CN114800140A - Double-rotor grinding and polishing tool used with robot - Google Patents
Double-rotor grinding and polishing tool used with robot Download PDFInfo
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- CN114800140A CN114800140A CN202210433643.XA CN202210433643A CN114800140A CN 114800140 A CN114800140 A CN 114800140A CN 202210433643 A CN202210433643 A CN 202210433643A CN 114800140 A CN114800140 A CN 114800140A
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- 238000005498 polishing Methods 0.000 title claims abstract description 69
- 238000012545 processing Methods 0.000 claims abstract description 18
- 230000001360 synchronised effect Effects 0.000 claims abstract description 10
- 238000012937 correction Methods 0.000 claims abstract description 3
- 230000000694 effects Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000007493 shaping process Methods 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 abstract description 8
- 230000005540 biological transmission Effects 0.000 description 12
- 230000007246 mechanism Effects 0.000 description 8
- 238000005299 abrasion Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000000051 modifying effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 210000003437 trachea Anatomy 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
- B24B13/00—Machines or devices designed for grinding or polishing optical surfaces on lenses or surfaces of similar shape on other work; 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
- 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
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/003—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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
A double-rotor grinding and polishing tool for a robot comprises a robot body and a double-rotor grinding and polishing tool head. The double-rotor grinding and polishing tool head comprises a tool head connecting and fixing flange plate, a servo motor, a synchronous belt pulley, a telescopic cylinder, a linear guide rail, an angular contact ball bearing, a dovetail groove sliding table, a revolution shaft, a rotation shaft, a revolution flange connecting seat, a revolution sliding support, a rotation shaft connecting seat, a rotation bearing seat, a grinding and polishing disc connecting chuck and a grinding and polishing disc. The invention can finish grinding, polishing and high-precision shape correction of the optical element, and the used robot has the advantages of simple relative structure, stable operation performance, low cost and flexibility, is suitable for multi-station processing, does not need to frequently move the processing element, and improves the surface shape and the processing period of the surface of the optical element.
Description
Technical Field
The invention relates to optical processing, in particular to a double-rotor grinding and polishing tool used with a robot.
Background
The double-rotor grinding and polishing tool has an indispensable position in modern optical processing and plays an important role in grinding and polishing planes, spherical surfaces, aspheric surfaces and free-form surfaces. With the development of a high-precision complex control system of the robot, the construction of the machining equipment can be simply and quickly completed by carrying the tool head at the tail end of the robot. Compared with the traditional gantry type numerical control small grinding head machine tool, the robot has the advantages of high degree of freedom and low cost. And a double-rotor grinding and polishing tool head is arranged at the tail end of the robot, the removal of the surface material of the workpiece is controlled by calculating the residence time of the polishing disc on the surface of the workpiece and the relative pressure of the surface of the workpiece according to the detected surface shape data, and the optical element is processed by controlling the double-rotor grinding and polishing tool through the computer.
Patent No. CN102962764A discloses a rigid eccentric transmission revolution and rotation air pressure force application numerical control polishing device, which adopts a rigid eccentric transmission structure and a top air inlet air pressure force application mode. The eccentric transmission mode of the structure adopts a cross universal joint to transmit power, and when the included angle of two shafts is not zero, the transmission at the equal angular speed can not be transmitted. The cross universal joint has no self-lubricating method, is used for a long time, has great abrasion, and greatly reduces the transmission efficiency of the rotating shaft. When revolution and rotation are simultaneously started, the cross universal joint not only needs to rotate but also needs to follow the revolution, so that the abrasion is accelerated, when the revolution eccentricity is too large, the transmission efficiency of the cross universal joint is greatly reduced, the problems of insufficient torque, torque accumulation and the like of the rotation shaft during transmission are easily caused, and the removal amount is unstable in the processing process. The air pressure force application of top end air inlet, this kind of pressurization mode has two shortcomings, and the first is that the intake pipe is wearing and tearing easily, and the intake pipe passes from the cross universal joint in the middle of, provides pressure for the axis of rotation, can have very big wearing and tearing to the trachea when the cross universal joint drives the axis of rotation, needs regular inspection and changes. The second is a cylinder piston of a rotation shaft part, because the cylinder piston does not rotate, but the rotation shaft rotates, long-term abrasion can cause abrasion of a rubber ring of the cylinder piston, compressed air leaks, pressure is reduced, and accordingly removal amount is unstable in a machining process. And the rubber ring of the cylinder piston is worn, the whole mechanism needs to be disassembled during maintenance, and the maintenance is troublesome.
Disclosure of Invention
The invention aims to provide a double-rotor grinding and polishing tool used with a robot for processing large-caliber aspheric surfaces and planes with the diameter of more than one meter, wherein the tool can finish the polishing and high-precision shape modification of an element from the grinding of an optical element.
The technical solution of the invention is as follows:
the utility model provides a birotor grinding and polishing instrument that is equipped with robot and uses which characterized in that: the double-rotor grinding and polishing tool head comprises a tool head connecting fixed flange plate, a synchronous belt pulley, an angular contact ball bearing, a servo motor, a telescopic cylinder, a linear guide rail, a dovetail groove sliding table, a revolution shaft, a revolution sliding support, a rotation eliminating flange, a revolution flange connecting seat, a rotation shaft connecting seat, a rotation bearing seat, a rotation shaft, a polishing disc connecting chuck and a grinding and polishing disc;
the double-rotor grinding and polishing tool head is connected with a fixed flange plate by the tool head and is fixed with a robot tail end flange of a robot by an M12 cylindrical head hexagon socket head cap screw; the lapping and polishing disc pass through the polishing disc connect the chuck to be fixed the lower extreme of rotation shaft, make through inserting compressed air the rotation that telescopic cylinder connects eliminate the flange and sticis in rotation flange department of rotation shaft upper end, make lapping and polishing disc and processed the laminating of component surface, adjust the pressure of lapping and polishing disc to workpiece surface man-hour through the size of adjusting external air supply, the revolution axis passes through the bolt fastening in the hole of dovetail slip table with the dovetail slip table, the rethread servo motor and hold-in range drive revolution axis and rotation of rotation axis, the realization is ground and is polished processing component surface.
The tool head is connected with the fixed flange plate and is designed with two connection and fixing modes: the top end is connected with the back, and the connection mode different from that of the tail end flange of the robot can be selected according to the height of the processing table, so that the effective stroke is maximized.
Through the cooperation of dovetail slip table and revolution axis, pass through the bolt fastening with the revolution axis on the dovetail slip table, shortened whole revolution axis length, make space utilization reach the biggest, adjust simultaneously the relative position of dovetail slip table slider, adjust the eccentric volume of revolution, reach better modification effect.
Compressed air is connected into the telescopic cylinder, and the size of the introduced compressed air is adjusted by the pressure regulating valve to reach different pressures, so that different pressures are generated on the rotating shaft, the pressures are transmitted to the grinding and polishing disc, materials are removed from elements, and a better shape modifying effect is achieved.
The rotation eliminating flange and the telescopic cylinder are tightly pressed at the flange at the upper end of the rotation shaft, when the rotation shaft rotates, the torsion generated by the rotation can not be transmitted to the telescopic cylinder through the friction force generated by pressing, the torsion can be eliminated by the rotation eliminating flange at the tail end of the telescopic cylinder, the telescopic cylinder can not rotate, and the air tightness and the service life of the telescopic cylinder are better protected.
The invention has the following technical effects:
the invention solves two problems in the prior art, adopts synchronous belt transmission to move the eccentric mechanism upwards, reduces the space of the whole device, simultaneously has more reasonable mechanical structure, the revolution motor directly transmits power to the revolution shaft through the synchronous belt wheel and the synchronous belt, the eccentric mechanism adopts a dovetail groove sliding table eccentric mechanism, the mechanical structure layout greatly increases the adjustment range of the eccentric distance, and the transmission efficiency can not be reduced when the eccentric distance is increased.
The invention adopts the method of applying pressure on the top end of the rotation shaft to generate pressure on the rotation shaft, and because the pressure control mechanism is separated from the rotation shaft rotating mechanism, when the rotation shaft rotates, the rotation eliminating flange plate is adopted to eliminate the rotating force of the rotation shaft, and the rotation eliminating flange plate does not drive the cylinder to rotate and is not transmitted to the cylinder shaft, and the cylinder shaft does not do rotation motion, so the service life of the cylinder piston is greatly prolonged, and the maintenance is convenient. The transmission of rotation shaft also uses synchronous belt drive, and transmission efficiency is stable, can not lead to problems such as insufficient transmission torque, moment of torsion accumulation because of revolution eccentricity increase, and rotation mechanism and pressure control mechanism disconnect-type design, and later maintenance is also simpler.
Drawings
FIG. 1 is a schematic view of the overall structure of a dual-rotor grinding and polishing tool used with a robot according to the present invention
FIG. 2 is a schematic view of a dual rotor lapping and polishing tool for use with a robot
Detailed Description
In order to better present the technical scheme and potential of the invention, the specific embodiment is explained by combining fig. 1 and fig. 2. This section presents exemplary embodiments of the present invention, and it is within the scope of the present invention to optimize the embodiments based on the characteristics and requirements of the dual rotor abrasive polishing tool.
Referring to fig. 1 and 2, fig. 1 is a schematic view of the overall structure of a dual-rotor grinding and polishing tool used with a robot according to the present invention, fig. 2 is a schematic view of a dual-rotor grinding and polishing device used with a robot according to the present invention, and it can be seen from the figure that the dual-rotor grinding and polishing tool used with a robot according to the present invention includes a robot 1, a robot end flange 1-1 and a dual-rotor grinding and polishing tool head 2, where the dual-rotor grinding and polishing tool head 2 includes a tool head connecting and fixing flange 2-1, a synchronous pulley 2-2, an angular contact ball bearing 2-3, a servo motor 2-4, a telescopic cylinder 2-5, a linear guide rail 2-6, a dovetail groove sliding table 2-7, a revolution shaft 2-8, a revolution sliding support 2-9, a rotation eliminating flange 2-10, a revolution flange connecting seat 2-11, The polishing machine comprises a rotating shaft connecting seat 2-12, a rotating shaft bearing seat 2-13, a rotating shaft 2-14, a polishing disk connecting chuck 2-15 and a grinding polishing disk 2-16;
the double-rotor grinding and polishing tool head 2 is connected with a fixed flange 2-1 and a robot tail end flange 1-1 of the robot 1 through the tool head, and is fixed through an M12 cylindrical head hexagon socket head cap screw; the grinding and polishing disk 2-16 is fixed at the lower end of the rotating shaft 2-14 through the polishing disk connecting chuck 2-15, the autorotation eliminating flange 2-10 connected with the telescopic cylinder 2-5 is tightly pressed at the autorotation flange at the upper end of the rotating shaft 2-14 by connecting compressed air, so that the grinding and polishing disk 2-16 is attached to the surface of a processed element, the pressure of the grinding and polishing disk 2-16 on the surface of a workpiece during processing is adjusted by adjusting the size of an external air source, the rotating shaft 2-8 and the dovetail groove sliding table 2-7 are fixed in holes of the dovetail groove sliding table 2-7 through bolts, and the rotating shaft 2-8 and the rotating shaft 2-14 are driven to rotate through the servo motor 2-4 and the synchronous belt pulley 2-2, the grinding and polishing of the surface of the processing element are realized.
The tool head is connected with the fixed flange 2-1 and is designed with two connection and fixing modes: the top end connection (a) and the back connection (b) can select a connection mode different from that of the tail end flange 1-1 of the robot according to the height of the processing table top, so that the effective stroke is maximized.
Through the matching of the dovetail groove sliding tables 2-7 and the revolution shafts 2-8, the revolution shafts 2-8 are fixed on the dovetail groove sliding tables 2-7 through bolts, the length of the whole revolution shaft is shortened, the space utilization rate is maximized, and meanwhile, the relative positions of the dovetail groove sliding tables 2-7 slide blocks are adjusted to adjust the eccentricity of revolution, so that a better shaping effect is achieved.
Compressed air is connected into the telescopic air cylinder 2-5, the size of the compressed air is adjusted by the pressure regulating valve to reach different pressures, so that different pressures are generated on the rotating shaft 2-14, the pressures are transmitted to the grinding and polishing disc 2-16, elements are removed, and a better shape modifying effect is achieved.
The rotation eliminating flange 2-10 and the telescopic cylinder 2-5 are tightly pressed at the flange at the upper end of the rotation shaft 2-14, when the rotation shaft 2-14 rotates, the torsion generated by rotation cannot be transmitted to the telescopic cylinder 2-5 through the friction force generated by pressing, the torsion can be offset by the rotation eliminating flange 2-10 at the tail end of the telescopic cylinder 2-5, the telescopic cylinder 2-5 cannot rotate, and the air tightness and the service life of the telescopic cylinder 2-5 are better protected.
Fig. 1 is a schematic structural diagram of a dual-rotor grinding and polishing tool, and the working principle of the tool head is as follows: revolution shafts 2-8 and revolution shafts 2-14 are driven to rotate by revolution motors and revolution motors respectively, the revolution shafts 2-14 rotate to drive grinding and polishing discs 2-16 to rotate, the revolution shafts 2-8 rotate to drive the whole revolution shafts 2-14 and the grinding and polishing discs 2-16 to do revolution motion, and the eccentricity is adjusted by adjusting dovetail groove sliding tables 2-7, so that the rotation radius of the revolution shafts 2-8 is changed. Compressed air is introduced into the telescopic air cylinder 2-5, so that the telescopic air cylinder 2-5 generates pressure on the rotating shaft 2-14, the pressure is changed by adjusting an air valve of the compressed air, so that different pressures are generated on the surface of the element by the grinding and polishing disc 2-16, the surface material of the element is removed, and the purpose of shape modification is achieved.
Fig. 2 shows a schematic diagram of a dual-rotor grinding and polishing device used with a robot, the dual-rotor grinding and polishing device is fixed on a robot end flange 1-1 of the robot through a connecting flange 2-1 on the dual-rotor grinding and polishing device, two connecting positions are arranged on the dual-rotor grinding and polishing device, the top end is connected with (a) and the back end is connected with (b), different positions can adapt to various processing conditions, and the mode of the top end connection (a) in fig. 2 is a connection mode with the largest movement stroke of the robot.
Experiments show that the invention can finish grinding, polishing and high-precision shape correction of the optical element, and the used robot has the advantages of simple relative structure, stable operation performance, low cost, flexibility, suitability for multi-station processing, no need of frequently moving the processing element, and improvement of the surface shape and the processing period of the surface of the optical element.
Claims (5)
1. A double-rotor grinding and polishing tool equipped with a robot is characterized in that: comprises a robot (1), a robot tail end flange (1-1) and a double-rotor grinding and polishing tool head (2), the double-rotor grinding and polishing tool head (2) comprises a tool head connecting fixed flange (2-1), a synchronous belt wheel (2-2), an angular contact ball bearing (2-3), a servo motor (2-4), a telescopic cylinder (2-5), a linear guide rail (2-6), a dovetail groove sliding table (2-7), a revolution shaft (2-8), a revolution sliding support (2-9), a rotation eliminating flange (2-10), a revolution flange connecting seat (2-11), a rotation shaft connecting seat (2-12), a rotation shaft bearing seat (2-13), a rotation shaft (2-14), a polishing disk connecting chuck (2-15) and a grinding and polishing disk (2-16);
the double-rotor grinding and polishing tool head (2) is connected with a fixed flange (2-1) and a robot tail end flange (1-1) of the robot (1) through the tool head and is fixed through an M12 cylindrical head inner hexagonal screw; the grinding and polishing disk (2-16) is fixed at the lower end of the rotating shaft (2-14) through the polishing disk connecting chuck (2-15), the autorotation eliminating flange (2-10) connected with the telescopic cylinder (2-5) is tightly pressed at the autorotation flange at the upper end of the rotating shaft (2-14) through connecting compressed air, so that the grinding and polishing disk (2-16) is attached to the surface of a processed element, the pressure of the grinding and polishing disk (2-16) on the surface of a workpiece is adjusted and processed by adjusting the size of an external air source, the revolution shaft (2-8) and the dovetail groove sliding table (2-7) are fixed in holes of the dovetail groove sliding tables (2-7) through bolts, and the revolution shaft (2-8) and the autorotation shaft (2-14) are driven by the servo motor (2-4) and the synchronous belt pulley (2-2) The surface of the processing element is now ground and polished.
2. The dual-rotor grinding and polishing tool used in combination with the robot of claim 1, wherein the tool head connecting and fixing flange (2-1) is designed with two connecting and fixing modes: the top end is connected with the back end, and the connection mode different from that of the tail end flange (1-1) of the robot can be selected according to the height of the processing table top, so that the effective stroke is maximized.
3. The birotor grinding and polishing tool used in cooperation with the robot as claimed in claim 1, wherein the revolution shaft (2-8) is fixed on the dovetail groove sliding table (2-7) through bolts by the cooperation of the dovetail groove sliding table (2-7) and the revolution shaft (2-8), the length of the whole revolution shaft is shortened, the space utilization rate is maximized, and meanwhile, the relative position of the sliding block of the dovetail groove sliding table (2-7) is adjusted to adjust the eccentricity of revolution, so that a better shaping effect is achieved.
4. The dual-rotor grinding and polishing tool used in cooperation with the robot as claimed in claim 1, wherein compressed air is introduced into the telescopic cylinder (2-5), and the pressure of the introduced compressed air is adjusted to different pressures through a pressure regulating valve, so that different pressures are generated on the rotating shaft (2-14), and the pressures are transmitted to the grinding and polishing disk (2-16) to remove materials from components, thereby achieving better shape correction effect.
5. The double-rotor grinding and polishing tool used with a robot according to claim 1, characterized in that the rotation eliminating flange (2-10) and the telescopic cylinder (2-5) are tightly pressed on the flange at the upper end of the rotation shaft (2-14), when the rotation shaft (2-14) rotates, the torque force generated by rotation is not transmitted to the telescopic cylinder (2-5) through the friction force generated by pressing, the torque force can be offset by the rotation eliminating flange (2-10) at the end of the telescopic cylinder (2-5), the telescopic cylinder (2-5) cannot rotate, and the air tightness and the service life of the telescopic cylinder (2-5) are better protected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210433643.XA CN114800140A (en) | 2022-04-22 | 2022-04-22 | Double-rotor grinding and polishing tool used with robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210433643.XA CN114800140A (en) | 2022-04-22 | 2022-04-22 | Double-rotor grinding and polishing tool used with robot |
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| CN114800140A true CN114800140A (en) | 2022-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210433643.XA Pending CN114800140A (en) | 2022-04-22 | 2022-04-22 | Double-rotor grinding and polishing tool used with robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115026702A (en) * | 2022-08-11 | 2022-09-09 | 四川至臻光电有限公司 | High-efficient burnishing device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0768459A (en) * | 1993-09-03 | 1995-03-14 | Osaka Kiko Co Ltd | Method and device of polishing |
| JPH09290355A (en) * | 1996-04-25 | 1997-11-11 | Yamaha Corp | Machining device |
| CN101823224A (en) * | 2010-04-21 | 2010-09-08 | 中国人民解放军国防科学技术大学 | Planetary wheel numerical control polishing removal function generator |
| CN102922420A (en) * | 2012-11-05 | 2013-02-13 | 北京理工大学 | Revolution box body type air pressure force-application numerical control polishing device with adjustable large eccentricity |
| CN214603784U (en) * | 2020-11-24 | 2021-11-05 | 湖南工匠实创智能机器有限责任公司 | High-speed polishing device for optical lens |
-
2022
- 2022-04-22 CN CN202210433643.XA patent/CN114800140A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0768459A (en) * | 1993-09-03 | 1995-03-14 | Osaka Kiko Co Ltd | Method and device of polishing |
| JPH09290355A (en) * | 1996-04-25 | 1997-11-11 | Yamaha Corp | Machining device |
| CN101823224A (en) * | 2010-04-21 | 2010-09-08 | 中国人民解放军国防科学技术大学 | Planetary wheel numerical control polishing removal function generator |
| CN102922420A (en) * | 2012-11-05 | 2013-02-13 | 北京理工大学 | Revolution box body type air pressure force-application numerical control polishing device with adjustable large eccentricity |
| CN214603784U (en) * | 2020-11-24 | 2021-11-05 | 湖南工匠实创智能机器有限责任公司 | High-speed polishing device for optical lens |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115026702A (en) * | 2022-08-11 | 2022-09-09 | 四川至臻光电有限公司 | High-efficient burnishing device |
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Application publication date: 20220729 |