CN200977592Y - Laser flexible processing device capable of multiple axils linkage - Google Patents
Laser flexible processing device capable of multiple axils linkage Download PDFInfo
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- CN200977592Y CN200977592Y CN 200620134132 CN200620134132U CN200977592Y CN 200977592 Y CN200977592 Y CN 200977592Y CN 200620134132 CN200620134132 CN 200620134132 CN 200620134132 U CN200620134132 U CN 200620134132U CN 200977592 Y CN200977592 Y CN 200977592Y
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Abstract
The utility model discloses a laser flexibility processing device with a multiple spindle linkage, which comprises a laser tube cavity, a frame construction, a laser processing head, a survey head and a computer, an optical fiber and an optic converter; the frame construction is formed by arranging a rail track on a longitudinal crossbeam, the longitudinal crossbeam is equipped with a horizontal crossbeam drive by the motor, the rail track is equipped with the rail track, and the horizontal crossbeam rail track is equipped with a vertical mechanical arm driven by the motor; the optic converter, the laser processing head and the survey head are fixed on the lower section of the vertical mechanical arm; the laser out-port and the optic converter are connected by an optical fiber, the optic converter is connected with the laser processing head, and the computer and the laser power source are connected with the motor by which the mechanical arm is drive; the guide rail and the delivery vehicle are arranged on the lower section of the frame construction crossbeam. The processing precision of the utility model is high, the survey speed is quick, and the survey cycle for a large-scale work piece can be reduced.
Description
Technical field
The utility model relates to laser processing technology, particularly relate to a kind of employing flexible light-transmitting fibre transmission laser, through optical beam transformation, have the dynamo-electric incorporate Laser Processing of numerical control of multifunctional light and the process unit of multi-shaft interlocked mechanical part, guide rail and delivery dolly and intelligent measure.
Background technology
Laser processing device can be divided into three major types at present: the one, and mechanical arm-type laser processing robot, the 2nd, Laser Processing center, the 3rd, Laser Processing special equipment.The file that is called " laser processing robot is used for cutting and welding " in U.S. Patent number US4870246, name, introduced a kind of employing tower structure, make machining robot along horizontal and vertical lines move, rotatablely moving and be to move to three-dimensional polar coordinates in two of center in vertical plane with the hollow process arm, finish processing action.At U.S. Patent number US5221823, title " laser engine equipment is used for welding and cutting " file, introduced a kind of articulated arm robot, these two kinds device common features, all be that Laser Transmission adopts the optics mirror transmission system of turning back, cavity structure by hollow passes to machined surface with high power laser from laser instrument.Fig. 1 has provided patent No. US5221823 " laser engine equipment is used for welding and the cutting " transmitting device that file adopted.As can be seen, the method of this transmission laser is in order to guarantee the correct of laser transfer light path, the motion mode of transmitting device is very restricted, and not only the motion control of robot is comparatively complicated in the processing, and the transformation difficulty of utilizing the existing machinery device to carry out the Laser Processing equipment is increased.The 3rd defective is in the equipment of above-mentioned two kinds of patented technologies: all be by the optics mirror transmission system of turning back, laser is directly passed to machined surface by laser instrument, and the laser that uses in the processing is not further processed.Though this is the mode that present laser process equipment mainly adopts, but because in actual industrial production, at different processing, the spatial distribution of laser requires also to have different with intensity distributions, therefore, the equipment of this direct use laser instrument processing can only occur with the form of special equipment mostly, applicable surface is narrower, does not satisfy actual needs far away.In addition, present laser process equipment, basically be simple process equipment, self does not possess measurement capability, therefore the accuracy of processing depends on processing work appearance and size to a great extent, if workpiece does not have workpiece configuration design data for a certain reason, then must be by means of the measurement device of outside, this has produced again between measurement data and the process data and error problem occurred.
The patent No. is 98101217.5 patent of invention " a kind of have flexible transmission and multi-shaft interlocked laser processing device ", in the practical application of this patent of invention, run into some following problems: how the loading problem of workpiece, particularly realize the automatic loading and the unloading of workpiece on production line; Positioning disc device in this patent of invention is used to realize the transposition of gauge head and laser Machining head, but this device easily produces interference and collision with surrounding enviroment in actual applications, and processing is caused adverse effect.
In sum, because the deficiency of existing laser processing technology, present laser process equipment can only be used for a certain specific field mostly, has limited laser process equipment in industrial extensive use.
The utility model content
In order to solve the existing problem of existing laser processing device, thereby provide a kind of when guaranteeing machining accuracy, have the bigger range of work and good industrial usability, curved surface punching, cutting and welding had both been can be used for, can be used for multiple industrial uses such as material surface processing, quick original shape and mould manufacturing again, structure is more reasonable, function is more perfect, can independently finish the processing of intelligent measure and workpiece, have the flexibility transmission of higher performance and multi-shaft interlocked dynamo-electric incorporate Laser Processing of numerical control of multifunctional light and process unit.
The purpose of this utility model is achieved in that to provide to have multi-shaft interlocked laser flexible processing unit (plant), and its fundamental diagram as shown in Figure 2.The flexibility that has that it is made up of laser instrument, frame structure, laser Machining head, gage outfit and computer is transmitted and multi-shaft interlocked laser processing device, comprises an optical fiber, an optical converter; Described frame structure is vertically on the crossbeam slide rail to be housed, be provided with a horizontal gird that can move forward and backward by driven by motor thereon, slide rail is arranged on horizontal gird, installing one on the slide rail of horizontal gird both can the along continuous straight runs move left and right by driven by motor, also the vertical mechanical arm that can move up and down perpendicular to horizontal gird; Optical converter, laser Machining head and gage outfit all are installed in vertical mechanical arm lower end by fixture: or connect 1-2 in vertical mechanical arm lower end and save different types of mechanical arm, in the mechanical arm lower end of this kind optical converter, laser Machining head and gage outfit are mounted thereon by fixture again; Connect an optical fiber between laser output and the optical converter, optical converter links to each other with laser Machining head, and the power supply of computer and laser instrument, gage outfit and motor join; It is characterized in that, comprise that also guide rail and delivery dolly are arranged on the crossbeam below of described frame structure; Described fixture is anchor clamps, comprises the anchor clamps of vertical mechanical arm lower end and at anchor clamps of the side of mechanical arm, in order to the laser Machining head that is installed when measuring temporarily.
The described 1-2 that connects in vertical mechanical arm lower end saves different types of mechanical arm and is: a rotary joint or a swinging joint around the 360 ° of rotations in vertical mechanical arm axis.Wherein the laser that is sent by laser instrument is transferred to optical converter by flexible light-transmitting fibre, make laser change the distribution of its spatial-intensity by paying upright leaf optical transform here, focus on output by laser Machining head, use the motion mode of 2 to 5 in this device, the data of utilizing external data and using gage outfit to survey are processed workpiece by the computer control laser Machining head.Because processing by the flexible transmission of optical fiber, is not subjected to the influence of mechanical movement with laser, concrete mechanical device both can adopt the three-axis moving mode as mentioned above, also can adopt 2 to 5 motion mode as required; Both can develop specially, and also can utilize the existing equipment transformation to form.By computer control, remain the movement posture of laser Machining head when the machined surface normal moves, differ from benefit, multi-shaft interlocked to realize, can in three dimensions, carry out on a large scale, high accuracy and Laser Processing fast flexibly, be included in punching on the curved surface, cutting and welding, the manufacturing of surface Hardening Treatment and quick original shape and mould etc.
Compared with prior art, the beneficial effects of the utility model:
Of the present utility model have a multi-shaft interlocked laser flexible processing unit (plant), adopt ripe industrial high power laser light source, by flexible light-transmitting fibre transmission laser, after selecting corresponding laser instrument, needn't partly carry out complicated transformation to mechanical movement again, thereby simplified the structure of laser Machining head, alleviated weight, Operation and maintenance are also all more convenient and safe; Laser beam is carried out conversion to adapt to different requirements, thereby improved the flexibility of Laser Processing: computer-controlled multi-shaft interlocked mechanical movement part, processing action is flexible, can realize 2～5 dimension motions, can be used for the plane of large-scale workpiece and complex-curved multiple industrial uses such as punching, cutting, welding, surface treatment, quick original shape and mould manufacturing, the machining accuracy height; It has the self-adapting intelligent measurement function, can carry out online actual measurement to being similar to the large-sized like this workpiece of car shell diel, and measuring speed is fast, and the precision height can shorten the measuring period of large-scale workpiece; Ratio of performance to price height can be used for the transformation to the existing mechanical process equipment.
Description of drawings
Fig. 1: laser transmission apparatus schematic diagram in the prior art.
Fig. 2: flexible transmission of the present utility model and multi-shaft interlocked laser processing device work block diagram.
Fig. 3: the utility model provides a kind ofly has flexible transmission and a five-axle linkage laser processing device structural representation.
Fig. 4 .1: laser Machining head athletic posture schematic diagram of the present utility model.
Fig. 4 .2: the laser Machining head two dimension of the present utility model schematic diagram that rotatablely moves.
Fig. 5: a kind of intelligent measuring head schematic diagram of the present utility model.
Fig. 6: optical beam transformation schematic diagram when the utility model is used for surface peening processing.
Fig. 7: computer-controlled workflow diagram among the utility model embodiment 1.
Fig. 8: guide rail among the utility model embodiment and dolly schematic diagram;
Fig. 9: processing head among the utility model embodiment and anchor clamps schematic diagram; Left side (a) figure expression is when adding man-hour among Fig. 9, and laser Machining head 6 is installed on the work clothes card device; Right side (b) figure expression is when measuring, laser Machining head 6 is taken out by the work clothes card device and be installed on anchor clamps 12, the work clothes card device of laser Machining head 6 then is used to the gage outfit 4.1 that is installed, measure, gage outfit 4.1 belongs to laser Machining head 6 that coordination is coaxial to be installed like this, measurement data can be directly used in processing, plays the effect of location.
Drawing is described as follows:
1.1----the laser cooling device, the 1.2----laser instrument;
The 2----optical fiber; The 3----optical converter;
5.0----frame structure, 5.1----swinging joint, 5.3----horizontal gird, 5.4----rotary joint, the vertical mechanical arm of 5.5----, the vertical crossbeam of 5.6----;
The 6----laser Machining head; The 7----computer; The 8----processing work;
The two dimensional spot that 9----laser forms on machined surface distributes;
The 10----car body; 10.1----guide rail; 10.2----remote controller; 10.3----workpiece;
The track that the 11----gage outfit is passed by; The new sectional fixture of 12----; JI represents that X is to horizontal movement; J2 represents that Y is to horizontal movement; J3 represents that Z is to moving both vertically; J4 represents the rotation of laser Machining head around the processing axis; J5 represents the swing of laser Machining head.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described in further detail:
The utility model is provided with the delivery dolly for solving the loading and unloading problem of workpiece in apparatus system.As shown in Figure 8, the delivery dolly mainly is made of car body and guide rail and several parts of remote controller.Can control it along guide rail movement by remote controller.As Fig. 3 and shown in Figure 8, when needs load workpiece, can make dolly along guide rail movement to the robot frame structure, load workpiece after, dolly is got back in the robot frame scope, and park the then suitable position of choosing.After workpiece machined, dolly carried workpiece and rolls the robot frame scope away from and unload workpiece.
The utility model improves processing head device for positioning disc device work in-process in the solution existing apparatus system easily produces the problem of interference and collision, has cancelled positioning disc.As shown in Figure 9, added laser head chucking device (anchor clamps) in the vertical mechanical arm lower end side of robot.When measuring, laser head is taken out by position, original-pack card division and be installed in above-mentioned anchor clamps, the chucking device of the former laser head gauge head that then is used to be installed is measured, gauge head belongs to laser head that coordination is coaxial to be installed like this, measurement data can be directly used in processing, play the effect of former setting circle dish, avoided the coordination disk in process, to be prone to the problem of interference and collision again.
Embodiment 1
Make a laser processing device with flexible transmission and 2 interlocks.On the vertical crossbeam 5.6 of the girder steel of the high 2.0m of the wide 3m of long 4m (rice) slide rail is housed, and settles a horizontal gird 5.3 thereon, horizontal gird 5.3 vertically can moved forward and backward on the crossbeam 5.6 by driven by motor; On horizontal gird 5.3, slide rail is arranged, one vertical mechanical arm 5.5 can be installed thereon, laser Machining head 6, gage outfit 4.1 and optical converter 3 are fixed with anchor clamps at vertical mechanical arm end, adopt the near-infrared wavelength laser instrument of power 100W-500W, with a solid optical fiber of medium laser instrument is connected with optical converter 3, computer 7 connects laser instrument 1.2, optical converter 3 and gage outfit 4, and its workflow diagram as shown in Figure 7.
Make a laser processing device with flexible transmission and 3 interlocks.Identical with embodiment 1, just adopted vertical mechanical arm moving up and down.
Make a laser processing device with flexible transmission and 4 interlocks.Identical with embodiment 2, it also fixes one in vertical mechanical arm 5.5 lower ends with fixture can drive the cradle head 5.4 of another mechanical arm around the rotation of vertical mechanical arm 5.5 axis, and uses fixture fixed laser processing head 6, optical converter 3, gage outfit 4 on cradle head 5.4.
Embodiment 4
Make a laser processing device with flexible transmission and 5 interlocks.Identical with embodiment 3, it also installs the mechanical arm 5.1 that can do oscillating motion on cradle head 5.4.Install as shown in Figure 3, wherein steel framework structure 5 length are 4.5 meters, and are wide 3.1 meters, high 2.0 meters, vertically on the crossbeam 5.6 slide rail are being housed, and horizontal gird 5.3 can be moved forward and backward by driven by motor thereon.Slide rail also is housed on the horizontal gird 5.3, but can be for the vertical mechanical arm 5.5 along continuous straight runs move left and right that are mounted thereon, and the motor on the while mechanical arm 5.5 drives it again and can move up and down.Be equipped with the lower end of vertical mechanical arm 5.5 can be around the cradle head 5.4 of the 360 ° of rotations in vertical mechanical arm axis, it is connecting the joint 5.1 that can do to swing again, Fig. 4 .2 has represented the motion mode of this structure, and Fig. 4 .1 represents to remain the movement posture of laser Machining head 6 when the machined surface normal moves.Gage outfit 4.1 all is loaded on this joint by anchor clamps with laser Machining head, and the fixing of laser Machining head 6 and gage outfit 4.1 can use anchor clamps: be about to laser Machining head 6 and gage outfit 4.1 and directly be installed on the mechanical arm 5.5 by anchor clamps; Computer 7 is connecting laser instrument 1, multi-shaft interlocked mechanical part 5 and measurement mechanism 4, and it is responsible for controlling the parameter of output laser, handles workpiece appearance and size data that measurement mechanism obtains and control multi-shaft interlocked mechanical part processing action online.Laser flexible hop 2 adopts low-loss, high-power industrial optical fiber 2, it is connected between laser instrument 1.2 and the optical converter 3, when finishing the transmission of laser power or energy, not being subjected to the restriction of mechanical movement. optical converter can be paid upright leaf optical transform by the requirement of processing to the laser that laser instrument produces and handle.By conversion, can on processing plane, produce the light distribution that meets the demands to incident beam.For different industrial processes demands, only need use corresponding optical beam transformation and focusing block instead, can be met the laser beam of requirement.The intelligent measuring head obtains the data of workpiece appearance curved surface by the computer controlled measurement head online along move (it can carry out data acquisition and motion intelligently) of surface of the work, as shown in Figure 5.Because same set of mechanical movement means is used in measure portion and processing part, both simplifies the structure like this, is convenient to the coordination of measurement data and process data again.Multi-shaft interlocked mechanical part by computer control, can produce the required action of Laser Processing.The mode of another mechanical linkage frame mode and two kinds of fixed laser processing heads, gage outfit has been described in the present embodiment, and the computer control part is identical with embodiment 1.
Make a laser processing device with flexible transmission and 5 interlocks, it is used for laser boring, cutting on song (putting down) face.Utilize on multi-functional 5 interlock laser processing devices that embodiment 4 addresses, just at the equipped device that can feed assist gas in punching and cutting on the laser Machining head 6, for example the sidewall of laser Machining head connects a pipe to gas cylinder.To prevent the oxidation of finished surface.Can be to plane or the high-precision punching of complex-curved execution and the cutting processing of large-size workpiece.This punching and the cutting of finishing by means of auxiliary air blowing structure and suitable optical beam transformation and focusing system need not subsequent treatment, good reproducibility, precision height; The processing heat affected area is little, does not produce distortion; Controllability is good, and process can once be finished.Add man-hour carrying out the plane, keep the fixing of laser Machining head attitude, utilize frame structure to drive laser Machining head and produce plane motion, can finish the requirement that multiple spot punching and complex boundary shape workpiece are cut on the large tracts of land sheet material.When carrying out Machining of Curved Surface, utilize two-dimentional rotating mechanism can realize the normal attitude of laser Machining head in the arbitrfary point, space, satisfy punching and process laser vertical in the requirement of machined surface, shown in Fig. 4 .1 and Fig. 4 .2 with the welding needs.The plate shell cutting that can satisfy in blade of aviation engine punching and the body of a motor car advanced manufacturing technology has the processing request of complex-curved Shape Parts with this class of cutting, and has higher precision.
Make a laser processing device with flexible transmission and 5 interlocks, it is used for the laser weld on song (putting down) face.The multi-functional 5 interlock laser processing devices that use embodiment 4 to address just are equipped with the scaling powder structure for conveying on laser Machining head 6, can finish the welding processing of the curve surface work pieces of large-area plane or complex surface shape.According to shape, material and the technological requirement of weld seam, light beam to be carried out conversion, and send into laser-processing system by programming and once finish processing, controllability is good, and weldquality is more guaranteed.In welding process, because soldered material difference, light spot shape is also different after the desired focusing, and the scaling powder of use is also different, adds that some welding track is a space curve, therefore needs one five dimension action digital control system.
Make a laser processing device with flexible transmission and 5 interlocks, it is used for surface of the work handles, and comprises phase transformation strengthening, consolidation, coating, the surface treatment of alloying etc., particularly mould.Utilize the device of embodiment 4, can carry out surface treatment some cladding member mold and mould of plastics.By paying the specific light distribution that upright leaf optical transform technology produces, can carry out the spatial-intensity conversion to laser, on a pulse focal plane, produce the hot spot array of two dimension, greatly improved processing speed (reaching 2～3 orders of magnitude), as shown in Figure 6.Utilize multi-shaft interlocked laser processing device, can finish intensive treatment, to improve the quality and the service life of mould die surface with complex-curved profile.Owing to need the mould of surface peening, production unit might not offer the user with the product design data, or design data different with Laser Processing desired data form and be difficult to the conversion, or appearance is worn and torn and is needed the mould of reinforcement once more aborning, therefore add man-hour must be in conjunction with measure portion, the accurate three-dimensional size of processing mold to obtain.By using the intelligent measure head, adopt mode as shown in Figure 5 that die surface is scanned, can go back the profile of original mould online.Because same set of motion is used in gage outfit and processing part, reduced cost on the one hand, also can guarantee coincideing of gage outfit and laser Machining head position on the other hand, make measurement data form process data immediately and finish processing, shorten the production cycle greatly.
Make a laser processing device, be used for laser cutting, the welding of song (putting down) face with flexible transmission and 5 interlocks.Utilize multi-functional 5 interlock laser processing devices that embodiment 4 addresses and the assist gas conveying device among the embodiment 5, add cart system (car body 10, guide rail 10.1, remote controller 10.2), and add a new sectional fixture 12 in vertical mechanical arm lower end side.As Fig. 3 and shown in Figure 8, add man-hour, dolly rolls the robot frame scope away from by the remote controller remote control, sails the robot frame scope again into behind the loading workpiece 10.3, and is parked in a correct position.This moment, car body played the effect of workbench.As shown in Figure 9, laser Machining head 6 is taken out by original-pack card position, and it is installed in new sectional fixture 12.Gage outfit 4.1 is installed in the former laser Machining head position that is installed, thereby guarantees the identical of gage outfit and laser Machining head position, make measurement data form process data immediately and finish processing.After measurement is finished, gage outfit 4.1 is taken out, laser Machining head 6 by taking out in the new sectional fixture, is installed in original position again.And then utilize measurement data to generate process data and process.After the completion of processing, dolly carries workpiece 10.3 and rolls the robot frame scope away from and unload.Thereby finish time processing.
It should be noted last that above embodiment is only unrestricted in order to the explanation the technical solution of the utility model.Although the utility model is had been described in detail with reference to embodiment, those of ordinary skill in the art is to be understood that, the technical solution of the utility model is made amendment or is equal to replacement, the spirit and scope that do not break away from technical solutions of the utility model, it all should be encompassed in the middle of the claim scope of the present utility model.
Claims (6)
1. one kind has multi-shaft interlocked laser flexible processing unit (plant), is made up of laser instrument, frame structure, laser Machining head, gage outfit and computer, it is characterized in that, also comprises an optical fiber, an optical converter; Described frame structure is vertically on the crossbeam slide rail to be housed, be provided with a horizontal gird that can move forward and backward by driven by motor thereon, slide rail is arranged on horizontal gird, installing one on the slide rail of horizontal gird both can the along continuous straight runs move left and right by driven by motor, also the vertical mechanical arm that can move up and down perpendicular to horizontal gird; Optical converter, laser Machining head and gage outfit all are installed in vertical mechanical arm lower end by fixture; Or connect 1-2 in vertical mechanical arm lower end and save different types of mechanical arm, in the mechanical arm lower end of this kind optical converter, laser Machining head and gage outfit are mounted thereon by fixture again; Connect an optical fiber between laser output and the optical converter, optical converter links to each other with laser Machining head, and computer is connected with power supply, gage outfit and the motor that the driving device arm moves of laser instrument; Guide rail and delivery dolly are arranged on the crossbeam below of described frame structure.
2. has a multi-shaft interlocked laser flexible processing unit (plant) by claim 1 is described, it is characterized in that, describedly connect 1-2 in vertical mechanical arm lower end to save different types of mechanical arm be a cradle head around the 360 ° of rotations in vertical mechanical arm axis, and in this cradle head lower end with fixture fixed laser processing head, optical converter, gage outfit.
3. has a multi-shaft interlocked laser flexible processing unit (plant) by claim 2 is described, it is characterized in that: describedly connect 1-2 in vertical mechanical arm lower end to save different types of mechanical arm be to connect the swinging joint that can do oscillating motion one on the cradle head of the 360 ° of rotations in vertical mechanical arm axis, and in its swinging joint lower end with fixture fixed laser processing head, optical converter, gage outfit.
4. has multi-shaft interlocked laser flexible processing unit (plant) by described any one of claim 1～3, it is characterized in that: described fixture with fixture fixed laser processing head, optical converter, gage outfit is anchor clamps in vertical mechanical arm lower end, comprises the anchor clamps of vertical mechanical arm lower end and at anchor clamps of the side of mechanical arm.
5. have multi-shaft interlocked laser flexible processing unit (plant) by described any one of claim 1～3, it is characterized in that, also be included in the structure that a feeding assist gas is set on the laser Machining head.
6. have multi-shaft interlocked laser flexible processing unit (plant) by described any one of claim 1～3, it is characterized in that, also be included in the structure for conveying that a scaling powder is set on the laser Machining head.
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| CN 200620134132 CN200977592Y (en) | 2006-10-20 | 2006-10-20 | Laser flexible processing device capable of multiple axils linkage |
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| CN 200620134132 CN200977592Y (en) | 2006-10-20 | 2006-10-20 | Laser flexible processing device capable of multiple axils linkage |
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| CN102574240B (en) * | 2009-09-04 | 2015-08-05 | 通快机床两合公司 | There is the laser machine of redundant axes |
| CN102091870A (en) * | 2009-12-14 | 2011-06-15 | 武汉楚天激光（集团）股份有限公司 | Fiber transmission automatic laser welding system dedicated for plate type solar thermal collector |
| CN101745745B (en) * | 2009-12-18 | 2013-10-16 | 深圳超多维光电子有限公司 | Raster cutting device and cutting method thereof |
| CN102398112A (en) * | 2010-09-15 | 2012-04-04 | 江苏透平密封高科技有限公司 | Laser welding machine suitable for brush sealing |
| CN102451953A (en) * | 2010-10-20 | 2012-05-16 | 中国科学院力学研究所 | Multi-functional laser processing manufacturing system |
| CN102000935A (en) * | 2010-11-16 | 2011-04-06 | 江苏科技大学 | Flexible clamp for pipe fitting welding and adjusting method thereof |
| CN102000935B (en) * | 2010-11-16 | 2013-12-04 | 江苏科技大学 | Flexible clamp for pipe fitting welding and adjusting method thereof |
| CN103128447A (en) * | 2011-11-30 | 2013-06-05 | 星云电脑股份有限公司 | Laser cutting plotter |
| CN102564242A (en) * | 2012-03-25 | 2012-07-11 | 浏阳市百合机械制造有限公司 | Mobile lead inserting system for fireworks assembling machine |
| CN102564242B (en) * | 2012-03-25 | 2013-12-11 | 浏阳市百合机械制造有限公司 | Mobile lead inserting system for fireworks assembling machine |
| CN103056570A (en) * | 2013-01-28 | 2013-04-24 | 大连理工大学 | Sliding way suspension type body section margin cutting device |
| CN103273233A (en) * | 2013-06-09 | 2013-09-04 | 东南大学 | Object shelf tray self-adaptation welding device based on laser vision |
| CN105397306A (en) * | 2015-11-25 | 2016-03-16 | 广州通锐激光设备有限公司 | Laser pipe cutting machine and pipe cutting method thereof |
| CN106041882A (en) * | 2016-07-05 | 2016-10-26 | 安徽江淮汽车股份有限公司 | Anti-torque mechanical arm for screwing thrusting bar nut |
| CN106041882B (en) * | 2016-07-05 | 2018-04-13 | 安徽江淮汽车集团股份有限公司 | For tightening the antitorque mechanical arm of thrust stem nut |
| CN107138858A (en) * | 2017-05-12 | 2017-09-08 | 武汉光谷航天三江激光产业技术研究院有限公司 | Large-scale workpiece laser cleaning equipment |
| CN107838561A (en) * | 2017-11-29 | 2018-03-27 | 无锡透平叶片有限公司 | A kind of large hollow blade processing device and processing method |
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