CN214869322U - Automatic equipment of polishing of medium-sized foundry goods - Google Patents
Automatic equipment of polishing of medium-sized foundry goods Download PDFInfo
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- CN214869322U CN214869322U CN202121115214.5U CN202121115214U CN214869322U CN 214869322 U CN214869322 U CN 214869322U CN 202121115214 U CN202121115214 U CN 202121115214U CN 214869322 U CN214869322 U CN 214869322U
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Abstract
The utility model provides a medium-sized casting automatic polishing device, which comprises a drum-type chain conveying track; the drum-type chain conveying track comprises a feeding end, a preparation station section and a discharging end; the transmission motor provides power for the roller type chain transmission track; a plurality of sensors; the double-station rotary workbench is arranged on the left side of the preparation station section, and a working position for fixing the casting blank is arranged on the workbench; the transmission motor is provided with a speed reducer with a fixed speed ratio and supplies power to the drum-type chain transmission track; the three conveying motors are respectively arranged at the feeding end, the preparation station section and the discharging end; the feeding and discharging assembly is positioned on the right side of the preparation station section and is installed corresponding to the workbench; the business turn over material assembly includes: the device comprises an air cylinder and a V-shaped block which is arranged and fixed at the front end of the air cylinder, wherein an electromagnet is arranged in the V-shaped block; industrial robot, clamping device is installed to sixth axle flange end for the foundry goods blank to the work position is polished.
Description
Technical Field
The utility model relates to a medium-sized casting automatic polishing device; for
Polishing the cylindrical blank within millimeters.
Background
The cleaning of the casting blank needs to polish the parting surface to remove flash and burr, the traditional polishing is finished by manual polishing, an operator holds a polishing device to process the casting blank, the efficiency is low, the cost is high, the danger degree is high, dust generated by polishing can damage the health of the operator, due to the development of artificial intelligence, the small casting blank (with a small error range) is polished by a robot at present, but most of middle and large castings are polished manually; the casting is ground by a grinding device held by a robot, and the grinding device is moved along an absolute path according to a preset track, so that the grinding device or a blank body is inevitably collided at the wall thickness, and the grinding device or the blank body is damaged or the thin wall part is empty.
If the most advanced visual inspection automatic polishing device is adopted, different three-dimensional graphic databases need to be produced for each casting in real time, a large amount of arithmetic equipment is needed, the equipment cost is extremely high, and the device cannot be widely popularized and used; in addition, most castings are consistent in color and deep in color, so that wrong three-dimensional patterns can be formed after the cameras read, problems occur in polishing, the fault rate is high, and the automatic polishing system for the middle and large castings is difficult to realize at low cost due to the problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming above-mentioned defect, providing an automatic equipment of polishing of medium and large-scale foundry goods with low costs, fault rate are hanged down.
The utility model adopts the following technical scheme:
an automatic equipment of polishing of medium size foundry goods includes: a roller chain transfer rail; the drum-type chain conveying track comprises a feeding end, a preparation station section and a discharging end; the transmission motor is provided with a speed reducer with a fixed speed ratio and supplies power to the drum-type chain transmission track; the three conveying motors are respectively arranged below the feeding end, the preparation station section and the discharging end; a sensor; the sensors are respectively arranged on the two sides of the front end and the rear end of the feeding end, the two sides of the front end and the rear end of the preparation station section and the two sides of the front end and the rear end of the discharging end; the workbench is arranged on the left side of the preparation station section, and a working station for fixing the casting is arranged on the workbench; the feeding and discharging assembly is positioned on the right side of the preparation station section and is installed corresponding to the workbench; the business turn over material assembly includes: the device comprises an air cylinder and a V-shaped block which is arranged and fixed at the front end of the air cylinder, wherein a piston of the air cylinder is provided with a position sensor, and an electromagnet is arranged in the V-shaped block; the industrial robot is characterized in that a clamping device is mounted at the flange end of a sixth shaft, and the clamping device clamps a polishing tool and is used for polishing a casting at a working position; and the control system is used for controlling the operation of all motors, the on-off of the cylinder electromagnetic valve, the signal processing of the sensor and the on-off of the electromagnet and communicating with the industrial robot control system.
Preferably, six rotary clamping cylinders are uniformly distributed and surrounded on the working position; six rotary clamping cylinders are all installed on the working position in a sinking mode; and the six rotary clamping cylinders are provided with cylinder piston position sensors.
Preferably, the workbench is provided with two working positions: a first working position and a second working position; a rotary base is arranged below the workbench; the rotary base is provided with a workbench motor, a positioning sensor and an electromagnetic band-type brake; the workbench motor is used for driving the workbench to rotate; the positioning sensor is used for sensing whether the workbench rotates to reach a specified position; the electromagnetic band-type brake is used for attracting and locking the workbench after the workbench rotates to a designated position.
Preferably, the clamping device comprises: the upper end of the connecting seat is provided with a flange end; the main positioning clamping opening is connected with the connecting seat through a hinge mechanism; the motor is arranged on the hinge mechanism; one end of the screw rod is fixedly connected with the motor and used for adjusting the hinge mechanism to change an included angle between the connecting seat and the main positioning clamping opening; the auxiliary positioning clamping opening is connected and fixed to the main positioning clamping opening, so that a clamping position is formed between the main positioning clamping opening and the auxiliary positioning clamping opening; the capacitance sensor is positioned below the auxiliary positioning clamping opening and is fixed through the connecting frame; the connecting frame is fixedly arranged on the side of the connecting seat; and the control system receives the data of the capacitive sensor according to a preset program and controls the motor to operate according to the data.
Preferably, the hinge mechanism is: the rear end of the connecting seat is connected with the rear end of the main positioning clamping opening through a rear shaft; two sides of the front end of the connecting seat are respectively hinged with a first hinge piece, two sides of the front end of the main positioning clamping opening are respectively hinged with a second hinge piece, and the first hinge pieces and the second hinge pieces are connected through front shafts; the middle of the front shaft is provided with a threaded hole; the motor is arranged on the rear shaft; the screw rod penetrates through the rear shaft and is connected with the threaded hole of the front shaft in a matched mode.
Preferably, the tail end of the connecting frame is provided with a fixing piece for left and right adjustment; the fixed sheet is provided with a sliding sheet which can be adjusted and moved up and down; the capacitance sensor is arranged below the sliding sheet.
Preferably, a groove is formed in one side of the rear shaft, and the motor is mounted in the groove; the motor is a servo motor.
Preferably, the auxiliary positioning clamp opening is fixed on the main positioning clamp opening through bolt connection.
Preferably, the conveying motor is a stepping motor.
The utility model has the advantages that: the method comprises the following steps that firstly, the inclination angle of a polishing tool held by a robot is controlled by a capacitance sensor, so that the polishing tool can approach or leave the blank to polish in real time according to the wall thickness change of the blank, and the compensation function is achieved, so that the robot can stably polish the medium-sized casting; secondly, the cost is low, the effect is good, the visual detection and the corresponding processing equipment are hundreds of thousands, the cost of the utility model is low, and the polishing is carried out after the accurate compensation is carried out on each point of the blank, so that the smooth operation of the polishing is ensured; thirdly, the polishing is carried out automatically in the whole process, the efficiency is high, and the effect is good; to sum up, the utility model discloses improve on original equipment, improve with low costs, and can polish automatically after improving, form the automatic production line of polishing, effectively reduce the processing cost of product, especially adapted popularization at manufacturing factory.
Drawings
Fig. 1 is an overall schematic view of the present invention.
Fig. 2 is a schematic view of the working state of the rotary clamping cylinder in the first working position of the workbench of the present invention.
Fig. 3 is a partial enlarged view of the present invention.
Fig. 4 is a partial enlarged view of the present invention.
Fig. 5 is a partial enlarged view of the present invention.
Fig. 6 is a partial enlarged view of the present invention.
Detailed Description
In order to make the purpose and technical solution of the present invention clearer, the following description is made with reference to the accompanying drawings and embodiments to further explain the present invention:
an automatic grinding apparatus for medium-sized castings as shown in fig. 1 to 3 includes a drum-type chain transfer rail 1; the drum-type chain conveying track 1 comprises a feeding end 11, a preparation station section 12 and a discharging end 13; a transmission motor (not shown in the figure) provided with a speed reducer with a fixed speed ratio (not shown in the figure) for providing power for the roller type chain transmission track; the three conveying motors are respectively arranged below the feeding end 11, the preparation station section 12 and the discharging end 13; sensors (not shown); the sensors are respectively arranged on the two sides of the front end and the rear end of the feeding end, the two sides of the front end and the rear end of the preparation station section and the two sides of the front end and the rear end of the discharging end; the workbench 2 is arranged on the left side of the preparation station section, and a working station for fixing the casting is arranged on the workbench 2; the feeding and discharging assembly 3 is positioned on the right side of the preparation station section 12 and is installed corresponding to the workbench 2; the business turn over material assembly includes: the device comprises a cylinder 31 and a V-shaped block 32 which is arranged and fixed at the front end of the cylinder, wherein a piston of the cylinder is provided with a position sensor (not shown in the figure), and an electromagnet (not shown in the figure) is arranged in the V-shaped block; the industrial robot 4 is characterized in that a clamping device 5 is mounted at the flange end of a sixth shaft, and the clamping device 5 clamps a polishing tool 6 for polishing a casting at a working position; the industrial robot control system is placed in a first control cabinet 41; and the control system is placed in the second control cabinet 7 and used for controlling the operation of all motors, the on-off of the cylinder electromagnetic valve, the signal processing of the sensor and the on-off of the electromagnet and communicating with the industrial robot control system.
Preferably, the workbench is provided with two working positions: a first working position 21, a second working position 22; a rotary base 23 is arranged below the workbench, and the rotary base is provided with a workbench motor (not shown in the figure), a positioning sensor (not shown in the figure) and an electromagnetic band-type brake (not shown in the figure); the workbench motor is used for driving the workbench to rotate; the positioning sensor is used for sensing whether the workbench rotates to reach a specified position; the electromagnetic band-type brake is used for attracting and locking the workbench after the workbench rotates to a designated position. This arrangement allows one casting to be prepared while the other casting is being sanded at the first station 21, and the other casting is being moved to the second station 22; when the casting on the first working position 21 is polished, the rotating base 23 rotates to polish the casting on the second working position 22, and simultaneously the polished casting is pulled out from the first working position 21, and then the casting to be polished is pushed into the first working position 21 to wait, so that the working efficiency is improved.
Preferably, six rotary clamping cylinders 24 are uniformly distributed and surrounded on the working position; six rotary clamping cylinders 24 are all installed on the working position in a sinking way; six rotary clamping cylinders 24 are provided with cylinder piston position sensors (not shown in the figure); the six-point inner hole positioning device also has a six-point diagonal position compensation function and can compensate the positioning error caused by blank deformation to the maximum extent; the working principle is that each rotary clamping cylinder is provided with a cylinder piston position sensor, an intermediate value is calculated by comparing the piston position values on the opposite sides, and the position of the rotary clamping cylinder is adjusted and controlled to accurately position the workpiece again.
As shown in fig. 4 to 6, preferably, the clamping device 5 includes: a connecting seat 51, the upper end of which is provided with a flange end 511, and the connecting seat is connected with a sixth shaft flange end of the industrial robot 4; the main positioning clamping opening 52 is connected with the connecting seat 51 through a hinge mechanism; a motor 54 mounted on the hinge mechanism; one end of the screw rod 55 is fixedly connected with the motor 54 and used for adjusting the hinge mechanism to change the included angle between the connecting seat 51 and the main positioning clamping opening 52; the auxiliary positioning clamping opening 53 is fixedly connected with the main positioning clamping opening 52, so that a clamping position is formed between the main positioning clamping opening 52 and the auxiliary positioning clamping opening 53 and is used for clamping the polishing tool 6; the capacitive sensor 56 is positioned below the auxiliary positioning clamping opening 53 and is fixed through a connecting frame 57; the connecting frame 57 is fixedly arranged on the side of the connecting seat; the control system receives data from the capacitive sensor 56 according to a preset program and controls the operation of the motor 54 according to the data, thereby controlling the included angle.
Preferably, the hinge mechanism is: the rear end of the connecting seat 53 is connected with the rear end of the main positioning clamping opening 52 through a rear shaft 81; two sides of the front end of the connecting seat 53 are respectively hinged with a first hinged sheet 83, two sides of the front end of the main positioning clamping opening 52 are respectively hinged with a second hinged sheet 84, and the first hinged sheets 83 are connected with the second hinged sheets 84 through a front shaft 82; the middle of the front shaft 82 is provided with a threaded hole; the motor 54 is mounted on the rear shaft 81; the screw rod 55 penetrates through the rear shaft 81 and is matched and connected with the threaded hole of the front shaft 82.
Preferably, the tail end of the connecting frame 57 is provided with a stator 571 for left and right adjustment; the fixed sheet 571 is provided with a slide sheet 572 which can be adjusted and moved up and down; the capacitance sensor 6 is provided below the slider 572.
Preferably, a groove is formed on one side of the rear shaft 81, and the motor 54 is installed in the groove; the motor 54 is a servo motor.
Preferably, vice location presss from both sides mouth 53, is fixed in main location through bolted connection and presss from both sides mouth 52, the utility model discloses an adopt six pieces of screws to fix both.
Preferably, the conveying motor is a stepping motor.
The utility model discloses a process of polishing does:
firstly, a plurality of casting blanks to be polished enter from the front end of the feeding end of a drum-type chain conveying track, a sensor at the position senses the entering of the casting blanks, a conveying motor at the feeding end starts to work, when the casting blanks reach the tail end of the feeding end, the sensor senses and feeds back signals to a control system, the control system starts a conveying motor at a preparation station section, the control system controls the running time of the conveying motor at the preparation station section through time delay, the casting blanks are conveyed to almost the middle position, and the conveying motor at the preparation station section stops working (when a first casting blank is conveyed to the preparation station section, if the sensor at the feeding end does not check the next casting blank, the conveying motor at the feeding end stops working, and electric energy is saved).
Step two, the feeding and discharging assembly positioned on the right side of the preparation station section starts to work, the air cylinder extends forwards, the V-shaped block and the pushing surface with the electromagnet arranged inside are V-shaped, so that in the pushing process, the center of the casting moves to the V-shaped block and the center line with the electromagnet arranged inside is moved to the position where the V-shaped block is arranged;
thirdly, an electromagnet is installed inside the V-shaped block, the casting is continuously pushed forward by the cylinder, the control system monitors the stroke of the cylinder through a cylinder piston position sensor until the casting enters the specified position of the first working position, the cylinder stops acting, and the electromagnet is installed inside the V-shaped block and is powered off; at the moment, six rotary clamping cylinders start to work, so that the castings are aligned, the cylinders control the V-shaped blocks, and electromagnets are mounted inside the V-shaped blocks to return.
Step four, rotating the rotating base to enable the first working position to reach a working area of the industrial robot; when the sensor detects that the rotation is in place, the control system attracts, locks and tightly locks the electromagnetic band-type brake of the rotating base; the industrial robot clamps the polishing tool through the clamping device and is used for polishing the casting at the working position; meanwhile, the drum-type chain conveying track continues to convey until the second casting reaches the preparation station section, and the sensor feeds back a signal to the control system to enable the conveying motor to pause; the feeding and discharging assembly positioned on the right side of the preparation station section starts to work, the air cylinder extends forwards, the V-shaped block is provided with a V-shaped pushing surface internally provided with the electromagnet, so that in the pushing process, the center of a second casting moves to the V-shaped block and is internally provided with a center line of the electromagnet; the V-shaped block is internally provided with an electromagnet for electrifying, the cylinder continues to push the second casting forward until the second casting enters the designated position of the second working position, the cylinder stops acting, and the V-shaped block is internally provided with an electromagnet for powering off; and at the moment, the six rotary clamping cylinders at the second working position start to work, so that the second casting finishes alignment, the cylinders control the V-shaped blocks, and electromagnets are arranged inside the cylinders to return to the original positions.
Fifthly, polishing the first casting, sending a completion signal to a control system by an industrial robot control system, loosening a band-type brake by the control system, and rotating a rotating base to enable a second working position to reach a working area of the industrial robot; closing and locking the band-type brake; the industrial robot clamps the grinding tool through the clamping device and is used for grinding the casting at the second working position; meanwhile, the polished casting in the first working position and six pieces in the first working position return to the rotary clamping cylinder, the feeding and discharging assembly starts to work, the cylinder extends forwards, the extending distance reaches a preset position, the polished casting in the first working position is attracted by the V-shaped block (the electromagnet inside is electrified), the cylinder retracts backwards, the polished casting is pulled back to the preparation station section, the electromagnet inside the V-shaped block closes magnetism, and the cylinder controls the V-shaped block to return to the position.
Step six, the drum-type chain conveying rail continues conveying until the third casting blank reaches a preparation station section, the sensor works to enable the conveying motor to pause, and at the moment, the first casting blank is positioned at the front end of the discharging end; the feeding and discharging assembly positioned on the right side of the preparation station section starts to work, the air cylinder extends forwards, the V-shaped block and the pushing surface internally provided with the electromagnet are V-shaped, so that in the pushing process, the center of a third casting blank moves to the V-shaped block and the center line internally provided with the electromagnet; v type piece, internally mounted has the electro-magnet circular telegram, and the cylinder continues to push forward the third foundry goods blank, and until the third foundry goods blank gets into the assigned position of first work position, V type piece this moment, internally mounted has the electro-magnet to close magnetism, six of first work position gyration die clamping cylinder begins work for the third foundry goods is accomplished to counterpoint, and cylinder control V type piece, internally mounted has the electro-magnet to return.
When the steps are carried out, the control system is provided with a judgment program, if the casting blank comes from the direction of the feed end 11 and enters the preparation station section 12, the next step is carried out as follows: pushing the workpiece to the working position; if the workpiece is pulled back from the work station to the position of the preparation station section 12, the next action is: the preparation station section 12 is started by a transmission motor, the workpiece is sent to the discharge end 13, in the process, the discharge end 13 receives a sensor notification signal at the tail end of the preparation station section 12, and the transmission motor of the discharge end 13 is started to send the workpiece away.
Repeating the steps until all the casting blanks are polished, and finishing the work; wherein, in step four, the working principle of the clamping device is as follows: form the centre gripping position through main location clamp mouth and vice location between pressing from both sides the mouth and be fixed with grinding tool, in addition, through installing capacitive sensor, detect out the change of profile according to capacitive sensor, control servo motor, and then drive the lead screw and rotate, the angle of mouth is pressed from both sides with main location to the adjustment connecting seat, the distance of the piece of polishing and continuous profile of control grinding tool, guarantee the degree of depth of polishing can not be different because of the change of blank profile and depth, avoided polishing can not or polish too dark problem.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element to be referred must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "connected", and the like are to be construed broadly, such as "connected", which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The components adopted by the utility model are all universal standard components or components known by the technicians in the field, and the structure and the principle of the components are known by the technicians through technical manuals or conventional experimental methods.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any slight modifications, equivalent changes and modifications made by the technical spirit of the present invention to the above embodiments still belong to the protection scope of the present invention.
Claims (9)
1. The utility model provides an automatic equipment of polishing of medium-sized foundry goods which characterized in that includes:
a roller chain transfer rail; the drum-type chain conveying track comprises a feeding end, a preparation station section and a discharging end;
the transmission motor is provided with a speed reducer with a fixed speed ratio and supplies power to the drum-type chain transmission track; the three conveying motors are respectively arranged below the feeding end, the preparation station section and the discharging end;
a sensor; the sensors are respectively arranged on the two sides of the front end and the rear end of the feeding end, the two sides of the front end and the rear end of the preparation station section and the two sides of the front end and the rear end of the discharging end;
the workbench is arranged on the left side of the preparation station section, and a working station for fixing the casting is arranged on the workbench;
the feeding and discharging assembly is positioned on the right side of the preparation station section and is installed corresponding to the workbench; the business turn over material assembly includes: the device comprises a cylinder and a V-shaped block which is arranged and fixed at the front end of the cylinder, wherein the cylinder is provided with a cylinder piston position sensor, and an electromagnet is arranged in the V-shaped block;
the industrial robot is characterized in that a clamping device is mounted at the flange end of a sixth shaft, and the clamping device clamps a polishing tool and is used for polishing a casting at a working position;
and the control system is used for controlling the operation of all motors, the on-off of the cylinder electromagnetic valve, the signal processing of the sensor and the on-off of the electromagnet and communicating with the industrial robot control system.
2. The automatic grinding equipment for the medium castings according to claim 1, characterized in that:
six rotary clamping cylinders are uniformly distributed on the working position in a surrounding manner;
six rotary clamping cylinders are all installed on the working position in a sinking mode;
and the six rotary clamping cylinders are provided with cylinder piston position sensors.
3. The automatic grinding equipment for the medium castings according to claim 2, characterized in that:
the workstation is equipped with two work positions: a first working position and a second working position;
a rotary base is arranged below the workbench;
the rotary base is provided with a workbench motor, a positioning sensor and an electromagnetic band-type brake;
the workbench motor is used for driving the workbench to rotate;
the positioning sensor is used for sensing whether the workbench rotates to reach a specified position;
the electromagnetic band-type brake is used for attracting and locking the workbench after the workbench rotates to a designated position.
4. The automatic grinding apparatus for medium castings according to any one of claims 1 to 3, characterized in that said clamping means comprises:
the upper end of the connecting seat is provided with a flange end;
the main positioning clamping opening is connected with the connecting seat through a hinge mechanism;
the motor is arranged on the hinge mechanism;
one end of the screw rod is fixedly connected with the motor and used for adjusting the hinge mechanism to change an included angle between the connecting seat and the main positioning clamping opening;
the auxiliary positioning clamping opening is connected and fixed to the main positioning clamping opening, so that a clamping position is formed between the main positioning clamping opening and the auxiliary positioning clamping opening;
the capacitance sensor is positioned below the auxiliary positioning clamping opening and is fixed through the connecting frame;
the connecting frame is fixedly arranged on the side of the connecting seat;
and the control system receives the data of the capacitive sensor according to a preset program and controls the motor to operate according to the data.
5. The automatic grinding equipment for the medium castings according to claim 4, characterized in that:
the hinge mechanism is as follows: the rear end of the connecting seat is connected with the rear end of the main positioning clamping opening through a rear shaft; two sides of the front end of the connecting seat are respectively hinged with a first hinge piece, two sides of the front end of the main positioning clamping opening are respectively hinged with a second hinge piece, and the first hinge pieces and the second hinge pieces are connected through front shafts;
the middle of the front shaft is provided with a threaded hole;
the motor is arranged on the rear shaft;
the screw rod penetrates through the rear shaft and is connected with the threaded hole of the front shaft in a matched mode.
6. The automatic grinding equipment for the medium castings according to claim 5, characterized in that:
a groove is formed in one side of the rear shaft, and the motor is mounted in the groove;
the motor is a servo motor.
7. The automatic grinding equipment for the medium castings according to claim 4, characterized in that:
the tail end of the connecting frame is provided with a stator for left and right adjustment;
the fixed sheet is provided with a sliding sheet which can be adjusted and moved up and down;
the capacitance sensor is arranged below the sliding sheet.
8. The automatic grinding equipment for the medium castings according to claim 4, characterized in that:
and the auxiliary positioning clamp opening is fixedly connected with the main positioning clamp opening through a bolt.
9. The automatic grinding equipment for the medium castings according to claim 1, characterized in that:
the conveying motor is a stepping motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121115214.5U CN214869322U (en) | 2021-05-24 | 2021-05-24 | Automatic equipment of polishing of medium-sized foundry goods |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121115214.5U CN214869322U (en) | 2021-05-24 | 2021-05-24 | Automatic equipment of polishing of medium-sized foundry goods |
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| CN214869322U true CN214869322U (en) | 2021-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121115214.5U Active CN214869322U (en) | 2021-05-24 | 2021-05-24 | Automatic equipment of polishing of medium-sized foundry goods |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114178959A (en) * | 2021-12-21 | 2022-03-15 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Automatic system of polishing of duplex position wheel hub |
-
2021
- 2021-05-24 CN CN202121115214.5U patent/CN214869322U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114178959A (en) * | 2021-12-21 | 2022-03-15 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Automatic system of polishing of duplex position wheel hub |
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