CN202539814U - Three-dimensional laser cutting machine tool - Google Patents
Three-dimensional laser cutting machine tool Download PDFInfo
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- CN202539814U CN202539814U CN 201220143611 CN201220143611U CN202539814U CN 202539814 U CN202539814 U CN 202539814U CN 201220143611 CN201220143611 CN 201220143611 CN 201220143611 U CN201220143611 U CN 201220143611U CN 202539814 U CN202539814 U CN 202539814U
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Abstract
The utility model provides a three-dimensional laser cutting machine tool which comprises at least four base platforms, an X-axis left longitudinal beam and a Y-axis right longitudinal beam which are fixed on the base platforms, a Y-axis cross beam fixed on the X-axis left longitudinal beam and the Y-axis right longitudinal beam in a sliding manner, a vertical moving part fixed on the Y-axis cross beam in a sliding manner and capable of moving in a Z-axis direction, and a laser cutting head fixed at the vertical moving part, wherein the laser cutting head can move along with the vertical moving part in an X-axis direction, a Y-axis direction and the Z-axis direction, and is provided with a C-axis rotating round the Z-axis direction and an A-axis swinging round the X-axis direction, that is, The laser cutting head of the three-dimensional laser cutting machine tool can move in the X-axis/Y-axis/Z-axis direction as well as the own C-axis/A-axis direction, thereby realizing five-axis linage. Compared with a three-dimensional laser cutting machine tool adopting a worktable moving structure, the three-dimensional laser cutting machine tool provided by the utility model has the advantages of good dynamic response and high positioning accuracy. Besides, due to the design of the base platforms, the X-axis left longitudinal beam, the Y-axis right longitudinal beam and the Y-axis cross beam, the three-dimensional laser cutting machine tool can be used for processing large-scale long work pieces.
Description
Technical field
The utility model relates to laser process equipment, particularly relates to a kind of three-dimensional laser cutting off machine.
Background technology
Traditional three-dimensional laser cutting off machine adopts movable workbench, fixed-beam gantry structure mostly.This structure generally can only be used to process the less workpiece of breadth, and because will drive the bigger workbench of weight, so its locating speed and dynamic response are relatively poor.Have external producer to adopt cantilever structure, though on X, Y, three locating speeds of Z and dynamic response, improve a lot, the processing breadth is littler than movable workbench, fixed-beam gantry structure.So present three-dimensional laser cutting off machine can not realize repeatedly locating cutting to the elongated workpiece that exceeds the machine tool travel scope, can not satisfy the high-quality cutting demand of the large-scale three dimensional workpiece in fields such as picture aerospace industry.
The utility model content
Based on this, be necessary to provide a kind of three-dimensional laser cutting off machine, this lathe can be realized the high-quality cutting to large-scale farm labourer's part.
A kind of three-dimensional laser cutting off machine; Comprise at least four base stations, be fixed on an X axle left side longeron and X axle right vertical beam on the said base station, be slidingly fixed on Y axle crossbeam on X axle left side longeron and the X axle right vertical beam, be slidingly fixed on the Y axle crossbeam and can and be fixed in the laser cutting head on moving both vertically partly along moving both vertically partly of moving of Z-direction; Said laser cutting head can be followed the part that moves both vertically and moved along X-direction, Y direction and Z-direction, and has C axle that rotates around Z-direction and the A axle of swinging around X-direction.
Therein among embodiment, said three-dimensional laser cutting off machine comprises that also at least two connect X axle left side longerons and assist buttress braces with the X axles on the X axle right vertical beam.
Therein among embodiment; Be respectively equipped with X axle left side longeron guide rail, X axle right vertical beam guide rail on said X axle left side longeron and the X axle right vertical beam and be slidingly fixed on X axle left side slide and the right slide of X axle on said X axle left side longeron guide rail and the X axle right vertical beam guide rail respectively, said Y axle crossbeam is fixed on said X axle left side slide and the right slide of said X axle.
Among embodiment, said Y axle crossbeam is provided with the Y axis rail and is slidingly fixed on the Y axle slide on the said Y axis rail therein, and the said partial fixing that moves both vertically is on said Y axle slide.
Among embodiment, the said part that moves both vertically comprises Z axle slide therein, and said Z axle slide is provided with the Z axis rail, and said Z axle slide is slidingly fixed on the said Y axle slide through said Z axis rail, and said laser cutting head is fixed on the said Z axle slide.
Therein among embodiment; Said three-dimensional laser cutting off machine also is included as sliding motion the drive unit of power and the driving tooth bar that links to each other with drive unit is provided; Said drive unit is arranged on said X axle left side slide, the right slide of X axle and the Y axle slide, and said driving tooth bar and said X axle left side longeron guide rail, X axle right vertical beam guide rail, Y axis rail and Z axis rail laterally arrange.
Among embodiment, said three-dimensional laser cutting off machine also comprises reductor therein, and said reductor is with said drive unit and drive tooth bar and link to each other.
Among embodiment, the driving power source of said drive unit is a servomotor therein.
Among embodiment, said three-dimensional laser cutting off machine also comprises a travelling table therein, and said travelling table is arranged at said laser cutting head below.
In the above-mentioned three-dimensional laser cutting off machine; The part that moves both vertically that is fixed on laser cutting head goes up and along with moving both vertically componental movement; The part that moves both vertically is slidingly fixed on the Y axle crossbeam, and Y axle crossbeam can slide on X axle left side longeron and X axle right vertical beam, therefore; The laser cutting head of this three-dimensional laser cutting off machine can be realized the motion on X, Y, three of Z and the C of self, the A direction of principal axis; Promptly realize five-axle linkage, Traditional use movable workbench, the three-dimensional laser cutting off machine that Y axle crossbeam is static, owing to workbench and above the workbench fixing workpiece all have big weight to cause that dynamic response is poor, positioning accuracy is low; This three-dimensional laser cutting off machine adopts the cephalomotor mode of Y axle crossbeam drive cut to have the advantage that dynamic response is good, positioning accuracy is high because of light weight, can realize the high-quality cutting.In addition, thus the design of base station, X axle left side longeron, X axle right vertical beam and Y axle crossbeam makes this three-dimensional laser cutting off machine have bigger space makes farm labourer's part that this three-dimensional laser cutting off machine can machining large.
Description of drawings
Fig. 1 is the stereogram of the utility model three-dimensional laser cutting off machine;
Fig. 2 is the right slide sketch map of the X axle of three-dimensional laser cutting off machine shown in Figure 1;
Fig. 3 removes the cooperation sketch map behind the shell for the Z axle slide of three-dimensional laser cutting off machine shown in Figure 1 and Y axle slide;
Fig. 4 is the utility model three-dimensional laser cutting off machine work sketch map.
The specific embodiment
Below in conjunction with accompanying drawing the preferred embodiment of the utility model is set forth in detail, thereby the protection domain of the utility model is made more explicit defining so that advantage of the utility model and characteristic can be easier to it will be appreciated by those skilled in the art that.
Please refer to Fig. 1～4; The preferred embodiments of the utility model provides a kind of three-dimensional laser cutting off machine 100; The part 150 and be fixed in the laser cutting head 160 on the part 150 that moves both vertically of moving both vertically that this three-dimensional laser cutting off machine 100 comprises at least four base stations 110, be fixed on X axle left side longeron 120 and X axle right vertical beam 130 on the base station 110, be slidingly fixed on Y axle crossbeam 140 on X axle left side longeron 120 and the X axle right vertical beam 130, be slidingly fixed on the Y axle crossbeam 140 and can move along Z-direction; Laser cutting head 160 can be followed the part 150 that moves both vertically and moved along X-direction, Y direction and Z-direction, and has C axle that rotates around Z-direction and the A axle of swinging around X-direction.The laser cutting head of this three-dimensional laser cutting off machine 100 can be realized the motion of three of X, Y, Z through the cooperation of the part 150 that moves both vertically, Y axle crossbeam 140, X axle left side longeron 120 and X axle right vertical beam 130; And pass through C axle and the A axle realization rotation and swing on the laser cutting head 160, thereby the five-axle linkage of realization X axle, Y axle, Z axle, C axle and A axle.With respect to Traditional use movable workbench, three-dimensional laser cutting off machine that Y axle crossbeam is static; Because of workbench and above the workbench fixing workpiece all have big weight to cause that dynamic response is poor, positioning accuracy is low; The mode that this three-dimensional laser cutting off machine 100 adopts Y axle crossbeam 140 to drive laser cutting head 160 motions has the advantage that dynamic response is good, positioning accuracy is high because of light weight, can realize the high-quality cutting.The cooperation of Y axle crossbeam 140, X axle left side longeron 120 and X axle right vertical beam 130 and base station 110 has simultaneously formed bigger three dimensions, therefore can realize the cutting to large-scale farm labourer's part.
The X axle left side longeron 120 and the X axle right vertical beam 130 of this three-dimensional laser cutting off machine 100 are arranged on the base station 110, and the number of the base station 110 here is four, and its quantity can be adjusted according to actual needs.X axle left side longeron 120 is arranged on wherein on two base stations 110, and X axle right vertical beam 130 is arranged on two other base station 110.During use, base station 110 is fixed on the ground.The levelling gear of adjustment X axle left side longeron 120 and X axle right vertical beam 130 levels can further be set on the base station 110.X axle left side longeron 120 locks through screw with X axle right vertical beam 130 or other suitable method is fixed on four base stations 110.
This three-dimensional laser cutting off machine 100 comprises that also at least two are fixed in X axle left side longeron 120 and the auxiliary buttress brace 128 of the X axle on the X axle right vertical beam 130.Here, the quantity of the auxiliary buttress brace 128 of this X axle is two, and the two ends that it is fixed on X axle left side longeron 120 and X axle right vertical beam 130 make this lathe 100 have higher stable degree and mechanical strength.
The X axle left side longeron 120 of this three-dimensional laser cutting off machine 100 is provided with X axle left side longeron guide rail 121 and is slidingly fixed on the X axle left side slide 123 on the X axle left side longeron guide rail 121.The X axle right vertical beam 130 of this three-dimensional laser cutting off machine 100 is provided with X axle right vertical beam guide rail 131 and is slidingly fixed on the right slide 133 of X axle on the X axle right vertical beam guide rail 131.Y axle crossbeam 140 is fixed on X axle left side slide 123 and the right slide 133 of X axle.Y axle crossbeam 140 can slide with X axle right vertical beam 130 by longeron 120 along an X axle left side like this.
Further, this three-dimensional laser cutting off machine 100 also is included as sliding motion the drive unit 170 of power and the driving tooth bar that links to each other with drive unit 170 is provided.This drive unit 170 is arranged on the slide, drives tooth bar and guide rail and laterally arranges.Be equipped with the driving tooth bar on X axle left side longeron 120 and the X axle right vertical beam 130 here, be respectively X axle left side longeron driving tooth bar 122 and drive tooth bar 132 with X axle right vertical beam.X axle left side longeron drives tooth bar 122 and laterally arranges with X axle left side longeron guide rail 121, and X axle right vertical beam drives tooth bar 132 and laterally arranges with X axle right vertical beam guide rail 131.The driving power source of the drive unit 170 here can be servomotor, and quantity is two, and it is individually fixed on X axle left side slide 123 and the right slide 133 of X axle.Drive unit 170 links to each other with driving tooth bar 122,132, for Y axle crossbeam 140 can motion provide power on X axle left side longeron 120 and X axle right vertical beam 130.
This three-dimensional laser cutting off machine 100 also comprises reductor 180, and reductor 180 is arranged on X axle left side slide 123 and the right slide 133 of X axle, and links to each other with drive unit 170 and driving tooth bar 122,132.The driving force that reductor 180 produces drive unit 170 is delivered to and drives on the tooth bar 122,132.Being provided with of reductor 180 can make the more steady of drive unit 170 operations, can produce bigger driving force simultaneously.
The Y axle crossbeam 140 of this three-dimensional laser cutting off machine 100 is provided with Y axis rail 141, drives tooth bar 142 and is slidingly fixed on the Y axle slide 143 on the Y axis rail 141 with Y axis rail 141 parallel Y axles.The part that moves both vertically 150 is fixed on the Y axle slide 143, thereby can slide along Y axle slide 143.Drive unit 170 and reductor 180 also can further be set on the Y axle slide 143, can be provided with on the Y axle crossbeam 140 with Y axis rail 141 parallel Y axles and drive tooth bar 142.Drive unit 170 drives the part 150 that moves both vertically through reductor 180 and Y axle driving tooth bar 142 and on Y axle crossbeam 140, slides.The structure of these structures and X axle left side slide 123 and X axle left side longeron 120 is similar, acts on also identical.Repeat no more at this.
The part 150 that moves both vertically of this three-dimensional laser cutting off machine 100 comprises Z axle slide 153.This Z axle slide 153 is provided with Z axis rail 151, and Z axle slide 153 is slidingly fixed on the Y axle slide 143 through this Z axis rail 151, and laser cutting head 160 is fixed on the Z axle slide 153.Laser cutting head 160 can be followed Z axle slide 153 and slided with respect to Y axle slide 143 along Z axis rail 151 like this.Y axle slide 143 moves both vertically part 150 along drive unit 170 and reductor 180 that Y axle crossbeam slides except being provided with to make, and also is provided with drive unit 170 and reductor 180 that Z axle slide 153 is slided along Y axle slide 143.Also be provided with the Z axle on the Z axle slide 153 and drive tooth bar 152.Drive unit 170 and reductor 180 can cooperate with Z axle driving tooth bar 152 like this, realize that Z axle slide 153 is with respect to 143 motions of Y axle slide.Here, the motion principle and the structural similarity of the motion principle of the Z axle of this three-dimensional laser cutting off machine 100 and structure and Y axle repeat no more at this.
This three-dimensional laser cutting off machine 100 also comprises a travelling table 190, and this travelling table 190 is arranged at laser cutting head 160 belows.Workpiece 191 can be fixed on this travelling table 190, and adding man-hour workpiece 191 like this can move along with more than 190 location of travelling table, thus can be convenient large-scale workpiece is processed.
During these three-dimensional laser cutting off machine 100 work, workpiece 191 is fixed on the travelling table 190.When needing a certain position of cut workpiece 191; Control through digital control system; Make earlier workpiece 191 with travelling table 190 running fixes in the machine tooling scope; Lathe 100 is moving to suitable position at X axle, y-axis shift, and axially moving to assigned address realizes moving into place of laser cutting head 160 down to control Z then, controls laser cutting head 160 at last and cuts.This three-dimensional laser cutting off machine 100 in the course of the work; Move through Y axle crossbeam 140 and to drive laser cutting head 160; Rather than the mobile laser cutting head 160 belows travelling table 190 that is fixed with workpiece 191 is realized that motion puts in place and is cut then; Because the weight ratio of Y axle crossbeam 140 is fixed with travelling table 190 in light weight a lot of of workpiece 191; Therefore laser cutting head 160 moves and just has the advantage that dynamic response is good, positioning accuracy is high, and promptly this three-dimensional laser cutting off machine 100 can be realized high-quality cutting.In addition, laser cutting head 160 belows that can make this three-dimensional laser cutting off machine 100 that are provided with of base station 110 have enough big space that workpiece 191 is set, thereby realize the processing to three-dimensional large-sized workpiece.The design of base station 110 can also make workpiece 191 move to position to be processed more easily, and has near the good advantage of observation property, can lean on very closely when promptly operating personnel observe this three-dimensional laser cutting off machine 100, and sight line is not easy to be stopped when observing.Travelling table 190 the range of work that can further expand this three-dimensional laser cutting off machine 100 is set.When the length dimension of workpiece 191 exceeds the working range of this lathe 100; Can realize the variation of workpiece 191 relative positions through travelling table 190; Being about to workpiece 191 needs the part of processing to move in the working range of this lathe 100, thereby realizes the cutting to elongated workpiece 191.
The laser cutting head 160 of this three-dimensional laser cutting off machine 100 is fixed on the part 150 that moves both vertically and along with moving both vertically part 150 motions; The part that moves both vertically 150 is slidingly fixed on the Y axle crossbeam 140, and Y axle crossbeam 140 can slide on X axle left side longeron 120 and X axle right vertical beam 130.Therefore, the laser cutting head 160 of this three-dimensional laser cutting off machine 100 can be realized the motion of three of X, Y, Z, and laser cutting head 160 self has the C axle that rotates around Z-direction and around the A axle of X-direction swing, can realize five-axle linkage veritably.The three-dimensional laser cutting off machine of Traditional use movable workbench, fixed-beam; Owing to workbench and above the workbench fixing workpiece all have bigger weight to cause that dynamic response is poor, positioning accuracy is low; The mode that this three-dimensional laser cutting off machine 100 adopts Y axle crossbeam 140 to drive laser cutting head 160 motions has the advantage that dynamic response is good, positioning accuracy is high because of light weight, can realize the high-quality cutting.In addition, thus the design of base station 110, X axle left side longeron 120, X axle right vertical beam 130 and Y axle crossbeam 140 makes this three-dimensional laser cutting off machine 100 have bigger space makes this lathe 100 can the machining large workpiece.
The above embodiment has only expressed several kinds of embodiments of the utility model, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the utility model claim.Should be pointed out that for the person of ordinary skill of the art under the prerequisite that does not break away from the utility model design, can also make some distortion and improvement, these all belong to the protection domain of the utility model.Therefore, the protection domain of the utility model patent should be as the criterion with accompanying claims.
Claims (9)
1. three-dimensional laser cutting off machine; It is characterized in that; Comprise at least four base stations, be fixed on an X axle left side longeron and X axle right vertical beam on the said base station, be slidingly fixed on Y axle crossbeam on X axle left side longeron and the X axle right vertical beam, be slidingly fixed on the Y axle crossbeam and can and be fixed in the laser cutting head on moving both vertically partly along moving both vertically partly of moving of Z-direction; Said laser cutting head can be followed the part that moves both vertically and moved along X-direction, Y direction and Z-direction, and has C axle that rotates around Z-direction and the A axle of swinging around X-direction.
2. three-dimensional laser cutting off machine according to claim 1 is characterized in that, said three-dimensional laser cutting off machine also comprises at least two auxiliary buttress braces of X axle that connect on X axle left side longeron and the X axle right vertical beam.
3. three-dimensional laser cutting off machine according to claim 1; It is characterized in that; Be respectively equipped with X axle left side longeron guide rail, X axle right vertical beam guide rail on said X axle left side longeron and the X axle right vertical beam and be slidingly fixed on X axle left side slide and the right slide of X axle on said X axle left side longeron guide rail and the X axle right vertical beam guide rail respectively, said Y axle crossbeam is fixed on said X axle left side slide and the right slide of said X axle.
4. three-dimensional laser cutting off machine according to claim 1 is characterized in that, said Y axle crossbeam is provided with the Y axis rail and is slidingly fixed on the Y axle slide on the said Y axis rail, and the said partial fixing that moves both vertically is on said Y axle slide.
5. three-dimensional laser cutting off machine according to claim 4; It is characterized in that; The said part that moves both vertically comprises Z axle slide; Said Z axle slide is provided with the Z axis rail, and said Z axle slide is slidingly fixed on the said Y axle slide through said Z axis rail, and said laser cutting head is fixed on the said Z axle slide.
6. according to claim 3,4 or 5 described three-dimensional laser cutting off machine; It is characterized in that; Said laser cutting machine tool also is included as sliding motion the drive unit of power and the driving tooth bar that links to each other with drive unit is provided; Said drive unit is arranged on said X axle left side slide, the right slide of X axle and the Y axle slide, and said driving tooth bar and said X axle left side longeron guide rail, X axle right vertical beam guide rail, Y axis rail and Z axis rail laterally arrange.
7. three-dimensional laser cutting off machine according to claim 6 is characterized in that, said three-dimensional laser cutting off machine also comprises reductor, and said reductor links to each other with said drive unit and driving tooth bar.
8. three-dimensional laser cutting off machine according to claim 7 is characterized in that, the driving power source of said drive unit is a servomotor.
9. according to any described three-dimensional laser cutting off machine in the claim 1 to 5, it is characterized in that said three-dimensional laser cutting off machine also comprises a travelling table, said travelling table is arranged at said laser cutting head below.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220143611 CN202539814U (en) | 2012-04-05 | 2012-04-05 | Three-dimensional laser cutting machine tool |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220143611 CN202539814U (en) | 2012-04-05 | 2012-04-05 | Three-dimensional laser cutting machine tool |
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| CN 201220143611 Expired - Lifetime CN202539814U (en) | 2012-04-05 | 2012-04-05 | Three-dimensional laser cutting machine tool |
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| CN103264229A (en) * | 2013-04-28 | 2013-08-28 | 深圳市大族激光科技股份有限公司 | Multi-station laser cutting machine tool |
| CN103394916A (en) * | 2013-08-07 | 2013-11-20 | 吴振泉 | Uncoiling blanking production equipment and processing method by adoption of laser cutting technology |
| CN103692088A (en) * | 2013-12-06 | 2014-04-02 | 武汉华俄激光工程有限公司 | Integrated laser cutting machine for large-format gantry fiber optic conducting tube plate |
| CN103894865A (en) * | 2014-03-25 | 2014-07-02 | 浙江大学 | Numerical control five-axis machine tool for drilling laminated materials |
| CN104741807A (en) * | 2015-04-03 | 2015-07-01 | 江苏理工学院 | Three-dimensional sheet covering piece plasma flame cutting machine |
| CN104842067A (en) * | 2015-05-29 | 2015-08-19 | 济南微尔激光设备有限公司 | Three-dimensional laser cutting machine in five-axis linkage |
| 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 |
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| CN106181028A (en) * | 2016-08-31 | 2016-12-07 | 佛山市宏石激光技术有限公司 | A kind of five-axle linkage laser pipe cutter |
| CN106271104A (en) * | 2016-08-31 | 2017-01-04 | 佛山市宏石激光技术有限公司 | A kind of tubule laser pipe cutter and Pipe Cutting method thereof |
| CN107414315A (en) * | 2017-08-08 | 2017-12-01 | 江苏大金激光科技有限公司 | A kind of three-dimensional laser cutting machine |
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| CN110340544A (en) * | 2019-07-26 | 2019-10-18 | 华工法利莱切焊系统工程有限公司 | A kind of three-dimensional five axis laser cutting machines of planer-type |
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| WO2020215847A1 (en) * | 2019-04-26 | 2020-10-29 | 佛山市宏石激光技术有限公司 | Plate and tube all-in-one machine capable of achieving tail material cutting |
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2012
- 2012-04-05 CN CN 201220143611 patent/CN202539814U/en not_active Expired - Lifetime
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| CN103264229A (en) * | 2013-04-28 | 2013-08-28 | 深圳市大族激光科技股份有限公司 | Multi-station laser cutting machine tool |
| CN103394916A (en) * | 2013-08-07 | 2013-11-20 | 吴振泉 | Uncoiling blanking production equipment and processing method by adoption of laser cutting technology |
| CN103394916B (en) * | 2013-08-07 | 2016-03-02 | 吴振泉 | Adopt uncoiling blanking production equipment and the processing method of laser cutting technique |
| CN103692088A (en) * | 2013-12-06 | 2014-04-02 | 武汉华俄激光工程有限公司 | Integrated laser cutting machine for large-format gantry fiber optic conducting tube plate |
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| CN103894865A (en) * | 2014-03-25 | 2014-07-02 | 浙江大学 | Numerical control five-axis machine tool for drilling laminated materials |
| CN104741807A (en) * | 2015-04-03 | 2015-07-01 | 江苏理工学院 | Three-dimensional sheet covering piece plasma flame cutting machine |
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| CN113441844A (en) * | 2020-03-27 | 2021-09-28 | 大族激光科技产业集团股份有限公司 | Laser cutting equipment and pipe cutting method of laser cutting equipment |
| CN111660012A (en) * | 2020-04-30 | 2020-09-15 | 中山汉通激光设备有限公司 | High-precision laser cutting machine for machining spare and accessory parts |
| CN111872578A (en) * | 2020-08-03 | 2020-11-03 | 华工法利莱切焊系统工程有限公司 | Large-breadth gantry type three-dimensional five-axis laser cutting machine |
| CN112191984A (en) * | 2020-08-31 | 2021-01-08 | 德州西恩数控设备股份有限公司 | Full-automatic trompil of head is with five-axis linkage planer-type numerical control cutting system |
| CN113843533A (en) * | 2021-11-06 | 2021-12-28 | 武汉领创智能激光科技有限公司 | Gantry type pipe laser cutting machine |
| CN114669862A (en) * | 2022-05-06 | 2022-06-28 | 昆山允可精密工业技术有限公司 | Four-axis femtosecond laser micromachining system for medical support |
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