CN107150345A - Manipulator machining detecting system and manipulator machining detection method - Google Patents
Manipulator machining detecting system and manipulator machining detection method Download PDFInfo
- Publication number
- CN107150345A CN107150345A CN201710353639.1A CN201710353639A CN107150345A CN 107150345 A CN107150345 A CN 107150345A CN 201710353639 A CN201710353639 A CN 201710353639A CN 107150345 A CN107150345 A CN 107150345A
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- hole
- buckling parts
- detection
- workpiece
- machined
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
-
- 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
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
-
- 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
- B23Q5/28—Electric drives
Abstract
The invention discloses manipulator machining detecting system, it includes mechanical arm, cutting insert assembly, the mounting assembly on the mechanical arm, and the digital control system being controlled by servo-drive system to the machining path of the cutting insert assembly are arranged on by the cutting insert assembly；Also include the online detection unit being arranged on the mechanical arm；Online detection unit includes being fixed on the detection installing plate on the mechanical arm, detection head and error evaluation system on the detection installing plate；Wherein, the detection head is connected with the error evaluation system, the detection head is detected according to pre-set programs to workpiece to be machined, and testing result is fed back into the error evaluation system, testing result is compared by the error evaluation system with given processing model, if testing result exceeds default error range, the digital control system generates new machining path, and the cutting insert assembly is processed again to the workpiece to be machined.
Description
Technical field
The present invention relates to manipulator machining field, specifically, it is related to a kind of manipulator machining detecting system,
And a kind of manipulator machining detection method.
Background technology
In cutting process, it is critical step that precision measurement and detection, which has,；After part is machined, there is big
The accuracy detection need of work of amount is completed, and mainly includes the detection of work pieces process scale error, the detection of workpiece surface crudy etc..
At present, the method for element precision detection mainly has manual inspection, the detection of offline three-coordinate instrument, on-line checking etc..Hand
Work detection is examined using the conventional measurer such as amesdial, slide calliper rule, amount instrument manual synchronizing, its inefficiency, and precision is easily by people
For influence, influence machining center utilization rate and product automation work flow.Offline inspection is between manufacturing procedure
Or after machining, workpiece is removed from machining center, detected using other detection devices, i.e. processing is examined with dimensional accuracy
Survey is not carried out on the same device, and the two is asynchronous, and the secondary positioning of workpiece and clamping can bring initial error, is unfavorable for protecting
Demonstrate,prove part processing precision；Meanwhile, the unloading and clamping repeated can reduce production efficiency；In addition, for large-scale processing workpiece, offline
Detection process is complicated, and time-consuming, and inapplicable and mass automatic production process.
On-line checking is to be equipped with a touch trigger probe by machining center and detect macroprogram accordingly, is constituted online
Detecting system is processed, while testing result feeds back to error evaluation system, processing workpiece size precision error can be repaiied
Just with compensation, it is to avoid the drawbacks of manual inspection and offline inspection, that is, ensure that workpiece machining accuracy again improve manufacture plus
The production efficiency of work.
Therefore, now need to provide a kind of manipulator machining detecting system suitable for manipulator, and a kind of manipulator
Machining detection method.
The content of the invention
Therefore, the present invention provides a kind of manipulator machining detecting system suitable for manipulator, and a kind of machinery
Hand machining detection method.
In order to solve the above technical problems, the invention provides a kind of manipulator machining detecting system, it includes cutting
Toolbox, is arranged on the mounting assembly on the mechanical arm, and pass through servo-drive system pair by the cutting insert assembly
The digital control system that the machining path of the cutting insert assembly is controlled；Also include being arranged on online on the mechanical arm
Detection unit；The on-line checking structure includes being fixed on detection installing plate on the mechanical arm, installed in the detection
Detection head and error evaluation system on installing plate；Wherein, the detection head is connected with the digital control system, the detection
Head is detected according to pre-set programs to workpiece to be machined, and testing result is fed back into the error evaluation system, the mistake
Testing result is compared by poor assessment system with given default error range, described if testing result exceeds preset range
Digital control system generates new machining path, and the cutting insert assembly is processed again to the workpiece to be machined.
The mounting assembly includes the connecting plate being fixedly connected with the mechanical arm, for installing the cutting tool group
The Cutting tool installation manner plate of part, and at least one linking arm that the connecting plate and the Cutting tool installation manner plate are linked into an integrated entity；Its
In, the connecting plate is perpendicular to the Cutting tool installation manner plate.
The linking arm is set to two, and the junction of one of them described linking arm and the Cutting tool installation manner plate is provided with first
The second mounting hole is formed on mounting hole, the detection installing plate, connector passes through first mounting hole and second peace
The detection installing plate is fixedly connected by dress hole with the mounting assembly.
The detection installing plate fastens shape in a ring, and it has first through hole, the first buckling parts and the second buckling parts, described
Second through hole corresponding with the first through hole is formed in mounting assembly；Wherein, the detection head is arranged on described first
In through hole and second through hole, and fastening by first buckling parts and second buckling parts and it is fastened on described
In one through hole.
Form and formed at least at least one first tapped blind hole, second buckling parts on first buckling parts
One the first tapped through hole, the first standing screw is through first tapped through hole and under the cooperation of first tapped blind hole
First buckling parts and second buckling parts are fastened.
Multiple third through-holes are formed on the connecting plate, multiple connecting screw rods will be described through multiple third through-holes
Connecting plate is fixedly connected with the flange of the mechanical arm.
The Cutting tool installation manner plate fastens shape in a ring, and it has fourth hole, the 3rd buckling parts and the 4th buckling parts, described
The electric machine main shaft of cutting insert assembly is arranged in the fourth hole, and is fastened by the 3rd buckling parts and the described 4th
The fastening in portion is fastened in second through hole.
Form and formed at least at least one second tapped blind hole, the 4th buckling parts on 3rd buckling parts
One the second tapped through hole, the second standing screw is through second tapped through hole and under the cooperation of second tapped blind hole
3rd buckling parts and the 4th buckling parts are fastened.
The cutting insert assembly includes electric machine main shaft, the handle of a knife being connected with the electric machine main shaft and installed in the knife
Cutter on handle.
A kind of manipulator machining detection method suitable for manipulator machining detecting system as described above, its
Comprise the following steps：
A, the preset program for setting detection head and error evaluation system preset range, servo-drive system drive the cutting tool group
Part is processed to workpiece to be machined；
After b, the workpiece to be machined completion of processing, mechanical arm is rotated by 90 °, and the detection head is according to preset program to described
Workpiece to be machined is detected, and testing result is fed back into the error evaluation system；
Testing result and preset range are compared by c, the error evaluation system, if testing result exceeds the default model
Enclose, then perform step d；If testing result resets without departing from the preset range, the mechanical arm, next added is carried out
The procedure of work workpiece；
D, the digital control system generate new machining path, and the mechanical arm resets, and servo-drive system drives the cutting tool
Component is processed again to the workpiece to be machined, then configuration processor b and its subsequent step.
The above-mentioned technical proposal of the present invention has advantages below compared with prior art：
In the present invention, the on-line checking structure and the cutting insert assembly are all arranged on the mechanical arm, work as quilt
After processing work pieces process is finished, need to only rotate the mechanical arm can carry out on-line checking to the workpiece to be machined, and will
Testing result feeds back to the error evaluation system, realizes error compensation and the amendment of workpiece to be machined；Meanwhile, detection when or
All without carrying out the secondary cutting again for clamping, not interfering with the workpiece to be machined to workpiece to be machined when person processes again,
The manipulator machining detecting system ensure that the workpiece to be machined while machining accuracy of workpiece to be machined is provided
Processing efficiency.
Brief description of the drawings
In order that present disclosure is more likely to be clearly understood, specific embodiment and combination below according to the present invention
Accompanying drawing, the present invention is further detailed explanation.
Wherein, Fig. 1 is the overall structure diagram of manipulator machining detecting system of the present invention；
Fig. 2 is the structural representation of manipulator machining detecting system of the present invention；
Fig. 3 is the structural representation of mounting assembly of the present invention；
Fig. 4 is the structural representation of detection installing plate of the present invention；
Fig. 5 is the module diagram of manipulator machining detection method of the present invention；
Description of reference numerals：1- mechanical arms；2- detects installing plate；3- detection heads；4- connecting plates；5- Cutting tool installation manner plates；6- connects
Connect arm；The mounting holes of 7- first；The mounting holes of 8- second；9- third through-holes；10- first through hole；The buckling parts of 11- first；12- second is detained
Conjunction portion；The through holes of 13- second；The tapped blind holes of 14- first；The tapped through holes of 15- first；16- fourth holes；The buckling parts of 17- the 3rd；
The buckling parts of 18- the 4th；The tapped blind holes of 19- second；The tapped through holes of 20- second；21- electric machine main shafts；22- handle of a knifes；23- cutters.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
Embodiment 1
As shown in Fig. 1,2,3 and 4, the manipulator machining detecting system of the present embodiment, it includes cutting insert assembly, by institute
Mounting assembly of the cutting insert assembly on mechanical arm 1 is stated, and by servo-drive system to the cutting insert assembly
The digital control system that is controlled of machining path；Also include the online detection unit being arranged on the mechanical arm 1；It is described
Line detection unit includes being fixed on the detection installing plate 2 on the mechanical arm 1 and detected installed in described on installing plate 2
Detection head 3；Wherein, the detection head 3 is connected with the digital control system, and the detection head 3 is according to pre-set programs to being processed work
Part is detected, and testing result is fed back into the error evaluation system, and the error evaluation system is by testing result with giving
Fixed default error range is compared, if testing result exceeds preset range, the digital control system generates new machining path,
The cutting insert assembly is processed again to the workpiece to be machined.
In the present embodiment, preferably described on-line checking structure is dimensional accuracy online detection unit；Further, the quilt
In the process for processing workpiece, there is a certain degree of mismachining tolerance for various reasons so that workpiece to be machined is once
There is deviation between actual size and intended dimensions after processing, therefore by the dimensional accuracy online detection unit to once
The workpiece to be machined after processing carries out size detection, and result is fed back into error evaluation system, by testing result with giving
Fixed error preset range is compared, if testing result exceeds preset range, the digital control system generates new machining path,
The cutting insert assembly is processed again to the workpiece to be machined.
As preferred embodiment, the detection head 3 is set to be provided with Reinshaw detection head, the error evaluation system
Testing result is compared and judged with the preset range by measurement control and error evaluation module, the module, described online
Detection unit and the cutting insert assembly are all arranged on the mechanical arm 1, after workpiece to be machined completion of processing, are only needed
On-line checking can be carried out to the workpiece to be machined by rotating the mechanical arm 1, and testing result is fed back into the error
Assessment system, realizes error compensation and the amendment of workpiece to be machined；Meanwhile, all without to quilt when processing in detection or again
Process workpiece and carry out the secondary cutting again for clamping, not interfering with the workpiece to be machined, manipulator machining detection system
Unite and the processing efficiency of the workpiece to be machined is ensure that while the machining accuracy of workpiece to be machined is provided.
Specifically, the mounting assembly includes the connecting plate 4 being fixedly connected with the mechanical arm 1, described for installing
The Cutting tool installation manner plate 5 of cutting insert assembly, and the connecting plate 4 and the Cutting tool installation manner plate 5 are linked into an integrated entity at least
One linking arm 6；Wherein, the connecting plate 4 is perpendicular to the Cutting tool installation manner plate 5.In the present embodiment, the linking arm 6 is set
Connect for two and symmetrically the connecting plate 4 and the Cutting tool installation manner plate 5；Wherein, as preferred embodiment, the connection
Arm 6 is in " 7 " font.
Further, the junction of one of them described linking arm 6 and the Cutting tool installation manner plate 5 is provided with the first mounting hole 7,
The second mounting hole 8 is formed on the detection installing plate 2, connector passes through first mounting hole 7 and second mounting hole 8
The detection installing plate 2 is fixedly connected with the mounting assembly.In the present embodiment, first mounting hole 7 and described
Two mounting holes 8 are all set to two, and two connectors sequentially pass through corresponding first mounting hole 7 and described second and installed
Realize the on-line checking component in institute so as to which the detection installing plate 2 and the mounting assembly are fixed together in hole 8
State the fixed installation on mechanical arm 1；Wherein it is possible to which it is preferred that first mounting hole 7 and second mounting hole 8 are all screw thread
Hole, the connector is set to screw, certainly as disposable embodiment, can also can realize the connection using other
Structure is embodied.
As shown in figure 4, in the present embodiment, the detection installing plate 2 fastens shape in a ring, its have first through hole 10,
Second corresponding with the first through hole 10 is formed in first buckling parts 11 and the second buckling parts 12, the mounting assembly to lead to
Hole 13；Wherein, the detection head 3 is arranged in the first through hole 10 and second through hole 13, and is detained by described first
The fastening of conjunction portion 11 and second buckling parts 12 is simultaneously fastened in the first through hole 10.Specifically, first buckling parts
Formed on 11 and form at least one first tapped through hole at least one first tapped blind hole 14, second buckling parts 12
15, the first standing screw passes through first tapped through hole 15 and under the cooperation of first tapped blind hole 14 by described first
Buckling parts 11 and second buckling parts 12 are fastened.In the present embodiment, the detection head 3 can be placed on first during installation
In the first through hole 10 and second through hole 13, then first buckling parts 11 and second buckling parts 12 are detained again
Tightly, it can be realized using this fastening mode and the regulation of the detection head 3 in the axial direction is installed；Certainly can also only will be described
Detection head 3 is placed in the first through hole 10, so that the detection installing plate 2 can be different in other words to different-diameter
The detection head 3 of circumferential size carries out installation fixation, and then improves the versatility of the detection installing plate 2.
Specifically, as shown in figure 3, forming multiple third through-holes 9 on the connecting plate 4, multiple connecting screw rods pass through many
The connecting plate 4 is fixedly connected by the individual third through-hole 9 with the flange of the mechanical arm 1, so that above-mentioned connected mode, real
The existing mounting assembly and the fixed installation of the mechanical arm 1.
Further, the Cutting tool installation manner plate 5 fastens shape in a ring, and it has fourth hole 16, the and of the 3rd buckling parts 17
4th buckling parts 18, the electric machine main shaft 21 of the cutting insert assembly is arranged in the fourth hole 16, and passes through described the
The fastening of three buckling parts 17 and the 4th buckling parts 18 is fastened in second through hole 13.
Form and be molded at least one second tapped blind hole 19, the 4th buckling parts 18 on 3rd buckling parts 17
There is at least one second tapped through hole 20, the second standing screw passes through second tapped through hole 20 and blind in second screw thread
The 3rd buckling parts 17 and the 4th buckling parts 18 are fastened under the cooperation in hole 19.In the present embodiment, can be with during installation
The electric machine main shaft 21 is placed in the fourth hole 16 first, then again by the 3rd buckling parts 17 and the described 4th
Buckling parts 18 is fastened, and can be realized using this fastening mode and the regulation of the electric machine main shaft 21 in its axial direction is installed；When
So it is also possible that the Cutting tool installation manner plate 5 can carry out installation fixation to different-diameter electric machine main shaft 21, and then improve the knife
Has the versatility of installing plate 5.
In the present embodiment, the knife that the cutting insert assembly includes electric machine main shaft 21, is connected with the electric machine main shaft 21
Handle 22 and the cutter 23 on the handle of a knife 22.
Embodiment 2
As shown in figure 5, a kind of manipulator machining suitable for manipulator machining detecting system as described above is detected
Method, it comprises the following steps：
A, the preset program for setting detection head 3 and error evaluation system error preset range, servo-drive system drive the cutting
Toolbox is processed to workpiece to be machined；
After b, the workpiece to be machined completion of processing, mechanical arm 1 is rotated by 90 °, and the detection head 3 is according to preset program to institute
State workpiece to be machined to be detected, and testing result is fed back into the error evaluation system；
Testing result and error preset range are compared by c, the error evaluation system, if testing result is beyond described default
Scope, then perform step d；If testing result resets without departing from the preset range, the mechanical arm 1, carry out next
The procedure of workpiece to be machined；
D, the digital control system generate new machining path, and the mechanical arm 1 resets, and servo-drive system drives the cutting tool
Component is processed again to the workpiece to be machined, then configuration processor b and its subsequent step.
In the present embodiment, in the present embodiment, preferably described on-line checking structure is dimensional accuracy online detection unit,
Its substantially process is as follows：
The preset program of detection head 3 and the preset range of error evaluation system are set first, and set by the digital control system
The machining path first of the cutting insert assembly, then causes servo-drive system to drive the cutting insert assembly to being processed work
Part is processed first；After the workpiece to be machined completion of processing, mechanical arm 1 is rotated by 90 °, and the detection head 3 is according to predetermined
Degree detects to the workpiece to be machined, and by testing result feed back to measurement result in the error evaluation system and
Testing result is compared by error evaluation module, the measurement result and error evaluation module with preset range；If detection knot
Fruit resets without departing from the preset range, the then mechanical arm 1, carries out the procedure of next workpiece to be machined；
If testing result exceeds the preset range, step d is performed, that is to say, that the digital control system generates new processing
Path, the mechanical arm 1 resets, and servo-drive system drives the cutting insert assembly to carry out adding again to the workpiece to be machined
Work, and detected again after completion of processing, and subsequent process is circulated, until the testing result is without departing from the default model
Enclose.
Obviously, above-described embodiment is only intended to clearly illustrate example, and the not restriction to embodiment.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of change or
Change.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change thus extended out or
Among changing still in the protection domain of the invention.
Claims (10)
1. manipulator machining detecting system, it includes cutting insert assembly, and the cutting insert assembly is arranged on into machinery
Arm（1）On mounting assembly, and the number being controlled by servo-drive system to the machining path of the cutting insert assembly
Control system；It is characterized in that：Also include being arranged on the mechanical arm（1）On online detection unit；The on-line checking list
Member includes being fixed on the mechanical arm（1）On detection installing plate（2）, installed in the detection installing plate（2）On detection
Head（3）And error evaluation system；Wherein, the detection head（3）It is connected with the error evaluation unit, the detection head（3）
Workpiece to be machined is detected according to pre-set programs, and testing result is fed back into the error evaluation system, the error
Testing result is compared by assessment system with given default error range, if testing result exceeds preset range, the number
Control system generates new machining path, and the cutting insert assembly is processed again to the workpiece to be machined.
2. manipulator machining detecting system according to claim 1, it is characterised in that：The mounting assembly include with
The mechanical arm（1）The connecting plate being fixedly connected（4）, the Cutting tool installation manner plate for installing the cutting insert assembly（5）, with
And by the connecting plate（4）With the Cutting tool installation manner plate（5）At least one linking arm linked into an integrated entity（6）；Wherein, the company
Fishplate bar（4）Perpendicular to the Cutting tool installation manner plate（5）.
3. manipulator machining detecting system according to claim 2, it is characterised in that：The linking arm（6）It is set to
Two, one of them described linking arm（6）With the Cutting tool installation manner plate（5）Junction be provided with the first mounting hole（7）, the inspection
Survey installing plate（2）On form the second mounting hole（8）, connector passes through first mounting hole（7）With second mounting hole
（8）By the detection installing plate（2）It is fixedly connected with the mounting assembly.
4. manipulator machining detecting system according to claim 3, it is characterised in that：The detection installing plate（2）
Shape is fastened in a ring, and it has first through hole（10）, the first buckling parts（11）With the second buckling parts（12）, in the mounting assembly
Form and the first through hole（10）The second corresponding through hole（13）；Wherein, the detection head（3）Installed in described first
Through hole（10）With second through hole（13）It is interior, and pass through first buckling parts（11）With second buckling parts（12）Button
Merging is fastened on the first through hole（10）It is interior.
5. manipulator machining detecting system according to claim 4, it is characterised in that：First buckling parts（11）
On form at least one first tapped blind hole（14）, second buckling parts（12）On form at least one first screw thread lead to
Hole（15）, the first standing screw pass through first tapped through hole（15）And in first tapped blind hole（14）Cooperation under will
First buckling parts（11）With second buckling parts（12）Fastening.
6. manipulator machining detecting system according to claim 2, it is characterised in that：The connecting plate（4）On into
Type has multiple third through-holes（9）, multiple connecting screw rods pass through multiple third through-holes（9）By the connecting plate（4）With it is described
Mechanical arm（1）Flange be fixedly connected.
7. manipulator machining detecting system according to claim 2, it is characterised in that：The Cutting tool installation manner plate（5）
Shape is fastened in a ring, and it has fourth hole（16）, the 3rd buckling parts（17）With the 4th buckling parts（18）, the cutting tool group
The electric machine main shaft of part（21）Installed in the fourth hole（16）It is interior, and pass through the 3rd buckling parts（17）With the described 4th button
Conjunction portion（18）Fastening be fastened to second through hole（13）It is interior.
8. manipulator machining detecting system according to claim 7, it is characterised in that：3rd buckling parts（17）
On form at least one second tapped blind hole（19）, the 4th buckling parts（18）On form at least one second screw thread lead to
Hole（20）, the second standing screw pass through second tapped through hole（20）And in second tapped blind hole（19）Cooperation under will
3rd buckling parts（17）With the 4th buckling parts（18）Fastening.
9. manipulator machining detecting system according to claim 1, it is characterised in that：The cutting insert assembly bag
Include electric machine main shaft（21）And the electric machine main shaft（21）Connected handle of a knife（22）And installed in the handle of a knife（22）On cutter
（23）.
10. a kind of manipulator machining for being applied to the manipulator machining detecting system as described in claim 1-9
Detection method, it is characterised in that：It comprises the following steps：
A, setting detection head（3）Preset program and error evaluation system preset range, servo-drive system drives the bite
Tool component is processed to workpiece to be machined；
After b, the workpiece to be machined completion of processing, mechanical arm（1）It is rotated by 90 °, the detection head（3）According to preset program
The workpiece to be machined is detected, and testing result is fed back into the error evaluation system；
Testing result and preset range are compared by c, the error evaluation system, if testing result exceeds the default error
Scope, then perform step；
d；If testing result is without departing from the preset range, the mechanical arm（1）Reset, carry out next workpiece to be machined
Procedure；
The digital control system generates new machining path, the mechanical arm（1）Reset, servo-drive system drives the cutting tool
Component is processed again to the workpiece to be machined, then configuration processor b and its subsequent step.
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| CN201710353639.1A CN107150345B (en) | 2017-05-18 | 2017-05-18 | Manipulator machining detection system and manipulator machining detection method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108594759A (en) * | 2018-04-27 | 2018-09-28 | 苏州金世博精密机电有限公司 | A kind of numerically-controlled machine tool processing online test method |
| WO2019161744A1 (en) * | 2018-02-24 | 2019-08-29 | 大连理工大学 | Ultrasonic cutting method employing straight-blade sharp knife and application thereof |
| CN111761394A (en) * | 2019-04-02 | 2020-10-13 | 富泰华工业（深圳）有限公司 | Intelligent tool magazine device and tool management method |
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