CN106799545A - A kind of five-axle linkage laser cutter - Google Patents
A kind of five-axle linkage laser cutter Download PDFInfo
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- CN106799545A CN106799545A CN201710110619.1A CN201710110619A CN106799545A CN 106799545 A CN106799545 A CN 106799545A CN 201710110619 A CN201710110619 A CN 201710110619A CN 106799545 A CN106799545 A CN 106799545A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/083—Devices involving movement of the workpiece in at least one axial direction
- B23K26/0853—Devices involving movement of the workpiece in at least in two axial directions, e.g. in a plane
- B23K26/0861—Devices involving movement of the workpiece in at least in two axial directions, e.g. in a plane in at least in three axial directions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/10—Devices involving relative movement between laser beam and workpiece using a fixed support, i.e. involving moving the laser beam
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/14—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor
- B23K26/142—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor for the removal of by-products
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a kind of five-axle linkage laser cutter, including laser, optical fiber, laser head and five-axis robot platform, five-axis robot platform includes platform base, Y-axis mobile module, X-axis mobile module, Z axis lift module, A axle rotating modules, C axles rotating module and flip module, by using the joint face of the power output shaft connection expansion link of the flip module motor of flip module, the contact surface of expansion link clamps workpiece both sides, flip angle that can be to circular arc or spherical work-piece under the control of motor realizes accurate control, and by the way that flip module to be arranged on the pivot center two ends of A axles, workpiece is set not produce X-axis, Y-axis, the skew of Z axis and C direction of principal axis, it is easy to be processed after workpiece turning, improve the operating efficiency of laser, reduce influence of the upset workpiece to machining accuracy.
Description
Technical field
The present invention relates to laser cutter technical field, more particularly to a kind of five-axle linkage laser cutter.
Background technology
Five-axle linkage laser cutter, is that a kind of use coordinates shifting to workpiece along three linear axis and two rotary shafts
Dynamic platform, the processing instrument to work piece cut and engraving is realized by the high power density laser Shu Ronghua workpiece of line focus,
Relative to the single-sided process of three-shaft linkage, five-axle linkage realizes the three-dimension process to workpiece, increased the machined surface of workpiece, carries
Processing efficiency high, and there is working ability to the workpiece with complicated three-dimensional shape；
And in the prior art, five-axle linkage laser cutter is only capable of being processed five faces of workpiece, if desired to workpiece
Bottom surface is processed, it is necessary to stop processing, repositioning after overturning workpiece, the flip angle of circular arc or spherical work-piece
It is difficult to determine, reduces operating efficiency, and influence machining accuracy.
The content of the invention
For this reason, it may be necessary to provide a kind of five-axle linkage laser cutter, so that solve cannot be to workpiece bottom in currently available technology
Face is processed, and needs to reposition after workpiece turning, and the flip angle of circular arc or spherical work-piece is difficult to determine, operating efficiency drop
It is low, and influence the problem of machining accuracy.
To achieve the above object, a kind of five-axle linkage laser cutter is inventor provided, along laser optical path direction successively
Including laser, optical fiber, laser head and five-axis robot platform；
The laser includes pump light source resonant cavity, and the resonator is arranged in the light path of pump light source；
The input of the optical fiber is arranged in the light path of resonator；
The input of the laser head is arranged on the output end of optical fiber；
The five-axis robot platform includes platform base, Y-axis mobile module, X-axis mobile module, Z axis lifting module, A axles
Rotating module, C axles rotating module and flip module；
The Y-axis mobile module is arranged on platform base, including Y-axis drive component and Y-axis carrying platform, the Y-axis
Drive component is arranged on platform base and the Y-axis carrying platform that is connected, and drives Y-axis carrying platform to be moved along Y direction；
The X-axis mobile module is set on Y-axis carrying platform, including X-axis drive component and X-axis carrying platform, the X-axis
Drive component drive connection X-axis carrying platform, and drive X-axis carrying platform to be moved along X-direction；
The Z axis lifting module includes Z axis drive component and Z axis carrying platform, and the Z axis drive component is arranged on platform
On base and the Z axis carrying platform that is connected, and Z axis carrying platform is driven to be moved along Z-direction；
The laser head is arranged on Z axis carrying platform；
The A axles rotating module includes A axles drive component and A bearing carrying platforms, and the A axles drive component is arranged on X-axis
On carrying platform and the A bearing carrying platforms that are connected, and A bearings carrying platform is driven to be rotated along A direction of principal axis；
The C axles rotating module includes C axles drive component and C bearing carrying platforms, and the C axles drive component is arranged on A axles
On carrying platform and the C bearing carrying platforms that are connected, and C bearings carrying platform is driven to be rotated along C direction of principal axis；
The flip module includes flip module motor and expansion link, and flip module motor is arranged on C bearings
Carrying platform both sides, and be arranged on the pivot center of A axle rotating modules, expansion link two ends are respectively joint face and contact surface, stretch
On the power output shaft of the joint face connection flip module motor of contracting bar, contact surface is used to contact workpiece.
Prior art is different from, above-mentioned technical proposal has the following advantages that：Driven by using the flip module of flip module
The joint face of the power output shaft connection expansion link of dynamic motor, the contact surface of expansion link clamps workpiece both sides, can be in motor
Control under accurate control is realized to the flip angle of circular arc or spherical work-piece, and be arranged on A axles by by flip module
Pivot center two ends, make workpiece not produce the skew of X-axis, Y-axis, Z axis and C direction of principal axis, are easy to be processed after workpiece turning,
The operating efficiency of laser is improve, influence of the upset workpiece to machining accuracy is reduced, is independently set by the way that Z axis are lifted into module
Put on platform base, X-axis, Y-axis mobile module and A axles, C axles rotating module will not lift module to Z axis in the course of the work
Disturbance is produced, influence is produced on the laser head operating accuracy on Z axis carrying platform.
Further, the Y-axis drive component includes the first motor and the first ball-screw, and the first motor sets
Put on platform base, the power output shaft of the first motor connects the first ball-screw, and Y-axis carrying platform is provided with level
Orthogonal first screwed hole and the second screwed hole on face, the first ball-screw are held by the first screwed hole drive connection Y-axis
Carrying platform；
X-axis drive component includes the second motor, X-axis carrying platform and the second ball-screw, and described second drives electricity
Machine is arranged on X-axis carrying platform, and the power output shaft of the second motor connects the second ball-screw, and the second ball-screw leads to
Cross the second screwed hole drive connection X-axis carrying platform；
The Z axis drive component includes the first pedestal, the 3rd motor and the 3rd ball-screw, and the first pedestal is arranged on
On platform base, the 3rd motor is arranged on the first pedestal, and the power output shaft of the 3rd motor connects the 3rd ball
Leading screw, Z axis carrying platform is provided with the 3rd screwed hole, and the 3rd ball-screw is by the 3rd screwed hole drive connection Z axis carrying platform；
The A axles drive component includes the 4th motor, and the 4th motor is arranged on X-axis carrying platform, the 4th
The pto connection A bearing carrying platforms of motor；
The C axles drive component includes the 5th motor, and the 5th motor is arranged on A bearing carrying platforms, the 5th
The pto connection C bearing carrying platforms of motor.
By using ball-screw as Y-axis, X-axis, Z-direction drive component, it is ensured that the mobile essence of mobile module
Degree, by setting orthogonal first screwed hole and the second screwed hole in the horizontal plane on Y-axis carrying platform so that X-axis
Drive component and Y-axis drive component can be incorporated into and drive connection is completed on a carrying platform, reduce X-axis mobile module needs
The pedestal of setting, mitigates weight, simplifies processing platform structure.
Further, the C axles rotating module also includes the 6th motor and the 4th ball-screw, and the described 6th drives
The pto of motor connects the 4th ball-screw, and the 4th ball-screw drives the 5th motor and C bearings to carry flat
Platform is moved along the vertical direction of A bearing carrying platforms.
By setting the 6th motor and the 4th ball-screw on A bearing carrying platforms so that the 6th motor energy
The 5th motor and C bearing carrying platforms are lifted by the 4th ball-screw, during being overturn to workpiece,
C bearing carrying platforms are fallen, the edge of work will not contact C bearing carrying platforms, cause workpiece shift, influence processing.
Further, the Y-axis mobile module, X-axis mobile module, Z axis lifting module are provided with locating rod, the Y-axis
Carrying platform, X-axis carrying platform and Z axis carrying platform are provided with through hole, and the locating rod is by through hole and is separately positioned on the
On one pedestal, platform base and X-axis carrying platform.
Locating rod is set in module by being lifted in Y-axis, X-axis mobile module and Z axis so that carrying platform is in ball-screw
Driving during will not produce displacement and offset, increased the stability and accuracy of processing.
Further, also including gas tip, the gas tip is arranged on Z axis carrying platform.
By on Z axis carrying platform, gas tip is set, there is provided workpiece in the gas needed for laser processing procedure, and
Blow away melts.
Further, the contact surface of the expansion link is provided with decorative pattern.
Decorative pattern is set by the contact surface in expansion link, increases the friction of expansion link contact surface during workpiece is gripped
Power.
Further, the expansion link is provided with folder thing pawl, and the folder thing pawl is made up of multiple sheet metals, the sheet metal
It is arranged on the contact surface of expansion link.
By being provided with the folder thing pawl that multiple sheet metals are constituted on the contact surface of expansion link so that the contact surface of expansion link
It is easy to grip arc or spheroidal workpiece.
Brief description of the drawings
Fig. 1 is the structural representation of five-axle linkage laser cutter in the embodiment of the present invention；
Fig. 2 is the flip module detail of construction of five-axle linkage laser cutter in the embodiment of the present invention.
Description of reference numerals：
101st, platform base；
201st, Y-axis mobile module；202nd, the first motor；203rd, the first ball-screw；
204th, Y-axis carrying platform；2041st, the first screwed hole；2042nd, the second screwed hole；
301st, X-axis mobile module；302nd, the second motor；303rd, the second ball-screw；
304th, X-axis carrying platform；
401st, Z axis lifting module；402nd, the first pedestal；403rd, the 3rd motor；
404th, the 3rd ball-screw；405th, Z axis carrying platform；4051st, the 3rd screwed hole；
501st, A axles rotating module；502nd, the 4th motor；503rd, A bearings carrying platform；
601st, C axles rotating module；602nd, the 5th motor；603rd, C bearings carrying platform；
604th, the 6th motor；
701st, flip module；702nd, flip module motor；703rd, expansion link；
704th, thing pawl is pressed from both sides；
801st, locating rod；
901st, laser head；
1001st, gas tip.
Specific embodiment
To describe technology contents of the invention, structural feature, the objects and the effects in detail, below in conjunction with implementation method
And coordinate accompanying drawing to be explained in detail.
Fig. 1 is referred to, Fig. 1 is the structural representation of five-axle linkage laser cutter in the embodiment of the present invention, five-axis robot
Platform includes platform base 101, Y-axis mobile module 201, X-axis mobile module 301, Z axis lifting module 401, A axle rotating modules
501st, C axles rotating module 601 and flip module 701, the first motor 202 of Y-axis mobile module 201 are arranged on platform base
On 101, the power output shaft of the first motor 202 connects the first ball-screw 203, and the first ball-screw 203 passes through first
The connection Y-axis of screwed hole 2041 carrying platform 204, the second motor 302 of X-axis mobile module 301 is arranged on X-axis carrying platform
On 304, the power output shaft of the second motor 302 connects the second ball-screw 303, and the second ball-screw 303 passes through second
The connection Y-axis of screwed hole 2042 carrying platform 204, the 4th motor 502 of A axle rotating modules is arranged on X-axis carrying platform 304
Both sides, and A bearings carrying platform 503 is connected, the connection C bearings of the 5th motor 602 carrying platform 603 of C axles rotating module 601,
6th motor 604 is arranged on A bearings carrying platform 503 and controls 602 liters of the 5th motor by the 4th ball-screw
Drop, flip module 701 is arranged on the both sides of A bearings carrying platform 503, and locating rod 801 is arranged on the first pedestal, platform base and X-axis
On carrying platform, and Y-axis carrying platform, X-axis carrying platform and Z axis carrying platform, laser head 901 and gas are connected by through hole
Shower nozzle 1001 is arranged on Z axis carrying platform 405, and, by optical fiber connecting laser, gas tip 1001 is by defeated for laser head 901
Gas pipeline is connected with gas storage device, and Fig. 2 is the flip module structure of five-axle linkage laser cutter in the embodiment of the present invention
Detail drawing, the flip module motor 702 of flip module 701 is arranged on the both sides of A bearing carrying platforms both sides 503, and flip module is driven
The joint face of the power output shaft connection expansion link 703 of dynamic motor 702, the contact surface of expansion link 703 is provided with decorative pattern and folder thing pawl
704, the sheet metal of folder thing pawl 704 is distributed on joint face.
Here, we are bound to X-axis, Y-axis, Z axis, A axles and C axle isotropy terms, the X-direction and Y-axis
Direction is two orthogonal moving directions on horizontal plane, and Z-direction is the moving direction perpendicular to horizontal plane, and A axles are with X
The pivot center that axle is rotated for axle center, C axles are the pivot center rotated as axle center with Z axis.
Described is up and down above-below direction of the backrest when pin and lock pin stationary state is positioned, described front and rear for backrest surface
To passenger and the direction back to passenger, both sides are the closure of backrest and support.
According to said structure, in concrete operations, the pump light source work of laser, after laser beam is adjusted through resonator,
Laser head is transferred to by optical fiber, by light beam by being radiated on workpiece to defocused, gas tip blows workpiece jet laser head
Remove the impurity produced on workpiece, workpiece makes Y on Y-axis mobile module by the first motor the first ball screw turns of drive
Bearing carrying platform is moved along Y direction, and X-axis mobile module makes X-axis by the second motor the second ball screw turns of drive
Carrying platform is moved along X-direction, and Z axis lift module holds Z axis by the 3rd motor the 3rd ball screw turns of drive
Carrying platform is lifted along Z-direction, and A axles rotating module drives the dynamic A bearings carrying platform of motor belt motor to turn along A direction of principal axis by the 4th
Dynamic, C axles rotating module drives C bearings carrying platform to be rotated along C direction of principal axis by the 5th motor, realizes X, Y, the Z to workpiece
The mobile control of axle and the rotation control of A axles and C direction of principal axis, when needing to overturn workpiece, expansion link elongation, expansion link
Contact surface on decorative pattern and folder thing pawl and absorption surface, the expansion link of both sides clamps workpiece, and the 6th motor drives the 4th
Ball screw turns, drive the 5th motor and C bearings carrying platform to decline, and prevent workpiece from C bearings are touched in rotation process
Carrying platform, after flip module motor drives expansion link to rotate specified angle, C bearings carrying platform playback, workpiece is reapposed
On C bearing carrying platforms, continue the processing to workpiece.
In the above-described embodiments, the expansion link can select electric pushrod and hydraulic mandril, electric pushrod telescopic location control
System is accurate, can be used for the workpiece holding of irregular shape, and hydraulic mandril gripping strength is larger, it is adaptable to heavier mass and size compared with
Big workpiece.
In the above-described embodiments, the sheet metal of the folder thing pawl can select the materials, glass such as glass bronze, spring steel or stainless steel
Bronze has good elastic limit and fatigue limit, is adapted to long-term use, and the cost of stainless steel and spring steel is relatively low.
Embodiments of the invention are the foregoing is only, scope of patent protection of the invention, every utilization is not thereby limited
The equivalent structure transformation that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other related technology necks
Domain, is included within the scope of the present invention.
Claims (7)
1. a kind of five-axle linkage laser cutter, it is characterised in that include laser, optical fiber successively along laser optical path direction, swash
Shaven head and five-axis robot platform；
The laser includes pump light source resonant cavity, and the resonator is arranged in the light path of pump light source；
The input of the optical fiber is arranged in the light path of resonator；
The input of the laser head is arranged on the output end of optical fiber；
The five-axis robot platform includes that platform base, Y-axis mobile module, X-axis mobile module, Z axis lifting module, A axles are rotated
Module, C axles rotating module and flip module；
The Y-axis mobile module is arranged on platform base, including Y-axis drive component and Y-axis carrying platform, and the Y-axis drives
Component is arranged on platform base and the Y-axis carrying platform that is connected, and drives Y-axis carrying platform to be moved along Y direction；
The X-axis mobile module is set on Y-axis carrying platform, including X-axis drive component and X-axis carrying platform, and the X-axis drives
Component drive connection X-axis carrying platform, and drive X-axis carrying platform to be moved along X-direction；
The Z axis lifting module includes Z axis drive component and Z axis carrying platform, and the Z axis drive component is arranged on platform base
Go up and be connected Z axis carrying platform, and drive Z axis carrying platform to be moved along Z-direction；
The laser head is arranged on Z axis carrying platform；
The A axles rotating module includes A axles drive component and A bearing carrying platforms, and the A axles drive component is arranged on X-axis carrying
On platform and the A bearing carrying platforms that are connected, and A bearings carrying platform is driven to be rotated along A direction of principal axis；
The C axles rotating module includes C axles drive component and C bearing carrying platforms, and the C axles drive component is arranged on A bearings load
On platform and the C bearing carrying platforms that are connected, and C bearings carrying platform is driven to be rotated along C direction of principal axis；
The flip module includes flip module motor and expansion link, and flip module motor is arranged on C bearings and carries flat
Platform both sides, and be arranged on the pivot center of A axle rotating modules, expansion link two ends are respectively joint face and contact surface, expansion link
Joint face connection flip module motor power output shaft on, contact surface be used for contact workpiece.
2. five-axle linkage laser cutter according to claim 1, it is characterised in that：The Y-axis drive component includes the
One motor and the first ball-screw, the first motor are arranged on platform base, the power output of the first motor
Axle connects the first ball-screw, and Y-axis carrying platform is provided with orthogonal first screwed hole and the second screwed hole in the horizontal plane,
First ball-screw is by the first screwed hole drive connection Y-axis carrying platform；
X-axis drive component includes the second motor and the second ball-screw, and second motor is arranged on X-axis and carries flat
On platform, the power output shaft of the second motor connects the second ball-screw, and the second ball-screw is driven by the second screwed hole
Connection X-axis carrying platform；
The Z axis drive component includes the first pedestal, the 3rd motor and the 3rd ball-screw, and the first pedestal is arranged on platform
On base, the 3rd motor is arranged on the first pedestal, and the power output shaft of the 3rd motor connects the 3rd ball-screw,
Z axis carrying platform is provided with the 3rd screwed hole, and the 3rd ball-screw is by the 3rd screwed hole drive connection Z axis carrying platform；
The A axles drive component includes the 4th motor, and the 4th motor is arranged on X-axis carrying platform, and the 4th drives
The pto connection A bearing carrying platforms of motor；
The C axles drive component includes the 5th motor, and the 5th motor is arranged on A bearing carrying platforms, and the 5th drives
The pto connection C bearing carrying platforms of motor.
3. five-axle linkage laser cutter according to claim 2, it is characterised in that the C axles rotating module also includes
6th motor and the 4th ball-screw, the pto of the 6th motor connect the 4th ball-screw,
4th ball-screw drives the 5th motor and C bearings carrying platform to be moved along the vertical direction of A bearing carrying platforms.
4. five-axle linkage laser cutter according to claim 1, it is characterised in that：The Y-axis mobile module, X-axis are moved
Dynamic model block, Z axis lifting module are provided with locating rod, and the Y-axis carrying platform, X-axis carrying platform and Z axis carrying platform are provided with
Through hole, the locating rod is by through hole and is separately positioned on the first pedestal, platform base and X-axis carrying platform.
5. five-axle linkage laser cutter according to claim 1, it is characterised in that also including gas tip, the gas
Body shower nozzle is arranged on Z axis carrying platform.
6. five-axle linkage laser cutter according to claim 1, it is characterised in that the contact surface of the expansion link is provided with
Decorative pattern.
7. five-axle linkage laser cutter according to claim 1, it is characterised in that the expansion link is provided with folder thing
Pawl, the folder thing pawl is made up of multiple sheet metals, and the sheet metal is arranged on the contact surface of expansion link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710110619.1A CN106799545A (en) | 2017-02-28 | 2017-02-28 | A kind of five-axle linkage laser cutter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710110619.1A CN106799545A (en) | 2017-02-28 | 2017-02-28 | A kind of five-axle linkage laser cutter |
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| Publication Number | Publication Date |
|---|---|
| CN106799545A true CN106799545A (en) | 2017-06-06 |
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|---|---|---|---|
| CN201710110619.1A Pending CN106799545A (en) | 2017-02-28 | 2017-02-28 | A kind of five-axle linkage laser cutter |
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Application publication date: 20170606 |