CN208262525U - A kind of robot polishing system - Google Patents
A kind of robot polishing system Download PDFInfo
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- CN208262525U CN208262525U CN201820209705.8U CN201820209705U CN208262525U CN 208262525 U CN208262525 U CN 208262525U CN 201820209705 U CN201820209705 U CN 201820209705U CN 208262525 U CN208262525 U CN 208262525U
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- sander
- consumptive material
- polishing system
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Abstract
The utility model discloses a kind of robot polishing system, which includes rack, robot, the processing groove for placing workpiece to be machined and the material frame for placing finished work or workpiece to be processed.Wherein, robot is mounted on the rack, and the end of the arm of robot is equipped with robot hand, which is configured with grasping mechanism and at least one sander for workpiece loading and unloading, and installation consumptive material is suitable on each sander.Processing groove is mounted on the rack and is arranged close to robot, and the mold for fixing workpiece to be machined is provided in processing groove.The robot polishing system of the utility model can not only realize polishing and operation of feeding and discharging, and its workpiece that can be adapted to different shape or size.
Description
Technical field
The utility model relates to industrial grinding technology field more particularly to a kind of robot polishing systems.
Background technique
Grinding device is one of process equipment important in modern workpiece process, function be mainly workpiece deburring or
Surface polishing, makes that workpiece is more smooth, cleanliness is more preferable, improves workpiece quality.
In grinding technology field, since the grinding efficiency and grinding accuracy of customer requirement are higher and higher, the polishing of equipment
Precision is become better and better, and the subsequent usable value of equipment is higher and higher, and the unicity of existing equipment is not able to satisfy market
It is required that existing grinding apparatus some also needs artificial loading and unloading, some equipment can only handle single workpiece, and grinding apparatus
It is only used for carrying out polishing processing to the workpiece of specific shape and requirement, cannot be considered in terms of the workpiece of different shape size, influence to produce
Low efficiency.In addition, the volume that the robot hand in existing grinding apparatus occupies is larger, it is unfavorable for the miniaturization of grinding apparatus
Design.
Utility model content
For overcome the deficiencies in the prior art, the purpose of this utility model is to provide a kind of robot polishing system,
It can not only realize polishing and operation of feeding and discharging, and its workpiece that can be adapted to different shape or size.
The purpose of this utility model adopts the following technical scheme that realization:
A kind of robot polishing system, comprising: rack；Robot, the robot are mounted on the rack；The machine
The end of the arm of device people is equipped with robot hand, and the robot hand is configured with the grasping mechanism for workpiece loading and unloading
And at least one sander, installation consumptive material is suitable on each sander；It is described for placing the processing groove of workpiece to be machined
Processing groove is mounted on the rack and is arranged close to the robot, is provided in the processing groove for fixed processed work
The mold of part；Material frame, the material frame are mounted on the rack and are arranged close to the processing groove.
Further, the robot hand includes: the connecting shaft for connecting with the arm of the robot；With it is described
Connect the support frame of axis connection；At least one the sander fixed mechanism being removably installed on support frame as described above, it is each described
Sander is fixed by the sander fixed mechanism respectively；The grasping mechanism is mounted on support frame as described above.
Further, at least one mounting plate is configured on support frame as described above；Institute is separately installed on each mounting plate
State sander fixed mechanism；Each sander fixed mechanism includes: a pair of of the branch being removably installed on the mounting plate
Plate, the pair of supporting plate are oppositely arranged and are spaced a predetermined distance therebetween；It is removably installed on the pair of supporting plate
A pair of of clamping plate, the pair of clamping plate are oppositely arranged with the mounting plate, are formed between the pair of clamping plate and are suitable for beating described in clamping
The clamp port of grinding machine.
Further, support frame as described above includes: a pair of of the plate being oppositely arranged, the connecting shaft and one of them described plate
Material connection；The connecting column being connected between the pair of plate；Each mounting plate is connected to the edge of the pair of plate；
The edge of the pair of plate is also connected with crawl connecting plate, and the crawl head of the grasping mechanism is mounted on the crawl and connects
On fishplate bar.
Further, the grasping mechanism is sucked type grasping mechanism, and the sucked type grasping mechanism includes being connected
Sucker and tracheae, the sucker form the crawl head of the grasping mechanism, and the tracheae is successively fed through support frame as described above
The centre bore of inner cavity and the connecting shaft with negative pressure system to be connected to.
Further, the consumptive material is Nian Jie with each sander, is also supported by support plate by frame in the rack,
The removal mechanism for removing the consumptive material on the sander is provided in the support plate, and for consumptive material to be fixed to institute
At least one replacement mechanism on sander is stated, is also formed in the support plate for accepting the holding tank for being removed consumptive material,
The holding tank is arranged close to the removal mechanism.
Further, the removal mechanism includes: pillar, and the pillar is mounted in the support plate；It is mounted on described
First clamping piece and second intermediate plate on pillar；For driving what the first clamping piece and the second intermediate plate did relative motion to open
Driving mechanism is closed, so that the first clamping piece and the second intermediate plate are suitable for clamping or unclamp the consumptive material.
Further, each replacement mechanism includes: the fixed plate supported by the support plate；In the fixed plate
Side and the consumptive material placement plate for being suitable for installing consumptive material, the multiple guide rods being slidably matched with the consumptive material placement plate, and driving institute
State the flexible power mechanism that consumptive material placement plate is moved along the guide rod.
Further, offer the notches of the predetermined notch length of several settings in the fixed plate, each guide rod with
Each notch cooperation, the top of each guide rod is each equipped with limit film.
Further, further includes: the controller being installed in rack, the controller are used to control the hand of the robot
The movement of arm, the grasping mechanism, the opening and closing driving mechanism and the flexible power mechanism；Configured with manipulation in the rack
Panel, the control panel are electrically connected with the controller.
Compared with prior art, the utility model has the beneficial effects that:
1, by the overturning of the arm of robot, robot hand can grab material, then overturn, and can polish material；
Dismountable consumptive material can need replacing different consumptive materials according to different workpieces, may be adapted to the workpiece of different shape or size,
It is applied widely.
2, by the way that consumptive material is Nian Jie with sander, consumptive material that can be different according to the workpiece replacing of different shape or size can
It is applied widely suitable for processing the workpiece of different shape or size.
Detailed description of the invention
Fig. 1 is a kind of perspective view of robot polishing system of the utility model embodiment；
Fig. 2 is the exploded view of robot polishing system shown in FIG. 1；
Fig. 3 is the perspective view of the robot hand in robot polishing system shown in FIG. 1；
Fig. 4 is material frame, removal mechanism and the perspective view for replacing mechanism in robot polishing system shown in FIG. 1.
In figure: 1, rack；11, frame；2, robot；3, robot hand；31, support frame；32, the fixed machine of sander
Structure；33, sander；34, connecting shaft；35, sucked type grasping mechanism；351, sucker；4, processing groove；41, mold；5, material frame；
6, removal mechanism；61, support plate；62, pillar；63, first clamping piece；64, second intermediate plate；65, opening and closing driving mechanism；66, it clamps
Position；7, mechanism is replaced；71, fixed plate；72, consumptive material placement plate；73, guide rod；74, limit film；75, stretch power mechanism；
8, holding tank；9, control panel.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the utility model, it should be noted that
Under the premise of not colliding, it can be formed in any combination between various embodiments described below or between each technical characteristic new
Embodiment.
Referring to Fig. 1-Fig. 2, robot polishing system provided by the embodiment of the utility model, polishing system of the robot are shown
System includes rack 1, robot 2, the processing groove 4 for placing workpiece to be machined and for placing finished work or to be added
The material frame 5 of work workpiece.Wherein, robot 2 is mounted in rack 1, and the end of the arm of robot 2 is equipped with robot hand
3, which is configured with grasping mechanism and at least one sander 33 for workpiece loading and unloading, each sander 33
On the consumptive material that can be removed is installed.Processing groove 4 is mounted in rack 1 and is arranged close to robot 2, is provided in processing groove 4
For fixing the mold 41 of workpiece to be machined, the shape of the mold 41 and the shape of workpiece to be machined are adapted.
Robot polishing system provided by the embodiment of the utility model, in the polishing course of work, according to specific processing
Process requirements select accordingly facing towards workpiece.It is specific as follows, robot hand is driven by the arm movement or rotation of robot 2
3, make wherein workpiece to be machined of the one side equipped with sander 33 in processing groove 4 of robot hand 3, connects sander 33
Workpiece to be machined and sanding and polishing workpiece to be machined are touched, realizes sanding operation.During automatic loading/unloading, pass through robot 2
Arm drive the overturning of robot hand 3 to the one side for being equipped with grasping mechanism and close to workpiece, it is dynamic that alignment pieces carry out crawl
Make, realizes operation of feeding and discharging.In addition, by being removably installed consumptive material on each sander 33, can according to different shape or
The different consumptive material of the workpiece replacing of size may be adapted to the workpiece for processing different shape or size, applied widely.
Referring to Fig. 3, it is preferable that robot hand 3 includes connecting shaft 34, support frame 31, the fixed machine of at least one sander
Structure 32 and grasping mechanism.Wherein, for connecting with the arm of robot 2, support frame 31 is connect connecting shaft 34 with connecting shaft 34,
Each sander fixed mechanism 32 is removably installed on support frame 31, is mounted on polishing in each sander fixed mechanism 32
Machine 33.Grasping mechanism is mounted on support frame 31 and for product loading and unloading.
Preferably, it is configured at least one mounting plate on support frame 31, is separately installed with sander on each mounting plate and fixes
Mechanism 32.It is appreciated that the number of mounting plate is preferably adapted with the number of sander fixed mechanism 32.Each sander is fixed
Mechanism 32 includes a pair of of supporting plate and a pair of of clamping plate, wherein a pair of of supporting plate is removably installed in each installation by the first bolt
On plate, which is oppositely arranged and is spaced a predetermined distance therebetween, to realize the installation for limiting sander 33 from side
Position, and reserve between mounting plate the accommodating space of sander 33, additionally it is possible to prevent sander 33 from occurring during the grinding process
Undesirable lateral play, influences grinding effect.In addition, a pair of of clamping plate is removably installed in a pair of of supporting plate by the second bolt
On, which is oppositely arranged with mounting plate, the clamp port for being suitable for clamping sander 33 is formed between a pair of clamping plate, with reality
The radial position for now limiting sander 33, prevents sander 33 from undesirable rotation occurring during the grinding process, influences polishing effect
Fruit.Preferably, it is provided with the fastener for being suitable for holding out against each sander 33 on each mounting plate, realizes the axial direction of limitation sander 33
It is mobile, it avoids sander 33 that undesirable axial movement occurs, influences grinding effect.Fastener is preferably fastening bolt.It is logical
It crosses in lateral, radial direction and axial limiting sander 33, sander 33 is enable to be firmly secured to sander fixed mechanism 32
On, it avoids sander 33 and undesirable deflection or offset occurs during the grinding process, grinding effect is good.
Preferably, a pair of of clamping plate includes the first grip block and the second grip block.Wherein, the first grip block passes through the second spiral shell
Bolt is removably connect with a pair of of supporting plate, which is formed with the first arc clamping face, and the second grip block passes through third
Bolt is removably connect with the first grip block, which is formed with the second arc clamping face, the first arc clamping face
Clamp port is surrounded with the second arc clamping face.It is pressed from both sides by the way that the first grip block removably to be connect with a pair of of supporting plate, then by second
It holds plate to be detachably connected by third bolt and the first grip block, in this way, need to only remove when needing replacing sander 33
The replacement of sander 33 can be realized in second grip block, convenient and efficient, and production efficiency can be improved.In addition, being pressed from both sides by the first arc
It holds face and the second arc clamping face surrounds clamp port, that is, the shape of the clamp port and sander 33 are adapted, it can be achieved that polishing
Machine 33 it is more firm radially fixed.
Preferably, support frame 31 includes a pair of of the plate being oppositely arranged, connecting shaft 34 and crawl connecting plate.Wherein, even
Spindle 34 is connect with one of plate, and a pair of of plate is linked together by connecting column.In addition, each mounting plate and crawl connect
Fishplate bar is connected to the different edges of a pair of of plate, and the crawl head of grasping mechanism is mounted on crawl connecting plate.
Preferably, grasping mechanism is sucked type grasping mechanism 35, which includes the sucker being connected
351 and tracheae, sucker 351 forms the crawl head of grasping mechanism, and tracheae is successively fed through inner cavity and the connecting shaft of support frame 31
34 centre bore with negative pressure system to be connected to.It is appreciated that the quantity of sucker 351 can be set according to actual needs.Certainly, it grabs
Taking mechanism may be fixture either magnetic-type grasping mechanism.
Preferably, to keep the consumptive material on sander 33 readily replaceable, consumptive material can for example be beaten by way of velcro with each
Grinding machine 33 is bonded.Support plate 61 is also supported by by frame 11 in rack 1, is provided in the support plate 61 for removing sander
The removal mechanism 6 of consumptive material on 33 and for by consumptive material be fixed on sander 33 at least one replacement mechanism 7, these
Replacement mechanism 7 is used to consumptive material being fixed to sander 33.By setting removal mechanism 6 and replacement mechanism 7, sander is realized
The replacement of consumptive material on 33.In addition, being formed in support plate 61 for accepting the holding tank 8 for being removed consumptive material, which is leaned on
Nearly removal mechanism 6 is arranged, in this way, consumptive material can directly be fallen in holding tank 8 when removing consumptive material.
Referring to fig. 4, it is preferable that removal mechanism 6 includes pillar 62, first clamping piece 63, second intermediate plate 64 and folding driving
Mechanism 65.Wherein, pillar 62 is mounted in support plate 61, and first clamping piece 63 and second intermediate plate 64 are mounted on pillar 62,
Figure 4, it is seen that first clamping piece 63 is located at the lower section of second intermediate plate 64.Opening and closing driving mechanism 65 is supported simultaneously by pillar 62
For driving first clamping piece 63 and second intermediate plate 64 to do relative motion.In the present embodiment preferably, first clamping piece 63 is dynamic folder
Piece, second intermediate plate 64 are clamp piece, and first clamping piece 63 is slidably matched with pillar 62 so that first clamping piece 63 and second intermediate plate 64 it
Between formed be suitable for clamp consumptive material clip position 66.Specifically, opening and closing driving mechanism 65 is for driving first clamping piece 63 along close
Or the direction far from second intermediate plate 64 moves, so that first clamping piece 63 and second intermediate plate 64 are suitable for clamping or unclamping consumptive material.When
When needing replacing consumptive material, the arm of robot 2 is mobile and robot hand 3 is driven to overturn, until beating for consumptive material will be needed replacing
The overturning of grinding machine 33 is to suitable position, and the arm of robot 2 is toward the movement at the position of removal mechanism 6 and with motivation at this time
Device manpower pawl 3 is moved on the clip position 66 in removal mechanism 6, drives opening and closing driving mechanism 65, opening and closing driving mechanism at this time
65 promote first clamping piece 63 to move toward the direction close to second intermediate plate 64 up to clamping consumptive material at least partly, at this time robot 2
Arm can move back and forth until consumptive material is removed from sander 33, finally, the arm of robot 2 is toward far from removal mechanism 6
Direction it is mobile, meanwhile, opening and closing driving mechanism 65 promotes first clamping piece 63 to move toward the direction far from second intermediate plate 64, is removed
Consumptive material can fall in holding tank 8.Preferably, opening and closing driving mechanism 65 is cylinder.
Preferably, respectively consumptive material of the replacement mechanism 7 including fixed plate 71, above fixed plate 71 and suitable for installation consumptive material is put
The multiple guide rods 73 and flexible power mechanism 75 setting plate 72, being slidably matched with consumptive material placement plate 72.Wherein, fixed plate 71 by
Support plate 61 supports, and the piston rod of flexible power mechanism 75 is connect with consumptive material placement plate 72, and flexible power mechanism 75 is installed on branch
On fagging 61 and for driving consumptive material placement plate 72 to move along guide rod 73, that is, flexible power mechanism 75 drives consumptive material to place
Plate 72 is moved along the direction far from or close to fixed plate 71.When the consumptive material on sander 33 is removed, the arm band of robot 2
Mobile robot gripper 3 toward the direction movement close to replacement mechanism 7, in place when, drive flexible power mechanism 75, stretch power mechanism
75 promote the consumptive material placement plate 72 for being placed with consumptive material toward the direction movement far from fixed plate 71 until consumptive material conforms to sander 33
On, the arm of robot 2 is moved toward the direction far from replacement mechanism 7 at this time, meanwhile, flexible power mechanism 75 promotes consumptive material to place
Plate 72 is moved along the direction close to fixed plate 71 until in place.To avoid consumptive material placement plate 72, consumptive material can be sent out in the process of movement
Raw undesirable offset, is equipped with multiple guide rods 73 in fixed plate 71, and consumptive material placement is enclosed between each guide rod 73
Area, consumptive material are placed in consumptive material rest area, and guide rod 73 is at least provided with three, and each guide rod 73 is evenly distributed on fixation
On plate 71, that is, each guide rod 73 is arranged evenly around consumptive material placement plate 72, in this way, under the guiding role of each guide rod 73,
It can avoid consumptive material and deviate consumptive material rest area, guarantee that consumptive material accurately fits on sander 33.Preferably, stretch power mechanism 75
For cylinder, the cylinder barrel of cylinder is for example mounted in fixed plate 71.
Preferably, the shape of consumptive material placement plate 72 and the shape of consumptive material are corresponding, and consumptive material placement plate 72 for example can be rounded
Or it is rectangular etc..In this way, consumptive material of different shapes can be placed according to actual needs, make the replaceable different shape of sander 33
Consumptive material it is applied widely so that sander 33 is suitable for the workpiece of different shapes of polishing.
Preferably, the notches of the predetermined notch length of several settings are offered in fixed plate 71, each guide rod 73 is respectively and respectively
Notch cooperation.In use, position of each guide rod 73 in fixed plate 71 can be adjusted flexibly according to the size of consumptive material
It sets, convenient for placing various sizes of consumptive material, flexibly and easily.Preferably, the top of each guide rod 73 is each equipped with limit film 74, this
Sample setting, when by the past direction movement far from fixed plate 71 of the consumptive material in consumptive material placement plate 72 in place, each limit film 74 is supported
Consumptive material in top, meanwhile, the arm of robot 2 is mobile and drives robot hand 3 straight at the consumptive material of top
Extremely a piece of consumptive material in top is conformed on sander 33, at this time due to the counter-active effect of limit film 74, can avoid it
His consumptive material is pulled away.
Preferably, 2 polishing system of robot further includes the controller being installed in rack 1, and the controller is for controlling
The movement of the arm of robot 2, grasping mechanism, opening and closing driving mechanism 65 and flexible power mechanism 75.In addition, matching in rack 1
It is equipped with the control panel 9 being electrically connected with the controller.
Above embodiment is only preferred embodiments of the present invention, cannot be protected with this to limit the utility model
Range, the variation of any unsubstantiality that those skilled in the art is done on the basis of the utility model and replacement belong to
In the utility model range claimed.
Claims (10)
1. a kind of robot polishing system characterized by comprising
Rack；
Robot, the robot are mounted on the rack；The end of the arm of the robot is equipped with robot hand,
The robot hand is configured with grasping mechanism and at least one sander for workpiece loading and unloading, on each sander
Suitable for installing consumptive material；
For placing the processing groove of workpiece to be machined, the processing groove is mounted on the rack and sets close to the robot
It sets, the mold for fixing workpiece to be machined is provided in the processing groove；
Material frame, the material frame are mounted on the rack and are arranged close to the processing groove.
2. robot polishing system as described in claim 1, which is characterized in that the robot hand includes: to be used for and institute
State the connecting shaft of the arm connection of robot；With the support frame of the connection axis connection；It is removably installed in support frame as described above
On at least one sander fixed mechanism, each sander fixed by the sander fixed mechanism respectively；The crawl
Mechanism is mounted on support frame as described above.
3. robot polishing system as claimed in claim 2, which is characterized in that
At least one mounting plate is configured on support frame as described above；The fixed machine of the sander is separately installed on each mounting plate
Structure；
Each sander fixed mechanism includes: a pair of of the supporting plate being removably installed on the mounting plate, the pair of branch
Plate is oppositely arranged and is spaced a predetermined distance therebetween；A pair of of the clamping plate being removably installed on the pair of supporting plate, it is described
A pair of of clamping plate is oppositely arranged with the mounting plate, and the clamp port for being suitable for clamping the sander is formed between the pair of clamping plate.
4. robot polishing system as claimed in claim 3, which is characterized in that support frame as described above includes: one be oppositely arranged
To plate, the connecting shaft is connect with plate described in one of them；The connecting column being connected between the pair of plate；It is each described
Mounting plate is connected to the edge of the pair of plate；The edge of the pair of plate is also connected with crawl connecting plate, described
The crawl head of grasping mechanism is mounted on the crawl connecting plate.
5. robot polishing system as claimed in claim 4, which is characterized in that the grasping mechanism is sucked type gripper
Structure, the sucked type grasping mechanism include the sucker and tracheae being connected, and the sucker forms the gripping head of the grasping mechanism
Portion, the tracheae are fed through the inner cavity of support frame as described above and the centre bore of the connecting shaft successively to be connected to negative pressure system.
6. the robot polishing system as described in any one of claims 1 to 5, which is characterized in that the consumptive material with it is each described
Sander is bonded, and is also supported by support plate by frame in the rack, is provided in the support plate for removing described beat
The removal mechanism of consumptive material on grinding machine, and for consumptive material to be fixed at least one replacement mechanism on the sander, institute
It states and is also formed in support plate for accepting the holding tank for being removed consumptive material, the holding tank is arranged close to the removal mechanism.
7. robot polishing system as claimed in claim 6, which is characterized in that the removal mechanism includes: pillar, the branch
Column is mounted in the support plate；The first clamping piece and second intermediate plate being mounted on the pillar；For driving described first
The opening and closing driving mechanism that intermediate plate and the second intermediate plate do relative motion, so that the first clamping piece and the second intermediate plate are suitable for
Clamp or unclamp the consumptive material.
8. robot polishing system as claimed in claim 7, which is characterized in that each replacement mechanism includes: by the branch
The fixed plate of fagging support；Consumptive material placement plate above the fixed plate and suitable for installation consumptive material is placed with the consumptive material
Multiple guide rods that plate is slidably matched, and the flexible power mechanism that the driving consumptive material placement plate is moved along the guide rod.
9. robot polishing system as claimed in claim 8, which is characterized in that it is pre- to offer multiple settings in the fixed plate
Determine the notch of notch length, each guide rod cooperates with each notch respectively, and the top of each guide rod is each equipped with
Limit film.
10. robot polishing system as claimed in claim 8, which is characterized in that further include: the control being installed in rack
Device, the controller are used to control the arm of the robot, the grasping mechanism, the opening and closing driving mechanism and described flexible
The movement of power mechanism；Control panel is configured in the rack, the control panel is electrically connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820209705.8U CN208262525U (en) | 2018-02-05 | 2018-02-05 | A kind of robot polishing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820209705.8U CN208262525U (en) | 2018-02-05 | 2018-02-05 | A kind of robot polishing system |
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| CN208262525U true CN208262525U (en) | 2018-12-21 |
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| CN201820209705.8U Active CN208262525U (en) | 2018-02-05 | 2018-02-05 | A kind of robot polishing system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434607A (en) * | 2018-12-29 | 2019-03-08 | 福州鸿基自动化设备有限公司 | Workpiece flash removed machine |
| CN109848842A (en) * | 2019-03-28 | 2019-06-07 | 上海爱仕达机器人有限公司 | It is a kind of to change sand technique from move sand platform |
| CN111318925A (en) * | 2020-04-08 | 2020-06-23 | 广东长盈精密技术有限公司 | Automatic grinding machine |
| CN113858046A (en) * | 2021-09-30 | 2021-12-31 | 东莞市钜铧机械有限公司 | Automatic abrasive paper replacing mechanism of polishing manipulator |
-
2018
- 2018-02-05 CN CN201820209705.8U patent/CN208262525U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434607A (en) * | 2018-12-29 | 2019-03-08 | 福州鸿基自动化设备有限公司 | Workpiece flash removed machine |
| CN109848842A (en) * | 2019-03-28 | 2019-06-07 | 上海爱仕达机器人有限公司 | It is a kind of to change sand technique from move sand platform |
| CN111318925A (en) * | 2020-04-08 | 2020-06-23 | 广东长盈精密技术有限公司 | Automatic grinding machine |
| CN113858046A (en) * | 2021-09-30 | 2021-12-31 | 东莞市钜铧机械有限公司 | Automatic abrasive paper replacing mechanism of polishing manipulator |
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