CN203566464U - Five-axis numerical control polishing machine with grinding heads capable of being replaced automatically - Google Patents
Five-axis numerical control polishing machine with grinding heads capable of being replaced automatically Download PDFInfo
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- CN203566464U CN203566464U CN201320541238.6U CN201320541238U CN203566464U CN 203566464 U CN203566464 U CN 203566464U CN 201320541238 U CN201320541238 U CN 201320541238U CN 203566464 U CN203566464 U CN 203566464U
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- bistrique
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The utility model discloses a five-axis numerical control polishing machine with grinding heads capable of being replaced automatically. The five-axis numerical control polishing machine comprises a plurality of semi-axis grinding heads, a machine body frame, a controller, a polishing machine head, a grinding head supply mechanism, a spindle holding device, an A-axis rotating workbench, a C-axis rotating mechanism, an X-axis driving mechanism, a Y-axis driving mechanism and a Z-axis driving mechanism, wherein the polishing machine head, the grinding head supply mechanism, the spindle holding device, the A-axis rotating workbench, the C-axis rotating mechanism, the X-axis driving mechanism, the Y-axis driving mechanism and the Z-axis driving mechanism are respectively connected with the controller. The X-axis driving mechanism is arranged on the machine body frame through the Y-axis driving mechanism, the polishing machine head is arranged on the X-axis driving mechanism through the Z-axis driving mechanism, the spindle holding device is arranged at the lower end of the polishing machine head, and the semi-axis grinding heads are arranged on the grinding head supply mechanism side by side. The grinding head supply mechanism is arranged on the machine body frame, and can be used for conveying the semi-axis grinding heads to the spindle holding device. The A-axis rotating workbench is arranged on the machine body frame, and the C-axis rotating mechanism is arranged on the A-axis rotating workbench. The five-axis numerical control polishing machine is ingenious and reasonable in structural design, capable of enabling the grinding heads to be replaced automatically, high in flexibility, capable of achieving multiple polishing processes through one-time clamping, and wide in applicable range.
Description
Technical field
The utility model relates to polishing machine technical field, is specifically related to a kind of from moving bistrique five-shaft numerical control polishing machine.
Background technology
Along with scientific and technical development, people require also more and more higher to life taste.Wherein, haberdashery and hardware part is most widely used in life.
So, in the process of haberdashery and hardware part, usually need some part to carry out polishing processing.Polishing is processed surface of the work exactly, makes it highly bright and clean.Traditional polishing machine is comprised of support, motor and the parts such as polishing wheel that are arranged on the main shaft of this motor.Although this polishing machine is simple in structure,, be all to take the manual polishing operation of manpower as main, work repeatability is high, exists potential safety hazard, and inefficiency.
For this reason, releasing the digital control system polishing machine of 2 axles, 3 axles, 4 axles on market, is mainly the polishing being applied to periphery and plane, substantially can not do the surface finish processing of complex-curved shape.But existing haberdashery and hardware part shape is different, for meeting special polishing demand, enterprise can set up Robot actions polishing, or people's hand operated polishing.If set up manipulator, cost of investment is too high, and labour intensity is too large to adopt people's hand operated, and dangerous high, and efficiency is low.
In addition, although current digital control system polishing machine also has band tool magazine, structure is that tool-holder is located on handle of a knife conventionally, while changing cutter, together with handle of a knife, changes.Make complicated integral structure, tool changing operation trouble.And common polishing machine is changed polishing wheel, be that staff is directly changed polishing wheel, troublesome poeration, efficiency is low.
Utility model content
For above-mentioned deficiency, the purpose of this utility model is, provides a kind of structural design ingenious, reasonable, and that saves the clamping time moves bistrique five-shaft numerical control polishing machine certainly.
For achieving the above object, technical scheme provided by the utility model is: a kind of from moving bistrique five-shaft numerical control polishing machine, it comprises a plurality of semiaxis bistriques, fuselage cradle, controller and being connected with this controller respectively, and be subject to the polisher head of its control, bistrique feed mechanism, main shaft claming device, Z axis driving mechanism, X-axis driving mechanism, Y-axis driving mechanism, A axle rotary table and C axle rotating mechanism, described X-axis driving mechanism is arranged on described fuselage cradle by Y-axis driving mechanism, described polisher head is arranged on described X-axis driving mechanism by described Z axis driving mechanism, described main shaft claming device is arranged on the lower end of described polisher head, a plurality of semiaxis bistriques also come on described bistrique feed mechanism, one side position of the corresponding described main shaft claming device of this bistrique feed mechanism is arranged on described fuselage cradle, and can carry semiaxis bistrique to this main shaft claming device, described A axle rotary table is horizontally set on described fuselage cradle, and can take A axle as axle center rotation, this A axle parallels with the axis of X-axis, described C axle rotating mechanism is arranged on described A axle rotary table, and can drive fixture to take C axle as axle center rotation, this C axle parallels with the axis of Z axis.
As a kind of improvement of the present utility model, described semiaxis bistrique comprises main shaft, bearing block and bistrique, and this bistrique is arranged on the lower end of described main shaft, and described bearing block is arranged on the medium position of described main shaft, and the upper end of described main shaft is provided with connection dop.
As a kind of improvement of the present utility model, described polisher head comprises headstock and spindle motor, described spindle motor is arranged on described headstock, and makes the rotating shaft of this spindle motor towards described A axle rotary table, and this rotating shaft is provided with and the described suitable main shaft joint of dop that is connected.
As a kind of improvement of the present utility model, described main shaft claming device comprises two jaws, cylinder, spring and the piece that is connected and fixed, two jaw symmetries are hinged on the two ends of the piece that is connected and fixed, the lower end of two jaws is provided with the bayonet socket suitable with described bearing block, described spring is arranged on the top position of this piece that is connected and fixed, and two ends correspondence is pressed on two jaws, can make the lower end of two jaws do to draw in action, described cylinder is arranged on the top position of this spring, and two ends correspondence is connected on two jaws, can make the lower end of two jaws do separately action.
As a kind of improvement of the present utility model, described bistrique feed mechanism comprises bistrique frame, supplies with guide rail and supplies with motor, described bistrique frame is movably arranged on described fuselage cradle by supplying with guide rail, described supply motor is arranged on described fuselage cradle, and can drive bistrique frame to do reciprocating action in supplying with on guide rail by supplying with leading screw, described bistrique frame is provided with the suitable screens of a plurality of and described semiaxis bistrique, and the bottom of this screens is provided with can be by described semiaxis bistrique location binding clasp thereon.
As a kind of improvement of the present utility model, described A axle rotary table comprises A axle turntable, A rotating shaft and A axis drive motor, the two ends of described A axle turntable are respectively movably arranged on described fuselage cradle by the A rotating shaft described in, A rotating shaft is provided with deceleration helical gear, described A axis drive motor is arranged on described fuselage cradle, and is connected with described deceleration helical gear by transmission synchronous belt; Fixture is arranged on described A axle turntable by described C axle rotating mechanism.
As a kind of improvement of the present utility model, described Y-axis driving mechanism comprises Y-axis drive motors, Y-axis guide rail and Y-axis slide, the both sides of described fuselage cradle are provided with track base, described Y-axis guide rail is arranged on this track base, described Y-axis slide is slidably arranged on Y-axis guide rail, described Y-axis drive motors is arranged on described fuselage cradle, and can drive Y-axis slide to do reciprocating action on Y-axis guide rail by Y-axis leading screw.
As a kind of improvement of the present utility model, described X-axis driving mechanism comprises portal frame, X-axis drive motors, X-axis guide rail and X-axis slide, described portal frame is arranged on described Y-axis slide, described X-axis guide rail is arranged on the front side wall of described portal frame, described X-axis slide is slidably arranged on X-axis guide rail, described X-axis drive motors is arranged on described portal frame, and can drive X-axis slide to do reciprocating action on X-axis guide rail by X axis leading screw.
As a kind of improvement of the present utility model, described Z axis driving mechanism comprises Z axis drive motors, Z axis guide rail and Z axis slide, described Z axis guide rail is arranged on described X-axis slide, described Z axis slide is slidably arranged on Z axis guide rail, described Z axis drive motors is arranged on described X-axis slide, and can drive Z axis slide to do reciprocating action on Z axis guide rail by Z-axis direction leading screw.
As a kind of improvement of the present utility model, the lateral wall of described fuselage cradle is provided with protective plate, and described controller is arranged on a sidewall of described fuselage cradle, and this controller is provided with display screen, described fuselage cradle is provided with deduster, and this deduster is connected with described controller.
The beneficial effects of the utility model are: the utility model structural design is ingenious, reasonable, disposable clamping just can complete a plurality of polishing processes, as operations such as roughing, fine finishining, mirror finishes, not only effectively save the clamping time, also greatly promote working (machining) efficiency and machining accuracy, guarantee the polishing effect of product; And automaticity is high, operation, convenient and swift, can automatically change bistrique, further improve working (machining) efficiency, reduce operator's labour intensity, it is the operating efficiency of 2-3 times of staff polishing, effectively strengthen the competitiveness of enterprise, adopt in addition five-axis simultaneous structure design, flexibility is high, can carry out polishing to the surface of complex-curved shape, applied widely.Be provided with protective plate, safe, effectively eliminate safe hidden trouble.Be provided with deduster, effectively improve working environment, avoid dust to raise outward, favourable operating personnel are healthy.
Below in conjunction with accompanying drawing and embodiment, the utility model is further illustrated.
Accompanying drawing explanation
Fig. 1 is structural representation one of the present utility model.
Fig. 2 is structural representation two of the present utility model.
Fig. 3 is structural representation three of the present utility model.
Fig. 4 is structural representation four of the present utility model.
Fig. 5 is structural representation five of the present utility model.
Fig. 6 is the structural representation of the bistrique feed mechanism in the utility model.
Fig. 7 is the structural representation of the semiaxis bistrique in the utility model.
Fig. 8 is the structural representation of the spindle motor in the utility model.
Fig. 9 is the structural representation of the main shaft claming device in the utility model.
Figure 10 is the structural representation that the main shaft claming device in the utility model clamps semiaxis bistrique.
Figure 11 is the structural representation that the main shaft claming device in the utility model unclamps semiaxis bistrique.
The specific embodiment
Embodiment, referring to Fig. 1 to Figure 11, what the present embodiment provided is a kind of from moving bistrique five-shaft numerical control polishing machine, it comprises a plurality of semiaxis bistriques 1, fuselage cradle 2, controller 3 and being connected with this controller 3 respectively, and be subject to the polisher head 4 of its control, bistrique feed mechanism 5, main shaft claming device 6, Z axis driving mechanism 7, X-axis driving mechanism 8, Y-axis driving mechanism 9, A axle rotary table 10 and C axle rotating mechanism, described X-axis driving mechanism 8 is arranged on described fuselage cradle 2 by Y-axis driving mechanism 9, described polisher head 4 is arranged on described X-axis driving mechanism 8 by described Z axis driving mechanism 7, described main shaft claming device 6 is arranged on the lower end of described polisher head 4, a plurality of semiaxis bistriques 1 also come on described bistrique feed mechanism 5, one side position of the corresponding described main shaft claming device 6 of this bistrique feed mechanism 5 is arranged on described fuselage cradle 2, and can carry semiaxis bistrique 1 to this main shaft claming device 6, described A axle rotary table 10 is horizontally set on described fuselage cradle 2, and can take A axle as axle center rotation, this A axle parallels with the axis of X-axis, described C axle rotating mechanism is arranged on described A axle rotary table 10, and can drive fixture 11 to take C axle as axle center rotation, this C axle parallels with the axis of Z axis.
Described semiaxis bistrique 1 comprises main shaft 12, bearing block 13 and bistrique 14, and this bistrique 14 is arranged on the lower end of described main shaft 12, and described bearing block 13 is arranged on the medium position of described main shaft 12, and the upper end of described main shaft 12 is provided with and connects dop 15.
Described polisher head 4 comprises headstock 41 and spindle motor 42, described spindle motor 42 is arranged on described headstock 41, and make the rotating shaft of this spindle motor 42 towards described A axle rotary table 10, this rotating shaft is provided with and the described suitable main shaft joint 43 of dop 15 that is connected.
Described main shaft claming device 6 comprises two jaws 61, cylinder 62, spring 63 and the piece 64 that is connected and fixed, two jaw 61 symmetries are hinged on the two ends of the piece 64 that is connected and fixed, the lower end of two jaws 61 is provided with the bayonet socket suitable with described bearing block 13, described spring 63 is arranged on the top position of this piece 64 that is connected and fixed, and two ends correspondence is pressed on two jaws 61, can make the lower end of two jaws 61 do to draw in action, described cylinder 62 is arranged on the top position of this spring 63, and two ends correspondence is connected on two jaws 61, can make the lower end of two jaws 61 do separately action.
Described bistrique feed mechanism 5 comprises bistrique frame 51, supplies with guide rail 52 and supplies with motor, described bistrique frame 51 is movably arranged on described fuselage cradle 2 by supplying with guide rail 52, described supply motor is arranged on described fuselage cradle 2, and can drive bistrique frame 51 to do reciprocating action in supplying with on guide rail 52 by supplying with leading screw, described bistrique frame 51 is provided with the suitable screens 53 of a plurality of and described semiaxis bistrique 1, and the bottom of this screens 53 is provided with can be by described semiaxis bistrique 1 location binding clasp 54 thereon.
Described A axle rotary table 10 comprises A axle turntable 101, A rotating shaft 102 and A axis drive motor, the two ends of described A axle turntable 101 are respectively movably arranged on described fuselage cradle 2 by the A rotating shaft 102 described in, A rotating shaft 102 is provided with deceleration helical gear 103, described A axis drive motor is arranged on described fuselage cradle 2, and is connected with described deceleration helical gear 103 by transmission synchronous belt; Fixture 11 is arranged on described A axle turntable 101 by described C axle rotating mechanism.
Described Y-axis driving mechanism 9 comprises Y-axis drive motors, Y-axis guide rail 91 and Y-axis slide 92, the both sides of described fuselage cradle 2 are provided with track base 93, described Y-axis guide rail 91 is arranged on this track base 93, described Y-axis slide 92 is slidably arranged on Y-axis guide rail 91, described Y-axis drive motors is arranged on described fuselage cradle 2, and can drive Y-axis slide 92 to do reciprocating action on Y-axis guide rail 91 by Y-axis leading screw.
Described X-axis driving mechanism 8 comprises portal frame 81, X-axis drive motors, X-axis guide rail 82 and X-axis slide 83, described portal frame 81 is arranged on described Y-axis slide 92, described X-axis guide rail 82 is arranged on the front side wall of described portal frame 81, described X-axis slide 83 is slidably arranged on X-axis guide rail 82, described X-axis drive motors is arranged on described portal frame 81, and can drive X-axis slide 83 to do reciprocating action on X-axis guide rail 82 by X axis leading screw 84.
Described Z axis driving mechanism 7 comprises Z axis drive motors, Z axis guide rail 71 and Z axis slide 72, described Z axis guide rail 71 is arranged on described X-axis slide 83, described Z axis slide 72 is slidably arranged on Z axis guide rail 71, described Z axis drive motors is arranged on described X-axis slide, and can drive Z axis slide 72 to do reciprocating action on Z axis guide rail 71 by Z-axis direction leading screw 73.
The lateral wall of described fuselage cradle 2 is provided with protective plate 21, is provided with protective plate 21, safe, effectively eliminates safe hidden trouble.Described controller 3 is arranged on a sidewall of described fuselage cradle 2, and this controller 3 is provided with display screen, and described fuselage cradle 2 is provided with deduster, and this deduster is connected with described controller 3.Be provided with deduster, effectively improve working environment, avoid dust to raise outward, favourable operating personnel are healthy.
During work, by clamping workpiece on fixture 11, by the burnishing parameters input information controller 3 relevant to workpiece, by this controller 3, control the cooperating of described polisher head 4, bistrique feed mechanism 5, main shaft claming device 6, Z axis driving mechanism 7, X-axis driving mechanism 8, Y-axis driving mechanism 9, A axle rotary table 10 and C axle rotating mechanism, five-axle linkage simultaneously, flexibility is high, can carry out polishing to the surface of complex-curved shape, disposable clamping just can complete a plurality of polishing processes, as operations such as roughing, fine finishining, mirror finishes.Be the operating efficiency of 2-3 times of staff polishing, not only improve working (machining) efficiency, also greatly reduce operator's labour intensity.
In the present embodiment, be provided with three semiaxis bistriques 1, first semiaxis bistrique is for roughing, and second semiaxis bistrique is for fine finishining, and the 3rd semiaxis bistrique is for mirror finish.In other embodiment, can carry out according to required polishing effect quantity and the type of relative set semiaxis bistrique.
While needing to change bistrique, bistrique feed mechanism 5 is carried semiaxis bistrique to described main shaft claming device 6.By the common cooperation of Z axis driving mechanism 7, X-axis driving mechanism 8 and Y-axis driving mechanism 9, polisher head 4 is moved on empty calorie position, and make the semiaxis bistrique on this main shaft claming device 6 snap in this screens, the binding clasp 54 in this screens clamps this semiaxis bistrique.Cylinder 62 stretches Compress Spring 63 makes two jaws 61 do separately action, and this jaw 61 and the semiaxis bistrique on it are separated.And then by the common cooperation of Z axis driving mechanism 7, X-axis driving mechanism 8 and Y-axis driving mechanism 9, polisher head 4 is moved on the semiaxis bistrique position of required replacing, Z axis driving mechanism 7 drives polisher head 4 to move downward, make main shaft joint 43 and be connected dop 15 and match, at this moment, cylinder 62 shrinks, and spring 63 utilizes self elastic force to make two jaws 61 do to draw in action, realizes and changes bistrique object.
The announcement of book and instruction according to the above description, the utility model those skilled in the art can also change and revise above-mentioned embodiment.Therefore, the utility model is not limited to the specific embodiment disclosed and described above, to modifications and changes more of the present utility model, also should fall in the protection domain of claim of the present utility model.In addition,, although used some specific terms in this description, these terms just for convenience of description, do not form any restriction to the utility model, adopt other polishing machine same or analogous with it, all in the utility model protection domain.
Claims (10)
1. certainly move bistrique five-shaft numerical control polishing machine for one kind, it is characterized in that, it comprises a plurality of semiaxis bistriques, fuselage cradle, controller and being connected with this controller respectively, and be subject to the polisher head of its control, bistrique feed mechanism, main shaft claming device, Z axis driving mechanism, X-axis driving mechanism, Y-axis driving mechanism, A axle rotary table and C axle rotating mechanism, described X-axis driving mechanism is arranged on described fuselage cradle by Y-axis driving mechanism, described polisher head is arranged on described X-axis driving mechanism by described Z axis driving mechanism, described main shaft claming device is arranged on the lower end of described polisher head, a plurality of semiaxis bistriques also come on described bistrique feed mechanism, one side position of the corresponding described main shaft claming device of this bistrique feed mechanism is arranged on described fuselage cradle, and can carry semiaxis bistrique to this main shaft claming device, described A axle rotary table is horizontally set on described fuselage cradle, and can take A axle as axle center rotation, this A axle parallels with the axis of X-axis, described C axle rotating mechanism is arranged on described A axle rotary table, and can drive fixture to take C axle as axle center rotation, this C axle parallels with the axis of Z axis.
2. according to claim 1 from moving bistrique five-shaft numerical control polishing machine, it is characterized in that: described semiaxis bistrique comprises main shaft, bearing block and bistrique, this bistrique is arranged on the lower end of described main shaft, described bearing block is arranged on the medium position of described main shaft, and the upper end of described main shaft is provided with connection dop.
3. according to claim 2 from moving bistrique five-shaft numerical control polishing machine, it is characterized in that: described polisher head comprises headstock and spindle motor, described spindle motor is arranged on described headstock, and make the rotating shaft of this spindle motor towards described A axle rotary table, this rotating shaft is provided with and the described suitable main shaft joint of dop that is connected.
4. according to claim 3 from moving bistrique five-shaft numerical control polishing machine, it is characterized in that: described main shaft claming device comprises two jaws, cylinder, spring and the piece that is connected and fixed, two jaw symmetries are hinged on the two ends of the piece that is connected and fixed, the lower end of two jaws is provided with the bayonet socket suitable with described bearing block, described spring is arranged on the top position of this piece that is connected and fixed, and two ends correspondence is pressed on two jaws, can make the lower end of two jaws do to draw in action, described cylinder is arranged on the top position of this spring, and two ends correspondence is connected on two jaws, can make the lower end of two jaws do separately action.
5. according to claim 1 from moving bistrique five-shaft numerical control polishing machine, it is characterized in that: described bistrique feed mechanism comprises bistrique frame, supplies with guide rail and supplies with motor, described bistrique frame is movably arranged on described fuselage cradle by supplying with guide rail, described supply motor is arranged on described fuselage cradle, and can drive bistrique frame to do reciprocating action in supplying with on guide rail by supplying with leading screw, described bistrique frame is provided with the suitable screens of a plurality of and described semiaxis bistrique, and the bottom of this screens is provided with can be by described semiaxis bistrique location binding clasp thereon.
6. according to claim 1 from moving bistrique five-shaft numerical control polishing machine, it is characterized in that: described A axle rotary table comprises A axle turntable, A rotating shaft and A axis drive motor, the two ends of described A axle turntable are respectively movably arranged on described fuselage cradle by the A rotating shaft described in, A rotating shaft is provided with deceleration helical gear, described A axis drive motor is arranged on described fuselage cradle, and is connected with described deceleration helical gear by transmission synchronous belt; Fixture is arranged on described A axle turntable by described C axle rotating mechanism.
7. according to claim 1 from moving bistrique five-shaft numerical control polishing machine, it is characterized in that: described Y-axis driving mechanism comprises Y-axis drive motors, Y-axis guide rail and Y-axis slide, the both sides of described fuselage cradle are provided with track base, described Y-axis guide rail is arranged on this track base, described Y-axis slide is slidably arranged on Y-axis guide rail, described Y-axis drive motors is arranged on described fuselage cradle, and can drive Y-axis slide to do reciprocating action on Y-axis guide rail by Y-axis leading screw.
8. according to claim 7 from moving bistrique five-shaft numerical control polishing machine, it is characterized in that: described X-axis driving mechanism comprises portal frame, X-axis drive motors, X-axis guide rail and X-axis slide, described portal frame is arranged on described Y-axis slide, described X-axis guide rail is arranged on the front side wall of described portal frame, described X-axis slide is slidably arranged on X-axis guide rail, described X-axis drive motors is arranged on described portal frame, and can drive X-axis slide to do reciprocating action on X-axis guide rail by X axis leading screw.
9. according to claim 8 from moving bistrique five-shaft numerical control polishing machine, it is characterized in that: described Z axis driving mechanism comprises Z axis drive motors, Z axis guide rail and Z axis slide, described Z axis guide rail is arranged on described X-axis slide, described Z axis slide is slidably arranged on Z axis guide rail, described Z axis drive motors is arranged on described X-axis slide, and can drive Z axis slide to do reciprocating action on Z axis guide rail by Z-axis direction leading screw.
10. according to claim 1 from moving bistrique five-shaft numerical control polishing machine, it is characterized in that: the lateral wall of described fuselage cradle is provided with protective plate, described controller is arranged on a sidewall of described fuselage cradle, this controller is provided with display screen, described fuselage cradle is provided with deduster, and this deduster is connected with described controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320541238.6U CN203566464U (en) | 2013-09-03 | 2013-09-03 | Five-axis numerical control polishing machine with grinding heads capable of being replaced automatically |
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| CN201320541238.6U CN203566464U (en) | 2013-09-03 | 2013-09-03 | Five-axis numerical control polishing machine with grinding heads capable of being replaced automatically |
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| CN103465145A (en) * | 2013-09-03 | 2013-12-25 | 东莞市钜铧机械有限公司 | Five-axis numerical control polishing machine capable of changing grinding heads automatically |
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| CN104029020A (en) * | 2014-06-25 | 2014-09-10 | 常州南车汽车零部件有限公司 | Gantry numerically-controlled reaming and grinding machine and reaming and grinding method thereof |
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| CN103962949A (en) * | 2014-05-23 | 2014-08-06 | 上海依我机械设备有限公司 | Three-grinding-head glass carving machine |
| CN104029020A (en) * | 2014-06-25 | 2014-09-10 | 常州南车汽车零部件有限公司 | Gantry numerically-controlled reaming and grinding machine and reaming and grinding method thereof |
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| CN106670939A (en) * | 2015-11-10 | 2017-05-17 | 天津三星电子有限公司 | Numerical control polishing equipment |
| CN105345617A (en) * | 2015-11-25 | 2016-02-24 | 苏州金逸康自动化设备有限公司 | Top burr removing mechanism for automatic multi-station burr removing machine |
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| CN109514390A (en) * | 2018-12-29 | 2019-03-26 | 山东大学 | A kind of grinding attachment and method for grinding for tooth grinding |
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