CN107081658A - Blade surface sanding apparatus - Google Patents
Blade surface sanding apparatus Download PDFInfo
- Publication number
- CN107081658A CN107081658A CN201710197556.8A CN201710197556A CN107081658A CN 107081658 A CN107081658 A CN 107081658A CN 201710197556 A CN201710197556 A CN 201710197556A CN 107081658 A CN107081658 A CN 107081658A
- Authority
- CN
- China
- Prior art keywords
- blade
- tapered wheel
- sanding apparatus
- support bar
- main shaft
- 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.)
- Pending
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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
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
- B24B19/14—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding turbine blades, propeller blades or the like
-
- 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
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of blade surface sanding apparatus, including base, blade chassis fixture, blade support bar, portal frame, mechanical arm, air-floating main shaft, tapered wheel, obliquity sensor, Curved dectection component and host computer.Mechanical arm is fixedly connected with air-floating main shaft；Air-floating main shaft includes heart axle and pressure sensor；Tapered wheel is coaxially set in the tail end of heart axle, and the extended line of taper bus and the central axis of tapered wheel of tapered wheel are in that angle is 15 ° ~ 75 °；Obliquity sensor is arranged on the non-polishing side of tapered wheel；Curved dectection component includes horizontal cross plate and at least two laser sensors.Automaticity of the present invention is high, can carry out polishing path planning automatic to blade, adapt to complicated blade curved surface, energy adjust automatically tapered wheel angle of inclination, the taper bus and blade curved surface for making tapered wheel are consistent, meanwhile, control of grinding force can be made in a setting range, so that polishing precision is high.
Description
Technical field
The present invention relates to curved surface rubbing technique field, particularly a kind of blade surface sanding apparatus.
Background technology
At present, it is more rare mainly for the sander of large ship large-size propeller, mainly run into following problem：1、
Propeller blade is relatively large in diameter, and general sander grinding speed all do not reach requirement；2nd, stock removal is big, it is necessary to constantly change
Emery wheel, and the polishing of propeller is higher to the thickness and diametric requirements of emery wheel, so as to ensure precision of polishing, so general beats
Grinding machine can not all be completed；3rd, existing grinding wheel of grinder stability is poor, easily causes potential safety hazard, causes any property loss.Now
It is not strong with the sander generally existing specific aim in large-size propeller, complex operation inconvenience, grinding efficiency and it is low-quality not
Foot.
Propeller is the important component in Ship Propulsion System, and the production process of propeller includes casting, polishing, pitch
Test, blade balance test and correction.Wherein polishing is crucial, and polishing decides the production efficiency and quality of propeller.At present
Propeller manufacturing enterprise of China is substantially manual polishing, and manual polishing low production efficiency, product rejection rate are high, workman's working strength
Greatly, working environment damages workers ' health.
The Chinese patent of the Application No. 200520063787.2 of on 03 28th, 2007 bulletins, it discloses a kind of spiral
Oar sander, it includes grinding wheel stand, emery wheel, machine base body, transmission mechanism and motor, and emery wheel is installed on grinding wheel stand, grinding wheel stand
Be mounted on one end of machine base body by grinding wheel spindle, motor is fixedly installed in the other end of machine base body, transmission mechanism by
It is installed on the main pulley of motor, is installed on being constituted from belt wheel and the adhesive tape of between which for grinding wheel spindle, the working face of the emery wheel
The end cap of part hollow out is provided with, the end cap makes emery wheel be worked under semi-closed state.
In recent years, a kind of propeller dresser is occurred in that, it includes body frame, base, control device.Control device is arranged on
On the body frame, body frame is provided with large arm, forearm, and forearm one end is connected with large arm, and the other end is provided with emery wheel, and emery wheel passes through even
Joint chair is connected with forearm, and the propeller dresser of the structure is directly connected to due to connecting seat with forearm, and face connects with face between the two
Touch, form rigid contact, emery wheel produces vibrations in grinding easily makes connecting seat be come off with forearm, so as to influence making for sander
With.
Chinese CN201320870855.0 patents disclose a kind of new type propeller sander.It includes base, emery wheel
With the body frame on base, the body frame is provided with large arm and is connected to the forearm of large arm end, described forearm one end with
Large arm be connected, the other end is connected with connecting seat, and the emery wheel is connected by connecting seat with the forearm, the connecting seat with it is described
Be provided with some elastic components between forearm contact surface, the both ends of the surface of the elastic component respectively with the end face of the connecting seat and small
Arm end face is connected.Due between connecting seat and forearm contact surface be provided with elastic component, and the both ends of the surface of elastic component respectively with institute
End face and the connection of forearm end face of connecting seat are stated, can avoid causing emery wheel to come off due to vibrations during wheel grinding, but
There is also following problem
1. non-full automatic propeller dresser, each polishing action is required for artificial operation to complete, grinding efficiency is low, precision
It is low and cost of labor is high.
2. using plant equipment sanding and polishing, current functions of the equipments are single, part burnishing surface can only be realized and polished, right
Complex-curved not adapt to, precision is not high.
The content of the invention
In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a kind of polishing of blade surface
Device, the blade surface sanding apparatus automaticity is high, can carry out polishing path planning automatic to blade, adapt to complicated oar
Leaf curved surface, energy adjust automatically tapered wheel angle of inclination, the taper bus and blade curved surface for making tapered wheel is consistent, together
When, control of grinding force can be made in a setting range, so that polishing precision is high.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of blade surface sanding apparatus, including base, blade chassis fixture, blade support bar, portal frame, mechanical arm, air supporting
Main shaft, tapered wheel, obliquity sensor, Curved dectection component and host computer.
Blade chassis fixture is installed on base, the blade chassis for the circle that is fixedly clamped.
Blade support bar is two, for supporting blade；Every blade support bar is slidably arranged on base, often
The height of root blade support bar can be lifted and locked.
Portal frame includes two montants and is installed in the cross bar on two montant tops, and two montant bottoms can be long along base
Line slip is entered in degree direction.
Mechanical arm has the free degree of six direction, and one end of mechanical arm is installed in the middle part of cross bar in portal frame, machinery
The other end of arm is fixedly connected with air-floating main shaft.
Air-floating main shaft includes heart axle and is arranged at several deep-slotted chip breakers of mandrel head surrounding；Gas is after deep-slotted chip breaker, energy
Drive heart axle high-speed rotation；Pressure sensor is provided with one of deep-slotted chip breaker.
Tapered wheel is coaxially set in the tail end of heart axle, and axle of following one's inclinations carries out high-speed rotation；The vertical section of tapered wheel is
Isosceles trapezoid, the extended line of taper bus and the central axis of tapered wheel of tapered wheel are in that angle is 15 ° ~ 75 °.
Obliquity sensor is arranged on the non-polishing side of tapered wheel.
Curved dectection component includes horizontal cross plate and at least two laser sensors；Horizontal cross plate is slidably connected at portal frame
Cross bar on, laser sensor is installed in the bottom of horizontal cross plate.
Pressure sensor, obliquity sensor and all laser sensors are connected with host computer.
The extended line of taper bus and the central axis of tapered wheel of the tapered wheel are in that angle is 30 °.
The extended line of taper bus and the central axis of tapered wheel of the tapered wheel are in that angle is 60 °.
Paddle chassis fixture includes the V-type frame and pressure head being coaxially disposed, and V-type frame is installed on support, and pressure head is set
In the surface of V-type frame, and fall head can be lifted.
The pressure head is V-shaped or circular arc.
Electromagnet is built-in with the V-type side of the V-type frame.
Every blade support bar is electric cylinder or motor-driven jack.
Bulb is provided with the top of every blade support bar, bulb is built-in with electromagnet.
The present invention is using after said structure, and automaticity is high, can carry out polishing path planning automatic to blade, adapt to
Complicated blade curved surface, energy adjust automatically tapered wheel angle of inclination, the taper bus and blade curved surface for making tapered wheel keeps one
Cause, meanwhile, control of grinding force can be made in a setting range, so that polishing precision is high.
Brief description of the drawings
Fig. 1 shows a kind of structural representation of blade surface sanding apparatus of the invention.
Fig. 2 shows the scheme of installation of air-floating main shaft and emery wheel in the present invention.
Wherein have：
1. base；
2. blade chassis fixture；21.V type frame；211. electromagnet；22. pressure head；221. elevating lever；
3. blade support bar；31. bulb；
4. portal frame；41. montant；42. cross bar；
5. mechanical arm；
6. air-floating main shaft；61. heart axle；62. deep-slotted chip breaker；631. pressure sensor；
7. tapered wheel；71. obliquity sensor；
81. horizontal cross plate；82. laser sensor；
9. blade.
Embodiment
The present invention is further detailed explanation with specific better embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of blade surface sanding apparatus, including base 1, blade chassis fixture 2, blade support bar 3, dragon
Door frame 4, mechanical arm 5, air-floating main shaft 6, tapered wheel 7, obliquity sensor 71, Curved dectection component and host computer.
Blade 9 includes blade chassis and the blade of circle.
Blade chassis fixture is installed on base, for the blade chassis that is fixedly clamped.
Blade support bar is two, for supporting blade；Every blade support bar is slidably arranged on base, often
The height of root blade support bar can be lifted and locked.
Portal frame includes two montants and is installed in the cross bar on two montant tops, and two montant bottoms can be long along base
Line slip is entered in degree direction.
Mechanical arm has the free degree of six direction, and one end of mechanical arm is installed in the middle part of cross bar in portal frame, machinery
The other end of arm is fixedly connected with air-floating main shaft.
As shown in Fig. 2 air-floating main shaft includes heart axle 61 and is arranged at several deep-slotted chip breakers 62 of mandrel head surrounding；Gas
After deep-slotted chip breaker, heart axle high-speed rotation can be driven；Pressure sensor 621 is provided with one of deep-slotted chip breaker.
The said structure of air-floating main shaft be prior art, the set-up mode of above-mentioned heart axle 61 and deep-slotted chip breaker 62, referring specifically to
The Chinese utility model patent application of Application No. 201520667751.9.
Tapered wheel is coaxially set in the tail end of heart axle, and axle of following one's inclinations carries out high-speed rotation；The vertical section of tapered wheel is
Isosceles trapezoid, the extended line of taper bus and the central axis of tapered wheel of tapered wheel are in that angle is 15 ° ~ 75 °, preferably
For 30 ° or 60 °.
Obliquity sensor is arranged on the non-polishing side of tapered wheel.
Curved dectection component includes horizontal cross plate and at least two laser sensors；Horizontal cross plate is slidably connected at portal frame
Cross bar on, laser sensor is installed in the bottom of horizontal cross plate.
Pressure sensor, obliquity sensor and all laser sensors are connected with host computer.
Further, above-mentioned paddle chassis fixture includes the V-type frame 21 and pressure head 211 being coaxially disposed, and V-type frame is installed in support
On, pressure head is arranged on the surface of V-type frame, and fall head can be lifted.Wherein, pressure head is V-shaped or circular arc etc..
The setting of above-mentioned V-type frame and pressure head, adapts to the blade chassis of different size.
Further, the V-type side of V-type frame is above preferably molded-in electromagnet.
Every blade support bar is both preferably electric cylinder or motor-driven jack etc., and the top of every blade support bar is preferred
Bulb is provided with, bulb is preferably molded-in electromagnet.
A kind of blade surface polishing process, comprises the following steps.
Step 1, blade leveling and position are fixed：Blade chassis is placed on the V-type frame in the fixture of blade chassis, is located at
Electromagnet in V-type frame is powered, and blade chassis is adsorbed；Then, blade is placed on two blade support bars, positioned at slurry
Electromagnet in leaf support bar top bulb is powered, and paddle blade is adsorbed.Finally, by adjusting two blade support bars
Height, make blade be in horizontality, then, using pressure head, blade chassis is fixedly clamped.
Step 2, tapered wheel polishing path planning：Using the horizontal plane where blade as XY faces, with blade with
The midpoint for submitting edge fit on blade chassis is origin, to cross origin and perpendicular to the axles of XY upwardly as Z axis positive direction, sets up oar
Leaf polishing coordinate system；Then, the threedimensional model of blade is imported in the blade polishing coordinate system set up, host computer will be known automatically
Other blade profile and surface curvature, and carry out polishing path planning of the tapered wheel along XY faces.
Step 3, tapered wheel pose adjustment：Tapered wheel is moved to rising for polishing path planning under the drive of mechanical arm
Beginning position, laser sensor and obliquity sensor start, the surface song of laser sensor paddle position polish to tapered wheel
Rate is acquired calculating, and obliquity sensor is detected that host computer is receiving laser in real time to the angle of inclination of tapered wheel
Sensor collection after after the surface curvature of polishing paddle position, after being matched with the surface curvature of step 2 automatic identification, instruct
Mechanical arm is moved, and drives tapered wheel to carry out angle adjustment, makes the taper bus and paddle to be polished of the tapered wheel after adjustment
The surface curvature of position is consistent.
The method that the surface curvature of above-mentioned laser sensor paddle position to be polished to tapered wheel is acquired calculating is：
One laser sensor is acquired to the distance between horizontal cross plate and paddle surface to be polished, another laser sensor pair
Horizontal cross plate is acquired with the distance between next paddle surface to be polished on polishing path planning；Host computer swashs two
After the distance difference of optical sensor collection is matched with the surface curvature of step 2 automatic identification, show that tapered wheel is waited to polish
The actual surface curvature of paddle position.
Step 4, blade is polished：After tapered wheel pose adjustment is complete, mechanical arm drives emery wheel to decline, what emery wheel side declined
Side is detected to grinding force simultaneously, when control of grinding force is between the grinding force scope of setting, and emery wheel stops declining, and starts
Polished according to the polishing path of step；In bruting process, still need to detect grinding force in real time；The tool of grinding force detection
Body mode is：The gas pressure in air-floating main shaft is monitored in real time by pressure sensor, the gas pressure in air-floating main shaft
The grinding force of power and tapered wheel is linear, and the change of grinding force size is by the change of the gas pressure in air-floating main shaft.
Step 5, Grinding force compensation：When the grinding force detected in step 4 is not in range of set value, host computer will be controlled
Mechanical arm processed drives air-floating main shaft to rise or fall, the automatic compensation for carrying out grinding force, makes control of grinding force in setting range；
During mechanical arm declines, air-floating main shaft will first carry out the flexible compensation of grinding force by the amount of floating of itself, make grinding
Power can be controlled in range of set value all the time.
Step 6, tapered wheel posture is adjusted again：When blade surface has multiple surface curvatures, laser sensor will
The surface curvature of real-time paddle position to be polished to tapered wheel is acquired calculating, and polishing slurry is treated when what laser sensor was gathered
When the surface curvature of leaf position and the inconsistent current taper bus of tapered wheel, host computer will instruct mechanical arm to drive air supporting master
Axle rises；Tapered wheel carries out pose adjustment according to step 3 mode, after the completion of pose adjustment, then carries out step 4 to step 5
Polishing.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is defined.
Claims (8)
1. a kind of blade surface sanding apparatus, it is characterised in that：Including base, blade chassis fixture, blade support bar, gantry
Frame, mechanical arm, air-floating main shaft, tapered wheel, obliquity sensor, Curved dectection component and host computer；
Blade chassis fixture is installed on base, the blade chassis for the circle that is fixedly clamped；
Blade support bar is two, for supporting blade；Every blade support bar is slidably arranged on base, every oar
The height of leaf support bar can be lifted and locked；
Portal frame includes two montants and is installed in the cross bar on two montant tops, and two montant bottoms can be along base length side
To entering line slip；
Mechanical arm has the free degree of six direction, and one end of mechanical arm is installed in the middle part of cross bar in portal frame, mechanical arm
The other end is fixedly connected with air-floating main shaft；
Air-floating main shaft includes heart axle and is arranged at several deep-slotted chip breakers of mandrel head surrounding；Gas can drive after deep-slotted chip breaker
Heart axle high-speed rotation；Pressure sensor is provided with one of deep-slotted chip breaker；
Tapered wheel is coaxially set in the tail end of heart axle, and axle of following one's inclinations carries out high-speed rotation；The vertical section of tapered wheel is isosceles
Trapezoidal, the extended line of taper bus and the central axis of tapered wheel of tapered wheel are in that angle is 15 ° ~ 75 °；
Obliquity sensor is arranged on the non-polishing side of tapered wheel；
Curved dectection component includes horizontal cross plate and at least two laser sensors；Horizontal cross plate is slidably connected at the horizontal stroke of portal frame
On bar, laser sensor is installed in the bottom of horizontal cross plate；
Pressure sensor, obliquity sensor and all laser sensors are connected with host computer.
2. blade surface sanding apparatus according to claim 1, it is characterised in that：The taper bus of the tapered wheel
The central axis of extended line and tapered wheel is in that angle is 30 °.
3. blade surface sanding apparatus according to claim 1, it is characterised in that：The taper bus of the tapered wheel
The central axis of extended line and tapered wheel is in that angle is 60 °.
4. blade surface sanding apparatus according to claim 1, it is characterised in that：Paddle chassis fixture includes coaxial
The V-type frame and pressure head of setting, V-type frame are installed on support, and pressure head is arranged on the surface of V-type frame, and fall head can rise
Drop.
5. blade surface sanding apparatus according to claim 4, it is characterised in that：The pressure head is V-shaped or circular arc.
6. blade surface sanding apparatus according to claim 4, it is characterised in that：The V-type side of the V-type frame is upper built-in
There is electromagnet.
7. blade surface sanding apparatus according to claim 1, it is characterised in that：Every blade support bar is electric cylinder
Or motor-driven jack.
8. blade surface sanding apparatus according to claim 1, it is characterised in that：It is all provided with the top of every blade support bar
Bulb is equipped with, bulb is built-in with electromagnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710197556.8A CN107081658A (en) | 2017-03-29 | 2017-03-29 | Blade surface sanding apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710197556.8A CN107081658A (en) | 2017-03-29 | 2017-03-29 | Blade surface sanding apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107081658A true CN107081658A (en) | 2017-08-22 |
Family
ID=59614765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710197556.8A Pending CN107081658A (en) | 2017-03-29 | 2017-03-29 | Blade surface sanding apparatus |
Country Status (1)
| Country | Link |
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| CN (1) | CN107081658A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107900852A (en) * | 2017-11-08 | 2018-04-13 | 镇江市丹徒区顺发船舶螺旋桨有限公司 | A kind of efficient screw blade curved surface sanding apparatus |
| CN108297286A (en) * | 2018-04-26 | 2018-07-20 | 晋江市盛泓机械有限公司 | A kind of multi-functional fluting polishing machine |
| CN109015249A (en) * | 2018-09-10 | 2018-12-18 | 苏州涵轩信息科技有限公司 | A kind of greenwave appearance grinding device |
| CN109202615A (en) * | 2018-09-21 | 2019-01-15 | 广东利迅达机器人系统股份有限公司 | A kind of speed reducer housing grinding apparatus of carrying machine people |
| CN110744560A (en) * | 2019-10-22 | 2020-02-04 | 四川智能创新铸造有限公司 | Robot cutting device for surface of steel casting meeting NDT flaw detection requirements |
| CN112171458A (en) * | 2020-11-27 | 2021-01-05 | 大捷智能科技(广东)有限公司 | Intelligent mold polishing platform and polishing method |
| CN112917298A (en) * | 2021-03-01 | 2021-06-08 | 刘娟 | Polishing device is made to combined material car leaf spring intelligence |
| CN113084596A (en) * | 2021-03-29 | 2021-07-09 | 台州市椒江永固船舶螺旋桨厂 | Propeller polishing production process and polishing and measuring integrated machine thereof |
| CN113954102A (en) * | 2021-12-23 | 2022-01-21 | 太原理工大学 | Off-line programming-based path planning method for polishing and grinding blades of shutter wheel |
| CN115302367A (en) * | 2022-08-17 | 2022-11-08 | 石河子大学 | Aerogenerator blade polisher |
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| CN104440474A (en) * | 2014-11-28 | 2015-03-25 | 西安交通大学 | Self-adaption profile modification blade abrasive belt polishing machine tool |
| CN104858748A (en) * | 2015-05-28 | 2015-08-26 | 华中科技大学 | Automatic robot device for grinding air feeding and discharging edges of blade |
| CN105290925A (en) * | 2014-09-17 | 2016-02-03 | 电子科技大学 | Industrial-robot-based abrasive belt grinding device for profiles of controllable pitch propeller and manufacturing method of abrasive belt grinding device |
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| JPS61257754A (en) * | 1985-05-10 | 1986-11-15 | Toshiba Corp | Three-dimensional curved face polishing controller |
| DE3904686C1 (en) * | 1989-02-16 | 1989-08-24 | Wilhelm 8372 Zwiesel De Koenig | CNC-machine for grinding workpieces with curved surfaces, in particular turbine blades, and also for grinding and polishing decorative grooves on hollow glassware or similar workpieces |
| CN1962192A (en) * | 2006-11-24 | 2007-05-16 | 哈尔滨工业大学 | Five-axle linked tandem and parallel digital control polishing machine tool |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107900852A (en) * | 2017-11-08 | 2018-04-13 | 镇江市丹徒区顺发船舶螺旋桨有限公司 | A kind of efficient screw blade curved surface sanding apparatus |
| CN108297286A (en) * | 2018-04-26 | 2018-07-20 | 晋江市盛泓机械有限公司 | A kind of multi-functional fluting polishing machine |
| CN109015249A (en) * | 2018-09-10 | 2018-12-18 | 苏州涵轩信息科技有限公司 | A kind of greenwave appearance grinding device |
| CN109202615A (en) * | 2018-09-21 | 2019-01-15 | 广东利迅达机器人系统股份有限公司 | A kind of speed reducer housing grinding apparatus of carrying machine people |
| CN110744560A (en) * | 2019-10-22 | 2020-02-04 | 四川智能创新铸造有限公司 | Robot cutting device for surface of steel casting meeting NDT flaw detection requirements |
| CN112171458B (en) * | 2020-11-27 | 2021-03-16 | 大捷智能科技(广东)有限公司 | Intelligent mold polishing platform and polishing method |
| CN112171458A (en) * | 2020-11-27 | 2021-01-05 | 大捷智能科技(广东)有限公司 | Intelligent mold polishing platform and polishing method |
| CN112917298A (en) * | 2021-03-01 | 2021-06-08 | 刘娟 | Polishing device is made to combined material car leaf spring intelligence |
| CN113084596A (en) * | 2021-03-29 | 2021-07-09 | 台州市椒江永固船舶螺旋桨厂 | Propeller polishing production process and polishing and measuring integrated machine thereof |
| CN113084596B (en) * | 2021-03-29 | 2022-05-13 | 台州市椒江永固船舶螺旋桨厂 | Propeller polishing production process and polishing and measuring integrated machine thereof |
| CN113954102A (en) * | 2021-12-23 | 2022-01-21 | 太原理工大学 | Off-line programming-based path planning method for polishing and grinding blades of shutter wheel |
| CN113954102B (en) * | 2021-12-23 | 2022-03-15 | 太原理工大学 | Off-line programming-based path planning method for polishing and grinding blades of shutter wheel |
| CN115302367A (en) * | 2022-08-17 | 2022-11-08 | 石河子大学 | Aerogenerator blade polisher |
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