sleeve 6-7, the stepping motor is fixed on a 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 rotation 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 mechanism can not ensure the smooth movement and the wear resistance of the mechanism due to the influence of deflection force by adopting a structure of a guide sleeve matched guide post or an oil-containing bearing guide post which is commonly used. Therefore, the design is adjusted, the linear motion and the rotary motion are realized by combining the high-precision guide sleeve, the ball sleeve and the guide post with the motor, and experiments prove that the scheme can meet the requirements of smoothness and wear resistance of lifting motion and rotary motion of the mechanism. But the processing requirements for parts are very strict. The diameters and roundness of the guide sleeve, 126 balls of the ball sleeve and the guide post are required to be within 0.005mm, the hardness is required to be more than HRC60, and the surface roughness is required to be more than Ra0.8.
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 (1)
1. The lifting movement and rotation device of the diamond grinding intelligent robot is characterized by comprising a lifting movement and rotation mechanism which is connected and controlled by a controller, wherein the lifting movement and rotation mechanism comprises a 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; 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 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; the upper part of the lifting rotary guide post is provided with a flanging which is fixedly connected with the cantilever component, an eccentric shaft guiding fixing seat is sleeved below the flanging, an eccentric shaft guide wheel is arranged at the end part of the eccentric shaft guiding fixing seat, an eccentric shaft which is vertically arranged corresponding to the eccentric shaft guide wheel is arranged outside the eccentric shaft guide wheel, a planetary motor device for driving the eccentric shaft to rotate is connected below the eccentric shaft, a motor mounting stand column is connected below the planetary motor device, and the motor mounting stand column is connected and supported on the base; the planetary motor device comprises a planetary motor and a planetary motor reducer connected with the planetary motor, and an eccentric shaft is connected with the output end of the planetary motor reducer; a plurality of balls are arranged in the ball sleeve, the hardness of the lifting rotary guide post is higher than HRC60, and the surface roughness Ra0.8 is higher than Ra0.8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710202893.1A CN106903571B (en) | 2017-03-30 | 2017-03-30 | Lifting motion and rotating device of intelligent diamond grinding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710202893.1A CN106903571B (en) | 2017-03-30 | 2017-03-30 | Lifting motion and rotating device of intelligent diamond grinding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106903571A CN106903571A (en) | 2017-06-30 |
| CN106903571B true CN106903571B (en) | 2024-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710202893.1A Active CN106903571B (en) | 2017-03-30 | 2017-03-30 | Lifting motion and rotating device of intelligent diamond grinding robot |
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Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105798732B (en) * | 2016-05-13 | 2018-07-31 | 周生生钻石（广东）有限公司 | Omnibearing angel rotates diamond automatic sander |
| CN205799135U (en) * | 2016-05-13 | 2016-12-14 | 吴子龙 | Novel orientation angles rotates diamond automatic sander |
| CN206567947U (en) * | 2017-03-30 | 2017-10-20 | 佛山市业鹏机械有限公司 | The elevating movement of diamond abrasive intelligent robot and rotating device |
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