CN112405112B - Five-axis machine tool linkage error detection device and measurement method - Google Patents
Five-axis machine tool linkage error detection device and measurement method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
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- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
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Abstract
The invention relates to the technical field of machine tool error detection equipment, and discloses a five-axis machine tool linkage error detection device which comprises a detection part detachably connected with an output main shaft at one end of an XYZ linear shafting and an induction part detachably connected with a workbench at one end of an AC rotary shafting; a battery pack and a measurement and control module which are electrically connected are arranged in an outer cover shell of the detection component, and a precise core ball is arranged at one end of the outer cover shell, which is far away from the output spindle; the sensor base of the sensing part is provided with three supporting arms towards one end of the detecting part and displacement sensors respectively, the axes of the three displacement sensors are mutually orthogonal, and the centripetal end of the three displacement sensors is a sensing head. The cable is not required to be arranged, the structure is simple, interference is avoided, and the installation is convenient; the five-axis machine tool linkage error measuring and calculating method can detect the space displacement error of the machine tool cutter, can synchronously measure the movement posture of the cutter and the point position error of the cutter point in real time, and has great popularization value and wide application prospect.
Description
Technical Field
The invention relates to the technical field of machine tool error detection equipment, in particular to a five-axis machine tool linkage error detection device and a measurement and calculation method.
Background
The five-axis linkage numerical control machine tool is widely applied to the fields of aerospace, precision machinery, high-precision medical equipment and the like by virtue of the excellent performance of the five-axis linkage numerical control machine tool in processing complex space curved surfaces. The machining precision of the numerical control machine tool directly influences the quality of a machined product, and the problem of the reduction of the machining precision caused by the insufficient precision of the machine tool is increasingly remarkable. It has become a very important and significant topic how to detect errors of a numerical control machine tool quickly and efficiently and improve the precision. The detection of the motion precision of the five-axis numerical control machine tool is more difficult due to the introduction of two rotating shafts, and how to judge whether the linkage performance of the five-axis numerical control machine tool meets the precision requirement is a great difficulty in the research of the current five-axis machine tool detection field. The limitations of some traditional precision detection instruments such as a laser interferometer, a double-club instrument, a laser tracker and the like in the multi-axis linkage precision detection of the machine tool are gradually revealed.
For detecting the linkage performance of the rotating shaft, the common detecting instruments comprise a ball rod instrument, an R-Test tester and other instruments, the detecting instruments are realized based on RTCP (rotating around the center point of the cutter) functions of five-axis numerical control machine tools, and the RTCP functions are utilized to carry out multi-axis linkage movement when the tool point of the machine tool is motionless, so that the movement error of the cutter in the five-axis linkage process of the machine tool can be accurately detected, and the performance of the machine tool in the actual machining process can be evaluated. However, the ball arm instrument and the R-test detector can only be used for detecting three axial displacement errors of the tool tip point of the tool on the five-axis numerical control machine tool, but cannot reflect the posture of the tool of the five-axis numerical control machine tool, so that the detection error result is inconvenient to correspond to the error position, the error compensation is inaccurate and even plays a role in countering, in addition, the traditional encoder angle testing detection device is complex in structure, and a signal transmission cable is easy to interfere in the linkage process with the machine tool.
Therefore, the technical field of machine tool error detection equipment is in need of a five-axis machine tool linkage error detection device which has a simple structure, avoids interference, can detect the space displacement error of a machine tool cutter and can synchronously measure the movement posture of the cutter and the point position error of a cutter point in real time.
Disclosure of Invention
The five-axis machine tool linkage error detection device overcomes the defects of the prior art, has a simple structure, avoids interference, can detect the space displacement error of a machine tool cutter, and can synchronously measure the movement posture of the cutter and the point position error of the cutter point in real time.
The invention is realized by the following technical scheme:
The five-axis machine tool linkage error detection device comprises a detection component detachably connected with an output spindle and an induction component detachably connected with a workbench; the detection component comprises a cylindrical outer shell, a battery pack and a measurement and control module which are electrically connected are arranged in the outer shell, a precise core ball which acts with the sensing component is arranged at one end of the outer shell far away from the output spindle, and the measurement and control module comprises an angle sensor; the sensing component comprises a sensor base, three supporting arms with evenly distributed circumferences are arranged at one end, facing the detecting component, of the sensor base, through holes are formed in the top ends of the supporting arms, displacement sensors are respectively arranged in the through holes, the axes of the three displacement sensors are mutually orthogonal, and sensing heads interacted with the precise core balls are arranged at the centripetal ends of the three displacement sensors.
Further, a battery compartment for taking and discharging the battery pack is arranged on the side wall of the outer housing, and a battery cover is arranged at the opening position of the battery compartment.
Further, one end of the outer cover shell, which is close to the sensing part, is provided with a containing cavity for taking and placing the measurement and control module, an opening position of the containing cavity is provided with a cover shell, and the bottom surface of the cover shell is fixedly connected with the precise core ball through a connecting rod.
Further, one end of the outer cover shell, which is far away from the induction component, is provided with a clamping column, and the clamping column is detachably connected with a machine tool spindle through a tool handle.
Further, the measurement and control module further comprises a power management module and a wireless transmission module, wherein the power management module is electrically connected with the battery pack, the power management module is in power supply connection with the angle sensor and the wireless transmission module, and the angle sensor is in communication connection with the wireless transmission module.
Further, the measurement and control module is of a stacked multilayer structure.
Further, the types of the angle sensor include a gyroscope sensor, an inclination angle sensor, an angular displacement sensor, and a rotation vector sensor.
Further, the displacement sensor is in communication connection with the wireless transmission module, and the displacement sensor is a contact flat head sensor.
The invention also provides a five-axis machine tool linkage error measuring and calculating method, which utilizes the five-axis machine tool linkage error detection device and comprises the following steps:
A. the detection component is arranged on the main shaft, and the induction component is arranged on the machine tool workbench;
B. the position or the direction of the sensing component is adjusted, so that the projection of the measuring direction of one displacement sensor on the plane of the workbench is parallel to one linear axis of the machine tool;
C. The space position of the detection part is adjusted so that the direction of one detection angle of the angle sensor is consistent with the rotation axis of the machine tool;
D. Moving the linear shaft system to enable the precise core ball to be in contact with the three displacement sensors, and then finely adjusting the linear shaft system to enable the axes of the detection directions of the three displacement sensors to point to the sphere center of the precise core ball;
E. Adjusting a rotating shaft of the machine tool to an initial position (0, 0), and initializing an angle sensor and a displacement sensor;
F. planning a five-axis machine tool error detection track, and programming a detection track machine tool movement instruction program according to the detection track;
G. Simultaneously collecting a displacement value epsilon X,εY,εZ detected by a displacement sensor and an angular velocity value omega A,ωC detected by an angle sensor;
H. And converting the displacement value epsilon X,εY,εZ and the angular velocity value omega A,ωC to obtain a displacement error value and a tool posture.
Further, the conversion method in the step H comprises the following steps:
h1, setting a certain measuring point to have coordinates (X, Y, Z) and (X ', Y ', Z ') in a machine tool coordinate system O-XYZ and a sensor coordinate system O ' -X ' Y ' Z ', wherein three translation parameters delta X, delta Y and delta Z and three rotation parameters alpha, beta and gamma exist between the two sets of coordinate systems, and then the three translation parameters are:
Wherein lambda is the scale factor between two coordinates, R is the rotation transformation matrix between the coordinates,
Wherein [ DeltaX, deltaY, deltaZ ] T is a translation matrix between coordinates;
h2, respectively measuring displacement values of the detection component in X, Y, Z directions as epsilon X、εY、εZ, and obtaining a displacement error value [ epsilon X″ εY″ εZ″ ] as
H3, integrating the angular velocity detection value to obtain the tool posture generated by the rotation motion of the rotation shaft of the five-axis numerical control machine tool
Compared with the prior art, the invention has the following advantages and beneficial effects:
The invention discloses a five-axis machine tool linkage error detection device, which comprises a detection part detachably connected with an output main shaft at one end of an XYZ linear shafting and an induction part detachably connected with a workbench at one end of an AC rotary shafting; a battery pack and a measurement and control module which are electrically connected are arranged in an outer cover shell of the detection component, and a precise core ball is arranged at one end of the outer cover shell, which is far away from the output spindle; the sensor base of the sensing part is provided with three supporting arms towards one end of the detecting part and displacement sensors respectively, the axes of the three displacement sensors are mutually orthogonal, and the centripetal end of the three displacement sensors is a sensing head. The cable is not required to be arranged, the structure is simple, interference is avoided, and the installation is convenient; the five-axis machine tool linkage error measuring and calculating method can detect the space displacement error of the machine tool cutter, can synchronously measure the movement posture of the cutter and the point position error of the cutter point in real time, and has great popularization value and wide application prospect.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:
FIG. 1 is an exploded view of the overall structure of the present invention;
FIG. 2 is a schematic view of the installation of the present invention on a five-axis machine tool;
FIG. 3 is a schematic diagram of two sets of coordinate systems according to the present invention;
FIG. 4 is a schematic diagram of the method of the present invention;
FIG. 5 is a schematic diagram of a detection trace according to the present invention.
In the drawings, the reference numerals and corresponding part names:
The device comprises a 1-knife handle, a 2-outer housing, a 21-housing cover, a 3-battery pack, a 31-battery cover, a 4-measurement and control module, a 5-precision core ball, a 6-displacement sensor and a 7-sensor base.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.
The five-axis machine tool linkage error detection device comprises a detection component detachably connected with an output spindle and an induction component detachably connected with a workbench; the detection part comprises a cylindrical outer cover shell, a battery pack and a measurement and control module which are electrically connected are arranged in the outer cover shell, a precise core ball which acts with the sensing part is arranged at one end of the outer cover shell, which is far away from the output main shaft, and the measurement and control module comprises an angle sensor; the sensing component comprises a sensor base, three supporting arms uniformly distributed along the circumference are arranged at one end of the sensor base, which faces the detecting component, through holes are formed in the top ends of the supporting arms, displacement sensors are respectively arranged in the three through holes, the axes of the three displacement sensors are mutually orthogonal, and a sensing head which interacts with the precise core ball is arranged at the centripetal end of the three displacement sensors. It will be appreciated that, as shown in fig. 2, a schematic diagram of the linkage error detection device on a dual-turntable five-axis machine tool is shown, wherein the detection component is detachably connected with a machine tool spindle at one end of an XYZ linear axis system through a tool handle, and the sensing component is arranged on the dual-turntable, so that similar installation modes can be provided for the dual-turntable five-axis machine tool, the nodding-type five-axis machine tool, the one-pendulum one-axis five-axis machine tool and the like.
Further, a battery compartment for taking and discharging the battery pack is arranged on the side wall of the outer housing, and a battery cover is arranged at the opening position of the battery compartment. It can be understood that the battery compartment for taking and placing the battery pack is arranged and is provided with a battery cover, wireless power supply is realized, cable interference is avoided, and detection efficiency is improved.
Further, one end of the outer cover shell, which is close to the sensing part, is provided with a containing cavity for taking and placing the measurement and control module, the opening position of the containing cavity is provided with a cover shell, and the bottom surface of the cover shell is fixedly connected with the precise core ball through a connecting rod. Further, one end of the outer cover shell, which is far away from the induction component, is provided with a clamping column, and the clamping column is detachably connected with a machine tool spindle through a tool handle. It can be understood that the cover is arranged to facilitate the replacement and maintenance of the measurement and control module, and the quick installation and disassembly of the induction component can be realized by arranging the clamping columns.
Further, the measurement and control module further comprises a power management module and a wireless transmission module, wherein the power management module is electrically connected with the battery pack, the power management module is in power supply connection with the angle sensor and the wireless transmission module, and the angle sensor is in communication connection with the wireless transmission module. It can be understood that the battery pack supplies power for the whole hardware circuit, is uniformly managed by the power management module, provides working voltage and is respectively and electrically connected to the angle sensor and the Bluetooth transmission module, and the Bluetooth transmission circuit adopts a mature Bluetooth protocol and sends tool posture detection information to the acquisition system through Bluetooth.
Further, the measurement and control module is of a multi-layer structure which is stacked. It can be understood that the multilayer structure can avoid overlarge area of the outer cover shell, so that the purposes of saving space and being small and exquisite are achieved.
Further, the types of the angle sensor include a gyro sensor, an inclination sensor, an angular displacement sensor, and a rotation vector sensor. It is understood that the angle sensor may be a gyro sensor, an inclination sensor, an angular displacement sensor, a rotation vector sensor, or other sensor capable of measuring angular velocity, as long as it can measure angular velocity.
Further, the displacement sensor is in communication connection with the wireless transmission module, and the displacement sensor is a contact type flat head sensor.
The invention also provides a five-axis machine tool linkage error measuring and calculating method, which utilizes the five-axis machine tool linkage error detection device, as shown in fig. 4, and comprises the following steps:
A. the detection component is arranged on the main shaft, and the induction component is arranged on the machine tool workbench;
B. The position or the direction of the sensing component is adjusted, so that the projection of the measuring direction of one displacement sensor on the plane of the workbench is parallel to one linear axis of the machine tool; i.e. the projection of any of the three detector heads of the displacement sensor onto the table plane is parallel to the X-axis or the Y-axis or the Z-axis.
C. the space position of the detection part is adjusted so that the direction of one detection angle of the angle sensor is consistent with the rotation axis of the machine tool; it can be understood that the measurement and control module is a multilayer structure, one detection angle is consistent with the rotating shaft of the machine tool by adjusting the inclination angle of the layer where the angle sensor is located, and the measurement and control module can be adjusted according to the numerical value fed back by the sensing system in actual operation.
D. Moving the linear shaft system to enable the precise core ball to be in contact with the three displacement sensors, and then finely adjusting the linear shaft system to enable the axes of the detection directions of the three displacement sensors to point to the sphere center of the precise core ball;
E. Adjusting a rotating shaft of the machine tool to an initial position (0, 0), and initializing an angle sensor and a displacement sensor;
F. planning a five-axis machine tool error detection track, and programming a detection track machine tool movement instruction program according to the detection track; as shown in FIG. 5, similar to CAM programming detection traces, existing CAM design platform ratios such as UG, MASTER CAM are re-used to program instructions.
G. Simultaneously collecting a displacement value epsilon X,εY,εZ detected by a displacement sensor and an angular velocity value omega A,ωC detected by an angle sensor;
H. And converting the displacement value epsilon X,εY,εZ and the angular velocity value omega A,ωC to obtain a displacement error value and a tool posture.
Further, the conversion method in the step H comprises the following steps:
h1, as shown in fig. 3, a certain measurement point is set to have coordinates (X, Y, Z), (X ', Y ', Z ') in a machine tool coordinate system O-XYZ and a sensor coordinate system O ' -X ' Y ' Z ', and three translation parameters Δx, Δy, Δz and three rotation parameters α, β, γ exist between two sets of coordinate systems, and then:
Wherein lambda is the scale factor between two coordinates, R is the rotation transformation matrix between the coordinates,
Wherein [ DeltaX, deltaY, deltaZ ] T is a translation matrix between coordinates;
h2, respectively measuring displacement values of the detection component in X, Y, Z directions as epsilon X、εY、εZ, and obtaining a displacement error value [ epsilon X″ εY″ εZ″ ] as
H3, integrating the angular velocity detection value to obtain the tool posture generated by the rotation motion of the rotation shaft of the five-axis numerical control machine tool
In the process that the tool rotation center point walks along the set track, the tool posture generated by the rotation motion of the rotation shaft of the five-axis numerical control machine tool and the space triaxial micro displacement quantity epsilon X、εY and epsilon Z generated by the tool tip point can be respectively measured by a gyroscope and three displacement sensors synchronously in real time, and measured data can be displayed and recorded in a detection system in real time. The motion angle measured by the gyroscope in the measured data represents the gesture of the tool of the five-axis numerical control machine tool, the position error [ epsilon X″ εY″ εZ″ ] of the tool tip of the five-axis numerical control machine tool can be obtained through the transformation of epsilon X、εY and epsilon Z in the measured data in a certain form, and the position error of the tool tip of the tool and the gesture of the tool in the actual machining process of the five-axis numerical control machine tool can be reflected through the five sets of data.
It can be understood that in the ideal situation, in the five-axis machine tool linkage error detection process, the cutter tool tip point walks along the set track, namely, the precise core ball center is kept motionless, but when the machine tool has linkage error, the ball center moves within a certain range, so that the displacement sensor is compressed or stretched, and the displacement sensor detects the spatial movement displacement of the ball center in the machine tool linkage process because the axial directions of the displacement sensor are all directed towards the ball center. When the rotating shafts move, the whole detecting instrument is driven to rotate in space, the gyroscope is driven to detect, the movement angles of the two rotating shafts of the five-axis machine tool can be obtained, and the position error of the cutter point of the five-axis numerical control machine tool and the posture of the cutter in the actual machining process can be reflected through the five groups of data.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be appreciated that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate describing the present invention, and do not indicate or imply that the components or mechanisms referred to must have a particular orientation, be configured and operated in a particular orientation, and thus are not to be construed as limiting the present invention.
The foregoing detailed description of the preferred embodiments of the present invention will be presented in terms of a detailed description of the invention, and it should be appreciated that the foregoing description of the preferred embodiments of the invention is not intended to limit the scope of the invention, but rather should be construed in view of the foregoing description, as well as any modifications, equivalents, improvements or alternative forms within the spirit and principles of the invention.
Claims (9)
1. The five-axis machine tool linkage error measuring and calculating method is characterized by utilizing a five-axis machine tool linkage error detection device and comprising the following steps of:
A. the detection component is arranged on the main shaft, and the induction component is arranged on the machine tool workbench;
B. the position or the direction of the sensing component is adjusted, so that the projection of the measuring direction of one displacement sensor on the plane of the workbench is parallel to one linear axis of the machine tool;
C. The space position of the detection part is adjusted so that the direction of one detection angle of the angle sensor is consistent with the rotation axis of the machine tool;
D. Moving the linear shaft system to enable the precise core ball to be in contact with the three displacement sensors, and then finely adjusting the linear shaft system to enable the axes of the detection directions of the three displacement sensors to point to the sphere center of the precise core ball;
E. Adjusting a rotating shaft of the machine tool to an initial position (0, 0), and initializing an angle sensor and a displacement sensor;
F. planning a five-axis machine tool error detection track, and programming a detection track machine tool movement instruction program according to the detection track;
G. Simultaneously collecting a displacement value epsilon X,εY,εZ detected by a displacement sensor and an angular velocity value omega A,ωC detected by an angle sensor;
H. Converting the displacement value epsilon X,εY,εZ and the angular velocity value omega A,ωC to obtain a displacement error value and a tool posture;
the five-axis machine tool linkage error detection device comprises a detection component detachably connected with the output spindle and an induction component detachably connected with the workbench;
The detecting component comprises a cylindrical outer shell (2), a battery pack (3) and a measurement and control module (4) which are electrically connected are arranged in the outer shell (2), one end, far away from the output main shaft, of the outer shell (2) is provided with a precise core ball (5) which acts with the sensing component, and the measurement and control module (4) comprises an angle sensor;
the sensing component comprises a sensor base (7), three supporting arms uniformly distributed along the circumference are arranged at one end of the sensor base (7) facing the detection component, through holes are formed in the top ends of the supporting arms, displacement sensors (6) are respectively arranged in the three through holes, the axes of the displacement sensors (6) are mutually orthogonal, and the centripetal ends of the displacement sensors (6) are sensing heads interacted with the precise core balls (5).
2. The five-axis machine tool linkage error measuring and calculating method according to claim 1, wherein a battery compartment for taking and discharging the battery pack (3) is arranged on the side wall of the outer cover shell (2), and a battery cover (31) is arranged at the opening position of the battery compartment.
3. The five-axis machine tool linkage error measuring and calculating method according to claim 2, wherein one end of the outer cover shell (2) close to the sensing component is provided with a containing cavity for taking and placing the measurement and control module (4), an opening position of the containing cavity is provided with a cover shell (21), and the bottom surface of the cover shell (21) is fixedly connected with the precise core ball (5) through a connecting rod.
4. The five-axis machine tool linkage error measuring and calculating method according to claim 3, wherein a clamping column is arranged at one end of the outer cover shell (2) far away from the induction component, and the clamping column is detachably connected with a machine tool spindle through the tool handle (1).
5. The five-axis machine tool linkage error measuring and calculating method according to claim 1, wherein the measuring and controlling module (4) further comprises a power management module and a wireless transmission module, the power management module is electrically connected with the battery pack (3), the power management module is in power supply connection with an angle sensor and the wireless transmission module, and the angle sensor is in communication connection with the wireless transmission module.
6. The five-axis machine tool linkage error measuring and calculating method according to claim 5, wherein the measuring and controlling module (4) is of a stacked multilayer structure.
7. The method for measuring and calculating linkage errors of five-axis machine tools according to claim 5 or 6, wherein the types of the angle sensors comprise a gyroscope sensor, an inclination angle sensor, an angular displacement sensor and a rotation vector sensor.
8. The five-axis machine tool linkage error measuring and calculating method according to claim 7, wherein the displacement sensor (6) is in communication connection with the wireless transmission module, and the displacement sensor (6) is a contact type flat head sensor.
9. The method for measuring and calculating linkage errors of five-axis machine tool according to claim 1, wherein the conversion method in the step H comprises the following steps:
h1, setting a certain measuring point to have coordinates (X, Y, Z) and (X ', Y ', Z ') in a machine tool coordinate system O-XYZ and a sensor coordinate system O ' -X ' Y ' Z ', wherein three translation parameters delta X, delta Y and delta Z and three rotation parameters alpha, beta and gamma exist between the two sets of coordinate systems, and then the three translation parameters are:
Wherein lambda is the scale factor between two coordinates, R is the rotation transformation matrix between the coordinates,
Wherein [ DeltaX, deltaY, deltaZ ] T is a translation matrix between coordinates;
h2, respectively measuring displacement values of the detection component in X, Y, Z directions as epsilon X、εY、εZ, and obtaining a displacement error value [ epsilon X″ εY″ εZ″ ] as
H3, integrating the angular velocity detection value to obtain the tool posture generated by the rotation motion of the rotation shaft of the five-axis numerical control machine tool
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| CN113770806B (en) * | 2021-09-02 | 2022-07-08 | 杭州电子科技大学 | Machine tool geometric error separation method based on double-ball-bar instrument |
| CN114234877B (en) * | 2022-02-28 | 2022-06-14 | 成都飞机工业（集团）有限责任公司 | Displacement sensor vector calibration method for R-test instrument |
| CN114273981B (en) * | 2022-03-04 | 2022-05-20 | 苏州古田自动化科技有限公司 | Horizontal five-axis numerical control machining center with abnormal component checking function |
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| CN104625880A (en) * | 2014-12-23 | 2015-05-20 | 电子科技大学 | Five-axis machine tool cutter posture and cutter point position error synchronous detection mechanism |
| CN214054600U (en) * | 2020-12-03 | 2021-08-27 | 中国工程物理研究院机械制造工艺研究所 | Five-axis machine tool linkage error detection device |
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