CN111250880B - Supporting and positioning device and method for laser welding of ribbed wallboard - Google Patents
Supporting and positioning device and method for laser welding of ribbed wallboard Download PDFInfo
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- CN111250880B CN111250880B CN202010104989.6A CN202010104989A CN111250880B CN 111250880 B CN111250880 B CN 111250880B CN 202010104989 A CN202010104989 A CN 202010104989A CN 111250880 B CN111250880 B CN 111250880B
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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
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
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Abstract
The invention relates to a supporting and positioning device and a supporting and positioning method for laser welding of a ribbed wallboard, and the supporting and positioning device comprises a lathe bed, wherein a plurality of positioning tools for positioning the ribbed wallboard are arranged on the lathe bed along the X direction, the number of the positioning tools is adaptively adjusted according to the size and the shape of the ribbed wallboard, each positioning tool comprises a movable box body which is arranged on the lathe bed in a sliding manner and used for moving in the X direction, a telescopic positioning rod for moving in the Y direction and the Z direction is arranged on the movable box body, and a vacuum chuck for fixing the ribbed wallboard is arranged at the top end of the telescopic positioning rod; the movable box body is provided with the supporting mechanism for supporting the ribbed wallboard, so that welding of ribbed wallboards with various shapes and sizes can be realized, the stability of the welding process is improved, the welding deformation is effectively controlled, and the assembly efficiency and the automation degree are improved.
Description
Technical Field
The invention relates to the technical field of laser welding, in particular to a supporting and positioning device and method for laser welding of a ribbed wallboard.
Background
The ribbed wall plate is a widely applied force bearing part in an aircraft structure, and is generally processed by a thin-wall skin with low rigidity and a special curved surface configuration and a long straight stringer. The laser welding has the advantages of high welding speed, small deformation after welding, good welding seam quality, easy realization of automation and the like. The T-shaped joint double-beam laser welding process is used for manufacturing ribbed wallboards instead of traditional riveting, the structural weight coefficient can be greatly reduced, and the light weight of a machine body is realized; the non-penetrating joint form on the back surface of the skin can meet the requirements of accuracy of the overall aerodynamic shape of the airplane, smoothness of a streamline, no defect on the surface and the like.
The ribbed wallboard of the airplane has the characteristics of multiple varieties, small batch and the like, and the traditional production mode adopts a special die for fixing a solid body to be attached to a skin for positioning, and then the assembly and welding of stringers are carried out. The fixed entity molds have large size and specification, large storage occupied area and low utilization rate, and once the appearance design of the airplane is changed, the existing molds need to be repaired and replaced, so that the equipment cost and the part development period are increased; in addition, a large number of fixed point positions are required to be arranged for assembling the fixed entity die, the complexity and the occupied space of the required clamp are multiplied, and the interference of a space structure is easily caused.
Disclosure of Invention
The embodiment of the invention provides a supporting and positioning device and method for laser welding of ribbed wallboards, which can realize welding of ribbed wallboards with various shapes and sizes, improve the stability of a welding process, effectively control the welding deformation and improve the assembly efficiency and the automation degree.
In a first aspect, the embodiment of the invention provides a supporting and positioning device for laser welding of a ribbed wallboard, which comprises a lathe bed, wherein a plurality of positioning tools for positioning the ribbed wallboard are arranged on the lathe bed along an X direction, each positioning tool comprises a moving box body which is arranged on the lathe bed in a sliding manner and used for moving along the X direction, a telescopic positioning rod for moving along a Y direction and a Z direction is arranged on the moving box body, a vacuum chuck for fixing the ribbed wallboard is arranged at the top end of the telescopic positioning rod, a supporting mechanism for supporting the ribbed wallboard is arranged on the moving box body, the supporting mechanism comprises a translation unit, a lifting unit and a rotating unit, the translation unit is sequentially arranged from bottom to top and used for moving the supporting mechanism, the lifting unit is used for adjusting the height of the supporting mechanism, the rotation unit is used for adjusting the angle of the supporting mechanism, the translation unit comprises two slide rails, the two slide rails are arranged along the length direction of the moving box body and are arranged in parallel, a translation sliding table is arranged between the two slide rails, a screw rod nut is arranged below the translation sliding table, a screw rod penetrates through the middle of the screw rod nut, and one end of the screw rod is connected with a first motor through a first coupler; the lifting unit comprises an electric push rod vertically arranged in the center of the upper end face of the translation sliding table, and the upper end face of the translation sliding table is also provided with a second motor for providing power for the electric push rod; the rotation unit includes the lift platform with electric putter top fixed connection, the lift platform up end is equipped with two secondary shaft bearings, it is mutually perpendicular with the lead screw axis to be equipped with pivot and pivot axis between two secondary shaft bearings, the pivot middle part is equipped with the worm wheel, be equipped with under the worm wheel with worm wheel meshing's worm, the worm is connected with the third motor through the second shaft coupling, the equal fixed hangers that is equipped with in worm pivot both sides, be equipped with the backup pad that is used for the ribbed wallboard to support on the hangers, first motor, second motor and third motor all with controller electric connection.
Furthermore, the vacuum chuck is connected with the telescopic positioning rod through a universal joint.
Furthermore, two ends of the screw rod are supported on the movable box body through first bearing seats.
Furthermore, the first motor is fixed on the upper end face of the movable box body through a first connecting plate, and the third motor is fixed on the lifting platform through a second connecting plate.
Furthermore, the lifting unit also comprises guide telescopic rods vertically arranged at four corners of the upper end surface of the translation sliding table.
Furthermore, a groove is formed in the upper end face of the supporting plate, and a copper bar is installed in the groove.
In a second aspect, an embodiment of the present invention provides a supporting and positioning method for laser welding of a ribbed wall plate, where the positioning device according to the first aspect is used, and includes the following steps:
step 1: importing the ribbed wallboard digital model into offline programming software to obtain a space coordinate of each position to be supported, and planning a motion track of the supporting mechanism and the position of the telescopic positioning rod according to the space coordinate;
step 2: adjusting the position of a positioning tool according to the position of the telescopic positioning rod planned in the step 1, placing the to-be-welded ribbed wallboard on the positioning tool, and fixing the to-be-welded ribbed wallboard through a vacuum chuck;
and step 3: the controller converts the motion track in the step 1 into an electric signal, transmits the electric signal to a first motor, a second motor and a third motor, and drives the supporting mechanism to move to a position to be welded;
and 4, step 4: grabbing and assembling a stringer by using an external industrial robot to complete laser welding of the position to be welded;
and 5: and (4) repeating the step 3 and the step 4 by the supporting mechanism according to the motion track in the step 1 until all the stringers are welded.
Step 6: and eliminating the vacuum suction force of the vacuum chuck, and taking down the welded ribbed wallboard.
Further, in the step 1, the lowest position to be welded in the ribbed wallboard to be welded isDefined as the initial support position and where the spatial coordinate is (X)0,Z1) The other positions to be welded are defined as the next support positions and the spatial coordinate here is (X)2,Z3) The movement of the supporting mechanism comprises the following steps:
step 1.1: the support mechanism is translated by the first motor to below the next support location and the spatial coordinate here is (X)1,Z1)；
Step 1.2: the angle of the supporting mechanism is adjusted through a third motor, the rotating angle is a, and the space coordinate is (X)2,Z2)；
Step 1.3: the height of the supporting mechanism is adjusted to the next supporting position through a second motor, and the space coordinate is (X)2,Z3) And the supporting plate is tangent to the back of the ribbed wallboard so as to support the ribbed wallboard.
Step 1.4: and after welding of one stringer is finished, returning the support mechanism to the initial support position, and repeating the steps 1.1 to 1.3 until all the stringers are welded.
Further, the translation distance X of the supporting mechanism pair in step 1.1 is described1It is derived from the following equation 1 that the lifting height of the supporting mechanism in step 1.3 is Z3-Z2Derived by the following equation 2:
X1＝X2+Z1sina equation 1
Z3-Z2＝Z3-Z1cosa equation 2.
Further, the numerical value of the rotation angle a, sina and cosa are derived according to the slope tan a of the tangent line of the back surface of the ribbed wallboard at the position to be welded.
In conclusion, the ribbed wall plates with various shapes and sizes are positioned and fixed through the positioning tool, the supporting is realized in the welding process of the stringers and the wall plates through the supporting mechanism, the stability of the welding process is improved, the welding deformation is effectively controlled, the automatic movement of the supporting mechanism is realized through the controller, the welding of the stringers at different positions can be met, and the assembling efficiency and the automation degree are improved; by arranging the copper bars, a good heat conduction effect can be achieved during welding, the thermal deformation of a welding joint is reduced, and the positioning method disclosed by the invention is suitable for supporting wall plates with ribs in different shapes, and the assembly efficiency and the automation degree are further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural view of a positioning tool of the present invention;
FIG. 2 is a schematic view of a laser welding process;
FIG. 3 is a schematic view of the overall structure of the present invention;
FIG. 4 is a schematic view of the support mechanism of the present invention;
FIG. 5 is a partial enlarged view of area A in FIG. 4;
FIG. 6 is a schematic view of the movement of the support mechanism of the present invention;
fig. 7 is a schematic view illustrating the movement principle of the supporting mechanism in the present invention.
In the figure:
1. the device comprises a lathe bed 2, a movable box body 3, a telescopic positioning rod 4, a ribbed wallboard 5, a vacuum chuck 6, a sliding rail 7, a first bearing seat 8, a first motor 9, a first connecting plate 10, a first coupler 11, a translation sliding table 12, a screw nut 13, a screw rod 14, an electric push rod 15, a second motor 16, a guide telescopic rod 17, a lifting platform 18, a second bearing seat 19, a rotating shaft 20, a worm wheel 21, a worm 22, a second coupler 23, a third motor 24, a second connecting plate 25, a hanging lug 26, a supporting plate 27 and a copper bar.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the embodiments described, but covers any modifications, alterations, and improvements in the parts, components, and connections without departing from the spirit of the invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 to 7 show a supporting and positioning device for laser welding of a ribbed wallboard 4 according to an embodiment of the present invention, which includes a bed body 1, wherein a plurality of positioning tools for positioning the ribbed wallboard 4 are arranged on the bed body 1 along an X direction, each positioning tool includes a movable box body 2 which is slidably arranged on the bed body 1 and is used for moving along the X direction, a telescopic positioning rod 3 for moving along a Y direction and a Z direction is arranged on the movable box body 2, and a vacuum chuck 5 for fixing the ribbed wallboard 4 is arranged at the top end of the telescopic positioning rod 3; the movable box body 2 is provided with a supporting mechanism for supporting the ribbed wall plate 4, the supporting mechanism comprises a translation unit, a lifting unit and a rotating unit, the translation unit is used for supporting the mechanism to move, the lifting unit is used for adjusting the height of the supporting mechanism, the rotating unit is used for adjusting the angle of the supporting mechanism, the translation unit is sequentially arranged from bottom to top and comprises two slide rails 6 arranged along the length direction of the movable box body 2, the two slide rails 6 are arranged in parallel, a translation sliding table 11 is arranged between the two slide rails 6, the translation sliding table 11 is arranged on the slide rails 6 in a sliding manner, a screw rod nut 12 is arranged below the translation sliding table 11, a screw rod 13 is arranged in the middle of the screw rod nut 12 in a penetrating manner, and one end of the screw rod 13 is connected with a first motor 8 through a first coupler 10; the lifting unit comprises an electric push rod 14 vertically arranged in the center of the upper end face of the translation sliding table 11, and a second motor 15 for providing power for the electric push rod 14 is further arranged on the upper end face of the translation sliding table 11; the rotating unit comprises a lifting platform 17 fixedly connected with the top of the electric push rod 14, two second bearing seats 18 are arranged on the upper end face of the lifting platform 17, a rotating shaft 19 is arranged between the two second bearing seats 18, the axis of the rotating shaft 19 is perpendicular to the axis of the screw rod, a worm wheel 20 is arranged in the middle of the rotating shaft 19, a worm 21 meshed with the worm wheel 20 is arranged under the worm wheel 20, the worm 21 is connected with a third motor 23 through a second coupler 22, lugs 25 are fixedly arranged on two sides of the rotating shaft 19 of the worm 21, a supporting plate 26 used for supporting the ribbed wallboard 4 is arranged on each lug 25, the first motor 8, the second motor 15 and the third motor 23 are electrically connected with a controller, and the controller in the embodiment can be a PLC or a single chip microcomputer.
In order to realize 360-degree steering of the vacuum chuck 5 and facilitate fixation of various surface wall plates, in a specific embodiment of the invention, the vacuum chuck 5 is connected with the telescopic positioning rod 3 through a universal joint.
In an embodiment of the present invention, two ends of the screw rod are supported on the movable box 2 through the first bearing seat 7.
In order to fix the motor more stably, according to a specific embodiment of the present invention, the first motor 8 is fixed on the upper end surface of the movable box 2 through a first connecting plate 9, and the third motor 23 is fixed on the lifting platform 17 through a second connecting plate 24.
In order to improve the lifting stability and accuracy of the lifting platform 17, in a specific embodiment of the invention, the lifting unit further comprises guide telescopic rods 16 vertically arranged at four corners of the upper end surface of the translation sliding table 11.
In order to reduce the thermal deformation of the welded joint, according to a specific embodiment of the present invention, a groove is formed on the upper end surface of the supporting plate 26, and a copper bar 27 is installed in the groove.
In a second aspect, an embodiment of the present invention provides a supporting and positioning method for laser welding of a ribbed wall plate 4, which uses the positioning device of the first aspect, and includes the following steps:
step 1: importing the digital model of the ribbed wallboard 4 into offline programming software to obtain the space coordinate of each position to be supported, and planning the motion track of the supporting mechanism and the position of the telescopic positioning rod 3 according to the space coordinate;
step 2: adjusting the position of a positioning tool according to the position of the telescopic positioning rod 3 planned in the step 1, placing the to-be-welded ribbed wallboard 4 on the positioning tool, and fixing the to-be-welded ribbed wallboard 4 through a vacuum chuck 5;
and step 3: the controller converts the motion track in the step 1 into an electric signal, transmits the electric signal to the first motor 8, the second motor 15 and the third motor 23, and drives the supporting mechanism to move to a position to be welded;
and 4, step 4: grabbing and assembling a stringer by using an external industrial robot to complete laser welding of the position to be welded;
and 5: and (4) repeating the step 3 and the step 4 by the supporting mechanism according to the motion track in the step 1 until all the stringers are welded.
Step 6: and eliminating the vacuum suction force of the vacuum chuck, and taking down the welded ribbed wallboard.
In an embodiment of the present invention, in step 1, the lowest position to be welded in the to-be-welded ribbed wallboard is defined as an initial supporting position, and a spatial coordinate of the position is (X)0,Z1) The other positions to be welded are defined as the next support positions and the spatial coordinate here is (X)2,Z3) The movement of the supporting mechanism comprises the following steps:
step 1.1: the support mechanism is translated by the first motor to below the next support location and the spatial coordinate here is (X)1,Z1)；
Step 1.2: the angle of the supporting mechanism is adjusted through a third motor, the rotating angle is a, and the space coordinate is (X)2,Z2)；
Step 1.3: the height of the supporting mechanism is adjusted to the next supporting position through a second motor, and the space coordinate is (X)2,Z3) And the supporting plate is tangent to the back of the ribbed wallboard so as to support the ribbed wallboard.
Step 1.4: and after welding of one stringer is finished, returning the support mechanism to the initial support position, and repeating the steps 1.1 to 1.3 until all the stringers are welded.
In a specific embodiment of the present invention, in step 1.1, the translation distance X of the supporting mechanism pair1It is derived from the following equation 1 that the lifting height of the supporting mechanism in step 1.3 is Z3-Z2Derived by the following equation 2:
X1＝X2+Z1sina equation 1
Z3-Z2＝Z3-Z1cosa equation 2.
In an embodiment of the present invention, the numerical value of the rotation angle a, sina and cosa are derived according to the slope tan a of the tangent line of the back surface of the ribbed wall panel 4 at the position to be welded.
Specific example 1: taking the process of moving the support mechanism from the lowest position to be welded, i.e. the initial support position, to the position to be welded adjacent to the initial support position as an example, the spatial coordinate of the support position is (X)2,Z3) The spatial coordinate of the translation position is (X)1,Z1) The spatial coordinate of the rotational position is (X)2,Z2) Then the support mechanism translates by a distance X1＝X2+Z1sina, support mechanism lifting height Z3-Z2＝Z3-Z1cosa, the value of angle a is obtained according to arctana since the slope tana of the tangent to the back of ribbed panel 4 is known, and is less than 360 ° according to the common knowledge in the art, so the value of angle a obtained according to arctana is unique. When the value of the angle a is obtained, the values of sina and cosa are obtained immediately, so that the translation distance and the lifting height are obtained.
It should be clear that the embodiments in this specification are described in a progressive manner, and the same or similar parts in the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. For embodiments of the method, reference is made to the description of the apparatus embodiments in part. The present invention is not limited to the specific steps and structures described above and shown in the drawings. Also, a detailed description of known process techniques is omitted herein for the sake of brevity.
The above description is only an example of the present application and is not limited to the present application. Various modifications and alterations to this application will become apparent to those skilled in the art without departing from the scope of this invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (4)
1. A supporting and positioning method for laser welding of ribbed wallboards is characterized in that a utilized positioning device comprises a lathe bed, a plurality of positioning tools for positioning the ribbed wallboards are arranged on the lathe bed along the X direction, each positioning tool comprises a movable box body which is arranged on the lathe bed in a sliding mode and used for moving along the X direction, telescopic positioning rods for moving along the Y direction and the Z direction are arranged on the movable box body, vacuum chucks for fixing the ribbed wallboards are arranged at the top ends of the telescopic positioning rods, a supporting mechanism for supporting the ribbed wallboards is arranged on the movable box body, the supporting mechanism comprises a translation unit for moving the supporting mechanism, a lifting unit for adjusting the height of the supporting mechanism and a rotating unit for adjusting the angle of the supporting mechanism, the translation unit comprises two sliding rails arranged along the length direction of the movable box body, and the two sliding rails are arranged in parallel, a translation sliding table is arranged between the two sliding rails, a screw rod nut is arranged below the translation sliding table, a screw rod penetrates through the middle of the screw rod nut, and one end of the screw rod is connected with a first motor through a first coupler; the lifting unit comprises an electric push rod vertically arranged in the center of the upper end face of the translation sliding table, and the upper end face of the translation sliding table is also provided with a second motor for providing power for the electric push rod; the rotating unit comprises a lifting platform fixedly connected with the top of the electric push rod, two second bearing seats are arranged on the upper end face of the lifting platform, a rotating shaft is arranged between the two second bearing seats, the axis of the rotating shaft is perpendicular to the axis of the screw rod, a worm wheel is arranged in the middle of the rotating shaft, a worm meshed with the worm wheel is arranged right below the worm wheel, the worm is connected with a third motor through a second coupler, lugs are fixedly arranged on two sides of the rotating shaft of the worm, a supporting plate used for supporting the ribbed wallboard is arranged on each lug, and the first motor, the second motor and the third motor are electrically connected with the controller; the vacuum chuck is connected with the telescopic positioning rod through a universal joint, the two ends of the screw rod are supported on the movable box body through first bearing seats, the first motor is fixed on the upper end face of the movable box body through a first connecting plate, the third motor is fixed on the lifting platform through a second connecting plate, the lifting unit further comprises a guide telescopic rod vertically arranged at four corners of the upper end face of the translation sliding table, a groove is formed in the upper end face of the supporting plate, copper bars are installed in the groove, and the supporting and positioning method comprises the following steps:
step 1: importing the ribbed wallboard digital model into offline programming software to obtain a space coordinate of each position to be supported, and planning a motion track of the supporting mechanism and the position of the telescopic positioning rod according to the space coordinate;
step 2: adjusting the position of a positioning tool according to the position of the telescopic positioning rod planned in the step 1, placing the to-be-welded ribbed wallboard on the positioning tool, and fixing the to-be-welded ribbed wallboard through a vacuum chuck;
and step 3: the controller converts the motion track in the step 1 into an electric signal, transmits the electric signal to a first motor, a second motor and a third motor, and drives the supporting mechanism to move to a position to be welded;
and 4, step 4: grabbing and assembling a stringer by using an external industrial robot to complete laser welding of the position to be welded;
and 5: the supporting mechanism repeats the step 3 and the step 4 according to the motion track in the step 1 until all the stringers are welded;
step 6: and eliminating the vacuum suction force of the vacuum chuck, and taking down the welded ribbed wallboard.
2. A supporting and positioning method for laser welding of ribbed wall plate according to claim 1, characterized in that the lowest position to be welded in the ribbed wall plate to be welded in step 1 is defined as the initial supporting position and the spatial coordinate is (X) here0,Z1) The other positions to be welded are defined as the next support positions and the spatial coordinate here is (X)2,Z3) The movement of the supporting mechanism comprises the following steps:
step 1.1: the support mechanism is translated by the first motor to below the next support location and the spatial coordinate here is (X)1,Z1)；
Step 1.2: the angle of the supporting mechanism is adjusted through a third motor, the rotating angle is a, and the space coordinate is (X)2,Z2)；
Step 1.3: the height of the supporting mechanism is adjusted to the next supporting position through a second motor, and the space coordinate is (X)2,Z3) At the moment, the supporting plate is tangent to the back of the ribbed wallboard so as to support the ribbed wallboard;
step 1.4: and after welding of one stringer is finished, returning the support mechanism to the initial support position, and repeating the steps 1.1 to 1.3 until all the stringers are welded.
3. The method of claim 2, wherein the step 1.1 is a translation distance X of the pair of support mechanisms1It is derived from the following equation 1 that the lifting height of the supporting mechanism in step 1.3 is Z3-Z2Derived by the following equation 2:
X1＝X2+Z1sina equation 1
Z3-Z2＝Z3-Z1cosa equation 2.
4. A method for supporting and positioning a ribbed wall by laser welding according to claim 3, characterized in that the values of the rotation angle a, sina and cosa are derived from the slope tana of the tangent line of the back of the ribbed wall at the position to be welded.
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| CN202010104989.6A CN111250880B (en) | 2020-02-20 | 2020-02-20 | Supporting and positioning device and method for laser welding of ribbed wallboard |
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| CN114939762B (en) * | 2022-06-27 | 2024-06-25 | 中国航空制造技术研究院 | T-shaped joint welding tool and welding deformation control method |
| CN117260132B (en) * | 2023-11-07 | 2024-09-17 | 湖北长平汽车装备有限公司 | Intelligent manufacturing mechanical equipment welding tool |
| CN118357604B (en) * | 2024-06-19 | 2024-08-30 | 普迪智能装备有限公司 | Five-axis numerical control machine tool with laser equidistant cutting function |
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