CN110449750A - A kind of round tube cutting process method and system based on six-shaft industrial robot - Google Patents
A kind of round tube cutting process method and system based on six-shaft industrial robot Download PDFInfo
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- CN110449750A CN110449750A CN201910735970.9A CN201910735970A CN110449750A CN 110449750 A CN110449750 A CN 110449750A CN 201910735970 A CN201910735970 A CN 201910735970A CN 110449750 A CN110449750 A CN 110449750A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K10/00—Welding or cutting by means of a plasma
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K7/00—Cutting, scarfing, or desurfacing by applying flames
- B23K7/005—Machines, apparatus, or equipment specially adapted for cutting curved workpieces, e.g. tubes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F3/00—Severing by means other than cutting; Apparatus therefor
- B26F3/004—Severing by means other than cutting; Apparatus therefor by means of a fluid jet
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Abstract
The invention discloses a kind of round tube cutting process method and system based on six-shaft industrial robot is related to round tube cutting field.It include: step S1, the tool coordinates system of the creation instruction creation six-shaft industrial robot outside control device reception and the user coordinate system of the round tube machining area on servo feeding device；Step S2, control device generate corresponding first control instruction for position to be cut in six-shaft industrial robot teaching to round tube according to tool coordinates system and user coordinate system；Step S3, control device receive the cutting parameter information of externally input round tube, and according to the cutting process of cutting parameter information creating round tube；Step S4, control device generate corresponding second control instruction control six-shaft industrial robot according to cutting process and are cut according to cutting process to round tube.It has the effect that and cutting process is automatically generated according to work pieces process information without artificial teaching and off-line programing, improve simplicity of operation and production efficiency.
Description
Technical field
The present invention relates to round tube cutting technique fields, more particularly to the round tube cutting processing side based on six-shaft industrial robot
Method and system.
Background technique
There are a large amount of tubing cutting processing processes for hardware industry, generally use tubing cutting special plane or six-shaft industrial machine
People's laser cutting system (hereinafter referred to as " robotic cutting ") is cut.Tubing cutting special plane, which is disposably put into, to be increased, and is opened up
Malleability is limited.Robotic cutting advantage of lower cost, expansion is strong, high flexibility.Current robot cuts round tube, generallys use
The mode of artificial teaching or off-line programing, this production method are faced with following several difficult points:
1. joint-cutting is various informative, the varying dimensions of workpiece, so that the low efficiency of artificial teaching, off-line programing, Wu Fashi
Existing different workpieces are switched fast；
2. machining locus is complicated, such as band groove intersection, round tube aperture.For this kind of track, when artificial teaching, needs elder generation
Track is divided, then each position is precisely edited, it is difficult, and not can guarantee cut lengths；It is same using from
Line programming, to the more demanding of operator, and virtual environment and actual production environment certainly exist deviation, and this requires offline
After program imported into actual production scene, it is necessary to could be used by amendment, the skill requirement of this also increased operator is grasped
Make not easy enough.
3. operator needs to have skilled robot manipulation's technical ability, large labor intensity is unfavorable for robot and cuts in round tube
Cut the popularization of processing aspect.
In response to the above problems, the intersection cutting of especially round tube, using traditional artificial teaching method, programming efficiency
Low, difficulty is big, and processing dimension is unable to get guarantee；It is very high to operator's requirement by the way of off-line programing, and need
It carries out " amendment ", process is complicated.
Summary of the invention
The present invention is to solve the above-mentioned problems, it is proposed that a kind of round tube cutting processing side based on six-shaft industrial robot
Method, presets a servo feeding device and a six-shaft industrial robot, and with the servo feeding device and six axis
The control device of industrial robot connection；
The servo feeding device includes a rotary shaft, and is equipped with a round tube, the control in the servo feeding device
Device processed is by controlling the rotation of the rotary shaft to drive the round tube to carry out corresponding sports；
Then the round tube cutting process method specifically includes the following steps:
Step S1, the control device receive the tool coordinates of the external creation instruction creation six-shaft industrial robot
The user coordinate system of system and the round tube machining area on the servo feeding device；
Step S2, the control device generate corresponding first control according to the tool coordinates system and the user coordinate system
System is instructed position to be cut in the six-shaft industrial robot teaching to round tube；
Step S3, the control device receives the cutting parameter information of the externally input round tube, and is cut according to described
Cut the cutting process that parameter information creates the round tube；
Step S4, the control device generate corresponding second control instruction according to the cutting process and control six axis
Industrial robot cuts the round tube according to the cutting process.
Preferably, before executing the step S1 further include:
The six-shaft industrial robot and the rotary shaft are assisted in calibration instruction outside the control device reception
With calibration.
Preferably, the step S3 includes:
Step S31, the control device receives the cutting parameter information of the externally input round tube, and is cut according to described
It cuts parameter information and generates corresponding machining locus；
Step S32, the control device establish corresponding trajectory coordinates system according to the machining locus, and to the processing
Track is segmented, and is fitted the machining locus by multiple points；
The corresponding mathematics side of the machining locus is calculated according to the machining locus in step S33, the control device
Journey, and handle and obtain trajectory coordinates of each point under the trajectory coordinates system；
Step S34, the control device handles to obtain each point according to the trajectory coordinates of each point to exist
User coordinates under the user coordinate system；
Step S35, the control device handles to obtain each point according to the user coordinates of each point to exist
World coordinates under world coordinate system；
Step S36, the control device create robot program, and by the world coordinates of each point according to institute
The execution sequence assignment of machining locus is stated into the movement instruction of the robot program, to obtain the cutting process.
Preferably, in the step S3, the cutting parameter information includes: the size and/or cutting speed of round tube, and/
Or track fitting point quantity.
Preferably, the cutting parameter information further includes joint-cutting information, and the joint-cutting information includes: the shape of cutting, and/
Or direction and/or angle and/or groove.
Preferably, the machining locus includes supervisor's aperture perhaps intersection or ends cutting.
Preferably, a kind of round tube cutting processing system based on six-shaft industrial robot is applied to a kind of based on six axis works
The round tube cutting process method of industry robot, the round tube cutting processing system include: preset a servo feeding device and
One six-shaft industrial robot, and the control device being connect with the servo feeding device and the six-shaft industrial robot；
The servo feeding device includes a rotary shaft, and is equipped with a round tube, the control in the servo feeding device
Device processed is by controlling the rotation of the rotary shaft to drive the round tube to carry out corresponding sports；
The control device specifically includes:
First creation module creates the tool coordinates of the six-shaft industrial robot for receiving external creation instruction
The user coordinate system of system and the round tube machining area on the servo feeding device；
First control module connects first creation module, for being sat according to the tool coordinates system and the user
Mark system generates corresponding first control instruction for position to be cut in the six-shaft industrial robot teaching to round tube；
Second creation module connects first control module, and the cutting for receiving the externally input round tube is joined
Number information, and the cutting process of the round tube according to the cutting parameter information creating；
Second control module connects second creation module, for generating corresponding second according to the cutting process
Control instruction controls the six-shaft industrial robot and is cut according to the cutting process to the round tube.
Preferably, second creation module includes:
Generation unit, for receiving the cutting parameter information of the externally input round tube, and according to the cutting parameter
Information generates corresponding machining locus；
Fitting unit connects the generation unit, for establishing corresponding trajectory coordinates system according to the machining locus, and
The machining locus is segmented, is fitted the machining locus by multiple points；
Computing unit connects the fitting unit, for the machining locus pair to be calculated according to the machining locus
The math equation answered, and handle and obtain trajectory coordinates of each point under the trajectory coordinates system；
First processing units connect the computing unit, for being handled according to the trajectory coordinates of each point
To user coordinates of each point under the user coordinate system；
The second processing unit connects the first processing units, at the user coordinates according to each point
Reason obtains world coordinates of each point under world coordinate system；
Creating unit connects described the second processing unit, for creating robot program, and will be described in each point
World coordinates according to the execution sequence assignment of the machining locus into the movement instruction of the robot program, it is described to obtain
Cutting process.
Preferably, further include processing head, be installed at the ring flange of the six-shaft industrial robot, the six-shaft industrial machine
Device people cuts the round tube according to the cutting process and by the processing head.
Preferably, the processing head is laser cutting process head perhaps plasma cut processing head or Water Cutting processing
Head or gas flame cuttiug processing head.
It has the advantages that
Using the round tube cutting process method and system of six-shaft industrial robot of the invention, without artificial teaching and offline
Programming automatically generates the cutting process of the round tubes complicated track such as intersection, improves equipment by input workpiece and machining information
The simplicity and production efficiency used, reduces human cost.
Detailed description of the invention
Fig. 1 is a kind of round tube cutting process method stream based on six-shaft industrial robot in preferred embodiments of the present invention
Journey schematic diagram；
Fig. 2 is the flow diagram of the creation process of cutting process in preferred embodiments of the present invention；
Fig. 3 is in preferred embodiments of the present invention, and a kind of round tube diced system structure based on six-shaft industrial robot is shown
It is intended to；
Fig. 4 be preferred embodiments of the present invention in, it is a kind of based on six-shaft industrial robot round tube diced system composition show
It is intended to.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
The present invention is to solve the above-mentioned problems, it is proposed that a kind of round tube cutting processing side based on six-shaft industrial robot
Method, presets a servo feeding device and a six-shaft industrial robot, and with servo feeding device and six-shaft industrial machine
The control device of people's connection；
Servo feeding device includes a rotary shaft, and is equipped with a round tube in servo feeding device, and control device passes through control
The rotation of rotary shaft processed is to drive round tube to carry out corresponding sports；
Then round tube cutting process method as shown in Figure 1, specifically includes the following steps:
Step S1, control device receive the tool coordinates system that external creation instruction creates six-shaft industrial robot, and
The user coordinate system of round tube machining area on servo feeding device；
Step S2, control device generate corresponding first control instruction for six axis according to tool coordinates system and user coordinate system
Position to be cut on industrial robot teaching to round tube；
Step S3, control device receives the cutting parameter information of externally input round tube, and is created according to cutting parameter information
Build the cutting process of round tube；
Step S4, control device generate corresponding second control instruction according to cutting process and control six-shaft industrial robot root
Round tube is cut according to cutting process.
Specifically, in the present embodiment, as shown in Figs. 3-4, above-mentioned control device 7 is robot control cabinet, while controlling six
Shaft industrial robot 6 and servo feeding device 5, wherein servo feeding device 5 includes rotary shaft 51 and feed shaft 52, is responsible for circle
The feeding and rotation of pipe 53, six-shaft industrial robot 6 has a ring flange, and processing head 61, machine are equipped on ring flange
People's control cabinet passes through the processing head 61 of control six-shaft industrial robot 6 and the rotary shaft 51 and feed shaft of servo feeding device 5
52, it has linked by processing head complete independently or by the rotary shaft 51 and feed shaft 52 of processing head and servo feeding device 5
It is processed at the complex cuts track of round tube 53.It is also previously provided with a power supply, connects above-mentioned six-shaft industrial robot 6 and processing head
61, and provide cutting required energy for processing head 61.
Control device 7 receives the circle on external creation instruction creation robot tool coordinate system and servo feeding device 5
The user coordinate system of 53 machining area of pipe preferably creates user coordinate system 8:X axis perpendicular to round tube 53 as follows
Length direction, Y-axis are 53 center line of round tube along 53 length direction of round tube, and corresponding Z axis is determined according to right-hand rule.Creation
After good tool coordinate system and user coordinate system 8 again by 6 teaching of six-shaft industrial robot to 53 position of round tube to prepare to cut, cutting
In the process, the processing head of six-shaft industrial robot 6 is always positioned at 53 top of round tube.Subsequent control device 7 receives externally input
Cutting parameter information simultaneously creates corresponding cutting process.Above-mentioned cutting parameter information includes but is not limited to the size of round tube 53, cuts
Cut it is one or more in speed, track fitting point quantity and joint-cutting information, wherein joint-cutting information include but is not limited to cut
It is one or more in shape, direction, angle and groove.
In preferred embodiments of the present invention, before execution step S1 further include:
Calibration instruction outside control device reception carries out collaboration calibration to six-shaft industrial robot and rotary shaft.
In preferred embodiments of the present invention, as shown in Fig. 2, step S3 includes:
Step S31, control device receive the cutting parameter information of externally input round tube, and raw according to cutting parameter information
At corresponding machining locus；
Step S32, control device establishes corresponding trajectory coordinates system according to machining locus, and divides machining locus
Section is fitted machining locus by multiple points；
Step S33, the corresponding math equation of machining locus is calculated according to machining locus in control device, and handles and obtain
Trajectory coordinates under each in-orbit mark coordinate system of point；
Step S34, control device handle to obtain use of each point under user coordinate system according to the trajectory coordinates of each point
Family coordinate；
Step S35, control device handle to obtain the generation under the alive boundary's coordinate system of each point according to the user coordinates of each point
Boundary's coordinate；
Step S36, control device create robot program, and by the world coordinates of each point according to the execution of machining locus
Sequence assignment is into the movement instruction of robot program, to obtain cutting process.
Specifically, in the present embodiment, track to be processed is generated according to cutting parameter information, then divide the track
Section processing, and track is fitted by multiple points；Trajectory coordinates of the point under track coordinate system 9 are obtained by processing, then
By handling user coordinates of the point for obtaining track under user coordinate system 8, reprocessing obtains point in world coordinate system 10
Under world coordinates, world coordinate system 10 is lower coordinate information (X, Y, Z, W, P, R)；Coordinate of the point under world coordinate system 10,
Assignment is into the middle movement instruction of program in order, to complete creation cutting process.
In preferred embodiments of the present invention, cutting parameter information includes: the size and/or cutting speed of round tube 53, and/
Or track fitting point quantity.
In preferred embodiments of the present invention, stating cutting parameter information further includes joint-cutting information, and joint-cutting information includes: cutting
Shape and/or direction and/or angle and/or groove.
In preferred embodiments of the present invention, machining locus includes supervisor's aperture perhaps intersection or ends cutting.
In preferred embodiments of the present invention, a kind of round tube diced system based on six-shaft industrial robot, applied to being based on
The round tube cutting process method of six-shaft industrial robot, as shown in Figure 3 to Figure 4, round tube cutting processing system includes: to preset
One servo feeding device 5 and a six-shaft industrial robot 6, and connect with servo feeding device 5 and six-shaft industrial robot 6
Control device 7；
Servo feeding device 5 includes a rotary shaft 51 and a feed shaft 52, and is equipped with a round tube in servo feeding device 5
53, control device 7 is by the rotation of control rotary shaft 51 and/or the movement of feed shaft 52 to drive round tube 53 mutually to be met the tendency of
It is dynamic；
Control device 7 specifically includes:
First creation module 1, for receiving the tool coordinates system of external creation instruction creation six-shaft industrial robot 6,
And the user coordinate system 8 of the round tube machining area on servo feeding device 5；
First control module 2 connects the first creation module 1, for generating phase according to tool coordinates system and user coordinate system 8
The first control instruction answered is by position to be cut in six-shaft industrial robot 6 teaching to round tube 53；
Second creation module 3 connects the first control module 2, and the cutting parameter for receiving externally input round tube 53 is believed
Breath, and according to the cutting process of cutting parameter information creating round tube 53；
Second control module 4 connects the second creation module 3, refers to for generating corresponding second control according to cutting process
Control six-shaft industrial robot 6 is enabled to be cut according to cutting process to round tube 53.
In preferred embodiments of the present invention, the second creation module 3 includes:
Generation unit 31, for receiving the cutting parameter information of externally input round tube, and it is raw according to cutting parameter information
At corresponding machining locus；
Fitting unit 32 connects generation unit 31, is 9 for establishing corresponding trajectory coordinates according to machining locus, and right
Machining locus is segmented, and is fitted machining locus by multiple points；
Computing unit 33 connects fitting unit 32, for the corresponding mathematics of machining locus to be calculated according to machining locus
Equation, and handle and obtain the trajectory coordinates under the in-orbit mark coordinate system 9 of each point；
First processing units 34 connect computing unit 33, obtain each point for handling according to the trajectory coordinates of each point
User coordinates under user coordinate system 8；
The second processing unit 35 connects first processing units 34, each for handling to obtain according to the user coordinates of each point
World coordinates of the point under world coordinate system 10；
Creating unit 36 connects the second processing unit 35, for creating robot program, and by the world coordinates of each point
According to the execution sequence assignment of machining locus into the movement instruction of robot program, to obtain cutting process.
In preferred embodiments of the present invention, further includes processing head 61, is installed at the ring flange of six-shaft industrial robot 6,
Six-shaft industrial robot 6 cuts round tube 53 according to cutting process and by processing head 61.
In preferred embodiments of the present invention, processing head 61 be laser cutting process head or plasma cut processing head, or
Person's Water Cutting processing head or gas flame cuttiug processing head.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (10)
1. a kind of round tube cutting process method based on six-shaft industrial robot, which is characterized in that preset a servo feeding
Device and a six-shaft industrial robot, and the control dress being connect with the servo feeding device and the six-shaft industrial robot
It sets；
The servo feeding device includes a rotary shaft, and is equipped with a round tube, the control dress in the servo feeding device
The rotation by controlling the rotary shaft is set to drive the round tube to carry out corresponding sports；
Then the round tube cutting process method specifically includes the following steps:
Step S1, the control device receive the tool coordinates system of the external creation instruction creation six-shaft industrial robot,
And the user coordinate system of the round tube machining area on the servo feeding device；
Step S2, the control device generate corresponding first control according to the tool coordinates system and the user coordinate system and refer to
It enables position to be cut in the six-shaft industrial robot teaching to round tube；
Step S3, the control device receives the cutting parameter information of the externally input round tube, and is joined according to the cutting
The cutting process of round tube described in number information creating；
Step S4, the control device generate corresponding second control instruction according to the cutting process and control the six-shaft industrial
Robot cuts the round tube according to the cutting process.
2. the round tube cutting process method according to claim 1 based on six-shaft industrial robot, which is characterized in that execute
Before the step S1 further include:
Calibration instruction outside the control device reception carries out collaboration mark to the six-shaft industrial robot and the rotary shaft
It is fixed.
3. the round tube cutting process method according to claim 1 based on six-shaft industrial robot, which is characterized in that described
Step S3 includes:
Step S31, the control device receives the cutting parameter information of the externally input round tube, and is joined according to the cutting
Number information generates corresponding machining locus；
Step S32, the control device establish corresponding trajectory coordinates system according to the machining locus, and to the machining locus
It is segmented, is fitted the machining locus by multiple points；
The corresponding math equation of the machining locus is calculated according to the machining locus in step S33, the control device, and
Processing obtains trajectory coordinates of each point under the trajectory coordinates system；
Step S34, the control device handle to obtain each point described according to the trajectory coordinates of each point
User coordinates under user coordinate system；
Step S35, the control device handle to obtain each point in the world according to the user coordinates of each point
World coordinates under coordinate system；
Step S36, the control device creates robot program, and the world coordinates of each point is added according to described
The execution sequence assignment of work track is into the movement instruction of the robot program, to obtain the cutting process.
4. the round tube cutting process method according to claim 1 based on six-shaft industrial robot, which is characterized in that described
In step S3, the cutting parameter information includes: the size and/or cutting speed and/or track fitting point quantity of round tube.
5. the round tube cutting process method according to claim 3 based on six-shaft industrial robot, which is characterized in that described
In step S3, the cutting parameter information further includes joint-cutting information, and the joint-cutting information includes: the shape of cutting, and/or side
To and/or angle and/or groove.
6. the round tube cutting process method according to claim 2 based on six-shaft industrial robot, which is characterized in that described
Machining locus includes supervisor's aperture perhaps intersection or ends cutting.
7. a kind of round tube cutting processing system based on six-shaft industrial robot, which is characterized in that application is as in claim 1-6
Described in any item round tube cutting process methods based on six-shaft industrial robot, the round tube cutting processing system includes: pre-
One servo feeding device and a six-shaft industrial robot be first set, and with the servo feeding device and the six-shaft industrial machine
The control device of device people connection；
The servo feeding device includes a rotary shaft, and is equipped with a round tube, the control dress in the servo feeding device
The rotation by controlling the rotary shaft is set to drive the round tube to carry out corresponding sports；
The control device specifically includes:
First creation module creates the tool coordinates system of the six-shaft industrial robot for receiving external creation instruction, with
And the user coordinate system of the round tube machining area on the servo feeding device；
First control module connects first creation module, for according to the tool coordinates system and the user coordinate system
Corresponding first control instruction is generated by position to be cut in the six-shaft industrial robot teaching to round tube；
Second creation module connects first control module, and the cutting parameter for receiving the externally input round tube is believed
Breath, and the cutting process of the round tube according to the cutting parameter information creating；
Second control module connects second creation module, for generating corresponding second control according to the cutting process
Instruction controls the six-shaft industrial robot and is cut according to the cutting process to the round tube.
8. the round tube cutting processing system according to claim 7 based on six-shaft industrial robot, which is characterized in that described
Second creation module includes:
Generation unit, for receiving the cutting parameter information of the externally input round tube, and according to the cutting parameter information
Generate corresponding machining locus；
Fitting unit connects the generation unit, for establishing corresponding trajectory coordinates system according to the machining locus, and to institute
It states machining locus to be segmented, is fitted the machining locus by multiple points；
Computing unit connects the fitting unit, corresponding for the machining locus to be calculated according to the machining locus
Math equation, and handle and obtain trajectory coordinates of each point under the trajectory coordinates system；
First processing units connect the computing unit, each for handling to obtain according to the trajectory coordinates of each point
User coordinates of the point under the user coordinate system；
The second processing unit connects the first processing units, for being handled according to the user coordinates of each point
To world coordinates of each point under world coordinate system；
Creating unit connects described the second processing unit, for creating robot program, and by the world of each point
Coordinate according to the execution sequence assignment of the machining locus into the movement instruction of the robot program, to obtain the cutting
Program.
9. the round tube cutting processing system according to claim 7 based on six-shaft industrial robot, which is characterized in that also wrap
Processing head is included, is installed at the ring flange of the six-shaft industrial robot, the six-shaft industrial robot is according to the cutting journey
Sequence simultaneously cuts the round tube by the processing head.
10. the round tube cutting processing system according to claim 9 based on six-shaft industrial robot, which is characterized in that institute
Stating processing head is that perhaps perhaps Water Cutting processing head or gas flame cuttiug add plasma cut processing head laser cutting process head
Foreman.
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| CN113369552A (en) * | 2021-06-18 | 2021-09-10 | 重庆水泵厂有限责任公司 | Inner intersecting line fillet machining method |
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