CN106944910B - A kind of notebook computer shell polissoir based on industrial robot - Google Patents
A kind of notebook computer shell polissoir based on industrial robot Download PDFInfo
- Publication number
- CN106944910B CN106944910B CN201710178915.5A CN201710178915A CN106944910B CN 106944910 B CN106944910 B CN 106944910B CN 201710178915 A CN201710178915 A CN 201710178915A CN 106944910 B CN106944910 B CN 106944910B
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- CN
- China
- Prior art keywords
- notebook computer
- industrial robot
- computer shell
- solenoid valve
- way solenoid
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- 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
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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
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
-
- 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- 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
- 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)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Manipulator (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
A kind of notebook computer shell polishing tooling device based on industrial robot, including flexible polishing head and air-actuated jaw and control unit three parts；Flexible polishing head includes a connecting flange, two connecting plates, two grip blocks, compressed spring and pneumatic lapper, connecting flange is connect with industrial robot end flange, connecting plate is connect with connecting flange, it is bolted between grip block and connecting plate by passing through the half-thread outer-hexagonal of compressed spring simultaneously, pneumatic lapper is locked at the centre of two grip blocks；Air-actuated jaw includes bottom plate, cylinder, draw money on credit fagging and short support plate, and length support plate is symmetrically mounted on the straight trough mouth of bottom plate, and the outside of length support plate is arranged in cylinder；Control unit includes robot control cabinet, 3 position-5 way solenoid valve, gas source, filtering pressure reducing valve and 2/2-way solenoid valve.The present invention unclamps automatically according to polishing position and clamps notebook computer shell, and polishing efficiency is high, polished surface is high-quality, is suitable for different model notebook computer shell.
Description
Technical field
The present invention relates to the grinding heads polished for metal notebook computer shell and locating and clamping apparatus field, and in particular to one
Notebook computer shell of the kind based on industrial robot polishes tooling device, suitable for polishing the metal notebook computer shell of different model.
Background technique
It is negative that there is metal notebook computer shell intensity height, good heat dissipation, noise reduction, shock-absorbing function can bear biggish impact endurance test shock
Lotus, commonly used in the top cover or palm pad of medium-to-high grade notebook.The forming process of metal notebook computer shell need by
Die cast, CNC Precision Machining frustrate flash and polishing grinding processing finally by spray treatment by hand.Outside metal notebook
Shell can leave burr, tool marks etc. after punching press, numerical control mill, need to carry out polishing, and traditional-handwork quality of finish is poor, imitates
Rate is low, is received significant attention using industrial robot polishing notebook computer shell.Different model notebook computer shell belongs to a kind of big ruler
Very little, thin-walled workpiece, general fixture are not able to satisfy the clamping of notebook computer shell.
Summary of the invention
The technical problem to be solved by the present invention is to polish above shortcomings for traditional notebook shell, provide one
Notebook computer shell of the kind based on industrial robot polishes tooling device, unclamps and is clamped outside notebook automatically according to polishing position
Shell, polishing efficiency is high, polished surface is high-quality, can be adapted for different model notebook computer shell.
Used technical solution is the present invention to solve above-mentioned technical problem:
A kind of notebook computer shell polishing tooling device based on industrial robot, includes at least flexible polishing head and pneumatic clamps
Tool and control unit three parts；
The flexible polishing head is gentle including at least a connecting flange, two connecting plates, two grip blocks, compressed springs
Dynamic grinder, connecting flange are connect with industrial robot end flange, and connecting plate is connect with connecting flange, grip block with connect
Several compressed springs are symmetrical arranged between plate, while six outside the half-thread between grip block and connecting plate by passing through compressed spring
Corner bolt connection, pneumatic lapper are locked at the centre of two grip blocks；
The air-actuated jaw includes at least bottom plate, cylinder, draw money on credit fagging and short support plate, along long axis and short axle side on bottom plate
To multiple straight trough mouths are respectively set, there are four cylinder settings, and fagging of drawing money on credit, short support plate are each provided with two, two long supports
Plate and two short support plates are symmetrically mounted on the straight trough mouth of bottom plate by outer-hexagonal bolt, and four cylinders are separately positioned on two
It draws money on credit the outside of fagging and two short support plates；
Described control unit includes robot control cabinet, 3 position-5 way solenoid valve, gas source, filtering pressure reducing valve and 2/2-way
Solenoid valve, there are four the settings of 3 position-5 way solenoid valve, and 2/2-way solenoid valve is provided with one, and four cylinders respectively correspond and pass through
The connection of the digital output of one 3 position-5 way solenoid valve and robot control cabinet (passes through the output terminal control of robot control cabinet
Each 3 position-5 way solenoid valve on-off is made, the clamping and release of corresponding cylinder are then controlled)；Pneumatic lapper passes through 2/2-way
The connection of the digital output of solenoid valve and robot control cabinet (controls 2/2-way electricity by the output terminal of robot control cabinet
Magnet valve on-off then controls the rotation and stopping of pneumatic lapper)；One branch of gas source is distinguished again after passing through filtering pressure reducing valve
Connected by each 3 position-5 way solenoid valve with corresponding cylinder (adjust cylinder intake pressure, control clamping force), gas source it is another
One branch directly passes through 2/2-way solenoid valve and the air inlet of pneumatic lapper connects.
According to the above scheme, the connecting flange is connect by hexagon socket head cap screw with industrial robot end flange.
According to the above scheme, the connecting plate is connect by M8 outer-hexagonal bolt with connecting flange.
According to the above scheme, four compressed springs, while grip block and company are symmetrical arranged between the grip block and connecting plate
The half-thread outer-hexagonal for passing through compressed spring by four between fishplate bar is bolted
According to the above scheme, the lower part of the half-thread outer-hexagonal bolt lock on grip block, top can up and down loosely
It is threaded through on connecting plate and (flexibility when polishing is reached with this).
According to the above scheme, the pneumatic lapper is locked at the centre of two grip blocks by M10 outer-hexagonal bolt.
According to the above scheme, the fagging of drawing money on credit, short support plate move in the straight trough mouth of corresponding direction respectively, and cooperate gas
Cylinder is to adapt to various sizes of notebook computer shell.
According to the above scheme, the air-actuated jaw further includes several carrying bolts, and each carrying bolt is symmetrically mounted on two
It draws money on credit fagging and two short support plates encloses the middle part of the bottom plate set, the height of carrying bolt and draw money on credit fagging, short support plate
Height adjustment consistent (since notebook computer shell is relatively thin, the effect of polishing force is easy to make its deformation, and carrying bolt is for reducing pen
Remember this casing deformation, carrying bolt height is adjusted by level meter).
According to the above scheme, the pneumatic lapper includes sticking to the pan for upper switches and lower part, and is provided with an air inlet
One venthole sticks to the pan rotation by upper switches control lower part after gas source connects air inlet.
Compared with prior art, the invention has the following advantages:
1, flexible polishing head and air-actuated jaw automatic polishing is cooperated to polish instead of traditional-handwork using industrial robot, efficiency
Height, polished surface are high-quality；
2, the size of rubbing head and the size of polishing force there are certain requirements when polishing, flexible polishing head uses compressed spring
The compliant mechanism combined with pneumatic lapper is adapted to throw power using the buffer spring of compressed spring, be guaranteed in polishing process
Sticking to the pan for middle pneumatic lapper can be good at being bonded with notebook computer shell, avoid with or without polishing matter is guaranteed
Amount and polishing efficiency；
3, air-actuated jaw uses four cylinder positioning clamping devices, and carrying bolt is arranged in notebook computer shell lower part, and top uses
Cylinder cooperates draw money on credit fagging and short support plate, can automatically position notebook computer shell and clamp, and have enough chucking powers,
Guarantee the stabilization of notebook computer shell when robot polishing；Even if length support plate and carrying bolt make chucking power and polishing force very
Notebook computer shell will not be damaged greatly；
4, flexible polishing head is thrown the position that will interfere with cylinder by industrial robot, and cylinder is opened, and remaining cylinders clamp,
It can unclamp and clamp automatically according to polishing position；Cylinder and length support plate are adjusted according to different size of notebook simultaneously
Position can be adapted for different model notebook computer shell.
Detailed description of the invention
Fig. 1 is the overall work structural schematic diagram that tooling device of the embodiment of the present invention cooperates industrial robot；
Fig. 2 is flexible polishing head assembling schematic diagram of the invention；
Fig. 3 is air-actuated jaw assembling schematic diagram of the invention；
Fig. 4 is flexible polishing head threedimensional model perspective view of the explosion of the invention；
Fig. 5 is air-actuated jaw threedimensional model perspective view of the explosion of the invention；
Fig. 6 is the control schematic diagram that control unit of the invention cooperates cylinder and pneumatic lapper；
In figure, 1- flexible polishing head, 11- connecting flange, 12- connecting plate, 13- grip block, 14- compressed spring, 15- is pneumatic
Grinder, 16-M8 outer-hexagonal bolt, 17- half-thread outer-hexagonal bolt, 18-M10 outer-hexagonal bolt, 2- air-actuated jaw, the bottom 21-
Plate, 22- cylinder, 23- draw money on credit fagging, the short support plate of 24-, 25- carrying bolt, 26- straight trough mouth, 27- outer-hexagonal bolt, 3- control
Unit processed, 31- robot control cabinet, 32- 3 position-5 way solenoid valve, 33- gas source, 34- filtering pressure reducing valve, 35- 2/2-way electricity
Magnet valve, 4- industrial robot, 5- notebook computer shell, 6- workbench.
Specific embodiment
Below in conjunction with attached drawing to principles and features of the present invention further description, example is served only for illustrating this
Invention, and non-limiting application range of the invention.
As shown in FIG. 1 to 3, the notebook computer shell buffer installing described in the embodiment of the present invention based on industrial robot
It is standby, 3 three parts of flexible polishing head 1 and air-actuated jaw 2 and control unit are included at least, flexible polishing head 1 is installed on industrial machine
At 4 end flange of device people, air-actuated jaw 2 is mounted relative at the suitable workbench 6 of industrial robot 4, notebook computer shell
5 are clamped on air-actuated jaw 2.
As shown in figure 4, flexible polishing head 1 includes at least a grip block of connecting plate 12, two of connecting flange 11, two
13, compressed spring 14 and pneumatic lapper 15, connecting flange 11 are connected by hexagon socket head cap screw and 4 end flange of industrial robot
It connects；Connecting plate 12 is connect by M8 outer-hexagonal bolt 16 with connecting flange 11, is symmetrical arranged between grip block 13 and connecting plate 12
Four compressed springs 14 (buffer function), while compressed spring 14 is passed through by four between grip block 13 and connecting plate 12
Half-thread outer-hexagonal bolt 17 connects, and the lower part of half-thread outer-hexagonal bolt 17 is locked on grip block 13, top by nut
It can be loosely threaded through on connecting plate 12 up and down, flexibility when polishing is reached with this；Pneumatic lapper 15 passes through M10 outer-hexagonal
Bolt 18 is locked at the centre of two grip blocks 13；
As shown in figure 5, air-actuated jaw 2 includes at least bottom plate 21, cylinder 22, fagging 23 of drawing money on credit, short support plate 24 and support
Multiple straight trough mouths 26 are respectively set along long axis and short-axis direction on bottom plate 21 in bolt 25, and there are four the settings of cylinder 22, fagging of drawing money on credit
23, short support plate 24 is each provided with two, two draw money on credit fagging 23 and two short support plate 24 it is symmetrical by outer-hexagonal bolt 27
It is mounted on the straight trough mouth 26 of bottom plate 21, four cylinders 22 are separately positioned on two draw money on credit fagging 23 and two short support plates 24
Outside, moving long support plate 23, short support plate 24 and cylinder 22 are to adapt to various sizes of notebook computer shell 5；Due to notebook
Shell 5 is relatively thin, and the effect of polishing force is easy to make its deformation, therefore draws money on credit at two fagging 23 and two short support plate 24 is enclosed and set
The middle part of the bottom plate 21 to get up is symmetrically installed four carrying bolts 25, the height of four carrying bolts 25 and fagging 23 of drawing money on credit, short
The height of support plate 24 is consistent (25 height of carrying bolt is adjusted by level meter)；
As shown in fig. 6, control unit 3 subtracts including robot control cabinet 31,3 position-5 way solenoid valve 32, gas source 33, filtering
Pressure valve 34 and 2/2-way solenoid valve 35, there are four the settings of 3 position-5 way solenoid valve 32, and 2/2-way solenoid valve 35 is provided with one
A, four cylinders 22 are respectively corresponded to be connected by the digital output of a 3 position-5 way solenoid valve 32 and robot control cabinet 31
It connects, each 32 on-off of 3 position-5 way solenoid valve is controlled by the output terminal of robot control cabinet 31, then controls corresponding cylinder
22 clamping and release；Pneumatic lapper 15 is connected by the digital output of 2/2-way solenoid valve 35 and robot control cabinet 31
It connects, 35 on-off of 2/2-way solenoid valve is controlled by the output terminal of robot control cabinet 31, then controls pneumatic lapper 15
Rotation and stopping；One branch of gas source 33 passes through each 3 position-5 way solenoid valve after passing through filtering pressure reducing valve 34 respectively again
32 connect with corresponding cylinder 22, and to adjust the intake pressure of cylinder 22, to control clamping force, another branch of gas source 33 is straight
2/2-way solenoid valve 35 was connected to connect with the air inlet of pneumatic lapper 15.
15 model of pneumatic lapper in embodiment: BD-0140, sticking to the pan including upper switches and lower part, pneumatic lapper
15 are provided with one venthole of an air inlet, after gas source 33 connects air inlet, control sticking to the pan for lower part by upper switches
Rotation.
Use process of the invention is: flexible polishing head 1 is installed at 4 end flange of industrial robot；It will be pneumatic
Fixture 2 is mounted relative at the suitable workbench 6 of industrial robot 4；Four cylinders 22 are by four 3 position-5 way solenoid valves 32
Control is respectively corresponded, pneumatic lapper 15 is controlled by a 2/2-way solenoid valve 35, four 3 position-5 way solenoid valves 32 and one
A 2/2-way solenoid valve 35 accesses the digital output of robot control cabinet 31, issues instruction control by robot control cabinet 31
The energization and power-off of each solenoid valve are made, the clamping of cylinder 22 and the rotation for unclamping and controlling pneumatic lapper 15 are then controlled
With stopping.The notebook computer shell 5 that polishes will be needed to be put on air-actuated jaw 2, be drawn money on credit fagging 23, short by four cooperations of cylinders 22
Support plate 24 clamps notebook computer shell 5, and notebook computer shell 5 is shifted a fixed position onto due to the movement of cylinder 22 and then pressed from both sides
Tightly, this completes the positioning of notebook computer shell 5 clampings.When industrial robot 4 is polished, flexible polishing head 1 is along planning
Good path movement, when flexible polishing head 1 is contacted with notebook computer shell 5, if sticking to the pan for pneumatic lapper 15 is polished
Power is uneven, and flexible polishing head 1 is sticked to the pan by 4 14 adjust automaticallies of compressed spring, is made by the elastic reaction of flexible polishing head 1
Pneumatic lapper 15 sticks to the pan fitting 5 surface of notebook computer shell well, avoids rigid rubbing head and (does not install compressed spring 14
Or the rubbing head of other flexible parts similar to spring) the case where not reaching partially, improve quality of finish.Work as flexibility
When rubbing head 1 moves to the position that will interfere with the clamping part of cylinder 22, the 3 position-5 way solenoid valve of some corresponding cylinder 22
32 are powered, which unclamps；When flexible polishing head 1 moves to the clamping part position far from cylinder 22, the cylinder of release
22 clamp, and are able to maintain three or more cylinders 22 always and clamp notebook computer shell 5, can prevent notebook computer shell well
5 loosening.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Principle etc, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of notebook computer shell polissoir based on industrial robot, it is characterised in that: include at least flexible polishing head and
Air-actuated jaw and control unit three parts；
The flexible polishing head includes at least a connecting flange, two connecting plates, two grip blocks, compressed spring and pneumatically grinds
Grinding machine, connecting flange are connect with industrial robot end flange, and connecting plate is connect with connecting flange, grip block and connecting plate it
Between be symmetrical arranged several compressed springs, while between grip block and connecting plate pass through pass through compressed spring half-thread outer-hexagonal spiral shell
It tethers and connects, pneumatic lapper is locked at the centre of two grip blocks；
The air-actuated jaw includes at least bottom plate, cylinder, draw money on credit fagging and short support plate, divides on bottom plate along long axis and short-axis direction
Multiple straight trough mouths are not set, there are four cylinder settings, and fagging of drawing money on credit, short support plate are each provided with two, two draw money on credit fagging and
Two short support plates are symmetrically mounted on the straight trough mouth of bottom plate by outer-hexagonal bolt, and four cylinders are separately positioned on two and draw money on credit
The outside of fagging and two short support plates；
Described control unit includes robot control cabinet, 3 position-5 way solenoid valve, gas source, filtering pressure reducing valve and 2/2-way electromagnetism
Valve, there are four the settings of 3 position-5 way solenoid valve, and 2/2-way solenoid valve is provided with one, and four cylinders are respectively corresponded by one
The connection of the digital output of 3 position-5 way solenoid valve and robot control cabinet；Pneumatic lapper passes through 2/2-way solenoid valve and machine
The digital output of device people's control cabinet connects；One branch of gas source passes through each three five after passing through filtering pressure reducing valve respectively again
Three-way electromagnetic valve is connected with corresponding cylinder, another branch of gas source directly pass through 2/2-way solenoid valve and pneumatic lapper into
Stomata connection.
2. the notebook computer shell polissoir according to claim 1 based on industrial robot, it is characterised in that: the company
Acting flange is connect by hexagon socket head cap screw with industrial robot end flange.
3. the notebook computer shell polissoir according to claim 1 based on industrial robot, it is characterised in that: the company
Fishplate bar is connect by M8 outer-hexagonal bolt with connecting flange.
4. the notebook computer shell polissoir according to claim 1 based on industrial robot, it is characterised in that: the folder
It holds and is symmetrical arranged four compressed springs between block and connecting plate, while passing through compression bullet by four between grip block and connecting plate
The half-thread outer-hexagonal of spring is bolted.
5. the notebook computer shell polissoir according to claim 4 based on industrial robot, it is characterised in that: described half
The lower part of screw thread outer-hexagonal bolt locks on grip block, top can be loosely threaded through on connecting plate up and down.
6. the notebook computer shell polissoir according to claim 1 based on industrial robot, it is characterised in that: the gas
Dynamic grinder is locked at the centre of two grip blocks by M10 outer-hexagonal bolt.
7. the notebook computer shell polissoir according to claim 1 based on industrial robot, it is characterised in that: the length
Support plate, short support plate move in the straight trough mouth of corresponding direction respectively, and cooperate cylinder to adapt to various sizes of notebook
Shell.
8. the notebook computer shell polissoir according to claim 1 based on industrial robot, it is characterised in that: the gas
Dynamic fixture further includes several carrying bolts, and each carrying bolt is symmetrically mounted on two and draws money on credit fagging and two short support plates are enclosed and set
The middle part of the bottom plate to get up, the height of carrying bolt are consistent with the height adjustment of fagging of drawing money on credit, short support plate.
9. the notebook computer shell polissoir according to claim 1 based on industrial robot, it is characterised in that: the gas
Dynamic grinder includes sticking to the pan for upper switches and lower part, and is provided with one venthole of an air inlet, when gas source connects air inlet
Kong Hou sticks to the pan rotation by upper switches control lower part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710178915.5A CN106944910B (en) | 2017-03-23 | 2017-03-23 | A kind of notebook computer shell polissoir based on industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710178915.5A CN106944910B (en) | 2017-03-23 | 2017-03-23 | A kind of notebook computer shell polissoir based on industrial robot |
Publications (2)
| Publication Number | Publication Date |
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| CN106944910A CN106944910A (en) | 2017-07-14 |
| CN106944910B true CN106944910B (en) | 2019-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710178915.5A Active CN106944910B (en) | 2017-03-23 | 2017-03-23 | A kind of notebook computer shell polissoir based on industrial robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108172101A (en) * | 2017-12-29 | 2018-06-15 | 中科国技（天津）智能系统工程有限责任公司 | A kind of practical traning platform for industrial robot teaching |
| CN112454381B (en) * | 2020-11-18 | 2024-04-05 | 辽宁省交通高等专科学校 | Servo control system of automatic polishing robot |
| CN113696052B (en) * | 2021-08-31 | 2022-11-15 | 佛山市南海区广工大数控装备协同创新研究院 | Intelligent flexible self-cleaning polishing robot device |
| CN114905393A (en) * | 2022-04-21 | 2022-08-16 | 佛山智优人科技有限公司 | Flexible polishing system and control method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2635038B1 (en) * | 1988-08-05 | 1990-10-05 | Inocar | MACHINE FOR AUTOMATIC SANDING OF ARTICLES WITH IRREGULAR SURFACE |
| JPH11221752A (en) * | 1998-02-10 | 1999-08-17 | Kyoei Denko Kk | Magnetic flux beam machining system |
| CN201900528U (en) * | 2010-08-13 | 2011-07-20 | 武汉振中科技发展有限公司 | Flash and burr fine grinding machine tool for metal casting |
| DE102012111454A1 (en) * | 2012-11-27 | 2014-05-28 | Continental Reifen Deutschland Gmbh | Machine for buffing the surface of a tire |
| CN204366663U (en) * | 2014-12-24 | 2015-06-03 | 重庆市合川区海常关船舶修造有限公司 | The Parts Made of Composite Glass sanding apparatus of ferry glass reinforced plastic boat |
| CN205111513U (en) * | 2015-09-02 | 2016-03-30 | 上海思客琦自动化工程有限公司 | Flexibility machine people device of polishing |
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2017
- 2017-03-23 CN CN201710178915.5A patent/CN106944910B/en active Active
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