CN108161680B - Flexible polishing system - Google Patents
Flexible polishing system Download PDFInfo
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- CN108161680B CN108161680B CN201810175824.0A CN201810175824A CN108161680B CN 108161680 B CN108161680 B CN 108161680B CN 201810175824 A CN201810175824 A CN 201810175824A CN 108161680 B CN108161680 B CN 108161680B
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- 238000005498 polishing Methods 0.000 title claims abstract description 112
- 238000005096 rolling process Methods 0.000 claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 230000005484 gravity Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 3
- 230000009977 dual effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B39/00—Burnishing machines or devices, i.e. requiring pressure members for compacting the surface zone; Accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
The invention provides a flexible polishing system, and belongs to the technical field of polishing equipment. The polishing system solves the technical problems of inaccurate response transmission precision and the like of the existing polishing system. The flexible polishing system comprises a frame, a polishing head, a central screw rod and a plurality of rolling screw rods, wherein the polishing head is rotationally connected to the outer end part of the central screw rod and axially positioned on the central screw rod, the central screw rod is rotationally connected to the frame around a self-axis, each rolling screw rod is rotationally and axially positioned on the frame around the self-axis, each rolling screw rod is circumferentially distributed along the central screw rod and is respectively in threaded transmission connection with the central screw rod, and the polishing system further comprises a driving mechanism for driving all the rolling screw rods to simultaneously rotate. The rolling screw rods and the central screw rod of the polishing system are in threaded line contact, the contact gap of the structure is smaller, the transmission precision is higher, the rigidity is higher, the transmissible moment is larger, and the motion is smoother.
Description
Technical Field
The invention belongs to the technical field of automatic polishing equipment, and relates to a flexible polishing system.
Background
Compared with manual polishing, the robot automatic polishing and grinding has the advantages of high efficiency, controllable precision, cost saving and the like. The robot automatic polishing and grinding device is widely applied to the manufacturing process of bathroom fittings, water heating pipe fittings, optical positioning equipment, various blades and dies. In the robot automatic polishing and grinding, in order to solve the problem of polishing of complex curved surface parts, the surface roughness is reduced, the surface type precision is improved, and a flexible polishing tool is used in a novel mode. Currently, the common polishing force control device comprises pneumatic force control, electromagnetic force control, passive spring force control and the like. The main ways to increase efficiency are to increase the polishing platen size, or to increase the robot feed rate.
The automatic polishing system in the prior art has the defects of not being fast enough in response speed and not being accurate in transmission precision.
Disclosure of Invention
The invention aims at the problems existing in the prior art, and provides a compliant polishing system, which aims at solving the technical problems that: how to improve the transmission accuracy of the polishing system.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides a gentle and agreeable polishing system, includes frame, polishing head, center lead screw and a plurality of ball screw, the polishing head rotates to be connected the outer tip of center lead screw and axial positioning is on the center lead screw, its characterized in that, the center lead screw is rotated from the axle and is connected in the frame, and each ball screw all rotates from the axle and axial positioning in the frame, each ball screw is followed the circumference of center lead screw distributes and respectively with center lead screw thread transmission connects, polishing system still includes the rotatory actuating mechanism of drive all ball screw simultaneously.
The working principle is as follows: all the rolling screw rods of the flexible polishing system rotate around the self-shaft and are axially positioned on the frame, the driving mechanism drives all the rolling screw rods to rotate, and all the rolling screw rods do not axially move, so that the rolling screw rods simultaneously drive the central screw rods to rotate and enable the central screw rods to axially move, the central screw rods drive the polishing heads to axially move, and each rolling screw rod is in threaded line contact with the central screw rods.
In the above-mentioned soft polishing system, the actuating mechanism includes motor, driving gear and driven gear, the motor is fixed in the frame, the output shaft of motor with the driving gear links firmly, the driving gear with driven gear meshes mutually, and an tip of each ball screw links firmly with driven gear. The motor drives the driving gear to rotate, the driven gear rotates along with the driving gear and drives all the rolling screw rods to rotate simultaneously, and the rolling screw rods drive the center screw rod to rotate simultaneously and enable the center screw rod to axially move.
In the above-mentioned compliant polishing system, each of the rolling screws is uniformly distributed along the circumferential direction of the driven gear. The driven screw rods uniformly distributed along the circumferential direction of the driven gear can drive the central screw rod to rotate and move more stably, so that the transmission precision is further improved, and the transmitted torque distribution is also more uniform.
In the above-mentioned flexible polishing system, the polishing system further comprises a screw rod sleeve, the screw rod sleeve is fixed on the frame, and the center screw rod and all the rolling screw rods are located in the screw rod sleeve.
In the above-mentioned flexible polishing system, the both ends of lead screw sleeve are connected with preceding internal tooth sleeve and back internal tooth sleeve respectively, be fixed with preceding holding ring and back holding ring respectively in preceding internal tooth sleeve and the back internal tooth sleeve, the both ends of each ball screw are fixed respectively on preceding holding ring and the back holding ring, each ball screw is all followed preceding holding ring's circumference evenly distributed, back holding ring is fixed on the driven gear. In the structure, the front inner tooth sleeve, the front retaining ring, the rear inner tooth sleeve, the rear retaining ring, the screw rod sleeve, the central screw rod and a plurality of rolling screw rods form a screw rod assembly.
In the above-mentioned flexible polishing system, the outer end connection of center lead screw has the mounting panel, the polishing head is fixed in the middle part of mounting panel, the lower tip of mounting panel is fixed with the connecting rod, connecting rod sliding connection is in the frame, cover is established and is fixed with stop nut on the connecting rod. In the process that the polishing head axially moves along with the central screw rod, the connecting rod plays a guiding role, so that the polishing head moves more stably, and the limiting nut plays a limiting role on the stroke of the mounting plate.
In the above-mentioned flexible polishing system, the outer end portion of the center screw rod is sleeved and fixed with a self-aligning ball bearing, and the self-aligning ball bearing is fixed at the upper end portion of the mounting plate. The aligning ball bearing is arranged, so that the mounting plate only moves axially along with the central screw rod but does not rotate along with the central screw rod, and the polishing head on the mounting plate only moves horizontally.
In the above-mentioned compliant polishing system, a three-dimensional force sensor is disposed between the polishing head and the mounting plate. The three-dimensional sensor is used for detecting the normal force applied to the polishing head.
In the above-mentioned flexible polishing system, the frame includes the bottom plate, the both ends of bottom plate are fixed with preceding backup pad and back backup pad respectively, and the middle part of bottom plate is fixed with the intermediate support board, the lead screw sleeve passes the intermediate support board and the both ends of lead screw sleeve are fixed respectively in preceding backup pad and back backup pad.
In the above-mentioned flexible polishing system, the number of the center screw rods is two, the outer end part of each center screw rod is provided with a polishing head, the axial direction of each center screw rod is distributed with a plurality of rolling screw rods, each rolling screw rod rotates around a self-axis and is axially positioned on the frame, and each rolling screw rod is in threaded connection with the corresponding center screw rod. In the embodiment, the polishing system is of a double polishing head structure, and the double polishing heads can polish and polish two workpieces simultaneously, so that the working efficiency is improved.
Compared with the prior art, the invention has the following advantages:
1. the rolling screw rods and the central screw rod of the polishing system are in threaded line contact, the contact gap of the structure is smaller, the transmission precision is higher, the rigidity is higher, the transmissible moment is larger, and the motion is smoother.
2. The polishing system has high torque transmission efficiency, and the device has stable operation, high response speed, small heating and longer service life due to the improvement of the transmission rigidity.
3. The polishing system can adopt a double polishing head structure, and the double polishing heads can polish and polish two workpieces simultaneously, so that the working efficiency is improved.
Drawings
Fig. 1 is a schematic view of the structure of the present polishing system.
Fig. 2 is an exploded view of the present polishing system.
Fig. 3 is an exploded view of the lead screw assembly.
FIG. 4 is a schematic illustration of a single polishing head polishing track and a dual polishing head polishing track.
Fig. 5 is a line spacing schematic when a dual polishing head is used.
Fig. 6 is a schematic diagram of the kinematic relationship of the lead screw assembly.
In the figure, 1, a rack; 1a, a bottom plate; 1b, a front support plate; 1c, a rear supporting plate; 1d, an intermediate support plate; 2. a polishing head; 3. a central screw rod; 4. a rolling screw rod; 5. a motor; 6. a drive gear; 7. a driven gear; 8. a screw rod sleeve; 9. a front internal tooth sleeve; 10. a rear internal tooth sleeve; 11. a front retaining ring; 12. a rear retaining ring; 13. a mounting plate; 14. a connecting rod; 15. a limit nut; 16. a self-aligning ball bearing; 17. a three-dimensional force sensor.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
Example 1
As shown in fig. 1-3, the flexible polishing system comprises a frame 1, a polishing head 2, a central screw rod 3 and a plurality of rolling screw rods 4, wherein the polishing head 2 is rotationally connected to the outer end part of the central screw rod 3 and axially positioned on the central screw rod 3, the central screw rod 3 is rotationally connected to the frame 1 around a self-axis, each rolling screw rod 4 is rotationally and axially positioned on the frame 1 around the self-axis, each rolling screw rod 4 is circumferentially distributed along the central screw rod 3 and is respectively in threaded connection with the central screw rod 3, and the polishing system further comprises a driving mechanism for driving all the rolling screw rods 4 to simultaneously rotate.
As shown in fig. 2, in this embodiment, the driving mechanism includes a motor 5, a driving gear 6 and a driven gear 7, the motor 5 is fixed on the frame 1, an output shaft of the motor 5 is fixedly connected with the driving gear 6, the driving gear 6 is meshed with the driven gear 7, and one end of each rolling screw 4 is fixedly connected with the driven gear 7. The motor 5 drives the driving gear 6 to rotate, the driven gear 7 rotates along with the driving gear 6 and drives all the rolling screw rods 4 to rotate simultaneously, and the rolling screw rods 4 simultaneously drive the central screw rod 3 to rotate and enable the central screw rod 3 to axially move.
Preferably, the rolling screws 4 are uniformly distributed along the circumferential direction of the driven gear 7. The driven screw rods uniformly distributed along the circumferential direction of the driven gear 7 can drive the central screw rod 3 to rotate and move more stably, so that the transmission precision is further improved, and the transmitted torque distribution is also more uniform.
As shown in fig. 2, 3 and 6, the polishing system preferably further comprises a screw sleeve 8, the screw sleeve 8 being fixed on the frame 1, and the central screw 3 and all the rolling screws 4 being located in the screw sleeve 8.
As shown in fig. 3, in the present embodiment, the front internal tooth sleeve 9 and the rear internal tooth sleeve 10 are respectively connected to both ends of the screw rod sleeve 8, the front retaining ring 11 and the rear retaining ring 12 are respectively fixed to the front internal tooth sleeve 9 and the rear internal tooth sleeve 10, both ends of each of the rolling screw rods 4 are respectively fixed to the front retaining ring 11 and the rear retaining ring 12, each of the rolling screw rods 4 is uniformly distributed in the circumferential direction of the front retaining ring 11, and the rear retaining ring 12 is fixed to the driven gear 7. In this structure, the front internal tooth sleeve 9, the front retaining ring 11, the rear internal tooth sleeve 10, the rear retaining ring 12, the screw sleeve 8, the center screw 3, and the plurality of rolling screws 4 constitute a screw assembly.
As shown in fig. 2, the outer end of the center screw rod 3 is connected with a mounting plate 13, the polishing head 2 is fixed in the middle of the mounting plate 13, the lower end of the mounting plate 13 is fixed with a connecting rod 14, the connecting rod 14 is slidably connected to the frame 1, and a limit nut 15 is sleeved on and fixed to the connecting rod 14. In the process that the polishing head 2 moves along with the central screw rod 3 in the axial direction, the connecting rod 14 plays a guiding role, so that the polishing head 2 moves more stably, and the limit nut 15 plays a limiting role on the travel of the mounting plate 13.
As shown in fig. 2, preferably, the outer end portion of the center screw 3 is sleeved and fixed with a aligning ball bearing 16, and the aligning ball bearing 16 is fixed to the upper end portion of the mounting plate 13. The aligning ball bearing 16 is provided so that the mounting plate 13 moves only axially with the center screw 3, but does not rotate with the center screw 3, and thus the polishing head 2 on the mounting plate 13 moves only horizontally.
As shown in fig. 2, a three-dimensional force sensor 17 is provided between the polishing head 2 and the mounting plate 13. The three-dimensional sensor is used to detect the normal force applied to the polishing head 2.
As shown in fig. 2, in the present embodiment, the frame 1 includes a bottom plate 1a, a front support plate 1b and a rear support plate 1c are respectively fixed to both ends of the bottom plate 1a, an intermediate support plate 1d is fixed to the middle of the bottom plate 1a, a lead screw sleeve 8 passes through the intermediate support plate 1d, and both ends of the lead screw sleeve 8 are respectively fixed to the front support plate 1b and the rear support plate 1 c.
As shown in fig. 1, preferably, the number of the central screw rods 3 is two, the polishing heads 2 are respectively arranged at the outer end parts of the central screw rods 3, a plurality of rolling screw rods 4 are respectively distributed in the circumferential direction of each central screw rod 3, each rolling screw rod 4 rotates around a self-axis and is axially positioned on the frame 1, and each rolling screw rod 4 is respectively in threaded transmission connection with the corresponding central screw rod 3. In this embodiment, the polishing system is a dual polishing head 2 structure, and the dual polishing head 2 can polish and polish two workpieces simultaneously, so as to improve the working efficiency.
As shown in fig. 4, the influence of the double-ended polishing head 2 on the polishing line pitch: to achieve the required grinding depth, the polishing process is usually repeated, the left graph of fig. 4 shows a conventional single-head polishing manner, the right graph of fig. 4 shows a dual polishing head 2 (including a set of polishing disks), and the feeding direction of the dual polishing head 2 is the direction of the illustrated polishing track, which is obviously 2 times the efficiency of the left graph.
Fig. 5 is a schematic view showing a line spacing when the double-head polishing head 2 is used, the feeding direction of the double-head polishing head 2 is perpendicular to the feeding direction of the double-head polishing head 2 in the right-hand diagram of fig. 4, and the line spacing shown in fig. 5 is planned to ensure a uniform material removal depth, and the average line spacing isObviously will be greater than L1 of FIG. 4, so it is improvedPolishing efficiency is improved.
The relation between the rotation angle of the motor and the moving distance of the polishing head 2 is i, if the transmission ratio between the driving gear 6 and the driven gear 7 is iR2 is the pitch diameter of the driven gear 7, R1 is the pitch diameter of the driving gear 6, and the rolling screw 4 rolls for one circle along the central screw 3>D is the diameter of the screw sleeve 8, D is the diameter of the rolling screw 4, and thus the rolling screw 4 is driven to move n times, the pitch of the rolling screw 4 and the central screw 3 is P, the rotation angle of the motor is θ, the angular velocity of the rolling screw 4 moving along the central screw 3 is ω, and the distance of the polishing head 2 moving is x, the following equation holds:
description of system control principle: in consideration of the difference in contact state between different processing positions, each polishing head 2 of the dual polishing head 2 apparatus is controlled by an independent driver without affecting each other. At a certain processing moment, an included angle between the polishing head 2 and the gravity direction is measured by a gravity sensor (not shown), the normal force detected by the tail end force sensor is converted into the normal force of the workpiece contact surface, the normal force is fed back to the controller to make a difference with the expected force, self-adaptive PID or fuzzy PID control is carried out on the force deviation, the motor rotation angle is calculated, and the motor moves at a reasonable speed until the force deviation is smaller than a set threshold value. The cycle is thus completed with the desired constant or variable force control.
Example two
The structure and principle of the embodiment are basically the same as those of the first embodiment, except that the driving mechanism comprises a motor 5, a roller, a synchronous belt and a rotating disc, the roller is sleeved and fixed on an output shaft of the motor 5, the synchronous belt is connected on the roller and the rotating disc, one end part of each rolling screw 4 is fixedly connected with the rotating disc respectively, and the rolling screws 4 are uniformly distributed along the circumferential direction of the rotating disc.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (7)
1. The utility model provides a gentle and agreeable polishing system, includes frame (1), polishing head (2), center lead screw (3) and a plurality of ball screw (4), polishing head (2) rotate and connect the outer tip of center lead screw (3) and axial positioning are on center lead screw (3), characterized in that, center lead screw (3) rotate around from the axle and connect on frame (1), each ball screw (4) all rotate around from the axle and axial positioning are on frame (1), each ball screw (4) along the circumference of center lead screw (3) distributes and respectively with center lead screw (3) screw thread transmission connects, polishing system still includes the actuating mechanism that drives all ball screw (4) and rotate simultaneously;
the motor drives the driving gear to rotate, the driven gear rotates along with the driving gear and drives all the rolling screws to simultaneously rotate, and the rolling screws simultaneously drive the center screw to rotate and axially move;
the polishing device is characterized in that the outer end part of the center screw rod (3) is connected with a mounting plate (13), the polishing head (2) is fixed in the middle of the mounting plate (13), a connecting rod (14) is fixed at the lower end part of the mounting plate (13), the connecting rod (14) is slidably connected to the frame (1), and a limit nut (15) is sleeved and fixed on the connecting rod (14); in the process that the polishing head axially moves along with the central screw rod, the connecting rod plays a role in guiding, so that the polishing head moves more stably, and the limit nut plays a role in limiting the travel of the mounting plate;
the outer end part of the center screw rod (3) is sleeved and fixed with a self-aligning ball bearing (16), and the self-aligning ball bearing (16) is fixed at the upper end part of the mounting plate (13); a three-dimensional force sensor (17) is arranged between the polishing head (2) and the mounting plate (13);
each polishing head of the double polishing head device is controlled by an independent driver, at the processing time, the included angle between the polishing head and the gravity direction is measured by a gravity sensor, the normal force detected by the tail end force sensor is converted into the normal force of the workpiece contact surface, the normal force is fed back to the controller to make difference with the expected force, the self-adaptive PID or fuzzy PID control is carried out on the force deviation, the motor rotation angle is calculated and the motor moves at a reasonable speed until the force deviation is smaller than a set threshold value, and the required constant force or variable force control is completed.
2. A compliant polishing system according to claim 1, characterized in that the driving mechanism comprises a motor (5), a driving gear (6) and a driven gear (7), the motor (5) is fixed on the frame (1), an output shaft of the motor (5) is fixedly connected with the driving gear (6), the driving gear (6) is meshed with the driven gear (7), and one end part of each rolling screw (4) is fixedly connected with the driven gear (7).
3. A compliant polishing system according to claim 2, wherein each ball screw (4) is evenly distributed along the circumference of the driven gear (7).
4. A compliant polishing system according to claim 2, further comprising a screw sleeve (8), said screw sleeve (8) being fixed to said frame (1), said central screw (3) and all rolling screws (4) being located within said screw sleeve (8).
5. A compliant polishing system according to claim 4, characterized in that both ends of the screw rod sleeve (8) are respectively connected with a front internal tooth sleeve (9) and a rear internal tooth sleeve (10), a front retaining ring (11) and a rear retaining ring (12) are respectively fixed to the front internal tooth sleeve (9) and the rear internal tooth sleeve (10), both ends of each rolling screw rod (4) are respectively fixed to the front retaining ring (11) and the rear retaining ring (12), each rolling screw rod (4) is uniformly distributed in the circumferential direction of the front retaining ring (11), and the rear retaining ring (12) is fixed to the driven gear (7).
6. A compliant polishing system according to claim 5, wherein the frame (1) comprises a bottom plate (1 a), a front support plate (1 b) and a rear support plate (1 c) are respectively fixed at two ends of the bottom plate (1 a), an intermediate support plate (1 d) is fixed in the middle of the bottom plate (1 a), the screw sleeve (8) passes through the intermediate support plate (1 d) and two ends of the screw sleeve (8) are respectively fixed on the front support plate (1 b) and the rear support plate (1 c).
7. A compliant polishing system according to claim 1, wherein the number of the central screw rods (3) is two, polishing heads (2) are respectively arranged at the outer end parts of the central screw rods (3), a plurality of rolling screw rods (4) are respectively distributed in the circumferential direction of each central screw rod (3), each rolling screw rod (4) rotates around a self-axis and is axially positioned on the frame (1), and each rolling screw rod (4) is respectively in threaded connection with the corresponding central screw rod (3).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810175824.0A CN108161680B (en) | 2018-03-02 | 2018-03-02 | Flexible polishing system |
| PCT/CN2018/087279 WO2019165708A1 (en) | 2018-03-02 | 2018-05-17 | Compliant polishing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810175824.0A CN108161680B (en) | 2018-03-02 | 2018-03-02 | Flexible polishing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108161680A CN108161680A (en) | 2018-06-15 |
| CN108161680B true CN108161680B (en) | 2024-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810175824.0A Active CN108161680B (en) | 2018-03-02 | 2018-03-02 | Flexible polishing system |
Country Status (2)
| Country | Link |
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| CN (1) | CN108161680B (en) |
| WO (1) | WO2019165708A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015284B (en) * | 2018-09-21 | 2020-07-17 | 绿美泵业有限公司 | Ceramic rod grinding machine |
| CN111730433A (en) * | 2020-07-28 | 2020-10-02 | 江阴市高新管件有限公司 | Grinding and polishing integrated machine for pipe orifice of three-way pipe fitting |
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| WO2019165708A1 (en) | 2019-09-06 |
| CN108161680A (en) | 2018-06-15 |
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