CN103978393A - Parallel machine tool capable of realizing five-axis processing - Google Patents
Parallel machine tool capable of realizing five-axis processing Download PDFInfo
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- CN103978393A CN103978393A CN201410190330.1A CN201410190330A CN103978393A CN 103978393 A CN103978393 A CN 103978393A CN 201410190330 A CN201410190330 A CN 201410190330A CN 103978393 A CN103978393 A CN 103978393A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
- B23Q1/60—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
- B23Q1/601—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism a single sliding pair followed parallelly by a single sliding pair
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/64—Movable or adjustable work or tool supports characterised by the purpose of the movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
- B23Q5/38—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously
- B23Q5/40—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw
- B23Q5/402—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw in which screw or nut can both be driven
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a parallel machine tool capable of realizing five-axis machining. The parallel machine tool comprises a tool body, a front parallel mechanism, a rear parallel mechanism, a serial connecting rod group, a two-degree-of-freedom worktable and an end executor, wherein the front parallel mechanism and the rear parallel mechanism have basically the same structures and respectively comprise two upright posts which are symmetrically arranged, a moving platform and two branched chains connected between the upright posts and the moving platform; the two branched chains have the same structural forms; each branched chain is provided with a linear driving unit; the moving platforms of the front parallel mechanism and the rear parallel mechanism are connected with the serial connecting rod group through two parallel hinges to form a space parallel closed loop mechanism; the space parallel closed loop mechanism realizes two moving degrees of freedom and two rotating degrees of freedom of the end executor through four driving units; the two-degree-of-freedom worktable comprises a linear sliding table and a rotating table arranged on the sliding table. The parallel machine tool disclosed by the invention can realize five-axis or six-axis linking and has better five-axis processing capability.
Description
Technical field
The invention belongs to numerical control manufacturing equipment field, the particularly a kind of parallel machine that can realize five axles processing, can be used for the Precision Machining of workpiece.
Background technology
In recent ten years, parallel connection/series-parallel connection machining Digit Control Machine Tool is the hot subject that domestic and international Digit Control Machine Tool research field is paid special attention to.Compared with the Digit Control Machine Tool of parallel connection/series-parallel connection machining tool and traditional structure form, there are many advantages.Tradition is all by series connection arranged in form, therefore large at five axles when processing motional inertias, rigidity a little less than, dynamic property is poor, end cutting precision is lower.And parallel machine is made up of several simple series connection side chains, simple in structure, rigidity is high, and precision is high, and flexibility is good, is applicable to doing the digital control processing of complex space curved surfaces.
Along with the development that deepens continuously of science and technology, more and more higher to the required precision of component of machine, processing technology becomes increasingly complex, and complex-curved more and more in design process, and therefore the performance requirement of logarithm control manufacturing equipment is more and more higher.In order to meet modernization process requirements, multi-shaft interlocked parallel machine progressively comes into one's own, and has relevant parallel connection equipment to be developed.For example: Tricept five axle machining centers, Exechon five axle machining centers, Z3 unit head and A3 power are first-class.Numerical control equipment proposed by the invention is a kind of parallel machine that can realize five axle processing, can be used for the Precision Machining of complex parts.
Summary of the invention
The present invention provides a kind of parallel machine that can realize five axle processing for solving the technical problem existing in known technology, can be used for the Precision Machining of complex parts.
The technical scheme that the present invention takes for the technical problem existing in solution known technology is: a kind of parallel machine that can realize five axles processing, comprises lathe bed, four-degree-of-freedom Spatial Parallel close loop mechanism, end effector and workbench; Described four-degree-of-freedom Spatial Parallel close loop mechanism comprises front parallel institution, rear parallel institution and a set of series connection bar group; Described front parallel institution and described rear parallel institution structure include two root posts and a moving platform of left and right layout, two described columns are fixed on described lathe bed, described moving platform is arranged between two described columns, two described columns are respectively connected with described moving platform by a side chain, described side chain comprises a set of linear drive apparatus I and a kinematic link, and described kinematic link is provided with power intake and platform link; Each side being connected with the platform link of the described kinematic link of homonymy in mechanism by a hinge I of the moving platform of front parallel institution; The described kinematic link of the moving platform of rear parallel institution and homonymy in mechanism be connected with two kinds of modes: one), a side of the moving platform of parallel institution is connected with the platform link of the described kinematic link of homonymy in mechanism by hinge VI; The opposite side of the moving platform of rear parallel institution is connected with the platform link of the described kinematic link of homonymy in mechanism by hinge VII, and described hinge VI is all parallel with described hinge I with described hinge VII; Two) after, the moving platform of parallel institution is connected with the platform link of the described kinematic link of both sides in mechanism respectively by a hinge VIII, and described hinge VIII is parallel with described hinge I; The power intake of described kinematic link is connected by hinge II with described linear drive apparatus I; Described linear drive apparatus I is arranged on described column, described linear drive apparatus I drives the end of connected described kinematic link to move along vertical, described hinge II is vertical with the driving direction of described linear drive apparatus I, and described hinge II is parallel with described hinge I; Described series connection connection rod set comprises front rod and back link, described front rod is connected by hinge III with described back link, described front rod is connected by hinge IV away from one end of back link and the moving platform of described front parallel institution, described hinge IV is vertical with described hinge II, described back link is connected by hinge V away from one end of front rod and the moving platform of described rear parallel institution, and described hinge III, described hinge IV and described hinge V are parallel to each other; Described end effector is arranged on described front rod; Described workbench is arranged on lathe bed, and described workbench is positioned at the below of described end effector, and described workbench is provided with a slide unit moving forward and backward, and described slide unit is provided with linear drive apparatus II.
The power source of the power source of described linear drive apparatus I and described linear drive apparatus II is any one in linear electric motors, electric cylinder, hydraulic cylinder and cylinder.
One turntable is installed on described slide unit, and described turntable is provided with device of rotation driving; The centre of gyration line of described turntable and the rectilinear motion center line of described slide unit are perpendicular or parallel.
Described linear drive apparatus I comprises servomotor, leading screw, slide block, supporting seat and line slideway; Described servomotor is fixed on described column, described leading screw vertical arranges, described leading screw is provided with nut, described nut is fixed in described slide block, described slide block moves on described line slideway, described line slideway is fixed on described column, and described leading screw is supported by described supporting seat, and described supporting seat is fixed on described column; Described slide block and described kinematic link away from the end of moving platform by described hinge II be connected.
Advantage and good effect that the present invention has are:
One) compare with traditional machine tool, simple in structure, working space/mechanism volume ratio is large, rigidity is high, and precision is high, and flexibility is good, can be used for slender piece three shaft verticals processing, also can be used for the five-shaft numerical control processing of complex space curved surfaces.
Two) do not need expensive high accuracy two-freedom turntable or two-freedom yaw, and adopt rectilinear motion driver element and single-degree-of-freedom turntable, cost, compared with low and precision is high, has reduced lathe cost.
Three) two cover parallel institutions and one group of plane two connecting rod are connected cleverly, realized two one-movement-freedom-degrees and two rotational freedoms of end effector by quadruplet actuating device of the linear motion.
Four) angle of pitch of end effector is larger, can be-20 °～90 °, can coordinate two-freedom workbench, realizes easily the five-shaft numerical control processing of five processing and larger working space.
Five) end effector has certain roll angle, and roll angle is about-15 °～15 °, is convenient to trajectory planning, realizes retrofit.
Six) there are six driver elements, for five axle processing provide a redundant degree of freedom, be convenient to carry out better trajectory planning, realize retrofit.
Brief description of the drawings
Fig. 1 is the overall structure schematic diagram of the embodiment of the present invention 1;
Fig. 2 is that Fig. 1 removes the structural representation after the right column and drive unit;
Fig. 3 is the top view of Fig. 1;
Fig. 4 is the front parallel institution structural representation of the embodiment of the present invention 1;
Fig. 5 is the rear parallel institution structural representation of the embodiment of the present invention 1;
Fig. 6 is connecting rod and the main axle structure schematic diagram of the embodiment of the present invention 1;
Fig. 7 is the rear parallel institution structural representation of the embodiment of the present invention 2.
In figure: 1, lathe bed; 2, front parallel institution; 21, column; 22, servomotor; 23, leading screw; 24, slide block; 25, kinematic link; 26, the moving platform of front parallel institution; 27, line slideway; 28, supporting seat; 3, rear parallel institution; 31, the moving platform of rear parallel institution; 4, series connection connection rod set; 41, back link; 42, front rod; 5, end effector; 6, workbench; 61, turntable; 62, servomotor; 63, slide unit; 7, workpiece; I, II, III, IV, V, VI, VII, VIII, hinge.
Detailed description of the invention
For further understanding summary of the invention of the present invention, Characteristic, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
Embodiment 1:
Refer to Fig. 1～Fig. 6, a kind of Parallel CNC Machine Tool that can realize five axle processing that the present invention proposes, comprises lathe bed 1, four-degree-of-freedom Spatial Parallel close loop mechanism, end effector 5 and workbench 6; Described four-degree-of-freedom Spatial Parallel close loop mechanism comprises front parallel institution 2, rear parallel institution 3 and a set of series connection bar group.
Described front parallel institution 2 is identical with described rear parallel institution 3 structures, include two root posts and a moving platform of left and right layout, two described columns are fixed on described lathe bed 1, described moving platform is arranged between two described columns, two described columns are respectively connected with described moving platform by a side chain, described side chain comprises a set of linear drive apparatus I and a kinematic link 25, and described kinematic link 25 is provided with power intake and platform link;
Each side being connected with the platform link of the described kinematic link 25 of homonymy in mechanism by a hinge I of the moving platform 26 of front parallel institution; One side of the moving platform 31 of rear parallel institution is connected with the platform link of the described kinematic link 25 of homonymy in mechanism by hinge VI; The opposite side of the moving platform 31 of rear parallel institution is connected with the platform link of the described kinematic link 25 of homonymy in mechanism by hinge VII, and described hinge VI is all parallel with described hinge I with described hinge VII;
The power intake of described kinematic link 25 is connected by hinge II with described linear drive apparatus I, described linear drive apparatus I is arranged on described column 21, described linear drive apparatus I drives the end of connected described connecting rod to move along vertical, described hinge II is vertical with the driving direction of described linear drive apparatus I, and described hinge II is parallel with described hinge I.
Above-mentioned linear drive apparatus I can adopt the structure of a lot of forms, as long as can meet the function of linear drives.In the present embodiment, above-mentioned linear drive apparatus I comprises servomotor 22, leading screw 23, slide block 24, supporting seat 28 and line slideway 27; Described servomotor 22 is fixed on described column 21 by flange, described leading screw 23 vertical settings, described servomotor 22 drives described leading screw 23 to rotate, described leading screw 23 is connected with nut thread, described nut is fixed in described slide block 24, and described slide block 24 moves on described line slideway 27, and described line slideway 27 is fixed on described column, described leading screw 23 is supported by described supporting seat 28, and described supporting seat 28 is fixed on described column.Described servomotor 22 drives described leading screw 23 to rotate, thereby drives described slide block 24 to move up and down along line slideway 27.Described slide block 24 is connected by described hinge II away from the end of moving platform with described kinematic link 25.The moving platform 26 of front parallel institution and the moving platform 31 of rear parallel institution all have two one-movement-freedom-degrees and a rotational freedom.
Described series connection connection rod set 4 comprises front rod 42 and back link 41, described front rod 42 is connected by hinge III with described back link 41, described front rod 42 is connected by hinge IV away from one end of back link and the moving platform of described front parallel institution, described hinge IV is vertical with described hinge II, described back link 41 is connected by hinge V away from one end of front rod and the moving platform of described rear parallel institution, and described hinge III, described hinge IV and described hinge V are parallel to each other.Above-mentioned front rod 42 can rotate around the moving platform of front parallel institution, and back link 41 can rotate around the moving platform of rear parallel institution.
Overlapping by front and back two two-freedom translation and the two-freedom that combined mechanism that parallel institution forms realized front rod by four linear drive apparatus I rotates.
Described end effector 5 is arranged on front rod 42, and in the present embodiment, described end effector 5 is electric main shafts vertical with described hinge IV.
Described workbench 6 is arranged on lathe bed 1, and described workbench 6 is positioned at the below of described end effector 5, and described workbench 6 is provided with a slide unit moving forward and backward 62, and described slide unit 62 is provided with linear drive apparatus II.
In the present embodiment, in order to realize more easily the track optimizing of five axle processing, a turntable 61 is installed on described slide unit 62, described turntable 61 is provided with device of rotation driving, in the present embodiment, the gyration of described turntable 61 is driven by the servomotor 62 being arranged in workbench 6; The centre of gyration line of described turntable 61 and the rectilinear motion center line of described slide unit 62 are perpendicular or parallel.Described turntable 61 is positioned at described end effector 5 belows, and described slide unit is arranged on platform rail, and described platform rail is fixed on described lathe bed, and workpiece 7 is installed on described turntable 61.The linear drive apparatus II of described slide unit 62 is identical with the linear drive apparatus I structure of described slide block 24.
The above-mentioned New Type Parallel Machine Tool that realizes five axle processing comprises six driver elements, can realize the track optimizing of five axle processing.The power source of above-mentioned linear drive apparatus can be any one in linear electric motors, electric cylinder, hydraulic cylinder or cylinder.In the present embodiment, above-mentioned all hinges is all formed by bearing pin and bearing.
In the present embodiment, two-freedom translation and two-freedom that the combined mechanism being made up of forward and backward two cover parallel institutions is realized front rod 42 by four linear drive apparatus rotate.The workbench 6 with two-freedom is arranged on lathe bed 1, comprises a straight line slide unit moving forward and backward and is arranged on a revolution turntable 61 on slide unit, and lathe has six driver elements, can realize the track optimizing of five axle processing.
Embodiment 2:
Refer to Fig. 7, the difference of the present embodiment and embodiment 1 is, described front parallel institution 2 is different with described rear parallel institution 3 structures, but difference is very small, just the hinge VI in embodiment 1 and VII is converted into a hinge VIII.
In sum, the invention discloses a kind of parallel machine that can realize five axle processing, comprise that parallel institution is overlapped in lathe bed, front and back two, connect connection rod set, two-freedom workbench and end effector; Described front and back two are overlapped parallel institution and are had essentially identical structure, include two root posts, the moving platform being arranged symmetrically with and connect two side chains between described column and moving platform, wherein two side chains have identical version, and every side chain all has a linear drives unit; The moving platforms of front and back two cover parallel institutions are connected with described series connection connection rod set by two parallel hinges, have formed a Spatial Parallel close loop mechanism; Described Spatial Parallel close loop mechanism is realized two one-movement-freedom-degrees and two rotational freedoms of end effector by four driver elements; Described two-freedom workbench comprises a straight line slide unit and is arranged on the turntable on slide unit.The present invention can realize five axles or six-axis linkage, possesses good five axle working abilities.
Although by reference to the accompanying drawings the preferred embodiments of the present invention are described above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not departing from the scope situation that aim of the present invention and claim protect, can also make a lot of forms, within these all belong to protection scope of the present invention.
Claims (4)
1. the parallel machine that can realize five axle processing, is characterized in that, comprises lathe bed, four-degree-of-freedom Spatial Parallel close loop mechanism, end effector and workbench; Described four-degree-of-freedom Spatial Parallel close loop mechanism comprises front parallel institution, rear parallel institution and a set of series connection bar group; Described front parallel institution and described rear parallel institution structure include two root posts and a moving platform of left and right layout, two described columns are fixed on described lathe bed, described moving platform is arranged between two described columns, two described columns are respectively connected with described moving platform by a side chain, described side chain comprises a set of linear drive apparatus I and a kinematic link, and described kinematic link is provided with power intake and platform link;
Each side being connected with the platform link of the described kinematic link of homonymy in mechanism by a hinge I of the moving platform of front parallel institution;
In the moving platform of rear parallel institution and mechanism the described kinematic link of homonymy be connected with two kinds of modes:
One) after, a side of the moving platform of parallel institution is connected with the platform link of the described kinematic link of homonymy in mechanism by hinge VI; The opposite side of the moving platform of rear parallel institution is connected with the platform link of the described kinematic link of homonymy in mechanism by hinge VII, and described hinge VI is all parallel with described hinge I with described hinge VII;
Two) after, the moving platform of parallel institution is connected with the platform link of the described kinematic link of both sides in mechanism respectively by a hinge VIII, and described hinge VIII is parallel with described hinge I;
The power intake of described kinematic link is connected by hinge II with described linear drive apparatus I; Described linear drive apparatus I is arranged on described column, described linear drive apparatus I drives the end of connected described kinematic link to move along vertical, described hinge II is vertical with the driving direction of described linear drive apparatus I, and described hinge II is parallel with described hinge I; Described series connection connection rod set comprises front rod and back link, described front rod is connected by hinge III with described back link, described front rod is connected by hinge IV away from one end of back link and the moving platform of described front parallel institution, described hinge IV is vertical with described hinge II, described back link is connected by hinge V away from one end of front rod and the moving platform of described rear parallel institution, and described hinge III, described hinge IV and described hinge V are parallel to each other; Described end effector is arranged on described front rod; Described workbench is arranged on lathe bed, and described workbench is positioned at the below of described end effector, and described workbench is provided with a slide unit moving forward and backward, and described slide unit is provided with linear drive apparatus II.
2. the parallel machine that can realize five axle processing according to claim 1, is characterized in that, the power source of the power source of described linear drive apparatus I and described linear drive apparatus II is any one in linear electric motors, electric cylinder, hydraulic cylinder and cylinder.
3. the parallel machine that can realize five axle processing according to claim 1, is characterized in that, a turntable is installed on described slide unit, and described turntable is provided with device of rotation driving; The centre of gyration line of described turntable and the rectilinear motion center line of described slide unit are perpendicular or parallel.
4. the parallel machine that can realize five axle processing according to claim 1, is characterized in that, described linear drive apparatus I comprises servomotor, leading screw, slide block, supporting seat and line slideway; Described servomotor is fixed on described column, described leading screw vertical arranges, described leading screw is provided with nut, described nut is fixed in described slide block, described slide block moves on described line slideway, described line slideway is fixed on described column, and described leading screw is supported by described supporting seat, and described supporting seat is fixed on described column; Described slide block and described kinematic link away from the end of moving platform by described hinge II be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410190330.1A CN103978393B (en) | 2014-05-07 | 2014-05-07 | A kind of parallel machine that can realize five-axis robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410190330.1A CN103978393B (en) | 2014-05-07 | 2014-05-07 | A kind of parallel machine that can realize five-axis robot |
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| CN103978393A true CN103978393A (en) | 2014-08-13 |
| CN103978393B CN103978393B (en) | 2016-08-17 |
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| CN201410190330.1A Expired - Fee Related CN103978393B (en) | 2014-05-07 | 2014-05-07 | A kind of parallel machine that can realize five-axis robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104972455A (en) * | 2015-07-14 | 2015-10-14 | 燕山大学 | Mixed-connected robot with redundant drive based on plane parallel mechanism |
| CN105364918A (en) * | 2015-12-23 | 2016-03-02 | 苏州哈工海渡工业机器人有限公司 | Screw rod-driven pseudo-4-DOF parallel robot |
| CN106426086A (en) * | 2015-08-05 | 2017-02-22 | 江苏金源锻造股份有限公司 | Robot for forging system |
| CN107081672A (en) * | 2017-06-26 | 2017-08-22 | 北京交通大学 | A kind of parallel lapping device |
| CN110355663A (en) * | 2019-07-10 | 2019-10-22 | 华中科技大学 | A kind of variation rigidity grinding device |
| CN112621728A (en) * | 2020-12-28 | 2021-04-09 | 哈尔滨工业大学（深圳） | Seven-degree-of-freedom double-module parallel cooperative robot for 3C assembly |
| CN113021018A (en) * | 2021-03-24 | 2021-06-25 | 广东钶锐锶数控技术有限公司 | Multi-axis linkage multi-axis machine tool and control method thereof |
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| CN103522286A (en) * | 2013-10-30 | 2014-01-22 | 北华航天工业学院 | Planar vertical two-degree-of-freedom parallel robot mechanism |
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| DE29709379U1 (en) * | 1996-07-06 | 1997-09-25 | Hüller Hille GmbH, 71636 Ludwigsburg | Machine tool for up to five-sided machining of workpieces |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104972455A (en) * | 2015-07-14 | 2015-10-14 | 燕山大学 | Mixed-connected robot with redundant drive based on plane parallel mechanism |
| CN106426086A (en) * | 2015-08-05 | 2017-02-22 | 江苏金源锻造股份有限公司 | Robot for forging system |
| CN105364918A (en) * | 2015-12-23 | 2016-03-02 | 苏州哈工海渡工业机器人有限公司 | Screw rod-driven pseudo-4-DOF parallel robot |
| CN107081672A (en) * | 2017-06-26 | 2017-08-22 | 北京交通大学 | A kind of parallel lapping device |
| CN107081672B (en) * | 2017-06-26 | 2019-10-22 | 北京交通大学 | A kind of parallel grinding device |
| CN110355663A (en) * | 2019-07-10 | 2019-10-22 | 华中科技大学 | A kind of variation rigidity grinding device |
| CN112621728A (en) * | 2020-12-28 | 2021-04-09 | 哈尔滨工业大学（深圳） | Seven-degree-of-freedom double-module parallel cooperative robot for 3C assembly |
| CN113021018A (en) * | 2021-03-24 | 2021-06-25 | 广东钶锐锶数控技术有限公司 | Multi-axis linkage multi-axis machine tool and control method thereof |
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|---|---|
| CN103978393B (en) | 2016-08-17 |
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