CN107414144A - Intelligent Counterboring apparatus based on six-degree-of-freedom parallel robot - Google Patents
Intelligent Counterboring apparatus based on six-degree-of-freedom parallel robot Download PDFInfo
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- CN107414144A CN107414144A CN201710180326.0A CN201710180326A CN107414144A CN 107414144 A CN107414144 A CN 107414144A CN 201710180326 A CN201710180326 A CN 201710180326A CN 107414144 A CN107414144 A CN 107414144A
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- spindle box
- main spindle
- degree
- parallel robot
- freedom parallel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B47/00—Constructional features of components specially designed for boring or drilling machines; Accessories therefor
-
- 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
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
-
- 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
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2409—Arrangements for indirect observation of the working space using image recording means, e.g. a camera
-
- 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
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2452—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces
- B23Q17/2471—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces of workpieces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Intelligent Counterboring apparatus based on six-degree-of-freedom parallel robot belongs to mechanical equipment technical field, it is therefore intended that solves the problems, such as that low precision is positioned manually existing for prior art and efficiency is low.The present invention includes pedestal；The column that lower end is fixedly connected with the pedestal；The rocking arm that one end is enclosed on column and slided up and down；With the main spindle box of the rocking arm or so relative motion；The reaming bit for connecting and being rotated with feed motion with main spindle box inner main axis is stretched out from main spindle box lower end；The hole site harvester of main spindle box lower end is arranged on, the hole site harvester includes the light source being arranged on main spindle box and the camera for being fixed on main spindle box lower surface, gathers the positional information in workpiece hole to be processed in real time by camera；It is fixed on six-degree-of-freedom parallel robot corresponding with the bit location on the pedestal；And the controller in the main spindle box is arranged on, the controller electrically connects with the six-degree-of-freedom parallel robot and camera respectively.
Description
Technical field
The invention belongs to mechanical equipment technical field, and in particular to a kind of intelligence based on six-degree-of-freedom parallel robot expands
Aperture apparatus.
Background technology
Reaming is a kind of common processing method, for increasing the internal diameter of the workpiece with hole such as pipe, cup or housing.It is right
In a fairly large number of workpiece, according to traditional expanding method, it is necessary to which artificial crossed determines the position in each hole, then in process
Middle to need continuous clamping, positioning, dismounting, process is more, and workload is big, and efficiency is low, and the precision being positioned manually often according to
Rely the technology and experience in operator, positioning precision is poor, it is impossible to meet the reaming demand of increasingly high-efficiency and precision.Therefore, one is developed
Kind can automatic identification hole position, the intelligent Counterboring apparatus that is automatically positioned suffered from very for improving reaming precision and processing efficiency
Positive realistic function.
The content of the invention
It is an object of the invention to propose a kind of intelligent Counterboring apparatus based on six-degree-of-freedom parallel robot, solve existing
The problem of low precision and low efficiency are positioned manually existing for technology；It can in real time gather and adjust angle and the position in hole to be processed
Put, ensure that hole and axis and reaming bit axis overlap.
To achieve the above object, the intelligent Counterboring apparatus of the invention based on six-degree-of-freedom parallel robot includes：
Pedestal；
The column that lower end is fixedly connected with the pedestal；
One end is enclosed on the rocking arm on column, and the rocking arm drives relative column sliding up and down by vertically movable drive mechanism
It is dynamic；
With the main spindle box of the rocking arm or so relative motion；
The reamer for connecting and being rotated with feed motion with main spindle box inner main axis is stretched out from main spindle box lower end
Head；
The hole site harvester of main spindle box lower end is arranged on, the hole site harvester includes being arranged on main spindle box
Light source and be fixed on the camera of main spindle box lower surface, gather the positional information in workpiece hole to be processed in real time by camera；
Six-degree-of-freedom parallel robot corresponding with the bit location on the pedestal is fixed on, workpiece setting is six
On the moving platform of DOF parallel robot；
And be arranged on the controller in the main spindle box, the controller respectively with the six-degree-of-freedom parallel robot
Electrically connected with camera.
The vertically movable drive mechanism includes being arranged on the decelerator of column top and lifting motor and stood with described
The ball-screw that post be arranged in parallel；The lifting motor output end is connected by decelerator with one end of ball-screw, the rolling
The other end of ballscrew and the rocking arm form screw pair, the lifting motor and driver electrical connection.
The six-degree-of-freedom parallel robot includes：
Fixed platform；
The moving platform coaxially being be arranged in parallel with the fixed platform；
Six supporting legs being arranged between fixed platform and moving platform, each supporting leg are made up of fixed supporting leg and movable supporting legs,
Each fixed supporting leg is hinged by lower end hinge and fixed platform upper surface, and each movable supporting legs pass through under upper end hinge and moving platform
End face is hinged.
The main spindle box and the rocking arm or so relative motion is specially：Rocker-arm way is provided with the rocking arm, it is described
Rocker-arm way lower end is provided with rack, rack and a shiftable gear engagement on the rocker-arm way, the shiftable gear
Rotary shaft is fixedly connected with the handle being arranged on outside main spindle box, and the rotary shaft of the shiftable gear passes through bearing and the master
Axle box outer wall coordinates.
Described reaming bit can rotate specially：The main spindle box upper end is provided with spindle motor, described
Spindle motor output shaft is connected with the end of the main shaft by shaft coupling；
Described reaming bit can do feed motion：The sidewall locations that the main shaft is located in main spindle box are set
There is a rack of vertical direction, rack and a feed gear wheel engagement on the main shaft and are set the rotary shaft of the feed gear wheel
The feeding handle put outside main spindle box is fixedly connected.
Vertical range between the main-shaft axis and the camera axis is not more than 10mm.
The camera selection CCD type or CMOS-type.
Beneficial effects of the present invention are：It is vertical in the intelligent Counterboring apparatus based on six-degree-of-freedom parallel robot of the present invention
Post is bolted on pedestal, and the middle part of column is enclosed on column as lead, rocking arm, can be lifted.Column
Upper end is provided with lifting motor and decelerator, and decelerator output end is connected with ball-screw, and ball-screw is by the rotation of lifting motor
Transhipment turn turns to the elevating movement of rocking arm.Main spindle box is connected with the guide rail of rocking arm, and its upper end is provided with spindle motor, to
Drive main shaft rotation.In addition, handle and feeding handle are provided with main spindle box, to the position of mobile reaming bit.
Camera is provided near main shaft, main spindle box is provided with light source close to the place of main shaft, and light source illuminates the machined surface of workpiece.Work
Part is placed on six-degree-of-freedom parallel robot, and six-degree-of-freedom parallel robot is placed on pedestal, can carry out six-dimensional pose
Adjustment.So, light source, camera, control centre, six-degree-of-freedom parallel robot just constitute a closed-loop system.Camera
The machined surface of face workpiece, the light reflected from work pieces process face can be identified, can be obtained by the method for image recognition
The information in work pieces process face is taken, these information mainly include position, angle, the position in hole and the size in face etc..These information can
With real-time Transmission to controller, control instruction is sent to six-degree-of-freedom parallel robot and make it that the hole on workpiece is automatic by controller
Navigate to the lower end of reaming bit and ensure that the axis of process mesopore is consistent with the axis of reaming bit all the time.
Intelligent Counterboring apparatus of the present invention based on six-degree-of-freedom parallel robot can greatly reduce clamping process,
Operating efficiency is improved, human cost is saved, reduces the dependence to the skills and experience of operating personnel, greatly improve machining accuracy.
Present invention particularly suitable for use under the reaming occasion all having high requirements to machining accuracy and efficiency.
Brief description of the drawings
Fig. 1 is the intelligent Counterboring apparatus overall structure diagram based on six-degree-of-freedom parallel robot of the present invention；
Fig. 2 is six-degree-of-freedom parallel robot in the intelligent Counterboring apparatus based on six-degree-of-freedom parallel robot of the invention
Structural representation；
Fig. 3 is that main spindle box translation principle is illustrated in the intelligent Counterboring apparatus based on six-degree-of-freedom parallel robot of the invention
Figure；
Fig. 4 is that axis feeding principle is illustrated in the intelligent Counterboring apparatus based on six-degree-of-freedom parallel robot of the invention
Figure；
Wherein：1st, pedestal, 2, column, 3, rocking arm, 3-1, rocker-arm way, 4, decelerator, 5, lifting motor, 6, ball wire
Thick stick, 7, spindle motor, 8, main spindle box, 8-1, main shaft, 9, controller, 10, handle, 11, feeding handle, 12, light source, 13,
Camera, 14, reaming bit, 15, six-degree-of-freedom parallel robot, 15-1, fixed platform, 15-2, lower end hinge, 15-3, fixation
Supporting leg, 15-4, movable supporting legs, 15-5, upper end hinge, 15-6, moving platform, 16, shiftable gear, 17, feed gear wheel.
Embodiment
Embodiments of the present invention are described further below in conjunction with the accompanying drawings.
Referring to accompanying drawing 1, the intelligent Counterboring apparatus of the invention based on six-degree-of-freedom parallel robot includes：
Pedestal 1；
The column 2 that lower end is fixedly connected with the pedestal 1；
One end is enclosed on the rocking arm 3 on column 2, and the rocking arm 3 drives relative column about 2 by vertically movable drive mechanism
Slide；
With the main spindle box 8 of the relative motion of rocking arm 3 or so；
The expansion that connects and can rotate with feed motion with the inner main axis 8-1 of main spindle box 8 is stretched out from the lower end of main spindle box 8
Drill 14；
The hole site harvester of the lower end of main spindle box 8 is arranged on, the hole site harvester includes being arranged on main spindle box 8
On light source 12 and be fixed on the camera 13 of the lower surface of main spindle box 8, workpiece hole to be processed is gathered by camera 13 in real time
Positional information；
It is fixed on six-degree-of-freedom parallel robot 15 corresponding with the bit location on the pedestal 1, workpiece setting
On the moving platform 15-6 of six-degree-of-freedom parallel robot 15；
And be arranged on the controller 9 in the main spindle box 8, the controller 9 respectively with the six-degree-of-freedom parallel
Device people 15 and camera 13 electrically connect.
The vertically movable drive mechanism include be arranged on the top of column 2 decelerator 4 and lifting motor 5 and with it is described
The ball-screw 6 that column 2 be arranged in parallel；The output end of lifting motor 5 is connected by one end of decelerator 4 with ball-screw 6,
The other end and the rocking arm 3 of the ball-screw 6 form screw pair, and the lifting motor 5 and the driver are electrically connected
Connect.
Referring to accompanying drawing 2, the six-degree-of-freedom parallel robot 15 is UPS configurations, including：
Fixed platform 15-1；
The moving platform 15-6 coaxially being be arranged in parallel with the fixed platform 15-1；
Six supporting legs being arranged between fixed platform 15-1 and moving platform 15-6, each supporting leg is by fixed supporting leg 15-3 and work
Dynamic supporting leg 15-4 compositions, each fixed supporting leg 15-3 are hinged by lower end hinge 15-2 and fixed platform 15-1 upper surface, each living
Dynamic supporting leg 15-4 is hinged by upper end hinge 15-5 and moving platform 15-6 lower surface.
During work, the stroke of the movable supporting legs 15-4 in six supporting legs is controlled by controller 9, can be to complete 6 DOF
The adjustment of precision.
Referring to accompanying drawing 3, the main spindle box 8 and the relative motion of the rocking arm 3 or so are specially：It is provided with the rocking arm 3
Rocker-arm way 3-1, the rocker-arm way 3-1 lower ends are provided with rack, rack and a translation tooth on the rocker-arm way 3-1
The engagement of wheel 16, the rotary shaft of the shiftable gear 16 are fixedly connected with the handle 10 being arranged on outside main spindle box 8, the translation
The rotary shaft of gear 16 is coordinated by bearing and the outer wall of the main spindle box 8.
Described reaming bit 14 can rotate specially：The upper end of main spindle box 8 is provided with spindle motor 7,
The output shaft of spindle motor 7 is connected with the end of the main shaft 8-1 by shaft coupling；
Referring to accompanying drawing 4, described reaming bit 14 can do feed motion and be specially：The main shaft 8-1 is located at main spindle box 8
Interior sidewall locations are provided with the rack of vertical direction, and the rack and a feed gear wheel 17 on the main shaft 8-1 engage, described
The rotary shaft of feed gear wheel 17 is fixedly connected with the feeding handle 11 being arranged on outside main spindle box 8.
Vertical range between main shaft 8-1 axis and the camera 13 axis is not more than 10mm.During practical application,
Suitably adjusted according to the size different distance of different main shaft 8-1 size and camera 13, it is therefore an objective to think that realization is ensureing
On the premise of main shaft 8-1 can be with normal rotation and feed motion, both distances are as far as possible small.
The camera 13 selects CCD type or CMOS-type.
The machined surface of the face workpiece of camera 13 of the present invention, can identify the light reflected from work pieces process face, lead to
The image information in work pieces process face can be obtained by crossing the method for image recognition, and real-time Transmission is to the image procossing in controller 9
Unit, obtains position, angle, the position in hole and the size information of machined surface, and controller 9 will control according to the corresponding information of acquisition
Instruction is sent to six-degree-of-freedom parallel robot 15 so that the hole on workpiece is automatically positioned the lower end of reaming bit 14 and guarantor
The axis for demonstrate,proving process mesopore is consistent with the axis of reaming bit 14 all the time.
Claims (8)
1. the intelligent Counterboring apparatus based on six-degree-of-freedom parallel robot, including：
Pedestal (1)；
The column (2) that lower end is fixedly connected with the pedestal (1)；
One end is enclosed on the rocking arm (3) on column (2)；
With the main shaft (case (8) of the rocking arm (3) left and right relative motion；
Stretched out from main spindle box (8) lower end and main spindle box (8) inner main axis (8-1) are connected and can rotated and feed motion
Reaming bit (14)；
Characterized in that, the rocking arm (3) drives relative column (2) to slide up and down by vertically movable drive mechanism；Also include：
The hole site harvester of main spindle box (8) lower end is arranged on, the hole site harvester includes being arranged on main spindle box (8)
On light source (12) and be fixed on the camera (13) of main spindle box (8) lower surface, by camera (13), collection workpiece is treated in real time
Process the positional information in hole；
It is fixed on six-degree-of-freedom parallel robot (15) corresponding with the bit location on the pedestal (1), workpiece setting
On the moving platform (15-6) of six-degree-of-freedom parallel robot (15)；
And be arranged on the controller (9) in the main spindle box (8), the controller (9) respectively with the six-freedom parallel
Robot (15) and camera (13) electrical connection.
2. the intelligent Counterboring apparatus according to claim 1 based on six-degree-of-freedom parallel robot, it is characterised in that described
Vertically movable drive mechanism include be arranged on column (2) top decelerator (4) and lifting motor (5) and with the column
(2) ball-screw (6) be arrangeding in parallel；Lifting motor (5) output end pass through decelerator (4) and ball-screw (6) one
End connection, the other end and the rocking arm (3) of the ball-screw (6) form screw pair, the lifting motor (5) and institute
State driver electrical connection.
3. the intelligent Counterboring apparatus according to claim 1 or 2 based on six-degree-of-freedom parallel robot, it is characterised in that
The six-degree-of-freedom parallel robot (15) includes：
Fixed platform (15-1)；
The moving platform (15-6) coaxially being be arranged in parallel with the fixed platform (15-1)；
Six supporting legs being arranged between fixed platform (15-1) and moving platform (15-6), each supporting leg by fixed supporting leg (15-3) and
Movable supporting legs (15-4) are formed, and each fixed supporting leg (15-3) is cut with scissors by lower end hinge (15-2) and fixed platform (15-1) upper surface
Connect, each movable supporting legs (15-4) are hinged by upper end hinge (15-5) and moving platform (15-6) lower surface.
4. the intelligent Counterboring apparatus according to claim 1 based on six-degree-of-freedom parallel robot, it is characterised in that described
Main spindle box (8) and the rocking arm (3) left and right relative motion are specially：Rocker-arm way (3-1), institute are provided with the rocking arm (3)
State rocker-arm way (3-1) lower end and be provided with rack, the rack and a shiftable gear (16) on the rocker-arm way (3-1) are nibbled
Close, the rotary shaft of the shiftable gear (16) is fixedly connected with the handle (10) of main spindle box (8) outside is arranged on, the translation
The rotary shaft of gear (16) is coordinated by bearing and the main spindle box (8) outer wall.
5. the intelligent Counterboring apparatus according to claim 1 based on six-degree-of-freedom parallel robot, it is characterised in that described
Reaming bit (14) can rotate specially：Main spindle box (8) upper end is provided with spindle motor (7), the master
Spindle motor (7) output shaft is connected with the end of the main shaft (8-1) by shaft coupling.
6. the intelligent Counterboring apparatus according to claim 1 based on six-degree-of-freedom parallel robot, it is characterised in that described
Reaming bit (14) feed motion can be done be specially：The sidewall locations that the main shaft (8-1) is located in main spindle box (8) are set
There is a rack of vertical direction, rack and feeding tooth (17) wheel engagement on the main shaft (8-1), feeding tooth (17) wheel
Rotary shaft be fixedly connected with the feeding handle (11) of main spindle box (8) outside is arranged on.
7. the intelligent Counterboring apparatus according to claim 1 based on six-degree-of-freedom parallel robot, it is characterised in that described
Vertical range between main shaft (8-1) axis and the camera (13) axis is not more than 10mm.
8. the intelligent Counterboring apparatus according to claim 1 based on six-degree-of-freedom parallel robot, it is characterised in that described
Camera (13) selects CCD type or CMOS-type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710180326.0A CN107414144A (en) | 2017-03-24 | 2017-03-24 | Intelligent Counterboring apparatus based on six-degree-of-freedom parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710180326.0A CN107414144A (en) | 2017-03-24 | 2017-03-24 | Intelligent Counterboring apparatus based on six-degree-of-freedom parallel robot |
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| CN107414144A true CN107414144A (en) | 2017-12-01 |
Family
ID=60424185
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710180326.0A Pending CN107414144A (en) | 2017-03-24 | 2017-03-24 | Intelligent Counterboring apparatus based on six-degree-of-freedom parallel robot |
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| CN (1) | CN107414144A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110732883A (en) * | 2018-07-18 | 2020-01-31 | 厦门万久科技股份有限公司 | Combined type parallel mechanism equipment |
| CN111037336A (en) * | 2019-12-31 | 2020-04-21 | 朱骏 | Drilling machine convenient to adjust |
| CN111570641A (en) * | 2020-05-25 | 2020-08-25 | 珠海格力智能装备有限公司 | Pipe orifice aligning device and pipe expander with same |
| CN112496959A (en) * | 2020-11-26 | 2021-03-16 | 深圳市伊伯斯义齿有限公司 | False tooth manufacturing process and manufacturing equipment thereof |
| CN112620679A (en) * | 2020-12-17 | 2021-04-09 | 中国民航大学 | Hole expanding device and method for special-shaped part of aero-engine |
| CN112894995A (en) * | 2020-12-24 | 2021-06-04 | 天津理工大学 | Perforating device is used in production of thing networking electronic equipment |
| CN115475979A (en) * | 2022-11-02 | 2022-12-16 | 南通市航天机电自动控制有限公司 | Punching device for vibration motor parts |
| CN116329599A (en) * | 2023-05-30 | 2023-06-27 | 佛山科学技术学院 | Linear-driven six-axis drilling device and resistance identification method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110732883A (en) * | 2018-07-18 | 2020-01-31 | 厦门万久科技股份有限公司 | Combined type parallel mechanism equipment |
| CN111037336A (en) * | 2019-12-31 | 2020-04-21 | 朱骏 | Drilling machine convenient to adjust |
| CN111570641A (en) * | 2020-05-25 | 2020-08-25 | 珠海格力智能装备有限公司 | Pipe orifice aligning device and pipe expander with same |
| CN112496959A (en) * | 2020-11-26 | 2021-03-16 | 深圳市伊伯斯义齿有限公司 | False tooth manufacturing process and manufacturing equipment thereof |
| CN112496959B (en) * | 2020-11-26 | 2022-04-22 | 深圳市伊伯斯义齿有限公司 | False tooth manufacturing process and manufacturing equipment thereof |
| CN112620679A (en) * | 2020-12-17 | 2021-04-09 | 中国民航大学 | Hole expanding device and method for special-shaped part of aero-engine |
| CN112894995A (en) * | 2020-12-24 | 2021-06-04 | 天津理工大学 | Perforating device is used in production of thing networking electronic equipment |
| CN115475979A (en) * | 2022-11-02 | 2022-12-16 | 南通市航天机电自动控制有限公司 | Punching device for vibration motor parts |
| CN116329599A (en) * | 2023-05-30 | 2023-06-27 | 佛山科学技术学院 | Linear-driven six-axis drilling device and resistance identification method |
| CN116329599B (en) * | 2023-05-30 | 2023-07-25 | 佛山科学技术学院 | Linear-driven six-axis drilling device and resistance identification method |
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Application publication date: 20171201 |