CN108942658A - Double grinding and polishing apparatus for robot end - Google Patents
Double grinding and polishing apparatus for robot end Download PDFInfo
- Publication number
- CN108942658A CN108942658A CN201810630753.9A CN201810630753A CN108942658A CN 108942658 A CN108942658 A CN 108942658A CN 201810630753 A CN201810630753 A CN 201810630753A CN 108942658 A CN108942658 A CN 108942658A
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- CN
- China
- Prior art keywords
- polishing apparatus
- robot end
- transmission device
- turntable
- mounting plate
- 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.)
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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
- 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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention provides a kind of double grinding and polishing apparatus for robot end, include driving device (201), fixed frame (202), executive device (203) and transmission device (204)；The driving device (201) and transmission device (204) are securedly mounted on fixed frame (202), and the executive device (203) is connected with transmission device (204)；The transmission device (204) includes eccentric stiffener and/or non-eccentricity mechanism.It can complete grinding and buffing two procedures through the invention and the replacement without tool, the productive temp of station can be reduced into 20s or more；Every sand paper polishing door frame quantity is increased 5-6 by 2-3 by the service life for greatly increasing sand paper, and sand paper service efficiency improves 2 times or more, improves integral device investment return ratio.
Description
Technical field
The present invention relates to grinding and polishing apparatus fields, and in particular, to double grinding and polishing apparatus for robot end.
Background technique
The horizontal high, productive temp of body of a motor car job-shop automation is high to entire polishing quality requirements simultaneously fastly.Work as front door
Need to carry out the processing of grinding and buffing two procedures after frame arc-welding, traditional robot polishes in station, and grinding and buffing is equal
It is processed using Pneumatic angle grinder and pneumatic polisher.This processing method is unable to control the key parameters such as polishing power, revolving speed,
Weld seam after will lead to sanding and polishing is irregular, can also increase the consume of abrasive material；And it needs replacing beat in process
Grinder tool, increases the beat of station, increases equipment cost；Pneumatic polisher, the noise of angle grinder are larger simultaneously, it is difficult to it controls,
Influence workers ' health.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of double grinding and polishings dresses for robot end
It sets.
The double grinding and polishing apparatus for robot end provided according to the present invention include driving device, fixed frame, execution
Device and transmission device；The driving device and transmission device are securedly mounted on fixed frame, the executive device with
Transmission device is connected；
The transmission device includes eccentric stiffener and/or non-eccentricity mechanism.
Preferably, the fixed frame includes mounting plate and housing；
Mounting plate and housing are fastenedly connected and form article containing space, the installation in whole or in part of the transmission device in inside
In article containing space；The driving device includes servo motor, and servo motor is securedly mounted on mounting plate, servo motor and biography
Dynamic device is connected.
Preferably, the driving device also includes flexible force control device, and flexible force control device is securedly mounted on mounting plate,
Flexible force control device is connected with servo motor.
Preferably, the fixed frame also includes dustband and sound-proof material, and sound-proof material is fixedly mounted on housing, housing,
Dustband, mounting plate are sequentially connected；
Air blowing connector and bearing housing are additionally provided on mounting plate；Reinforcing rib is provided on the inside of mounting plate.
Preferably, the transmission device also includes driving wheel, and driving wheel is connected with servo motor；
The non-eccentricity mechanism includes the first driven wheel, and the eccentric stiffener includes the second driven wheel；Driving wheel, first from
Driving wheel, the second driven wheel pass sequentially through the synchronization band connection of setting.
Preferably, the non-eccentricity mechanism also includes the first rolling bearing units and non-eccentricity axis；
First rolling bearing units are securedly mounted on mounting plate, and the first driven wheel and the first rolling bearing units are installed in non-eccentricity
On axis.
Preferably, the eccentric stiffener also includes the second rolling bearing units, first sleeve, eccentric shaft, first bearing, turntable company
Spindle, second bearing, disc spring and second sleeve；
Second rolling bearing units, first sleeve, the second driven wheel, second sleeve, first bearing, disc spring, second bearing, turntable
Connecting shaft is sequentially arranged on eccentric shaft.
Preferably, the executive device includes the first turntable and the second turntable, and the first turntable and the second turntable are respectively positioned on appearance
In space except object space；
First turntable, the second turntable are separately mounted to non-eccentricity mechanism, on eccentric stiffener.
Preferably, the non-eccentricity mechanism also includes Chiba wheel shaft, tabletting and retaining ring；Chiba wheel shaft and non-eccentricity axis phase
Even；
The executive device includes louvre blade；Louvre blade is axially fixed on Chiba wheel shaft by tabletting and retaining ring jointly.
Preferably, the transmission device also includes idler sheave assemblies, and the idler sheave assemblies include locking plate, idler shaft, idle pulley branch
Frame, adjusts bolt, bolt holder and idle pulley at stop nut；
Idle pulley is mounted on idler shaft, and idler shaft and idler support are rotatablely connected, and locking plate is mounted on idler support, idle pulley
Bracket and bolt holder are respectively mounted on a mounting board, are adjusted bolt and are connected with idler support, stop nut is mounted on adjusting bolt
On；
Synchronous belt contacts on length extending direction with idle pulley.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, grinding and buffing two procedures can be completed through the invention and the replacement without tool, it can be by station
Productive temp reduces 20s or more；
2, the service life that sand paper can be greatly increased through the invention, by every sand paper polishing door frame quantity by 2-3
A to increase 5-6, sand paper service efficiency improves 2 times or more, improves integral device investment return ratio；
3, traditional sand paper replacement needs replacement by hand, the present invention by with move being used cooperatively for sand paper machine certainly, can be with
It realizes automatic replacement sand paper function, is not necessarily to manual intervention, alleviates artificial burden；
4, it is controlled by the control of flexible force control device bit shift compensation and power output and servo motor revolving speed, realization is entirely beaten
Grinding and polishing light technology it is controllable whole, facilitate auto part making plant carry out new car grinding and polishing process quickly adjust, improve equipment
Versatility.
5, it is compensated by flexible force control device automatic telescopic, robot trajectory's debugging difficulty can be reduced, while to welding
Error carries out sanding and polishing and compensates automatically, promotes entire sanding and polishing quality.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the three-dimensional structure diagram of double grinding and polishing apparatus for robot end；
Fig. 2 is for location of driving unit schematic diagram in double grinding and polishing apparatus of robot end；
Fig. 3 is the explosive view of double grinding and polishing apparatus for robot end；
Fig. 4 is mounting plate back structures schematic diagram；
Fig. 5 is the explosive view of non-eccentricity mechanism；
Fig. 6 is the explosive view of eccentric stiffener；
Fig. 7 is for the perspective view under another visual direction of double grinding and polishing apparatus of robot end；
Fig. 8 is the explosive view of non-eccentricity mechanism in change case.
It is shown in figure:
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
As depicted in figs. 1 and 2, the present invention is for double grinding and polishing apparatus of robot end mainly by driving device 201, fixation
The most of composition of rack 202, executive device 203, transmission device 204 4.Driving device 201, transmission device 204 are solid by screw
Determine onto fixed frame 202, executive device 203 is threadedly attached on transmission device 204, and four, which cooperate, passes power
It is handed to the sanding and polishing that executive device 203 realizes workpiece surface.
As shown in figure 3, driving device 201 is mainly made of flexible force control device 1, servo motor 2, both pass through screw
Fixed on mounting plate 3.Servo motor 2 as a source of power, flexible force control device 1 can with control sanding and polishing pressure,
The invention can be allowed to meet different technique requirements by the control to 1 power output of 2 revolving speed of servo motor and flexible force control device.
Fixed frame 202 is mainly made of mounting plate 3, dustband 5, sound-proof material 6, housing 7, air blowing connector 11, bearing housing 12；Its
In, dustband 5, housing 7, air blowing connector 11, bearing housing 12 are fixed on mounting plate 3 by screw, sound-proof material 6 and housing 7
Between by being adhesively fixed.Reinforcing rib 13 is distributed in 3 internal symmetry of mounting plate, and self-strength and rigidity can be improved, and reduces dress
The vibration set simultaneously increases mounting plate service life, housing 7, bearing housing 12 can protective device internal element avoid collision damage
Bad, dustband 5, air blowing connector 11 can enter to avoid dust, improve the service life of synchronous belt 10 and belt wheel, wherein dustband
5 can also reduce vibration, and sound-proof material 6 can reduce the noise of 10 high-speed motion of synchronous belt generation, noise control can be existed
70dB is hereinafter, meet national standard.Executive device 203 is mainly the first turntable 8, the second turntable 9, passes through itself screw thread and transmission
Device is fixed, and can choose different turntables, such as sand paper pallet, flap disc, grinding wheel etc. according to the difference of technique, realizes polishing
The diversification of tool.
As shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, transmission device 204 is mainly by driving wheel 4, synchronous belt 10, locking plate 14, idler shaft
15, idler support 16, stop nut 17, adjusting bolt 18, bolt holder 19, idle pulley 20, the first locking nut 21, first are usherd to seat
Bearing 22, the first driven wheel 23, non-eccentricity axis 24, the second locking nut 25, the second rolling bearing units 26, first sleeve 27, second
Driven wheel 28, eccentric shaft 29, first bearing 30, turntable connecting shaft 31, second bearing 32, disc spring 33, second sleeve 34 form.Its
In, driving wheel 4 is fixed on 2 output shaft of servo motor by holding screw and flat key, by holding screw radial direction and axially position,
Flat key is circumferentially positioned and transmits torque.Idle pulley 20 is fixed on idler shaft 15 by holding screw and flat key, idler shaft 15 with it is lazy
Radial positioning is carried out by transition fit between wheel support 16, circumferential and axial positioning is carried out by locking plate 14, locking plate 14 passes through
Screw is fixed on idler support 16, and idler support 16 and bolt holder 19 are fixed by screw and mounting plate 3.Adjust synchronous belt
When elastic, by adjusting the front-rear position of bolt 18, drive idler support 16 to be moved forward and backward, tighten fixed spiral shell in place
Nail increases stop nut 17 and increases reliability, prevent synchronous belt from loosening to guarantee that synchronous belt is run steadily in the long term.The
It is for transition fit and fixed using shaft shoulder positioning, the second locking nut 25 between one rolling bearing units 22 and non-eccentricity axis 24, the
One driven wheel 23 is fixed on non-eccentricity axis 24 by circlip and flat key, and the first rolling bearing units 22 are fixed by screws in peace
In loading board 3, the first turntable 8, which is connected through a screw thread, to be fixed on non-eccentricity axis 24, the first locking nut 21, the first rolling bearing units
22, the first driven wheel 23, non-eccentricity axis 24 form non-eccentricity mechanism, and revolving speed is slightly lower, are suitable for technique for grinding.Second locking nut
25, the second rolling bearing units 26, first sleeve 27, the second driven wheel 28, second sleeve 34 are successively installed to eccentric shaft 29, wherein
It is transition fit between second rolling bearing units 26 and eccentric shaft 29 and is positioned by first sleeve 27, the second locking nut 25 is solid
It is fixed, for transition fit and by first sleeve 27,34 axially position of second sleeve between the second driven wheel 28 and eccentric shaft 29,
Pass through the circumferentially positioned transmitting torque of flat key.First bearing 30, second bearing 32 are fixed on eccentric shaft 29 by interference fit, and
Fixed by circlip, disc spring 33 adjust bearing clearance, turntable connecting shaft 31 by interference fit be fixed on first bearing 30,
In second bearing 32, and by circlip axially position, the second turntable 9, which is connected through a screw thread, to be fixed on eccentric shaft 29.The
Two locking nuts 25, the second rolling bearing units 26, first sleeve 27, the second driven wheel 28, eccentric shaft 29, first bearing 30, turntable
Connecting shaft 31, second bearing 32, disc spring 33, second sleeve 34 form eccentric stiffener, and revolving speed is high, are suitable for polishing process, wherein
29 dynamic balance grade of eccentric shaft reaches G1, and the generation of vibration is reduced from source.
As shown in fig. 7, flexible force control dress can be set according to the technological requirements when polishing and polishing using the present invention
1 power output and the revolving speed of reaction time and servo motor 2 are set, suitable first turntable 8 and the second turntable 9 are then selected,
Grinding and buffing two procedures can be completed.The present invention can also be by the size of real-time feedback control stock removal, if workpiece surface
Removal amount is excessive, and flexible force control device 1 can be shunk, and then reaches work so that stock removal becomes larger by the biggish power of feedback output
The completely the same effect in part surface, likewise, flexible force control device 1 can export lesser if workpiece surface removal amount is smaller
Power reduces stock removal.
As shown in figure 8, the first turntable 8 in executive device 203 is replaced by louvre blade 36 to adapt to not have in change case
Technique for grinding requirement.Wherein Chiba wheel shaft 35 is by itself being threadedly secured on non-eccentricity axis 24, after louvre blade 36 is installed, according to
Secondary to use tabletting 37, retaining ring 38 is fixed, is finally screwed on Chiba wheel shaft 35.
Servo motor is applied in sanding and polishing station by the present invention, is transferred to revolving speed by toothed belt transmission and is executed dress
203 ends are set, since 2 revolving speed of servo motor can be precisely controlled and the 10 not stall in transmission process of synchronous belt, this
Invention can guarantee the revolving speed requirement during sanding and polishing well；Flexible force control device 1 in the present invention can be controlled precisely
The size of system polishing power, supper-fast response time can also be adjusted at any time during the grinding process, guarantee polishing quality, and
The loss of abrasive material is reduced, cost is controlled；For the present invention by grinding and buffing Tool integration a to equipment, polishing operation completes it
No replacement is required afterwards, and tool can carry out the processing of polishing process, save the beat of station, increase yield；The present invention passes through increasing
Add sound-proof material 6, control the generation of vibration, the generation of noise is reduced from source, equipment noise is controlled in 70dB；This hair
It is bright can eliminate preceding working procedure arc welding poor quality generation influence, by 1 pair of flexible force control device polish power control,
It can control stock removal, and then guarantee the consistency of weld seam after polishing.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of double grinding and polishing apparatus for robot end, which is characterized in that include driving device (201), fixed frame
(202), executive device (203) and transmission device (204)；The driving device (201) and transmission device (204) fastening are pacified
On fixed frame (202), the executive device (203) is connected with transmission device (204)；
The transmission device (204) includes eccentric stiffener and/or non-eccentricity mechanism.
2. double grinding and polishing apparatus according to claim 1 for robot end, which is characterized in that the fixed frame
(202) comprising mounting plate (3) and housing (7)；
Mounting plate (3) and housing (7) are fastenedly connected and form article containing space in inside, the entirety of the transmission device (204) or
It is partially installed in article containing space；The driving device (201) includes servo motor (2), and servo motor (2) is securedly mounted to pacify
In loading board (3), servo motor (2) is connected with transmission device (204).
3. double grinding and polishing apparatus according to claim 2 for robot end, which is characterized in that the driving device
It (201) also include flexible force control device (1), flexible force control device (1) is securedly mounted on mounting plate (3), flexible force control device
(1) it is connected with servo motor (2).
4. double grinding and polishing apparatus according to claim 2 for robot end, which is characterized in that the fixed frame
(202) also comprising dustband (5) and sound-proof material (6), sound-proof material (6) is fixedly mounted on housing (7), housing (7), dustband
(5), mounting plate (3) is sequentially connected；
Air blowing connector (11) and bearing housing (12) are additionally provided on mounting plate (3)；Mounting plate is provided with reinforcing rib on the inside of (3)
(13)。
5. double grinding and polishing apparatus according to claim 2 for robot end, which is characterized in that the transmission device
It (204) also include driving wheel (4) that driving wheel (4) is connected with servo motor (2)；
The non-eccentricity mechanism includes the first driven wheel (23), and the eccentric stiffener includes the second driven wheel (28)；Driving wheel
(4), the first driven wheel (23), the second driven wheel (28) pass sequentially through synchronous belt (10) connection of setting.
6. double grinding and polishing apparatus according to claim 5 for robot end, which is characterized in that the non-eccentricity mechanism
Also comprising the first rolling bearing units (22) and non-eccentricity axis (24)；
First rolling bearing units (22) are securedly mounted on mounting plate (3), and the first driven wheel (23) and the first rolling bearing units (22) are equal
It is mounted on non-eccentricity axis (24).
7. double grinding and polishing apparatus according to claim 5 for robot end, which is characterized in that the eccentric stiffener is also
Include the second rolling bearing units (26), first sleeve (27), eccentric shaft (29), first bearing (30), turntable connecting shaft (31), second
Bearing (32), disc spring (33) and second sleeve (34)；
Second rolling bearing units (26), first sleeve (27), the second driven wheel (28), second sleeve (34), first bearing (30), dish
Spring (33), second bearing (32), turntable connecting shaft (31) are sequentially arranged on eccentric shaft (29).
8. double grinding and polishing apparatus according to any one of claims 5 to 7 for robot end, which is characterized in that institute
Stating executive device (203) includes the first turntable (8) and the second turntable (9), and the first turntable (8) and the second turntable (9) are respectively positioned on appearance
In space except object space；
First turntable (8), the second turntable (9) are separately mounted to non-eccentricity mechanism, on eccentric stiffener.
9. double grinding and polishing apparatus according to claim 6 for robot end, which is characterized in that the non-eccentricity mechanism
Also comprising Chiba wheel shaft (35), tabletting (37) and retaining ring (38)；Chiba wheel shaft (35) is connected with non-eccentricity axis (24)；
The executive device (203) includes louvre blade (36)；Tabletting (37) and retaining ring (38) are jointly axially solid by louvre blade (36)
It is scheduled on Chiba wheel shaft (35).
10. double grinding and polishing apparatus according to claim 5 for robot end, which is characterized in that the transmission device
It (204) also include idler sheave assemblies, the idler sheave assemblies include locking plate (14), idler shaft (15), idler support (16), stop nut
(17), bolt (18), bolt holder (19) and idle pulley (20) are adjusted；
Idle pulley (20) is mounted on idler shaft (15), and idler shaft (15) and idler support (16) are rotatablely connected, locking plate (14) installation
On idler support (16), idler support (16) and bolt holder (19) are installed on mounting plate (3), adjust bolt (18) with
Idler support (16) is connected, and stop nut (17), which is mounted on, to be adjusted on bolt (18)；
Synchronous belt (10) contacts on length extending direction with idle pulley (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810630753.9A CN108942658B (en) | 2018-06-19 | 2018-06-19 | Double-grinding and polishing device for tail end of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810630753.9A CN108942658B (en) | 2018-06-19 | 2018-06-19 | Double-grinding and polishing device for tail end of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108942658A true CN108942658A (en) | 2018-12-07 |
| CN108942658B CN108942658B (en) | 2020-01-24 |
Family
ID=64490457
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810630753.9A Active CN108942658B (en) | 2018-06-19 | 2018-06-19 | Double-grinding and polishing device for tail end of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108942658B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110281120A (en) * | 2019-06-19 | 2019-09-27 | 禹奕智能科技（上海）有限公司 | Suitable for robot end's Flexible grinding and polishing apparatus |
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| GB736690A (en) * | 1951-07-02 | 1955-09-14 | Hermann Gaub | Improved mounting for high speed grinder spindles |
| GB1106386A (en) * | 1963-09-13 | 1968-03-13 | Nat Res Dev | Correction balancing of rotating bodies |
| CN101024276A (en) * | 2006-02-23 | 2007-08-29 | Kwh米亚卡公司 | Oscillating grinding machine |
| CN105904328A (en) * | 2016-06-12 | 2016-08-31 | 禹奕智能科技（上海）有限公司 | Flexible polisher device for robot end |
| CN206010741U (en) * | 2016-08-19 | 2017-03-15 | 温州隆佳自动化设备有限公司 | Polisher head |
| CN206732744U (en) * | 2017-05-09 | 2017-12-12 | 太原重工股份有限公司 | Grinder-polisher |
| CN207239890U (en) * | 2017-05-18 | 2018-04-17 | 湖北工业大学 | One kind polishing belt sander |
-
2018
- 2018-06-19 CN CN201810630753.9A patent/CN108942658B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB736690A (en) * | 1951-07-02 | 1955-09-14 | Hermann Gaub | Improved mounting for high speed grinder spindles |
| GB1106386A (en) * | 1963-09-13 | 1968-03-13 | Nat Res Dev | Correction balancing of rotating bodies |
| CN101024276A (en) * | 2006-02-23 | 2007-08-29 | Kwh米亚卡公司 | Oscillating grinding machine |
| CN105904328A (en) * | 2016-06-12 | 2016-08-31 | 禹奕智能科技（上海）有限公司 | Flexible polisher device for robot end |
| CN206010741U (en) * | 2016-08-19 | 2017-03-15 | 温州隆佳自动化设备有限公司 | Polisher head |
| CN206732744U (en) * | 2017-05-09 | 2017-12-12 | 太原重工股份有限公司 | Grinder-polisher |
| CN207239890U (en) * | 2017-05-18 | 2018-04-17 | 湖北工业大学 | One kind polishing belt sander |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110281120A (en) * | 2019-06-19 | 2019-09-27 | 禹奕智能科技（上海）有限公司 | Suitable for robot end's Flexible grinding and polishing apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108942658B (en) | 2020-01-24 |
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