CN116100167A - Three-dimensional five-axis cutting head and control method thereof - Google Patents
Three-dimensional five-axis cutting head and control method thereof Download PDFInfo
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- CN116100167A CN116100167A CN202310077401.6A CN202310077401A CN116100167A CN 116100167 A CN116100167 A CN 116100167A CN 202310077401 A CN202310077401 A CN 202310077401A CN 116100167 A CN116100167 A CN 116100167A
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- 238000005520 cutting process Methods 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 claims description 27
- 238000009434 installation Methods 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims description 2
- 229910052755 nonmetal Inorganic materials 0.000 abstract description 3
- 238000012545 processing Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000004080 punching Methods 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
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- Mechanical Engineering (AREA)
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- Laser Beam Processing (AREA)
Abstract
The invention relates to the field of laser processing, and particularly provides a three-dimensional five-axis cutting head and a control method thereof. Compared with the prior art, the height sensor is used for detecting the height distance between the nozzle and the nonmetal workpiece in real time, the vertical distance is calculated, and then the follow-up shaft of the three-dimensional five-shaft cutting head is adjusted according to the vertical distance and the set height distance, so that the heights of the nozzle and the nonmetal workpiece are always kept at the set height.
Description
Technical Field
The invention relates to the field of laser processing, and particularly provides a three-dimensional five-axis cutting head and a control method thereof.
Background
The existing three-dimensional five-axis cutting head and control method are all used in the processes of cutting, punching, trimming and the like of metal plates, tubes and three-dimensional parts with complex curved surface structures, and the problems that the cutting head impacts the parts can be caused because of the deformation problem of the workpieces or the deviation between actual work and theoretical workpieces caused by the placement problem of the workpieces, and the deviation affects the cutting effect in the set cutting path.
When the three-dimensional five-axis cutting head cuts a nonmetallic three-dimensional piece or a special-shaped pipe, the height distance between the nozzle and the workpiece cannot be obtained through the capacitive height sensor, and then the function of the follow-up system cannot be realized. How to solve the problem that the capacitive height sensor and the system thereof cannot handle the cutting situation of the nonmetal three-dimensional part is a urgent problem to be solved by the person skilled in the art.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the three-dimensional five-axis cutting head which is reasonable in design, safe and applicable.
The invention further aims to provide a three-dimensional five-axis cutting head control method with high practicability.
The technical scheme adopted for solving the technical problems is as follows:
the utility model provides a three-dimensional five-axis cutting head, includes the nozzle, the nozzle left side is equipped with left side altitude sensor, and the right side is equipped with right side altitude sensor, is equipped with middle part altitude sensor between the left and right sides, is equipped with the follow-up subassembly on the nozzle, the oscillating axle is connected to the follow-up subassembly, the rotation axis is connected to the oscillating axle, power component is connected to the rotation axis.
Further, based on the three-dimensional five-axis cutting head, firstly, a left side height sensor, a middle height sensor and a right side height sensor form a height detection system, the height detection system detects the distance and the height of the surface of a workpiece, and then the height of the plane of the tail end of the nozzle from the surface of the workpiece is calculated according to the detected height, wherein the height is the height from the plane of the tail end of the nozzle to the surface of the workpiece;
the height detection system transmits the height information to the control system, and the control system calculates the movement distance of the follow-up shaft according to the currently set follow-up height, wherein the movement distance of the follow-up assembly is the movement distance required by the follow-up assembly of the three-dimensional head executing mechanism;
the three-dimensional head actuating mechanism moves through the transmission of the follow-up assembly, so that the height distance between the plane of the tail end of the nozzle and the surface of the workpiece approaches to the set height.
Further, the follow-up assembly is subjected to marking operation, the nozzle is attached to the surface of the workpiece, and then the position values of the left side, the middle side and the right side of the height sensor are all cleared, namely, the plane of the tail end of the nozzle is a distance detection zero point;
gradually leading the cutting head to be far away from the surface of the workpiece, and when the laser red light is overlapped with the light spots from the height sensor to the surface of the workpiece, adjusting the maximum height position in a follow-up way;
and measuring the distance between the plane at the tail end of the nozzle and the surface of the workpiece, calculating the installation included angle between the height sensor and the plane at the tail end of the nozzle, and inputting the included angle information into a height detection system.
Further, when cutting occurs, the height detection system calculates the height from the surface of the workpiece at present according to the data acquired by the height sensor;
the height information is transmitted to the control system, the control system calculates the set height, the calculation result drives the follow-up mechanism to move, and the follow-up assembly moves to the target position.
Further, when the height of the current distance from the surface of the workpiece is calculated, h is the height of the plane of the tail end of the nozzle from the surface of the workpiece, and d1 is the distance value of the left side height sensor between the plane of the tail end of the nozzle and the surface of the workpiece;
d2 is the distance value between the plane of the tail end of the nozzle and the surface of the workpiece of the middle height sensor;
d3 is the distance value between the plane of the tail end of the nozzle and the surface of the workpiece of the right side height sensor;
alpha is the angle between the detection direction of the left-side height sensor and the plane direction of the tail end of the nozzle;
beta is the angle between the detection direction of the middle height sensor and the plane direction of the tail end of the nozzle;
gamma is the angle between the detection direction of the right-side height sensor and the plane direction of the tail end of the nozzle;
the installation included angle of the left side height sensor and the middle height sensor is as follows
The installation included angle of the left side height sensor and the right side height sensor is +.>
Further, a is an emission point of the left side height sensor from the nozzle end plane, a is intersected with the surface of the workpiece, B is an emission point of the middle height sensor from the nozzle end plane, B is intersected with the surface of the workpiece, C is an emission point of the right side height sensor from the nozzle end plane, and C is intersected with the surface of the workpiece;
0 when calibrating according to the height, when the height sensor beam is overlapped with the laser red beam, the distance d of the height sensor and the angle alpha of the height sensor are used for obtaining Z o ＝sinα*d；
The radius AO of the nozzle tip plane is cos α×d.
Further, the coordinate of the point a is X a ＝cosα(d-d 1 )，Y a ＝0，Z a ＝sinα(d-d1)；
The coordinates of the point b are
Z b ＝sinα*d-sinβ*d2；
The coordinate of the point c is
Z c ＝sinα*d-sinγ*d3。
Further, according to
And->
Is the normal vector of the workpiece plane +.>
wherein ,
a＝(Y b -Y a )*(Z c -Z a )-(Y c -Y a )*(Z b -Z a )＝Y b (Z c -Z a )-Y c (Z b -Z a )；
b＝(Z b -Z a )*(X c -X a )-(Z c -Z a )*(X b -X a )；
c＝(X b -X a )*(Y c -Y a )-(X c -X a )*(Y b -Y a )＝Y c (X b -X a )-Y b (X c -X a )；
the equation for the plane is a x+b y+c z=k, where k=a X a +c*Z a ；
The intersection point of the plane and the Z axis is
Finally, the height between the end plane of the nozzle and the surface of the workpiece is
Compared with the prior art, the three-dimensional five-axis cutting head and the control method thereof have the following outstanding beneficial effects:
according to the invention, the height distance between the nozzle and the nonmetallic workpiece is detected in real time by using the height sensor, the vertical distance is calculated, and then the follow-up shaft of the three-dimensional five-shaft cutting head is adjusted according to the vertical distance and the set height distance, so that the heights of the nozzle and the nonmetallic workpiece are always kept at the set height.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a three-dimensional five-axis cutting head;
FIG. 2 is a schematic diagram of a three-dimensional five-axis cutting head control method;
FIG. 3 is a schematic diagram of a control flow in a three-dimensional five-axis cutting head control method;
FIG. 4 is a schematic diagram (I) of a three-dimensional five-axis cutting head control method;
FIG. 5 is a schematic diagram of a three-dimensional five-axis cutting head control method.
The reference numerals in the drawings denote:
31. workpiece surface, 32, nozzle, 33, right side height sensor, 34, middle height sensor, 35, left side height sensor, 36, follower assembly, 37, swing shaft, 38, rotation shaft, 41, nozzle tip plane.
Detailed Description
In order to provide a better understanding of the aspects of the present invention, the present invention will be described in further detail with reference to specific embodiments. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
A preferred embodiment is given below:
as shown in fig. 1, a three-dimensional five-axis cutting head in this embodiment includes a nozzle 32, a left side height sensor 35 is provided on the left side of the nozzle 32, a right side height sensor 33 is provided on the right side, a middle height sensor 34 is provided between the left side and the right side, a follower assembly 36 is provided on the nozzle 32, the follower assembly 36 is connected with a swing shaft 37, the swing shaft 37 is connected with a rotation shaft 38, and the rotation shaft 38 is connected with a power assembly.
As shown in fig. 2, in a three-dimensional five-axis cutting head control method, based on the three-dimensional five-axis cutting head, first, a left side height sensor 35, a middle height sensor 34 and a right side height sensor 33 form a height detection system, the height detection system detects the distance, detects the height of the workpiece surface 31, and calculates the height of the nozzle end plane 41 from the workpiece surface 31 according to the detected height, wherein the height is the height of the laser from the nozzle end plane 41 to the workpiece surface 31.
The height detection system transmits the height information to the control system, and the control system calculates the moving distance of the follower assembly 36 according to the currently set follower height, wherein the moving distance of the follower assembly 36 is the distance that the follower assembly 36 of the three-dimensional head actuator needs to move.
The three-dimensional head actuator is moved by the drive of the follower assembly 36 to bring the nozzle tip plane 41 closer to the height of the workpiece surface 31 than the set height.
As shown in fig. 3, the follower assembly 36 is subjected to marking operation, the nozzle 32 is attached to the workpiece surface 31, and then the position values of the left side 35, the middle part 34 and the right side height sensor 33 are all cleared, that is, the nozzle end plane 41 is a distance detection zero point;
gradually leading the cutting head to be far away from the workpiece surface 31, and when the laser red light is overlapped with the light spots from the height sensor to the workpiece surface 31, adjusting the maximum height position in a follow-up way;
the distance between the nozzle tip plane 41 and the workpiece surface 31 is measured, the installation angle between the height sensor and the nozzle tip plane 41 is calculated, and the angle information is input to the height detection system.
When cutting occurs, the height detection system calculates the current height from the workpiece surface 31 according to the data acquired by the height sensor;
the height information is transmitted to the control system, which calculates the height with the set height, and the calculation drives the follower mechanism to move, and the follower assembly 36 moves to the target position.
As shown in fig. 4, when calculating the height from the workpiece surface 31 at the present time, h is the height of the nozzle tip plane 41 from the workpiece surface 31, and d1 is the distance value of the left side height sensor 35 from the workpiece surface 31 at the nozzle tip plane 41;
d2 is the distance value of the mid-height sensor 34 from the workpiece surface 31 at the nozzle tip plane 41;
d3 is the distance value of the right side height sensor 33 from the workpiece surface 31 at the nozzle tip plane 41;
alpha is the angle between the detection direction of the left-side height sensor 35 and the direction of the nozzle tip plane 41;
beta is the angle between the detection direction of the middle height sensor 34 and the direction of the nozzle tip plane 41;
gamma is the angle of the detection direction of the right-side height sensor 33 with respect to the direction of the nozzle tip plane 41;
the left side height sensor 35 and the middle height sensor 34 are arranged at an included angle of
The left side height sensor 35 and the right side height sensor 33 are installed at an angle of +.>
Let a be the emission point of the left-side height sensor 35 from the nozzle tip plane 41, a be intersected by the workpiece surface 31, B be intersected by the middle-side height sensor 34 from the nozzle tip plane 41, B be intersected by the workpiece surface 31, C be the emission point of the right-side height sensor 33 from the nozzle tip plane 41, and C be intersected by the workpiece surface 31.
0 when calibrating according to the height, when the height sensor beam is overlapped with the laser red beam, the distance d of the height sensor and the angle alpha of the height sensor are used for obtaining Z o ＝sinα*d；
The radius AO of the nozzle tip plane 41 is cos α×d.
The coordinate of the point a is X a ＝cosα(d-d 1 )，Y a ＝0，Z a ＝sinα(d-d1)；
The coordinates of the point b are
Z b ＝sinα*d-sinβ*d2；
The coordinate of the point c is
Z c ＝sinα*d-sinY*d3。
According to
And->
Is the normal vector of the workpiece plane +.>
wherein ,
a＝(Y b -Y a )*(Z c -Z a )-(Y c -Y a )*(Z b -Z a )＝Y b (Z c -Z a )-Y c (Z b -Z a )；
b＝(Z b -Z a )*(X c -X a )-(Z c -Z a )*(X b -X a )；
c＝(X b -X a )*(Y c -Y a )-(X c -X a )*(Y b -Y a )＝Y c (X b -X a )-Y b (X c -X a )；
the equation for the plane is a x+b y+c z=k, where k=a X a +c*Z a ；
The intersection point of the plane and the Z axis is
The final result is a nozzle tip plane 41 having a height relative to the workpiece surface 31 of
As shown in FIG. 5, to simplify the calculation scheme, when
and
X is 90 DEG and 180 DEG respectively b ＝0，Y c ＝0。
When α and β are equal to Y;
d when the nozzle tip plane 31 is parallel to the workpiece surface 42 1 ＝d 2 ＝d 3 ；
The height of the nozzle 32 from the surface of the workpiece can be derived, h=sinα×d 1 。
The above specific embodiments are merely illustrative of the present invention, and the scope of the present invention includes, but is not limited to, the above specific embodiments, and any suitable changes or substitutions made by one of ordinary skill in the art, which are in accordance with the claims of the three-dimensional five-axis cutting head and the control method thereof, shall fall within the scope of the present invention.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a three-dimensional five-axis cutting head, includes the nozzle, its characterized in that, the nozzle left side is equipped with left side altitude sensor, and the right side is equipped with right side altitude sensor, is equipped with middle part altitude sensor between the left and right sides, is equipped with the follow-up subassembly on the nozzle, the oscillating axle is connected to the follow-up subassembly, the rotation axis is connected to the oscillating axle, power component is connected to the rotation axis.
2. The three-dimensional five-axis cutting head control method is characterized in that based on the three-dimensional five-axis cutting head of claim 1, firstly, a left side height sensor, a middle height sensor and a right side height sensor form a height detection system, the height detection system detects the distance, detects the height of the surface of a workpiece, and calculates the height of the plane of the tail end of the nozzle from the surface of the workpiece according to the detected height, wherein the height is the height of laser from the plane of the tail end of the nozzle to the surface of the workpiece;
the height detection system transmits the height information to the control system, and the control system calculates the movement distance of the follow-up shaft according to the currently set follow-up height, wherein the movement distance of the follow-up assembly is the movement distance required by the follow-up assembly of the three-dimensional head executing mechanism;
the three-dimensional head actuating mechanism moves through the transmission of the follow-up assembly, so that the height distance between the plane of the tail end of the nozzle and the surface of the workpiece approaches to the set height.
3. The method for controlling the three-dimensional five-axis cutting head according to claim 2, wherein the follow-up assembly is subjected to standard operation, the nozzle is attached to the surface of the workpiece, and then the position values of the left side, the middle part and the right side height sensors are all cleared, namely, the tail end plane of the nozzle is a distance detection zero point;
gradually leading the cutting head to be far away from the surface of the workpiece, and when the laser red light is overlapped with the light spots from the height sensor to the surface of the workpiece, adjusting the maximum height position in a follow-up way;
and measuring the distance between the plane at the tail end of the nozzle and the surface of the workpiece, calculating the installation included angle between the height sensor and the plane at the tail end of the nozzle, and inputting the included angle information into a height detection system.
4. A three-dimensional five-axis cutting head control method as in claim 3 wherein the height detection system calculates the current height from the surface of the workpiece based on the data collected by the height sensor when cutting occurs;
the height information is transmitted to the control system, the control system calculates the set height, the calculation result drives the follow-up mechanism to move, and the follow-up assembly moves to the target position.
5. The method for controlling a three-dimensional five-axis cutting head according to claim 4, wherein when the height of the current distance from the surface of the workpiece is calculated, h is the height of the nozzle end plane from the surface of the workpiece, and d1 is the distance value of the left-side height sensor between the nozzle end plane and the surface of the workpiece;
d2 is the distance value between the plane of the tail end of the nozzle and the surface of the workpiece of the middle height sensor;
d3 is the distance value between the plane of the tail end of the nozzle and the surface of the workpiece of the right side height sensor;
alpha is the angle between the detection direction of the left-side height sensor and the plane direction of the tail end of the nozzle;
beta is the angle between the detection direction of the middle height sensor and the plane direction of the tail end of the nozzle;
gamma is the angle between the detection direction of the right-side height sensor and the plane direction of the tail end of the nozzle;
the installation included angle of the left side height sensor and the middle height sensor is as follows
The installation included angle of the left side height sensor and the right side height sensor is +.>
6. The three-dimensional five-axis cutting head control method according to claim 5, wherein a is an emission point of the left side height sensor from the nozzle end plane, intersecting the workpiece surface as a, B is an emission point of the middle height sensor from the nozzle end plane, intersecting the workpiece surface as B, C is an emission point of the right side height sensor from the nozzle end plane, intersecting the workpiece surface as C;
o is calibrated according to the height, when the height sensor beam is overlapped with the laser red beam, the distance d of the height sensor and the angle alpha of the height sensor are used for obtaining Z O ＝sinα*d；
The radius AO of the nozzle tip plane is cos α×d.
7. The method of claim 6, wherein the coordinates of the point a are X a ＝cosα(d-d 1 )，Y a ＝0，Z a ＝sinα(d-d1)；
The coordinates of the point b are
Z b ＝sinα*d-sinβ*d2；
The coordinate of the point c is
Z c ＝sinα*d-sinγ*d3。
8. The method of claim 7, further comprising the step of
And->
Is the normal vector of the workpiece plane +.>
wherein ,
a＝(Y b -Y a )*(Z c -Z a )-(Y c -Y a )*(Z b -Z a )＝Y b (Z c -Z a )-Y c (Z b -Z a )；
b＝(Z b -Z a )*(X c -X a )-(Z c -Z a )*(X b -X a )；
c＝(X b -X a )*(Y c -Y a )-(X c -X a )*(Y b -Y a )＝Y c (X b -X a )-Y b (X c -X a )；
the equation for the plane is a x+b y+c z=k, where k=a X a +c*Z a ；
The intersection point of the plane and the Z axis is
Finally, the nozzle is obtainedThe height of the end plane and the surface of the workpiece is
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310077401.6A CN116100167A (en) | 2023-02-08 | 2023-02-08 | Three-dimensional five-axis cutting head and control method thereof |
| LU506287A LU506287B1 (en) | 2023-02-08 | 2023-08-10 | Three-dimensional five-axis cutting head and control method thereof |
| PCT/CN2023/112307 WO2024164510A1 (en) | 2023-02-08 | 2023-08-10 | Three-dimensional five-axis cutting head and control method therefor |
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| CN202310077401.6A CN116100167A (en) | 2023-02-08 | 2023-02-08 | Three-dimensional five-axis cutting head and control method thereof |
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| CN116100167A true CN116100167A (en) | 2023-05-12 |
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| CN202310077401.6A Pending CN116100167A (en) | 2023-02-08 | 2023-02-08 | Three-dimensional five-axis cutting head and control method thereof |
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| Country | Link |
|---|---|
| CN (1) | CN116100167A (en) |
| LU (1) | LU506287B1 (en) |
| WO (1) | WO2024164510A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024164510A1 (en) * | 2023-02-08 | 2024-08-15 | 济南金威刻激光科技股份有限公司 | Three-dimensional five-axis cutting head and control method therefor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3901346B2 (en) * | 1998-06-03 | 2007-04-04 | 株式会社アマダ | Welding line detection method in YAG laser processing machine and welding line detection apparatus in YAG laser processing machine |
| CN106312306B (en) * | 2016-10-20 | 2019-06-14 | 大族激光科技产业集团股份有限公司 | A kind of height adjustment system and its method for adjusting height of laser cutting head |
| JPWO2018216275A1 (en) * | 2017-05-24 | 2020-04-02 | パナソニックＩｐマネジメント株式会社 | Capacitance type height sensor, laser processing nozzle using the same, and laser processing apparatus |
| DE102018125620A1 (en) * | 2018-10-16 | 2020-04-16 | Schuler Pressen Gmbh | Method and device for cutting a sheet metal blank from a continuously conveyed sheet metal strip |
| CN209830646U (en) * | 2019-04-09 | 2019-12-24 | 奔腾激光(温州)有限公司 | Protection mechanism of three-dimensional five-axis 3D laser cutting machine cutting head |
| CN114985911A (en) * | 2022-06-06 | 2022-09-02 | 华工法利莱切焊系统工程有限公司 | Device for three-dimensional five-axis laser cutting head |
| CN116100167A (en) * | 2023-02-08 | 2023-05-12 | 济南金威刻科技发展有限公司 | Three-dimensional five-axis cutting head and control method thereof |
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2023
- 2023-02-08 CN CN202310077401.6A patent/CN116100167A/en active Pending
- 2023-08-10 WO PCT/CN2023/112307 patent/WO2024164510A1/en unknown
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| WO2024164510A1 (en) * | 2023-02-08 | 2024-08-15 | 济南金威刻激光科技股份有限公司 | Three-dimensional five-axis cutting head and control method therefor |
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| Publication number | Publication date |
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| WO2024164510A1 (en) | 2024-08-15 |
| LU506287B1 (en) | 2024-08-22 |
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