CN107553295B - Multi-shaft linkage disc type outer polishing machine - Google Patents
Multi-shaft linkage disc type outer polishing machine Download PDFInfo
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- CN107553295B CN107553295B CN201710817137.XA CN201710817137A CN107553295B CN 107553295 B CN107553295 B CN 107553295B CN 201710817137 A CN201710817137 A CN 201710817137A CN 107553295 B CN107553295 B CN 107553295B
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- 238000005498 polishing Methods 0.000 title claims abstract description 101
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 21
- 239000000428 dust Substances 0.000 claims abstract description 17
- 238000005507 spraying Methods 0.000 claims abstract description 17
- 239000007788 liquid Substances 0.000 claims abstract description 8
- 229910052751 metal Inorganic materials 0.000 claims description 5
- 239000002184 metal Substances 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 3
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 3
- PNEYBMLMFCGWSK-UHFFFAOYSA-N aluminium oxide Inorganic materials [O-2].[O-2].[O-2].[Al+3].[Al+3] PNEYBMLMFCGWSK-UHFFFAOYSA-N 0.000 claims description 2
- 239000001913 cellulose Substances 0.000 claims description 2
- 229920002678 cellulose Polymers 0.000 claims description 2
- 239000003112 inhibitor Substances 0.000 claims description 2
- 239000002245 particle Substances 0.000 claims description 2
- 239000003755 preservative agent Substances 0.000 claims description 2
- 230000002335 preservative effect Effects 0.000 claims description 2
- 239000001509 sodium citrate Substances 0.000 claims description 2
- NLJMYIDDQXHKNR-UHFFFAOYSA-K sodium citrate Chemical compound O.O.[Na+].[Na+].[Na+].[O-]C(=O)CC(O)(CC([O-])=O)C([O-])=O NLJMYIDDQXHKNR-UHFFFAOYSA-K 0.000 claims description 2
- 239000000375 suspending agent Substances 0.000 claims description 2
- 239000007921 spray Substances 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 7
- 238000013519 translation Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000007517 polishing process Methods 0.000 description 2
- FYYHWMGAXLPEAU-UHFFFAOYSA-N Magnesium Chemical compound [Mg] FYYHWMGAXLPEAU-UHFFFAOYSA-N 0.000 description 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- QCWXUUIWCKQGHC-UHFFFAOYSA-N Zirconium Chemical compound [Zr] QCWXUUIWCKQGHC-UHFFFAOYSA-N 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
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- 238000010438 heat treatment Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 229910052749 magnesium Inorganic materials 0.000 description 1
- 239000011777 magnesium Substances 0.000 description 1
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- 239000010936 titanium Substances 0.000 description 1
- 229910052726 zirconium Inorganic materials 0.000 description 1
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a multi-axis linkage disc type outer polishing machine which comprises a frame, a main motor, polishing wheels, a fixture clamp, a first workpiece platform, a workpiece rotating motor, a dust removing device and a controller, wherein the main motor is arranged on the frame; the polishing wheel is connected with the main motor through different deceleration systems; the tool clamp is used for fixing a workpiece to be polished; the tool clamp and the workpiece rotating motor are arranged on the first workpiece platform; the workpiece rotating motor drives the tool clamp to rotate; the dust removing device comprises a water tank, a water pump, a spraying device and an electromagnetic valve, and a nozzle of the spraying device points to the middle of the polishing workpiece and the polishing wheel; the controller controls the main motor, the workpiece rotating motor and the electromagnetic valve. The polishing machine of the invention continuously sprays the polishing wheel and the workpiece by using the polishing liquid during polishing operation, thereby not only preventing polishing dust from drifting into the air to pollute the workshop environment, but also reducing the temperature of the workpiece surface caused by friction, so that the workpiece can be polished under the condition of high rotating speed of more than 3000 rpm, and the polishing quality of the workpiece surface is improved.
Description
Technical Field
The invention relates to the field of part surface treatment equipment, in particular to a multi-axis linkage disc type outer polishing machine.
Background
The polishing machine is a mechanical device for carrying out surface rust treatment, oxidation film treatment, polishing smoothing treatment and the like, and is suitable for processing jewelry artware, automatic lathe parts, die-casting parts, stamping parts, electronic communication parts, medical parts and aluminum lamp products. In order to prevent a workpiece from deforming due to the generated heat or to avoid influencing the machining high precision due to heating, the prior art solution is to smear polishing wax on a polishing wheel in the early stage of a polishing procedure, wherein the polishing wax has the functions of lubrication and heat dissipation, the polishing wax is required to be selected according to different polishing procedures, and the polishing wax is uniformly covered on the surface of the polishing wheel through repeated smearing, so that the procedure is complex and complicated, the polishing efficiency is low, and the overall machining progress is influenced; meanwhile, the workpiece is required to be heated and wax removed after polishing, and the working procedure has the problems of energy consumption and solid waste discharge.
On the other hand, the process and equipment for applying polishing wax in the prior art cannot reduce dust generated in the polishing process, and the dust directly causes serious harm to human bodies and the environment. In the existing polishing workshops, dust which is difficult to clean and scattered everywhere and accumulated dust on equipment not only make the working environment bad, but also easily cause fire, and particularly, when flammable metals such as titanium, zirconium, aluminum, magnesium and the like are polished, the body injury of production workers is large; even if a good dust collection treatment system is equipped, the defects of difficult dust accumulation cleaning, large workload, secondary pollution, high energy consumption and the like exist. With the increasing requirements of government on environmental protection, productive dust is also listed as an important treatment project, and these all force the whole polishing industry to be upgraded and updated in equipment and process.
Disclosure of Invention
The technical problem to be solved by the invention is that the polishing machine in the prior art has low automation degree, cannot realize high-speed polishing and easily generates a large amount of pollution dust in the polishing process.
In order to solve the technical problems, the invention adopts the following technical scheme: a multi-axis linkage disc outer polisher, comprising:
the machine frame is provided with a sheet metal type hood;
the number of the main motors is one or more;
the polishing wheels are connected with the output shaft of the same main motor through different speed reducing systems or each polishing wheel is connected with different main motors; different polishing wheels have different rotating speeds;
the tool clamp is used for fixing a workpiece to be polished;
the first workpiece platform is provided with a fixture clamp;
the workpiece rotating motor is arranged on the first workpiece platform and drives the tool clamp to rotate;
the dust removing device comprises a water tank, a water pump, a spraying device and an electromagnetic valve, wherein a nozzle of the spraying device points to the middle of a polished workpiece and a polishing wheel, the water pump conveys polishing liquid in the water tank to the spraying device, and the electromagnetic valve is arranged between the water pump and the spraying device; during polishing operation, the spraying device continuously sprays polishing liquid to the polishing wheel and the surface of the workpiece, so that the temperature of the surface of the workpiece due to friction can be reduced, and polishing dust can be prevented from diffusing;
and the controller controls the main motor, the workpiece rotating motor and the electromagnetic valve.
Further, a lifting mechanism is arranged on the first workpiece platform, and the tool clamp is arranged on the first workpiece platform through the lifting mechanism; the lifting mechanism adjusts the height of the whole fixture in the vertical direction.
Further, the outer polishing machine further comprises a second workpiece platform, the first workpiece platform is rotatably arranged on the second workpiece platform, and the rotary adjusting motor drives the first workpiece platform to rotate; the controller controls the rotation adjusting motor.
Further, the outer polishing machine further comprises a third workpiece platform and a compensation platform, wherein the third workpiece platform is provided with a first sliding rail in the Y-axis direction and a compensation sliding rail along the Y-axis direction, the second workpiece platform is arranged on the first sliding rail in the Y-axis direction, and the compensation platform is arranged on the compensation sliding rail;
the compensation platform is provided with a Y-axis direction lead screw and a Y-axis direction motor, the Y-axis direction lead screw is in threaded connection with the second workpiece platform, and the Y-axis direction motor drives the Y-axis direction lead screw to rotate;
the third platform is provided with a compensation motor and a compensation screw rod, the compensation screw rod is in threaded connection with the compensation platform, and the compensation motor drives the compensation screw rod to rotate;
the Y-axis direction refers to the direction in which the workpiece moves relative to the polishing wheel;
the controller controls the Y-axis direction motor and the compensation motor; the polishing wheel or the tooling fixture is provided with a pressure sensor, the pressure sensor measures the positive pressure between the polishing wheel and the workpiece, and the controller feeds back and controls the compensation motor according to the positive pressure so as to maintain the positive pressure between the polishing wheel and the workpiece within a set range; the torque sensor can also be used for measuring the output torque of the workpiece rotating motor or the main motor, and the compensation motor can be controlled according to the output torque.
The invention also provides another scheme for compensating the positive pressure between the polishing wheel and the workpiece: the outer polishing machine further comprises a fourth workpiece platform and a counterweight plate, wherein a second sliding rail in the Y-axis direction, a lead screw in the Y-axis direction and a motor in the Y-axis direction are arranged on the fourth workpiece platform; the Y-axis direction refers to the direction in which the workpiece moves relative to the polishing wheel;
the Y-axis direction lead screw is in threaded connection with the second workpiece platform, and the Y-axis direction motor drives the Y-axis direction lead screw to rotate; the bottom of the second workpiece platform is provided with a roller, and the second workpiece platform is arranged on a second slide rail in the Y-axis direction through the roller; the counterweight plate is connected to the second workpiece platform through a rope or a chain, and converts self gravity into horizontal force in the Y-axis direction to be applied to the second workpiece platform (the horizontal force is finally transmitted to the polishing wheel and the workpiece and is converted into positive pressure between the polishing wheel and the workpiece;
the controller controls the Y-axis direction motor.
Further, an X-axis direction sliding rail is arranged on the frame, a third workpiece platform or a fourth workpiece platform is arranged on the X-axis direction sliding rail, and an X-axis direction motor drives the third workpiece platform or the fourth workpiece platform to move along the X-axis direction sliding rail; the X-axis direction refers to the length direction of the outer polishing machine, and the X-axis direction is perpendicular to the Y-axis direction; the controller controls the X-axis direction motor.
The beneficial effects are that: (1) The multi-axis linkage disc type outer polishing machine provided by the invention uses the polishing liquid to continuously spray between the polishing wheel and the workpiece during polishing operation, so that polishing dust can be prevented from drifting into the air to pollute the workshop environment, the temperature of the surface of the workpiece due to friction can be reduced, the workpiece can be polished under the high-rotation-speed condition of more than 3000 revolutions per minute, and the polishing quality of the surface of the workpiece is improved. (2) The multi-axis linkage disc type outer polishing machine realizes X-axis translation, Y-axis translation, Z-axis translation, rotation around the X axis and rotation around the Z axis of a workpiece, and can perform multi-angle dead-angle-free efficient automatic polishing treatment on the workpiece. (3) The multi-axis linkage disc type outer polishing machine maintains constant positive pressure between the polishing wheel and the workpiece by using the compensation motor and the compensation platform, so that the polishing quality is improved. (4) The multi-axis linkage disc type outer polishing machine realizes constant positive pressure between the polishing wheel and the workpiece by using the counterweight plate, and improves polishing quality.
Drawings
Fig. 1 is a front view of an outer polishing machine of embodiment 1.
FIG. 2 is a left side view of the outer polisher of example 1.
Fig. 3 is a partial schematic view of a positioning system of the outer polisher of example 1.
Fig. 4 is a schematic diagram of a compensation system of the outer polisher of example 1.
Fig. 5 is a schematic diagram of a compensation system of the outer polisher of example 2.
Wherein: 1. a frame; 2. a left hood; 3. a right hood; 4. a top cover; 5. a sliding door; 6. a fixture clamp; 7. a workpiece; 8. a lifting mechanism; 9. a first work piece platform; 10. a workpiece rotating motor; 11. a second work piece platform; 12. a workpiece rotating table; 13. a rotation adjusting motor; 14. a third work piece platform; 15. a compensation platform; 16. a first slide rail in the Y-axis direction; 17. compensating the sliding rail; 18. a Y-axis direction lead screw; 19. a Y-axis direction motor; 20. a compensation motor; 21. compensating a lead screw; 22. a polishing wheel; 23. an X-axis direction slide rail; 24. a water tank; 25. a water pump; 26. a spraying device; 27. an electromagnetic valve; 28. an X-axis direction motor; 29. a fourth workpiece stage; 30. a weight plate; 31. a second slide rail in the Y-axis direction; 32. and a roller.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
Example 1
As shown in fig. 1 to 3, the multi-axis linkage disc type outer polisher of the present embodiment includes:
the device comprises a frame 1, wherein a sheet metal type left hood 2, a sheet metal type right hood 3, a top hood 4 and a sliding door 5 are arranged on the frame 1;
a main motor;
the number of polishing wheels 22 is four, each polishing wheel 22 is provided with a respective transmission system, and transmission shafts of the transmission systems of all polishing wheels 22 are connected to a main motor through a coupling;
the tool clamp 6 is used for fixing a workpiece 7 to be polished;
the first workpiece platform 9, and the tool clamp 6 is arranged on the first workpiece platform 9 through the lifting mechanism 8;
a workpiece rotating motor 10, wherein the workpiece rotating motor 10 is arranged on the first workpiece platform 9, and the workpiece rotating motor 10 drives the tool clamp 6 to rotate;
the second workpiece platform 11, the surface of the second workpiece platform 11 is provided with a workpiece rotating platform 12, the first workpiece platform 9 is installed on the workpiece rotating platform 12, the first workpiece platform 9 can rotate relative to the second workpiece platform 11, and the rotation adjusting motor 13 drives the first workpiece platform 9 to rotate;
the compensation system comprises a third workpiece platform 14, a compensation platform 15 and a pressure sensor, as shown in fig. 4, a first Y-axis direction sliding rail 16 and a compensation sliding rail 17 along the Y-axis direction are arranged on the third workpiece platform 14, a second workpiece platform 11 is arranged on the first Y-axis direction sliding rail 16, and the compensation platform 15 is arranged on the compensation sliding rail 17; the compensation platform 15 is provided with a Y-axis direction lead screw 18 and a Y-axis direction motor 19, the Y-axis direction lead screw 18 is in threaded connection with the second workpiece platform 11, and the Y-axis direction motor 19 drives the Y-axis direction lead screw 18 to rotate; the third workpiece platform 14 is provided with a compensation motor 20 and a compensation screw 21, the compensation screw 21 is in threaded connection with the compensation platform 15, and the compensation motor 20 drives the compensation screw 21 to rotate; the pressure sensor is arranged on the fixture 6, measures the positive pressure between the polishing wheel 22 and the workpiece 7 and transmits the measurement result to the controller; the controller feedback controls the compensation motor 20 according to the positive pressure to maintain the positive pressure between the polishing wheel 22 and the workpiece 7 within a set range;
the X-axis direction slide rail 23, the X-axis direction slide rail 23 is installed on the frame 1, the third workpiece platform 14 is installed on the X-axis direction slide rail 23, and the X-axis direction motor 28 drives the third workpiece platform 14 to move along the X-axis direction slide rail 23, specifically in the following driving mode: the X-axis direction motor 28 is arranged on the third workpiece platform 14, the X-axis direction motor 28 is connected with a driving gear, a rack parallel to the X-axis direction sliding rail 23 is arranged on the side surface of the X-axis direction sliding rail, the gear is meshed with the rack, when the X-axis direction motor 28 drives the gear to rotate, the rack is fixed, and the third workpiece platform 14 carrying the X-axis direction motor 28 moves linearly along the X-axis direction sliding rail 23;
the dust removing device comprises a water tank 24, a water pump 25, a spraying device 26 and an electromagnetic valve 27, wherein a nozzle of the spraying device 26 points to the middle of the polishing workpiece 7 and the polishing wheel 22, the water pump 25 conveys polishing liquid in the water tank 24 to the spraying device 26, and the electromagnetic valve 27 is arranged between the water pump 25 and the spraying device 26; during polishing operation, the spraying device 26 continuously sprays polishing liquid onto the polishing wheel 22 and the surface of the workpiece 7, so that the temperature of the surface of the workpiece 7 caused by friction can be reduced, and polishing dust can be prevented from diffusing; the polishing rotation speed of the polishing machine of the embodiment can exceed 3000 rpm due to the cooling effect of the polishing liquid;
the polishing solution comprises the following components in percentage by weight: 79 to 92.5 percent of water, 3 to 8 percent of alumina particles, 1 to 5 percent of sodium citrate, 1 to 3 percent of suspending agent, 1.5 to 3 percent of cellulose, 0.5 to 1 percent of preservative and 0.5 to 1 percent of flash rust inhibitor;
a controller that controls the main motor, the workpiece rotating motor 10, the rotation adjusting motor 13, the Y-axis direction motor 19, the compensation motor 20, the X-axis direction motor 28, and the solenoid valve 27.
The outer polishing machine of the embodiment is intelligent polishing equipment with five-axis linkage control, and the polishing machine can realize the axial translation of the workpiece 7X, the axial translation of Y, the axial translation of Z, the rotation around the X axis and the rotation around the Z axis. Corresponding software is installed in the controller, the positioning and the movement track of the workpiece 7 in the polishing machine can be realized through parameter setting, and the polishing machine automatically processes after a worker installs the workpiece 7 on the tool clamp 6.
Example 2
As shown in fig. 5, the multi-axis linkage disc type outer polishing machine of the present embodiment is basically the same as embodiment 1, except that a different compensation system is adopted in the present embodiment, the compensation system of the polishing machine of the present embodiment includes a fourth workpiece platform 29 and a weight plate 30, and a Y-axis direction second slide rail 31, a Y-axis direction lead screw 18 and a Y-axis direction motor 19 are provided on the fourth workpiece platform 29; the Y-axis direction lead screw 18 is in threaded connection with the second workpiece platform 11, and the Y-axis direction motor 19 drives the Y-axis direction lead screw 18 to rotate; the bottom of the second workpiece platform 11 is provided with a roller 32, and the second workpiece platform 11 is arranged on a second slide rail 31 in the Y-axis direction through the roller 32; the weight plate 30 is connected to the second workpiece stage 11 by ropes, the weight plate 30 converts its own gravity into a Y-axis direction horizontal force applied to the second workpiece stage 11 (the horizontal force is finally transmitted to the polishing wheel 22 and the workpiece 7 and converted into a positive pressure between the polishing wheel 22 and the workpiece 7), and the fourth workpiece stage 29 is mounted on the X-axis direction slide rail 23.
Although embodiments of the present invention have been described in the specification, these embodiments are presented only, and should not limit the scope of the present invention. Various omissions, substitutions and changes in the form of examples are intended in the scope of the invention.
Claims (1)
1. A multi-axis linkage disc type outer polishing machine, which is characterized by comprising:
the machine frame is provided with a sheet metal type hood;
the number of the main motors is one or more;
the polishing wheels are connected with the output shaft of the same main motor through different speed reducing systems or each polishing wheel is connected with different main motors;
the tool clamp is used for fixing a workpiece to be polished;
the first workpiece platform is provided with a fixture clamp;
the workpiece rotating motor is arranged on the first workpiece platform and drives the tool clamp to rotate;
the dust removing device comprises a water tank, a water pump, a spraying device and an electromagnetic valve, wherein a nozzle of the spraying device points to the middle of a polished workpiece and a polishing wheel, the water pump conveys polishing liquid in the water tank to the spraying device, and the electromagnetic valve is arranged between the water pump and the spraying device;
the controller controls the main motor, the workpiece rotating motor and the electromagnetic valve;
the rotary adjusting motor drives the first workpiece platform to rotate; the controller controls the rotation adjusting motor;
the device comprises a first workpiece platform, a second workpiece platform and a compensation platform, wherein the first workpiece platform is provided with a first Y-axis direction sliding rail and a compensation sliding rail along the Y-axis direction;
the compensation platform is provided with a Y-axis direction lead screw and a Y-axis direction motor, the Y-axis direction lead screw is in threaded connection with the second workpiece platform, and the Y-axis direction motor drives the Y-axis direction lead screw to rotate;
the third platform is provided with a compensation motor and a compensation screw rod, the compensation screw rod is in threaded connection with the compensation platform, and the compensation motor drives the compensation screw rod to rotate;
the Y-axis direction refers to the direction in which the workpiece moves relative to the polishing wheel;
the controller controls the Y-axis direction motor and the compensation motor;
the device also comprises a fourth workpiece platform and a counterweight plate, wherein the fourth workpiece platform is provided with a second sliding rail in the Y-axis direction, a lead screw in the Y-axis direction and a motor in the Y-axis direction;
the Y-axis direction lead screw is in threaded connection with the second workpiece platform, and the Y-axis direction motor drives the Y-axis direction lead screw to rotate; the bottom of the second workpiece platform is provided with a roller, and the second workpiece platform is arranged on a second slide rail in the Y-axis direction through the roller; the counterweight plate is connected to the second workpiece platform through a rope or a chain, and converts self gravity into horizontal force in the Y-axis direction and applies the horizontal force to the second workpiece platform;
the controller controls the motor in the Y-axis direction;
the polishing solution comprises the following components in percentage by weight: 79 to 92.5 percent of water, 3 to 8 percent of alumina particles, 1 to 5 percent of sodium citrate, 1 to 3 percent of suspending agent, 1.5 to 3 percent of cellulose, 0.5 to 1 percent of preservative and 0.5 to 1 percent of flash rust inhibitor;
the first workpiece platform is provided with a lifting mechanism, and the tool clamp is arranged on the first workpiece platform through the lifting mechanism;
an X-axis direction sliding rail is arranged on the frame, a third workpiece platform or a fourth workpiece platform is arranged on the X-axis direction sliding rail, and an X-axis direction motor drives the third workpiece platform to move along the X-axis direction sliding rail; the X-axis direction refers to the length direction of the outer polishing machine, and the X-axis direction is perpendicular to the Y-axis direction; the controller controls the X-axis direction motor.
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| CN201710817137.XA CN107553295B (en) | 2017-09-12 | 2017-09-12 | Multi-shaft linkage disc type outer polishing machine |
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| CN201710817137.XA CN107553295B (en) | 2017-09-12 | 2017-09-12 | Multi-shaft linkage disc type outer polishing machine |
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| CN107553295B true CN107553295B (en) | 2023-12-15 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110561267A (en) * | 2019-09-27 | 2019-12-13 | 东莞市尚弘博实业有限公司 | Polishing workpiece shaft polishing pressure automatic compensation mechanism and polishing equipment |
| CN112894622B (en) * | 2021-01-19 | 2022-03-25 | 马鞍山市恒永利机械科技有限公司 | Automatic grinding wheel dressing method |
| CN115945450A (en) * | 2023-01-06 | 2023-04-11 | 胡文花 | Surface treatment method for engine cylinder cover |
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| CN103358229A (en) * | 2012-03-31 | 2013-10-23 | 上海信鹏印刷器材有限公司 | Constant angle constant pressure automatic compensation feeding device and compensation feeding method thereof |
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