CN114939829B - Floating constant force polishing device - Google Patents
Floating constant force polishing device Download PDFInfo
- Publication number
- CN114939829B CN114939829B CN202210622258.XA CN202210622258A CN114939829B CN 114939829 B CN114939829 B CN 114939829B CN 202210622258 A CN202210622258 A CN 202210622258A CN 114939829 B CN114939829 B CN 114939829B
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- cylinder
- hand
- shaft
- drill chuck
- main shaft
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- 238000005498 polishing Methods 0.000 title claims abstract description 40
- 238000007667 floating Methods 0.000 title claims abstract description 25
- 230000007704 transition Effects 0.000 claims abstract description 22
- 125000006850 spacer group Chemical group 0.000 claims description 3
- 210000004907 gland Anatomy 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 239000002184 metal Substances 0.000 abstract description 6
- 230000008859 change Effects 0.000 description 4
- 238000003754 machining Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000007517 polishing process Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a floating constant force polishing device, which comprises a main shaft supporting seat, wherein a floating main shaft is arranged on the main shaft supporting seat, the floating main shaft comprises a cylinder fixed on the right side of the main shaft supporting seat through a first cylinder mounting plate, a magnetic ring is arranged on a piston of the cylinder, a plurality of magnetic switches are fixed on the outer wall of a cylinder barrel of the cylinder, a cylinder shaft of the cylinder is arranged along the horizontal direction and fixedly connected with a second cylinder mounting plate fixed on the right side of a mounting box, guide rails are respectively fixed at the bottoms of the front side and the rear side of the mounting box, the guide rails are in sliding connection with a sliding block arranged on the sliding block mounting plate, a motor is fixedly connected in the mounting box, the motor drives a hand-tightening drill chuck to rotate through a first transition shaft and a second transition shaft, and a locking sleeve is sleeved outside the hand-tightening drill chuck. The invention can realize floating constant force grinding and polishing and automatic tool changing functions, and improves the grinding and polishing efficiency and quality of the metal mold.
Description
Technical Field
The invention relates to a polishing device, in particular to a floating constant force polishing device.
Background
The metal mold is polished to have a relatively large proportion of time, about 37%, in the whole manufacture of the mold, in order to reduce the roughness of the surface of the workpiece, and at the same time, to remove to a certain extent the concave-convex layer and the crack layer, i.e., the knife lines, formed during the molding of the mold, and to repair the surface type errors of the surface of the workpiece, so as to obtain the required shape, size, positional accuracy and surface roughness. The tool grinding and polishing of the metal mold is mostly performed by hand working of a skilled worker or grinding and polishing by a robot belt end tool. The manual polishing is labor with low efficiency and repeatability, the randomness is high, the stability of the machining quality and the consistency of the machining quality are difficult to ensure, and the automatic polishing is performed by adopting a robot belt end tool, so that the phenomenon of over polishing or under polishing is easy to occur because the design structure of the die is complex, more grooves and larger curvature change exist, and a floating polishing device is difficult to adapt to the change of a complex curved surface. In addition, because the metal mold polishing has larger loss on the grinding head, the machining efficiency can be greatly reduced if the grinding head is manually replaced frequently in the whole machining process, and the large-batch automatic polishing is difficult to realize.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a floating constant-force polishing device which can effectively realize the adaptability of a tail end tool to the surface of a complex die, ensure the constant polishing force, realize automatic replacement after a polishing head is worn, further effectively improve the polishing processing efficiency, the processing stability and the processing quality of the metal die and realize the polishing automation of the metal die. The floating constant force polishing device comprises a main shaft supporting seat, wherein a floating main shaft is arranged on the main shaft supporting seat, the floating main shaft comprises a cylinder fixed on the right side of the main shaft supporting seat through a first cylinder mounting plate, a magnetic ring is arranged on a piston of the cylinder, a plurality of magnetic switches are fixed on the outer wall of a cylinder barrel of the cylinder, and a cylinder shaft of the cylinder is arranged along the horizontal direction and is fixedly connected with a second cylinder mounting plate fixed on the right side of a mounting box;
the bottom of the front and back sides of the mounting box is respectively fixed with a guide rail, the guide rail is in sliding connection with a sliding block installed on a sliding block installation plate, the front and back sides of the sliding block installation plate are respectively fixed at the top of a main shaft supporting seat, a motor is fixedly connected in the mounting box, a rotating shaft of the motor is inserted into a cavity of a second transition shaft and is in interference fit with the cavity, the second transition shaft is installed in an inner ring of a bearing, a bearing seat is installed outside the bearing, the right end of the bearing seat is fixedly connected with the left wall of the mounting box, a bearing gland is fixed at the left end of the bearing seat, the left side of a first transition shaft arranged along the horizontal direction is in threaded connection with the middle of a front sleeve of a hand-tightening drill chuck, the right end of the first transition shaft is fixedly connected with the left end of the second transition shaft, a locking sleeve is sleeved outside the hand-tightening drill chuck, the right end of the locking sleeve is fixedly connected with the main shaft supporting seat, and the hand-tightening drill chuck can move in the front of the locking sleeve or can be loosened with the locking sleeve under the driving of the first transition shaft.
Compared with the prior art, the technical scheme of the invention has the advantages that:
(1) The polishing pressure of the grinding head can be controlled and kept constant by adjusting the air pressure of the input air cylinder, and the air cylinder has a certain stroke, so that the floating main shaft can slide in a certain range in the axial direction to adapt to the reduction of the loss of the grinding head and the change of the curvature of the surface of the workpiece, thereby ensuring that the grinding head always contacts with the workpiece and keeping the polishing pressure constant.
(2) The device can realize automatic tool changing function including automatic clamping and automatic loosening through the cooperation of the locking sleeve arranged on the main shaft supporting seat, the hand-tightening drill chuck and the air cylinder.
(3) The position of the cylinder shaft of the cylinder is divided and monitored by using a magnetic switch. When the cylinder shaft is positioned in the normal grinding and polishing operation area, the normal operation of the device can be confirmed; when the cylinder shaft enters a working dangerous area, the grinding head is considered to be possibly severely worn or has accidents such as fracture and breakage, and the automatic tool changing function is executed; when the cylinder shaft enters the automatic tool changing area, the locking sleeve and the hand-tightening drill chuck can be confirmed to be clamped, and the tool changing function can be normally executed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. It is evident that the drawings in the following description are only examples, from which other drawings can be obtained by a person skilled in the art without the inventive effort.
FIG. 1 is a schematic diagram of a floating constant force polishing device according to the present invention;
FIG. 2 is a schematic view of the device of FIG. 1 with a housing removed;
FIG. 3 is a side view of the device shown in FIG. 1;
fig. 4 is a schematic view of a G-G cross-sectional structure of the device shown in fig. 3.
Detailed Description
The invention will now be described in detail with reference to the drawings and to specific embodiments.
As shown in the drawing, the floating constant force polishing device comprises a main shaft supporting seat 2, wherein a floating main shaft is arranged on the main shaft supporting seat 2, the floating main shaft comprises an air cylinder 4074 fixed on the right side of the main shaft supporting seat 2 through a first air cylinder mounting plate 4075, a magnetic ring is arranged on a piston of the air cylinder 4074, a plurality of magnetic switches are fixed on the outer wall of a cylinder barrel of the air cylinder, an air cylinder shaft of the air cylinder 4074 is arranged along the horizontal direction and is fixedly connected with a second air cylinder mounting plate 4072 fixed on the right side of a mounting box 4071, preferably, the threaded end part of the air cylinder shaft can be fixedly connected with a threaded rod arranged on the outer wall of the second air cylinder mounting plate 4072 through an air cylinder threaded spacer 4073, the air cylinder threaded spacer is small in part, can be made of materials with higher hardness and high wear resistance, and is easy to replace after damage.
The bottoms of the front side and the rear side of the mounting box 4071 are respectively fixed with a guide rail 4077, the guide rails 4077 are in sliding connection with a sliding block 4078 arranged on a sliding block mounting plate 4076, and the front side and the rear side of the sliding block mounting plate 4076 are respectively fixed at the top of the main shaft supporting seat 2. The motor 401 is fixedly connected in the mounting box 4071, a rotating shaft of the motor 401 is inserted into a cavity of the second transition shaft 404 and is in interference fit with the second transition shaft, the second transition shaft 404 is mounted in an inner ring of the bearing 403, and the bearing can be a deep groove ball bearing. A bearing seat 402 is installed outside the bearing 403, the right end of the bearing seat 402 is fixedly connected with the left wall of the installation box 4071, and a bearing cover 405 is fixed at the left end of the bearing seat 402. The left side of the first transition shaft 406 arranged along the horizontal direction is in threaded connection with a threaded hole in the middle of the front sleeve of the hand-tightening drill chuck 102, the right end of the first transition shaft 406 is fixedly connected with the left end of the second transition shaft 404, the hand-tightening drill chuck 102 is sleeved with a locking sleeve 101, and the right end of the locking sleeve 101 is fixedly connected with the main shaft supporting seat 2.
The structure and principle of the hand-tightening drill chuck 102 are disclosed in patent publication number CN303632528S, and the hand-tightening drill chuck 102 can move back and forth in the locking sleeve 101 under the drive of the first transition shaft, so that the rear sleeve of the hand-tightening drill chuck 102 can be clamped or loosened with the locking sleeve 101.
Preferably, the motor 401, the air cylinder and the magnetic switch are respectively connected with a controller (for example, an OMRON controller can be adopted) through control lines, the controller can receive instructions from a user to manually control the start and stop of the motor 401 and the air cylinder, and when the device executes an automatic polishing task, the controller can read an electric signal generated by the magnetic switch to judge the position of the air cylinder shaft and respectively output start and stop signals to the motor 401 and the air cylinder.
Preferably, a housing 3 is disposed outside the mounting box 4071 and the cylinder, and the housing is fixedly connected to the spindle support 2 to prevent dust.
The working process of the device is as follows:
since the cylinder tube of the cylinder 4074 is made of a material with weak magnetic conductivity, the magnetic switch on the outer wall of the cylinder tube of the cylinder 4074 is not affected. When the magnetic ring in the cylinder is close to the magnetic switch on the outer wall of the cylinder barrel, the contacts of the magnetic switch are magnetized to attract each other, and the contacts are closed; when the magnetic ring leaves the magnetic switch, the magnetic switch loses magnetism and the contact is opened. The position of the cylinder shaft of the cylinder 4074 can be obtained by monitoring the opening and closing signals of a plurality of magnetic switches fixed on the outer wall of the cylinder 4074, and the stroke of the cylinder 4074 can be divided into an automatic tool changing area, an operation dangerous area and a normal grinding and polishing operation area from left to right.
When the cylinder shaft of the cylinder 4074 advances leftwards along the horizontal direction, the motor moves leftwards along the guide rail slide block, and the hand-tightening drill chuck 102 moves leftwards under the drive of the cylinder shaft of the cylinder 4074 until the rear sleeve of the hand-tightening drill chuck 102 is clamped with the locking sleeve 101, and at the moment, the cylinder is in an automatic tool changing area. If the hand-tightening drill chuck does not clamp the grinding head at this time, the robot is controlled to move to a position for storing the grinding head, so that the grinding head is positioned in the clamping jaw of the hand-tightening drill chuck 102, at this time, the controller controls the motor 401 to rotate forward for a plurality of turns, and the locking sleeve 101 and the rear sleeve of the hand-tightening drill chuck 102 are clamped and cannot rotate relatively, so that the front sleeve of the hand-tightening drill chuck 102 is driven by the motor 401 to rotate forward for a plurality of turns, and the clamping jaw in the hand-tightening drill chuck 102 is driven to move leftwards and clamp the grinding head. Similarly, if the grinding head is to be loosened, the controller only needs to control the motor 401 to rotate reversely for a plurality of times, so as to drive the clamping jaw in the hand-tight drill clamping head 102 to move rightwards and loosen the grinding head.
When the adjusting cylinder 4074 is in the normal grinding and polishing operation region, the locking sleeve 101 and the hand-tightening drill chuck 102 are in a separated state. At this time, the controller controls the motor 401 to rotate forward or backward to drive the hand-held drill chuck 102 and the clamped grinding head to rotate forward or backward, and the hand-held drill chuck 102 always maintains the clamped state because no relative rotation occurs between the front sleeve and the rear sleeve of the hand-held drill chuck 102. The positive pressure between the grinding head and the workpiece to be ground mainly consists of the dead weight of the floating main shaft and the pressure provided by the air cylinder, and the dead weight of the floating main shaft is constant, so that the aim of adjusting the grinding and polishing pressure can be achieved by adjusting the air pressure in the air cylinder. Because the grinding head is worn in the grinding and polishing process, the length of the grinding head can be gradually shortened along with the grinding and polishing time, but the pressure provided by the air cylinder 4074 can enable the air cylinder of the air cylinder 4074 to axially move forwards to compensate the reduced length of the grinding head, so that the grinding head is always in contact with a workpiece, the grinding and polishing pressure is constant, and the floating constant-force grinding and polishing function is achieved. In addition, the grinding head can be ensured to be always in contact with the workpiece, so that the device has certain adaptability to the curved surface with larger curvature change of the surface of the workpiece.
As mentioned above, the abrasion of the grinding head in the grinding and polishing process can gradually move the cylinder shaft of the cylinder 4074 leftwards to realize the floating constant force grinding and polishing function, and when the magnetic switch detects that the cylinder 4074 moves leftwards to the operation dangerous area all the time, the grinding head is excessively worn, so that the grinding head is not suitable for grinding and polishing tasks and needs to be replaced. At this time, the controller controls the motor to stop rotating, controls the robot to move to the waste grinding head placing area, controls the cylinder 4074 to move leftwards to the automatic tool changing area, controls the motor 401 to rotate reversely for a plurality of circles to loosen the waste grinding head, and then controls the robot to move to a position for storing the grinding head to clamp the new grinding head, so that the grinding and polishing task can be continued. In addition, the operation dangerous area can also be used for replacing the cutter in unexpected situations such as cutter fracture, breakage and the like.
The foregoing description is only illustrative of the preferred embodiment of the present invention, and is not to be construed as limiting the invention, but is to be construed as limiting the invention to any and all simple modifications, equivalent variations and adaptations of the embodiments described above, which are within the scope of the invention, may be made by those skilled in the art without departing from the scope of the invention.
Claims (2)
1. The utility model provides a floating constant force grinds throwing device, includes main shaft supporting seat, its characterized in that: the main shaft supporting seat is provided with a floating main shaft, the floating main shaft comprises a cylinder fixed on the right side of the main shaft supporting seat through a first cylinder mounting plate, a piston of the cylinder is provided with a magnetic ring, the outer wall of a cylinder barrel of the cylinder is provided with a plurality of magnetic switches, and a cylinder shaft of the cylinder is arranged along the horizontal direction and is fixedly connected with a second cylinder mounting plate fixed on the right side of the mounting box;
the bottom of the front side and the bottom of the rear side of the mounting box are respectively fixed with a guide rail, the guide rails are in sliding connection with a sliding block arranged on a sliding block mounting plate, the front side and the rear side of the sliding block mounting plate are respectively fixed at the top of a main shaft supporting seat, a motor is fixedly connected in the mounting box, a rotating shaft of the motor is inserted into a cavity of a second transition shaft and is in interference fit with the second transition shaft, the second transition shaft is arranged in an inner ring of a bearing, a bearing seat is arranged outside the bearing, the right end of the bearing seat is fixedly connected with the left wall of the mounting box, a bearing gland is fixedly arranged at the left end of the bearing seat, the left side of a first transition shaft arranged in the horizontal direction is in threaded connection with a threaded hole in the middle of a front sleeve of a hand-tightening drill chuck, the right end of the first transition shaft is fixedly connected with the left end of the second transition shaft, a locking sleeve is sleeved outside the hand-tightening drill chuck, and the right end of the locking sleeve is fixedly connected with the main shaft supporting seat, and the hand-tightening drill chuck can move in the front of the locking sleeve or the hand-tightening drill chuck can be loosened by the locking sleeve under the driving of the first transition shaft;
the motor, the air cylinder and the magnetic switch are respectively connected with the controller through control lines, and the controller can read electric signals generated by the magnetic switch to judge the position of the air cylinder shaft and respectively output start and stop signals to the motor and the air cylinder; the position of the cylinder shaft of the cylinder can be obtained by monitoring the opening and closing signals of a plurality of magnetic switches fixed on the outer wall of the cylinder barrel of the cylinder, and the stroke of the cylinder can be divided into an automatic tool changing area, an operation dangerous area and a normal grinding and polishing operation area from left to right according to the position; when the cylinder shaft of the cylinder advances leftwards along the horizontal direction, the motor moves leftwards along the guide rail sliding block, and the hand-tightening drill chuck moves leftwards under the drive of the cylinder shaft of the cylinder until the rear sleeve of the hand-tightening drill chuck is clamped with the locking sleeve, and at the moment, the cylinder is in an automatic tool changing area; if the hand-tightening type drill chuck does not clamp the grinding head at the moment, the robot is controlled to move to a position for storing the grinding head, so that the grinding head is positioned in the clamping jaw of the hand-tightening type drill chuck, at the moment, the controller controls the motor to rotate a plurality of turns positively, and the front sleeve of the hand-tightening type drill chuck is driven by the motor to rotate a plurality of turns positively to drive the clamping jaw in the hand-tightening type drill chuck to move leftwards and clamp the grinding head; if the grinding head is to be loosened, the controller controls the motor to rotate reversely for a plurality of circles to drive the clamping jaw in the hand-tightening drill chuck to move rightwards and loosen the grinding head; when the cylinder shaft is positioned in the normal grinding and polishing operation area, the normal operation of the device can be confirmed; when the cylinder shaft enters a working dangerous area, the grinding head is considered to be possibly severely worn or has fracture and break accidents, and an automatic tool changing function is executed; when the cylinder shaft enters the automatic tool changing area, the locking sleeve and the hand-tightening drill chuck can be confirmed to be clamped, and the tool changing function can be normally executed.
2. A floating constant force polishing device as claimed in claim 1, wherein: the threaded end of the cylinder shaft is fixedly connected with a threaded rod arranged on the outer wall of the second cylinder mounting plate through a cylinder thread spacer bush.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210622258.XA CN114939829B (en) | 2022-06-02 | 2022-06-02 | Floating constant force polishing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210622258.XA CN114939829B (en) | 2022-06-02 | 2022-06-02 | Floating constant force polishing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114939829A CN114939829A (en) | 2022-08-26 |
| CN114939829B true CN114939829B (en) | 2024-01-02 |
Family
ID=82909356
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210622258.XA Active CN114939829B (en) | 2022-06-02 | 2022-06-02 | Floating constant force polishing device |
Country Status (1)
| Country | Link |
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| CN (1) | CN114939829B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008091951A (en) * | 2007-12-25 | 2008-04-17 | Ebara Corp | Substrate treating device |
| CN206357058U (en) * | 2016-12-30 | 2017-07-28 | 北京配天技术有限公司 | A kind of floating sanding apparatus |
| CN208644930U (en) * | 2018-08-22 | 2019-03-26 | 四川鑫中泰新材料有限公司 | A kind of polyethylene compound pipe trimmer |
| CN110842688A (en) * | 2019-12-20 | 2020-02-28 | 同高先进制造科技（太仓）有限公司 | Automatic polishing system for welding seams on car roof |
| CN111716195A (en) * | 2020-07-30 | 2020-09-29 | 上海中车瑞伯德智能系统股份有限公司 | Double-spindle type weld joint polishing device |
| CN112127903A (en) * | 2020-09-29 | 2020-12-25 | 中铁二局集团有限公司 | Slotting device for installing robot to operate |
-
2022
- 2022-06-02 CN CN202210622258.XA patent/CN114939829B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008091951A (en) * | 2007-12-25 | 2008-04-17 | Ebara Corp | Substrate treating device |
| CN206357058U (en) * | 2016-12-30 | 2017-07-28 | 北京配天技术有限公司 | A kind of floating sanding apparatus |
| CN208644930U (en) * | 2018-08-22 | 2019-03-26 | 四川鑫中泰新材料有限公司 | A kind of polyethylene compound pipe trimmer |
| CN110842688A (en) * | 2019-12-20 | 2020-02-28 | 同高先进制造科技（太仓）有限公司 | Automatic polishing system for welding seams on car roof |
| CN111716195A (en) * | 2020-07-30 | 2020-09-29 | 上海中车瑞伯德智能系统股份有限公司 | Double-spindle type weld joint polishing device |
| CN112127903A (en) * | 2020-09-29 | 2020-12-25 | 中铁二局集团有限公司 | Slotting device for installing robot to operate |
Non-Patent Citations (1)
| Title |
|---|
| 毛智勇.《液压气动技术》.北京：中央广播电视大学出版社,2013,第281-282页. * |
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|---|---|
| CN114939829A (en) | 2022-08-26 |
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