CN102284795B - Hybrid five-axis laser cutting machine - Google Patents

Hybrid five-axis laser cutting machine Download PDF

Info

Publication number
CN102284795B
CN102284795B CN 201110233707 CN201110233707A CN102284795B CN 102284795 B CN102284795 B CN 102284795B CN 201110233707 CN201110233707 CN 201110233707 CN 201110233707 A CN201110233707 A CN 201110233707A CN 102284795 B CN102284795 B CN 102284795B
Authority
CN
China
Prior art keywords
described
supporting plate
laser cutting
direction
guide rail
Prior art date
Application number
CN 201110233707
Other languages
Chinese (zh)
Other versions
CN102284795A (en
Inventor
周鹏飞
胡金龙
翟东升
Original Assignee
江苏扬力数控机床有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏扬力数控机床有限公司 filed Critical 江苏扬力数控机床有限公司
Priority to CN 201110233707 priority Critical patent/CN102284795B/en
Publication of CN102284795A publication Critical patent/CN102284795A/en
Application granted granted Critical
Publication of CN102284795B publication Critical patent/CN102284795B/en

Links

Abstract

The invention discloses a hybrid five-axis laser cutting machine and relates to a laser cutting machine with a parallel and hybrid five-axis driving mechanism. The hybrid five-axis laser cutting machine has the characteristics of more flexible structure, larger rigidity, smaller inertia and higher precision and comprises a machine body, an X-direction guide rail, a cross beam, a laser cutting head and a controller, wherein a Y-direction guide rail is arranged on the side surface of the cross beam, and the laser cutting head is movably connected with the Y-direction guide rail on the side surface of the cross beam through a hybrid device; and the hybrid device comprises a Y supporting plate mechanism, a Z supporting plate mechanism, a driving frame, an annular support frame, a pair of driving block mechanisms and a pair of connecting rods. The five-axis motion of the conventional laser cutting head is realized through the hybrid device. As for the hybrid five-axis laser cutting machine, the concept is ingenious, all parts have flexible structures, the rigidity is great, the inertia is small and the motion precision can be further ensured. The laser cutting machine is a product formed by combining the machine tool technology, the robot technology and the numerical control technology, and compared with a traditional series machine tool, the laser cutting machine is simple in structure and is complex and accurate in mathematical operation. The laser cutting machine has the outstanding advantages of large rigidity, fast response, high precision, strong applicability, high technical added value and the like.

Description

Five laser cutting machines of a kind of series-parallel connection

Technical field

The present invention relates to the driving mechanism of laser cutting machine, relate in particular to the laser cutting machine of a kind of parallel connection, five driving mechanisms of hybrid type.

Background technology

Plurality of advantages such as laser cutting parameter is fast owing to its speed, joint-cutting is narrow, the heat affected area is little, joint-cutting edge-perpendicular degree is good, side cut is smooth, the cutting material scope is wide are used more and more wider in a lot of fields.Along with the development of laser application technique, the laser cutting of three-dimensional space curve with its advanced person, flexibly, characteristics such as adaptability is strong, numerous areas such as auto industry abroad, aerospace industry have all been obtained widely and have been used.The cutting of use three-dimensional laser not only can be saved model and tooling device, has also shortened the production preparatory period greatly.

Present most of three-dimensional laser cutting machine, the main frame transmission mechanism is series system.The cutting head movement locus control of serial mechanism all is to be based upon in the cartesian coordinate system, the mathematical operation of action control procedure is simple, but complicated in mechanical structure, heaviness, the equipment dynamic responding speed is poor, part life is low, no matter light beam transmits in which way, all needs expensive three-dimensional laser cutting head.

Summary of the invention

The present invention is directed to above problem, provide the series-parallel connection that a kind of structure is dexterousr, rigidity is bigger, inertia is littler, precision is higher five laser cutting machines.

Technical scheme of the present invention is: crossbeam 2, laser cutting head 9 and controller that described laser cutting machine comprises body 1, be located at X-direction guide rail 1a on the body 1, flexibly connect with X-direction guide rail 1a, be provided with Y-direction guide rail 2a in the side of described crossbeam 2, described laser cutting head 9 flexibly connects by the Y-direction guide rail 2a of synchronous hybrid device and described crossbeam 2 sides;

Described synchronous hybrid device comprises Y supporting plate 3 mechanisms, Z supporting plate 4 mechanisms, bogie 7, ring holder 8, a pair of drive block 5 mechanisms and pair of links 6;

Described Y supporting plate 3 mechanisms comprise Y supporting plate 3 and Y supporting plate drive motors; A secondary Y-direction guide-track groove 3b is established at the back side of described Y supporting plate 3, a secondary Z-direction guide rail 3a is established in the front; Described Y supporting plate 3 flexibly connects by described one secondary Y-direction guide-track groove 3b and described Y-direction guide rail 2a; Described Y supporting plate drive motors is located on the described Y supporting plate 3, the described Y supporting plate 3 of driving is done the Y-direction straight reciprocating motion with respect to described crossbeam 2;

Described Z supporting plate 4 mechanisms comprise Z supporting plate 4 and Z supporting plate drive motors; A secondary Z-direction guide-track groove 4b is established at the back side of described Z supporting plate 4, the secondary guide rail 4a of Y-direction and support 4c are established in the front; Described Z supporting plate 4 flexibly connects by described one secondary Z-direction guide-track groove 4b and described one secondary Z-direction guide rail 3a; Described Z supporting plate drive motors is located on the described Z supporting plate 4, the described Z supporting plate 4 of driving is done the Z-direction straight reciprocating motion with respect to described Y supporting plate 3;

Described a pair of drive block 5 mechanisms comprise a pair of drive block 5 and drive block drive motors; Described drive block 5 is provided with the secondary guide-track groove of Y-direction; Described drive block 5 flexibly connects by the secondary guide-track groove of described Y-direction and the secondary guide rail 4a of described Y-direction; Described drive block drive motors is located on the described drive block 5, the described drive block 5 of driving is done the Y-direction linear reciprocating motion with respect to described Z supporting plate 4;

The two side ends that the two side ends of the Y-direction of described ring holder 8 is respectively equipped with hinge pin one 8a, directions X is respectively equipped with pin-and-hole 8b, and described ring holder 8 flexibly connects by described hinge pin one 8a and described support 4c;

Described bogie 7 integral body are the L shape, and establish for the annular Connection Block that laser cutting head is installed the bottom, and the two side ends of described annular Connection Block directions X is respectively equipped with hinge pin two 7b; Described hinge pin two 7b and described pin-and-hole 8b flexibly connect;

One end of described pair of links 6 flexibly connects by universal hinge structure and described drive block 5, and the other end is connected the side of described bogie 7 top Y-directions by universal hinge body;

Described Y supporting plate drive motors, Z supporting plate drive motors and a pair of drive block drive motors are connected controller respectively.

Described universal hinge body is bulb articulated joint or Hooke's hinge joint.

Described crossbeam 2 moves along the X-direction of X-direction guide rail 1a and is the X axis basic exercise of described laser cutting head;

Described Y supporting plate 3 moves Y-axis into described laser cutting head to basic exercise along the Y-direction of Y-direction guide rail 2a;

Described Z supporting plate 4 moves along the Z-direction of Z-direction guide rail 3a and is the axial basic exercise of the Z of described laser cutting head;

Described X, Y, three axial basic exercises of Z constitute the series connection forms of motion of described laser cutting head;

Described ring holder 8 is gone up rotatablely moving of hinge pin one 8a axle center around described support 4c and is the C axially-movable of described laser cutting head;

Described bogie 7 rotatablely moving of hinge pin two 7b axle center on the described ring holder 8 is the A axially-movable of described laser cutting head;

The A of described laser cutting head 9, C axially-movable are passed through separately by described a pair of drive block 5, and connecting rod drives bogie 7 realizations; Described A, C axially-movable constitute the parallel kinematic form of described laser cutting head;

Make described laser cutting head 9 in the axial common movement environment that constitutes of parallel kinematic form of the axial series connection forms of motion of described X, Y, Z and A, C, realize the series-parallel connection 5-axis movement.

The present invention realizes the 5-axis movement (X wherein, Y, Z axle drive and adopt the serial mechanism mode, and A, C axle adopt parallel institution to drive) of conventional laser cutting head by synchronous hybrid device.Its middle cross beam is realized basic X-direction motion with respect to the motion of fuselage; The Y supporting plate is realized basic Y-direction motion; The Z supporting plate is realized basic Z-direction motion; Each autokinesis of a pair of drive block can drive bogie (around A, C axle) by its connecting rod separately and do ± omnidirectional rotation (to realize down the cutting of half spherical space) in 90 ° of scopes; And then realization 5-axis movement.Exquisite composition of the present invention, each component structural dexterity, rigidity is big, and inertia is little, makes kinematic accuracy to be protected.The present invention is the product that machine tool technology, Robotics and Numeric Control Technology combine, and compares with traditional series connection lathe, and is simple in structure, and mathematical operation is precisely complicated.It has, and rigidity is big, response is fast, precision is high, adaptability is strong, the high outstanding advantage of technical value added.

Description of drawings

Fig. 1 is structural representation of the present invention,

Fig. 2 is the amplification view of laser head part of the present invention,

Fig. 3 is the structural representation of synchronous hybrid device among the present invention,

Fig. 4 is that the present invention uses state reference map one,

Fig. 5 is that the present invention uses state reference map two,

Fig. 6 is that the present invention uses state reference map three,

Fig. 7 is the contrary motion simulation schematic diagram of A axle of the present invention,

Fig. 8 is the contrary motion simulation schematic diagram of C axle of the present invention;

Indicate X, Y, the signal of Z three linear movement directions among Fig. 1, indicated A, the signal of the C two direction of rotation directions of motion among Fig. 3;

1 is fuselage among the figure, and 1a is the X-direction guide rail, the 2nd, and crossbeam, 2a are the Y-direction guide rails, the 3rd, Y supporting plate, 3a is the Z-direction guide rail, and 3b is the Y-direction guide-track groove, and the 4th, Z supporting plate, 4a are the secondary guide rails of Y-direction, 4b is the Z-direction guide-track groove, and 4c is support, the 5th, and drive block, 5a are ball-and-sockets one, the 6th, connecting rod, the 7th, bogie, 7a are ball-and-sockets two, 7b is hinge pin two, the 8th, ring holder, 8a are hinge pins one, and 8b is pin-and-hole, the 9th, and laser cutting head, the 10th, workpiece, 10a are holes one, and 10b is hole two, and 10c is hole three.

The specific embodiment

The present invention as Figure 1-3, described laser cutting machine comprises body 1, be located at X-direction guide rail 1a on the body 1, flexibly connect with X-direction guide rail 1a crossbeam 2, laser cutting head 9 and controller, be provided with Y-direction guide rail 2a in the side of described crossbeam 2, described laser cutting head 9 flexibly connects by the Y-direction guide rail 2a of synchronous hybrid device and described crossbeam 2 sides;

Described synchronous hybrid device comprises that Y supporting plate 3 mechanisms, Z supporting plate 4 mechanisms, bogie 7, ring holder 8, a pair of drive block 5 mechanisms and pair of links 6(pair of links are isometric);

Described Y supporting plate 3 mechanisms comprise Y supporting plate 3 and Y supporting plate drive motors; A secondary Y-direction guide-track groove 3b is established at the back side of described Y supporting plate 3, a secondary Z-direction guide rail 3a is established in the front; Described Y supporting plate 3 flexibly connects by described one secondary Y-direction guide-track groove 3b and described Y-direction guide rail 2a; Described Y supporting plate drive motors is located on the described Y supporting plate 3, the described Y supporting plate 3 of driving is done the Y-direction straight reciprocating motion with respect to described crossbeam 2;

Described Z supporting plate 4 mechanisms comprise Z supporting plate 4 and Z supporting plate drive motors; A secondary Z-direction guide-track groove 4b is established at the back side of described Z supporting plate 4, the secondary guide rail 4a of Y-direction and support 4c are established in the front; Described Z supporting plate 4 flexibly connects by described one secondary Z-direction guide-track groove 4b and described one secondary Z-direction guide rail 3a; Described Z supporting plate drive motors is located on the described Z supporting plate 4, the described Z supporting plate 4 of driving is done the Z-direction straight reciprocating motion with respect to described Y supporting plate 3;

Described a pair of drive block 5 mechanisms comprise a pair of drive block 5 and drive block drive motors; Described drive block 5 is provided with the secondary guide-track groove of Y-direction; Described drive block 5 flexibly connects by the secondary guide-track groove of described Y-direction and the secondary guide rail 4a of described Y-direction; Described drive block drive motors is located on the described drive block 5, the described drive block 5 of driving is done the Y-direction linear reciprocating motion with respect to described Z supporting plate 4;

The two side ends that the two side ends of the Y-direction of described ring holder 8 is respectively equipped with hinge pin one 8a, directions X is respectively equipped with pin-and-hole 8b, and described ring holder 8 flexibly connects by described hinge pin one 8a and described support 4c;

Described bogie 7 integral body are the L shape, and establish for the annular Connection Block that laser cutting head is installed the bottom, and the two side ends of described annular Connection Block directions X is respectively equipped with hinge pin two 7b; Described hinge pin two 7b and described pin-and-hole 8b flexibly connect;

One end of described pair of links 6 flexibly connects by universal hinge structure and described drive block 5, and the other end is connected the side of described bogie 7 top Y-directions by universal hinge structure;

Described Y supporting plate drive motors, Z supporting plate drive motors and a pair of drive block drive motors are connected controller respectively.

Described universal hinge structure is bulb articulated joint or Hooke's hinge joint.

Described crossbeam 2 moves along the X-direction of X-direction guide rail 1a and is the X axis basic exercise of described laser cutting head;

Described Y-axis supporting plate 3 moves Y-axis into described laser cutting head to basic exercise along the Y-direction of Y-direction guide rail 2a;

Described Z axle supporting plate 4 moves along the Z-direction of Z-direction guide rail 3a and is the axial basic exercise of the Z of described laser cutting head;

Described X, Y, three axial basic exercises of Z constitute the series connection forms of motion of described laser cutting head;

Described ring holder 8 is gone up rotatablely moving of hinge pin one 8a axle center around described support 4c and is the C axially-movable of described laser cutting head;

Described bogie 7 rotatablely moving of hinge pin two 7b axle center on the described ring holder 8 is the A axially-movable of described laser cutting head;

The A of described laser cutting head 9, C axially-movable are passed through separately by described a pair of drive block 5, and connecting rod drives bogie 7 realizations; Described A, C axially-movable constitute the parallel kinematic form of described laser cutting head;

Make described laser cutting head 9 in the axial common movement environment that constitutes of parallel kinematic form of the axial series connection forms of motion of described X, Y, Z and A, C, realize the series-parallel connection 5-axis movement.

Shown in Fig. 4-6, be example with processing work 10, this workpiece has a plurality of holes that are in the hole of two phase cross surfaces and are in the plane (need cut space curve).Its mesopore one 10a is positioned at the workpiece front end, is on two phase cross surfaces; Hole two 10b are positioned at the workpiece middle part, are on the face of top (putting down); Hole three 10c are positioned at the workpiece rear end, are on two phase cross surfaces.Carry out three-dimensional incision principle, 1. by five-axle linkage realize cutting head with the cutting curved surface normal direction parallel; 2. by the follow-up control method of closed loop, make that the distance between cutting torch and cutting curved surface keeps constant on the cutting head, be referred to as servo technology.Servo-actuated motion also realizes by five-axle linkage.

State when Fig. 4 is machining hole one 10a; Laser cutting head is realized the processing to hole one on the synchronous hybrid device driving bogie 7 of five-axle linkage.

State when Fig. 5 is machining hole two 10b; Identical with the two dimension cutting, only need X, Y-axis interlock, the servo-actuated control of Z axle.

Fig. 6 is the state of machining hole three 10C; Basic pattern with machining hole one 10a.

Fig. 7,8 is for contrary motion simulation curve map: X, Y of the present invention, Z axle need not emulation, because its kind of drive and traditional machine tool do not have any difference.Fig. 7 is the speed time changing curve of two linear drive apparatus of A axle when at the uniform velocity the speed of 270 °/s is rotated; Fig. 8 is the speed time changing curve of two linear drive apparatus of c axle when at the uniform velocity the speed of 270 °/s is rotated; The movement velocity of two linear drives pieces 5 in Vy1 and the Vy2 difference sign picture 1 among the figure.

Claims (3)

1. five laser cutting machines of a series-parallel connection, described laser cutting machine comprises body (1), be located at X-direction guide rail (1a) on the body (1), flexibly connect with X-direction guide rail (1a) crossbeam (2), laser cutting head (9) and controller, be provided with Y-direction guide rail (2a) in the side of described crossbeam (2), it is characterized in that described laser cutting head (9) flexibly connects by the Y-direction guide rail (2a) of synchronous hybrid device and described crossbeam (2) side;
Described synchronous hybrid device comprises Y supporting plate (3) mechanism, Z supporting plate (4) mechanism, bogie (7), ring holder (8), a pair of drive block (5) mechanism and pair of links (6);
Described Y supporting plate (3) mechanism comprises Y supporting plate (3) and Y supporting plate drive motors; A secondary Y-direction guide-track groove (3b) is established at the back side of described Y supporting plate (3), a secondary Z-direction guide rail (3a) is established in the front; Described Y supporting plate (3) flexibly connects by described one secondary Y-direction guide-track groove (3b) and described Y-direction guide rail (2a); Described Y supporting plate drive motors is located on the described Y supporting plate (3), the described Y supporting plate of driving (3) is done the Y-direction straight reciprocating motion with respect to described crossbeam (2);
Described Z supporting plate (4) mechanism comprises Z supporting plate (4) and Z supporting plate drive motors; A secondary Z-direction guide-track groove (4b) is established at the back side of described Z supporting plate (4), the secondary guide rail (4a) of Y-direction and support (4c) are established in the front; Described Z supporting plate (4) flexibly connects by described one secondary Z-direction guide-track groove (4b) and described one secondary Z-direction guide rail (3a); Described Z supporting plate drive motors is located on the described Z supporting plate (4), the described Z supporting plate of driving (4) is done the Z-direction straight reciprocating motion with respect to described Y supporting plate (3);
Described a pair of drive block (5) mechanism comprises a pair of drive block (5) and drive block drive motors; Described drive block (5) is provided with the secondary guide-track groove of Y-direction; Described drive block (5) flexibly connects by the secondary guide-track groove of described Y-direction and the secondary guide rail of described Y-direction (4a); Described drive block drive motors is located at described drive block (5) and goes up, drives described drive block (5) and do the Y-direction linear reciprocating motion with respect to described Z supporting plate (4);
The two side ends that the two side ends of the Y-direction of described ring holder (8) is respectively equipped with hinge pin one (8a), directions X is respectively equipped with pin-and-hole (8b), and described ring holder (8) flexibly connects by described hinge pin one (8a) and described support (4c);
Described bogie (7) integral body is the L shape, and establish for the annular Connection Block that laser cutting head is installed the bottom, and the two side ends of described annular Connection Block directions X is respectively equipped with hinge pin two (7b); Described hinge pin two (7b) flexibly connects with described pin-and-hole (8b);
One end of described pair of links (6) flexibly connects by universal hinge structure and described drive block (5), and the other end is connected the side of described bogie (7) top Y-direction by universal hinge body;
Described Y supporting plate drive motors, Z supporting plate drive motors and a pair of drive block drive motors are connected controller respectively.
2. five laser cutting machines of a kind of series-parallel connection according to claim 1 is characterized in that, described universal hinge body is bulb articulated joint or Hooke's hinge joint.
3. five laser cutting machines of a kind of series-parallel connection according to claim 1 and 2 is characterized in that,
Described crossbeam (2) is the X axis basic exercise of described laser cutting head along the X-direction motion of X-direction guide rail (1a);
Described Y supporting plate (3) along the motion of the Y-direction of Y-direction guide rail (2a) for the Y-axis of described laser cutting head to basic exercise;
Described Z supporting plate (4) is the axial basic exercise of Z of described laser cutting head along the Z-direction motion of Z-direction guide rail (3a);
Described X, Y, three axial basic exercises of Z constitute the series connection forms of motion of described laser cutting head;
Described ring holder (8) is gone up rotatablely moving of hinge pin one (8a) axle center around described support (4c) and is the C axially-movable of described laser cutting head;
Described bogie (7) is gone up rotatablely moving of hinge pin two (7b) axle center around described ring holder (8) and is the A axially-movable of described laser cutting head;
The A of described laser cutting head (9), C axially-movable are passed through separately by described a pair of drive block (5), and connecting rod drives bogie (7) realization; Described A, C axially-movable constitute the parallel kinematic form of described laser cutting head;
Make described laser cutting head (9) in the axial common movement environment that constitutes of parallel kinematic form of the axial series connection forms of motion of described X, Y, Z and A, C, realize the series-parallel connection 5-axis movement.
CN 201110233707 2011-08-16 2011-08-16 Hybrid five-axis laser cutting machine CN102284795B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201110233707 CN102284795B (en) 2011-08-16 2011-08-16 Hybrid five-axis laser cutting machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201110233707 CN102284795B (en) 2011-08-16 2011-08-16 Hybrid five-axis laser cutting machine

Publications (2)

Publication Number Publication Date
CN102284795A CN102284795A (en) 2011-12-21
CN102284795B true CN102284795B (en) 2013-08-28

Family

ID=45331692

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201110233707 CN102284795B (en) 2011-08-16 2011-08-16 Hybrid five-axis laser cutting machine

Country Status (1)

Country Link
CN (1) CN102284795B (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103170747B (en) * 2011-12-26 2014-11-05 苏州领创激光科技有限公司 Split type driving structure used for high-speed large-coverage laser cutting machine
CN102565076B (en) * 2012-01-17 2013-09-11 柳州高华机械有限公司 On-line detection production line
CN103111765B (en) * 2013-03-20 2014-09-17 江苏扬力数控机床有限公司 Three-dimensional laser cutting machine with four-axis-linkage secondary laser head driving device
WO2015172345A1 (en) 2014-05-15 2015-11-19 The Procter & Gamble Company Oral care compositions containing polyethylene glycol for physical stability
CN104626116A (en) * 2015-01-20 2015-05-20 江南大学 1T, (2R) and 1T four-degree-of-freedom decoupling series-parallel mechanism
CN104690715A (en) * 2015-01-20 2015-06-10 江南大学 1T&(2T)&1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism
CN105983787A (en) * 2015-02-03 2016-10-05 上海新力机器厂 Low-inertia high-rigidity fiber laser cutting machine structure

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2363861A (en) * 2000-06-19 2002-01-09 Robotic Technology Systems Plc Processing an object, eg a workpiece, by a tool
CN101480734A (en) * 2009-01-20 2009-07-15 西安理工大学 Composite machining center with hot displacement constraint skid revolving joint portion macro/micro drive
FR2928289A1 (en) * 2008-03-05 2009-09-11 Peugeot Citroen Automobiles Sa Numerically controlled five axes machining machine's geometry controlling method for motor vehicle's panel, involves repeating scanning operation of laser beam by tool according to preset program for angular positions of tool and spindle
CN202169443U (en) * 2011-08-16 2012-03-21 江苏扬力数控机床有限公司 Series-parallel combined five-axis laser cutter

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4202305B2 (en) * 2004-07-29 2008-12-24 ファナック株式会社 3D laser processing machine
JP5471159B2 (en) * 2009-08-24 2014-04-16 株式会社ジェイテクト Machine tool controller

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2363861A (en) * 2000-06-19 2002-01-09 Robotic Technology Systems Plc Processing an object, eg a workpiece, by a tool
FR2928289A1 (en) * 2008-03-05 2009-09-11 Peugeot Citroen Automobiles Sa Numerically controlled five axes machining machine's geometry controlling method for motor vehicle's panel, involves repeating scanning operation of laser beam by tool according to preset program for angular positions of tool and spindle
CN101480734A (en) * 2009-01-20 2009-07-15 西安理工大学 Composite machining center with hot displacement constraint skid revolving joint portion macro/micro drive
CN202169443U (en) * 2011-08-16 2012-03-21 江苏扬力数控机床有限公司 Series-parallel combined five-axis laser cutter

Also Published As

Publication number Publication date
CN102284795A (en) 2011-12-21

Similar Documents

Publication Publication Date Title
CN204470639U (en) A kind of mobile gantry posture numerical control drilling machine
US9272385B2 (en) Multi-carriage dual-spindle symmetrical grinding processing center
Weck et al. Parallel kinematic machine tools–current state and future potentials
US4776749A (en) Robotic device
EP2105264B1 (en) Industrial robot
CN1092092C (en) Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation
JP4902086B2 (en) Machine tool and manipulator device mounted thereon
ES2674391T3 (en) Low inertia manipulator for laser cutting machines for flat sheet metals
US7910857B2 (en) Laser machine tool
CN200951497Y (en) Two-D moving and two-D rotation parallel platform mechanism
CN104384711B (en) A kind of movable gantry laser cutting welding machine tool
US6068431A (en) Machine tool having a gantry and a vertical spindle
CN106029310B (en) Redundant parallel positioning table equipment
CN102699221A (en) Loading and unloading manipulator
Wu et al. Analysis and application of a 2-DOF planar parallel mechanism
US9114453B2 (en) Forming machine without pattern casting
US7997161B2 (en) Device for the movement and orientation of an object in space and use thereof in rapid machining
JP2008506545A (en) Parallel robot having means for moving a movable element comprising two subassembly means
CN202162427U (en) Numerical-control planer type milling machine
CN203316803U (en) Four-shaft linkage numerical control engraving and milling machine
CN103737577A (en) Six-freedom-degree industrial robot with ball screw pair transmission
CN1562557A (en) Elevated platform type automatic processing center of lathe and milling machine of five shafts
CN201186387Y (en) Gantry type double rotary table NC milling machine
DE102007007482A1 (en) Printed circuit board processing device for e.g. machine tool, has printed circuit boards mounted on tables, and control unit controlling X-axis and Y-axis drive sections to move X-direction axle and Y-direction axle in direction
CN201951138U (en) Four-axis three-dimensional engraving machine

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant