CN107511745A - A kind of intelligent coordinated implement of blade processing multirobot - Google Patents
A kind of intelligent coordinated implement of blade processing multirobot Download PDFInfo
- Publication number
- CN107511745A CN107511745A CN201710927642.XA CN201710927642A CN107511745A CN 107511745 A CN107511745 A CN 107511745A CN 201710927642 A CN201710927642 A CN 201710927642A CN 107511745 A CN107511745 A CN 107511745A
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- CN
- China
- Prior art keywords
- robot
- blade
- axis
- axles
- multirobot
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/008—Machines comprising two or more tools or having several working posts
-
- 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
- B24B21/16—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape
-
- 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
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
-
- 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
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
-
- 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
- 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
- B24B49/02—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 according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent
- B24B49/03—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 according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent according to the final size of the previously ground workpiece
-
- 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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
A kind of intelligent coordinated implement of blade processing multirobot, the equipment include：Workbench lathe bed, loading and unloading robot, grinding robot, polishing robot, visual detection robot, work compound workbench, chip removal device, multirobot axis servomotor collaborative controller.In the present invention, multirobot axis servomotor collaborative controller (29) processing technology requirement needed for, can be by work compound workbench and grinding robot, polishing robot, visual detection robot carries out timesharing configuration, composition supports mill, throw, examine the intelligent coordinated implement of restructural six-axis linkage of technical process, pass through the clamped one time of blade, complete blade positioning, surplus detects, polish in type face, the requirement of the Alternatives such as type mirror polish, solves the problems, such as the closed-loop control of profile forms and dimensional accuracy during blade polishing processing, and blade multiple clamping adjusts the problems such as crudy brought is unstable and inefficient.
Description
Technical field
The present invention relates to a kind of intelligent coordinated implement of blade processing multirobot, complex profile is especially for
The polishing processing of blade and a kind of intelligent coordinated implement of blade processing multirobot of detection.
Background technology
, it is necessary to be ground, polished, detected to blade in leaf blade manufacture process, grinding, the throwing of blade in actual production
Light and detection are often carried out on different devices, carry out different process processing or on the same device on different devices
Carry out blade and reprocess processing, will necessarily all bring secondary clamping position error, influence the crudy of blade, and adjustment efficiency is low
Under.Because blade is the key core part of steam turbine, aero-engine etc., quantity accounting is big, shape and dimension precision requirement
Height, and its crudy largely determines the task performance and reliability of main frame；In addition, blade is generally processed by hardly possible
Material is made, and blade profile is Space Free-Form Surface, complex-shaped, if due to the secondary dress in polishing processing and detection process
Folder position error causes that blade is unqualified or processing efficiency is low, it will produces and greatly wastes.Although existing related patent
The techniques such as grinding, detection are combined together, such as patent " the flexible system of blade intelligence grinding of Application No. 201410771795.6
Make system ", but its detection and grinding to blade is in different station progress, does not account for the secondary position error of blade to leaf
Harmful effect caused by piece crudy.Therefore, there is an urgent need to improve the efficiency of blade polishing processing, blade processing process is eliminated
Position error caused by middle secondary clamping influences, and solves the closed loop of profile forms and dimensional accuracy during blade polishing processing
Control problem.
The content of the invention
The problem to be solved in the present invention is to provide a kind of intelligent coordinated implement of blade processing multirobot.
In order to solve the above problems, the technical solution adopted by the present invention is：A kind of blade processing multirobot is intelligent coordinated
Implement, including the inspection of work compound workbench, loading and unloading robot, grinding robot, polishing robot, vision
Survey robot, work compound workbench, chip removal device, multirobot axis servomotor collaborative controller.
Further, the loading and unloading robot includes C axles turntable, Z axis column, mounting bracket, loading and unloading manipulator.Z axis
Column is arranged on C axle turntables, and C axles turntable drives the rotation of Z axis column, and mounting bracket is arranged on Z axis column, existed along Z axis column
Moved on vertical direction, loading and unloading manipulator is mounted in the front end of mounting bracket.
Further, grinding robot includes Z ' axles column, C ' axles turntable, swinging axle B ', grinding belt, emery wheel.
Z ' axles column is arranged on C ' axle turntables, and C ' axles turntable drives the rotation of Z ' axles column, and swinging axle B ' is arranged on Z ' axle columns, edge
Z ' axle columns in the vertical direction moves, and emery wheel is arranged on swinging axle B ' front end, follows swinging axle B ' swing and swings.
Further, the polishing robot includes C " axle turntable, Z " axle column, swinging axle B ", sand belt, sand
Wheel.On Z " axle column is arranged on C " axle turntable, C " axle turntable drives Z " axle column rotation, swinging axle B " being arranged on Z " axle column
On, along Z, " axle column in the vertical direction moves, and emery wheel is arranged on swinging axle B " front end, follows swinging axle B " swing and puts
It is dynamic.
Further, the detection robot includes vision-based detection sensor, swinging axle B " ', C " ' axle turntable, and Z " ' axles are stood
Post.On Z " ' axle column is arranged on C " ' axle turntable, C " ' axle turntable drives Z " ' axle column rotation, swinging axle B " ' it is arranged on Z " ' axle
On column, along Z, " ' axle column in the vertical direction moves, and vision-based detection sensor is arranged on swinging axle B " ' front end, follows pendulum
Moving axis B " ' swing and swing.
Further, the work compound workbench includes X-axis guide rail, A axles pedestal, X-axis Mobile Slide, Y-axis guide rail, Y
Axle Mobile Slide.A axles pedestal is arranged on Y-axis Mobile Slide, Y-axis Mobile Slide and X-axis Mobile Slide composition horizontal two-dimension fortune
Moving platform, blade is on A axle pedestals, around the 360 ° of rotations of A axles.
Further, the grinding robot is symmetrically mounted on work compound workbench with polishing robot
Both sides, the loading and unloading robot are separately mounted to the both sides of work compound workbench with visual detection robot.
Further, the grinding robot is symmetrically mounted on work compound workbench with polishing robot
Both sides, the loading and unloading robot are separately mounted to the both sides of work compound workbench with visual detection robot.
Further, the work compound workbench respectively by with grinding robot, polishing robot, regard
Feel detection robot work compound, blade (19) is ground, polishing and accuracy detection.
Further, the visual detection robot detects before blade processing to the shape of blade, according to inspection
Survey the machined parameters that data determine grinding and polishing process.
Further, the visual detection robot detects during blade processing to the shape of blade, and root
The machined parameters of grinding and polishing process are accurately adjusted according to detection data.
Further, the visual detection robot detects after blade processing terminates to the shape of blade, judges
Whether blade is qualified.
Further, the work compound workbench can according to processing blade requirement, respectively with grinding robot,
Polishing robot is independently combinable, and according to the difference of combining form, changes the form of blade processing.
Further, the work compound workbench can be according to the requirement of processing blade, around work compound workbench
The robot with specific function is changed in increase, and is combined with work compound workbench and realize specific function.
Further, the grinding robot, polishing robot, visual detection robot are independent mould
Block, without direct connection relational in structure, blade can be both ground, polished, be detected, and also only can use which part work(
Energy.
The beneficial effects of the invention are as follows：Set as a result of a kind of above-mentioned intelligent coordinated operation of blade processing multirobot
Standby, the functions such as grinding, polishing, detection can be achieved in blade clamped one time, avoid blade in equipment for grinding, polissoir, inspection
Positioned respectively on measurement equipment and cause precision problem caused by caused position error, meanwhile, it is complete by the clamped one time of blade
Into the requirement of the Alternatives such as blade positioning, surplus detection, the polishing of type face, type mirror polish, solves the medium-sized face of blade polishing processing process
The closed-loop control problem of shape and dimensional accuracy, and the crudy that the adjustment of blade multiple clamping is brought are unstable and inefficient
The problems such as, substantially increase the stability and production efficiency of the blade mass accuracy of manufacture.
Brief description of the drawings
Fig. 1 is each robot arrangement top view of the present invention；
Fig. 2 is left view of the present invention；
Fig. 3 is installation site top view of the present invention；
Diagram mark, 1, C axle turntables, 2, Z axis column, 3, mounting bracket, 4, loading and unloading manipulator, 5, X-axis guide rail, 6, work
Platform lathe bed, 7, vision-based detection sensor, 8, swinging axle B " ', 9, C " ' axle columns, 10, Z " ' axle columns, 11, A axle pedestals, 12, X
Axle Mobile Slide, 13, Y-axis guide rail, 14, vision-based detection calibration calibration sensor, 15, C " axle turntables, 16, Z " axle columns, 17, pendulum
Moving axis B ", 18, channel of chip removal, 19, blade, 20, chip removal device, 21, Z ' axle columns, 22, C ' axle turntables, 23, swinging axle B ',
24th, Y-axis Mobile Slide, 25, grinding belt, 26, directive wheel, 27, emery wheel, 28, sand belt, 29, the collaboration of multirobot axis servomotor
Controller, 30, material channel.
Embodiment
The present invention is further elaborated with a specific embodiment below in conjunction with the accompanying drawings：
As shown in Figure 1 and Figure 2, the present embodiment is a kind of intelligent coordinated implement of blade processing multirobot, including collaboration
Work operations platform, loading and unloading robot, grinding robot, polishing robot, visual detection robot, work compound
Workbench, chip removal device, multirobot axis servomotor collaborative controller.Loading and unloading robot includes C axles turntable 1, Z axis column 2, peace
3, loading and unloading manipulator 4 is shelved, the loading and unloading robot is arranged on the side of work compound workbench 6, and the Z axis column 2 is pacified
Fill on C axles turntable 1, follow C axles turntable 1 to rotate, the mounting bracket 3, can be along Z axis column 2 in vertical side on Z axis column 2
Move up, the loading and unloading manipulator 4 is arranged on mounting bracket 3, is followed the swing of mounting bracket 3 and is swung；Grinding machine
Device people, polishing robot, visual detection robot axis arrangement and loading and unloading robot in each axle arrangement shape
Formula is consistent；Work compound workbench includes X-axis guide rail 5, A axles pedestal 11, X-axis Mobile Slide 12, Y-axis guide rail 13, Y-axis movement cunning
Platform 24, the A axles pedestal 11 are arranged on Y-axis Mobile Slide 24, and the Y-axis Mobile Slide 24 forms with X-axis Mobile Slide 12
Horizontal two-dimension motion platform, blade 19 is on A axles pedestal 11, around the 360 ° of rotations of A axles.
As shown in figure 3, a kind of two intelligent coordinated implements of blade processing multirobot are arranged symmetrically in material channel
30 both sides, blade are delivered at the loading and unloading manipulator of equipment by material channel 30, multirobot axis servomotor Collaborative Control
Device 29 controls the two-dimension moving platform being made up of X-axis Mobile Slide 12, Y-axis Mobile Slide 24 to be moved at loading and unloading station, by C
Blade is moved to A axle clampings position by the loading and unloading robot that axle turntable 1, Z axis column 2, mounting bracket 3, loading and unloading manipulator 4 form
Put, complete installation, the positioning of blade；By the two-dimension moving platform that X-axis Mobile Slide 12, Y-axis Mobile Slide 24 form by blade
Grinding station is moved to, by the six-axis linkage system that B ', C ', Z ' axles form in A axles, X-axis, Y-axis and grinding robot
System carries out grinding to blade；After the completion of grinding, by B in A axles, X-axis, Y-axis and polishing robot ", C ", Z " axles
The six-axis linkage system of composition is polished processing to blade；After the completion of polishing, slided by X-axis Mobile Slide 12, Y-axis movement
Blade is moved at finished product detection station by the two-dimension moving platform that platform 24 forms, and calibrates demarcation sensing by vision-based detection first
Device 14 is demarcated to the position of blade and vision-based detection sensor 7, then by A axles, X-axis, Y-axis and visual detection robot
The six-axis linkage system of B " ', C " ', Z " ' composition detects to blade.Visual detection robot can both be completed in blade processing
Blade is detected afterwards, before blade processing to crop leaf measuring, can also obtain the form parameter of blade, and according to detecting
The blade shape parameter arrived, the machined parameters of blade are set, ensure the precision of blade processing.
After processing and detection process terminate, multirobot axis servomotor collaborative controller 29 controls loading and unloading robot by blade
Remove, be placed on logistics corridor from A axles, then carry out the processing of next blade, the work compound workbench can basis
The requirement of blade is processed, increases around work compound workbench or changes the robot with specific function, and make with cooperateing with
Specific function is realized in the combination of industry workbench.
One embodiment of the present of invention is described in detail above, but the content is only the preferable implementation of the present invention
Example, it is impossible to be considered as the practical range for limiting the present invention.All equivalent changes done according to the present patent application scope and improvement
Deng within the patent covering scope that all should still fall within the present invention.
Claims (2)
1. a kind of intelligent coordinated implement of blade processing multirobot, including work compound workbench, loading and unloading robot, mill
Cut machining robot, polishing robot, visual detection robot, work compound workbench, workbench lathe bed (6), chip removal
Device (20), multirobot axis servomotor collaborative controller (29), it is characterised in that：
The work compound workbench include X-axis guide rail (5), A axles pedestal (11), X-axis Mobile Slide (12), Y-axis guide rail (13),
Y-axis Mobile Slide (24), the A axles pedestal (11) are arranged on Y-axis Mobile Slide (24), the Y-axis Mobile Slide (24) and X
Axle Mobile Slide (12) forms horizontal two-dimension motion platform, and blade (19) is on A axles pedestal (11), around the 360 ° of rotations of A axles；
The loading and unloading robot includes C axles turntable (1), Z axis column (2), loading and unloading manipulator (4), the loading and unloading machine
People is arranged on work compound workbench (6) side, and the Z axis column (2) is installed on C axles turntable (1), follows C axles turntable (1) to turn
Dynamic, the loading and unloading manipulator (4) is arranged on mounting bracket (3) front end, and mounting bracket (3) can be stood on Z axis column (2) along Z axis
Post (2) moves up and down；
The grinding robot includes Z ' axles column (21), C ' axles turntable (22), swinging axle B ' (23), grinding belt
(25), emery wheel (27), the Z ' axles column (21) on C ' axles turntable (22), installed in Z ' axles stand by the swinging axle B ' (23)
On post (21), the emery wheel (27) is arranged on swinging axle B ' (23) front end, and the grinding belt (25) is enclosed on emery wheel (27)；
The shaft system arrangement one of the polishing robot, the arrangement form of visual detection robot and grinding robot
Cause.
The blade (19) only carries out clamped one time on work compound workbench, and the positioning datum of all process steps is unified, avoids
In multirobot processing with introducing secondary clamping position error in detection process；
Geomery before, during and after the visual detection robot can be processed to blade (19) detects with position and attitude, with
Ensure blade high efficient mill, correctness of throwing processing under clamped one time positioning；
The work compound workbench can according to the processing request of blade, respectively with grinding robot, polishing machine
People, visual detection robot carry out timesharing configuration combination, and according to the difference of combining form, the technique for meeting different leaves processing
It is required that；
The grinding robot, polishing robot, visual detection robot are separate functional blocks, through more machines
People's axis servomotor collaborative controller (29) requires according to processing technology, combined in real time configuration multirobot work compound, can both complete
Blade grinding, the group technology requirement of polishing and detection, also only can use which part function.
A kind of 2. intelligent coordinated implement of blade processing multirobot according to claim 1, it is characterised in that：It is described
Vision-based detection calibration calibration sensor (14) demarcates blade in the blade installation pedestal (11) on Y-axis Mobile Slide (24)
With the relative position relation of vision-based detection sensor (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710927642.XA CN107511745A (en) | 2017-09-30 | 2017-09-30 | A kind of intelligent coordinated implement of blade processing multirobot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710927642.XA CN107511745A (en) | 2017-09-30 | 2017-09-30 | A kind of intelligent coordinated implement of blade processing multirobot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107511745A true CN107511745A (en) | 2017-12-26 |
Family
ID=60726898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710927642.XA Pending CN107511745A (en) | 2017-09-30 | 2017-09-30 | A kind of intelligent coordinated implement of blade processing multirobot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107511745A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109324566A (en) * | 2018-09-04 | 2019-02-12 | 昆明理工大学 | A kind of method of more mechanical arm Combined process large size blades |
| CN111531413A (en) * | 2020-05-11 | 2020-08-14 | 无锡中车时代智能装备有限公司 | Wind power blade multi-robot collaborative polishing system and method |
| CN113635208A (en) * | 2021-10-18 | 2021-11-12 | 南通创智新材料科技有限公司 | Blade polishing device for wind power generation |
| CN115256200A (en) * | 2022-09-29 | 2022-11-01 | 云南流体规划研究院有限公司 | Polishing equipment for machining impeller in submerged pump |
| CN115256179A (en) * | 2022-07-28 | 2022-11-01 | 湖南有源智能制造有限公司 | Multi-station polishing machine |
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| EP1525949A1 (en) * | 2003-10-14 | 2005-04-27 | Snecma Moteurs | Automated method of polishing mechanical titanium or titanium alloy workpieces |
| CN202861414U (en) * | 2012-08-16 | 2013-04-10 | 齐齐哈尔四达铁路设备有限责任公司 | Feeding and blanking mechanical arm for railway vehicle wheel |
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| CN105290926A (en) * | 2014-12-16 | 2016-02-03 | 电子科技大学 | Blade intelligent grinding flexible manufacturing system |
| CN105538095A (en) * | 2015-12-01 | 2016-05-04 | 华中科技大学无锡研究院 | Large wind power blade multi-robot collaboration grinding system and method |
| CN206326477U (en) * | 2016-12-14 | 2017-07-14 | 广州中国科学院先进技术研究所 | A kind of die casting multirobot cooperates with sanding apparatus |
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| EP1525949A1 (en) * | 2003-10-14 | 2005-04-27 | Snecma Moteurs | Automated method of polishing mechanical titanium or titanium alloy workpieces |
| CN202861414U (en) * | 2012-08-16 | 2013-04-10 | 齐齐哈尔四达铁路设备有限责任公司 | Feeding and blanking mechanical arm for railway vehicle wheel |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109324566A (en) * | 2018-09-04 | 2019-02-12 | 昆明理工大学 | A kind of method of more mechanical arm Combined process large size blades |
| CN109324566B (en) * | 2018-09-04 | 2021-07-16 | 昆明理工大学 | Method for cooperatively processing large blade by multiple mechanical arms |
| CN111531413A (en) * | 2020-05-11 | 2020-08-14 | 无锡中车时代智能装备有限公司 | Wind power blade multi-robot collaborative polishing system and method |
| CN113635208A (en) * | 2021-10-18 | 2021-11-12 | 南通创智新材料科技有限公司 | Blade polishing device for wind power generation |
| CN113635208B (en) * | 2021-10-18 | 2021-12-10 | 南通创智新材料科技有限公司 | Blade polishing device for wind power generation |
| CN115256179A (en) * | 2022-07-28 | 2022-11-01 | 湖南有源智能制造有限公司 | Multi-station polishing machine |
| CN115256200A (en) * | 2022-09-29 | 2022-11-01 | 云南流体规划研究院有限公司 | Polishing equipment for machining impeller in submerged pump |
| CN115256200B (en) * | 2022-09-29 | 2022-12-13 | 云南流体规划研究院有限公司 | Polishing equipment for machining impeller in submerged pump |
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