CN112775289B - Multi-angle deflectable tool head and machining device comprising same - Google Patents
Multi-angle deflectable tool head and machining device comprising same Download PDFInfo
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- CN112775289B CN112775289B CN202011638236.XA CN202011638236A CN112775289B CN 112775289 B CN112775289 B CN 112775289B CN 202011638236 A CN202011638236 A CN 202011638236A CN 112775289 B CN112775289 B CN 112775289B
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- rocker
- tool head
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D31/00—Other methods for working sheet metal, metal tubes, metal profiles
- B21D31/005—Incremental shaping or bending, e.g. stepwise moving a shaping tool along the surface of the workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D37/00—Tools as parts of machines covered by this subclass
- B21D37/04—Movable or exchangeable mountings for tools
Abstract
The invention discloses a multi-angle deflectable tool head and a processing device comprising the tool head, wherein the processing device comprises a first deflection control mechanism, a second deflection control mechanism, a first rocker, a second rocker, a spherical hinge support, a telescopic rod, a connecting rod and a tool head; the lower ends of the first rocker and the second rocker are connected with two ends of the spherical hinge support, the upper ends of the first rocker and the second rocker are rotatably connected with two ends of the connecting rod, a through hole is formed in the middle of the connecting rod, the tail part of the telescopic rod is connected with a first through hole metal ball, and the first through hole metal ball is in clearance fit with the through hole; a second through hole metal ball is fixed in the middle of the telescopic rod and is in tangential fit with a through hole in the middle of the spherical hinge support; the head of the telescopic rod is connected with the tool head; the first deflection control mechanism controls the first rocker and the second rocker to drive the telescopic rod and the tool head to rotate in a first plane; the second deflection control mechanism controls the first rocker and the second rocker to drive the telescopic rod and the tool head to rotate in a second plane perpendicular to the first plane.
Description
Technical Field
The invention relates to the field of plate processing, in particular to a multi-angle deflectable tool head and a processing device comprising the tool head.
Technical Field
In recent years, with the continuous improvement of processing technology and the rapid development of social productivity, sheet metal forming members are more widely applied in the high-tech fields of aerospace, ships, oceans and the like.
In order to meet the requirements of high-performance customized plate processing, a novel incremental forming technology and equipment are developed to a certain extent, incremental forming is a flexible plate forming technology, the concept of layered manufacturing of a rapid forming technology is introduced, the plate is subjected to successive plastic deformation under the action of the pressure of a forming tool head, integral deformation is generated in an accumulated mode, the development time and the economic cost are greatly lower than those of the traditional stamping technology, the method has great advantages particularly in small-batch production, and plate forming means are greatly enriched. However, the existing incremental forming device can only realize the translation of the tool head, and cannot realize the deflection of the tool head, when meeting the processing requirement of a large forming angle of a target part in the processing process, the plate in the region to be processed can shield and interfere the movement of the forming tool head, so that the tool head cannot reach the ideal position for processing the plate, and the processing task cannot be completed. In modern production practice, parts under the conditions cannot be formed at one time, and repeated clamping and secondary processing are required. The processing efficiency and the processing precision are seriously influenced, meanwhile, the secondary processing process can cause certain damage to the original processed plate, the processing quality is reduced to some extent, the normal use of the product cannot be ensured under serious conditions, certain resource waste is caused, the cost is increased, and the production economy is seriously influenced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a multi-angle deflectable tool head and a processing device comprising the tool head, which increases the deflectable angle of the tool head relative to a plate, realizes the purpose of processing the plate at multiple angles, and simultaneously improves the forming quality and the processing efficiency of the plate.
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, the invention discloses a multi-angle deflectable tool head, which comprises a first deflection control mechanism, a second deflection control mechanism, a first rocker, a second rocker, a spherical hinge support, a telescopic rod, a connecting rod and a tool head, wherein the first deflection control mechanism is arranged on the first side of the tool head;
the lower ends of the first rocker and the second rocker are respectively connected with two ends of the spherical hinge support through connecting pieces, the upper ends of the first rocker and the second rocker are rotatably connected with two ends of a connecting rod, a through hole is arranged in the middle of the connecting rod, a spherical bulge is arranged at the tail part of the telescopic rod, and the spherical bulge is in clearance fit with the through hole; a through hole metal ball is fixed in the middle of the telescopic rod and is in tangential fit with the through hole in the middle of the spherical hinge support, and the head of the telescopic rod is connected with a tool head;
the first deflection control mechanism controls the first rocker and the second rocker to drive the telescopic rod and the tool head to rotate in a first plane; the second deflection control mechanism controls the first rocker and the second rocker to drive the telescopic rod and the tool head to rotate in a second plane perpendicular to the first plane.
As a further technical scheme, the spherical hinge support comprises two parts which are connected together through a connecting piece to form a structure with a through hole in the middle, a first solid shaft at one end and a second solid shaft at the other end.
As a further technical scheme, the first deflection control mechanism comprises a first servo motor, a driving bevel gear, a driven bevel gear and a first special-shaped shaft sleeve; the first servo motor is fixed on one side of the lower end of the first rocker, the first servo motor is connected with the driving bevel gear, and the driving bevel gear is meshed with the driven bevel gear; the first special-shaped shaft sleeve comprises a shaft and a sleeve, the axis of the shaft is vertical to the axis of the shaft and the sleeve are connected together, the shaft sleeve is arranged at the bottom of the first rocker, and the shaft is connected with the driven gear; the sleeve is sleeved on the first solid shaft of the spherical hinge support, and the sleeve can rotate relative to the first solid shaft.
As a further technical scheme, the second deflection control mechanism comprises a second servo motor, a driving gear, a driven gear and a second special-shaped shaft sleeve; the second servo motor is fixed on the spherical hinge support and is connected with the driving gear, and the driving gear is meshed with the driven gear; the second special-shaped shaft sleeve comprises a shaft and a sleeve which are vertical to the axis and are connected together, the driven gear is fixed on the sleeve, and the shaft sleeve is arranged at the bottom of the second rocker; the sleeve is sleeved on the second solid shaft of the spherical hinge support, and the sleeve can rotate relative to the second solid shaft.
As a further technical scheme, the first rocker and the second rocker have the same structure and comprise a body, one end of the body is provided with a shaft sleeve, the other end of the body is provided with a solid shaft, and the side face of the shaft sleeve is provided with a through hole.
As a further technical scheme, two ends of the middle part of the connecting rod are respectively provided with a shaft sleeve, and the shaft sleeves are rotatably connected with the solid shaft of the first rocking rod or the second rocking rod.
As a further technical scheme, the through hole metal ball is eccentrically matched with the through hole of the spherical hinge support.
As a further technical scheme, the telescopic rod is a hydraulic telescopic rod.
As a further technical scheme, a displacement sensor is arranged on the telescopic rod.
In a second aspect, the invention also discloses a processing device which comprises the multi-angle deflectable tool head. The beneficial effects of the above-mentioned embodiment of the present invention are as follows:
1. the invention can not only translate, but also rotate, when meeting the forming requirement with larger angle, the tool head is rotated by the deflection control mechanism, thereby avoiding the plate which causes interference to the movement, further completing the processing task at one time, further improving the complexity of the processed plate and improving the quality of the formed plate.
2. The tool head can realize deflection of a small angle, so that the movement precision and the movement flexibility of the tool head are improved, the forming requirement of parts with complex shapes can be met, and the quality of formed plates can be improved.
3. The invention has simple structure, convenient installation and disassembly and good adaptability with progressive forming equipment.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is an overall schematic view of a multi-angle deflectable tool head;
FIG. 2 is a schematic view of the left yaw control mechanism shown in FIG. 1;
FIG. 3 is a schematic view of the right yaw control system shown in FIG. 1;
FIG. 4 is a schematic view of the first rocker shown in FIG. 1;
FIG. 5 is a schematic view of a first contoured sleeve;
FIG. 6 is a schematic view of a second contoured sleeve;
FIG. 7 is a schematic view of a ball pivot mount;
in the figure: the spacing or dimensions between each other are exaggerated to show the location of the various parts, and the illustration is for illustrative purposes only.
1. A hydraulic telescopic rod, 2, a spherical hinge support, 2-1, a left end body, 2-2, a right end body, 2-3, a spherical hole, 3, a first rocker, 3-1, a rocker body, 3-2, a third shaft sleeve, 3-3, a solid shaft, 3-4, a through hole, 4, a through hole connecting rod, 5, a spherical through hole, 6, an upper oil port, 7, a lower oil port, 8 and a second rocker 9, the device comprises a second servo motor 10, a through hole metal ball 11, a displacement sensor 12, a driving gear 13, a driven gear 14, a second special-shaped shaft sleeve 14-1, a second shaft sleeve 14-2, a second shaft 15, a first servo motor 16, a driving bevel gear 17, a driven bevel gear 18, a first special-shaped shaft sleeve 18-1, a first shaft sleeve 18-2, a first shaft 19 and a solid shaft.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with the directions of up, down, left and right of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
The terms "mounted", "connected", "fixed", and the like in the present invention are to be understood in a broad sense, and may be, for example, fixedly connected, detachably connected, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the present invention should be understood as having specific meanings to those skilled in the art.
As described in the background, the prior art is deficient in that the present invention provides a multi-angle deflectable tool bit to solve the above problems.
In a typical embodiment of the present invention, as shown in fig. 1, the present embodiment discloses a multi-angle deflectable tool head, which mainly comprises a deflection control mechanism, a first rocker 3, a second rocker 8, a spherical hinge support 2, a through-hole metal ball 10, a hydraulic telescopic rod 1, a tool head, and the like;
the spherical hinge support 2 comprises two symmetrically arranged parts which are connected through bolts to form a structure with a through hole at the center and solid shafts at two ends, as shown in fig. 7, the through hole is approximately spherical and is mainly used for being in tangent fit with the through hole metal ball 10.
The first rocking bar 3 and the second rocking bar 8 have the same structure, and the first rocking bar 3 is taken as an example for explanation in the embodiment, as shown in fig. 4; the first rocker 3 comprises a rocker body 3-1, one end of the rocker body 3-1 is provided with a third shaft sleeve 3-2, the other end of the rocker body is provided with a solid shaft 3-3, the side surface of the third shaft sleeve 3-2 is provided with a through hole 3-4, and the through hole 3-4 is mainly used for matching the shaft connecting position of the sleeve of the special-shaped shaft sleeve and the shaft when the rocker is matched with the special-shaped shaft sleeve; the shaft of the special-shaped shaft sleeve is positioned in the shaft sleeve of the rocker, and the sleeve of the special-shaped shaft sleeve is positioned outside the shaft sleeve of the rocker.
The deflection control mechanism comprises two sets, wherein one set of deflection control mechanism is shown in figure 3 and comprises a first servo motor 15, a driving bevel gear 16, a driven bevel gear 17 and a first special-shaped shaft sleeve 18; the first servo motor is fixed on one side of the lower end of the first rocker 3, the driving shaft of the first servo motor 15 is connected with a driving bevel gear 16, the driving bevel gear 16 is meshed with a driven bevel gear 17, the driven bevel gear 17 is connected with (for example, can be connected through a key) one end of a first shaft 18-2 of a first special-shaped shaft sleeve 18, and the first shaft 18-2 is installed in a third shaft sleeve 3-2 of the first rocker 3.
Further, the first special-shaped shaft sleeve 18 is shown in fig. 5 and comprises a first shaft 18-2 and a first shaft sleeve 18-1, wherein the first shaft 18-2 and the first shaft sleeve 18-1 are welded together, and the axes of the first shaft 18-2 and the first shaft sleeve 18-1 are vertical; the first shaft 18-2 is sleeved in a third shaft sleeve 3-2 at the lower part of the first rocker 3; the first shaft sleeve 18-1 is sleeved on a solid shaft at the left end (the orientation shown in fig. 1 is taken as an example) of the spherical hinge support 2, and the first shaft sleeve 18-1 and the solid shaft of the spherical hinge support 2 can rotate relatively.
Another set of deflection control mechanism is shown in fig. 2, and includes a driving gear 13, a driven gear 12, a second servo motor 9, and a second special-shaped shaft sleeve 14, where the second servo motor 9 is fixed on the spherical hinge support 2, a driving shaft of the second servo motor 9 is connected with the driving gear 13, the driving gear 13 is engaged with the driven gear 12, and the driven gear 12 is fixed on an outer ring of a second shaft sleeve 14-1 of the second special-shaped shaft sleeve 14 (the driven gear 12 and the second shaft sleeve 14-1 may be selectively connected by a key). It should be noted that the driving gear 13 and the driven gear 12 described in the present embodiment are conventional spur gears.
The second shaped bushing 14 is shown in fig. 6 and includes a second shaft 14-2 and a second bushing 14-1; the second shaft 14-2 and the second shaft sleeve 14-1 are welded together, and the axes of the two are vertical; a second shaft 14-2 is sleeved in a shaft sleeve at the inner lower end of the second rocker 8; the second shaft sleeve 14-1 is sleeved on a solid shaft at the right end (the orientation shown in fig. 1 is taken as an example) of the spherical hinge support 2, and the second shaft sleeve 14-1 and the spherical hinge support 2 can rotate relatively.
Furthermore, the upper ends of the second rocker 8 and the first rocker 3 are respectively connected to two ends of the connecting rod 4; the center of the connecting rod 4 is provided with a spherical through hole 5, the spherical through hole 5 is in clearance fit with a spherical bulge at the tail part of the hydraulic telescopic rod 1, and the spherical bulge is matched with the spherical through hole 5 and can restrict the movement of the hydraulic rod in space; two ends of the connecting rod 4 are respectively provided with a cylindrical through hole, and the axial direction of the cylindrical through hole is vertical to the axial direction of the connecting rod 4; the cylindrical through hole is in clearance fit with the solid shafts at the upper ends of the second rocker 8 and the first rocker 3 to form a hinged connection mode, and the second rocker 8 and the first rocker 3 can swing relative to the connecting rod 4.
The middle part of the hydraulic telescopic rod 1 is connected with a through hole metal ball 10, and the through hole metal ball 10 on the hydraulic telescopic rod 1 is connected with the through hole of the spherical hinge support 2 in a tangential relation; the spherical hinge support is matched with the through hole metal ball 10 to form a spherical hinge system. The through hole metal ball 10 is provided with a through hole which is in interference fit with the hydraulic telescopic rod 1.
Furthermore, an upper oil port 6 and a lower oil port 7 are arranged on the hydraulic telescopic rod 1, and the telescopic rod is stretched by injecting oil into the upper oil port 6 and the lower oil port 7; further, a displacement sensor 11 is also arranged on the hydraulic telescopic rod 1; the displacement sensor 11 detects the position of the tool head and is connected with the controller, and the controller is connected with all the servo motors to realize the control of the whole system. The front end of the hydraulic rod is connected with the forming tool head through threads, so that the tool head can be conveniently replaced, and the hydraulic telescopic rod 1 can control the displacement of the tool head along the axial direction.
According to the invention, through the rotation control of the rocker and the connecting piece, the multi-angle rotation property of the through hole spherical hinge is utilized to drive the cutter track of the tool head to form a spherical surface in a space, so that the accuracy and the control degree are improved, the multi-angle plate processing tool is suitable for multi-angle plate processing, the forming complex range is expanded, and the plate forming quality and the processing efficiency are improved.
The first servo motor 15 outputs torque to drive the small bevel gear to move, and the large bevel gear 19 meshed with the first servo motor 15 is fixed on the special-shaped shaft sleeve 18, so that the first servo motor 15 can drive the first rocker 3 to rotate left and right under the action of reaction force, the connecting rod 4 and the second rocker are driven to move left and right together, the hydraulic telescopic rod 1 is driven to deflect in a first plane, left and right deflection is realized for figure 1, and the tool head is further driven to deflect left and right.
The torque output by the second servo motor 9 drives the second shaft sleeve 14-1 of the second special-shaped shaft sleeve 14 to swing back and forth through a straight gear, and then the second special-shaped shaft sleeve 14 drives the second rocker 8 to rotate left and right, so that the connecting rod 4 and the second rocker 8 are driven to move back and forth together, and the hydraulic telescopic rod 1 is driven to deflect in a second plane, and for the figure 1, the front and back deflection is realized, and the tool head is further driven to deflect back and forth.
The hydraulic telescopic rod 1 completes certain displacement compensation through stretching.
Because the stress performance of the spherical hinge structure is not good, the through hole metal ball 10 in the device is designed to be eccentric with a certain distance when being connected with the spherical hinge support 2, thereby ensuring that the larger force transmission between the through hole metal ball 10 and the spherical hinge support 2 is realized.
Further, the present embodiment also provides a processing apparatus, which includes the tool head described above, where the tool head is mounted on a driving platform, and is used to implement processing of parts such as a plate material, and it should be noted that the tool head provided in the present embodiment may be used for incremental forming processing of a plate material.
Finally, it is also noted that relational terms such as first and second, and the like, may be 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.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A multi-angle deflectable tool head applied to the field of incremental forming is characterized by comprising a first deflection control mechanism, a second deflection control mechanism, a first rocker, a second rocker, a spherical hinge support, a telescopic rod, a connecting rod and a tool head;
the lower ends of the first rocker and the second rocker are respectively connected with two ends of the spherical hinge support through connecting pieces, the upper ends of the first rocker and the second rocker are rotatably connected with two ends of a connecting rod, a through hole is arranged in the middle of the connecting rod, a spherical bulge is arranged at the tail part of the telescopic rod, and the spherical bulge is in clearance fit with the through hole; a through hole metal ball is fixed in the middle of the telescopic rod and is in tangential fit with the through hole in the middle of the spherical hinge support; the head of the telescopic rod is connected with the tool head;
the first deflection control mechanism controls the first rocker and the second rocker to drive the telescopic rod and the tool head to rotate in a first plane; the second deflection control mechanism controls the first rocker and the second rocker to drive the telescopic rod and the tool head to rotate in a second plane perpendicular to the first plane, and the through hole metal ball is eccentrically matched with the through hole of the spherical hinge support.
2. The multi-angle deflectable tool head as claimed in claim 1, wherein the spherical hinge support comprises two parts connected together by a connecting member to form a structure having a through hole in the middle, a first solid shaft at one end, and a second solid shaft at the other end.
3. The multi-angle deflectable tool head as claimed in claim 2, wherein the first deflection control mechanism comprises a first servo motor, a driving bevel gear, a driven bevel gear, a first profile sleeve; the first servo motor is fixed on one side of the lower end of the first rocker, the first servo motor is connected with the driving bevel gear, and the driving bevel gear is meshed with the driven bevel gear; the first special-shaped shaft sleeve comprises a shaft and a sleeve, the axis of the shaft is vertical to the axis of the shaft and the sleeve are connected together, the shaft sleeve is arranged at the bottom of the first rocker, and the shaft is connected with the driven bevel gear; the sleeve is sleeved on the first solid shaft of the spherical hinge support, and the sleeve can rotate relative to the first solid shaft.
4. The multi-angle deflectable tool head as claimed in claim 2, wherein the second deflection control mechanism comprises a second servo motor, a driving gear, a driven gear, a second profile sleeve; the second servo motor is fixed on the spherical hinge support and is connected with the driving gear, and the driving gear is meshed with the driven gear; the second special-shaped shaft sleeve comprises a shaft and a sleeve which are vertical to the axis and are connected together, the driven gear is fixed on the sleeve, and the shaft sleeve is arranged at the bottom of the second rocker; the sleeve is sleeved on the second solid shaft of the spherical hinge support, and the sleeve can rotate relative to the second solid shaft.
5. The multi-angle deflectable tool head as claimed in claim 2, wherein the first and second rockers have the same structure and comprise a body, a shaft sleeve is disposed at one end of the body, a solid shaft is disposed at the other end of the body, and a through hole is disposed at a side of the shaft sleeve.
6. The multi-angle deflectable tool head as claimed in claim 5, wherein a bushing is disposed at each end of the middle portion of the connecting rod, and the bushings are rotatably connected to the solid shaft of the first rocker or the second rocker.
7. The multi-angle deflectable tool head as claimed in claim 1, wherein the retractable rod is a hydraulic retractable rod.
8. The multi-angle deflectable tool head as claimed in claim 7, wherein the telescoping rod is provided with a displacement sensor.
9. A tooling device comprising a multi-angle deflectable tool head according to any of claims 1 to 8 for use in the field of incremental forming.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011638236.XA CN112775289B (en) | 2020-12-31 | 2020-12-31 | Multi-angle deflectable tool head and machining device comprising same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011638236.XA CN112775289B (en) | 2020-12-31 | 2020-12-31 | Multi-angle deflectable tool head and machining device comprising same |
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| CN112775289A CN112775289A (en) | 2021-05-11 |
| CN112775289B true CN112775289B (en) | 2022-04-05 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101508109A (en) * | 2009-03-27 | 2009-08-19 | 东北大学 | Double parallel-connection superposition multifunctional robot |
| CN102107431A (en) * | 2009-12-29 | 2011-06-29 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| TW201127576A (en) * | 2010-02-09 | 2011-08-16 | Hon Hai Prec Ind Co Ltd | Parallel robot |
| CN207418596U (en) * | 2017-10-20 | 2018-05-29 | 宿迁富祥玻璃制品有限公司 | A kind of glass cutting-table cutter head of adjustable-angle |
| CN110125243A (en) * | 2019-06-13 | 2019-08-16 | 山东大学 | Progressive molding processing platform and control method with bit shift compensation function |
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2020
- 2020-12-31 CN CN202011638236.XA patent/CN112775289B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101508109A (en) * | 2009-03-27 | 2009-08-19 | 东北大学 | Double parallel-connection superposition multifunctional robot |
| CN102107431A (en) * | 2009-12-29 | 2011-06-29 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| TW201127576A (en) * | 2010-02-09 | 2011-08-16 | Hon Hai Prec Ind Co Ltd | Parallel robot |
| CN207418596U (en) * | 2017-10-20 | 2018-05-29 | 宿迁富祥玻璃制品有限公司 | A kind of glass cutting-table cutter head of adjustable-angle |
| CN110125243A (en) * | 2019-06-13 | 2019-08-16 | 山东大学 | Progressive molding processing platform and control method with bit shift compensation function |
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| CN112775289A (en) | 2021-05-11 |
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