CN107830826A - Two axles swing the error detection method of head system and two axle swinging heads - Google Patents
Two axles swing the error detection method of head system and two axle swinging heads Download PDFInfo
- Publication number
- CN107830826A CN107830826A CN201710656172.8A CN201710656172A CN107830826A CN 107830826 A CN107830826 A CN 107830826A CN 201710656172 A CN201710656172 A CN 201710656172A CN 107830826 A CN107830826 A CN 107830826A
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- China
- Prior art keywords
- head
- axle
- linear displacement
- displacement transducer
- cutter head
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
-
- 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
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Abstract
The invention provides the error detection method that a kind of two axle swings head system and two axle swinging heads, methods described includes：Linear displacement transducer is provided, the first end of the Linear displacement transducer is connected to attachment structure located at machine plane, the cutter head that the second end of the Linear displacement transducer is passed through into swinging head described in typed ball bearing pair direct or indirect connection by typed ball bearing pair；The cutter head of the swinging head is driven to convert different test postures；And monitoring obtains monitoring position data of the second end of the Linear displacement transducer under different test postures respectively；According to the monitoring position data and corresponding presupposition theory data, error result is obtained.
Description
Technical field
The present invention relates to cutting machine, more particularly to a kind of two axle to swing the error-detecting side of head system and two axle swinging heads
Method.
Background technology
It is another attached one on the basis of the orthogonal three-axis movings of XYZ in the water jet cutting of five-axle linkage or laser cutting technique
The swinging head of two axles, so as to realize that five-axle linkage is cut, such system can cut the ruled surface of three-dimensional.
The swinging head of this two axle generally using the contact point of water jet or laser and workpiece as center of rotation, is so adding
The beat motion of swinging head will not cause cutter head to deviate cutting path during work, and the swinging head of this two axle is referred to as
The axle swinging head of spherical hinge type two.Realize using the contact point of water jet or laser and workpiece as center of rotation, the axle of two kinematic axis
Line should intersect at the processing contact point of water jet or laser and workpiece in theory, but because foozle, two axis differ
Fixed completely intersecting, even if intersecting, intersection point is also not necessarily completely superposed with the contact point of water jet or laser and workpiece, is so existed
The beat athletic meeting of swinging head causes cutter head to deviate cutting path and bring certain error in process, error amount and system
Manufacturing accuracy is related, will be generally less than 1 millimeter.Because the situation of three-dimensional spatial distribution is presented in the error, the measurement to error is brought
It is difficult.
The content of the invention
The technical problem to be solved in the present invention is how the errors of two axle swinging heads to be detected.
According to the first aspect of the invention, there is provided a kind of error detection method of two axles swinging head, including：
Linear displacement transducer is provided, the first end of the Linear displacement transducer is connected to by typed ball bearing pair and is located at
The attachment structure of machine plane, the second end of the Linear displacement transducer is passed through described in typed ball bearing pair direct or indirect connection
The cutter head of swinging head；
The cutter head of the swinging head is driven to convert different test postures；And monitoring obtains the linear displacement biography respectively
Monitoring position data of second end of sensor under different test postures；
According to the monitoring position data and corresponding presupposition theory data, error result is obtained.
Optionally, it is described to pass through at the second end of the Linear displacement transducer described in typed ball bearing pair direct or indirect connection
The cutter head of swinging head, including：
The knife that second end of the Linear displacement transducer is passed through into swinging head described in typed ball bearing pair direct or indirect connection
Head, and the second end initial setting up of the Linear displacement transducer is in the position of the processing contact point of the swinging head.
Optionally, the cutter head of the driving swinging head converts different test postures, including：
In a manner of driving the cutter head of the swinging head constant by the position of the processing contact point of the two axles swinging head, become
Change different test postures；
Presupposition theory data corresponding to described include the mathematical point position data of the fixation of the processing contact point；
It is described to monitor position data and corresponding presupposition theory data according to described, error result is obtained, including：
Compare the monitoring position data and the mathematical point position data, obtain the error result.
Optionally, the different test posture of the conversion, including：
Drive the cutter head yaw tilt angle of the swinging head；
The cutter head of the swinging head is driven to be rotated in a circumferential direction in the case where keeping the angle of inclination around vertical direction；
Above step is repeated, respectively in the case of N kinds angle of inclination, is rotated in a circumferential direction rotating around vertical direction, its
In, N is the arbitrary integer more than or equal to 1.
Optionally, two axis of the swinging head have intersection point, and the processing contact point is the intersection point.
Optionally, the error result includes at least one of：The error of X-direction, the error of Y-direction, and Z side
To error.
According to the second aspect of the invention, there is provided a kind of two axles swing head system, including error detection processor, line
Property displacement transducer, the first axis mechanism, the second axis mechanism, cutter head and controller；The controller passes through the first axle machine
Structure drives the cutter head to be rotated around first axle, drives the cutter head to be rotated around the second axle by second axis mechanism；The line
The first end of property displacement transducer is connected to the attachment structure located at machine plane by typed ball bearing pair, and the second end passes through typed ball bearing pair
Cutter head described in direct or indirect connection；
The controller is additionally operable to drive the cutter head of the swinging head to become by first axis mechanism and the second axis mechanism
Change different test postures；
The Linear displacement transducer is used to monitor the second end for obtaining the Linear displacement transducer at the cutter head
Position data under different test postures；
The controller is used to, according to the monitoring position data and corresponding presupposition theory data, obtain error result.
Optionally, the second end initial setting up of the Linear displacement transducer is handed in the two axial lines of the two axles swinging head
The position of point；
The controller is specifically used for：
In a manner of driving the cutter head of the swinging head constant by the position of the processing contact point of the two axles swinging head, become
Change different test postures；
Presupposition theory data corresponding to described include the mathematical point position data of the fixation of the processing contact point；
The controller also particularly useful for：Compare the monitoring position data and the mathematical point position data, obtain institute
State error result.
Optionally, the first axle has intersection point with the second axle, and the processing contact point is the intersection point.
Optionally, the first axle is along vertically to second axle has horizontal to component and vertically to component.
Optionally, the first axle has horizontal to component and vertically to component, and second axle is horizontally.
Optionally, the first axle and the second axle are respectively provided with horizontal to component and vertically to component.
The present invention is to realize the detection of error, introduces Linear displacement transducer, wherein, the one of Linear displacement transducer
End position is relatively fixed, and another end position initial setting up carries out test posture in the position of intersecting point of two axial lines in driving swinging head
During change, it can obtain monitoring position data by the detection of Linear displacement transducer, and then the mistake of swinging head can be determined
Difference.
Brief description of the drawings
Fig. 1 is the schematic diagram of the error detection method of two axle swinging heads in one embodiment of the invention；
Fig. 2 is the schematic diagram that two axles swing head system in one embodiment of the invention；
Fig. 3 is the schematic diagram that two axles swing head system in another embodiment of the present invention；
Fig. 4 is in embodiment, and two swinging head tilts certain cone angle and makees to be surveyed during circumferential 360 degree of rotations respectively
The center of rotation error of amount：
In figure, the axis mechanisms of 1- first；The axis mechanisms of 2- second；3- cutter heads；4- Linear displacement transducers；5th, 6- typed ball bearing pairs；7-
Error detection processor；8- controllers；9- attachment structures；10- machine planes；11- first axles；The axles of 12- second；13- quadrangles
Link gear.
Embodiment
The error-detecting of head system and two axle swinging heads is swung to two axle provided by the invention below with reference to Fig. 1 to Fig. 3
Method is described in detail, and it is optional embodiment of the present invention, it is believed that those skilled in the art are not changing this
In the range of spirit and content, it is modified and polished.
Method and system provided below can be applied to any device with two axle swinging heads, can specifically enumerate
For water cutting machine, laser cutting machine can also be applied to.
Embodiment 1
Fig. 1 is refer to, present embodiments provides a kind of error detection method of two axles swinging head, including：
S1：Linear displacement transducer is provided；
S2：The first end of the Linear displacement transducer is connected to by typed ball bearing pair to the connection knot located at machine plane
Structure, the cutter head that the second end of the Linear displacement transducer is passed through into swinging head described in typed ball bearing pair direct or indirect connection；
S3：The cutter head of the swinging head is driven to convert different test postures；And monitoring obtains the linear displacement respectively
Monitoring position data of second end of sensor under different test postures；
S4：According to the monitoring position data and corresponding presupposition theory data, error result is obtained.Wherein, the mistake
Poor result can include at least one of：The error of X-direction, the error of Y-direction, and the error of Z-direction.
Wherein, test posture can be understood as including different angle of inclination and position.The monitoring position data can be with
Three-dimensional position data under three-dimensional including the end of Linear displacement transducer second, can also only include the plan-position under bidimensional
Data, it can also only include the single position data of one-dimensional lower single direction.Corresponding, the error result can only have X
The error in direction, the error of Y-direction, and the one, two or three in the error of Z-direction.The error result can refer to
The data of quantization in itself, can also refer to the drawing obtained based on quantized data or model is presented.
The present embodiment is the detection for realizing error, introduces Linear displacement transducer, wherein, Linear displacement transducer
One end position is relatively fixed, and another end position initial setting up carries out test appearance in the position of intersecting point of two axial lines in driving swinging head
When state changes, it can obtain monitoring position data by the detection of Linear displacement transducer, and then the mistake of swinging head can be determined
Difference.
In one of which embodiment, second end by the Linear displacement transducer by typed ball bearing pair directly or
When being indirectly connected with the cutter head of the swinging head, i.e. step S2, including：
The knife that second end of the Linear displacement transducer is passed through into swinging head described in typed ball bearing pair direct or indirect connection
Head, and the second end of the Linear displacement transducer is arranged at the position of the processing contact point of the two axles swinging head.
The cutter head of the driving swinging head converts different test postures, including：
In a manner of driving the cutter head of the swinging head constant by the position of the processing contact point of the two axles swinging head, become
Change different test postures；
Presupposition theory data corresponding to described include the mathematical point position data of the fixation of the processing contact point；
It is described to monitor position data and corresponding presupposition theory data according to described, error result is obtained, including：
Compare the monitoring position data and the mathematical point position data, obtain the error result.
Wherein, in a manner of constant by the position of the processing contact point of the two axles swinging head, refer to that controller is driven
It is to keep being driven control under the constant target in the position, however, when by drive actions when dynamic, it may occur that error,
Alternative of the present invention can detect to the error.
Two axis of the swinging head have intersection point, and the processing contact point is the intersection point.
Under embodiment of above, using the error change of a single point as monitoring object, it can be advantageous to less data
And the motion mode being easy to implement, faster and more accurately monitored to obtain error judgment result.
In one of which embodiment, the different test posture of the conversion, including：
Drive the cutter head yaw tilt angle of the swinging head；
The cutter head of the swinging head is driven to be rotated in a circumferential direction in the case where keeping the angle of inclination around vertical direction；
For one of which specifically in citing, the angle of inclination includes 1 degree, 5 degree, 10 degree, 20 degree and 30 degree.It is described
The angle to rotate in a circumferential direction is 360 degree.
For each angle of inclination, when circumferential angle rotates, X side under 36 rotation positions circumferentially divided equally is measured respectively
The error at least two directions into, Y-direction and Z-direction.The embodiment realizes rotation position detection respectively so that
The detection of error is more accurate, comprehensive.
Above step is repeated, respectively in the case of N kinds angle of inclination, is rotated in a circumferential direction rotating around vertical direction, its
In, N is the arbitrary integer more than or equal to 1.
Under upper type, control process can be caused more to standardize, and meet the monitoring need of many attitude as much as possible
Ask.Meanwhile which operation is relatively simple, is more conducive to realize automatic business processing, resulting data are also easy to use.
Embodiment 2
The error detection method for the two axle swinging heads illustrated corresponding to embodiment 1, refer to Fig. 2 and Fig. 3, the present embodiment
Provide a kind of two axles and swing head system, including error detection processor 7, Linear displacement transducer 4, the first axis mechanism 1, the
Two axis mechanisms 2, cutter head 3 and controller 8；The controller 8 drives the cutter head 3 around first by first axis mechanism 1
Axle 11 rotates, and drives the cutter head to be rotated around the second axle 12 by second axis mechanism 2；The Linear displacement transducer 4
First end is connected to the attachment structure 9 located at machine plane 10 by typed ball bearing pair 6, and the second end is direct or indirect by typed ball bearing pair 5
Connect the cutter head 3；
The controller 8 is additionally operable to drive the knife of the swinging head by the axis mechanism 2 of the first axis mechanism 1 and second
The different test posture of first 3 conversion；
The Linear displacement transducer 4 is used to monitor the second end for obtaining the Linear displacement transducer 4 in the cutter head
3 position data under different test postures；
The controller 8 is used to, according to the monitoring position data and corresponding presupposition theory data, obtain error knot
Fruit.
The present embodiment is the detection for realizing error, introduces Linear displacement transducer, wherein, Linear displacement transducer
One end position is relatively fixed, and another end position initial setting up carries out test appearance in the position of intersecting point of two axial lines in driving swinging head
When state changes, it can obtain monitoring position data by the detection of Linear displacement transducer, and then the mistake of swinging head can be determined
Difference.
In one of which embodiment, the second end of the Linear displacement transducer 4 is arranged at the two axles swinging head
Process the position of contact point；
The controller 8 is specifically used for：
In a manner of driving the cutter head 3 of the swinging head constant by the position of the processing contact point of the two axles swinging head, become
Change different test postures；
Presupposition theory data corresponding to described include the mathematical point position of the fixation of the processing contact point of the two axles swinging head
Put data；
The controller 8 also particularly useful for：Compare the monitoring position data and the mathematical point position data, obtain
The error result.
Wherein, the first axle has intersection point with the second axle, and the processing contact point is the intersection point.
In the embodiment of Fig. 2 signals, the first axle is along vertically to second axle has horizontal to component and perpendicular
Directly to component, it can be understood as the second axle is angularly disposed.
In the embodiment of Fig. 3 signals, the first axle has horizontal to component and vertically to component, it can be understood as
First axle to be angularly disposed, second axle horizontally, wherein, second axis mechanism 2 passes through quadrangle link gear
The 13 driving cutter heads 3 rotate along the second axle.Under the embodiment, because linked manner is complicated, for Fig. 3, it can
Can produce that the link of error is more, and mode is also more various caused by error, the present invention and its optional embodiment provided two
The error detection method of axle swinging head, it can apply under the scene of complexity, still keep higher error-detecting precision and standard
Exactness, it is seen then that because technical scheme is creatively expected not carrying out error-detecting in itself to two axle rotations, but
Detection processing contact point, this, which allows for methods described, not to be applied to because of the diversity of error producing method, can have
Higher universality.
In other optional embodiments, it also may be such that the first axle and the second axle are respectively provided with level to component with erecting
Directly to component.
Embodiment 3
The present embodiment has carried out specific expansion to the error detection method of two axle swinging heads, including：
S1：One Linear displacement transducer is set on machine, and it can be set along horizontal X direction of principal axis；
One end of the Linear displacement transducer is fixed in a manner of typed ball bearing pair in the axle swinging head of spherical hinge type two rotation
The heart, and the contact point of water jet or laser and workpiece；The other end of the Linear displacement transducer is consolidated in a manner of typed ball bearing pair
It is scheduled on a bit by above center of rotation and in the X-axis of machine；
S2：So that the cutter head of swinging head tilts certain angle (such as 1 degree), then make circumferential 360 degree of rotations, revolving
The error amount of Linear displacement transducer, the small X-axis angle caused by Y and Z-direction error is ignored are monitored during transhipment is dynamic
In the case of change, the error amount of the Linear displacement transducer is considered as the axle swinging head center of rotation of spherical hinge type two in X side
Upward error；
S3：Repeat step S2 can obtain center of rotation space caused by circumferential 360 degree of rotations under differing tilt angles
The X-direction component of error；
S4：The Y-direction component of center of rotation space error can be obtained in Y direction repeat step S2 and S3；
S5：The Z-direction component of center of rotation space error can be obtained in Z-direction repeat step S2 and S3；
S6：For water jet and laser cutting, the error in XY directions is most important error.Table 1 below is when two
When money swinging head tilts certain cone angle and makees circumferential 360 degree of rotations respectively, circumferentially dividing equally in rotation measured on 36 points
Heart error.
In summary, the present invention is to realize the detection of error, introduces Linear displacement transducer, wherein, linear displacement passes
One end position of sensor is relatively fixed, and another end position initial setting up is carried out in the position of intersecting point of two axial lines in driving swinging head
When testing attitudes vibration, it can obtain monitoring position data by the detection of Linear displacement transducer, and then can determine to swing
The error of head.
Claims (10)
- A kind of 1. error detection method of two axles swinging head, it is characterised in that：Including：Linear displacement transducer is provided, the first end of the Linear displacement transducer is connected to by typed ball bearing pair and put down located at machine The attachment structure in face, the second end of the Linear displacement transducer is passed through into swinging head described in typed ball bearing pair direct or indirect connection Cutter head；The cutter head of the swinging head is driven to convert different test postures；And monitoring obtains the Linear displacement transducer respectively Monitoring position data of second end under different test postures；According to the monitoring position data and corresponding presupposition theory data, error result is obtained.
- 2. the method as described in claim 1, it is characterised in that：It is described that second end of the Linear displacement transducer is passed through into ball The cutter head of swinging head described in secondary direct or indirect connection is cut with scissors, including：Cutter head by the second end of the Linear displacement transducer by swinging head described in typed ball bearing pair direct or indirect connection, and institute The second end for stating Linear displacement transducer is arranged at the position for processing contact point of the swinging head.
- 3. the method as described in claim 1, it is characterised in that：The cutter head of the driving swinging head converts different tests Posture, including：In a manner of driving the cutter head of the swinging head constant by the position of the processing contact point of the two axles swinging head, conversion is different Test posture；Presupposition theory data corresponding to described include the mathematical point position data of the fixation of the processing contact point；It is described to monitor position data and corresponding presupposition theory data according to described, error result is obtained, including：Compare the monitoring position data and the mathematical point position data, obtain the error result.
- 4. according to the method for claim 3, it is characterised in that：The different test posture of the conversion, including：Drive the cutter head yaw tilt angle of the swinging head；The cutter head of the swinging head is driven to be rotated in a circumferential direction in the case where keeping the angle of inclination around vertical direction；Above step is repeated, respectively in the case of N kinds angle of inclination, is rotated in a circumferential direction rotating around vertical direction, wherein, N is Arbitrary integer more than or equal to 1.
- 5. method as claimed in claim 2 or claim 3, it is characterised in that two axis of the swinging head have intersection point, and described Processing contact point is the intersection point.
- 6. a kind of two axles swing head system, it is characterised in that：Including error detection processor, Linear displacement transducer, first axle Mechanism, the second axis mechanism, cutter head and controller；The controller drives the cutter head around first by first axis mechanism Axle rotates, and drives the cutter head to be rotated around the second axle by second axis mechanism；The first end of the Linear displacement transducer Attachment structure located at machine plane is connected to by typed ball bearing pair, the second end passes through knife described in typed ball bearing pair direct or indirect connection Head；The controller is additionally operable to drive the cutter head conversion of the swinging head not by first axis mechanism and the second axis mechanism Same test posture；The Linear displacement transducer is used to monitor the second end for obtaining the Linear displacement transducer in the cutter head in not With the position data under test posture；The controller is used to, according to the monitoring position data and corresponding presupposition theory data, obtain error result.
- 7. system as claimed in claim 6, it is characterised in that：Second end of the Linear displacement transducer is arranged at described two The position of the processing contact point of axle swinging head；The controller is specifically used for：In a manner of driving the cutter head of the swinging head constant by the position of the processing contact point of the two axles swinging head, conversion is different Test posture；Presupposition theory data corresponding to described include the mathematical point position data of the fixation of the processing contact point；The controller also particularly useful for：Compare the monitoring position data and the mathematical point position data, obtain the mistake Poor result.
- 8. system as claimed in claims 6 or 7, it is characterised in that the first axle and the second axle have an intersection point, and it is described plus Work contact point is the intersection point.
- 9. system as claimed in claims 6 or 7, it is characterised in that：The first axle is along vertically to second axle has water Put down to component with vertically to component or：The first axle have it is horizontal to component with vertically to component, second axle is along water Put down to.
- 10. system as claimed in claims 6 or 7, it is characterised in that：The first axle and the second axle are respectively provided with horizontal to component With vertically to component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710656172.8A CN107830826B (en) | 2017-08-03 | 2017-08-03 | Two-axis swinging head system and error detection method of two-axis swinging head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710656172.8A CN107830826B (en) | 2017-08-03 | 2017-08-03 | Two-axis swinging head system and error detection method of two-axis swinging head |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107830826A true CN107830826A (en) | 2018-03-23 |
| CN107830826B CN107830826B (en) | 2020-09-04 |
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| CN201710656172.8A Active CN107830826B (en) | 2017-08-03 | 2017-08-03 | Two-axis swinging head system and error detection method of two-axis swinging head |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211140A (en) * | 2021-11-26 | 2022-03-22 | 中国科学院西安光学精密机械研究所 | Light beam pointing adjusting method for laser double swing shafts |
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| CN105466371A (en) * | 2015-11-23 | 2016-04-06 | 西安航空制动科技有限公司 | Apparatus of measuring aircraft landing gear wheel shaft end position and measurement method thereof |
| CN106735596A (en) * | 2017-03-06 | 2017-05-31 | 佛山市顺德区天擎电脑机械有限公司 | A kind of 45 degree of swings cutter head |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0761389A1 (en) * | 1995-08-11 | 1997-03-12 | Flow International Corporation | Abrasive fluid jet system |
| CN1353635A (en) * | 1999-04-01 | 2002-06-12 | 菲迪亚股份公司 | System and process for certification of position of tool in machine tool |
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| CN105171622A (en) * | 2015-08-05 | 2015-12-23 | 上海狮迈科技有限公司 | V-type swing head mechanism and water-cutting machine tool |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211140A (en) * | 2021-11-26 | 2022-03-22 | 中国科学院西安光学精密机械研究所 | Light beam pointing adjusting method for laser double swing shafts |
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| Publication number | Publication date |
|---|---|
| CN107830826B (en) | 2020-09-04 |
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