CN107097129A - A kind of two-freedom sbrasive belt grinding unit pose compensation device - Google Patents
A kind of two-freedom sbrasive belt grinding unit pose compensation device Download PDFInfo
- Publication number
- CN107097129A CN107097129A CN201710572096.2A CN201710572096A CN107097129A CN 107097129 A CN107097129 A CN 107097129A CN 201710572096 A CN201710572096 A CN 201710572096A CN 107097129 A CN107097129 A CN 107097129A
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- China
- Prior art keywords
- pose
- plate
- compensating plate
- ball joint
- freedom
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- 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 two-freedom sbrasive belt grinding unit pose compensation device, the elastic supporting bar being made up of shell of gas spring and piston rod, and be respectively articulated with respectively with the pose compensating plate of the first pose compensating plate/second and base plate by the second ball joint bearing and the first ball joint bearing；The first length adjustment bar and the second length adjustment bar are connected between spring shell and the first ball joint bearing, to change the length of the elastic supporting bar between the first oscillating bearing and second joint bearing；Ejection cylinder is fixed on the pose compensating plate of the first pose compensating plate/second, and the piston rod for ejecting cylinder is fixedly connected with polishing plate, and is located in 4 tie regions of four the second ball joint bearing pin joints；Polishing plate is fixed with the axis of guide at corner.The present invention can save correction time when coordinating polishing with robot, reduce the positioning grade to robot and grinding unit, while adding the adaptability of polishing system, ensure that the quality of polishing.
Description
Technical field
The present invention relates to sbrasive belt grinding and grinding technology field, more particularly to a kind of two-freedom sbrasive belt grinding unit posture
Compensation device.
Background technology
When being polished using belt grinder, it is necessary to which the hand-held part of skilled worker, abrades the burr on the surface of part.
Chinese human cost increase is quick, and grinding and buffing industry disposes automation equipment to offset the cost gradually risen.Current machine
Device peopleization polishing system is used cooperatively using robot gribing part and belt sander, and robot is needed with sander precision-fit
It ensure that crudy.When robotic gripper workpiece is ground on sbrasive belt grinding unit, it is necessary to abrasive band carry out it is hard contact with
Keep enough grinding force, due to polishing system by industrial robot and grinding unit cooperating when, it is necessary to robot and sand
Position and posture between band are calibrated, but are due to abrasive band category easily-consumed products, it is impossible to long-term to ensure the consistent of calibration accuracy
Property.
A kind of robot belt grinder is being elaborated in the A of patent CN 106514461, is being set including tensioning wheel
Meter and dust suction design.A kind of abrasive band wabbler mechanism is given in patent CN203390697 U, it is passive by waving cylinder control
The rotation of roller, the elevating movement of rocking equipment is controlled using telescopic cylinder.But these patents do not provide how with polishing
The sanding apparatus that robot coordinates.
The content of the invention
The invention aims to solve shortcoming present in prior art, and a kind of two-freedom abrasive band proposed is ground
Cut unit pose compensation device.
To achieve these goals, present invention employs following technical scheme：
A kind of two-freedom sbrasive belt grinding unit pose compensation device, by drive roll driving abrasive band motion, abrasive band is bypassed is closed by aluminium
The first driven roll, the second driven roll and the 3rd driven roll formation closed loop path that gold is made, the Internal periphery of operation with closed ring in abrasive band
Inside be disposed with pneumatic two-freedom pose compensation device, pneumatic two-freedom pose compensation device include the first length adjustment bar,
First ball joint bearing, shell of gas spring, air spring piston bar, the first pose compensating plate, bearing pin, polishing plate, the second ball-joint
Bearing, the axis of guide, guideway, the second length adjustment bar, ejection cylinder, the second pose compensating plate, right-angled intersection axle, intersecting axle
Sliding block and slide rail；The elastic supporting bar being made up of shell of gas spring and piston rod, and pass through the second ball joint bearing and the first ball
Oscillating bearing is respectively articulated with the pose compensating plate of the first pose compensating plate/second and base plate respectively；In spring shell and first
The first length adjustment bar and the second length adjustment bar are connected between ball joint bearing, is closed with changing the first oscillating bearing and second
The length of elastic supporting bar between bearings；Ejection cylinder is fixed on the pose compensating plate of the first pose compensating plate/second, top
The piston rod for going out cylinder is fixedly connected with polishing plate, and positioned at 4 tie regions of four the second ball joint bearing pin joints
It is interior；Polishing is fixed with the axis of guide at plate corner, and insertion respectively is fixed on the guiding of the pose compensating plate of the first pose compensating plate/second
In axle sleeve.
It is preferred that, bearing pin one end is fixed on base plate, and the other end is inserted in the I connected in stars of the first pose compensating plate, and first
The I connected in stars of pose compensating plate are rotated around bearing pin, and bearing pin is slided in I connected in stars.
It is preferred that, the second ball-joint axle being hinged with the pose compensating plate of the first pose compensating plate/second and base plate
Hold and the ball joint bearing that the first ball joint bearing is three degree of freedom.
It is preferred that, one end of right-angled intersection axle is hinged with the second pose compensating plate, and the other end is hinged with intersecting axle sliding block, and ten
The central axis of word intersecting axle two ends hinged place is orthogonal and more intersecting, and slide rail is fixed on the base mounting plate, intersecting axle sliding block
Sliding pair is constituted with slide rail, sliding block can be slided in slide rail.
It is preferred that, slip secondary axis and the right-angled intersection axle of intersecting axle sliding block and slide rail have with intersecting axle sliding block hinge axes
There is bias.
The present invention provides a kind of two-freedom sbrasive belt grinding unit pose compensation device, adjustment polishing plate that can be adaptive
Posture coordinates the grinding surface of workpiece, improves polishing quality, reduces mutual correction when robot works with sander unit matching
Time, efficiency can be improved during high-volume grinding operation；This sbrasive belt grinding unit used cooperatively with industrial robot can
Mitigate labor strength, production in enormous quantities reduces cost, improve grinding and polishing effect.The present invention can be saved and robot
Coordinate correction time during polishing, reduce the positioning grade to robot and grinding unit, while adding the suitable of polishing system
Ying Xing, ensure that the quality of polishing.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of two-freedom sbrasive belt grinding unit pose compensation device of the invention.
Fig. 2 is a kind of partial structural diagram of two-freedom sbrasive belt grinding unit pose compensation device of the invention.
Fig. 3 is a kind of two-freedom sbrasive belt grinding unit pose compensation device other structures form figure of the invention.
Fig. 4 is a kind of compensation mechanism figure of two-freedom sbrasive belt grinding unit pose compensation device of the invention.
Fig. 5 is implemented for other of a kind of spring supporting bar of two-freedom sbrasive belt grinding unit pose compensation device of the invention
Mode figure.
Fig. 6 is implemented for other of a kind of right-angled intersection axle of two-freedom sbrasive belt grinding unit pose compensation device of the invention
Mode figure.
In figure：1- active rods；2- base plates；The driven rolls of 3- first；The driven rolls of 4- second；The driven rolls of 5- the 3rd；6- abrasive bands；
7- the first length adjustment bars；The ball joint bearings of 8- first；9- shell of gas spring；10- air spring piston bars；The poses of 11- first are mended
Repay plate；12- bearing pins；13- polishing plates；The ball joint bearings of 14- second；The 15- axis of guides；16- guideways；The length of 17- second is adjusted
Pole；18- ejects cylinder；19- pose compensating plate I shape grooves；20- the second pose compensating plates；21- right-angled intersection axles；22- intersecting axles
Sliding block；23- slide rails；24- shells；25- piston rods；26- elastomeric elements.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.
A kind of reference picture 1, two-freedom sbrasive belt grinding unit pose compensation device of the present invention can be used for abrasive band
With industrial robot composition automation polishing system in grinding unit, traditional sbrasive belt grinding unit is main by being fixed on base plate 2
On motor driving drive roll 1 move, base plate 2 is made up of aluminum alloy plate materials, drive roll 3 be the encapsulated cylindrical shape roller of aluminium core
Son, its outer surface is provided with spiral shape skewed slot, and spiral chute is circumferentially uniform along periphery, rubbing between increase drive roll and abrasive band
Wipe power.Abrasive band 6 bypasses the first driven roll 3, the second driven roll 4, the 3rd driven roll 5 and one closed loop path of formation of drive roll 1, in master
Closed loop reciprocating motion is carried out under the drive of dynamic roller 1.First driven roll 3, the second driven roll 4, the 3rd driven roll 5 are hinged on base plate
On 2.Pneumatic two-freedom pose compensation device is arranged in the closed loop region that abrasive band is formed.Pneumatic two-freedom pose compensation dress
Put by the first length adjustment bar 7, the first ball joint bearing 8, shell of gas spring 9, air spring piston bar 10, the first pose compensating plate
11st, bearing pin 12, polishing plate 13, the second ball joint bearing 14, the axis of guide 15, guideway 16, the second length adjustment bar 17, ejection
Cylinder 18 is constituted.
In reference picture 2, pneumatic two-freedom pose compensation device, four shell of gas spring 9 and air spring piston bar 10 are logical
The second ball joint bearing 14 and the first ball joint bearing 8 is crossed to be hinged with the first pose compensating plate 11 and base plate 2 respectively, the
One pose compensating plate 11 is rectangle, and gas spring is arranged in the both sides of the first pose compensating plate 11 two-by-two.Two gas of side wherein
In spring, the first length adjustment bar 7 and the second length adjustment bar are installed between the first ball joint bearing 8 and shell of gas spring 9
The distance that 17 regulation gas both ends of the spring are hinged.The one end of bearing pin 12 is fixed on base plate 2, and the other end is embedded in the first pose compensating plate
In 11 I connected in stars 19, the I connected in stars 19 of the first pose compensating plate 11 can be rotated around bearing pin 12, can also allow bearing pin
12 slide in I connected in stars 19.Be fixed with the first pose compensating plate 11 ejection cylinder 18, eject cylinder 18 piston rod with
Polishing plate 13 is fixedly connected.The axis of guide 15 is fixed with 13 4 jiaos of plate of polishing, insertion respectively is fixed on the first pose compensating plate 11
Guideway 16 in.
The source of the gas of ejection cylinder 18 is provided by air supply system, can release polishing plate 13 by abrasive band during ejection 18 air inlet of cylinder
6 are pressed in and are polished surface and are ground.When the face that is polished contacts polishing with abrasive band 6 and polishing plate 13, if polishing plate 13 4
The discontinuity on side, the gas spring on the big one side of stress will compress, while driving the first pose compensating plate 11 to occur partially
Turn, length and changes in deflection occur for four groups of gas springs, untill 11 weeks stress of the first pose compensating plate are equal in magnitude.
The present embodiment can be to the first pose compensating plate 11 using the second length adjustment bar 17 and the first length adjustment bar 7
Initial pose is adjusted to adapt to the check and correction position needs in ground face.
Reference picture 3, Fig. 3 is another implementation illustration of pneumatic two-freedom pose compensation device, and it is by the first length adjustment bar
7th, the first ball joint bearing 8, shell of gas spring 9, air spring piston bar 10, polishing plate 13, the second ball joint bearing 14, the axis of guide
15th, guideway 16, the second length adjustment bar 17, ejection cylinder 18, the second pose compensating plate 20, right-angled intersection axle 21, intersection
Axle sliding block 22, slide rail 23 constitute composition.Four shell of gas spring 9 and piston rod 10 pass through the second ball joint bearing 14 and the first ball
Oscillating bearing 8 is hinged with the second pose compensating plate 20 and base plate 2 respectively, and the second pose articulated slab 20 is square, gas bullet
Spring is arranged in the both sides of the second pose compensating plate 20 two-by-two.In two gas springs of wherein side, the first ball joint bearing 8 with
Be provided between shell of gas spring the first length adjustment bar 7 and the second length adjustment bar 17 regulation gas both ends of the spring be hinged away from
From.One end of right-angled intersection axle 21 is hinged with the second pose compensating plate 20, and the other end is hinged with intersecting axle sliding block 22, right-angled intersection
The shaft axis of the two ends hinged place of axle 21 it is orthogonal and intersecting one at.Slide rail 23 is fixed on base plate 2, intersecting axle sliding block
22 constitute sliding pair with slide rail 23, and sliding block 22 can be slided on slide rail 23.Ejection is fixed with the second pose compensating plate 20
Cylinder 18, the piston rod and polishing plate 13 for ejecting cylinder 18 is connected.The axis of guide 15 is fixed with 13 4 jiaos of plate of polishing, is inserted respectively
In the guideway 16 for being fixed on the second pose compensating plate 20.The source of the gas of cylinder is provided by air supply system, can be by during cylinder intake
Polishing plate, which is released abrasive band being pressed in, to be polished surface and is ground.When the face that is polished contacts polishing with abrasive band 6 and polishing plate 13,
If the discontinuity on the side of plate 13 4 of polishing, the gas spring on the big one side of stress will compress, while driving the second pose
Compensating plate 20 deflects around the two vertical axises line of right-angled intersection axle 21, and length and changes in deflection occur for four gas springs, directly
Untill the surrounding stress of the second pose compensating plate 20 is equal in magnitude.The present embodiment utilizes the second length adjustment bar 17 and the first length
The initial pose of the second pose compensating plate 20 can be adjusted for degree adjusting rod 7 is needed with the check and correction position for adapting to ground face
Will.
The two kinds of embodiments proposed for Fig. 2 and Fig. 3, are adjusted by being pre-adjusted the second length adjustment bar 17 and the first length
Pole 7 sets the posture of the pose compensating plate 20 of the first pose compensating plate 11/ second.Cylinder 18 is ejected during work will polishing plate 13
Release, abrasive band is squeezed in the grinding surface of workpiece and is ground.When the face that is polished and the not parallel plane of polishing plate 13, position
Appearance compensating plate frees the error that angular displacement quasi-complement is polished face, and increase grinding area improves polishing quality.
Reference picture 4, the second ball joint bearing 14, right-angled intersection axle 21, intersecting axle sliding block 22, slide rail 23 are along second
Appearance compensating plate 20 is symmetrically arranged.
10 groups of the shell of gas spring 9 and piston rod used in reference picture 5, the embodiment and Fig. 3 embodiments for Fig. 2
Into gas spring, can use with cavity structure shell 24, piston rod 25 and shell 24 hollow intracavitary place elasticity
The elastic supporting bar that part 26 is constituted is replaced.Other building forms are identical with structure in Fig. 2 and Fig. 3.Stretching bullet can also be used
Spring catches on the pin joint of the first oscillating bearing 8 and bearing 21.Other building forms are identical with structure in Fig. 2 and Fig. 3.
For the gas spring in above-described embodiment（Elastic supporting bar）For, multiple gas springs can be used（Resilient support
Bar）It is arranged symmetrically along the plane of symmetry of the first pose compensating plate 11 or the second pose compensating plate 20.Other building forms are constant.
For the composition form of the right-angled intersection axle 21 in Fig. 3, intersecting axle sliding block 22 and slide rail 23, intersecting axle sliding block 22 with
With right-angled intersection axle 21 and the hinge axes of intersecting axle sliding block 22 eccentric, reference picture 6 can occur for the slip secondary axis of slide rail 23, its
His building form is constant.
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, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (5)
1. a kind of two-freedom sbrasive belt grinding unit pose compensation device, by drive roll（1）Drive abrasive band（6）Motion, abrasive band（6）
Bypass the first driven roll being made up of aluminium alloy（3）, the second driven roll（4）With the 3rd driven roll（5）Closed loop path is formed, in sand
Band（6）Pneumatic two-freedom pose compensation device is disposed with the Internal periphery of operation with closed ring, it is characterised in that pneumatic two-freedom
Pose compensation device includes the first length adjustment bar（7）, the first ball joint bearing（8）, shell of gas spring（9）, air spring piston
Bar（10）, the first pose compensating plate（11）, bearing pin（12）, polishing plate（13）, the second ball joint bearing（14）, the axis of guide（15）、
Guideway（16）, the second length adjustment bar（17）, ejection cylinder（18）, the second pose compensating plate（20）, right-angled intersection axle
（21）, intersecting axle sliding block（22）And slide rail（23）；By shell of gas spring（9）And piston rod（10）The elastic supporting bar of composition, and
Pass through the second ball joint bearing（14）With the first ball joint bearing（8）Respectively with the first pose compensating plate（11）/ the second pose is mended
Repay plate（20）And base plate（2）It is respectively articulated with；In spring shell（9）With the first ball joint bearing（8）Between be connected with the first length
Spend adjusting rod（7）With the second length adjustment bar（17）, to change the first oscillating bearing（8）With second joint bearing（14）Between
The length of elastic supporting bar；Eject cylinder（18）It is fixed on the first pose compensating plate（11）/ the second pose compensating plate（20）On, top
Go out cylinder（18）Piston rod with polishing plate（13）It is fixedly connected, and positioned at four the second ball joint bearings（14）The four of pin joint
In point tie region；Polishing plate（13）The axis of guide is fixed with corner（15）, insert be fixed on the first pose compensating plate respectively
（11）/ the second pose compensating plate（20）Guideway（16）In.
2. a kind of two-freedom sbrasive belt grinding unit pose compensation device according to claim 1, it is characterised in that bearing pin
（12）One end is fixed on base plate（2）, the other end the first pose compensating plate of insertion（11）I connected in stars（19）In, the first pose
Compensating plate（11）I connected in stars（19）Around bearing pin（12）Rotate, bearing pin（12）In I connected in stars（19）It is middle to slide.
3. a kind of two-freedom sbrasive belt grinding unit pose compensation device according to claim 1, it is characterised in that with
One pose compensating plate（11）/ the second pose compensating plate（20）And base plate（2）The second ball joint bearing being hinged（14）With
First ball joint bearing（8）For the ball joint bearing of three degree of freedom.
4. a kind of two-freedom sbrasive belt grinding unit pose compensation device according to claim 1, it is characterised in that cross
Intersecting axle（21）One end and the second pose compensating plate（20）It is hinged, the other end and intersecting axle sliding block（22）It is hinged, right-angled intersection
Axle（21）The central axis of two ends hinged place is orthogonal and more intersecting, slide rail（23）It is fixed on base plate（2）On, intersecting axle
Sliding block（22）With slide rail（23）Constitute sliding pair, sliding block（22）Can be in slide rail（23）Slide.
5. a kind of two-freedom sbrasive belt grinding unit pose compensation device according to claim 4, it is characterised in that intersect
Axle sliding block（22）With slide rail（23）Slip secondary axis and right-angled intersection axle（21）With intersecting axle sliding block（22）Hinge axes have
It is eccentric.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710572096.2A CN107097129B (en) | 2017-07-13 | 2017-07-13 | Attitude compensation device of two-degree-of-freedom abrasive belt grinding unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710572096.2A CN107097129B (en) | 2017-07-13 | 2017-07-13 | Attitude compensation device of two-degree-of-freedom abrasive belt grinding unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107097129A true CN107097129A (en) | 2017-08-29 |
| CN107097129B CN107097129B (en) | 2023-07-07 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710572096.2A Active CN107097129B (en) | 2017-07-13 | 2017-07-13 | Attitude compensation device of two-degree-of-freedom abrasive belt grinding unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107097129B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107511722A (en) * | 2017-10-19 | 2017-12-26 | 江门市霈霖卫浴科技有限公司 | A kind of circular water outlet plate polishing processing method |
| CN108214221A (en) * | 2018-01-04 | 2018-06-29 | 全椒县同鑫模具配套有限公司 | A kind of polissoir used for non-ferrous metals casting |
| CN110281118A (en) * | 2019-07-22 | 2019-09-27 | 张宇 | A kind of sheet metal component intelligence polishing machine |
| CN113370039A (en) * | 2021-08-11 | 2021-09-10 | 新沂市鹏立机械有限公司 | Sewing machine head processing and grinding device |
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| JPH0227853U (en) * | 1988-08-05 | 1990-02-22 | ||
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| JPH1119859A (en) * | 1997-07-03 | 1999-01-26 | Nippon Micro Coating Kk | Polishing device |
| CN204771965U (en) * | 2015-06-15 | 2015-11-18 | 山东富思特管业有限公司 | Welded tube wig -wag tool |
| CN105856026A (en) * | 2016-06-17 | 2016-08-17 | 福建工程学院 | Multi-belt abrasive belt polishing machine |
| CN205685154U (en) * | 2016-06-23 | 2016-11-16 | 吉林大学 | A kind of grinding mechanism of abrasive belt grinding machine |
| CN206869612U (en) * | 2017-07-13 | 2018-01-12 | 哈尔滨工业大学深圳研究生院 | A kind of two-freedom sbrasive belt grinding unit pose compensation device |
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| JPH0227853U (en) * | 1988-08-05 | 1990-02-22 | ||
| DE4226708A1 (en) * | 1992-02-07 | 1993-08-12 | Sig Schweiz Industrieges | Belt type grinding machine with sliding beam to press belt against work piece - has tensioning pulley actuated by pneumatic cylinder to ensure rapid re-adjustment in belt tension |
| JPH1119859A (en) * | 1997-07-03 | 1999-01-26 | Nippon Micro Coating Kk | Polishing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107511722A (en) * | 2017-10-19 | 2017-12-26 | 江门市霈霖卫浴科技有限公司 | A kind of circular water outlet plate polishing processing method |
| CN108214221A (en) * | 2018-01-04 | 2018-06-29 | 全椒县同鑫模具配套有限公司 | A kind of polissoir used for non-ferrous metals casting |
| CN110281118A (en) * | 2019-07-22 | 2019-09-27 | 张宇 | A kind of sheet metal component intelligence polishing machine |
| CN110281118B (en) * | 2019-07-22 | 2020-05-01 | 蓬莱鸿鑫平衡器有限公司 | Intelligent sheet metal part polishing machine |
| CN113370039A (en) * | 2021-08-11 | 2021-09-10 | 新沂市鹏立机械有限公司 | Sewing machine head processing and grinding device |
| CN113370039B (en) * | 2021-08-11 | 2021-10-26 | 新沂市鹏立机械有限公司 | Sewing machine head processing and grinding device |
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|---|---|
| CN107097129B (en) | 2023-07-07 |
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