CN104440470B - Multi-workstation single-robot abrasive-belt-type polishing machine - Google Patents
Multi-workstation single-robot abrasive-belt-type polishing machine Download PDFInfo
- Publication number
- CN104440470B CN104440470B CN201410742167.5A CN201410742167A CN104440470B CN 104440470 B CN104440470 B CN 104440470B CN 201410742167 A CN201410742167 A CN 201410742167A CN 104440470 B CN104440470 B CN 104440470B
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- China
- Prior art keywords
- swing
- bearing
- vibration
- slide unit
- headstock
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Classifications
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
-
- 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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
- B24B55/08—Dust extraction equipment on grinding or polishing machines specially designed for belt grinding machines
Abstract
The invention discloses a multi-workstation single-robot abrasive-belt-type polishing machine. The multi-workstation single-robot abrasive-belt-type polishing machine comprises a pedestal and a machine head bracket arranged on the pedestal, wherein at least two polishing machine heads are arranged on the machine head bracket; a clamp robot is arranged on one side of the machine head bracket; each polishing machine head comprises an abrasive belt driving assembly, an abrasive belt oscillating assembly and an abrasive belt tensioning assembly, which are integrated on the same machine head base. The multi-workstation single-robot abrasive-belt-type polishing machine adopts a compact cascading arrangement structure for replacing a fan-shaped arrangement structure which occupies a large area, the stroke for the robot to transfer among workstations is reduced, the production efficiency is improved and the occupied area of the robot is reduced; through the novel polishing machine heads, the polishing quality is improved, the operating difficulty is reduced and the investment recovery of equipment is accelerated, so that the production cost is reduced and economic benefits are increased.
Description
Technical field
The present invention relates to a kind of belt sander, belong to buffing machine equipment technical field, refer in particular to a kind of multistation list
Robot belt sander.
Background technology
Traditional polishing typically adopts manual hand manipulation, and that is, operator's offhand is thrown close to buffing machine
Light, this mode high labor intensive, efficiency is low, and operator is easily subject to dust pollution.Then, replaced manually using robot
Robot belt sander arise at the historic moment, this kind of buffing machine preferably solves that line style is complicated, the surface of multi items part is beaten
The problems such as grind and reduce operator's labor intensity and be subject to dust pollution.But, current robot belt sander no matter single-station,
Multistation all haves such problems as that grinding efficiency is relatively low, equipment investment length return period and polishing effect is not good enough, especially existing many
Adopting plane sector layout station belt sander, it is long, thus leading to low production efficiency that robot shifts stroke between station more
Under, and machine overall dimensions and floor space are larger.
Content of the invention
It is an object of the invention to overcoming shortcoming of the prior art and deficiency, provide a kind of multistation list robot abrasive band
Buffing machine, this buffing machine adopts compact stacked arrangement to replace the big fan-shaped arrangement of floor space, shortens machine
Transfer stroke between station for the people, improves production efficiency, reduces footprint area, and acceleration equipment investment is reclaimed, thus dropping
Low production cost, increase economic efficiency.
To achieve these goals, the present invention realizes according to technical scheme below:
A kind of multistation list robot belt sander, including organic block and be arranged at head rack on support, described
At least two polisher heads are provided with head rack, and the side of head rack is provided with a fixture robot, wherein, each
Polisher head includes abrasive band drive assembly, abrasive band vibration assembly, abrasive band tensioning assembly, and above-mentioned all assemblies are integrated in same machine
On headstock.
Further, described head rack is in integrally " mouth " glyph framework structure, and the upper beam of this frame structure and underbeam are respectively
It is symmetrically arranged with two polisher heads, aforementioned four polisher head also forms " mouth " font arrangement.
Further, described each polisher head is provided with a headstock, the side of headstock be provided with abrasive band drive assembly,
Abrasive band vibration assembly, abrasive band tensioning assembly and the polishing abrasive belt around above-mentioned assembly, the couple positioned opposite of headstock has headstock
Swing assembly.
Further, described abrasive band drive assembly includes motor, drivewheel, driven pulley and driving wheel, wherein, drives
Motor is fixed on headstock, and drivewheel is fixed on the line shaft of motor, and driven pulley and driving wheel pass through a power transmission shaft
Coaxially connected, this power transmission shaft is fixed on headstock by driving bearing and bearing holder (housing, cover), and driven pulley passes through driving belt and master
Driving wheel is in transmission connection, and the power output of motor passes to driving wheel by drivewheel and driven pulley.
Further, described abrasive band vibration assembly include vibration motor, eccentric rotating disk, vibration two connecting rods, vibration bearing and
Oscillation wheel, wherein, vibration motor is fixed on headstock, and eccentric rotating disk is connected and has one with the power eccentric shaft of vibration motor
Bar line guide-track groove, a connecting rod of vibration two connecting rods is connected with the guide-track groove slide fit of eccentric rotating disk, and another connecting rod is with vibration bearing even
Connect cooperation, vibration bearing is fixed on the shell of vibration motor by vibrating bearing and bearing holder (housing, cover), and oscillation wheel is arranged at vibration
In seat, the power output of vibration motor is transformed into shaking up and down of oscillation wheel by eccentric rotating disk, vibration two connecting rods and vibration bearing
Swing.
Further, described abrasive band tensioning assembly includes tensioning cylinder, slide unit bearing and tensioning wheel, wherein, tensioning cylinder
It is fixed on headstock, slide unit bearing is fixedly connected with the line shaft of tensioning cylinder, tensioning wheel is arranged in sliding support, tensioning
The power output of cylinder is transformed into the movable of tensioning wheel by slide unit bearing.
Further, described polishing abrasive belt is centered around on above-mentioned driving wheel, oscillation wheel and tensioning wheel by contact wheel and support roller.
Further, described headstock swing assembly includes swing base, swinging axle, swing part and swing
Part, wherein, swinging base is in integrally hollow box like structure, and swinging axle is arranged at swing bottom by oscillation bearing and bearing holder (housing, cover)
In seat and one end of swinging axle is fixedly connected with headstock, the part that swings is in transmission connection with swinging axle respectively, swing
Part is in transmission connection with oscillation bearing and bearing holder (housing, cover).
Further, described left swing dynamic component is arranged at the side swinging base, and it includes left oscillating cylinder, left swing is moved and slided
Platform and left swing connecting bar, wherein, left oscillating cylinder is arranged at the side swinging base, and the dynamic slide unit of left swing is dynamic with left oscillating cylinder
Power axle is fixedly connected, and one end of left swing connecting bar is fixedly connected with swinging axle, and the other end moves slide unit Contact Transmission with left swing and is connected；
Described right tilting member is arranged at the opposite side swinging base, and it includes right oscillating cylinder, right swing slide unit and right swing even
Bar, wherein, right oscillating cylinder is arranged at the opposite side swinging base, and right swing slide unit is fixing with the line shaft of right oscillating cylinder even
Connect, one end of right swing connecting bar is fixedly connected with swinging axle, the other end is connected with right swing slide unit Contact Transmission.
Further, described swing part is arranged at the inside swinging base, and it includes swing cylinder and front
Swing slide unit afterwards, wherein, swing cylinder is fixed in swing base, and swing slide unit is movably set in swing base
And it is fixedly connected with the line shaft of swing cylinder, oscillation bearing and bearing holder (housing, cover) are fixed in this swing slide unit.
Further, described buffing machine is additionally provided with workpiece handling components, and this workpiece handling components includes polished workpiece
Workpiece slide tray and rail plate and the suction corresponding to workpiece slide tray after polishing after slide tray and rail plate, polishing
Dirt structure.
Compared with prior art, its advantage is the present invention:
The present invention adopts compact stacked arrangement to replace the big fan-shaped arrangement of floor space, shortens robot
Transfer stroke between station, improves production efficiency, reduces footprint area, and passes through novel polishing head, improves
Quality of finish, reduces operation easier, and acceleration equipment investment is reclaimed, thus reduce production cost, increase economic efficiency.
In order to be able to the apparent understanding present invention, illustrate the specific embodiment of the present invention below with reference to brief description.
Brief description
Fig. 1 is the overlooking the structure diagram of the present invention.
Fig. 2 is the side structure schematic diagram of the present invention.
Fig. 3 is one of perspective view of polisher head in the present invention.
Fig. 4 is two of the perspective view of polisher head in the present invention.
Fig. 5 is the cross section structure diagram of Fig. 3.
Specific embodiment
As shown in Fig. 1 is to 5, multistation list robot of the present invention belt sander, including organic block 1 and be arranged at machine
Head rack 11 on seat, described head rack 11 is overall to be in " mouth " glyph framework structure, the upper beam 111 of this frame structure and under
Beam 112 is respectively symmetrically and is provided with two polisher heads, and aforementioned four polisher head 31,32,33,34 also forms " mouth " font arrangement
Structure, and the side of head rack 11 is provided with a fixture robot 2.
Above-mentioned each polisher head is provided with a headstock 41, the side of headstock 41 be provided with abrasive band drive assembly 42,
Abrasive band vibration assembly 43, abrasive band tensioning assembly 44 and the polishing abrasive belt 45 around above-mentioned assembly, the couple positioned opposite of headstock 41
Headstock is had to swing assembly 5 and rotation assembly 6.
Described abrasive band drive assembly 42 includes motor 421, drivewheel 422, driven pulley 423 and driving wheel 424, its
In, motor 421 is fixed on headstock 41, and drivewheel 422 is fixed on the line shaft of motor 421, driven pulley 423
Coaxially connected by a power transmission shaft 425 with driving wheel 424, this power transmission shaft 425 is fixed on head by driving bearing and bearing holder (housing, cover)
On seat 1, and driven pulley 423 is in transmission connection with drivewheel 422 by driving belt, and the power output of motor 421 passes through master
Driving wheel 422 and driven pulley 423 pass to driving wheel 424.
Described abrasive band vibration assembly 43 includes vibration motor 431, eccentric rotating disk 432, vibration two connecting rods 433, vibration
Seat 434 and oscillation wheel 435, wherein, vibration motor 431 is fixed on headstock 41, eccentric rotating disk 432 and vibration motor 431
Power eccentric shaft connects and has a line guide-track groove 4321, a connecting rod of vibration two connecting rods 433 and the guide rail of bias rotating disk 432
Groove slide fit connects, and another connecting rod is connected cooperation with vibration bearing 434, and vibration bearing 434 is fixed by vibrating bearing and bearing holder (housing, cover)
On the shell of vibration motor 431, oscillation wheel 435 is arranged in vibration bearing 434, and the power output of vibration motor 431 is passed through
Eccentric rotating disk 432, vibration two connecting rods 433 and vibration bearing 434 are transformed into the vibration up and down of oscillation wheel 435 so that polishing abrasive belt
Whole surface sand grains can be fully used.
Described abrasive band tensioning assembly 44 includes tensioning cylinder 441, slide unit bearing 442 and tensioning wheel 443, wherein, tensioning
Cylinder 441 is fixed on headstock 41, and slide unit bearing 442 is fixedly connected with the line shaft of tensioning cylinder 441, and tensioning wheel 443 sets
It is placed in sliding support 442, the power output of tensioning cylinder 441 is transformed into moving in front and back of tensioning wheel 443 by slide unit bearing 442
Dynamic.When changing polishing abrasive belt, tensioning cylinder drives slide unit bearing to reclaim, and abrasive band relaxes and comes off, after more finishing changing polishing abrasive belt, tensioning
Cylinder drives slide unit bearing to stretch out, thus strutting polishing abrasive belt again.
Described polishing abrasive belt 45 passes through contact wheel 451 and support roller 452 is centered around above-mentioned driving wheel 424, oscillation wheel 435 and opens
On bearing up pulley 443.
Described headstock swings that assembly 5 includes swing base 51, swinging axle 52, swing part 53,54 and in front and back
Tilting member 55, wherein, swinging base 51 overall is in hollow box like structure, and swinging axle 52 passes through oscillation bearing and bearing holder (housing, cover)
521 be arranged at swing base 51 in and one end of swinging axle 52 be fixedly connected with headstock 41, the part 53,54 that swings distinguish
It is in transmission connection with swinging axle 52, swing part 55 is in transmission connection with oscillation bearing and bearing holder (housing, cover).
Further, described left swing dynamic component 53 be arranged at swing base 51 side, its include left oscillating cylinder 531,
Left swing moves slide unit 532 and left swing connecting bar 533, and wherein, left oscillating cylinder 531 is arranged at the side swinging base, and left swing is moved and slided
Platform 532 is fixedly connected with the line shaft of left oscillating cylinder 531, and one end of left swing connecting bar 533 is fixedly connected with swinging axle 52, separately
One end is moved slide unit 532 Contact Transmission with left swing and is connected；Described right tilting member 54 is arranged at the opposite side swinging base, and it includes
There are right oscillating cylinder 541, right swing slide unit 542 and right swing connecting bar 543, wherein, right oscillating cylinder 541 is arranged at swing base
Opposite side, right swing slide unit 542 is fixedly connected with the line shaft of right oscillating cylinder 541, one end of right swing connecting bar 543 and pendulum
Being fixedly connected of moving axis 52, the other end is connected with right swing slide unit 542 Contact Transmission.Described swing part 55 is arranged at pendulum
The inside of dynamic base 51, it includes swing cylinder 551 and swing slide unit 552, wherein, swing cylinder 551
It is fixed in swing base 51, swing slide unit 552 is movably set in swing base 51 and itself and swing cylinder 551
Line shaft be fixedly connected, oscillation bearing and bearing holder (housing, cover) 521 are fixed in this swing slide unit 552.
In fixture robot clamping workpiece bruting process, when workpiece lateral thrust to the left is more than the output of right oscillating cylinder
During power, headstock promotes right swing slide block to pull right oscillating cylinder so that headstock is swung to the left, and lateral thrust disappears workpiece to the left
Afterwards, headstock returns to initial position in right swing under the pulling force effect that slide block is with right oscillating cylinder.When workpiece laterally pushes away to the right
When power is more than left oscillating cylinder power output, headstock promotes left swing movable slider to pull left oscillating cylinder so that headstock is swung to the right,
After workpiece lateral thrust disappearance to the right, headstock returns to initial bit under the pulling force effect with left oscillating cylinder for the left swing movable slider
Put.
In fixture robot clamping workpiece bruting process, when workpiece lateral thrust backward is more than the defeated of swing cylinder
When exerting oneself, headstock promotes swing cylinder to make headstock swing backward, after workpiece lateral thrust backward disappears, headstock
Return to initial position under the thrust of swing cylinder.
The power output of above-mentioned cylinder all can be adjusted by pressure regulator valve, with the operating pressure required for reaching.
Further, described buffing machine is additionally provided with workpiece handling components, and this workpiece handling components includes polished workpiece
Workpiece slide tray and rail plate and the suction corresponding to workpiece slide tray after polishing after slide tray and rail plate, polishing
Dirt structure.
The fixture robot of the present invention drives polished workpiece to press predetermined movement locus polishing, this predetermined movement locus
Can be designed according to actual requirement, such as can be by " mouth " glyph framework structure during the transfer of fixture robot in present embodiment
Diagonal motion, its stroke shorten；And by new polisher head, improve polishing speed and quality of finish, save
Production cost, improves economic benefit.
The invention is not limited in above-mentioned embodiment, if to the various changes or modification of the present invention without departing from the present invention
Spirit and scope, if these are changed and within the scope of modification belongs to the claims in the present invention and equivalent technologies, then the present invention
It is also intended to comprise these changes and modification.
Claims (9)
1. a kind of multistation list robot belt sander, including organic block and be arranged at head rack on support, its feature
It is: at least two polisher heads are provided with described head rack, and the side of head rack is provided with a fixture robot,
Wherein, each polisher head is provided with a headstock, the side of headstock is provided with abrasive band drive assembly, abrasive band vibrates assembly,
Abrasive band tensioning assembly and the polishing abrasive belt around above-mentioned assembly, the couple positioned opposite of headstock has headstock to swing assembly；
And above-mentioned abrasive band vibration assembly includes vibration motor, eccentric rotating disk, vibration two connecting rods, vibration bearing and oscillation wheel, its
In, vibration motor is fixed on headstock, and eccentric rotating disk is connected with the power eccentric shaft of vibration motor and has a line guide rail
Groove, a connecting rod of vibration two connecting rods is connected with the guide-track groove slide fit of eccentric rotating disk, and another connecting rod is connected cooperation with vibration bearing, shakes
Swing bearing and be fixed on the shell of vibration motor by vibrating bearing and bearing holder (housing, cover), oscillation wheel is arranged in vibration bearing, vibration
The power output of motor is transformed into the vibration up and down of oscillation wheel by eccentric rotating disk, vibration two connecting rods and vibration bearing.
2. according to claim 1 multistation list robot belt sander it is characterised in that: described head rack is in integrally
" mouth " glyph framework structure, the upper beam of this frame structure and underbeam are respectively symmetrically and are provided with two polisher heads, and aforementioned four is thrown
Light head also forms " mouth " font arrangement.
3. according to claim 1 multistation list robot belt sander it is characterised in that: described abrasive band drive assembly bag
Motor, drivewheel, driven pulley and driving wheel are included, wherein, motor is fixed on headstock, and drivewheel is fixed on drive
On the line shaft of galvanic electricity machine, driven pulley and driving wheel are coaxially connected by a power transmission shaft, and this power transmission shaft passes through driving bearing and axle
Bearing sleeve is fixed on headstock, and driven pulley is connected with capstan drive by driving belt, and the power output of motor is led to
Cross drivewheel and driven pulley passes to driving wheel.
4. according to claim 1 multistation list robot belt sander it is characterised in that: described abrasive band tensioning assembly bag
Tensioning cylinder, slide unit bearing and tensioning wheel are included, wherein, tensioning cylinder is fixed on headstock, slide unit bearing and tensioning cylinder
Line shaft be fixedly connected, tensioning wheel is arranged in sliding support, and the power output of tensioning cylinder is transformed into by slide unit bearing
Tensioning wheel movable.
5. according to claim 4 multistation list robot belt sander it is characterised in that: described polishing abrasive belt pass through connect
Wheel trolley and support roller are centered around on above-mentioned driving wheel, oscillation wheel and tensioning wheel.
6. according to the arbitrary described multistation list robot belt sander of claim 1 to 5 it is characterised in that: described headstock
Swing assembly includes swing base, swinging axle, swing part and swing part, and wherein, swinging base is in integrally
Hollow box like structure, swinging axle is arranged at by oscillation bearing and bearing holder (housing, cover) and swings in base and one end of swinging axle and head
Seat is fixedly connected, and the part that swings is in transmission connection with swinging axle respectively, and swing part is passed with oscillation bearing and bearing holder (housing, cover)
It is dynamically connected.
7. according to claim 6 multistation list robot belt sander it is characterised in that: the setting of described left swing dynamic component
In the side swinging base, it includes left oscillating cylinder, left swing moves slide unit and left swing connecting bar, and wherein, left oscillating cylinder sets
Be placed in swing base side, left swing move slide unit be fixedly connected with the line shaft of left oscillating cylinder, one end of left swing connecting bar and
Swinging axle is fixedly connected, and the other end moves slide unit Contact Transmission with left swing and is connected；
Described right tilting member is arranged at the opposite side swinging base, and it includes right oscillating cylinder, right swing slide unit and right pendulum
Dynamic connecting rod, wherein, right oscillating cylinder is arranged at the opposite side swinging base, and right swing slide unit is solid with the line shaft of right oscillating cylinder
Fixed connection, one end of right swing connecting bar is fixedly connected with swinging axle, and the other end is connected with right swing slide unit Contact Transmission.
8. according to claim 6 multistation list robot belt sander it is characterised in that: described swing part sets
It is placed in the inside swinging base, it includes swing cylinder and swing slide unit, and wherein, swing cylinder is fixed on
Swing in base, swing slide unit is movably set in swing base and it is fixing with the line shaft of swing cylinder even
Connect, oscillation bearing and bearing holder (housing, cover) are fixed in this swing slide unit.
9. according to claim 1 multistation list robot belt sander it is characterised in that: described buffing machine is additionally provided with
Workpiece handling components, after this workpiece handling components includes polished workpiece slide tray and rail plate, polishing, workpiece slides
The dust absorbing structure of workpiece slide tray after pallet and rail plate and corresponding polishing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410742167.5A CN104440470B (en) | 2014-12-08 | 2014-12-08 | Multi-workstation single-robot abrasive-belt-type polishing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410742167.5A CN104440470B (en) | 2014-12-08 | 2014-12-08 | Multi-workstation single-robot abrasive-belt-type polishing machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104440470A CN104440470A (en) | 2015-03-25 |
| CN104440470B true CN104440470B (en) | 2017-01-18 |
Family
ID=52887631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410742167.5A Active CN104440470B (en) | 2014-12-08 | 2014-12-08 | Multi-workstation single-robot abrasive-belt-type polishing machine |
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| CN (1) | CN104440470B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105252385B (en) * | 2015-11-11 | 2017-08-22 | 广东博科数控机械有限公司 | A kind of abrasive band drives rearmounted multistation robot belt sander |
| CN105945687B (en) * | 2016-06-29 | 2018-06-05 | 重庆大学 | A kind of rifle receiver holotype face robot polishing processing device |
| CN106826482B (en) * | 2016-12-12 | 2019-05-31 | 广东博科数控机械有限公司 | A kind of double automatic feedings of belt sander and belt sander using the device |
| CN106584246B (en) * | 2016-12-12 | 2019-05-31 | 广东博科数控机械有限公司 | A kind of double-station flax wheel polishing machine and polishing method with double automatic feedings |
| CN107336119A (en) * | 2017-07-04 | 2017-11-10 | 苏州亨达尔工业材料有限公司 | A kind of Double-side Synchronous burnishing device suitable for circular sheet material |
| CN107243805A (en) * | 2017-07-13 | 2017-10-13 | 哈尔滨工业大学深圳研究生院 | A kind of belt sander wabbler mechanism and support meanss |
| TWI681845B (en) * | 2018-11-15 | 2020-01-11 | 財團法人工業技術研究院 | Method and system for controlling polishing and grinding |
| CN109848825B (en) * | 2019-02-20 | 2023-12-05 | 上海爱仕达机器人有限公司 | Polishing workstation and polishing method thereof |
| CN115256179B (en) * | 2022-07-28 | 2023-04-07 | 湖南有源智能制造有限公司 | Multi-station polishing machine |
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| US5241792A (en) * | 1991-02-08 | 1993-09-07 | Yamaha Hatsudoki Kabushiki Kaisha | Method and apparatus for surface finishing |
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|---|---|
| CN104440470A (en) | 2015-03-25 |
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Address after: 519100 Guangdong, Doumen, District, Mount Everest, West Road, room 1, No. 290 Patentee after: Guangdong Boke CNC Machinery Co. Ltd. Address before: 528306 Guangdong, Shunde District, Ronggui, China, the mouth of the neighborhood Alex Hua Tian Road, a layer of the first floor of the 11 of the number of 101, Patentee before: FOSHAN BOKE NUMERICAL CONTROL MACHINERY CO., LTD. |
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