CN113245861A - Five-axis machining numerical control machine tool with adjustable linear guide rail - Google Patents
Five-axis machining numerical control machine tool with adjustable linear guide rail Download PDFInfo
- Publication number
- CN113245861A CN113245861A CN202110519909.8A CN202110519909A CN113245861A CN 113245861 A CN113245861 A CN 113245861A CN 202110519909 A CN202110519909 A CN 202110519909A CN 113245861 A CN113245861 A CN 113245861A
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- linear guide
- guide rail
- machine tool
- control machine
- screw rod
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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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
- B23Q1/017—Arrangements of ways
-
- 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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Auxiliary Devices For Machine Tools (AREA)
Abstract
The invention relates to the technical field of numerical control machines, in particular to a five-axis machining numerical control machine tool with an adjustable linear guide rail, which comprises a numerical control machine tool main body, wherein a machine head, a transverse table and a working platform are arranged on the numerical control machine tool main body, a base plate is further fixed at the bottom end of the working platform, a screw rod cleaning structure is arranged on the base plate, and a plurality of guide rail cleaning structures are arranged on the side end face of the working platform. According to the invention, through the screw rod cleaning structure and the guide rail cleaning structure arranged on the working platform, when the working platform is driven by the screw rod to move, the screw rod cleaning structure can clean the surface of the screw rod, so that metal debris is prevented from being doped between the screw rod and the sleeve seat, and meanwhile, along with the movement of the working platform, the guide rail cleaning structure can clean the metal debris adhered on the linear guide rail, so that the metal debris is prevented from being doped between the linear guide rail and the guide sleeve.
Description
Technical Field
The invention relates to the technical field of numerical control machine tools, in particular to a five-axis machining numerical control machine tool with an adjustable linear guide rail.
Background
The five-axis machining numerical control machine tool is a machine tool specially used for machining complex curved surfaces, and is the only means for machining impellers, blades, marine propellers, heavy generator rotors, steam turbine rotors, large diesel engine crankshafts and the like. When a five-axis machining numerical control machine tool is used for machining a part, a workbench on the machine tool is controlled by a servo motor to move along a linear guide rail, metal fragments generated by cutting the part by a cutter are easy to adhere to the guide rail and a screw rod at the upper end part of the servo motor, so that the workbench can jump due to the blocking of the metal fragments when moving, and the machining precision of the part is influenced.
Disclosure of Invention
The invention aims to provide a five-axis machining numerical control machine tool with an adjustable linear guide rail, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a five-axis machining digit control machine tool of linear guide rail with adjustable, includes the digit control machine tool main part, be provided with the aircraft nose that can carry out vertical direction motion in the digit control machine tool main part and can carry out transverse motion's horizontal platform and can carry out longitudinal motion's work platform, work platform installs the top of horizontal platform, install a plurality of linear guide that are vertical orientation on the top surface of horizontal platform, the rear side edge department on horizontal platform top is fixed with servo motor, servo motor's the terminal coaxial coupling of output shaft has the lead screw, a plurality of guide pin bushings are installed to work platform's bottom, the guide pin bushing with linear guide sliding connection, work platform's bottom still is fixed with the bedplate, be provided with the cover seat on the bedplate, the lead screw with cover seat threaded connection, the head and the tail both ends of bedplate all are provided with lead screw clearance structure, with the linear guide position is corresponding install a plurality of guide clearance knots on the work platform side end face And (5) forming.
Preferably, the top end of the transverse table is provided with a clearance groove, the servo motor and the screw rod are arranged in the clearance groove, and the sleeve seat extends into the clearance groove.
Preferably, the bottom end face of the working platform is provided with a plurality of through grooves, the number of the through grooves is equal to that of the linear guide rails, the through grooves correspond to the linear guide rails in position one by one, and the guide sleeves are respectively arranged at the positions of the head end and the tail end of the through grooves.
Preferably, the sleeve seat is protruded from the seat plate, a through threaded hole is formed in a side end of the sleeve seat, and the screw rod penetrates through the threaded hole and is in threaded connection with the threaded hole.
Preferably, corrugated plates made of rubber materials are arranged between the front end edge and the rear end edge of the working platform and between the front end edge and the rear end edge of the transverse table.
Preferably, the screw rod cleaning structure comprises a fixing plate fixed at the bottom of the seat plate, a ring sleeve fixed at the head end and the tail end of the fixing plate, and an annular brush fixed in the ring sleeve, wherein a boss is integrally formed at the bottom end of the fixing plate, a rubber sleeve made of a rubber material is sleeved in the boss, the annular brush is in an annular structure, and the screw rod penetrates through the rubber sleeve and the annular brush.
Preferably, a sleeve cavity is formed in the boss, a plurality of clamping grooves are formed in the peripheral surface of the rubber sleeve, and a plurality of clamping blocks are fixed on the inner wall of the sleeve cavity and extend into the clamping grooves.
Preferably, the guide rail cleaning structure comprises a side seat fixed on the side end face of the working platform, a wiping block sleeved in the side seat and a sleeve cover installed on the side end face of the side seat, the bottom end of the side seat is provided with an installation cavity, the wiping block is sleeved in the installation cavity, the linear guide rail penetrates through the bottoms of the wiping block and the sleeve cover, and the wiping block and the sleeve cover are both made of rubber materials and are tightly attached to the linear guide rail.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the screw rod cleaning structure arranged on the working platform can clean the surface of the screw rod when the working platform is driven by the screw rod to move, so that metal chips are prevented from being doped between the screw rod and the sleeve seat;
2. according to the guide rail cleaning structure arranged on the working platform, when the working platform is driven by the lead screw to move, the working platform can drive the guide rail cleaning structure to move together, so that the guide rail cleaning structure can clean metal debris adhered to the linear guide rail, and the metal debris is prevented from being doped between the linear guide rail and the guide sleeve;
3. according to the invention, through the corrugated plate arranged on the working platform, metal scraps adhered to the linear guide rail and the screw rod during metal processing can be reduced, and the purpose of further protecting the linear guide rail and the screw rod is achieved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a partial schematic structural view of the present invention;
FIG. 3 is a schematic view of the structure of the traverse table of the present invention;
FIG. 4 is a schematic structural view of a work platform according to the present invention;
FIG. 5 is a bottom view of the working platform of the present invention;
FIG. 6 is a schematic view of the seat plate according to the present invention;
FIG. 7 is an installation view of the lead screw cleaning structure of the present invention;
FIG. 8 is a schematic structural view of a lead screw cleaning structure according to the present invention;
FIG. 9 is a cross-sectional view of a fixation plate according to the present invention;
fig. 10 is a schematic structural view of a guide rail cleaning structure according to the present invention.
The meaning of the individual reference symbols in the figures is:
1. a numerically controlled machine tool body; 11. a machine head; 12. a transverse table; 121. a linear guide rail; 122. a servo motor; 123. a screw rod; 124. an empty avoiding groove; 13. a working platform; 131. a through groove; 1311. a guide sleeve; 132. a seat plate; 1321. a sleeve seat; 1322. a threaded hole; 133. a corrugated board; 14. a screw rod cleaning structure; 141. a fixing plate; 1411. a boss; 1412. a sleeve cavity; 1413. a rubber sleeve; 1414. a card slot; 1415. a clamping block; 142. sleeving a ring; 143. an annular brush; 15. a guide rail cleaning structure; 151. a side seat; 1511. a mounting cavity; 152. a wiping block; 153. and (5) covering a cover.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Referring to fig. 1-10, the present invention provides a technical solution:
the utility model provides a five-axis machining digit control machine tool of linear guide rail with adjustable, including digit control machine tool main part 1, be provided with the aircraft nose 11 that can carry out vertical direction motion on the digit control machine tool main part 1 and can carry out transverse motion's horizontal platform 12 and can carry out longitudinal motion's work platform 13, the turret is installed to the bottom of aircraft nose 11, the cutter is installed on the turret, make the turret can drive the cutter and carry out the rotatory rotation in vertical direction in the time of the horizontal direction rotation, make this digit control machine tool main part 1 can carry out five-axis machining.
In the invention, a working platform 13 is arranged at the top end of a transverse table 12, a plurality of linear guide rails 121 which are longitudinally oriented are arranged on the top surface of the transverse table 12, a plurality of through grooves 131 are formed in the bottom end surface of the working platform 13, the number of the through grooves 131 is equal to that of the linear guide rails 121, the positions of the through grooves are in one-to-one correspondence, and a plurality of guide sleeves 1311 are respectively arranged at the positions of the head end and the tail end of each through groove 131, so that the working platform 13 can move along the linear guide rails 121 through the guide sleeves 1311.
Specifically, a servo motor 122 is fixed at the rear side edge of the top end of the transverse table 12, a screw rod 123 is coaxially connected to the tail end of an output shaft of the servo motor 122, a plurality of guide sleeves 1311 are installed at the bottom end of the working platform 13, the guide sleeves 1311 are slidably connected with the linear guide rail 121, a clearance groove 124 is formed in the top end of the transverse table 12, a seat plate 132 is further fixed at the bottom end of the working platform 13, a seat 1321 is arranged on the seat plate 132, the seat 1321 is protruded on the seat plate 132, a through threaded hole 1322 is formed in the side end of the seat 1321, and the screw rod 123 penetrates through the threaded hole 1322 and is in threaded connection with the threaded hole 1322, so that the screw rod 123 is in threaded connection with the seat 1321. The servo motor 122 and the screw rod 123 are installed in the clearance groove 124, and the sleeve seat 1321 extends into the clearance groove 124. When the numerical control machine tool body 1 controls the servo motor 122 to operate, the servo motor 122 drives the screw rod 123 to rotate, at this time, under the action of the thread of the threaded hole 1322, the rotary motion of the screw rod 123 is converted into the linear motion of the sleeve seat 1321 along the screw rod 123, so that the sleeve seat 1321 drives the working platform 13 to move together through the seat plate 132, the working platform 13 carries out the linear motion along the linear guide rail 121 through the guide sleeve 1311, parts on the working platform 13 are driven to move together, and the parts are convenient to process.
Besides, the head and the tail ends of the seat plate 132 are provided with the screw rod cleaning structures 14, and the screw rod 123 passes through the screw rod cleaning structures 14. A plurality of guide rail cleaning structures 15 are arranged on the end face of the side of the working platform 13 corresponding to the positions of the linear guide rails 121, and the linear guide rails 121 penetrate through the guide rail cleaning structures 15.
Specifically, the lead screw cleaning structure 14 includes a fixing plate 141 fixed at the bottom of the seat plate 132, a ring sleeve 142 fixed at the first end and the last end of the fixing plate 141, and an annular brush 143 fixed in the ring sleeve 142, a boss 1411 is integrally formed at the bottom end of the fixing plate 141, a rubber sleeve 1413 made of rubber material is sleeved in the boss 1411, the annular brush 143 is in an annular structure, the lead screw 123 penetrates through the rubber sleeve 1413 and the annular brush 143, bristles of the annular brush 143 are located on the inner side of the annular brush 143, and the bristles are in contact with the outer surface of the lead screw 123, so that when the lead screw 123 rotates, the annular brush 143 can clean metal chips adhered to the surface of the lead screw 123, and the metal chips are prevented from entering between the sleeve 1321 and the lead screw 123. The screw rod 123 is in threaded connection with the rubber sleeve 1413 and is tightly attached, so that when the screw rod 123 rotates, the rubber sleeve 1413 can further clean metal chips adhered to the surface of the screw rod 123.
Furthermore, a sleeve cavity 1412 is formed in the boss 1411, a plurality of clamping grooves 1414 are formed in the peripheral surface of the rubber sleeve 1413, a plurality of clamping blocks 1415 are fixed on the inner wall of the sleeve cavity 1412, and the clamping blocks 1415 extend into the clamping grooves 1414, so that the rubber sleeve 1413 is limited in the sleeve cavity 1412 under the action of the clamping blocks 1415, and the screw rod 123 is prevented from driving the rubber sleeve 1413 to rotate together when rotating.
It should be noted that the guide rail cleaning structure 15 includes a side seat 151 fixed on the side end surface of the working platform 13, a wiping block 152 sleeved in the side seat 151, and a cover 153 installed on the side end surface of the side seat 151, a mounting cavity 1511 is opened at the bottom end of the side seat 151, the wiping block 152 is sleeved in the mounting cavity 1511, the linear guide rail 121 passes through the bottoms of the wiping block 152 and the cover 153, the wiping block 152 and the cover 153 are both made of rubber materials and are tightly attached to the linear guide rail 121, when the working platform 13 moves along the linear guide rail 121, the working platform 13 drives the guide rail cleaning structure 15 to move together, so that the end of the cover 153 and the wiping block 152 both rub against the surface of the linear guide rail 121, so that the cover 153 firstly scrapes the metal debris adhered to the surface of the linear guide rail 121, and then the wiping block 152 further wipes and cleans the metal debris on the surface of the linear guide rail 121, the purpose of protecting the linear guide rail 121 is achieved.
It is worth noting that the corrugated plates 133 made of rubber materials are installed between the front and rear end edges of the working platform 13 and the front and rear end edges of the cross platform 12, and the corrugated plates 133 perform telescopic movement along with the movement of the working platform 13, so that the corrugated plates 133 are always shielded between the working platform 13 and the cross platform 12, and the corrugated plates 133 cover the linear guide rails 121 and the screw rods 123.
When the five-axis machining numerical control machine tool of the adjustable linear guide rail is used, firstly, the servo motor 122 is controlled to operate along with the numerical control machine tool main body 1, so that the servo motor 122 drives the screw rod 123 to rotate, at the moment, under the action of the thread of the threaded hole 1322, the rotary motion of the screw rod 123 is converted into the linear motion of the sleeve seat 1321 along the screw rod 123, so that the sleeve seat 1321 drives the working platform 13 to move together through the seat plate 132, the working platform 13 moves linearly along the linear guide rail 121 through the guide sleeve 1311, parts on the working platform 13 are driven to move together, the parts are convenient to machine, then when the screw rod 123 rotates, the annular brush 143 can clean metal chips adhered to the surface of the screw rod 123, the metal chips are prevented from entering between the sleeve seat 1321 and the screw rod 123, the rubber sleeve 1413 can further clean the metal chips adhered to the surface of the screw rod 123, finally, along with the movement of the working platform 13, the working platform 13 drives the guide rail cleaning structure 15 to move together, so that the tail end of the sleeve cover 153 and the wiping block 152 rub against the surface of the linear guide rail 121, and after the sleeve cover 153 firstly scrapes the metal debris adhered to the surface of the linear guide rail 121, the wiping block 152 further wipes and cleans the metal debris on the surface of the linear guide rail 121, thereby achieving the purpose of protecting the linear guide rail 121.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a five-axis machining digit control machine tool of linear guide rail with adjustable, includes digit control machine tool main part (1), its characterized in that: the numerical control machine tool is characterized in that a machine head (11) capable of moving in the vertical direction, a transverse table (12) capable of moving in the transverse direction and a working platform (13) capable of moving in the longitudinal direction are arranged on the numerical control machine tool main body (1), the working platform (13) is arranged at the top end of the transverse table (12), a plurality of linear guide rails (121) facing in the longitudinal direction are arranged on the top surface of the transverse table (12), a servo motor (122) is fixed at the rear side edge of the top end of the transverse table (12), a screw rod (123) is coaxially connected to the tail end of an output shaft of the servo motor (122), a plurality of guide sleeves (1311) are arranged at the bottom end of the working platform (13), the guide sleeves (1311) are slidably connected with the linear guide rails (121), a base plate (132) is further fixed at the bottom end of the working platform (13), a sleeve base (1321) is arranged on the base plate (132), and the screw rod (123) is in threaded connection with the sleeve base (1321), the head end and the tail end of the seat plate (132) are respectively provided with a screw rod cleaning structure (14), and a plurality of guide rail cleaning structures (15) are arranged on the end face of the side of the working platform (13) corresponding to the linear guide rail (121).
2. The five-axis machining numerical control machine tool of the adjustable linear guide rail according to claim 1, characterized in that: an empty avoiding groove (124) is formed in the top end of the transverse table (12), the servo motor (122) and the screw rod (123) are installed in the empty avoiding groove (124), and the sleeve seat (1321) stretches into the empty avoiding groove (124).
3. The five-axis machining numerical control machine tool of the adjustable linear guide rail according to claim 1, characterized in that: a plurality of through grooves (131) are formed in the bottom end face of the working platform (13), the number of the through grooves (131) is equal to that of the linear guide rails (121), the through grooves correspond to the linear guide rails in position one to one, and the guide sleeves (1311) are installed at the positions of the head end and the tail end of the through grooves (131) respectively.
4. The five-axis machining numerical control machine tool of the adjustable linear guide rail according to claim 1, characterized in that: the sleeve seat (1321) is protruded on the seat plate (132), a through threaded hole (1322) is formed in the side end of the sleeve seat (1321), and the screw rod (123) penetrates through the threaded hole (1322) and is in threaded connection with the threaded hole (1322).
5. The five-axis machining numerical control machine tool of the adjustable linear guide rail according to claim 1, characterized in that: fold plates (133) made of rubber materials are mounted between the front and rear end edges of the working platform (13) and the front and rear end edges of the transverse table (12).
6. The five-axis machining numerical control machine tool of the adjustable linear guide rail according to claim 1, characterized in that: the screw rod cleaning structure (14) comprises a fixing plate (141) fixed to the bottom surface of the seat plate (132), ring sleeves (142) fixed to the head end and the tail end of the fixing plate (141), and annular brushes (143) fixed in the ring sleeves (142), wherein convex seats (1411) are integrally formed at the bottom ends of the fixing plate (141), rubber sleeves (1413) made of rubber are sleeved in the convex seats (1411), the annular brushes (143) are of annular structures, and screw rods (123) penetrate through the rubber sleeves (1413) and the annular brushes (143).
7. The five-axis machining numerical control machine tool of the adjustable linear guide rail according to claim 6, characterized in that: a sleeve cavity (1412) is formed in the boss (1411), a plurality of clamping grooves (1414) are formed in the peripheral surface of the rubber sleeve (1413), a plurality of clamping blocks (1415) are fixed on the inner wall of the sleeve cavity (1412), and the clamping blocks (1415) extend into the clamping grooves (1414).
8. The five-axis machining numerical control machine tool of the adjustable linear guide rail according to claim 1, characterized in that: guide rail clearance structure (15) are including fixing side seat (151), the cover on work platform (13) side end face are established wipe piece (152) in side seat (151) and install overlap cover (153) on side seat (151) outside end face, installation cavity (1511) have been seted up to the bottom of side seat (151), it establishes to wipe piece (152) in installation cavity (1511), linear guide (121) are followed wipe piece (152) with the bottom of overlap cover (153) is passed, wipe piece (152) with overlap cover (153) are rubber materials and make and with linear guide (121) closely laminate.
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CN202110519909.8A CN113245861B (en) | 2021-05-13 | 2021-05-13 | Five-axis machining numerical control machine tool with adjustable linear guide rail |
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CN202110519909.8A CN113245861B (en) | 2021-05-13 | 2021-05-13 | Five-axis machining numerical control machine tool with adjustable linear guide rail |
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CN113245861B CN113245861B (en) | 2022-04-01 |
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Citations (8)
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US6244132B1 (en) * | 1998-05-11 | 2001-06-12 | Nippon Thompson Co., Ltd. | Sliding unit with sealing means |
CN106862981A (en) * | 2017-04-18 | 2017-06-20 | 王心成 | One kind miniaturization planer-type five-axis machining apparatus |
CN110153894A (en) * | 2019-06-11 | 2019-08-23 | 远东鸿泰(天津)科技有限公司 | A kind of end face processing equipment and its application method for thermostat base processing |
CN210756701U (en) * | 2019-09-30 | 2020-06-16 | 李森 | Mechanical automation processing protector |
CN211648788U (en) * | 2020-01-22 | 2020-10-09 | 上海欣银自动化设备有限公司 | Sealing component for guide rail sliding block and ball screw |
CN212043539U (en) * | 2020-04-14 | 2020-12-01 | 常州创胜特尔数控机床设备有限公司 | Z-axis linear guide rail of five-axis high-speed precision machining numerical control machine tool |
CN212076091U (en) * | 2020-04-27 | 2020-12-04 | 楚雄新铭电梯有限公司 | Device convenient to elevator guide rail is clean |
CN112405617A (en) * | 2020-11-05 | 2021-02-26 | 陈习 | Mobile robot base bearing mechanism with anti-collision function |
-
2021
- 2021-05-13 CN CN202110519909.8A patent/CN113245861B/en active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6244132B1 (en) * | 1998-05-11 | 2001-06-12 | Nippon Thompson Co., Ltd. | Sliding unit with sealing means |
CN106862981A (en) * | 2017-04-18 | 2017-06-20 | 王心成 | One kind miniaturization planer-type five-axis machining apparatus |
CN110153894A (en) * | 2019-06-11 | 2019-08-23 | 远东鸿泰(天津)科技有限公司 | A kind of end face processing equipment and its application method for thermostat base processing |
CN210756701U (en) * | 2019-09-30 | 2020-06-16 | 李森 | Mechanical automation processing protector |
CN211648788U (en) * | 2020-01-22 | 2020-10-09 | 上海欣银自动化设备有限公司 | Sealing component for guide rail sliding block and ball screw |
CN212043539U (en) * | 2020-04-14 | 2020-12-01 | 常州创胜特尔数控机床设备有限公司 | Z-axis linear guide rail of five-axis high-speed precision machining numerical control machine tool |
CN212076091U (en) * | 2020-04-27 | 2020-12-04 | 楚雄新铭电梯有限公司 | Device convenient to elevator guide rail is clean |
CN112405617A (en) * | 2020-11-05 | 2021-02-26 | 陈习 | Mobile robot base bearing mechanism with anti-collision function |
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