CN111716195A - Double-spindle type weld joint polishing device - Google Patents
Double-spindle type weld joint polishing device Download PDFInfo
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- CN111716195A CN111716195A CN202010752475.1A CN202010752475A CN111716195A CN 111716195 A CN111716195 A CN 111716195A CN 202010752475 A CN202010752475 A CN 202010752475A CN 111716195 A CN111716195 A CN 111716195A
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- 238000005498 polishing Methods 0.000 title claims abstract description 83
- 238000000227 grinding Methods 0.000 claims abstract description 99
- 238000003466 welding Methods 0.000 claims abstract description 67
- 239000000758 substrate Substances 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 238000013016 damping Methods 0.000 claims description 15
- 229910003460 diamond Inorganic materials 0.000 claims description 11
- 239000010432 diamond Substances 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000007667 floating Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000007517 polishing process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 229910000975 Carbon steel Inorganic materials 0.000 description 2
- 239000010962 carbon steel Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000003746 surface roughness Effects 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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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
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
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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
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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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
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
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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
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
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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
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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
- 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
-
- 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
- B24B49/12—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 involving optical means
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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
- 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
- B24B49/16—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 taking regard of the load
- B24B49/165—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 taking regard of the load for grinding tyres
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 double-spindle type weld joint grinding device comprises a weld joint detection positioning device, a grinding device, a polishing device and a substrate, wherein the grinding device and the polishing device are connected with the substrate through guide rails, and a constant force control device for driving the grinding device and the polishing device to move axially is arranged on the substrate; the welding seam detecting and positioning device is fixed on the base plate through a connecting piece and is arranged in parallel with the base plate. This grinding device reasonable in design, degree of automation are high, through grinding device, burnishing device and constant force controlling means's setting, the efficiency of polishing is showing promotion, the quality of polishing effectively improves, the application space of polishing obviously increases.
Description
Technical Field
The invention relates to the field of machinery, in particular to a cutting technology, and especially relates to a double-spindle type weld joint polishing device.
Background
The welding seam polishing device is mainly divided into a handheld polishing tool, a special polishing machine and a constant-force flange type welding seam polishing device; wherein, most of the hand-held grinding tools are used for manual grinding and polishing operation; the special grinding machine is mainly used for grinding and deburring hardware parts; the constant force flange type welding seam polishing device is integrated on a robot, and is an expansion of robot application.
The handheld grinding tool is mainly operated manually, so that the grinding efficiency is low, the grinding quality is unstable, and in addition, the manual grinding labor intensity is high and occupational hazards exist;
the special polishing machine has low flexibility and expansibility and can only be directionally developed according to the product requirements; most special grinding machines are used for deburring and polishing hardware parts, and welding seams with large position difference and large size cannot be ground;
the constant-force flange type welding seam grinding device is low in working efficiency, only one tool can be selected for finishing and polishing the welding seam at one time, and most of the constant-force flange type welding seam grinding device is used for polishing, deburring and putty grinding.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a double-spindle type weld joint grinding device which is reasonable in design, convenient to use and capable of effectively grinding and polishing weld joints.
The invention is realized by the following technical scheme that the double-spindle type welding line grinding device comprises a base plate, wherein a welding line detection positioning device, a grinding device and a polishing device are arranged on the base plate, the grinding device and the polishing device are respectively connected with the base plate through guide rails, and two constant force control devices for respectively driving the grinding device and the polishing device to move axially are arranged on the base plate; the welding seam detecting and positioning device is fixed on the base plate through a connecting piece, the welding seam detecting and positioning device is arranged in parallel with the base plate, and the axial movement direction is parallel to the length direction of the guide rail.
Furthermore, the grinding device comprises a grinding motor and a diamond grinding wheel, the diamond grinding wheel is fixedly installed on a main shaft of the grinding motor through a grinding wheel tool handle, and the grinding motor is fixedly installed at the output end of the constant force control device.
Further, burnishing device includes polishing motor and shutter plate, and the shutter plate passes through blade handle of a knife fixed mounting on the main shaft of polishing motor, and polishing motor fixed mounting is at constant force controlling means's output.
Further, the welding seam detecting and positioning device comprises a high-precision linear laser sensor which is fixedly arranged on the substrate through a connecting frame, and the high-precision linear laser sensor is arranged in parallel with the substrate.
Furthermore, the constant force control device comprises a low damping cylinder, a pressure sensor, a displacement sensor and an angle sensor, the low damping cylinder is fixedly installed on the substrate, the pressure sensor is installed on the low damping cylinder, the displacement sensor and the angle sensor are both fixedly installed on the substrate, and the grinding device and the polishing device are both respectively and fixedly installed at the output end of the low damping cylinder.
Compared with the prior art, the invention has the technical effects that:
(1) polishing efficiency is remarkably improved
The double-spindle type weld grinding device adopts two sets of power systems, grinding and polishing are carried out simultaneously, and a diamond grinding wheel is combined with customized development, wherein the stable grinding speed is more than or equal to 1000 mm/min;
(2) effectively improves the polishing quality
The double-spindle type welding seam grinding device is provided with a polishing device, and the surface roughness of the polished welding seam is less than or equal to Ra6.3;
(3) the application space of polishing is obviously increased
The double-spindle type welding seam polishing device can be compatible with various types and specifications of welding seams, such as butt welding seams, lap welding seams, cross welding seams, T-shaped welding seams and the like.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a schematic view of the grinding apparatus of the present invention;
FIG. 4 is a schematic view of the structure of the polishing apparatus of the present invention;
FIG. 5 is a schematic view of the weld seam detection and positioning device of the present invention;
FIG. 6 is a schematic diagram of a constant force control device of the present invention;
FIG. 7 is a schematic view of the installation of the present invention in use with a robot;
fig. 8 is a flow chart of the operation of the present invention in conjunction with a robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention and the accompanying drawings. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-8, a double-spindle type weld grinding device 1 comprises a weld detecting and positioning device 3, a grinding device 4, a polishing device 5 and a substrate 10, wherein the grinding device 4 and the polishing device 5 are connected with the substrate 10 through guide rails, and a constant force control device for driving the grinding device 4 and the polishing device 5 to move axially is mounted on the substrate 10; the welding seam detecting and positioning device 3 is fixed on the base plate 10 through a connecting piece, and the welding seam detecting and positioning device 3 is arranged in parallel with the base plate 10. The welding seam detection positioning device 3 is used for acquiring the actual position and the geometric dimension of a welding seam, and the grinding device 4 is used for grinding the welding seam; the polishing device 5 is used for finishing the welding line; the grinding device 4 is provided with a high-power main shaft and is used for removing a large amount of welding seams; the polishing device 5 is provided with a low-power main shaft and is used for polishing the surface of the polished welding line and improving the surface quality of the polished welding line; the number of the guide rails is 2, low-damping linear guide rails are adopted and fixedly arranged on the substrate 10, and the grinding device 4 and the polishing device 5 are respectively arranged on the 2 guide rails and are driven by the constant force control device to reciprocate along the guide rails; and the weld grinding and the weld polishing are synchronously carried out, and the milling is carried out before and the grinding is carried out after.
The grinding device 4 comprises a grinding motor 1-1 and a diamond grinding wheel 1-3, the diamond grinding wheel 1-3 is fixedly arranged on a main shaft of the grinding motor 1-1 through a grinding wheel tool handle 1-2, the grinding motor 1-1 is fixedly arranged at the output end of the constant force control device, the grinding motor 1-1 is driven by the constant force control device to drive the diamond grinding wheel 1-3 to move along the guide rail, and the welding seam is subjected to reciprocating grinding; the grinding motor 1-1 is a low-rotating-speed high-torque asynchronous spindle motor, and is matched with a diamond grinding wheel 1-3 to grind the welding seams of carbon steel products; parameters such as the rotating speed of the main shaft, the floating pressure, the tool stretching amount and the like are monitored in real time in the polishing process, and the stability and the reliability of the polishing process are ensured. The axial direction of a main shaft of the grinding motor 1-1 is parallel to the length direction of the guide rail.
The polishing device 5 comprises a polishing motor 2-1 and a louver blade 2-3, the louver blade 2-3 is fixedly arranged on a main shaft of the polishing motor 2-1 through a blade cutter handle 2-2, the polishing motor 2-1 is fixedly arranged at the output end of the constant force control device, the polishing motor 2-1 is driven through the constant force control device to drive the louver blade 2-3 to move along the guide rail, and the welding seam is polished in a reciprocating manner; the polishing motor 2-1 selects a medium-speed air-cooled asynchronous spindle motor, is matched with the wear-resistant low-loss louver blade 2-3, and polishes the welding seam after the diamond grinding wheel 1-3 is ground; parameters such as the rotating speed of the main shaft, the floating pressure, the tool stretching amount and the like are monitored in real time in the polishing process, and the stable polishing operation is ensured. The axial direction of a main shaft of the polishing motor 2-1 is parallel to the length direction of the guide rail.
The welding seam detection positioning device 3 comprises a high-precision linear laser sensor which is fixedly arranged on the substrate 10 through a connecting frame, and the high-precision linear laser sensor is arranged in parallel with the substrate 10, so that the emitted laser line is basically vertical to the substrate 10, and the scanning detection and positioning of welding seams with various types, specifications and positions are facilitated; when the robot 2 is used in a matched mode, coordinate data and geometric dimensions of a welding line shared with the robot 2 can be achieved by combining communication protocols for data interaction with the robots 2 of various brands, and therefore the robot 2 is directly guided to conduct attitude optimization.
The constant force control device is provided with 2, the grinding device 4 is fixedly arranged at the output end of one constant force control device, and the polishing device 5 is fixedly arranged at the output end of the other constant force control device. The 2 constant force control devices are used for respectively controlling the grinding device 4 and the polishing device 5 so that the welding line grinding and the welding line polishing can run synchronously or are started independently; the constant force control device is a wrist of the robot 2 polishing equipment and is used for simulating self-adaption and force control functions in manual operation.
The constant force control device comprises a low-damping cylinder 6, a pressure sensor 7, a displacement sensor 8 and an angle sensor 9, wherein the low-damping cylinder 6 is fixedly arranged on a substrate 10, and the grinding device 4 and the polishing device 5 are fixedly arranged at the output end of the low-damping cylinder 6; the pressure sensor 7 is arranged on the low-damping cylinder 6, and the displacement sensor 8 and the angle sensor 9 are both fixedly arranged on the substrate 10. The low-damping cylinder 6 is externally connected with a high-pressure air source through a pneumatic servo valve, and the pressure sensor 7, the displacement sensor 8 and the angle sensor 9 are used for detecting the pressure, the displacement and the angle of the low-damping cylinder 6, so that the grinding pressure of the grinding device 4 and the polishing pressure of the polishing device 5 are monitored in real time.
The double-spindle type weld joint polishing device 1 is matched with a robot 2 for use, the double-spindle type weld joint polishing device 1 is connected with a wrist part of the robot 2, and polishing work is driven and monitored through an electric system and a software system, and the specific working process is as follows:
the robot 2 drives the double-spindle type welding seam polishing device 1 to move according to the welding seam off-line track of the robot 2, and at a set initial position, the electric control system starts the welding seam detection positioning device 3 to scan and collect the actual position and the geometric dimension of the welding seam of a product, and sends the data to the robot 2 for later use; after the double-spindle type welding seam polishing device 1 moves to a set termination position, the welding seam detection positioning device 3 is closed to complete product welding seam scanning detection;
next, the robot 2 drives the double-spindle type weld grinding device 1 to move to the initial position of the weld, in the process, the power systems and the constant force control devices of the grinding device 4 and the polishing device 5 are started, the double-spindle type weld grinding device 1 conducts grinding and polishing operations on the weld of the product from the initial position of the weld, the spindle rotating speed and the floating pressure of the grinding device 4 and the polishing device 5 are monitored in real time in the grinding process, and the grinding operations are guaranteed to be conducted stably and reliably.
The main invention points of the invention are that:
(1) the double-spindle type weld grinding device has grinding and polishing functions, can run synchronously and can be independently started according to actual requirements;
(2) the double-spindle type welding seam polishing device can effectively polish and treat welding seams of carbon steel products. On the premise that the welding width is less than or equal to 10mm and the welding height is less than or equal to 2.5mm, the stable and effective polishing speed is more than or equal to 1000 mm/min;
(3) the welding seam detection positioning device adopts a high-precision laser sensor to carry out scanning detection on the welding seam, the effective scanning speed is more than or equal to 60mm/s, and the normal positioning precision is +/-0.02 mm;
(4) the welding seam detection positioning device has a communication protocol for data interaction with the robots such as KUKA, ABB, Sonaceae and Anchuan, can directly transmit the collected welding seam coordinate data and geometric dimensions to the robots, and guides the robots to adjust the operation postures;
(5) force control accuracy of the constant force control device: 7N (range 0-1000N), response time: 80 ms;
(6) the electric spindle selected by the grinding device and the polishing device has an automatic broaching function, and can perform automatic tool changing operation by using a robot.
The invention has the advantages that:
(1) polishing efficiency is remarkably improved
The double-spindle type weld grinding device adopts two sets of power systems, and grinding and polishing are carried out simultaneously; the stable grinding speed of the diamond grinding wheel which is combined with the customized development is more than or equal to 1000 mm/min;
(2) effectively improves the polishing quality
The double-spindle type welding seam grinding device is provided with a polishing device, and the surface roughness of the polished welding seam is less than or equal to Ra6.3;
(3) the application space of polishing is obviously increased
The double-spindle type welding seam polishing device can be compatible with various types and specifications of welding seams, such as butt welding seams, lap welding seams, cross welding seams, T-shaped welding seams and the like.
Claims (5)
1. The utility model provides a two main shaft formula welding seam grinding device, includes a base plate, its characterized in that: the device comprises a welding seam detection positioning device, a grinding device and a polishing device, wherein the grinding device and the polishing device are respectively connected with a substrate through guide rails, and two constant force control devices for respectively driving the grinding device and the polishing device to move axially are arranged on the substrate; the welding seam detecting and positioning device is fixed on the base plate through a connecting piece, the welding seam detecting and positioning device is arranged in parallel with the base plate, and the axial movement direction is parallel to the length direction of the guide rail.
2. The double-spindle type weld grinding device according to claim 1, characterized in that: the grinding device comprises a grinding motor and a diamond grinding wheel, the diamond grinding wheel is fixedly arranged on a main shaft of the grinding motor through a grinding wheel tool handle, and the grinding motor is fixedly arranged at the output end of the constant force control device.
3. The double-spindle type weld grinding device according to claim 1, characterized in that: the polishing device comprises a polishing motor and a louver blade, the louver blade is fixedly installed on a main shaft of the polishing motor through a blade handle, and the polishing motor is fixedly installed at the output end of the constant force control device.
4. The double-spindle type weld grinding device according to claim 1, characterized in that: the welding seam detecting and positioning device comprises a high-precision linear laser sensor which is fixedly arranged on the base plate through a connecting frame, and the high-precision linear laser sensor is arranged in parallel with the base plate.
5. The double-spindle type weld grinding device according to claim 1, characterized in that: the constant force control device comprises a low-damping cylinder, a pressure sensor, a displacement sensor and an angle sensor, wherein the low-damping cylinder is fixedly installed on the substrate, the pressure sensor is installed on the low-damping cylinder, the displacement sensor and the angle sensor are both fixedly installed on the substrate, and the grinding device and the polishing device are both fixedly installed at the output end of the low-damping cylinder respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010752475.1A CN111716195A (en) | 2020-07-30 | 2020-07-30 | Double-spindle type weld joint polishing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010752475.1A CN111716195A (en) | 2020-07-30 | 2020-07-30 | Double-spindle type weld joint polishing device |
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| Publication Number | Publication Date |
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| CN111716195A true CN111716195A (en) | 2020-09-29 |
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| CN202010752475.1A Pending CN111716195A (en) | 2020-07-30 | 2020-07-30 | Double-spindle type weld joint polishing device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113714820A (en) * | 2021-09-09 | 2021-11-30 | 孚坤智能科技(上海)有限公司 | Force-controlled floating milling and polishing integrated device and operation method thereof |
| CN113953942A (en) * | 2021-11-29 | 2022-01-21 | 广东凌丰五金装备科技股份有限公司 | Constant force control polishing table |
| CN113977428A (en) * | 2021-11-16 | 2022-01-28 | 河南睿辰机器人智能科技有限公司 | Double-end double-speed main shaft grinding device and grinding robot |
| CN114939829A (en) * | 2022-06-02 | 2022-08-26 | 天津大学 | Floating constant-force grinding and polishing device |
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| CN108500633A (en) * | 2018-05-18 | 2018-09-07 | 中车青岛四方机车车辆股份有限公司 | A kind of weld reinforcement processing unit and method for processing seam |
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| CN111347329A (en) * | 2020-02-28 | 2020-06-30 | 宝鸡宇喆工业科技有限公司 | Grinding and polishing method of grinding and polishing robot for weld joints at pipe ends of spiral steel pipes |
| CN212240393U (en) * | 2020-07-30 | 2020-12-29 | 上海中车瑞伯德智能系统股份有限公司 | Double-spindle type weld joint polishing device |
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| CN107116561A (en) * | 2017-06-19 | 2017-09-01 | 中国电子科技集团公司第二十八研究所 | A kind of weld grinding machine people |
| CN108406545A (en) * | 2018-03-14 | 2018-08-17 | 天津智通信息系统集成有限公司 | A kind of modified high ferro side wall weld seam milling combination unit |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113714820A (en) * | 2021-09-09 | 2021-11-30 | 孚坤智能科技(上海)有限公司 | Force-controlled floating milling and polishing integrated device and operation method thereof |
| CN113977428A (en) * | 2021-11-16 | 2022-01-28 | 河南睿辰机器人智能科技有限公司 | Double-end double-speed main shaft grinding device and grinding robot |
| CN113953942A (en) * | 2021-11-29 | 2022-01-21 | 广东凌丰五金装备科技股份有限公司 | Constant force control polishing table |
| CN114939829A (en) * | 2022-06-02 | 2022-08-26 | 天津大学 | Floating constant-force grinding and polishing device |
| CN114939829B (en) * | 2022-06-02 | 2024-01-02 | 天津大学 | Floating constant force polishing device |
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