CN112643487A - Telescopic constant force compensation abrasive band grinding machine for robot - Google Patents
Telescopic constant force compensation abrasive band grinding machine for robot Download PDFInfo
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- CN112643487A CN112643487A CN202011615095.XA CN202011615095A CN112643487A CN 112643487 A CN112643487 A CN 112643487A CN 202011615095 A CN202011615095 A CN 202011615095A CN 112643487 A CN112643487 A CN 112643487A
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- wheel
- tensioning
- telescopic
- force compensation
- constant force
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- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 238000005498 polishing Methods 0.000 claims abstract description 18
- 238000007667 floating Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 4
- 230000009975 flexible effect Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000003754 machining Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005495 investment casting Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000006467 substitution reaction Methods 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
- B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a telescopic constant force compensation sanding belt machine for a robot, which comprises: the device comprises a telescopic arm, a contact wheel arranged at one end of the telescopic arm to be in contact with a workpiece, a tensioning mechanism arranged on the telescopic arm, a tensioning wheel arranged at the tail end of the tensioning mechanism, a constant force compensation mechanism arranged on the telescopic arm, an abrasive belt driving wheel with a fixed central shaft, and an abrasive belt sequentially wound on the abrasive belt driving wheel, the contact wheel and the tensioning wheel. The telescopic compensation part of the invention has light weight, small movement inertia, sensitive reaction and flexible action, is beneficial to controlling the polishing attitude and the polishing precision, the tensioning acting force of the tensioning mechanism on the abrasive belt does not influence the floating acting force, the external force interference in the constant force control process is effectively avoided, and the telescopic compensation part can be designed into a fixed abrasive belt machine or a movable abrasive belt machine which can be grabbed by a robot according to the requirement.
Description
Technical Field
The invention belongs to the field of workpiece processing, and particularly relates to a grinding abrasive belt machine for a robot.
Background
With the continuous development of production technology and the requirement of product functions, the shapes of workpieces are more and more complex, such as aviation blades, engine crankshafts, engine housings, vehicle hubs, precision casting parts and the like, the traditional machining equipment is difficult to finish grinding, polishing and other works, and the current machining process is basically at the level of manual operation. Because the technical level difference of operators is large, and the operators are easily influenced by various factors, the processing quality of products is very unstable, and the defects of low production efficiency and high processing cost exist. In recent years, the labor shortage, the environment for manual polishing and burnishing work is very severe, the worker loss is serious, the scale expansion of products and the quality improvement are severely restricted, and therefore, the equipment capable of realizing automatic processing on the products is urgently needed.
The advent of robotic polishing technology has provided a solution to such polishing of workpieces, however, robots are merely motion actuators that can only move according to a predetermined path, which requires that the robot and the workpiece be maintained in a desired spatial position. The robot is poor in absolute accuracy, workpieces are machined and manufactured horizontally, machining size deviation is difficult to avoid, particularly for workpieces with complex surfaces, the robot needs the same complex robot track to ensure that a polishing head is in contact with the workpieces, the rigidity of the robot is poor, small space attitude deviation can cause rapid change of polishing contact force, over-polishing or under-polishing is caused finally, and good workpiece surfaces are difficult to obtain. Therefore, a certain method is needed to overcome the defects in the process of grinding by using the robot.
As shown in fig. 1, in order to maintain contact between the tool T and the workpiece surface S in a grinding tool having no compensation function or an insensitive grinding tool, the walking path R of the robot needs to be very close to the shape of the workpiece surface, which requires a large number of path points to form the running track of the robot.
Therefore, the constant force compensation technology is specially used for solving the polishing processing problem caused by insufficient precision and rigidity of the robot. The technology can realize that the polishing head is pressed on the surface of the workpiece with constant pressure after contacting the workpiece, and can freely stretch or swing within a certain size range.
Therefore, the telescopic constant-force compensation grinding belt sander for the robot, which is sensitive in response and high in machining precision, is provided, and the problem which needs to be solved urgently in the industry is solved.
Disclosure of Invention
The invention aims to provide a telescopic constant force compensation grinding abrasive belt machine for a robot, which is sensitive in response, flexible in action, high in grinding precision and strong in controllability.
In order to achieve the above object, the present invention provides a telescopic constant force compensation sanding belt machine for a robot, comprising: the device comprises a telescopic arm, a contact wheel arranged at one end of the telescopic arm to be in contact with a workpiece, a tensioning mechanism arranged on the telescopic arm, a tensioning wheel arranged at the tail end of the tensioning mechanism, a constant force compensation mechanism arranged on the telescopic arm, an abrasive belt driving wheel with a fixed central shaft, and an abrasive belt sequentially wound on the abrasive belt driving wheel, the contact wheel and the tensioning wheel.
Optionally, the tensioning direction of the tensioning mechanism is parallel to the axis of the telescopic boom, and the tensioning mechanism moves along with the telescopic boom when the telescopic boom performs the telescopic compensation motion.
Alternatively, the tensioning mechanism is provided at the end of the telescopic arm, and the constant force compensation mechanism is located between the contact wheel and the tensioning mechanism.
The invention also provides a telescopic constant force compensation grinding abrasive belt machine for a robot, which comprises: the automatic belt sander comprises a telescopic arm, a contact wheel, a movable guide wheel, a tensioning mechanism, a tensioning wheel, a constant force compensation mechanism, an abrasive belt driving wheel and an abrasive belt, wherein the contact wheel is arranged at the front end of the telescopic arm and is in contact with a workpiece, the movable guide wheel is arranged at the tail end of the telescopic arm, the tensioning mechanism is arranged at the middle section of the telescopic arm, the tensioning wheel is arranged at the tail end of the tensioning mechanism, the constant force compensation mechanism is arranged on the telescopic arm and is positioned between the contact wheel and the movable guide wheel, the abrasive belt driving wheel is fixed with a central shaft, and the abrasive belt is wound on the abrasive belt driving wheel, the contact wheel, the tensioning wheel and the movable.
Preferably, when the tensioning mechanism is mounted in the middle section of the telescopic arm, the tensioning mechanism is perpendicular to the telescopic arm.
Optionally, the telescopic arm is mounted on a sliding block of the linear sliding rail and can perform linear motion along the linear sliding rail, and the rail of the linear sliding rail is fixedly arranged.
Optionally, a first guide wheel is disposed between the belt driving wheel and the contact wheel, a second guide wheel is disposed between the belt driving wheel and the tension wheel, and central axes of the first guide wheel and the second guide wheel are fixedly disposed.
Optionally, the constant force compensation mechanism is set as a constant force compensation cylinder, a cylinder body of the constant force compensation cylinder is fixed, and a cylinder rod of the constant force compensation cylinder is connected to the telescopic arm.
Alternatively, the constant force compensation mechanism is configured to compensate for a constant force spring or a compensating electromagnetic device.
Alternatively, the tensioning mechanism is configured as a tensioning cylinder, the tensioning wheel being mounted on a cylinder rod of the tensioning cylinder.
Alternatively, the tensioning mechanism is configured to tension the constant force spring.
Alternatively, the linear guide is provided as a fixed member.
Alternatively, the belt drive wheel is connected to a motor, which drives the belt drive wheel to rotate, thereby driving the belt to move at a high speed for polishing.
Compared with the prior art, the invention has the advantages and beneficial effects that: (1) the telescopic compensation part of the telescopic constant-force compensation grinding abrasive belt machine for the robot is light in weight, small in movement inertia, sensitive in response and flexible in action; (2) the compensation mode of the polishing head of the belt sander is linearly telescopic, so that the polishing attitude and the polishing precision can be controlled more conveniently; (3) the tensioning mechanism of the telescopic constant-force compensation grinding belt machine for the robot does not influence the floating action force on the tensioning action force of the abrasive belt, so that the external force interference in the constant-force control process is effectively avoided, and the control precision is higher; (4) the telescopic constant-force compensation grinding abrasive belt machine for the robot can be designed into a fixed abrasive belt machine or a movable abrasive belt machine which can be grabbed by the robot according to needs.
Drawings
Fig. 1 is a schematic view of a processing path of a prior art belt sander without compensation function.
Fig. 2 is a schematic structural diagram of an embodiment of the present invention.
FIG. 3 is a schematic view of a processing path of the present invention.
Fig. 4 is a schematic structural diagram of the grinder in an unreasonable configuration state of a tensioning mechanism.
Fig. 5 is a schematic structural view of an integral floating belt sander.
Fig. 6 is a schematic structural diagram of another embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Referring to fig. 2, as a non-limiting embodiment, the inventive telescopic constant force compensation sanding belt machine for robots includes: abrasive belt driving wheel 1, abrasive belt 2, first leading wheel 3A, second leading wheel 3B, contact wheel 4, telescopic boom 5, constant force compensation cylinder 6, linear slide 7, tensioning cylinder 8 and tensioning wheel 9.
Wherein, the belt driving wheel 1 is connected to a motor and can rotate under the driving of the motor to drive the belt 2 to move, and in this non-limiting embodiment, the central axis of the belt driving wheel 1 is fixed.
The abrasive belt 2 is a main tool for polishing a workpiece G, is sequentially wound on a wheel train consisting of the abrasive belt driving wheel 1, the first guide wheel 3A, the contact wheel 4, the tension wheel 9 and the second guide wheel 3B, and moves under the driving of the abrasive belt driving wheel 1.
The contact wheel 4 is a wheel which is in contact with the workpiece G during the grinding process, and in this non-limiting embodiment, the contact wheel 4 is mounted on the telescopic arm 5 and moves together with the telescopic arm 5, and the telescopic distance is the compensation range.
The telescopic arm 5 is arranged on the linear slide rail 7 and can perform linear motion along the linear slide rail 7, and the motion distance is the telescopic distance L of the constant force compensation cylinder 6.
The constant force compensation cylinder 6 is used for driving the telescopic arm 5 to move forwards, the telescopic distance is L, the ejection acting force is the grinding pressure during grinding, the grinding pressure can be adjusted by controlling the air pressure of the constant force compensation cylinder 6, in the non-limiting embodiment, the cylinder rod 61 of the constant force compensation cylinder 6 is connected to the telescopic arm 5, and the cylinder body 62 is a fixed part. As another non-limiting embodiment, the force for driving the telescopic arm 5 to move forward may be also implemented by a constant force spring, an electromagnetic force, or the like.
The linear guide 7 is intended to guide the telescopic arm 5, and in this non-limiting embodiment, the linear guide 7 is a fixed part, the slide 71 of the linear guide 7 is mounted on the telescopic arm 5 as a movable part, and the rail 72 of the linear guide 7 is a fixed part.
The tensioning cylinder 8 is used for tensioning the abrasive belt, is integrally arranged on the telescopic arm 5 and is a movable part, and the part can be replaced by a constant-force spring structure.
Tensioning wheel 9 is then used to tighten sanding belt 2 under the action of tensioning cylinder 8.
As shown in fig. 3, the telescopic constant force compensation sanding belt machine for a robot of the present invention polishes a surface S of a workpiece with a sanding head T under the action of a constant force compensation mechanism J, and has a good constant force compensation function.
Therefore, the tensioning mechanism consisting of the tensioning cylinder 8 and the tensioning wheel 9 is a part of the movable part, so that the tensioning force belongs to the internal force of the movable part and is not interfered with the contact pressure during grinding, and the grinding pressure can be accurately controlled.
As shown in fig. 4, when the tensioning wheel 9 and the tensioning cylinder 8 of the belt sander are fixed, once the sanding belt 2 is tensioned, a component force is generated in the tensioning force F, which is superimposed on the compensation force generated by the telescopic compensation cylinder 6, and causes an adverse effect.
In addition, as shown in fig. 2, in the structure of the telescopic constant force compensation grinding belt machine for the robot of the present invention, only the telescopic arm 5, the contact wheel 4 mounted thereon, the tensioning cylinder 8 and the tensioning wheel 9 are movable components, and all the other components are fixed components, the contact wheel 4 contacts the workpiece and pre-compresses for a certain distance during grinding, and program setting is performed in this state, so that the contact wheel 4 can be ensured to be always in contact with the workpiece during grinding.
As shown in fig. 5, the conventional one-piece floating belt sander has a floating state as a whole, and thus compensates for the slow response of operation. Compared with the integral floating belt sander, the driving motor (not shown), the belt driving wheel 1, the first guide wheel 3A, the second guide wheel 3B and the like are all fixed components and do not participate in compensation movement, so that the movable part is light in weight and the compensation movement is sensitive.
As a further non-limiting embodiment, the belt sander of the present invention can be expanded by changing the installation direction of the tensioning mechanism consisting of the tensioning cylinder 8 and the tensioning wheel 9 to be perpendicular to the telescopic arm 5 as shown in fig. 6, and adding a movable guide wheel 10 at the end of the telescopic arm 5, so that a suspended sanding belt is formed between the contact wheel 4 and the tensioning wheel 9, which has a weak sanding ability, and can sand the thin-walled edge of some parts without worrying about over-sanding the workpiece.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. The utility model provides a telescopic constant force compensation abrasive band machine of polishing for robot which characterized in that includes: the abrasive belt grinding machine comprises a telescopic arm, a contact wheel, a tensioning mechanism, a tensioning wheel, a constant force compensation mechanism, an abrasive belt driving wheel and an abrasive belt, wherein the contact wheel is arranged at one end of the telescopic arm and is in contact with a workpiece, the tensioning mechanism is arranged on the telescopic arm, the tensioning wheel is arranged at the tail end of the tensioning mechanism, the constant force compensation mechanism is arranged on the telescopic arm, the abrasive belt driving wheel is fixed by a central shaft, and the abrasive belt is wound on the abrasive belt.
2. The robotic telescopic constant force compensation sanding belt machine of claim 1, wherein the tensioning direction of the tensioning mechanism is parallel to the axis of the telescoping arm.
3. The robot-used telescopic constant force compensation belt sander according to claim 1, further comprising a movable guide wheel mounted at a distal end of the telescopic arm, wherein the tensioning mechanism is mounted at a middle section of the telescopic arm, a tensioning direction of the tensioning mechanism is perpendicular to an axis of the telescopic arm, and the constant force compensation mechanism is located between the contact wheel and the movable guide wheel, and the sanding belt is sequentially wound on the sanding belt driving wheel, the contact wheel, the tensioning wheel and the movable guide wheel.
4. The robot-used telescopic constant-force compensation grinding belt sander according to claim 2 or 3, further comprising a linear slide rail, wherein the telescopic arm is mounted on a slide block of the linear slide rail and can linearly move along the linear slide rail, and a track of the linear slide rail is fixedly arranged.
5. The machine as claimed in claim 4, wherein a first guide wheel is disposed between the belt driving wheel and the contact wheel, a second guide wheel is disposed between the belt driving wheel and the tension wheel, and central axes of the belt driving wheel, the first guide wheel and the second guide wheel are fixed.
6. The telescopic constant-force compensation belt sander for the robot as claimed in claim 4, wherein the constant-force compensation mechanism is a constant-force compensation cylinder, a cylinder body of the constant-force compensation cylinder is fixed, and a cylinder rod of the constant-force compensation cylinder is connected to the telescopic arm.
7. The telescopic constant force compensation sanding belt machine for robots of claim 4, wherein the constant force compensation mechanism is set to compensate for a constant force spring or a compensating electromagnetic device.
8. The robotic telescopic constant force compensation sanding belt machine of claim 4, wherein the tensioning mechanism is configured as a tensioning cylinder, the tensioning wheel being mounted on a cylinder rod of the tensioning cylinder.
9. The robotic telescopic constant force compensation sanding belt machine of claim 4, wherein the tensioning mechanism is set to tension a constant force spring.
10. The robotic telescopic constant force compensation sanding belt machine of claim 4, wherein the linear slide is configured as a stationary member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011615095.XA CN112643487A (en) | 2020-12-30 | 2020-12-30 | Telescopic constant force compensation abrasive band grinding machine for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011615095.XA CN112643487A (en) | 2020-12-30 | 2020-12-30 | Telescopic constant force compensation abrasive band grinding machine for robot |
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| Publication Number | Publication Date |
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| CN112643487A true CN112643487A (en) | 2021-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011615095.XA Pending CN112643487A (en) | 2020-12-30 | 2020-12-30 | Telescopic constant force compensation abrasive band grinding machine for robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113458926A (en) * | 2021-09-03 | 2021-10-01 | 南通豪派金属制品有限公司 | High-adaptability polishing equipment for surface of annular casting |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01146654A (en) * | 1987-11-30 | 1989-06-08 | Toto Ltd | Automatic grinding device |
| EP0477737A1 (en) * | 1990-09-24 | 1992-04-01 | HAU-SIMEX GmbH | Belt grinding machine |
| CN103240658A (en) * | 2013-05-24 | 2013-08-14 | 路达(厦门)工业有限公司 | Floating sanding machine |
| CN203726303U (en) * | 2013-10-31 | 2014-07-23 | 吉林大学 | Controllable pressure abrasive belt tool system for blade polishing |
| CN111702619A (en) * | 2020-06-30 | 2020-09-25 | 秦皇岛汇久科技有限公司 | Constant force actuating mechanism and constant force abrasive belt machine |
| CN215036276U (en) * | 2020-12-30 | 2021-12-07 | 廊坊市亿创科技有限公司 | Telescopic constant-force compensation abrasive belt grinding equipment for robot |
| CN215036275U (en) * | 2020-12-30 | 2021-12-07 | 廊坊市亿创科技有限公司 | Telescopic constant-force compensation abrasive belt device for robot |
-
2020
- 2020-12-30 CN CN202011615095.XA patent/CN112643487A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01146654A (en) * | 1987-11-30 | 1989-06-08 | Toto Ltd | Automatic grinding device |
| EP0477737A1 (en) * | 1990-09-24 | 1992-04-01 | HAU-SIMEX GmbH | Belt grinding machine |
| CN103240658A (en) * | 2013-05-24 | 2013-08-14 | 路达(厦门)工业有限公司 | Floating sanding machine |
| CN203726303U (en) * | 2013-10-31 | 2014-07-23 | 吉林大学 | Controllable pressure abrasive belt tool system for blade polishing |
| CN111702619A (en) * | 2020-06-30 | 2020-09-25 | 秦皇岛汇久科技有限公司 | Constant force actuating mechanism and constant force abrasive belt machine |
| CN215036276U (en) * | 2020-12-30 | 2021-12-07 | 廊坊市亿创科技有限公司 | Telescopic constant-force compensation abrasive belt grinding equipment for robot |
| CN215036275U (en) * | 2020-12-30 | 2021-12-07 | 廊坊市亿创科技有限公司 | Telescopic constant-force compensation abrasive belt device for robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113458926A (en) * | 2021-09-03 | 2021-10-01 | 南通豪派金属制品有限公司 | High-adaptability polishing equipment for surface of annular casting |
| CN113458926B (en) * | 2021-09-03 | 2021-12-07 | 南通豪派金属制品有限公司 | High-adaptability polishing equipment for surface of annular casting |
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