CN206869608U - A kind of manipulator for the polishing of hexahedron surface - Google Patents
A kind of manipulator for the polishing of hexahedron surface Download PDFInfo
- Publication number
- CN206869608U CN206869608U CN201720850403.4U CN201720850403U CN206869608U CN 206869608 U CN206869608 U CN 206869608U CN 201720850403 U CN201720850403 U CN 201720850403U CN 206869608 U CN206869608 U CN 206869608U
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- rotary joint
- fixed
- shaft
- synchronous pulleys
- timing belts
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Abstract
The utility model discloses a kind of manipulator for the polishing of hexahedron surface, including workpiece, first position controlling organization, second place controlling organization, the first rotary joint, the second rotary joint and Pneumatic paw mechanism；Put outside first rotary joint and be fixed with the second rotary joint pedestal, the second rotary joint bonnet, lid and the second rotary joint side cover on the second rotary joint, the hollow cavity of the second rotary joint is surrounded jointly, second rotary joint quill shaft is hinged with rotary joint bearing block, F synchronous pulleys are fixed on the second rotary joint quill shaft, coordinated by D timing belts and E synchronous pulleys, the hollow the tip of the axis of second rotary joint fixes force sensor, force snesor opposite side is fixed with double-acting cylinder, and pawl disk block is fixed with double-acting cylinder end.The utility model is polished it by belt grinding machine using Pneumatic paw mechanism grabbing workpiece, using toothed belt transmission can avoid polishing powder dust lane come influence.
Description
Technical field
It the utility model is related to polishing technical field of automation, more particularly to a kind of machinery for the polishing of hexahedron surface
Hand.
Background technology
Chinese human cost increase is quick, grinding and buffing industry dispose automation equipment come offset gradually rise into
This.It is artificial in order to replace, all it is to carry out polishing operation with the industrial robot of six degree of freedom at present, this kind of robot is all standard
The industrial robot of change, feature are that the construction cycle is short.But in face of large-scale grinding production line, this robot lower deployment cost
High investment output ratio is relatively low.Therefore simplified robot system scheme is needed for large batch of polishing operation, is meeting to be ground
It is required that while, reduce automated system lower deployment cost.
Utility model content
The purpose of this utility model is to solve shortcoming present in prior art, and the one kind proposed is used for hexahedron
The manipulator of surface polishing.
To achieve these goals, the utility model employs following technical scheme：
A kind of manipulator for the polishing of hexahedron surface, including workpiece, first position controlling organization, second place control
Mechanism, the first rotary joint, the second rotary joint and Pneumatic paw mechanism；Workpiece is hexahedron cavity structure, described first
Position control mechanism is made up of A linear motion units and B linear motion units, and wherein A linear motion units are by A moving cell masters
Body, Aa sliding blocks and Ab sliding blocks composition, pass through the synchronous band connections of A between Aa sliding blocks, Ab sliding blocks and A moving cell main bodys；B straight lines are transported
Moving cell is made up of B moving cells main body, Ba sliding blocks and Bb sliding blocks；A linear motion units and B linear motion units and first
Base plate and the second base plate composition hollow structure, synchronous pulley pedestal are fixed on the first base plate, synchronous pulley pedestal
On have the A synchronous pulleys freely rotated and the A servo motor seats being fixed on synchronous pulley pedestal, A servomotors are fixed on A and watched
Take on motor cabinet, B timing belts are enclosed on A synchronous pulleys and B synchronous pulleys, A synchronous pulleys both ends connection first shaft coupling transmission
Axle and second shaft coupling power transmission shaft, first shaft coupling power transmission shaft connect B moving cell masters with the second shaft coupling power transmission shaft other end
Body and A moving cell main body input shafts；The second place controlling organization by C moving cells main body, D moving cells main body and
C sliding blocks and D sliding blocks are formed, and the input shaft of the 3rd shaft coupling transmission axis connection C moving cells main body and D moving cell main bodys, B is watched
Take motor with C moving cell main body input shafts to be connected, C sliding blocks are linked into an integrated entity with D sliding blocks by the first rotary joint pedestal；Institute
Stating the first rotary joint is：First rotary joint pedestal and the B servo motor seats being fixed on the first rotary joint pedestal and C are watched
Motor is taken, C synchronous pulleys are fixed on C servo motor output shafts and coordinated by C timing belts and D synchronous pulleys, D synchronous pulleys
It is fixed on the first rotary joint quill shaft, the first rotary joint quill shaft and the first rotary joint overcoat pass through bearing hinge connection；
Second rotary joint is：Put outside first rotary joint be fixed with the second rotary joint pedestal, the second rotary joint bonnet,
Lid and the second rotary joint side cover on second rotary joint, the hollow cavity of the second rotary joint is surrounded jointly, is consolidated in cavity
Surely there is rotary joint bearing block, the second rotary joint quill shaft is hinged with rotary joint bearing block, and F synchronous pulleys are fixed on second
On rotary joint quill shaft, coordinated by D timing belts and E synchronous pulleys, D servomotors are fixed on the second rotary joint pedestal
On, output shaft is fixed with E synchronous pulleys, and the hollow the tip of the axis of the second rotary joint fixes force sensor, and force snesor is another
Side is fixed with double-acting cylinder, and pawl disk block is fixed with double-acting cylinder end；The Pneumatic paw mechanism is：Double-acting cylinder
Piston rod end at be fixed with piston head, piston bush is embedded in pawl disk block, and piston head can slide in piston bush, in pawl disk block
Diagonal on be provided with circular hole and inlay flexible rod sleeve, be placed with expansion link and spring in flexible rod sleeve, cover plate is fixed on
On pawl disk block, one end of expansion link is hinged with the bearing other end and is fixed with encapsulated gripping block.
Preferably, A servomotors, the output shaft of B servomotors pass through A timing belts, B timing belts passing power and motion；C
The output shaft of servomotor and D servomotors is synchronous by C timing belts and D timing belt transmission campaigns and power, A timing belts, B
Band, C timing belts and D timing belts are synchronous cog belt.
Preferably, the first rotary joint has the first rotary joint quill shaft and its a hollow cavity, in the second rotary joint
With the second rotary joint quill shaft and its hollow cavity.
Preferably, the second rotary joint quill shaft fixes force sensor between double-acting cylinder.
Preferably, using the diagonal of pawl disk block as axis, expansion link, sleeve, spring, bearing and encapsulated clamping are disposed with
Block, and piston head can eject four cornerwise encapsulated gripping blocks simultaneously.
Preferably, piston head outer surface has first conical surface and second conical surface and the face of cylinder, and first conical surface and second
There is transition radian between the conical surface and between second conical surface and the face of cylinder；Piston bush has the concave-convex of face of cylinder groove-like
Shape.
Preferably, A, which tightens screw, can adjust centre-to-centre spacing between A synchronous pulleys and B synchronous pulleys；B set screws can
To adjust the centre distance between C synchronous pulleys and D synchronous pulleys.
The utility model proposes it is a kind of for hexahedron surface polishing manipulator, for instead of manual polishing；It is this
Manipulator is hexagon workpiece and the polishing customization of simple circular arc camber, disclosure satisfy that high-volume polishing operation；Compare six degree of freedom
Industrial machinery arm is compared, system simple structure, less demanding to clean environment degree, and manufacturing cost is low；It is adapted to extensive polishing life
Producing line is disposed, and saves hand labor, is also beneficial to reduce the generation of polishing worker's pneumoconiosis.
The utility model manipulator is moved workpiece when capturing hexagon workpiece, and using the planar movement free degree of itself
Move at polishing unit, the posture of workpiece is adjusted using the first rotary joint and the second rotary joint, alignment polishing unit
Abrasive band, workpiece is polished by polishing abrasive band using translation joint.And so on, the outer surface of workpiece is carried out successively
Polishing.
The utility model manipulator has the position for moving horizontally the free degree and rotary freedom conversion polishing workpiece and appearance
State, it can be polished by belt grinding machine using Pneumatic paw mechanism grabbing workpiece, by workpiece after the completion of polishing
Put back to.Manipulator using toothed belt transmission can avoid polishing powder dust lane come influence.Can be notable using the abrasive machine hand
Improve grinding efficiency and quality.
Brief description of the drawings
Fig. 1 is a kind of overall construction drawing of manipulator for the polishing of hexahedron surface of the utility model.
Fig. 2 is a kind of the first rotation joint structure figure of manipulator for the polishing of hexahedron surface of the utility model.
Fig. 3 is a kind of the second rotation joint structure figure of manipulator for the polishing of hexahedron surface of the utility model.
Fig. 4 is a kind of Pneumatic paw mechanism map of manipulator for the polishing of hexahedron surface of the utility model.
Fig. 5 is a kind of paw piston structure figure of manipulator for the polishing of hexahedron surface of the utility model.
Fig. 6 is a kind of polishing operation exemplary plot of manipulator for the polishing of hexahedron surface of the utility model.
Brief description of the drawings：1- workpiece；The base plates of 2- first；The base plates of 3- second；4-A moving cell main bodys；5-Aa sliding blocks；6-
Ab sliding blocks；7-A timing belts；8-B moving cell main bodys；9-Ba sliding blocks；10-Bb sliding blocks；11-C moving cell main bodys；12-D is moved
Unit main body；13-C sliding blocks；14-D sliding blocks；15- synchronous pulley pedestals；16-A servo motor seats；17- first shaft couplings are driven
Axle；18- second shaft coupling power transmission shafts；19-A synchronous pulleys；20-B synchronous pulleys；21-B timing belts；22-A servomotors；23-A
Tighten screw；The shaft coupling transmission axles of 24- the 3rd；25-B servomotors；26- the first rotary joint pedestals；27-B servo motor seats；
28-C synchronous pulleys；29-D synchronous pulleys；30-C timing belts；31- the first rotary joint quill shafts；32-B tightens screw；33-C
Servomotor；34- the first rotary joint overcoats；35- the second rotary joint pedestals；36- the second rotary joint bonnets；37- second
Covered on rotary joint；38- the second rotary joint side covers；39- rotary joint bearing blocks；40-E synchronous pulleys；41-F synchronous pulleys；
42-D timing belts；43-D servomotors；44- the second rotary joint quill shafts；45- force snesors；46- double-acting cylinders；47-A
Air valve；48-B air valves；49- piston heads；50- piston bush；51- pawl disk blocks；52- stretches rod sleeve；53- cover plates；54- expansion links；
55- bearings；56- springs；The encapsulated gripping blocks of 57-；The conical surfaces of 58- first；The conical surfaces of 59- second；The 60- faces of cylinder；61- transition radians；
62- faces of cylinder groove；63-A linear motion units；64-B linear motion units；65-C linear motion units；66-D moves along a straight line
Unit；The rotary joints of 67- first；The rotary joints of 68- second；69- sbrasive belt grinding units.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.
A kind of reference picture 1, manipulator for the polishing of hexahedron surface described in the utility model, is controlled by position and tied
Structure, attitude regulation mechanism and Pneumatic paw mechanism composition, wherein position control mechanism are transported by A linear motion units 63 and B straight lines
Moving cell 64 forms first position controlling organization；Second place control is formed by C linear motion units 65 and D linear motion units 66
Mechanism processed；Wherein A linear motion units 63 are made up of A moving cells main body 4, Aa sliding blocks 5 and Ab sliding blocks 6, and Aa sliding blocks 5, Ab are slided
Connected by A timing belts 7 between block 6 and A moving cells main body 4, moved by the synchronous pulley at the both ends of A moving cells main body 4
And drive Aa sliding blocks 5, Ab sliding blocks 6 linear running in A moving cells main body 4.B linear motion units 64 are by B moving cell masters
Body 8, Ba sliding blocks 9 and Bb sliding blocks 10 form.A linear motion units 63 and the base plate 2 of B linear motion units 64 and first and
Two base plates 3 form hollow structure, and synchronous pulley pedestal 15 is fixed on above the first base plate 2, on synchronous pulley pedestal 15
There are the A synchronous pulleys 19 freely rotated and the A servo motor seats 16 being fixed on synchronous pulley pedestal 15, A servomotors 22 are consolidated
It is scheduled in A servo motor seats 16, the output shaft of A servomotors 22 is fixed with B synchronous pulleys 20, and B timing belts 21 are enclosed on A synchronous pulleys
On 19 and B synchronous pulleys 20, transmit by the motion of A servomotors 22, the both ends of A synchronous pulleys 19 output axis connection first shaft coupling
The other end of power transmission shaft 17 and second shaft coupling power transmission shaft 18, first shaft coupling power transmission shaft 17 and second shaft coupling power transmission shaft 18 point
Not Lian Jie B moving cells main body 8 and A moving cells main body 4 input shaft, A, which tightens screw 23, can adjust of B timing belts 21
Tight degree.Second place controlling organization is by C moving cells main body 11, D moving cells main body 12 and C sliding blocks 13 and D sliding blocks 14
Form, the main body 11 of C moving cells and the input shaft of D moving cells main body 12, B servos are connected by the 3rd shaft coupling transmission axle 24
The output shaft of motor 25 is connected by shaft coupling and the input shaft of C moving cells main body 11, and C sliding blocks 13 and D sliding blocks 14 pass through the
One rotary joint pedestal 26 links into an integrated entity.A servomotors 22 can drive first with B servomotors 25 by toothed belt transmission
Optional position in rotary joint base 26 to range of movement.
Reference picture 2, B servo motor seats 27 are fixed with the first rotary joint pedestal 26, it is fixed in B servo motor seats 27
There are C servomotors 33, C synchronous pulleys 28 are fixed on the output shaft of C servomotors 33 and drive D synchronous by C timing belts 30
Belt wheel 29 is rotated, and D synchronous pulleys 29 are fixed on the first rotary joint quill shaft 31, the first rotary joint quill shaft 31 and first
For rotary joint overcoat 34 by bearing hinge connection, B, which tightens screw 32, can adjust the tightness of C timing belts 30.C servomotors 33
The first rotary joint 67 is driven to be rotated in whole circumference by C timing belts 30.
Reference picture 3, the second rotary joint base 35, the second rotary joint bottom are fixed with the first rotary joint overcoat 34
The rotary joint side cover 38 of lid 37 and second defines the jointly on seat 35 and the second rotary joint bonnet 36, the second rotary joint
The hollow cavity structure of two rotary joints 68.Rotary joint bearing block 39 is fixed with cavity body structure, in the second rotary joint
Empty axle 44 is be hinged by bearing and rotary joint bearing block 39, and F synchronous pulleys 41 are fixed on the second rotary joint quill shaft 44,
And driving-chain is formed by D timing belts 42 and E synchronous pulleys 40, D servomotors 43 are fixed on the second rotary joint pedestal 35
And the E synchronous pulleys 40 that are connected on output shaft, force sensor 45 is fixed in the end of the second rotary joint quill shaft 44, power passes
The opposite side of sensor 45 is fixed with double-acting cylinder 46, and pawl disk block 51 is fixed with cylinder body end.D servomotors 43 are passed by belt
It is dynamic to drive the second rotary joint quill shaft 44 and force snesor 45 and double-acting cylinder 46 to rotate.
Reference picture 4, piston head 49 is fixed with the piston rod end of double-acting cylinder 46, piston head 49 is in piston bush 50
It is reciprocally moveable, piston bush 50 is fixed on pawl disk block 51；Circular hole, which is provided with, on the diagonal of pawl disk block 51 is inlaid with expansion link
Sleeve 52, expansion link 54 and spring 56 is placed with sleeve, cover plate 53 is fixed on pawl disk block 51.One end hinge of expansion link 54
It is connected to bearing 55 and the other end is fixed with encapsulated gripping block 57, this structure has identical knot at four diagonal of pawl disk block 51
Structure, the air inlet of A air valves 47, B air valves 48 are vented, and piston head 49 stretches out under the using of double-acting cylinder 46 and contacted with bearing 55,
Four expansion links 54 are ejected, the encapsulated gripping block 57 of four stretchings props up the inner chamber of workpiece 1, and manipulator grasping movement is complete
Into.
Reference picture 5, goes out fixed piston head 49 in the termination of the piston rod of double-acting cylinder 46, and its architectural feature is with the
One conical surface 58 and second conical surface 59, it is the face of cylinder 60 below second conical surface 59, the face of cylinder 60 is engaged with piston bush 50 can
Slided in piston bush 50.Had between first conical surface 58 and second conical surface 59 and between second conical surface 59 and the face of cylinder 60
Cross radian 61.And there is face of cylinder groove 62 on the face that piston bush 50 contacts with piston head 49.
Reference picture 6, the cooperating process of the utility model and sbrasive belt grinding unit, manipulator pass through double-acting cylinder 46
Workpiece 1 is firmly grasped from inner side with encapsulated gripping block 57, then will using first position controlling organization and second place controlling organization
Before workpiece is positioned at sbrasive belt grinding unit 69, and the first rotary joint and the second rotary joint are moved by buffed surface adjustment and abrasive band
It is parallel, Work-sheet pressing is finally subjected to grinding operation on abrasive band using second place controlling organization.And so on, polishing workpiece
1 each outer surface.
It is described above, the only preferable embodiment of the utility model, but the scope of protection of the utility model is not
This is confined to, any one skilled in the art is in the technical scope that the utility model discloses, according to this practicality
New technical scheme and its utility model design are subject to equivalent substitution or change, should all cover in protection model of the present utility model
Within enclosing.
Claims (7)
1. a kind of manipulator for the polishing of hexahedron surface, including workpiece（1）, first position controlling organization, the second place control
Mechanism, the first rotary joint, the second rotary joint and Pneumatic paw mechanism processed；Characterized in that, workpiece（1）It is empty for hexahedron
Cavity configuration, the first position controlling organization is by A linear motion units（63）With B linear motion units（64）Form, wherein A is straight
Line moving cell（63）By A moving cell main bodys（4）, Aa sliding blocks（5）With Ab sliding blocks（6）Composition, Aa sliding blocks（5）, Ab sliding blocks（6）
With A moving cell main bodys（4）Between pass through A timing belts（7）Connection；B linear motion units（64）By B moving cell main bodys（8）、
Ba sliding blocks（9）With Bb sliding blocks（10）Composition；A linear motion units（63）With B linear motion units（64）And first base plate
（2）With the second base plate（3）Form hollow structure, synchronous pulley pedestal（15）It is fixed on the first base plate（2）On, timing belt
Take turns pedestal（15）On have the A synchronous pulleys freely rotated（19）Be fixed on synchronous pulley pedestal（15）On A servo motor seats
（16）, A servomotors（22）It is fixed on A servo motor seats（16）On, B timing belts（21）It is enclosed on A synchronous pulleys（19）It is synchronous with B
Belt wheel（20）On, A synchronous pulleys（19）Both ends connect first shaft coupling power transmission shaft（17）With second shaft coupling power transmission shaft（18）, the
One shaft coupling transmission axle（17）With second shaft coupling power transmission shaft（18）The other end connects B moving cell main bodys（8）With A moving cells
Main body（4）Input shaft；The second place controlling organization is by C moving cell main bodys（11）, D moving cell main bodys（12）And C
Sliding block（13）With D sliding blocks（14）Form, the 3rd shaft coupling transmission axle（24）Connect C moving cell main bodys（11）With D moving cells
Main body（12）Input shaft, B servomotors（25）With C moving cell main bodys（11）Input shaft is connected, C sliding blocks（13）With D sliding blocks
（14）Pass through the first rotary joint pedestal（26）Link into an integrated entity；First rotary joint is：First rotary joint pedestal
（26）Be fixed on the first rotary joint pedestal（26）On B servo motor seats（27）With C servomotors（33）, C synchronous pulleys
（28）It is fixed on C servomotors（33）On output shaft and pass through C timing belts（30）With D synchronous pulleys（29）Coordinate, D synchronous pulleys
（29）It is fixed on the first rotary joint quill shaft（31）On, the first rotary joint quill shaft（31）With the first rotary joint overcoat
（34）Pass through bearing hinge connection；Second rotary joint is：First rotary joint overcoat（34）On be fixed with the second rotary joint
Pedestal（35）, the second rotary joint bonnet（36）, cover on the second rotary joint（37）And the second rotary joint side cover（38）, altogether
With the hollow cavity for surrounding the second rotary joint, rotary joint bearing block is fixed with cavity（39）, the second rotary joint is hollow
Axle（44）With rotary joint bearing block（39）It is be hinged, F synchronous pulleys（41）It is fixed on the second rotary joint quill shaft（44）On, lead to
Cross D timing belts（42）With E synchronous pulleys（40）Coordinate, D servomotors（43）It is fixed on the second rotary joint pedestal（35）On, it is defeated
Shaft is fixed with E synchronous pulleys（40）, the second rotary joint quill shaft（44）End fix force sensor（45）, power sensing
Device（45）Opposite side is fixed with double-acting cylinder（46）, in double-acting cylinder（46）End is fixed with pawl disk block（51）；The gas
Dynamic paw mechanism is：Double-acting cylinder（46）Piston rod end at be fixed with piston head（49）, piston bush（50）Embedded in pawl disk
Block（51）In, piston head（49）Can be in piston bush（50）Middle slip, in pawl disk block（51）Diagonal on be provided with circular hole and inlay and stretch
Contracting rod sleeve（52）, stretch rod sleeve（52）In be placed with expansion link（54）And spring（56）, cover plate（53）It is fixed on pawl disk
Block（51）On, expansion link（54）One end be hinged with bearing（55）The other end is fixed with encapsulated gripping block（57）.
A kind of 2. manipulator for the polishing of hexahedron surface according to claim 1, it is characterised in that A servomotors
（22）, B servomotors（25）Output shaft pass through A timing belts（7）, B timing belts（21）Passing power and motion；C servomotors
（33）With D servomotors（43）Output shaft pass through C timing belts（30）With D timing belts（42）Transmit motion and power, A timing belts
（7）, B timing belts（21）, C timing belts（30）With D timing belts（42）It is synchronous cog belt.
3. a kind of manipulator for the polishing of hexahedron surface according to claim 1, it is characterised in that the first rotation is closed
Section has the first rotary joint quill shaft（31）And its hollow cavity, there is the second rotary joint quill shaft in the second rotary joint
（44）And its hollow cavity.
4. a kind of manipulator for the polishing of hexahedron surface according to claim 1, it is characterised in that the second rotation is closed
Save quill shaft（44）In double-acting cylinder（46）Between fix force sensor（45）.
5. a kind of manipulator for the polishing of hexahedron surface according to claim 1, it is characterised in that with pawl disk block
（51）Diagonal be axis, be disposed with expansion link（54）, sleeve（52）, spring（56）, bearing（55）And encapsulated gripping block
（57）, and piston head（49）Can be by four cornerwise encapsulated gripping blocks（57）Eject simultaneously.
A kind of 6. manipulator for the polishing of hexahedron surface according to claim 1, it is characterised in that piston head（49）
Outer surface has first conical surface（58）With second conical surface（59）And the face of cylinder（60）, and first conical surface（58）With second conical surface
（59）Between and second conical surface（59）And the face of cylinder（60）Between there is transition radian（61）；Piston bush（50）With the face of cylinder
Groove（62）The concaveconvex shape of shape.
7. a kind of manipulator for the polishing of hexahedron surface according to claim 1, it is characterised in that A tightens screw
（23）A synchronous pulleys can be adjusted（19）With B synchronous pulleys（20）Between centre-to-centre spacing；B set screws（32）It is same C can be adjusted
Walk belt wheel（28）With D synchronous pulleys（29）Between centre distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720850403.4U CN206869608U (en) | 2017-07-13 | 2017-07-13 | A kind of manipulator for the polishing of hexahedron surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720850403.4U CN206869608U (en) | 2017-07-13 | 2017-07-13 | A kind of manipulator for the polishing of hexahedron surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206869608U true CN206869608U (en) | 2018-01-12 |
Family
ID=61330188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720850403.4U Withdrawn - After Issue CN206869608U (en) | 2017-07-13 | 2017-07-13 | A kind of manipulator for the polishing of hexahedron surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206869608U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127664A (en) * | 2017-07-13 | 2017-09-05 | 哈尔滨工业大学深圳研究生院 | A kind of manipulator polished for hexahedron surface |
| CN111251138A (en) * | 2020-01-20 | 2020-06-09 | 东莞市闻誉实业有限公司 | Automatic plane grinding device and processing device |
-
2017
- 2017-07-13 CN CN201720850403.4U patent/CN206869608U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127664A (en) * | 2017-07-13 | 2017-09-05 | 哈尔滨工业大学深圳研究生院 | A kind of manipulator polished for hexahedron surface |
| CN111251138A (en) * | 2020-01-20 | 2020-06-09 | 东莞市闻誉实业有限公司 | Automatic plane grinding device and processing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180112 Effective date of abandoning: 20230502 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180112 Effective date of abandoning: 20230502 |